Optimization of Center of Gravity Position and Anti-Wave Plate Angle of Amphibious Unmanned Vehicle Based on Orthogonal Experimental Method

When the amphibious vehicle navigates in water,the angle of the anti-wave plate and the position of the center of gravity greatly influence the navigation characteristics.In the relevant research on reducing the navigation resistance of amphibious vehicles by adjusting the angle of the anti-wave plate,there is a lack of scientific selection of parameters and reasonable research of simulation results by using mathematical methods,and the influence of the center of gravity position on navigation characteristics is not considered at the same time.To study the influence of the combinations of the angle of the anti-wave plate and the position of the center of gravity on the resistance reduction characteristics,a numerical calculation model of the amphibious unmanned vehicle was established by using the theory of computational fluid dynamics,and the experimental data verified the correctness of the numerical model.Based on this numerical model,the navigation characteristics of the amphibious unmanned vehicle were studied when the center of gravity was located at different positions,and the orthogonal experimental design method was used to optimize the parameters of the angle of the anti-wave plate and the position of the center of gravity.The results show that through the parameter optimization analysis based on the orthogonal experimental method,the combination of the optimal angle of the anti-wave plate and the position of the center of gravity is obtained.And the numerical simulation result of resistance is consistent with the predicted optimal solution.Compared with the maximum navigational resistance,the parameter optimization reduces the navigational resistance of the amphibious unmanned vehicle by 24%.

Review of the Research Progress on Static Earth Gravity Field and Vertical Datum in China during 2019—2023

The contribution presents the representative research progress on global static gravity field modeling,regional geoid/quasigeoid determination,vertical datum study,as well as the theory,algorithm and software for gravity field study in China from 2019 to 2023,which are the highlights of the chapter 6“Progress in Earth Gravity Model and Vertical Datum”in the“2019—2023 China National Report on Geodesy”that submitted to the International Association of Geodesy(IAG).In addition,suggestions are proposed to promote the research in the fields of earth gravity field,geoid/quasigeoid and vertical datumin China according to trends of international geodesy and related disciplines.

The gravity field and gravity data reduction across the continental area of Nigeria

This research presents the variation of the gravity field and associated gravity field components over the continental area of Nigeria to provide data for geoscience research,geodetic and engineering works,aerodynamic studies and deep crustal inferences.Accurate positions and elevations were observed at 58 of the 59 base stations of the Primary Gravity Network of Nigeria(PGNN),whose absolute gravity values had been accurately determined.The absolute gravity values were plotted against their respective positions to reveal the distribution pattern and strength of the gravity field within the study area.Theoretical gravity values at each base station were generated using the Somigliana's equation.The free-air gravity and free-air anomaly gravity values were generated with respect to the World Geodetic System 1984(WGS84)ellipsoid using GPS-derived elevation data.Then,the perturbing potential,free-air gravity with respect to the geoid,and the indirect effects were evaluated.The average of the indirect effects was used to adjust the WGS84 gravity formula to produce a gravity formula that better approximates the geoid across the continental area of Nigeria,compatible with the heights measured relative to the geoid,which can serve as a reference for establishing a vertical height control.The Bouguer gravity and Bouguer gravity anomalies across Nigeria revealed a“trans-southern gravity high strip”interpreted to be associated with mantle upwelling.Two new major mega-lineaments related to mantle upwelling were mapped.A batholith province trending NWeSE was delineated,occurring from north central Nigeria to the north western region and containing closures of“Bouguer gravity lows”interpreted as batholiths.A separate closure of“Bouguer gravity low”was detected at Azare,north eastern Nigeria,which may be due to the presence of intrusive granitic body.It is recommended that the mantle structure beneath“the trans-southern gravity high strip”,“delineated batholith province”and“isolated gravity closures”around the northeast of Nigeria should be studied from seismic shear wave splitting analysis for better understanding of the deep lithospheric structures and moho relief.

