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.     

The Evaluation of the 2nd Ocean Plan in Korea: Focused on the Implementing Power of the Plan

There seem to be two types of ocean planning system in the world. First, the federal or united government suggests a basic framework of the plan which is followed by states, countries or areas as shown in the European Union, the United States, Canada, Australia, and so on. Second, a powerful central government prepares a basic ocean plan that guides the following sector plans of the relevant ministries. These cases are shown in Japan, Korea, and China. In Korea, the 2nd Ocean and Fishery Development Plan (OK21, 2011–2020) was made as a comprehensive ocean plan reflecting recent natural and social changes including global warming. The OK21 is declarative in its nature, and so evaluated by its sector plans, which have some specific implementing means such as budgets and manpower, organization, and so on, by the relevant laws. The 2nd OK21 is supported by 21 legally binding sector plans, 14 more than in the 1st plan, thus guaranteeing more effective implementation than in the 1st plan. In addition, most of sector plans are planned to be carried out through the well-coordinated system among the related ministries, thus showing a high degree of implementing efficiency of the plan. Every marine area in the plan, including marine environment, is being supported by more sector plans than before, indicating the equitable development of marine areas in the future. In sum, the 2nd OK21 is expected to show more implementing power due to the well-organized sector plans than in the 1st plan.     

Identifying optimal data aggregation interval sizes for link and corridor travel time estimation and forecasting

With the recent increase in the deployment of ITS technologies in urban areas throughout the world, traffic management centers have the ability to obtain and archive large amounts of data on the traffic system. These data can be used to estimate current conditions and predict future conditions on the roadway network. A general solution methodology for identifying the optimal aggregation interval sizes for four scenarios is proposed in this article: (1) link travel time estimation, (2) corridor/route travel time estimation, (3) link travel time forecasting, and (4) corridor/route travel time forecasting. The methodology explicitly considers traffic dynamics and frequency of observations. A formulation based on mean square error (MSE) is developed for each of the scenarios and interpreted from a traffic flow perspective. The methodology for estimating the optimal aggregation size is based on (1) the tradeoff between the estimated mean square error of prediction and the variance of the predictor, (2) the differences between estimation and forecasting, and (3) the direct consideration of the correlation between link travel time for corridor/route estimation and forecasting. The proposed methods are demonstrated using travel time data from Houston, Texas, that were collected as part of the automatic vehicle identification (AVI) system of the Houston Transtar system. It was found that the optimal aggregation size is a function of the application and traffic condition.

Structural relationships among shipper’s perception,value, and choice intention of Korea–China train ferry service

ABSTRACT

The logistics environment between China and Korea has been changing rapidly in line with the ‘Go West’ policy of international trade and logistics area. The policy includes the BRI, Western Development Strategy, and Korea–China FTA. Against this background, the Korea–China train ferry (KCTF) is being newly illuminated as an alternative mode to cope with the logistics environment between Korea and China. One of the key success factors of the KCTF depends on, among others, shippers’ perception, which will affect the choice and the successful operation of the KCTF. From this perspective, this paper develops seven hypotheses based on the Theory of Reasoned Action (TRA) and Technology Acceptance Model (TAM). We test these hypotheses using Structural Equation Modeling (SEM) to explore the structural relationship between shippers’ behavioral beliefs influencing the perceived usefulness, the attitude toward and intention to choose the KCTF. The test results confirm that among the behavioral beliefs, transport accessibility in association with an efficient network of inland roads and railway networks is an important prerequisite. In addition, we verified a high statistical significance in the structural relationships among perceived usefulness, the attitude toward and the intention to choose the KCTF.     

