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Towards Adaptive and Directable Control of Simulated Creatures Yeuhi Abe AKER
--A Towards Adaptive and Directable Control of Simulated Creatures by Yeuhi Abe Submitted to the Department of Electrical Engineering and Computer Science in partial fulfillment of the requirements for the degree of Master of Science in Computer Science and Engineering at the MASSACHUSETTS INSTITUTE OF TECHNOLOGY February 2007 © Massachusetts Institute of Technology 2007. All rights reserved. Author ....... Departmet of Electrical Engineering and Computer Science Febri- '. 2007 Certified by Jovan Popovid Associate Professor or Accepted by........... Arthur C.Smith Chairman, Department Committee on Graduate Students MASSACHUSETTS INSTInfrE OF TECHNOLOGY APR 3 0 2007 AKER LIBRARIES Towards Adaptive and Directable Control of Simulated Creatures by Yeuhi Abe Submitted to the Department of Electrical Engineering and Computer Science on February 2, 2007, in partial fulfillment of the requirements for the degree of Master of Science in Computer Science and Engineering Abstract Interactive animation is used ubiquitously for entertainment and for the communi- cation of ideas. Active creatures, such as humans, robots, and animals, are often at the heart of such animation and are required to interact in compelling and lifelike ways with their virtual environment. Physical simulation handles such interaction correctly, with a principled approach that adapts easily to different circumstances, changing environments, and unexpected disturbances. However, developing robust control strategies that result in natural motion of active creatures within physical simulation has proved to be a difficult problem. To address this issue, a new and ver- satile algorithm for the low-level control of animated characters has been developed and tested. It simplifies the process of creating control strategies by automatically ac- counting for many parameters of the simulation, including the physical properties of the creature and the contact forces between the creature and the virtual environment. -
7.6 Moments and Center of Mass in This Section We Want to find a Point on Which a Thin Plate of Any Given Shape Balances Horizontally As in Figure 7.6.1
Arkansas Tech University MATH 2924: Calculus II Dr. Marcel B. Finan 7.6 Moments and Center of Mass In this section we want to find a point on which a thin plate of any given shape balances horizontally as in Figure 7.6.1. Figure 7.6.1 The center of mass is the so-called \balancing point" of an object (or sys- tem.) For example, when two children are sitting on a seesaw, the point at which the seesaw balances, i.e. becomes horizontal is the center of mass of the seesaw. Discrete Point Masses: One Dimensional Case Consider again the example of two children of mass m1 and m2 sitting on each side of a seesaw. It can be shown experimentally that the center of mass is a point P on the seesaw such that m1d1 = m2d2 where d1 and d2 are the distances from m1 and m2 to P respectively. See Figure 7.6.2. In order to generalize this concept, we introduce an x−axis with points m1 and m2 located at points with coordinates x1 and x2 with x1 < x2: Figure 7.6.2 1 Since P is the balancing point, we must have m1(x − x1) = m2(x2 − x): Solving for x we find m x + m x x = 1 1 2 2 : m1 + m2 The product mixi is called the moment of mi about the origin. The above result can be extended to a system with many points as follows: The center of mass of a system of n point-masses m1; m2; ··· ; mn located at x1; x2; ··· ; xn along the x−axis is given by the formula n X mixi i=1 Mo x = n = X m mi i=1 n X where the sum Mo = mixi is called the moment of the system about i=1 Pn the origin and m = i=1 mn is the total mass. -
Aerodynamic Development of a IUPUI Formula SAE Specification Car with Computational Fluid Dynamics(CFD) Analysis
Aerodynamic development of a IUPUI Formula SAE specification car with Computational Fluid Dynamics(CFD) analysis Ponnappa Bheemaiah Meederira, Indiana- University Purdue- University. Indianapolis Aerodynamic development of a IUPUI Formula SAE specification car with Computational Fluid Dynamics(CFD) analysis A Directed Project Final Report Submitted to the Faculty Of Purdue School of Engineering and Technology Indianapolis By Ponnappa Bheemaiah Meederira, In partial fulfillment of the requirements for the Degree of Master of Science in Technology Committee Member Approval Signature Date Peter Hylton, Chair Technology _______________________________________ ____________ Andrew Borme Technology _______________________________________ ____________ Ken Rennels Technology _______________________________________ ____________ Aerodynamic development of a IUPUI Formula SAE specification car with Computational 3 Fluid Dynamics(CFD) analysis Table of Contents 1. Abstract ..................................................................................................................................... 4 2. Introduction ............................................................................................................................... 5 3. Problem statement ..................................................................................................................... 7 4. Significance............................................................................................................................... 7 5. Literature review -
