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.     

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.     

Developing a Spatially Enabled Inventory of Recreational Boats Using Vessel Registration Data

Effective waterway management requires information on the characteristics and locations of boats. A field-based boat census—a traditional method to obtain spatially accurate information—is relatively expensive, time-consuming, and restrictive in scope. Vessel registration data, maintained by all U.S. states, is potentially a more robust information source. This research evaluated the accuracy and reliability of vessel registration data to supply location and attribute information for boats. The study premise was to use vessel registration data, which includes the mailing address of registered boat owners, to develop a spatially enabled inventory of boats. The study area comprised 12,064 salt-water accessible property parcels in two Florida counties. An on-water census (OWC) provided location and characteristics for 5,023 vessels, which were compared to 8,681 vessel registration records linked to the study area. Discrepancies between the OWC and vessel registration data were explained by a stratified, random sample of 485 telephone survey respondents. Study results show that vessel registration data accurately located and characterized roughly 81% of the boat population; in contrast, the OWC accurately located less than 56%. A conclusion is that state vessel registration data is a better alternative than an OWC for locating and characterizing boats kept along waterways.     

Understanding Recreational Boater Attitudes to Zoning in a Proposed Marine Protected Area

Although the success of marine protected areas (MPAs) and associated zoning schemes is largely dependent on stakeholder acceptance and support, there have been relatively few studies examining the response of recreational stakeholders to MPA proposals. This study investigates the response of recreational boaters to a proposed MPA in British Columbia, Canada. Using a structured questionnaire (n = 543) and a focus group (n = 6), the research examines the level of support for the concept of marine zoning and identifies key factors influencing support or opposition. Results indicate that a small majority of recreational boaters support the concept of marine zoning, but that there are areas of concern that ought to be addressed as MPA implementation proceeds. Support for zoning was strongly related to perceived benefits, particularly environmental benefits. Furthermore, perceived benefits overall were found to outweigh concerns as determinants of recreational boater support for zoning. Major dimensions of opposition included perceptions of over-regulation, loss of access for boating, and mistrust of the government. A suggestion is that such concerns may be mitigated through focused communication and meaningful involvement of boaters in the zoning process.     

Can Coastal Management Programs Protect and Promote Water-Dependent Uses?

Anecdotal evidence indicates that commercial and recreational water-dependent uses have been under development pressure in recent years, and in some cases have been converted to other uses. The conversion of water-dependent uses, which range from commercial shipyards to recreational marinas, may have many public costs, including the loss of access to public trust waters, the loss of jobs and associated economic activity, and the loss of traditional working waterfronts. This two-part study investigated the role of five coastal management programs in the northeastern United States in managing, monitoring, and protecting water-dependent uses. First, coastal managers in Massachusetts, Rhode Island, Connecticut, New York and New Jersey were interviewed to assess the conversion problem. Second, in collaboration with New York City-based Regional Plan Association, follow-up interviews were conducted with coastal managers and local planners in Connecticut, New York, and New Jersey to gain greater insight into the role of coastal management programs and local governments in managing and promoting water-dependent uses. This article presents select findings from this study and discusses recommendations for improving the capacity of coastal management programs and local governments to manage water-dependent uses for the benefit of the public.     

Coastal communities—partners or puppets in outer continental shelf development

This article reviews the history of esthetics and its role in the development of outdoor recreation policy. Current research is also reviewed, demonstrating the broad scope and complexity of esthetics as a focus for research. Finally, in the absence of sufficient research for formulating coastal recreation planning and management decisions, the ethics of coastal recreation “development”; is considered.     

Black Boxes - Pathetic progress but some success now in sight

Little has been written about the ship demolition market, an essential element in the supply/demand balance for shipping. Either technical or economic obsolescence may be the cause for scrapping a ship, where the latter is strongly influenced not only by anticipated freight market levels, but the rate at which more efficient ships are being introduced. The scrap value of a ship is a function both of the realizable value of the materials within the ship and cost of demolition. Both are strongly influenced by the cost structures prevailing in the likely country of demolition. The paper explores not only the fundamentals of the ship demolition market, but the trends from the 1960s to the present. The shipbreaking market has moved in that time from being West European-centred to Asian-centred, concentrating for some years in Taiwan, but now shifting to the Indian subcontinent.