Prediction of Gravity Anomalies Over the South China and Philippine Seas from Multi-satellite Altimeter Sea Surface Heights

t Gravity anomalies on a2.5 ×2.5 arc-minute grid in a non-tidal system were derived over the South China and Philippine Seas from multi-satellite altimetry data. North and east components of deflections of the vertical were computed from altimeter-derived sea surface heights at crossover locations, and gridded onto a 2.5 × 2.5 arc-minute resolution grid. EGM96-derived components of deflections of the vertical and gravity anomalies gridded into 2.5 × 2.5 arc-minute resolutions were then used as reference global geopotential model quantities in a remove-restore procedure to implement the Inverse Vening Meinesz formula via the 1D-FFT technique to predict the gravity anomalies over the South China and Philippine Seas from the gridded altimeter-derived components of deflections of the vertical. Statistical comparisons between the altimeter-derived and the shipboard gravity anomalies showed that there is a root-mean-square agreement of 5.7 mgals between them.

Analysis of Urbanization Based on Center-of-gravity Movement and Characteristics in Songhua River Basin of China and its Southern Source Sub-basin between 1990 and 2010

Urbanization in modern times led to a series of development strategies that brought new opportunities in China. Rapid urbanization caused severe stress to the ecosystems and the environment. Using the center-of-gravity(COG) method and parameters such as population, economy, and land, we studied the urbanization pattern in Songhua River Basin and its southern source sub-basin from 1990 to 2010. Urbanization was analyzed based on the COG position, eccentric distance, movement direction of COG, and distance of COG movement. Various characteristics of urbanization in the southern source sub-basin of the Songhua River were explained in relation to the whole Songhua River Basin. Urbanization in the southern source sub-basin of the Songhua River is balanced, relatively advanced, and stable compared to the whole Songhua River Basin. The average eccentric distance between the urbanization COGs in the Songhua River′s south source basin indicated rapid expansion of land urbanization during the span of this study. A basic pattern of urbanization COG in the whole Songhua Basin was observed, but there existed differences among the three aspects of urbanization process. Land urbanization is still in its active stage, so future studies should focus on analysis of such urbanization trends.

Analysis and Study on Spatial Gravity Center of PM_(2.5) and Population Scale

With the rapid development of urbanization construction in China,population and industries are rapidly gathering in cities,bringing about economic development and also causing a large number of environmental problems,among which PM_(2.5) is the most concerned.In this paper,a spatial gravity center model was used to systematically analyze the spatiotemporal distribution characteristics of PM_(2.5) and population scale in China from 1999 to 2016.Conclusions were as below:(1)there were significant regional differences in PM_(2.5) pollution from 1999 to 2016,characterized by a spatial distribution of"high in the north and low in the south,and high in the inland and low in the coastal areas".(2)Nationwide,there was a significant spatial mismatch between the gravity center of PM_(2.5) pollution and the gravity center of population scale,with the two centers showing a trend of reverse dislocation development.

Determination of the geopotential and orthometric height based on frequency shift equation

The orthometric height (OH) system plays a key role in geodesy, and it has broad applications in various fields and activities. Based on general relativity theory (GRT), on an arbitrary equi-geo- potential surface, there does not exist the gravity frequency shift of an electromagnetic wave signal. However, between arbitrary two different equi-geopotential surfaces, there exists the gra- vity frequency shift of the signal. The relationship between the geopotential difference and the gravity frequency shift between arbitrary two points P and Q is referred to as the gravity frequency shift equation. Based on this equation, one can determine the geopotential difference as well as the OH difference between two separated points P and Q either by using electromagnetic wave signals propagated between P and Q, or by using the Global Positioning System (GPS) satellite signals received simultaneously by receivers at P and Q. Suppose an emitter at P emits a signal with frequency f towards a receiver at Q, and the received frequency of the signal at Q is , or suppose an emitter on board a flying GPS satellite emits signals with frequency f towards two receivers at P and Q on ground, and the received frequencies of the signals at P and Q are and , respectively, then, the geopoten-tial dif- ference between these two points can be determined based on the geopotential frequen- cy shift equation, using either the gravity frequency shift ? f or ? , and the corresponding OH difference is further determined based on the Bruns’ formula. Besides, using this approach a unified world height datum system might be realized, because P and Q could be chosen quite arbitrarily, e.g., they are located on two separated continents or islands.

