Spatial Dynamics of Multibody Tracked Vehicles Part I: Spatial Equations of Motion

In this paper, the nonlinear dynamic equations of motion of the three dimensional multibody tracked vehicle systems are developed, taking into consideration the degrees of freedom of the track chains. To avoid the solution of a system of differential and algebraic equations, the recursive kinematic equations of the vehicle are expressed in terms of the independent joint coordinates. In order to take advantage of sparse matrix algorithms, the independent differential equations of the three dimensional tracked vehicles are obtained using the velocity transformation method. The Newton-Euler equations of the vehicle components are defined and used to obtain a sparse matrix structure for the system dynamic equations which are represented in terms of a set of redundant coordinates and the joint forces. The acceleration solution obtained by solving this system of equations is used to define the independent joint accelerations. The use of the recursive equations eliminates the need of using the iterative Newton-Raphson algorithm currently used in the augmented multibody formulations. The numerical difficulties that result from the use of such augmented formulations in the dynamic simulations of complex tracked vehicles are demonstrated. In this investigation, the tracked vehicle system is assumed to consist of three kinematically decoupled subsystems. The first subsystem consists of the chassis, the rollers, the sprockets, and the idlers, while the second and third subsystems consist of the tracks which are modeled as closed kinematic chains that consist of rigid links connected by revolute joints. The singular configurations of the closed kinematic chains of the tracks are also avoided by using a penalty function approach that defines the constraint forces at selected secondary joints of the tracks. The kinematic relationships of the rollers, idlers, and sprockets are expressed in terms of the coordinates of the chassis and the independent joint degrees of freedom, while the kinematic equations of the track links of a track chain are expressed in terms of the coordinates of a selected base link on the chain as well as the independent joint degrees of freedom. Singularities of the transformations of the base bodies are avoided by using Euler parameters. The nonlinear three dimensional contact forces that describe the interaction between the vehicle components as well as the results of the numerical simulations are presented in the second part of this paper.     

Inventory,Classification, and Analysis of Special Management Areas Associated with U.S. Coastal Programs

Area-based management approaches may be beneficial in integrating sectoral, single-purpose laws and regulations; however, these benefits may not be attained if special area designations are equally sectoral or single-purpose in nature. Over 60 types of special management areas were documented under U.S. coastal programs, and a new classification scheme was developed to allow comparisons and analyses across programs. Results indicate that requirements and incentives for special area designations under the Coastal Zone Management Act did little to standardize or influence area-based management systems associated with state and territory coastal programs. Further, the absence of clear patterns within and between coastal programs with respect to special area policies suggests a limited commitment to this important aspect of coastal management. Continued research is needed to document the effectiveness of the various area-based management approaches presented in this article.     

Changing ownership structures in the Dutch fleet

The new Dutch shipping policy has given rise to high expectation and curiosity in the world of shipping. This, together with the obvious difficulties of an ex-post study of the effectiveness of such innovative policy, has prompted the authors to take an interest in attempting to investigate changes in ownership of the Dutch fleet 2 years after the new policy has been introduced. To do this, a rather new concept of ‘flagging out’ has been adopted, which is interpreted as a process leading to different degrees of ‘foreignness’ in a shipping operation. In this paper, a method to structure is presented, and ownership information, and changes in it are presented, that are essentially based on the theory of stochastic processes. The data used is the Dutch fleet data, which includes information on the nationality of the flag, parent ownership and management over the period 1994–1998. The results yield interesting insights in the shifts in the ownership and operational structure of shipping companies induced by the new policy. In particular, they allow one to establish the origin of new vessels, in which stage of ownership/operation it is most likely that shifts occur, and to determine the relationship between the different stages of the ‘flagging out’ process. These results, thus, enable an evaluation of the areas in which the policy can be expected to yield results.     

Fast passenger ferries and their future

This papers examines the different choices of High Speed Craft (HSC) hull design available and briefly looks at the advantages and disadvantages of each hull form. The trends in various design aspects of HSC such as speed, capacity and size are studied. An investigation on the HSC development is conducted and the future of HSC in the UK is studied. A study onboard an HSC with the aim of trying to determine what passengers think of HSC and why they travel by them is also conducted. Finally, an analysis of the possible market for HSC is carried out.     

A Study in Port Planning: The Example of Mina Zayed

The correct number of berths that a port should provide is solved by a model which minimizes the total port usage cost in terms of the costs of berth provision and the costs accruing to ships from time spent in the port. This model is then applied to Mina Zayed in the Arabian Gulf as an aid to future planning, and from different sets of cargo forecasts an optimal stategy is derived using a game-theoretic approach.     

Efficiency and ecological characteristics of a VCR diesel engine

Compression ratio (CR) is a design parameter with highest influence on efficiency, emission and engine characteristics. In conventional internal combustion (IC) engines, the compression ratio is fixed and their performance is, therefore, a compromise between conflicting requirements. One fundamental problem is that drive units in the vehicles must successfully operate at variable speed and loads and in different ambient conditions. If a diesel engine has a fixed CR, a minimal value must be chosen that can achieve a reliable self-ignition when starting the engine in cold start conditions. In diesel engines, variable compression ratio (VCR) provides control of peak cylinder pressure, improves cold start ability and low load operation, enabling the multi-fuel capability, increase of fuel economy and reduction of emissions. By application of VCR and other mechanisms, the optimal regime fields are extended to the prime requirements: consumption, power, emission, noise, etc., and/or the possibility of the engine to operate with different fuels is extended. An experimental Diesel engine has been developed at the Faculty of Engineering, University of Kragujevac. The changes of CR are realized by changing the piston chamber diameter. Detailed engine tests were performed at the Laboratory for IC engines. Special attention has been given to decrease of fuel consumption and exhaust emissions. An optimal field of CR variation has been determined depending on the given objectives: minimal fuel consumption, minimal nitric oxides, and particulate matter emissions, etc.     

Effect of rear slant angle on vehicle crosswind stability simulation on a simplified car model

It is important to know the effect of the aerodynamic forces and moments on driving stability because it is responsible for the excitation and influences the response of the vehicle. The purpose of this paper is to study the effect of rear slant angle of a surface vehicle on crosswind sensitivity for stability analysis. The vehicle mathematical model used to conduct a dynamic simulation was based on a simple reduced order lateral dynamics of sideslip and yaw rate motion coupled with aerodynamics model. The intention here is to compare the effect of rear slant angles response to crosswind and to rank the crosswind sensitivity ratings. The aerodynamic loads are defined as the function of the aerodynamic derivatives from the static wind tunnel tests. Result shows a 20° rear slant angle demonstrates the highest rating of crosswind sensitivity, while zero degree slant exhibits the least.