How do you ensure the cabin safety for the rock climbing car on the Monster Garage game?


Attach the four heavy-duty coil-overs/ Attach the front and rear heavy-duty axles. Attach the safety fuel cell. Weld on the half-cab top. Weld on the modified rear door.Attach the two Sparco Racing seats.Re-attach the driver and passenger doors.MORE?

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Crumple zone
The crumple zone (also called crush space) is a structural feature mainly used in automobiles and recently incorporated into railcars. Crumple zones are designed to absorb the energy from the impact during a traffic collision by controlled deformation. This energy is much greater than is commonly realized. A 2000 kg car travelling at 60 km/h (16.7 m/s), before crashing into a thick concrete wall, is subject to the same impact force as a front-down drop from a height of 14.2m crashing on to a solid concrete surface. Increasing that speed by 50% to 90 km/h (25 m/s) compares to a fall from 32m - an increase of 125%. This is because the stored kinetic energy (E) is given by E = (1/2) mass × speed squared. It increases as the square of the impact velocity. Typically, crumple zones are located in the front part of the vehicle, in order to absorb the impact of a head-on collision, though they may be found on other parts of the vehicle as well. According to a British Motor Insurance Repair Research Centre study of where on the vehicle impact damage occurs: 65% were front impacts, 25% rear impacts, 5% left side, and 5% right side. Some racing cars use aluminium or composite/carbon fibre honeycomb to form an impact attenuator that dissipates crash energy using a much smaller volume and lower weight than road car crumple zones. Impact attenuators have also been introduced on highway maintenance vehicles in some countries. An early example of the crumple zone concept was used by the Mercedes-Benz engineer Béla Barényi on the mid 1950s "Ponton"Mercedes-Benz . This innovation was first patented by Mercedes-Benz in the early 1950s. The patent 854157, granted in 1952, describes the decisive feature of passive safety. Barényi questioned the opinion prevailing till then, that a safe car had to be rigid. He divided the car body into three sections: the rigid non-deforming passenger compartment and the crumple zones in the front and the rear. They are designed to absorb the energy of an impact (kinetic energy) by deformation during collision. On September 10, 2009, ABC News 'Good Morning America' and 'World News' showed a U.S. Insurance Institute of Highway Safety crash test of a 2009 Chevrolet Malibu in an offset head-on collision with a 1959 Chevrolet Bel Air sedan. It dramatically demonstrated the effectiveness of modern car safety design over 1950s design, particularly of rigid passenger safety cells and crumple zones. Crumple zones work by managing crash energy, absorbing it within the outer parts of the vehicle, rather than being directly transmitted to the occupants, while also preventing intrusion into or deformation of the passenger cabin. This better protects car occupants against injury. This is achieved by controlled weakening of sacrificial outer parts of the car, while strengthening and increasing the rigidity of the inner part of the body of the car, making the passenger cabin into a 'safety cell', by using more reinforcing beams and higher strength steels. Impact energy that does reach the 'safety cell' is spread over as wide an area as possible to reduce its deformation. Volvo introduced the side crumple zone with the introduction of the SIPS (Side Impact Protection System) in the early 1990s. When a vehicle and all its contents, including passengers and luggage are travelling at speed, they have inertia / momentum, which means that they will continue forward with that direction and speed (Newton's first law of motion). In the event of a sudden deceleration of a rigid framed vehicle due to impact, unrestrained vehicle contents will continue forwards at their previous speed due to inertia, and impact the vehicle interior, with a force equivalent to many times their normal weight due to gravity. The purpose of crumple zones is to slow down the collision and to absorb energy to reduce the difference in speeds between the vehicle and its occupants. Seatbelts restrain the passengers so they don't fly through the windshield, and are in the correct position for the airbag and also spread the loading of impact on the body. Seat belts also absorb passenger inertial energy by being designed to stretch during an impact, again to reduce the speed differential between the passenger's body and their vehicle interior. In short: a passenger whose body is decelerated more slowly due to the crumple zone (and other devices) over a longer time survives much more often than a passenger whose body indirectly impacts a hard, undamaged metal car body which has come to a halt nearly instantaneously. The final impact after a passenger's body hits the car interior, airbag or seat belts is that of the internal organs hitting the ribcage or skull due to their inertia. The force of this impact is the way by which many car crashes cause disabling or life-threatening injury. Other ways are skeletal damage and blood loss, because of torn blood vessels, or damage caused by sharp fractured bone to organs and/or blood vessels. The sequence of energy-dissipating and speed-reducing technologies—crumple zone — seat belt — airbags — padded interior—are designed to work together as a system to reduce the force of the impact on the outside of the passenger(s)'s body and the final impact of organs inside the body. In a collision, slowing down the deceleration of the human body by even a few tenths of a second drastically reduces the force involved. Force is a simple equation: Force = mass X acceleration. Cutting the deceleration in half also cuts the force in half. Therefore, changing the deceleration time from .2 seconds to .8 seconds will result in a 75 percent reduction in total force. A misconception about crumple zones sometimes voiced][ is that they reduce safety for the occupants of the vehicle by allowing the body to collapse, therefore risking crushing the occupants. In fact, crumple zones are typically located in front of and behind the main body of the car (which forms a rigid 'safety cell'), compacting within the space of the engine compartment or boot/trunk. Modern vehicles using what are commonly termed 'crumple zones' provide far superior protection for their occupants in severe tests against other vehicles with crumple zones and solid static objects than older models or SUVs that use a separate chassis frame and have no crumple zones. They do tend to come off worse when involved in accidents with SUVs without crumple zones because most of the energy of the impact is absorbed by the vehicle with the crumple zone — however, even for the occupants of the 'worse off' car, this will still often be an improvement — as the result of two vehicles without crumple zones colliding will usually be more hazardous to both vehicle's occupants than a collision that is at least partly buffered.][ Another problem is 'impact incompatibility' where the 'hard points' of the ends of chassis rails of SUVs are higher than the 'hard points' of cars, causing the SUV to 'override' the engine compartment of the car. In order to tackle this problem, recent Volvo SUV/off-roaders incorporate structures below the front bumper designed to engage lower-height car crumple zones. In the early 1980s, using technology developed for the aerospace and nuclear industries, German car makers started complex computer crash simulation studies, using finite element methods simulating the crash behaviour of individual car body components, component assemblies, and quarter and half cars at the body in white(BIW) stage. These experiments culminated in a joint project by the Forschungsgemeinschaft Automobil-Technik (FAT), a conglomeration of all seven German car makers (Audi, BMW, Ford, Mercedes-Benz, Opel (GM), Porsche, and Volkswagen), which tested the applicability of two emerging commercial crash simulation codes. These simulation codes recreated a frontal impact of a full passenger car structure (Haug 1986) and they ran to completion on a computer overnight. Now that turn-around time between two consecutive job-submissions (computer runs) did not exceed one day, engineers were able to make efficient and progressive improvements of the crash behaviour of the analyzed car body structure. The drive for improved crash worthiness in Europe has accelerated from the 1990s onwards, with the 1997 advent of Euro NCAP, with the involvement of Formula 1 expertise. The 2004 Pininfarina Nido Experimental Safety Vehicle locates crumple zones inside the Survival Cell. Those interior crumple zones decelerate a sled-mounted survival cell. Volvo has also been developing this idea for use in small cars. Their driver's seat is mounted to what is basically a 'sled' on a rail, with shock absorbers in front of it. In an impact, the whole "sled" of driving seat and belted in driver, slides forward up to 8 inches, and the shock absorbers dissipate the peak shock energy of the impact, lengthening the deceleration time for the driver. Simultaneously, the steering wheel and the driver's side dashboard slide forward to make room for the driver, as he is thrown forwards stretching the seatbelt. Combined with a front crumple zone and airbag, this system could greatly reduce the forces acting on the driver in a frontal impact.

Live axle
A live axle, sometimes called a solid axle, is a type of beam axle suspension system that uses the drive shafts that transmit power to the wheels to connect the wheels laterally so that they move together as a unit. A live axle consists of a central differential in a single housing that also contains the driveshafts that connect the differential to the driven wheels. The differential is connected to the engine via a swinging drive shaft and a universal joint. The complete assembly may typically be suspended with leaf springs, coil springs or air bags. In small trucks solid front axles have generally been replaced by independent front suspension. Some live axles use trailing arms, semi-trailing arms, Panhard rod, or Watt's linkage to control the vertical and lateral movements of the axle. Others, particularly older vehicles, use Hotchkiss drive, in which the leaf springs provide axle location as well as suspension.