Development of Precise Geoid Model for the Establishment of Consistent Height System in Geoga Grand Bridge Construction Area

The national benchmarks on islands were mostly established by trigonometric leveling in Korea. This method results in inaccuracy, which is a serious problem in Geoga Grand Bridge construction work that tried to link the mainland and the islands. The Geoga Grand Bridge （Pusan-Geoje fixed link project） was selected as the study area, a huge construction work in Korea that will connect the mainland （Pnsan） and an island （Gecje island）. However, the orthometric heights issued at benchmarks （JINH and GOFJ） were not consistent, because they did not refer to the same zero point, which would make the linking of the sections problematic. This paper introduces the precise local geoidas a vertical datum for the construction area in order to establish a consistent height system. To determine the precise local geoid for the construction area, we firstly developed a precise gravimetric geoid for Korea and its adjoining seas as a whole. This gravimetric geoid was developed by use of all available gravity data, including surface and satellite data on land and on the ocean. The gravimetrie gecid was computed by spherical fast fourier transform with modified Stokes＇ kernels. The remove-restore technique was used to eliminate the terrain effects by use of the RTM reduction and to determine the residual geoid by combining the GGM02S/EGM96 geopotential model, free-air gravity anomalies and high-resolutinn DEM data. Finally, the gravimetric model was fitted to the geoid heights obtained from GPS and tide observations （Ncps/Tiae） by least square coUocatian, to provide the final GPS-consistent local precise geoid model. The post-fit error （std. dev. ） of the final geoid to the NetS/Tide derived from GPS and tide observations was ± 2.2 cm for the construction area. We solved the height inconsistency problem by calculating the orthometric height of the benchmarks and the cnntrol points using the final geoid model. Also, the highly accurate orthometric height was estimated through the GPS/leveling technique by applying the developed local precise geoid. Therefore, the precise local geoid is expected to improve the quality of the construction procedure of the Geoga Grand Bridge.

Determination of the height of Mount Everest using the shallow layer method

Shallow layer method(SLM)based on the definition of the geoid can determine the gravity field inside the shallow layer.In this study,the orthometric height of Mount Everest(HME)is calculated based on SLM,in which the key is to construct the shallow layer model.The top and bottom boundaries of the shallow layer model are the natural surface of the Earth and the surface at a certain depth below the reference geoid,respectively.The model-combined strategies to determine the geoid undulation(N)based on SLM are applied to calculate the HME by two approaches:(1)direct calculation by combining N and geodetic height(h);(2)calculation by the segment summation approach(SSA)using the gravity field inside the shallow layer.On December 8,2020,the Chinese and Nepalese governments announced an authoritative value of 8848.86 m,which is referred to a geoid determined by the International Height Reference System(IHRS)(i.e.,the geopotential is 62636853.4 m^(2) s^(-2)).Here,our results(combined strategies(1)EGM2008 and CRUST1.0,(2)EGM2008 and CRUST2.0,(3)EIGEN-6 C4 and CRUST1.0,and(4)EIGEN-6 C4 and CRUST2.0)are referred to the geoid defined by WGS84(i.e.,the geopotential is 62636851.7 m^(2) s^(-2)).The differences between our results and the authoritative value(8848.86 m)are 0.448 m,-0.009 m,-0.295 m,and -0.741 m by the first approach,and 0.539 m,0.083 m,-0.214 m,and -0.647 m by the second approach.When the reference surface WGS84 geoid is converted to the IHRS geoid,the differences are 0.620 m,0.163 m,-0.123 m,and -0.569 m by the first approach,and0.711 m,0.225 m,-0.042 m,and -0.475 m by the second approach.

Prospects for an Eastward Shift of the Global Economic Center

The rapid growth of Asian economies and their rising share of the global economy give rise to a prevailing view that the global economic center is moving eastward. At least over the next decade, however, Asia is unlikely to become the global economic center. There are multiple reasons .for this. First, insufficient demands from end consumers will make it difficult to reduce Asian economies＇ reliance on other markets for exports. Second, Asian economies＇ continued growth will be constrained both by insufficient innovation and by future global climate change regulations. Because of international labor division, moreover, it will be increasingly difficult to achieve leapfrog development. Third, there are several obstacles to building an integrated Asian market： these will prevent Asian economies .from shaping a common ground regarding international affairs. If Asian countries are unable to make breakthroughs in these three areas, the global economic system may exhibit asymmetrical ＂dual centers＂, i.e, a global manufacturing center in Asia and a global financial center in Europe and America.