Showstopper FINAL V7 4 11 2019
THE 2019 SUMMIT RACING EQUIPMENT I-X PISTON POWERED AUTO-RAMA FEATURED MORE THAN 1,200 ALL STARS AT THE I-X CENTER By Show Manager: Steve Legerski FINAL: V7: 4/11/2019 The 2019 Summit Racing Equipment I-X Piston Powered Auto-Rama celebrated its 53rd year in Cleveland at the I-X Center, March 15 – 17, 2019 under a new theme. In 2019, Cleveland continued its reputation as an “All-Star” City. At the show, Cleveland played host to the Summit Racing Equipment Show I-X Piston Powered Auto-Rama where the All Stars were the Cars. In July, the Cleveland Indians will host the 90th All-Star Game at Progressive Field. Two All-Star events in one All-Star City! From the moment attendees walked into the show they were amazed to see more than one million square feet of piston powered vehicles. Led each morning by a parade of prestigious military color guard, enthusiasts spent hours and in some instances days, soaking in the horsepower of the largest indoor showcase of custom cars, trucks, antique construction equipment, motorcycles, tractors, planes, military equipment and more. The show will return to the I-X Center March 13-15, 2020. New for 2019 was the partnership with the Fatman's Invasion in the South Hall featuring Euros, Imports, Sport Compacts, Modern American Muscle and Low Riders! Five trophies were awarded from all the entries in the South Hall as the Fatman's Fave Five. THE ALL STAR SPONSORS TITLE SPONSOR OFFICIAL SPONSORS IT'S ALL ABOUT THE NUMBERS! The show continues to grow spanning across 21 football fields in size, which makes the I-X Center the only place large enough to host Cleveland’s Auto-Rama. -
Street Gasser Oct 09 V3:Layout 1
National Street Rod ESRA Rep: Mick Harle (Firestarter) Association Committee 020 8444 8615 2009 The official journal of the Chair: Darran Roberts Merchandise: National Street (Alcoholic Rat) Danny Slatter Rod Association 07949 601829 (DansT) Editor: Nick Brooke-Langham Secretary: Sue Ayres Trade Co-Ordinator: (SMA37) Dik Stapley (Dix) Editorial Address: [email protected] 07599 820571 23 Alexandra Drive Newport Pagnell Bucks MK16 0JX Treasurer: Di de Vos Health & Safety Officer: (Zephyr2) Dave Cox (DaveC) Email: [email protected] 07973 401239 07890 549675 Street Gasser magazine is a bi-monthly publication, printed in : January, March, May, July, September Membership Secretary Legislative Officer: & November. Susan Adams Marek Czwordon (Susanadams692) (wolselliac) The views and opinions expressed in 07900 858945 07909 523773 Street Gasser magazine are those of the contributors, and are not necessarily Public Relations Officer: Member without the views of the NSRA. Mention of a Barry Timms portfolio: Nick de Vos particular product or service does not (Blownthames) (zephyrnic) imply endorsement by the NSRA. Every 07929 640692 care is taken to ensure the accuracy of the material published in Street Gasser magazine, but the publishers and printers cannot accept liability for errors Please remember when contacting any Committee members or your Area Rep that the or omissions. NSRA has no full-time officials. The Area Reps and the Committee are all volunteers and as such have normal lives to lead. Therefore, we would respectfully request that no Submissions for Publication: Area Rep or Committee member is called after 9pm. Letters, articles and classified adverts are welcomed. Any item hand written must be legible, electronic Contact Addresses: Secretary: Sue Ayres, email [email protected] submissions are welcome and Membership Secretary: Susan Adams, PO Box preferred. -
Showstopper FINAL V8 4 9 2018
THE 2018 SUMMIT RACING EQUIPMENT I-X PISTON POWERED AUTO-RAMA ROLLED INTO CLEVELAND THEN CLEVELAND ROCKED By Show Manager: Steve Legerski FINAL: V8: 4/9/2018 More than 50,000 attended the 2018 Summit Racing Equipment I-X Piston Powered Auto-Rama, featuring 1,200 vehicles in Cleveland, Ohio at the I-X Center. From the moment attendees walked into the show they were amazed to see more than one million square feet of piston powered vehicles. Led each morning by a parade of prestigious military color guard, enthusiasts spent hours and in some instances days, soaking in the horsepower of the largest indoor showcase of custom cars, trucks, antique construction equipment, motorcycles, tractors, planes, military equipment and more. The show will return to the I-X Center March 15-17, 2019. The show continues to grow spanning across 21 football fields in size, which makes the I-X Center the only place large enough to host Cleveland’s Auto-Rama. IT'S ALL ABOUT THE NUMBERS! Main Floor: 790,000 square feet + South Hall: 165,000 square feet + Concourse: 45,000 square feet TOTAL: 1,000,000 square feet. The Concourse was once again hosted by the Northern Ohio Car Club Association featuring their club’s cars as well as the East London Timing Association (E.L.T.A.). The E.L.T.A. is one of the most active, dedicated and respected car groups in Ontario. Based out of London, Ontario, the group has members at local chapters around the province. The Concourse area was formerly the cafeteria for the Cleveland Tank Plant. -
Simplified Tools and Methods for Chassis and Vehicle Dynamics Development for FSAE Vehicles