Suspension (vehicle)
Suspension is the term given to the system of springs, shock absorbers and linkages that connects a vehicle to its wheels and allows relative motion between the two. Suspension systems serve a dual purpose — contributing to the vehicle's roadholding/handling and braking for good active safety and driving pleasure, and keeping vehicle occupants comfortable and reasonably well isolated from road noise, bumps, and vibrations,etc. These goals are generally at odds, so the tuning of suspensions involves finding the right compromise. It is important for the suspension to keep the road wheel in contact with the road surface as much as possible, because all the road or ground forces acting on the vehicle do so through the contact patches of the tires. The suspension also protects the vehicle itself and any cargo or luggage from damage and wear. The design of front and rear suspension of a car may be different. This article is primarily about four-wheeled (or more) vehicle suspension. For information on two-wheeled vehicles' suspensions see the motorcycle suspension, motorcycle fork, bicycle suspension, and bicycle fork articles. Leaf springs have been around since the early Egyptians. Ancient military engineers used leaf springs in the form of bows to power their siege engines, with little success at first. The use of leaf springs in catapults was later refined and made to work years later. Springs were not only made of metal, a sturdy tree branch could be used as a spring, such as with a bow. By the early 19th century, most British horse carriages were equipped with springs; wooden springs in the case of light one-horse vehicles to avoid taxation, and steel springs in larger vehicles. These were made of low-carbon steel and usually took the form of multiple layer leaf springs. The British steel springs were not well suited for use on America's rough roads of the time, and could even cause coaches to collapse if cornered too fast. In the 1820s, the Abbot Downing Company of Concord, New Hampshire re-discovered the antique system whereby the bodies of stagecoaches were supported on leather straps called "thoroughbraces", which gave a swinging motion instead of the jolting up and down of a spring suspension (the stagecoach itself was sometimes called a "thoroughbrace"). Automobiles were initially developed as self-propelled versions of horse drawn vehicles. However, horse drawn vehicles had been designed for relatively slow speeds and their suspension was not well suited to the higher speeds permitted by the internal combustion engine. In 1901 Mors of Paris first fitted an automobile with shock absorbers. With the advantage of a dampened suspension system on his 'Mors Machine', Henri Fournier won the prestigious Paris-to-Berlin race on the 20th of June 1901. Fournier's superior time was 11 hrs 46 min 10 sec, while the best competitor was Léonce Girardot in a Panhard with a time of 12 hrs 15 min 40 sec. In 1920, Leyland Motors used torsion bars in a suspension system. In 1922, independent front suspension was pioneered on the Lancia Lambda and became more common in mass market cars from 1932. The spring rate (or suspension rate) is a component in setting the vehicle's ride height or its location in the suspension stroke. When a spring is compressed or stretched, the force it exerts is proportional to its change in length. The spring rate or spring constant of a spring is the change in the force it exerts, divided by the change in deflection of the spring. Vehicles which carry heavy loads will often have heavier springs to compensate for the additional weight that would otherwise collapse a vehicle to the bottom of its travel (stroke). Heavier springs are also used in performance applications where the loading conditions experienced are more extreme. Springs that are too hard or too soft cause the suspension to become ineffective because they fail to properly isolate the vehicle from the road. Vehicles that commonly experience suspension loads heavier than normal have heavy or hard springs with a spring rate close to the upper limit for that vehicle's weight. This allows the vehicle to perform properly under a heavy load when control is limited by the inertia of the load. Riding in an empty truck used for carrying loads can be uncomfortable for passengers because of its high spring rate relative to the weight of the vehicle. A race car would also be described as having heavy springs and would also be uncomfortably bumpy. However, even though we say they both have heavy springs, the actual spring rates for a 2,000 lb (910 kg) race car and a 10,000 lb (4,500 kg) truck are very different. A luxury car, taxi, or passenger bus would be described as having soft springs. Vehicles with worn out or damaged springs ride lower to the ground which reduces the overall amount of compression available to the suspension and increases the amount of body lean. Performance vehicles can sometimes have spring rate requirements other than vehicle weight and load. Spring rate is a ratio used to measure how resistant a spring is to being compressed or expanded during the spring's deflection. The magnitude of the spring force increases as deflection increases according to Hooke's Law. Briefly, this can be stated as where Spring rate is confined to a narrow interval by the weight of the vehicle,load the vehicle will carry, and to a lesser extent by suspension geometry and performance desires. Spring rates typically have units of N/mm (or lbf/in). An example of a linear spring rate is 500 lbf/in. For every inch the spring is compressed, it exerts 500 lbf. A non-linear spring rate is one for which the relation between the spring's compression and the force exerted cannot be fitted adequately to a linear model. For example, the first inch exerts 500 lbf force, the second inch exerts an additional 550 lbf (for a total of 1050 lbf), the third inch exerts another 600 lbf (for a total of 1650 lbf). In contrast a 500 lbf/in linear spring compressed to 3 inches will only exert 1500 lbf. The spring rate of a coil spring may be calculated by a simple algebraic equation or it may be measured in a spring testing machine. The spring constant k can be calculated as follows: where d is the wire diameter, G is the spring's shear modulus (e.g., about 12,000,000 lbf/in² or 80 GPa for steel), and N is the number of wraps and D is the diameter of the coil. Wheel rate is the effective spring rate when measured at the wheel. This is as opposed to simply measuring the spring rate alone. Wheel rate is usually equal to or considerably less than the spring rate. Commonly, springs are mounted on control arms, swing arms or some other pivoting suspension member. Consider the example above where the spring rate was calculated to be 500 lbs/inch, if you were to move the wheel 1 in (2.5 cm) (without moving the car), the spring more than likely compresses a smaller amount. Lets assume the spring moved 0.75 in (19 mm), the lever arm ratio would be 0.75:1. The wheel rate is calculated by taking the square of the ratio (0.5625) times the spring rate, thus obtaining 281.25 lbs/inch. Squaring the ratio is because the ratio has two effects on the wheel rate. The ratio applies to both the force and distance traveled. Wheel rate on independent suspension is fairly straightforward. However, special consideration must be taken with some non-independent suspension designs. Take the case of the straight axle. When viewed from the front or rear, the wheel rate can be measured by the means above. Yet because the wheels are not independent, when viewed from the side under acceleration or braking the pivot point is at infinity (because both wheels have moved) and the spring is directly inline with the wheel contact patch. The result is often that the effective wheel rate under cornering is different from what it is under acceleration and braking. This variation in wheel rate may be minimized by locating the spring as close to the wheel as possible. Wheel rates are usually summed and compared with the sprung mass of a vehicle to create a "ride rate" and corresponding suspension natural frequency in ride (also referred to as "heave"). This can be useful in creating a metric for suspension stiffness and travel requirements for a vehicle. Roll rate is analogous to a vehicle's ride rate, but for actions that include lateral accelerations, causing a vehicle's sprung mass to roll about its roll axis. It is expressed as torque per degree of roll of the vehicle sprung mass. It is influenced by factors including but not limited to vehicle sprung mass, track width, CG height, spring and damper rates, roll center heights of front and rear, anti-roll bar stiffness and tire pressure/construction. The roll rate of a vehicle can, and usually differs front to rear, which allows for the tuning ability of a vehicle for transient and steady state handling. The roll rate of a vehicle does not change the total amount of weight transfer on the vehicle, but shifts the speed at which and percentage of weight transferred on a particular axle to another axle through the vehicle chassis. Generally, the higher the roll rate on an axle of a vehicle, the faster and higher percentage the weight transfer on that axle. Roll couple percentage is a simplified method of describing lateral load transfer distribution front to rear, and subsequently handling balance. It is the effective wheel rate, in roll, of each axle of the vehicle as a ratio of the vehicle's total roll rate. It is commonly adjusted through the use of anti-roll bars, but can also be changed through the use of different springs. Weight transfer during cornering, acceleration or braking is usually calculated per individual wheel and compared with the static weights for the same wheels. The total amount of weight transfer is only affected by four factors: the distance between wheel centers (wheelbase in the case of braking, or track width in the case of cornering) the height of the center of gravity, the mass of the vehicle, and the amount of acceleration experienced. The speed at which weight transfer occurs as well as through which components it transfers is complex and is determined by many factors including but not limited to roll center height, spring and damper rates, anti-roll bar stiffness and the kinematic design of the suspension links. In most conventional applications, when weight is transferred though intentionally compliant elements such as springs, dampers and anti-roll bars, the weight transfer is said to be "elastic", while the weight which is transferred through more rigid suspension links such as A-arms and toe links is said to be "geometric". Unsprung weight transfer is calculated based on the weight of the vehicle's components that are not supported by the springs. This includes tires, wheels, brakes, spindles, half the control arm's weight and other components. These components are then (for calculation purposes) assumed to be connected to a vehicle with zero sprung weight. They are then put through the same dynamic loads. The weight transfer for cornering in the front would be equal to the total unsprung front weight times the G-Force times the front unsprung center of gravity height divided by the front track width. The same is true for the rear. Sprung weight transfer is the weight transferred by only the weight of the vehicle resting on the springs, not the total vehicle weight. Calculating this requires knowing the vehicle's sprung weight (total weight less the unsprung weight), the front and rear roll center heights and the sprung center of gravity height (used to calculate the roll moment arm length). Calculating the front and rear sprung weight transfer will also require knowing the roll couple percentage. The roll axis is the line through the front and rear roll centers that the vehicle rolls around during cornering. The distance from this axis to the sprung center of gravity height is the roll moment arm length. The total sprung weight transfer is equal to the G-force times the sprung weight times the roll moment arm length divided by the effective track width. The front sprung weight transfer is calculated by multiplying the roll couple percentage times the total sprung weight transfer. The rear is the total minus the front transfer. Jacking forces are the sum of the vertical force components experienced by the suspension links. The resultant force acts to lift the sprung mass if the roll center is above ground, or compress it if underground. Generally, the higher the roll center, the more jacking force is experienced. Travel is the measure of distance from the bottom of the suspension stroke (such as when the vehicle is on a jack and the wheel hangs freely) to the top of the suspension stroke (such as when the vehicle's