A new monitoring index for ecological vulnerability and its application in the Yellow River Basin,China from 2000 to 2022

The ecological environment of the Yellow River Basin has become more fragile under the combined action of natural and manmade activities.However,the change mechanisms of ecological vulnerability in different sub-regions and periods vary,and the reasons for this variability are yet to be explained.Thus,in this study,we proposed a new remote sensing ecological vulnerability index by considering moisture,heat,greenness,dryness,land degradation,and social economy indicators and then analyzed and disclosed the spatial and temporal change patterns of ecological vulnerability of the Yellow River Basin,China from 2000 to 2022 and its driving mechanisms.The results showed that the newly proposed remote sensing ecological vulnerability index had a high accuracy,at 86.36%,which indicated a higher applicability in the Yellow River Basin.From 2000 to 2022,the average remote sensing ecological vulnerability index of the Yellow River Basin was 1.03,denoting moderate vulnerability level.The intensive vulnerability area was the most widely distributed,which was mostly located in the northern part of Shaanxi Province and the eastern part of Shanxi Province.From 2000 to 2022,the ecological vulnerability in the Yellow showed an overall stable trend,while that of the central and eastern regions showed an obvious trend of improvement.The gravity center of ecological vulnerability migrated southwest,indicating that the aggravation of ecological vulnerability in the southwestern regions was more severe than in the northeastern regions of the basin.The dominant single factor of changes in ecological vulnerability shifted from normalized difference vegetation index(NDVI)to temperature from 2000 to 2022,and the interaction factors shifted from temperature∩NDVI to temperature∩precipitation,which indicated that the global climate change exerted a more significant impact on regional ecosystems.The above results could provide decision support for the ecological protection and restoration of the Yellow River Basin.

Spatial and temporal change patterns of net primary productivity and its response to climate change in the Qinghai–Tibet Plateau of China from 2000 to 2015

The vegetation ecosystem of the Qinghai–Tibet Plateau in China,considered to be the′′natural laboratory′′of climate change in the world,has undergone profound changes under the stress of global change.Herein,we analyzed and discussed the spatial-temporal change patterns and the driving mechanisms of net primary productivity(NPP)in the Qinghai–Tibet Plateau from 2000 to 2015 based on the gravity center and correlation coefficient models.Subsequently,we quantitatively distinguished the relative effects of climate change(such as precipitation,temperature and evapotranspiration)and human activities(such as grazing and ecological construction)on the NPP changes using scenario analysis and Miami model based on the MOD17A3 and meteorological data.The average annual NPP in the Qinghai–Tibet Plateau showed a decreasing trend from the southeast to the northwest during 2000–2015.With respect to the inter-annual changes,the average annual NPP exhibited a fluctuating upward trend from 2000 to 2015,with a steep increase observed in 2005 and a high fluctuation observed from 2005 to 2015.In the Qinghai–Tibet Plateau,the regions with the increase in NPP(change rate higher than 10%)were mainly concentrated in the Three-River Source Region,the northern Hengduan Mountains,the middle and lower reaches of the Yarlung Zangbo River,and the eastern parts of the North Tibet Plateau,whereas the regions with the decrease in NPP(change rate lower than–10%)were mainly concentrated in the upper reaches of the Yarlung Zangbo River and the Ali Plateau.The gravity center of NPP in the Qinghai–Tibet Plateau has moved southwestward during 2000–2015,indicating that the increment and growth rate of NPP in the southwestern part is greater than those of NPP in the northeastern part.Further,a significant correlation was observed between NPP and climate factors in the Qinghai–Tibet Plateau.The regions exhibiting a significant correlation between NPP and precipitation were mainly located in the central and eastern Qinghai–Tibet Plateau,and the regions exhibiting a significant correlation between NPP and temperature were mainly located in the southern and eastern Qinghai–Tibet Plateau.Furthermore,the relative effects of climate change and human activities on the NPP changes in the Qinghai–Tibet Plateau exhibited significant spatial differences in three types of zones,i.e.,the climate change-dominant zone,the human activity-dominant zone,and the climate change and human activity interaction zone.These research results can provide theoretical and methodological supports to reveal the driving mechanisms of the regional ecosystems to the global change in the Qinghai–Tibet Plateau.

