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.     

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.     

Initiatives in Philippine Coastal Management: An Overview

Standardized and free-format questionnaires on the state of coastal management were fielded to coastal management practitioners during three workshops and a national feedback and recommendation workshop. The most commonly cited responses were identified for each of 13 political regions and overall trends were identified. Management frameworks frequently included research, community organizing, education, livelihood, resource enhancement, resource protection, regulation, and networking components. Gender issues, documentation, and infrastructure investment were rare. The most commonly perceived environmental problem was illegal/ destructive fishing and its associated overfishing and low fish catch. The most commonly cited socioeconomic problem was the inadequacy of law enforcement. The best monitored variables were usually those related to environmental management: status and change of habitats, resources, and degree of enforcement/patrolling activities. The most common nonregulatory enhancement, aside from environmental education (which is the most popular), was mangrove reforestation. In terms of regulations, the majority of the respondents have reportedly formulated an integrated coastal management plan. In practice, regulating destructive and illegal fishing practices and then the establishment of fish sanctuaries are the next most implemented. The most popular quality-of-life enhancement strategies focused on the improvement of sustainable fishing as a livelihood and on a variety of supplementary livelihoods. The most usual institutional intervention being implemented was the setting up of local community people's organizations. Major factors which may influence success or failure of coastal management and recommendations on research, community organizing and livelihood, legislation and policies, implementation and coordination, and networking are also summarized.     

Building Philippine Local Government Capacity for Coastal Resource Management

The responsibility for managing coral reefs and other coastal resources was largely devolved to coastal municipalities and cities in the Philippines in 1991 with the passage of the Local Government Code. Devolution of powers and responsibilities to local government has paved the way for mainstreaming coastal resource management at the local level. However, the capacity to carry out this mandate has only recently begun to mature as municipalities and cities gain an increased awareness of the importance of coastal resources to communities and economic development. Approaches and strategies to increase local government capacity for coastal resource management are described based on the experiences of the Coastal Resource Management Project of the United States Agency for International Development. Qualitative and quantitative data are used to illustrate the possible impact of these capacity building efforts and to describe the current capacity of local government to undertake coastal resource management. After five years of project implementation, coastal municipalities have increased technical capacity, have allotted financial resources, and have achieved key performance benchmarks in the delivery of coastal resource management as a basic service.     

Economic Valuation of Coastal and Marine Resources: Bohol Marine Triangle,Philippines

This article provides results on the net benefits generated from the natural resources in the Bohol Marine Triangle (BMT) in the Philippines. The BMT spans over 112,000 ha and its coastal ecosystems are rich in biodiversity and provide economic opportunities to the coastal communities. With a 10% discount rate, the accumulated total net benefits for the BMT resources over a 10-year period is US$11.54 million. Tourism and the municipal fisheries are the most important direct use values of the coastal and marine resources of the BMT accounting for 44% and 39% of the total net benefits. Annual revenues attributed to ecosystems were as follows: coral reefs, US$1.26 million; beach/intertidal area, US$1.12 million; marine waters, US$646,501; mangrove, US$239,561; and seagrass, US$105,990. The large market values indicate the dependence of the local community on the BMT coastal and marine resources. In the same way, non-market values show the important life-support functions of coastal and marine ecosystems. The net benefits reflect the magnitude of potential losses due to improper management of coastal and marine resources in the BMT. This valuation highlights the importance of the coastal services to the BMT economy and draws attention to the benefits the local stakeholders derive from BMT coastal resources. Policy measures can now take into account these values to justify a sufficient investment in coastal management efforts to sustain the flow of coastal services in the interest of current and future generations.