wheel can no longer travel in an upward direction toward the vehicle). Bottoming or lifting a wheel can cause serious control problems or directly cause damage. "Bottoming" can be caused by the suspension, tires, fenders, etc. running out of space to move or the body or other components of the car hitting the road. The control problems caused by lifting a wheel are less severe if the wheel lifts when the spring reaches its unloaded shape than they are if travel is limited by contact of suspension members (See Triumph TR3B.) Many off-road vehicles, such as desert racers, use straps called "limiting straps" to limit the suspensions downward travel to a point within safe limits for the linkages and shock absorbers. This is necessary, since these trucks are intended to travel over very rough terrain at high speeds, and even become airborne at times. Without something to limit the travel, the suspension bushings would take all the force when the suspension reaches "full droop", and it can even cause the coil springs to come out of their "buckets" if they are held in by compression forces only. A limiting strap is a simple strap, often nylon of a predetermined length, that stops the downward movement at a preset point before the theoretical maximum travel is reached. The opposite of this is the "bump-stop", which protects the suspension and vehicle (as well as the occupants) from violent "bottoming" of the suspension, caused when an obstruction (or hard landing) causes the suspension to run out of upward travel without fully absorbing the energy of the stroke. Without bump-stops, a vehicle that "bottoms out" will experience a very hard shock when the suspension contacts the bottom of the frame or body, which is transferred to the occupants and every connector and weld on the vehicle. Factory vehicles often come with plain rubber "nubs" to absorb the worst of the forces, and insulate the shock. A desert race vehicle, which must routinely absorb far higher impact forces, may be provided with pneumatic or hydro-pneumatic bump-stops. These are essentially miniature shock absorbers (dampeners) that are fixed to the vehicle in a location such that the suspension will contact the end of the piston when it nears the upward travel limit. These absorb the impact far more effectively than a solid rubber bump-stop will, essential because a rubber bump-stop is considered a "last-ditch" emergency insulator for the occasional accidental bottoming of the suspension; it is entirely insufficient to absorb repeated and heavy bottomings such as a high-speed off road vehicle encounters. Damping is the control of motion or oscillation, as seen with the use of hydraulic gates and valves in a vehicles shock absorber. This may also vary, intentionally or unintentionally. Like spring rate, the optimal damping for comfort may be less than for control. Damping controls the travel speed and resistance of the vehicle's suspension. An undamped car will oscillate up and down. With proper damping levels, the car will settle back to a normal state in a minimal amount of time. Most damping in modern vehicles can be controlled by increasing or decreasing the resistance to fluid flow in the shock absorber. See dependent and independent below. Camber changes due to wheel travel, body roll and suspension system deflection or compliance. In general, a tire wears and brakes best at -1 to -2° of camber from vertical. Depending on the tire and the road surface, it may hold the road best at a slightly different angle. Small changes in camber, front and rear, can be used to tune handling. Some race cars are tuned with -2 to -7° camber depending on the type of handling desired and the tire construction. Often, too much camber will result in the decrease of braking performance due to a reduced contact patch size through excessive camber variation in the suspension geometry. The amount of camber change in bump is determined by the instantaneous front view swing arm (FVSA) length of the suspension geometry, or in other words, the tendency of the tire to camber inward when compressed in bump. Roll center height is a product of suspension instant center heights and is a useful metric in analyzing weight transfer effects, body roll and front to rear roll stiffness distribution. Conventionally, roll stiffness distribution is tuned adjusting antiroll bars rather than roll center height (as both tend to have a similar effect on the sprung mass), but the height of the roll center is significant when considering the amount of jacking forces experienced. Due to the fact that the wheel and tire's motion is constrained by the suspension links on the vehicle, the motion of the wheel package in the front view will scribe an imaginary arc in space with an "instantaneous center" of rotation at any given point along its path. The instant center for any wheel package can be found by following imaginary lines drawn through the suspension links to their intersection point. A component of the tire's force vector points from the contact patch of the tire through instant center. The larger this component is, the less suspension motion will occur. Theoretically, if the resultant of the vertical load on the tire and the lateral force generated by it points directly into the instant center, the suspension links will not move. In this case, all weight transfer at that end of the vehicle will be geometric in nature. This is key information used in finding the force-based roll center as well. In this respect the instant centers are more important to the handling of the vehicle than the kinematic roll center alone, in that the ratio of geometric to elastic weight transfer is determined by the forces at the tires and their directions in relation to the position of their respective instant centers. Anti-dive and anti-squat are percentages and refer to the front diving under braking and the rear squatting under acceleration. They can be thought of as the counterparts for braking and acceleration as jacking forces are to cornering. The main reason for the difference is due to the different design goals between front and rear suspension, whereas suspension is usually symmetrical between the left and right of the vehicle. The method of determining the anti-dive or anti-squat depends on whether the suspension linkages react to the torque of braking and accelerating. For example, with inboard brakes and half-shaft driven rear wheels, the suspension linkages do not, but with outboard brakes and a swing-axle driveline, they do. To determine the percentage of front suspension braking anti-dive for outboard brakes, it is first necessary to determine the tangent of the angle between a line drawn, in side view, through the front tire patch and the front suspension instant center, and the horizontal. In addition, the percentage of braking effort at the front wheels must be known. Then, multiply the tangent by the front wheel braking effort percentage and divide by the ratio of the center of gravity height to the wheelbase. A value of 50% would mean that half of the weight transfer to the front wheels, during braking, is being transmitted through the front suspension linkage and half is being transmitted through the front suspension springs. For inboard brakes, the same procedure is followed but using the wheel center instead of contact patch center. Forward acceleration anti-squat is calculated in a similar manner and with the same relationship between percentage and weight transfer. Anti-squat values of 100% and more are commonly used in dragracing, but values of 50% or less are more common in cars which have to undergo severe braking. Higher values of anti-squat commonly cause wheel hop during braking. It is important to note that, while the value of either case...means that all of the weight transfer is being carried through the suspension linkage, this does not mean that the suspension is incapable of carrying additional loads (aerodynamic, cornering, etc.) during an episode of braking or forward acceleration. In other words, no "binding" of the suspension is to be implied. In modern cars, the flexibility is mainly in the rubber bushings. For high-stress suspensions, such as off-road vehicles, polyurethane bushings are available, which offer more longevity under greater stresses. However, due to weight and cost considerations, structures are not made more ridged than necessary. Some vehicles exhibit detrimental vibrations involving the flexing of structural parts, such as when accelerating while turning sharply. Flexibility of structures such as frames and suspension links can also contribute to springing, especially to damping out high frequency vibrations. The flexibility of wire wheels contributed to their popularity in times when cars had less advanced suspensions. For most purposes, the weight of the suspension components is unimportant, but at high frequencies, caused by road surface roughness, the parts isolated by rubber bushings act as a multistage filter to suppress noise and vibration better than can be done with only the tires and springs. (The springs work mainly in the vertical direction.) These are usually small, except that the suspension is related to whether the brakes and differential(s) are sprung. This is the main functional advantage of aluminum wheels over steel wheels. Aluminum suspension parts have been used in production cars, and carbon fiber suspension parts are common in racing cars. Designs differ as to how much space they take up and where it is located. It is generally accepted that MacPherson struts are the most compact arrangement for front-engined vehicles, where space between the wheels is required to place the engine. Inboard brakes (which reduce unsprung weight) are probably avoided more due to space considerations than to cost. The suspension attachment must match the frame design in geometry, strength and rigidity. Certain modern vehicles have height adjustable suspension in order to improve aerodynamics and fuel efficiency. Modern formula cars that have exposed wheels and suspension typically use streamlined tubing rather than simple round tubing for their suspension arms to reduce drag. Also typical is the use of rocker arm, push rod, or pull rod type suspensions that, among other things, place the spring/damper unit inboard and out of the air stream to further reduce air resistance. Production methods improve, but cost is always a factor. The continued use of the solid rear axle, with unsprung differential, especially on heavy vehicles, seems to be the most obvious example. Most conventional suspensions use passive springs to absorb impacts and dampers (or shock absorbers) to control spring motions. Some notable exceptions are the hydropneumatic systems, which can be treated as an integrated unit of gas spring and damping components, used by the French manufacturer Citroën and the hydrolastic, hydragas and rubber cone systems used by the British Motor Corporation, most notably on the Mini. A number of different types of each have been used: Traditional springs and dampers are referred to as passive suspensions — most vehicles are suspended in this manner. The shock absorbers damp out the (otherwise resonant) motions of a vehicle up and down on its springs. They also must damp out much of the wheel bounce when the unsprung weight of a wheel, hub, axle and sometimes brakes and differential bounces up and down on the springiness of a tire. Some have suggested that the regular bumps found on dirt roads (nicknamed "corduroy", but properly corrugations or washboarding) are caused by this wheel bounce, though some evidence exists that it is unrelated to suspension at all. (See washboarding.) If the suspension is externally controlled then it is a semi-active or active suspension — the suspension is reacting to what are in effect "brain" signals. As electronics have become more sophisticated, the opportunities in this area have expanded. For example, a hydropneumatic Citroën will "know" how far off the ground the car is supposed to be and constantly reset to achieve that level, regardless of load. It will not instantly compensate for body roll due to cornering however. Citroën's system adds about 1% to the cost of the car versus passive steel springs. Semi-active suspensions include devices such as air springs and switchable shock absorbers, various self-levelling solutions, as well as systems like hydropneumatic, hydrolastic, and hydragas suspensions. Mitsubishi developed the world’s first production semi-active electronically controlled suspension system in passenger cars; the system was first incorporated in the 1987 Galant model. Delphi currently sells shock absorbers filled with a magneto-rheological fluid, whose viscosity can be changed electromagnetically, thereby