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.     

大跨径连续刚构桥的温度效应分析

以魏家洲特大桥为例,按照我国公路桥涵设计规范、英国BS5400规范、新西兰规范确定不同的计算模式,对大跨径连续刚构桥进行温度效应分析,得出：温度应力在大跨径连续刚构桥整个桥梁设计中占有很大的比重,且采用不同的温度梯度计算模式,所得到的梁内温度应力值相差较大,甚至出现异号的温度应力.     

Dynamics of inorganic nutrient species in the Bohai seawaters

Within the frame of a Sino-German Joint Research Program, two cruises of “R/V Dong Fang Hong 2” were carried out in September–October 1998 and April–May 1999, respectively, to understand the dynamics of nutrients in the Bohai. Nutrient species (NO₃⁻, NO₂⁻, NH₄⁺, PO₄³⁻ and SiO₃²⁻) are determined colorimetrically on board for five anchor and 30 grid stations. In situ incubation experiments are performed to determine planktonic nutrient uptake and benthic exchange flux. Nutrient concentrations display short-term variability and seasonal change in the Bohai, with higher levels in shallow coastal waters than in the Central Bohai. The influence of riverine discharge on nutrient levels can be seen from salinity isopleths, nutrient distribution and species ratios. Near-bottom (nb) waters have similar nutrient concentrations as to the surface waters in the Central Bohai, whereas stratification takes place in the Bohai Strait and North Yellow Sea. In situ incubation experiments provide evidence that the uptake ratio (i.e. N, P) by phytoplankton is proportional to the ratios among nutrient species in ambient waters. Based on the data of this study and previously publications, a preliminary estimate of nutrient budgets via riverine input and atmospheric deposition is established. The results indicate that atmospheric deposition gains importance over rivers in delivering nutrients into the Bohai and sustain the new production, following recent decrease in riverine inflow caused by drought periods in North China and damming practices. A historical review of nutrient data indicates that concentrations of nitrogen increase and phosphorus and silica decrease in the Central Bohai over last 40 years. This potentially has an important influence on the health of ecosystem in Bohai (e.g. food web and community structure), though further study is needed to examine the scenario in more detail.     

Parametric Hull Form Optimization of Containerships for Minimum Resistance in Calm Water and in Waves

This paper described the process of generating the optimal parametric hull shape with a fully parametric modeling method for three containerships of different s...     

Florida's coastal setback line—an effort to regulate beachfront development

Abstract

The coastal setback line program in Florida represents an effort to achieve more efficient location decisions, protect beachfront properties from storms, and control beach erosion. This article examines the reasons why the regulation of shoreline development might be necessary, describes the coastal setback program in Florida, discusses some of the problems encountered in its implementation, and examines its potential success.     

The continental shelf and the exclusive economic zone: the problem of delimitation at UNCLOS III

If the Third United Nations Conference on the Law of the Sea succeeds in adopting a new Caracas Convention on the Law of the Sea, it is likely to embody detailed provisions on the delimitation of both the continental shelf and the new zone, the exclusive economic zone. In this paper, the most recent draft of these rules—contained in the Revised Single Negotiating Text—is subjected to a detailed and critical scrutiny which leads to the conclusion that the Sixth Session of the Conference still has a great deal of work to do before agreement can be reached on a satisfactory set of rules.     

International Symposium on the Ice Carrying Trade at Sea

Overmanning and restrictive labour practices are major causes of low productivity in Indian ports. Proposals are put forward for a programme of reforms to support investment in modern cargo handling systems.     

A receding horizon sliding control approach for electric powertrains with backlash and flexible half-shafts

Active control of electric powertrains is challenging, due to the fact that backlash and structural flexibility in transmission components can cause severe performance degradation or even instability of the control system. Furthermore, high impact forces in transmissions reduce driving comfort and possibly lead to damage of the mechanical elements in contact. In this paper, a nonlinear electric powertrain is modelled as a piecewise affine (PWA) system. The novel receding horizon sliding control (RHSC) idea is extended to constrained PWA systems and utilised to systematically address the active control problem for electric powertrains. Simulations are conducted in Matlab/Simulink in conjunction with the high fidelity Carsim software. RHSC shows superior jerk suppression and target wheel speed tracking performance as well as reduced computational cost over classical model predictive control (MPC). This indicates the newly proposed RHSC is an effective method to address the active control problem for electric powertrains.     

Insights into vehicle trajectories at the handling limits: analysing open data from race car drivers

Race car drivers can offer insights into vehicle control during extreme manoeuvres; however, little data from race teams is publicly available for analysis. The Revs Program at Stanford has built a collection of vehicle dynamics data acquired from vintage race cars during live racing events with the intent of making this database publicly available for future analysis. This paper discusses the data acquisition, post-processing, and storage methods used to generate the database. An analysis of available data quantifies the repeatability of professional race car driver performance by examining the statistical dispersion of their driven paths. Certain map features, such as sections with high path curvature, consistently corresponded to local minima in path dispersion, quantifying the qualitative concept that drivers anchor their racing lines at specific locations around the track. A case study explores how two professional drivers employ distinct driving styles to achieve similar lap times, supporting the idea that driving at the limits allows a family of solutions in terms of paths and speed that can be adapted based on specific spatial, temporal, or other constraints and objectives.