Evolvement Characteristics of Population and Economic Gravity Centers in Tarim River Basin,Uygur Autonomous Region of Xinjiang,China

Using the data at the county levcl and the regional gravity center model, we calculated six key socio-economic gravity centers, namely population, GDP, output values of primary, secondary and tertiary industries, and arable land area in the Tarim River Basin for each year from 1980 to 2009. We inspected the spatial dynamics of these centers and found that the gravity centers of population and economy evolved simultaneously. The disproportional growth between the population and the economy is also analyzed. The results show that： 1） The gravity centers of the GDR the output values of the main three industries and arable land area show migration trending from southwest to northeast, while the population gravity center shows an excessive growth in the southwest during the same time period. The migration amplitude of the GDP and output values of primary industry, secondary industry, tertiary industry are measurably higher than that of the population. 2） The population gravity center has a negative correlation with the gravity centers of secondary and tertiary industries output values in both longitudinal and latitudinal directions, and a positive correlation with that of primary industry output value in the longitudinal direction. Based on the analysis of correlation coefficient and offset distance, the imbalance between the population and the economy has increased since the 1980s, with regional economic differences now exceeding the international cordon.

The Relationship between Normalized Difference Vegetation Index(NDVI) and Climate Factors in the Semiarid Region:A Case Study in Yalu Tsangpo River Basin of Qinghai-Tibet Plateau

The Yalu Tsangpo River basin is a typical semi-arid and cold region in the Qinghai-Tibet Plateau, where significant climate change has been detected in the past decades. The objective of this paper is to demonstrate how the regional vegetation, especially the typical plant types, responds to the climate changes. In this study, the model of gravity center has been firstly introduced to analyze the spatial-temporal relationship between NDVI and climate factors considering the time-lag effect. The results show that the vegetation grown has been positively influenced by the rainfall and precipitation both in moving tracks of gravity center and time-lag effect especially for the growing season during the past thirteen years. The herbs and shrubs are inclined to be influenced by the change of rainfall and temperature, which is indicated by larger positive correlation coefficients at the 0.05 confidence level and shorter lagging time. For the soil moisture, the significantly negative relationship of NDV-PDI indicates that the growth and productivity of the vegetation are closely related to the short-term soil water, with the correlation coefficients reaching the maximum value of o.81 at Lag 0-1. Among the typicalvegetation types of plateau, the shrubs of low mountain, steppe and meadow are more sensitive to the change of soil moisture with coefficients of -0.95, -0.93, -0.92, respectively. These findings reveal that the spatial and temporal heterogeneity between NDVI and climatic factors are of great ecological significance and practical value for the protection of eco-environment in Qinghai-Tibet Plateau.

Algorithm for 2D irregular-shaped nesting problem based on the NFP algorithm and lowest-gravity-center principle

The nesting problem involves arranging pieces on a plate to maximize use of material. A new scheme for 2D ir- regular-shaped nesting problem is proposed. The new scheme is based on the NFP (No Fit Polygon) algorithm and a new placement principle for pieces. The novel placement principle is to place a piece to the position with lowest gravity center based on NFP. In addition, genetic algorithm (GA) is adopted to find an efficient nesting sequence. The proposed scheme can deal with pieces with arbitrary rotation and containing region with holes, and achieves competitive results in experiment on benchmark datasets.

Stable Transition of Quadruped Rhythmic Motion Using the Tracking Differentiator

Since the quadruped robot possesses predominant environmental adaptability,it is expected to be employed in nature environments. In some situations,such as ice surface and tight space,the quadruped robot is required to lower the height of center of gravity( COG) to enhance the stability and maneuverability. To properly handle these situations,a quadruped controller based on the central pattern generator( CPG) model,the discrete tracking differentiator( TD) and proportional-derivative( PD) sub-controllers is presented. The CPG is used to generate basic rhythmic motion for the quadruped robot. The discrete TD is not only creatively employed to implement the transition between two different rhythmic medium values of the CPG which results in the adjustment of the height of COG of the quadruped robot,but also modified to control the transition duration which enables the quadruped robot to achieve the stable transition. Additionally,two specific PD sub-controllers are constructed to adjust the oscillation amplitude of the CPG,so as to avoid the severe deviation in the transverse direction during transition locomotion. Finally,the controller is validated on a quadruped model. A tunnel with variable height is built for the quadruped model to travel through. The simulation demonstrates the severe deviation without the PD sub-controllers,and the reduced deviation with the PD sub-controllers.