giving variable control without switching valves, which is faster and thus more effective. Fully active suspension systems use electronic monitoring of vehicle conditions, coupled with the means to impact vehicle suspension and behavior in real time to directly control the motion of the car. Lotus Cars developed several prototypes, from 1982 onwards, and introduced them to F1, where they have been fairly effective, but have now been banned. Nissan introduced a low bandwidth active suspension in circa 1990 as an option that added an extra 20% to the price of luxury models. Citroën has also developed several active suspension models (see hydractive). A recently publicised fully active system from Bose Corporation uses linear electric motors (i.e., solenoids) in place of hydraulic or pneumatic actuators that have generally been used up until recently. The most advanced suspension system][ is Active Body Control, introduced in 1999 on the top-of-the-line Mercedes-Benz CL-Class. Several electromagnetic suspensions have also been developed for vehicles. Examples include the electromagnetic suspension of Bose, and the electromagnetic suspension developed by prof. Laurentiu Encica. In addition, the new Michelin wheel with embedded suspension working on an electromotor is also similar. With the help of control system, various semi-active/active suspensions realize an improved design compromise among different vibrations modes of the vehicle, namely bounce, roll, pitch and warp modes. However, the applications of these advanced suspensions are constrained by the cost, packaging, weight, reliability, and/or the other challenges. Interconnected suspension, unlike semi-active/active suspensions, could easily decouple different vehicle vibration modes in a passive manner. The interconnections can be realized by various means, such as mechanical, hydraulic and pneumatic. Anti-roll bars are one of the typical examples of mechanical interconnections, while it has been stated that fluidic interconnections offer greater potential and flexibility in improving both the stiffness and damping properties. Considering the considerable commercial potentials of hydro-pneumatic technology (Corolla, 1996), interconnected hydropneumatic suspensions have also been explored in some recent studies, and their potential benefits in enhancing vehicle ride and handling have been demonstrated. The control system can also be used for further improving performance of interconnected suspensions. Apart from academic research, an Australian company, Kinetic, is having some success (WRC: 3 Championships, Dakar Rally: 2 Championships, Lexus GX470 2004 4x4 of the year with KDSS, 2005 PACE award) with various passive or semi-active systems, which generally decouple at least two vehicle modes (roll, warp (articulation), pitch and/or heave (bounce)) to simultaneously control each mode’s stiffness and damping, by using interconnected shock absorbers, and other methods. In 1999, Kinetic was bought out by Tenneco. Later developments by a Catalan company, Creuat has devised a simpler system design based on single-acting cylinders. After some projects on competition Creuat is active in providing retrofit systems for some vehicle models. Historically, the first mass production car with front to rear mechanical interconnected suspension was the 1948 Citroën 2CV. The suspension of the 2CV was extremely soft — the longitudinal link was making pitch softer instead of making roll stiffer. It relied on extreme antidive and antisquat geometries to compensate for that. This redunded into a softer axle crossing stiffness that anti-roll bars would have otherwise compromised. The leading arm / trailing arm swinging arm, fore-aft linked suspension system together with inboard front brakes had a much smaller unsprung weight than existing coil spring or leaf designs. The interconnection transmitted some of the force deflecting a front wheel up over a bump, to push the rear wheel down on the same side. When the rear wheel met that bump a moment later, it did the same in reverse, keeping the car level front to rear. The 2CV had a design brief to be able to be driven at speed over a ploughed field. It originally featured friction dampers and tuned mass dampers. Later models had tuned mass dampers at the front with telescopic dampers / shock absorbers front and rear. The British Motor Corporation was also an early adopter of interconnected suspension. A system dubbed Hydrolastic was introduced in 1962 on the Morris 1100 and went on to be used on a variety of BMC models. Hydrolastic was developed by suspension engineer Alex Moulton and used rubber cones as the springing medium (these were first used on the 1959 Mini) with the suspension units on each side connected to each other by a fluid filled pipe. The fluid transmitted the force of road bumps from one wheel to the other (on the same principle as the Citroen 2CV's mechanical system described above) and because each suspension unit contained valves to restrict the flow of fluid also served as a shock absorber. Moulton went on to develop a replacement for Hydrolastic for BMC's successor, British Leyland. This system, called Hydragas worked on the same principle but instead of rubber spring units it used metal spheres divided internally by a rubber diaphragm. The top half contained pressurised gas and the lower half the same fluid as used on the Hydrolastic system. The fluid transmitted suspension forces between the units on each side whilst the gas acted as the springing medium via the diaphragm. This is the same principle as the Citroen hydropneumatic system and provides a similar ride quality but is self-contained and doesn't require an engine-driven pump to provide hydraulic pressure. The downside is that Hydragas is, unlike the Citroen system, not height adjustable or self-levelling. Hydragas was introduced in 1973 on the Austin Allegro and was used on several models, the last car to use it being the MG F in 2002. Some of the last post-war Packard models also featured interconnected suspension. Suspension systems can be broadly classified into two subgroups: dependent and independent. These terms refer to the ability of opposite wheels to move independently of each other. A dependent suspension normally has a beam (a simple 'cart' axle) or (driven) live axle that holds wheels parallel to each other and perpendicular to the axle. When the camber of one wheel changes, the camber of the opposite wheel changes in the same way (by convention on one side this is a positive change in camber and on the other side this a negative change). De Dion suspensions are also in this category as they rigidly connect the wheels together. An independent suspension allows wheels to rise and fall on their own without affecting the opposite wheel. Suspensions with other devices, such as sway bars that link the wheels in some way are still classed as independent. A third type is a semi-dependent suspension. In this case, the motion of one wheel does affect the position of the other but they are not rigidly attached to each other. A twist-beam rear suspension is such a system. Dependent systems may be differentiated by the system of linkages used to locate them, both longitudinally and transversely. Often both functions are combined in a set of linkages. Examples of location linkages include: In a front engine, rear-drive vehicle, dependent rear suspension is either "live axle" or deDion axle, depending on whether or not the differential is carried on the axle. Live axle is simpler but the unsprung weight contributes to wheel bounce. Because it assures constant camber, dependent (and semi-independent) suspension is most common on vehicles that need to carry large loads as a proportion of the vehicle weight, that have relatively soft springs and that do not (for cost and simplicity reasons) use active suspensions. The use of dependent front suspension has become limited to heavier commercial vehicles. In a semi-independent suspensions, the wheels of an axle are able to move relative to one another as in an independent suspension but the position of one wheel has an effect on the position and attitude of the other wheel. This effect is achieved via the twisting or deflecting of suspension parts under load. The most common type of semi-independent suspension is the twist beam. The variety of independent systems is greater and includes: Because the wheels are not constrained to remain perpendicular to a flat road surface in turning, braking and varying load conditions, control of the wheel camber is an important issue. Swinging arm was common in small cars that were sprung softly and could carry large loads, because the camber is independent of load. Some active and semi-active suspensions maintain the ride height, and therefore the camber, independent of load. In sports cars, optimal camber change when turning is more important. Wishbone and multi-link allow the engineer more control over the geometry, to arrive at the best compromise, than swing axle, MacPherson strut or swinging arm do; however the cost and space requirements may be greater. Semi-trailing arm is in between, being a variable compromise between the geometries of swinging arm and swing axle. Some vehicles such as trains run on long rail tracks fixed to the ground, and some such as tractors, snow vehicles and tanks run on continuous tracks that are part of the vehicle. Though either sort helps to smooth the path and reduce ground pressure, many of the same consideration apply. Military AFVs, including tanks, have specialized suspension requirements. They can weigh more than seventy tons and are required to move as quickly as possible over very rough or soft ground. Their suspension components must be protected from land mines and antitank weapons. Tracked AFVs can have as many as nine road wheels on each side. Many wheeled AFVs have six or eight large wheels. Some have a Central Tire Inflation System to reduce ground loading on poor surfaces. Some wheels are too big and confined to turn, so skid steering is used with some wheeled, as well as with tracked, vehicles. The earliest tanks of World War I had fixed suspension with no designed movement whatsoever. This unsatisfactory situation was improved with leaf spring or coil spring suspensions adopted from agricultural, automotive or railway machinery, but even these had very limited travel. Speeds increased due to more powerful engines, and the quality of ride had to be improved. In the 1930s, the Christie suspension was developed, which allowed the use of coil springs inside a vehicle's armored hull, by changing the direction of force deforming the spring, using a bell crank. The war winning T-34 was directly descended from Christie designs. Horstmann suspension was a variation which used a combination of bell crank and exterior coil springs, in use from the 1930s to the 1990s. The bogie, but nonetheless independent, suspension of the M3 Lee/Grant and the M4 Sherman was similar to the Hortsmann type, with the suspension contained within the track oval. By World War II the other common type was torsion bar suspension, getting spring force from twisting bars inside the hull — this sometimes had less travel than the Christie-type, but was significantly more compact, allowing more space inside the hull, with consequent possibility to install larger turret rings and thus a heavier main armament. The torsion-bar suspension, sometimes including shock absorbers, has been the dominant heavy armored vehicle suspension since World War II. Torsion bars may take space under or near the floor, which may interfere with making the tank low to reduce exposure. As with cars, wheel travel and spring rate affect the bumpiness of the ride and the speed at which rough terrain can be negotiated. It may be significant that a smooth ride, which is often associated with comfort, increases the accuracy when firing on the move (analogously to battle ships with reduced stability, due to reduced metacentric height). It also reduces shock on optics and other equipment. The unsprung weight and track link weight may limit speed on roads and affect the life of the track and other components. Most German WW II half tracks and their tanks introduced during the war such as the Panther tank had overlapping and sometimes interleaved road wheels to distribute the load more evenly on the track and therefore on the ground. This apparently made a significant contribution to speed, range and track life, as well as providing a continuous band of protection. It has not been used since the end of that war, probably due to the maintenance requirements of more complicated mechanical parts working in mud, sand, rocks, snow and ice, as well as to cost. Rocks and frozen mud stuck between the wheels.