Simplified Tools and Methods for Chassis and Vehicle Dynamics Development for FSAE Vehicles A thesis submitted to the Graduate School of the University of Cincinnati in partial fulfillment of the requirements for the degree of Master of Science in the School of Dynamic Systems of the College of Engineering and Applied Science by Fredrick Jabs B.A. University of Cincinnati June 2006 Committee Chair: Randall Allemang, Ph.D. Abstract Chassis and vehicle dynamics development is a demanding discipline within the FSAE team structure. Many fundamental quantities that are key to the vehicle’s behavior are underdeveloped, undefined or not validated during the product lifecycle of the FSAE competition vehicle. Measurements and methods dealing with the yaw inertia, pitch inertia, roll inertia and tire forces of the vehicle were developed to more accurately quantify the vehicle parameter set. An air ride rotational platform was developed to quantify the yaw inertia of the vehicle. Due to the facilities available the air ride approach has advantages over the common trifilar pendulum method. The air ride necessitates the use of an elevated level table while the trifilar requires a large area and sufficient overhead structure to suspend the object. Although the air ride requires more rigorous computation to perform the second order polynomial fitment of the data, use of small angle approximation is avoided during the process. The rigid pendulum developed to measure both the pitch and roll inertia also satisfies the need to quantify the center of gravity location as part of the process. For the size of the objects being measured, cost and complexity were reduced by using wood for the platform, simple steel support structures and a knife edge pivot design. -
Control System for Quarter Car Heavy Tracked Vehicle Active Electromagnetic Suspension
Control System for Quarter Car Heavy Tracked Vehicle Active Electromagnetic Suspension By: D. A. Weeks J.H.Beno D. A. Bresie A. Guenin 1997 SAE International Congress and Exposition, Detroit, Ml, Feb 24-27, 1997. PR- 223 Center for Electromechanics The University of Texas at Austin PRC, Mail Code R7000 Austin, TX 78712 (512) 471-4496 January 2, 1997 Control System for Single Wheel Station Heavy Tracked Vehicle Active Electromagnetic Suspension D. A. Weeks, J. H. Beno, D. A. Bresie, and A. M. Guenin The Center for Electromechanics The University of Texas at Austin PRC, Mail Code R7000 Austin TX 78712 (512) 471-4496 ABSTRACT necessary control forces. The original paper described details concerning system modeling and new active suspension con Researchers at The University of Texas Center for trol approaches (briefly summarized in Addendum A for read Electromechanics recently completed design, fabrication, and er convenience). This paper focuses on hardware and software preliminary testing of an Electromagnetic Active Suspension implementation, especially electronics, sensors, and signal pro System (EMASS). The EMASS program was sponsored by cessing, and on experimental results for a single wheel station the United States Army Tank Automotive and Armaments test-rig. Briefly, the single wheel test-rig (fig. 1) simulated a Command Center (TACOM) and the Defense Advanced single Ml Main Battle Tank roadwheel station at full scale, Research Projects Agency (DARPA). A full scale, single wheel using a 4,500 kg (5 ton) block of concrete for the sprung mass mockup of an M1 tank suspension was chosen for evaluating and actual M1 roadwheels and roadarm for unsprung mass. -
Development of Vehicle Dynamics Tools for Motorsports
AN ABSTRACT OF THE DISSERTATION OF Chris Patton for the degree of Doctor of Philosophy in Mechanical Engineering presented on February 7, 2013. Title: Development of Vehicle Dynamics Tools for Motorsports. Abstract approved: ______________________________________________________________________________ Robert K. Paasch In this dissertation, a group of vehicle dynamics simulation tools is developed with two primary goals: to accurately represent vehicle behavior and to provide insight that improves the understanding of vehicle performance. Three tools are developed that focus on tire modeling, vehicle modeling and lap time simulation. Tire modeling is based on Nondimensional Tire Theory, which is extended to provide a flexible model structure that allows arbitrary inputs to be included. For example, rim width is incorporated as a continuous variable in addition to vertical load, inclination angle and inflation pressure. Model order is determined statistically and only significant effects are included. The fitting process is shown to provide satisfactory fits while fit parameters clearly demonstrate characteristic behavior of the tire. To represent the behavior of a complete vehicle, a Nondimensional Tire Model is used, along with a three degree of freedom vehicle model, to create Milliken Moment Diagrams (MMD) at different speeds, longitudinal accelerations, and under various yaw rate conditions. In addition to the normal utility of MMDs for understanding vehicle performance, they are used to develop Limit Acceleration Surfaces that represent the longitudinal, lateral and yaw acceleration limits of the vehicle. Quasi-transient lap time simulation is developed that simulates the performance of a vehicle on a predetermined path based on the Limit Acceleration Surfaces described above. The method improves on the quasi-static simulation method by representing yaw dynamics and indicating the vehicle’s stability and controllability over the lap. -