Effects of land use/cover change(LUCC) on the spatiotemporal variability of precipitation and temperature in the Songnen Plain,China

Understanding the effects of land use/cover change(LUCC) on regional climate is critical for achieving land use system sustainability and global climate change mitigation. However, the quantitative analysis of the contribution of LUCC to the changes of climatic factors, such as precipitation & temperature(P&T), is lacking. In this study, we combined statistical methods and the gravity center model simulation to quantify the effects of long-term LUCC on P&T in the Songnen Plain(SNP) of Northeast China from 1980–2018. The results showed the spatiotemporal variability of LUCC. For example, paddy field had the largest increase(15 166.43 km2) in the SNP, followed by dry land, while wetland had the largest decrease(19 977.13 km;) due to the excessive agricultural utilization and development. Annual average precipitation decreased at a rate of –9.89 mm per decade, and the warming trends were statistically significant with an increasing rate of 0.256°C per decade in this region since 1980. The model simulation revealed that paddy field, forestland, and wetland had positive effects on precipitation, which caused their gravity centers to migrate towards the same direction accompanied by the center of precipitation gravity, while different responses were seen for building land, dry land and unused land. These results indicated that forestland had the largest influence on the increase of precipitation compared with the other land use types.The responses in promoting the temperature increase differed significantly, being the highest in building land, and the lowest in forestland. In general, the analysis of regional-scale LUCC showed a significant reduction of wetland, and the increases in building land and cropland contributed to a continuous drying and rapid warming in the SNP.

Spatial-temporal characteristics of the coupling coordination of social security and economic development in China during 2002–2018

Clarifying the relationship between social security and economic development is helpful to realize the sustainable social security system and the stable function of sustainable economic development.In this paper,the entropy method,coupling coordination degree,standard deviation ellipse model,and spatial autocorrelation were used to study the spatial-temporal characteristics of coupling coordination of social security and economic development in China from 2002 to 2018.The results indicate that the relationship between social security and economic development in China has been gradually strengthened in the process of mutual adaptation and common development.The benign interaction between the two was unstable,though the coupling coordination degree gradually transitioned to the primary coupling coordination type.Besides,from a spatial perspective,first,the coupling coordination degree of social security and economic development in China contracted in the east-west and north-south directions,and the coupling coordination clustered in the central region in this period;second,the coupling coordination degree generally presented a positive spatial autocorrelation,and regions with similar coupling coordination degrees were in a state of agglomeration;finally,the hot spots clumped together to form a continuous area in the eastern coastal area while the cold spots expanded toward the northwest and northeast.Furthermore,the random distribution areas exhibited a trend of contraction.

Uncertainty analysis of ship model vertical center of gravity and transverse moment of inertia test

The usability of test results of ship model vertical center of gravity and transverse moment of inertia is generally depends on its uncertainty. Referring to the guidelines for uncertainty analysis in examination of liquid dynamic recommended by International Towing Tank Conference （ ITTC）, the results were analyzed, bias limits and precision limits were calculated and total uncertainty was estimated. The total uncertainty of six tests on ship model vertical center of gravity is is 0. 16% of the mean value, and the total uncertainty of six tests on ship model transverse moment of inertia is 5.66% of the mean value. The test results show that the total uncertainty of both the multiple tests and the single test is from the precision limits of ship model vertical center of gravity and transverse moment of inertia tests. Thus, the improved measurement system stability can enormously decrease the total uncertainty of multiple tests and the single test.

OPTIMIZING DESIGN OF MECHANICAL SELF-CENTERING DEVICE FOR SUSPENSION HEIGHT

Firstly, in view of the respective defects of existing self-centering devices for vehicle suspension height, the design scheme of the proposed mechanical self-centering device for suspension height is described. Taking the rear suspension of a certain light bus as a research example, the structures and parameters of the novel device are designed and ascertained. Then, the road excitation models, the performance evaluation indexes and the half-vehicle model are built, the simulation outputs of time and frequency domain are obtained with the road excitations of random and pulse by using MATLAB/Simulink software. So the main characteristics of the self-centering suspension are presented preliminarily. Finally, a multi-objective parameter design optimization model for the self-centering device is built by weighted sum approach, and optimal solution is obtained by adopting complex approach. The relevant choosing-type parameters for self-centering device components are deduced by using discrete variable optimal method, and the optimal results are verified and analyzed. So the performance potentials of the self-centering device are exerted fully in condition of ensuring overall suspension performances.