Differential (mechanical device)
A differential is a device, usually, but not necessarily, employing gears, which is connected to the outside world by three shafts, chains, or similar, through which it transmits torque and rotation. The gears or other components make the three shafts rotate in such a way that \scriptstyle a=pb+qc, where \scriptstyle a, \scriptstyle b, and \scriptstyle c are the angular velocities of the three shafts, and \scriptstyle p and \scriptstyle q are constants. Often, but not always, \scriptstyle p and \scriptstyle q are equal, so \scriptstyle a is proportional to the sum (or average) of \scriptstyle b and \scriptstyle c. Except in some special-purpose differentials, there are no other limitations on the rotational speeds of the shafts, apart from the usual mechanical/engineering limits. Any of the shafts can be used to input rotation, and the other(s) to output it. See animation of a simple differential in which \scriptstyle p and \scriptstyle q are equal. The shaft rotating at speed \scriptstyle a is at the bottom-right of the image. In automobiles and other wheeled vehicles, a differential is the usual way to allow the driving roadwheels to rotate at different speeds. This is necessary when the vehicle turns, making the wheel that is travelling around the outside of the turning curve roll farther and faster than the other. The engine is connected to the shaft rotating at angular velocity \scriptstyle a. The driving wheels are connected to the other two shafts, and \scriptstyle p and \scriptstyle q are equal. If the engine is running at a constant speed, the rotational speed of each driving wheel can vary, but the sum (or average) of the two wheels' speeds can not change. An increase in the speed of one wheel must be balanced by an equal decrease in the speed of the other. (If one wheel is rotating backward, which is possible in very tight turns, its speed should be counted as negative.) It may seem illogical that the speed of one input shaft can determine the speeds of two output shafts, which are allowed to vary. Logically, the number of inputs should be at least as great as the number of outputs. However, the system has another constraint. Under normal conditions (i.e. only small tyre slip), the ratio of the speeds of the two driving wheels equals the ratio of the radii of the paths around which the two wheels are rolling, which is determined by the track-width of the vehicle (the distance between the driving wheels) and the radius of the turn. Thus the system does not have one input and two independent outputs. It has two inputs and two outputs. A different automotive application of differentials is in epicyclic gearing. A gearbox is constructed out of several differentials. In each differential, one shaft is connected to the engine (through a clutch or functionally similar device), another to the driving wheels (through another differential as described above), and the third shaft can be braked so its angular velocity is zero. (The braked component may not be a shaft, but something that plays an equivalent role.) When one shaft is braked, the gear ratio between the engine and wheels is determined by the value(s) of \scriptstyle p and/or \scriptstyle q for that differential, which reflect the numbers of teeth on its gears. Several differentials, with different gear ratios, are permanently connected in parallel with each other, but only one of them has one shaft braked so it can not rotate, so only that differential transmits power from the engine to the wheels. (If the transmission is in "neutral" or "park", none of the shafts is braked.) Shifting gears simply involves releasing the braked shaft of one differential and braking the appropriate shaft on another. This is a much simpler operation to do automatically than engaging and disengaging gears in a conventional gearbox. Epicyclic gearing is almost always used in automatic transmissions, and is nowadays also used in some hybrid and electric vehicles. Non-automotive uses of differentials include performing analog arithmetic. Two of the differential's three shafts are made to rotate through angles that represent (are proportional to) two numbers, and the angle of the third shaft's rotation represents the sum or difference of the two input numbers. An equation clock that used a differential for addition, made in 1720, is the earliest device definitely known to have used a differential for any purpose. In the 20th Century, large assemblies of many differentials were used as analog computers, calculating, for example, the direction in which a gun should be aimed. However, the development of electronic digital computers has made these uses of differentials obsolete. Practically all the differentials that are now made are used in automobiles and similar vehicles. This article therefore emphasizes automotive uses of differentials. A vehicle's wheels rotate at different speeds, mainly when turning corners. The differential is designed to drive a pair of wheels while allowing them to rotate at different speeds. In vehicles without a differential, such as karts, both driving wheels are forced to rotate at the same speed, usually on a common axle driven by a simple chain-drive mechanism. When cornering, the inner wheel needs to travel a shorter distance than the outer wheel, so with no differential, the result is the inner wheel spinning and/or the outer wheel dragging, and this results in difficult and unpredictable handling, damage to tires and roads, and strain on (or possible failure of) the entire drivetrain. The following description of a differential applies to a "traditional" rear-wheel-drive car or truck with an "open" or limited slip differential combined with a reduction gearset using bevel gears (these are not strictly necessary - see spur-gear differential): Torque is supplied from the engine, via the transmission, to a drive shaft (British term: 'propeller shaft', commonly and informally abbreviated to 'prop-shaft'), which runs to the final drive unit that contains the differential. A spiral bevel pinion gear takes its drive from the end of the propeller shaft, and is encased within the housing of the final drive unit. This meshes with the large spiral bevel ring gear, known as the crown wheel. The crown wheel and pinion may mesh in hypoid orientation, not shown. The crown wheel gear is attached to the differential carrier or cage, which contains the 'sun' and 'planet' wheels or gears, which are a cluster of four opposed bevel gears in perpendicular plane, so each bevel gear meshes with two neighbours, and rotates counter to the third, that it faces and does not mesh with. The two sun wheel gears are aligned on the same axis as the crown wheel gear, and drive the axle half shafts connected to the vehicle's driven wheels. The other two planet gears are aligned on a perpendicular axis which changes orientation with the ring gear's rotation. In the two figures shown above, only one planet gear (green) is illustrated, however, most automotive applications contain two opposing planet gears. Other differential designs employ different numbers of planet gears, depending on durability requirements. As the differential carrier rotates, the changing axis orientation of the planet gears imparts the motion of the ring gear to the motion of the sun gears by pushing on them rather than turning against them (that is, the same teeth stay in the same mesh or contact position), but because the planet gears are not restricted from turning against each other, within that motion, the sun gears can counter-rotate relative to the ring gear and to each other under the same force (in which case the same teeth do not stay in contact). Thus, for example, if the car is making a turn to the right, the main crown wheel may make 10 full rotations. During that time, the left wheel will make more rotations because it has further to travel, and the right wheel will make fewer rotations as it has less distance to travel. The sun gears (which drive the axle half-shafts) will rotate in opposite directions relative to the ring gear by, say, 2 full turns each (4 full turns relative to each other), resulting in the left wheel making 12 rotations, and the right wheel making 8 rotations. The rotation of the crown wheel gear is always the average of the rotations of the side sun gears. This is why, if the driven roadwheels are lifted clear of the ground with the engine off, and the drive shaft is held (say leaving the transmission 'in gear', preventing the ring gear from turning inside the differential), manually rotating one driven roadwheel causes the opposite roadwheel to rotate in the opposite direction by the same amount. When the vehicle is traveling in a straight line, there will be no differential movement of the planetary system of gears other than the minute movements necessary to compensate for slight differences in wheel diameter, undulations in the road (which make for a longer or shorter wheel path), etc. There are many claims to the invention of the differential gear but it is possible that it was known, at least in some places, in ancient times. Some historical milestones of the differential include: Note: The Antikythera mechanism (150 BC–100 BC), discovered on an ancient shipwreck near the Greek island of Antikythera, was once suggested to have employed a differential gear. This has since been disproved.][ Other possible uses of differentials prior to Joseph Williamson's clock of 1720 are hypothetical.][ One undesirable side effect of a conventional differential is that it can limit traction under less than ideal conditions. The amount of traction required to propel the vehicle at any given moment depends on the load at that instant—how heavy the vehicle is, how much drag and friction there is, the gradient of the road, the vehicle's momentum, and so on. The torque applied to each driving wheel is a result of the engine, transmission and drive axles applying a twisting force against the resistance of the traction at that roadwheel. In lower gears and thus at lower speeds, and unless the load is exceptionally high, the drivetrain can supply as much torque as necessary, so the limiting factor becomes the traction under each wheel. It is therefore convenient to define traction as the amount of torque that can be generated between the tire and the road surface, before the wheel starts to slip. If the torque applied to one of the drive wheels exceeds the threshold of traction, then that wheel will spin, and thus only provide torque at each other driven wheel limited by the sliding friction at the slipping wheel. The reduced nett traction may still be enough to propel the vehicle. A conventional "open" (non-locked or otherwise traction-aided) differential always supplies close to equal (because of limited internal friction) torque to each side. To illustrate how this can limit torque applied to the driving wheels, imagine a simple rear-wheel drive vehicle, with one rear roadwheel on asphalt with good grip, and the other on a patch of slippery ice. It takes very little torque to spin the side on slippery ice, and because a differential splits torque equally to each side, the torque that is applied to the side that is on asphalt is limited to this amount. Based on the load, gradient, et cetera, the vehicle requires a certain amount of torque applied to the drive wheels to move forward. Since an open differential limits total torque applied to both drive wheels to the amount used by the lower traction wheel multiplied by a factor of 2, when one wheel is on a slippery surface, the total torque applied to the driving wheels may be lower than the minimum torque required for vehicle propulsion. A proposed way to distribute the power to the wheels, is to use the concept of gearless differential, of which a review has been reported by Provatidis, but the various configurations seem to correspond either to the "sliding pins and cams" type, such as the ZF B-70 available on early VWs, or are a variation of the ball differential. Many newer vehicles feature traction control, which partially mitigates the poor traction characteristics of an open differential by using the anti-lock braking system to limit or stop the slippage of the low traction wheel, increasing the torque that can be applied to both wheels. While not as effective in propelling a vehicle under poor traction conditions as a traction-aided differential, it is better than a simple mechanical open differential with no electronic traction assistance. There are various devices for getting more usable traction from vehicles with differentials. A four-wheel drive (4WD) vehicle will have at least two differentials (one in each axle for each pair of driven roadwheels), and possibly a centre differential to apportion torque between the front and rear axles. In some cases (e.g. Lancia Delta Integrale, Porsche 964 Carrera 4 of 1989) the centre differential is an epicyclic differential (see below) to divide the torque asymmetrically, but at a fixed rate between the front and rear axle. Other methods utilise an 'Automatic Torque Biasing' (ATB) centre differential, such as a Torsen—which is what Audi use in their quattro cars (with longitudinal engines). 