Chapter 9 – Center of Mass and Linear Momentum I
Chapter 9 – Center of mass and linear momentum I. The center of mass - System of particles / - Solid body II. Newton’s Second law for a system of particles III. Linear Momentum - System of particles / - Conservation IV. Collision and impulse - Single collision / - Series of collisions V. Momentum and kinetic energy in collisions VI. Inelastic collisions in 1D -Completely inelastic collision/ Velocity of COM VII. Elastic collisions in 1D VIII. Collisions in 2D IX. Systems with varying mass X. External forces and internal energy changes I. Center of mass The center of mass of a body or a system of bodies is a point that moves as though all the mass were concentrated there and all external forces were applied there. - System of particles: General: m1x1 m2 x2 m1x1 m2 x2 xcom m1 m2 M M = total mass of the system - The center of mass lies somewhere between the two particles. - Choice of the reference origin is arbitrary Shift of the coordinate system but center of mass is still at the same relative distance from each particle. I. Center of mass - System of particles: m2 xcom d m1 m2 Origin of reference system coincides with m1 3D: 1 n 1 n 1 n xcom mi xi ycom mi yi zcom mi zi M i1 M i1 M i1 1 n rcom miri M i1 - Solid bodies: Continuous distribution of matter. Particles = dm (differential mass elements). 3D: 1 1 1 xcom x dm ycom y dm zcom z dm M M M M = mass of the object M Assumption: Uniform objects uniform density dm dV V 1 1 1 Volume density xcom x dV ycom y dV zcom z dV V V V Linear density: λ = M / L dm = λ dx Surface density: σ = M / A dm = σ dA The center of mass of an object with a point, line or plane of symmetry lies on that point, line or plane. -
Aerodynamic Analysis of the Undertray of Formula 1
Treball de Fi de Grau Grau en Enginyeria en Tecnologies Industrials Aerodynamic analysis of the undertray of Formula 1 MEMORY Autor: Alberto Gómez Blázquez Director: Enric Trillas Gay Convocatòria: Juny 2016 Escola Tècnica Superior d’Enginyeria Industrial de Barcelona Aerodynamic analysis of the undertray of Formula 1 INDEX SUMMARY ................................................................................................................................... 2 GLOSSARY .................................................................................................................................... 3 1. INTRODUCTION .................................................................................................................... 4 1.1 PROJECT ORIGIN ................................................................................................................................ 4 1.2 PROJECT OBJECTIVES .......................................................................................................................... 4 1.3 SCOPE OF THE PROJECT ....................................................................................................................... 5 2. PREVIOUS HISTORY .............................................................................................................. 6 2.1 SINGLE-SEATER COMPONENTS OF FORMULA 1 ........................................................................................ 6 2.1.1 Front wing [3] ....................................................................................................................... -
Design of Three and Four Link Suspensions for Off Road Use Benjamin Davis Union College - Schenectady, NY
Union College Union | Digital Works Honors Theses Student Work 6-2017 Design of Three and Four Link Suspensions for Off Road Use Benjamin Davis Union College - Schenectady, NY Follow this and additional works at: https://digitalworks.union.edu/theses Part of the Mechanical Engineering Commons Recommended Citation Davis, Benjamin, "Design of Three and Four Link Suspensions for Off Road Use" (2017). Honors Theses. 16. https://digitalworks.union.edu/theses/16 This Open Access is brought to you for free and open access by the Student Work at Union | Digital Works. It has been accepted for inclusion in Honors Theses by an authorized administrator of Union | Digital Works. For more information, please contact [email protected]. Design of Three and Four Link Suspensions for Off Road Use By Benjamin Davis * * * * * * * * * Submitted in partial fulfillment of the requirements for Honors in the Department of Mechanical Engineering UNION COLLEGE June, 2017 1 Abstract DAVIS, BENJAMIN Design of three and four link suspensions for off road motorsports. Department of Mechanical Engineering, Union College ADVISOR: David Hodgson This thesis outlines the process of designing a three link front, and four link rear suspension system. These systems are commonly found on vehicles used for the sport of rock crawling, or for recreational use on unmaintained roads. The paper will discuss chassis layout, and then lead into the specific process to be followed in order to establish optimal geometry for the unique functional requirements of the system. Once the geometry has been set up, the paper will discuss how to measure the performance, and adjust or fine tune the setup to optimize properties such as roll axis, antisquat, and rear steer.