Spatial Dynamics of Multibody Tracked Vehicles Part II: Contact Forces and Simulation Results

In this part of the paper, three dimensional computational capabilities, that includes significant details, are developed for the nonlinear dynamic analysis of large scale spatial tracked vehicles. Three dimensional nonlinear contact force models that describe the interaction between the track links and the vehicle components such as the rollers, sprockets, and idlers as well as the interaction between the track links and the ground are developed and used to define the generalized contact forces associated with the vehicle generalized coordinates. Tangential friction and contact forces are developed in order to maintain the stability of the track motion and avoid the slippage of the track or its rotation as a rigid body. Body and surface coordinate systems are introduced in order to define the spatial contact conditions. The nonlinear equations of motion of the tracked vehicle are solved using the velocity transformation procedure developed in the first part of this paper. This procedure is used in order to obtain a minimum set of differential equations, and avoid the use of the iterative Newton-Raphson algorithm. A computer simulation of a tracked vehicle that consists of one hundred and six bodies and has one hundred and sixteen degrees of freedom is presented in order to demonstrate the use of the formulations presented in this study.     

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.     

Optimal synthesis of function generation in steering linkages

This paper presents an approach to optimize planar mechanisms for function generation synthesis. It is applied to the design of different steering linkages used in road vehicles where the Ackermann condition is formulated as the objective function. Four different mechanisms are kinematically defined and synthesized in terms of the proposed method. Limitations of the size of the elements are also considered by means of inequality constraints. Solutions are presented as the difference between desired behaviour, established by Ackermann, and actual generated performance. The results show that the accuracy achieved by the proposed procedure is satisfactory for working conditions in this type of linkages.     

Monitoring Human Activity in an Area Dedicated to the Protection of the Endangered Mediterranean Monk Seal

Mediterranean monk seal populations have declined dramatically and survive in subpopulations scattered throughout their original distribution. The National Marine Park of Alonnisos, Northern Sporades is the first marine protected Area dedicated to the protection of the species in the Mediterranean. A Monitoring and Awareness Project has been carried out in the area from 1993 to 2000, the results of which have produced a detailed profile of the human usage pattern of the Park and indicated a significant reduction of illegal activities in the area. The pattern of human usage has enabled the monitoring team to adjust their efforts in the Park over time and provided essential baseline data for future management. The combined monitoring and awareness efforts have contributed significantly to the conservation of the Mediterranean monk seal by successfully protecting pupping sites and reducing human-induced mortality of the species in the area.     

Industrial water dependency: The BCDC experience

The Bay Conservation and Development Commission (BCDC), has designated a number of shoreline sites around San Francisco Bay for exclusive use of water‐related industry. This is intended both to reduce future needs for Bay fill, and to reserve those waterfront sites needed for long‐term industrial growth. The Commission currently defines water‐related industries as those “requiring”; a shoreline site for water transportation. The Commission is now considering the use of an economic criterion for identifying water dependency. This involves comparisons of the uniquely water‐related benefits and costs to the firm to locate on the shoreline, as opposed to its location at an inland site. By limiting use of deepwater sites to those industries that are significantly water‐dependent under this criterion, long‐term economic efficiency is served, and the need for future Bay fill for industrial growth is reduced. The data and analysis required to implement an economic water‐dependency criterion do not appear to be a barrier to use of such a test in the regulatory process. Whereas water dependency is an important concern to BCDC, other factors, including environmental constraints, must also be weighed when evaluating industrial projects.     

Policy considerations for wetland wastewater treatment in the coastal zone: A case study for Louisiana

Two major environmental problems currently affecting the Louisiana coastal zone are a high rate of wetland loss and high levels of surface water pollution. The application of secondarily treated wastewater to wetlands can be a means of dealing with both of these problems. The benefits of wetland wastewater treatment include improved surface water quality, increased accretion rates to balance a high relative water level rise due mainly to subsidence, improved plant productivity and habitat quality, and decreased capital outlays for conventional engineering treatment systems. Wetland treatment systems can, therefore, be designed and operated to restore deteriorating wetlands. Hydrologically altered wetlands, which are common in the Louisiana coastal zone, are appropriate for receiving municipal and some types of industrial effluent. While the U.S. Environmental Protection Agency has determined wetland wastewater treatment is effective in treating municipal effluent, it has discouraged the use of natural wetlands for this purpose. At the same time, funds are being used for the construction of artificial wetlands to treat municipal effluent. In the Louisiana coastal zone, however, wetlands are deteriorating and disappearing due to hydrological alteration and a high rate of relative sea level rise. If no action is taken, these trends will continue. Effluent discharge to existing wetlands should be incorporated into a comprehensive management plan designed to increase sediment and nutrient input into subsiding wetlands in the Louisiana coastal zone, improve water quality, and result in more economical waste‐water treatment. The authors believe that the Louisiana example serves as a model for other coastal areas especially in light of projections of accelerated sea level rise.     

A Sociological Approach to Maritime Studies: A Statement and Example

This paper is an attempt to illustrate the stance of the Soviet Union in the law of the sea debate in the light of Soviet ocean activities. The paper has two sections. First, it examines the range of Soviet ocean activities. The considerable extent of Soviet ocean use underscores the importance which the Soviet Union places on the law of the sea debate and its consequent active participation in the process of international negotiation. Second, the paper considers the published record of the Soviet Union in the United Nations seabed debate. In seven years of debate the United Nations General Assembly and the Ad Hoc and permanent Seabed Commities and sub-Commities have generated a considerable body of documantation reflecting the public policy of over one hundred States concerning the law of the sea. Soviet expressions of opinion alone cover more than five hundred pages of documentation. Specific Soviet positions can be considered within two ganeral preferences: the protection of traditional freedoms of the high seas and opposition to ocean control by either coastal States or by an independent international ocean authority. The paper shows how these preferences and the specific Soviet negotiating positions defend and promote the maritime interests of the Soviet Union.     

Shipper's councils: role and responsibility—a western view

This paper first presents arguments for having public sector port authorities. They can deal, flexibly and permanently, with property rights within their own areas. They can plan and regulate port areas comprehensively. They can provide ‘public goods’. They can deal, in various ways, with externalities. They can promote efficiency, whether their own (if they operate as a comprehensive port) or that of the private sector (if they are largely landlords). For example, if their policy is to rely on the private sector to produce efficiency through competition then they can see to it that there actually is competition and not any kind of cartel or monopoly. Examples are cited where this last function has not been performed. The exception for single-user ports is noted.

Against them are the general disadvantages of public authorities (or bureaucracies)—though examples are cited where port authorities had very small staffs. The common instances of ‘market failure’ may thus be contrasted with those of ‘government failure’. Finally, a pragmatic approach is advocated, tailored to the needs and resources of the country in question. The increasing effect of the economies of scale in port technology, and its limitation on competition, is, however, noted and to be discussed in the next paper.