4WD vehicles without a centre differential should not be driven on dry, paved roads in four-wheel drive mode, as small differences in rotational speed between the front and rear wheels cause a torque to be applied across the transmission. This phenomenon is known as "wind-up", and can cause considerable damage to the transmission or drive train. On loose surfaces these differences are absorbed by the tire slippage on the road surface. A transfer case may also incorporate a centre differential, allowing the drive shafts to spin at different speeds. This permits the four-wheel drive vehicle to drive on paved surfaces without experiencing "wind-up". An epicyclic differential can use epicyclic gearing to split and apportion torque asymmetrically between the front and rear axles. An epicyclic differential is at the heart of the Toyota Prius automotive drive train, where it interconnects the engine, motor-generators, and the drive wheels (which have a second differential for splitting torque as usual). It has the advantage of being relatively compact along the length of its axis (that is, the sun gear shaft). Epicyclic gears are also called planetary gears because the axes of the planet gears revolve around the common axis of the sun and ring gears that they mesh with and roll between. In the image, the yellow shaft carries the sun gear which is almost hidden. The blue gears are called planet gears and the pink gear is the ring gear or annulus. This is another type of differential that was used in some early automobiles, more recently the Oldsmobile Toronado, as well as other non-automotive applications. It consists of spur gears only. A spur-gear differential has two equal-sized spur gears, one for each half-shaft, with a space between them. Instead of the Bevel gear, also known as a miter gear, assembly (the "spider") at the centre of the differential, there is a rotating carrier on the same axis as the two shafts. Torque from a prime mover or transmission, such as the drive shaft of a car, rotates this carrier. Mounted in this carrier are one or more pairs of identical pinions, generally longer than their diameters, and typically smaller than the spur gears on the individual half-shafts. Each pinion pair rotates freely on pins supported by the carrier. Furthermore, the pinion pairs are displaced axially, such that they mesh only for the part of their length between the two spur gears, and rotate in opposite directions. The remaining length of a given pinion meshes with the nearer spur gear on its axle. Therefore, each pinion couples that spur gear to the other pinion, and in turn, the other spur gear, so that when the drive shaft rotates the carrier, its relationship to the gears for the individual wheel axles is the same as that in a bevel-gear differential. The oldest known example of a differential was once thought to be in the Antikythera mechanism. It was supposed to have used such a train to produce the difference between two inputs, one input related to the position of the sun on the zodiac, and the other input related to the position of the moon on the zodiac; the output of the differential gave a quantity related to the moon's phase. It has now been proven that the assumption of the existence of a differential gearing arrangement was incorrect. Chinese south-pointing chariots may also have been very early applications of differentials. The chariot had a pointer which constantly pointed to the south, no matter how the chariot turned as it travelled. It could therefore be used as a type of compass. It is widely thought that a differential mechanism responded to any difference between the speeds of rotation of the two wheels of the chariot, and turned the pointer appropriately. However, the mechanism was not precise enough, and, after a few miles of travel, the dial could have very well been pointing in the complete opposite direction. The earliest definitely verified use of a differential was in a clock made by Joseph Williamson in 1720. It employed a differential to add the Equation of Time to local mean time, as determined by the clock mechanism, to produce solar time, which would have been the same as the reading of a sundial. During the 18th Century, sundials were considered to show the "correct" time, so an ordinary clock would frequently have to be readjusted, even if it worked perfectly, because of seasonal variations in the Equation of Time. Williamson's and other equation clocks showed sundial time without needing readjustment. Nowadays, we consider clocks to be "correct" and sundials usually incorrect, so many sundials carry instructions about how to use their readings to obtain clock time. In the first half of the twentieth century, mechanical analog computers, called differential analyzers, were constructed that used differential gear trains to perform addition and subtraction. The U.S. Navy Mk.1 gun fire control computer used about 160 differentials of the bevel-gear type. A differential gear train can be used to allow a difference between two input axles. Mills often used such gears to apply torque in the required axis. Differentials are also used in this way in watchmaking to link two separate regulating systems with the aim of averaging out errors. Greubel Forsey use a differential to link two double tourbillon systems in their Quadruple Differential Tourbillon. A relatively new technology is the electronically-controlled 'active differential'. An electronic control unit (ECU) uses inputs from multiple sensors, including yaw rate, steering input angle, and lateral acceleration—and adjusts the distribution of torque to compensate for undesirable handling behaviours like understeer. Active differentials used to play a large role in the World Rally Championship, but in the 2006 season the FIA has limited the use of active differentials only to those drivers who have not competed in the World Rally Championship in the last five years. Fully integrated active differentials are used on the Ferrari F430, Mitsubishi Lancer Evolution, and on the rear wheels in the Acura RL. A version manufactured by ZF is also being offered on the latest Audi S4 and Audi A4. The Volkswagen Golf GTI Mk7 in Performance trim also has an electronically controlled front-axle transverse differential lock, also known as VAQ. The second constraint of the differential is passive—it is actuated by the friction kinematics chain through the ground. The difference in torque on the roadwheels and tires (caused by turns or bumpy ground) drives the second degree of freedom, (overcoming the torque of inner friction) to equalise the driving torque on the tires. The sensitivity of the differential depends on the inner friction through the second degree of freedom. All of the differentials (so called “active” and “passive”) use clutches and brakes for restricting the second degree of freedom, so all suffer from the same disadvantage—decreased sensitivity to a dynamically changing environment. The sensitivity of the ECU controlled differential is also limited by the time delay caused by sensors and the response time of the actuators. Although most automobiles in the developed world use differentials there are a few that do not. Several different types exist:

Welding is a fabrication or sculptural process that joins materials, usually metals or thermoplastics, by causing coalescence. This is often done by melting the workpieces and adding a filler material to form a pool of molten material (the weld pool) that cools to become a strong joint, with pressure sometimes used in conjunction with heat, or by itself, to produce the weld. This is in contrast with soldering and brazing, which involve melting a lower-melting-point material between the workpieces to form a bond between them, without melting the workpieces. Many different energy sources can be used for welding, including a gas flame, an electric arc, a laser, an electron beam, friction, and ultrasound. While often an industrial process, welding may be performed in many different environments, including open air, under water and in outer space. Welding is a potentially hazardous undertaking and precautions are required to avoid burns, electric shock, vision damage, inhalation of poisonous gases and fumes, and exposure to intense ultraviolet radiation. Until the end of the 19th century, the only welding process was forge welding, which blacksmiths had used for centuries to join iron and steel by heating and hammering. Arc welding and oxyfuel welding were among the first processes to develop late in the century, and electric resistance welding followed soon after. Welding technology advanced quickly during the early 20th century as World War I and World War II drove the demand for reliable and inexpensive joining methods. Following the wars, several modern welding techniques were developed, including manual methods like shielded metal arc welding, now one of the most popular welding methods, as well as semi-automatic and automatic processes such as gas metal arc welding, submerged arc welding, flux-cored arc welding and electroslag welding. Developments continued with the invention of laser beam welding, electron beam welding, electromagnetic pulse welding and friction stir welding in the latter half of the century. Today, the science continues to advance. Robot welding is commonplace in industrial settings, and researchers continue to develop new welding methods and gain greater understanding of weld quality. These processes use a welding power supply to create and maintain an electric arc between an electrode and the base material to melt metals at the welding point. They can use either direct (DC) or alternating (AC) current, and consumable or non-consumable electrodes. The welding region is sometimes protected by some type of inert or semi-inert gas, known as a shielding gas, and filler material is sometimes used as well. To supply the electrical power necessary for arc welding processes, a variety of different power supplies can be used. The most common welding power supplies are constant current power supplies and constant voltage power supplies. In arc welding, the length of the arc is directly related to the voltage, and the amount of heat input is related to the current. Constant current power supplies are most often used for manual welding processes such as gas tungsten arc welding and shielded metal arc welding, because they maintain a relatively constant current even as the voltage varies. This is important because in manual welding, it can be difficult to hold the electrode perfectly steady, and as a result, the arc length and thus voltage tend to fluctuate. Constant voltage power supplies hold the voltage