Major sources of hydrocarbon emissions in a premixed charge compression ignition engine

Although premixed charge compression ignition (PCCI) combustion engines are praised for potentially high efficiency and clean exhaust, experimental engines built to date emit more hydrocarbons (HCs) and carbon monoxide (CO) than the conventional machines. These compounds are not only strictly controlled components of the exhaust gas of road vehicles but are also an energy loss indicator. The prime objective of this study was to investigate the major sources of the HCs formed in the combustion chamber of an experimental PCCI engine in order to suggest some effective technologies for HC reduction. In this study, to explore the dominant sources of HC emissions in both operation modes, a single cylinder engine was prepared such that it could operate using either conventional diesel combustion or PCCI combustion. Specifically, the contributions of the top-ring crevice volume in the combustion chamber and the bulk quenching of the lean mixture were investigated. To understand the influence of the shape and magnitude of the crevice on HC emissions, the engine was operated with 12 specially prepared pistons with different top-ring crevices installed one after another. The engine emitted proportionally more HCs as the depth of the crevice increased as long as the width remained narrower than the prevailing quench distance. The top-ring-crevice-originated exhaust HCs comprised approximately 31% of the total HC emissions in the baseline condition. In a series of tests to estimate the effects of bulk quench on exhaust HC emissions, intake air was heated from 300K to 400K in steps of 25K. With the intake air heated, HC and CO emissions decreased with a gradually diminishing rate to zero at 375K. In conclusion, the most dominant sources of HC emissions in PCCI engines were the crevice volumes in the combustion chamber and the bulk quenching of the lean mixtures. The key methods for reducing HC emissions in PCCI engines are minimizing crevice volume in the combustion chamber and maximizing intake air temperature allowed based on the permissible NOx level.     

A self-powering system based on tire deformation during driving

Tire intelligence is vital in the improvement of the safety of vehicles because the tire supports the car body and is the contact point between the vehicle and the road. To create an intelligent tire, sensors must be installed to measure the behavior of the tire. However, it is difficult to apply a wired sensor system on the wheel of the tire. Hence, it is necessary to implement a self-powering, wireless system (a type of energy harvesting system) that can be mounted inside the tire. The purpose of this study is to convert the strain energy caused by deformation of the tire while driving into useful electrical energy to supply the sensor system. A flexible piezofiber is utilized for the energy conversion. The variation in strain, due to changes in speed, load, and the internal pressure of the tire, was measured along two axial directions to evaluate the amount of available strain energy. The amount of strain changed from 0.15% to 0.8%. To predict the amount of available energy from a tire, we perform an analysis of the relationship between the strain and the voltage. In addition, experiments for impedance matching between piezofiber and related circuits were conducted to optimize the external loads for transferring energy efficiently. Based on the procedure mentioned above, at least 0.58 mJ of electrical energy can be generated by using the laterally oriented strain (1500 to 2500 micro strain). The result of this study is expected to enhance the potential realization of self-generating wireless sensor systems for so-called ??intelligent?? tires.     

Occupant injury risk analysis at NASS/CDS database

Injury information for vehicle occupants from the body regions of the head, thorax, abdomen, and upper and lower extremities, due to the restraints and interior parts of the vehicle, were extracted from the 2009 ~ 2012 NASS/CDS database. For those cases with high occurrence frequency, a detailed and comprehensive data analysis was performed to find the relationship between the accident, occupant, vehicle, and injury data. A numerical frontal impact sled model with the Hybrid III dummy and the GHBMC human body model was constructed to simulate and identify those injury risks according to NASS/CDS. Among the 5,734 injuries to the aforementioned body regions from frontal crashes are, listed by frequency of occurrence, the lower extremity (27.8 %), upper extremity (21.3 %), thorax (15.1 %), face (10.9 %), spine (8.7 %), head (7.3 %), and abdomen (6.9 %). The main injury sources to the head were the windshield, side structure, and steering wheel. For the thorax and abdomen they were the seat belt and steering wheel. For the lower extremity it was the instrument panel. The main injury patterns for the head were the concussion and the contusion. For the thorax they were vessel laceration and lung contusion. For the abdomen they were laceration and contusion of the organs. For the lower extremity they were bone fracture and ligament rupture. The steering wheel and seat positions were main factors affecting head and thorax injury risks. From the sled impact simulation, high injury risks of the head and thorax were assessed respectively at conditions of steering column tilt down and rear most seat position, which correlated well with the findings from the NASS/CDS data analysis.