constant and vary the current, and as a result, are most often used for automated welding processes such as gas metal arc welding, flux cored arc welding, and submerged arc welding. In these processes, arc length is kept constant, since any fluctuation in the distance between the wire and the base material is quickly rectified by a large change in current. For example, if the wire and the base material get too close, the current will rapidly increase, which in turn causes the heat to increase and the tip of the wire to melt, returning it to its original separation distance. The type of current used also plays an important role in arc welding. Consumable electrode processes such as shielded metal arc welding and gas metal arc welding generally use direct current, but the electrode can be charged either positively or negatively. In welding, the positively charged anode will have a greater heat concentration, and as a result, changing the polarity of the electrode has an impact on weld properties. If the electrode is positively charged, the base metal will be hotter, increasing weld penetration and welding speed. Alternatively, a negatively charged electrode results in more shallow welds. Nonconsumable electrode processes, such as gas tungsten arc welding, can use either type of direct current, as well as alternating current. However, with direct current, because the electrode only creates the arc and does not provide filler material, a positively charged electrode causes shallow welds, while a negatively charged electrode makes deeper welds. Alternating current rapidly moves between these two, resulting in medium-penetration welds. One disadvantage of AC, the fact that the arc must be re-ignited after every zero crossing, has been addressed with the invention of special power units that produce a square wave pattern instead of the normal sine wave, making rapid zero crossings possible and minimizing the effects of the problem. One of the most common types of arc welding is shielded metal arc welding (SMAW); it is also known as manual metal arc welding (MMA) or stick welding. Electric current is used to strike an arc between the base material and consumable electrode rod, which is made of filler material (typically steel) and is covered with a flux that protects the weld area from oxidation and contamination by producing carbon dioxide (CO2) gas during the welding process. The electrode core itself acts as filler material, making a separate filler unnecessary. The process is versatile and can be performed with relatively inexpensive equipment, making it well suited to shop jobs and field work. An operator can become reasonably proficient with a modest amount of training and can achieve mastery with experience. Weld times are rather slow, since the consumable electrodes must be frequently replaced and because slag, the residue from the flux, must be chipped away after welding. Furthermore, the process is generally limited to welding ferrous materials, though special electrodes have made possible the welding of cast iron, nickel, aluminum, copper, and other metals. Gas metal arc welding (GMAW), also known as metal inert gas or MIG welding, is a semi-automatic or automatic process that uses a continuous wire feed as an electrode and an inert or semi-inert gas mixture to protect the weld from contamination. Since the electrode is continuous, welding speeds are greater for GMAW than for SMAW. A related process, flux-cored arc welding (FCAW), uses similar equipment but uses wire consisting of a steel electrode surrounding a powder fill material. This cored wire is more expensive than the standard solid wire and can generate fumes and/or slag, but it permits even higher welding speed and greater metal penetration. Gas tungsten arc welding (GTAW), or tungsten inert gas (TIG) welding, is a manual welding process that uses a nonconsumable tungsten electrode, an inert or semi-inert gas mixture, and a separate filler material. Especially useful for welding thin materials, this method is characterized by a stable arc and high quality welds, but it requires significant operator skill and can only be accomplished at relatively low speeds. GTAW can be used on nearly all weldable metals, though it is most often applied to stainless steel and light metals. It is often used when quality welds are extremely important, such as in bicycle, aircraft and naval applications. A related process, plasma arc welding, also uses a tungsten electrode but uses plasma gas to make the arc. The arc is more concentrated than the GTAW arc, making transverse control more critical and thus generally restricting the technique to a mechanized process. Because of its stable current, the method can be used on a wider range of material thicknesses than can the GTAW process and it is much faster. It can be applied to all of the same materials as GTAW except magnesium, and automated welding of stainless steel is one important application of the process. A variation of the process is plasma cutting, an efficient steel cutting process. Submerged arc welding (SAW) is a high-productivity welding method in which the arc is struck beneath a covering layer of flux. This increases arc quality, since contaminants in the atmosphere are blocked by the flux. The slag that forms on the weld generally comes off by itself, and combined with the use of a continuous wire feed, the weld deposition rate is high. Working conditions are much improved over other arc welding processes, since the flux hides the arc and almost no smoke is produced. The process is commonly used in industry, especially for large products and in the manufacture of welded pressure vessels. Other arc welding processes include atomic hydrogen welding, electroslag welding, electrogas welding, and stud arc welding. The most common gas welding process is oxyfuel welding, also known as oxyacetylene welding. It is one of the oldest and most versatile welding processes, but in recent years it has become less popular in industrial applications. It is still widely used for welding pipes and tubes, as well as repair work. The equipment is relatively inexpensive and simple, generally employing the combustion of acetylene in oxygen to produce a welding flame temperature of about 3100 °C. The flame, since it is less concentrated than an electric arc, causes slower weld cooling, which can lead to greater residual stresses and weld distortion, though it eases the welding of high alloy steels. A similar process, generally called oxyfuel cutting, is used to cut metals. Resistance welding involves the generation of heat by passing current through the resistance caused by the contact between two or more metal surfaces. Small pools of molten metal are formed at the weld area as high current (1000–100,000 A) is passed through the metal. In general, resistance welding methods are efficient and cause little pollution, but their applications are somewhat limited and the equipment cost can be high. Spot welding is a popular resistance welding method used to join overlapping metal sheets of up to 3 mm thick. Two electrodes are simultaneously used to clamp the metal sheets together and to pass current through the sheets. The advantages of the method include efficient energy use, limited workpiece deformation, high production rates, easy automation, and no required filler materials. Weld strength is significantly lower than with other welding methods, making the process suitable for only certain applications. It is used extensively in the automotive industry—ordinary cars can have several thousand spot welds made by industrial robots. A specialized process, called shot welding, can be used to spot weld stainless steel. Like spot welding, seam welding relies on two electrodes to apply pressure and current to join metal sheets. However, instead of pointed electrodes, wheel-shaped electrodes roll along and often feed the workpiece, making it possible to make long continuous welds. In the past, this process was used in the manufacture of beverage cans, but now its uses are more limited. Other resistance welding methods include butt welding, flash welding, projection welding, and upset welding. Energy beam welding methods, namely laser beam welding and electron beam welding, are relatively new processes that have become quite popular in high production applications. The two processes are quite similar, differing most notably in their source of power. Laser beam welding employs a highly focused laser beam, while electron beam welding is done in a vacuum and uses an electron beam. Both have a very high energy density, making deep weld penetration possible and minimizing the size of the weld area. Both processes are extremely fast, and are easily automated, making them highly productive. The primary disadvantages are their very high equipment costs (though these are decreasing) and a susceptibility to thermal cracking. Developments in this area include laser-hybrid welding, which uses principles from both laser beam welding and arc welding for even better weld properties, laser cladding and X-ray welding. Like the first welding process, forge welding, some modern welding methods do not involve the melting of the materials being joined. One of the most popular, ultrasonic welding, is used to connect thin sheets or wires made of metal or thermoplastic by vibrating them at high frequency and under high pressure. The equipment and methods involved are similar to that of resistance welding, but instead of electric current, vibration provides energy input. Welding metals with this process does not involve melting the materials; instead, the weld is formed by introducing mechanical vibrations horizontally under pressure. When welding plastics, the materials should have similar melting temperatures, and the vibrations are introduced vertically. Ultrasonic welding is commonly used for making electrical connections out of aluminum or copper, and it is also a very common polymer welding process. Another common process, explosion welding, involves the joining of materials by pushing them together under extremely high pressure. The energy from the impact plasticizes the materials, forming a weld, even though only a limited amount of heat is generated. The process is commonly used for welding dissimilar materials, such as the welding of aluminum with steel in ship hulls or compound plates. Other solid-state welding processes include friction welding (including friction stir welding), electromagnetic pulse welding, co-extrusion welding, cold welding, diffusion bonding, exothermic welding, high frequency welding, hot pressure welding, induction welding, and roll welding. Welds can be geometrically prepared in many different ways. The five basic types of weld joints are the butt joint, lap joint, corner joint, edge joint, and T-joint (a variant of this last is the cruciform joint). Other variations exist as well—for example, double-V preparation joints are characterized by the two pieces of material each tapering to a single center point at one-half their height. Single-U and double-U preparation joints are also fairly common—instead of having straight edges like the single-V and double-V preparation joints, they are curved, forming the shape of a U. Lap joints are also commonly more than two pieces thick—depending on the process used and the thickness of the material, many pieces can be welded together in a lap joint geometry. Many welding processes require the use of a particular joint design; for example, resistance spot welding, laser beam welding, and electron beam welding are most frequently performed on lap joints. Other welding methods, like shielded metal arc welding, are extremely versatile and can weld virtually any type of joint. Some processes can also be used to make multipass welds, in which one weld is allowed to cool, and then another weld is performed on top of it. This allows for the welding of thick sections arranged in a single-V preparation joint, for example. After welding, a number of distinct regions can be identified in the weld area. The weld itself is called the fusion zone—more specifically, it is where the filler metal was laid during the welding process. The properties of the fusion zone depend primarily on the filler metal used, and its compatibility with the base materials. It is surrounded by the heat-affected zone, the area that had its microstructure and properties altered by the weld. These properties depend on the base material's behavior when subjected to heat. The metal in this area is often weaker than both the base material and the fusion zone, and is also where residual stresses are found. Many distinct factors influence the strength of welds and the material around them, including the welding method, the amount and concentration of energy input, the weldability of the base material, filler material, and flux material, the design of the joint, and the interactions between all these factors. To test the quality of a weld, either destructive or nondestructive testing methods are commonly used to verify that welds are free of defects, have acceptable levels of residual stresses and distortion, and have acceptable heat-affected zone (HAZ) properties. Types of welding defects include cracks, distortion, gas inclusions (porosity), non-metallic inclusions, lack of fusion, incomplete penetration, lamellar tearing, and undercutting. Welding codes and specifications exist to guide welders in proper welding technique and in how to judge the quality of welds. Methods such as visual inspection, radiography, ultrasonic testing, dye penetrant inspection, Magnetic-particle inspection or industrial CT scanning can help with detection and analysis of certain defects. The effects of welding on the material surrounding the weld can be detrimental—depending on the materials used and the heat input of the welding process used, the HAZ can be of varying size and strength. The thermal diffusivity of the base material plays a large role—if the diffusivity is high, the material cooling rate is high and the HAZ is relatively small. Conversely, a low diffusivity leads to slower cooling and a larger HAZ. The amount of heat injected by the welding process plays an important role as well, as processes like oxyacetylene welding have an unconcentrated heat input and increase the size of the HAZ. Processes like laser beam welding give a highly concentrated, limited amount of heat, resulting in a small HAZ. Arc welding falls between these two extremes, with the individual processes varying somewhat in heat input. To calculate the heat input for arc welding procedures, the following formula can be used: where Q = heat input (kJ/mm), V = voltage (V), I = current (A), and S = welding speed (mm/min). The efficiency is dependent on the welding process used, with shielded metal arc welding having a value of 0.75, gas metal arc welding and submerged arc welding, 0.9, and gas tungsten arc welding, 0.8. The durability and life of dynamically loaded, welded steel structures is determined in many cases by the welds, particular the weld transitions. Through selective treatment of the transitions by grinding (abrasive cutting), shot peening, High Frequency Impact Treatment etc. the durability of many designs increase significantly. Most solids used are engineering materials consisting of crystalline solids in which the atoms or ions are arranged in a repetitive geometric pattern which is known as a lattice structure. The only exception is material that is made from glass which is a combination of a supercooled liquid and polymers which are aggregates of large organic molecules. Crystalline solids cohesion is obtained by a metallic or chemical bond which is formed between the constituent atoms. Chemical bonds can be grouped into two types consisting of ionic and covalent. To form an ionic bond, either a valence or bonding electron separates from one atom and becomes attached to another atom to form oppositely charged ions. The bonding in the static position is when the ions occupy an equilibrium position where the resulting force between them is zero. When the ions are exerted in tension force, the inter-ionic spacing increases creating an electrostatic attractive force, while a repulsing force under compressive force between the atomic nuclei is dominant. Covalent bonding is when the constituent atoms lose an electron(s) to form a cluster of ions, resulting in an electron cloud that is shared by the molecule as a whole. In both ionic and covalent boding the location of the ions and electrons are constrained relative to each other, thereby resulting in the bond being characteristically brittle. Metallic bonding can be classified as a type of covalent bonding for which the constituent atoms of the same type and do not combine with one another to form a chemical bond. Atoms will lose an electron(s) forming an array of positive ions. These electrons are shared by the lattice which makes the electron cluster mobile, as the electrons are free to move as well as the ions. For this, it gives metals their relatively high thermal and electrical conductivity as well as being characteristically ductile. Three of the most commonly used crystal lattice structures in metals are the body-centred cubic, face-centred cubic and close-packed hexagonal. Ferritic steel has a body-centred cubic structure and austenitic steel, non-ferrous metals like aluminium, copper and nickel have the face-centred cubic structure. Ductility is an important factor in ensuring the integrity of structures by enabling them to sustain local stress concentrations without fracture. In addition, structures are required to be of an acceptable strength, which is related to a material's yield strength. In general, as the yield strength of a material increases, there is a corresponding reduction in fracture toughness. A reduction in fracture toughness may also be attributed to the embitterment effect of impurities, or for body-centred cubic metals, from a reduction in temperature. Metals and in particular steels have a transitional temperature range where above this range the metal has acceptable notch-ductility while below this range the material becomes brittle. Within the range, the materials behavior is unpredictable. The reduction in fracture toughness is accompanied by a change in the fracture appearance. When above the transition, the fracture is primarily due to micro-void coalescence, which results in the fracture appearing fibrous. When the temperatures falls the fracture will show signs of cleavage facets. These two appearances are visible by the naked eye. Brittle fracture in steel plates may appear as chevron markings under the microscope. These arrow-like ridges on the crack surface point towards the origin of the fracture. Fracture toughness is measured using a notched and pre-cracked rectangular specimen, of which the dimensions are specified in standards, for example ASTM E23. There are other means of estimating or measuring fracture toughness by the following: The Charpy impact test per ASTM A370; The crack-tip opening displacement (CTOD) test per BS 7448-1; The J integral test per ASTM E1820; The Pellini drop-weight test per ASTM E208. While many welding applications are done in controlled environments such as factories and repair shops, some welding processes are commonly used in a wide variety of conditions, such as open air, underwater, and vacuums (such as space). In open-air applications, such as construction and outdoors repair, shielded metal arc welding is the most common process. Processes that employ inert gases to protect the weld cannot be readily used in such situations, because unpredictable atmospheric movements can result in a faulty weld. Shielded metal arc welding is also often used in underwater welding in the construction and repair of ships, offshore platforms, and pipelines, but others, such as flux cored arc welding and gas tungsten arc welding, are also common. Welding in space is also possible—it was first attempted in 1969 by Russian cosmonauts, when they performed experiments to test shielded metal arc welding, plasma arc welding, and electron beam welding in a depressurized environment. Further testing of these methods was done in the following decades, and today researchers continue to develop methods for using other welding processes in space, such as laser beam welding, resistance welding, and friction welding. Advances in these areas may be useful for future endeavours similar to the construction of the International Space Station, which could rely on welding for joining in space the parts that were manufactured on Earth. Welding can be dangerous and unhealthy if the proper precautions are not taken. However, with the use of new technology and proper protection, risks of injury and death associated with welding can be greatly reduced. Since many common welding procedures involve an open electric arc or flame, the risk of burns and fire is significant; this is why it is classified as a hot work process. To prevent injury, welders wear personal protective equipment in the form of heavy leather gloves and protective long sleeve jackets to avoid exposure to extreme heat and flames. Additionally, the brightness of the weld area leads to a condition called arc eye or flash burns in which ultraviolet light causes inflammation of the cornea and can burn the retinas of the eyes. Goggles and welding helmets with dark UV-filtering face plates are worn to prevent this exposure. Since the 2000s, some helmets have included a face plate which instantly darkens upon exposure to the intense UV light. To protect bystanders, the welding area is often surrounded with translucent welding curtains. These curtains, made of a polyvinyl chloride plastic film, shield people outside the welding area from the UV light of the electric arc, but can not replace the filter glass used in helmets. Welders are often exposed to dangerous gases and particulate matter. Processes like flux-cored arc welding and shielded metal arc welding produce smoke containing particles of various types of oxides. The size of the particles in question tends to influence the toxicity of the fumes, with smaller particles presenting a greater danger. This is due to the fact that smaller particles have the ability to cross the blood brain barrier. Fumes and gases, such as carbon dioxide, ozone, and fumes containing heavy metals, can be dangerous to welders lacking proper ventilation and training. Exposure to manganese welding fumes, for example, even at low levels (<0.2 mg/m3), may lead to neurological problems or to damage to the lungs, liver, kidneys, or central nervous system. The use of compressed gases and flames in many welding processes poses an explosion and fire risk. Some common precautions include limiting the amount of oxygen in the air, and keeping combustible materials away from the workplace. The history of joining metals goes back several millennia, called forge welding, with the earliest examples of welding from the Bronze Age and the Iron Age in Europe and the Middle East. The ancient Greek historian Herodotus states in The Histories of the 5th century BC that Glaucus of Chios "was the man who single-handedly invented iron-welding." Welding was used in the construction of the iron pillar in Delhi, India, erected about 310 AD and weighing 5.4 metric tons. The Middle Ages brought advances in forge welding, in which blacksmiths pounded heated metal repeatedly until bonding occurred. In 1540, Vannoccio Biringuccio published De la pirotechnia, which includes descriptions of the forging operation. Renaissance craftsmen were skilled in the process, and the industry continued to grow during the following centuries. In 1802, Russian scientist Vasily Petrov discovered the electric arc and subsequently proposed its possible practical applications, including welding. In 1881–82 a Russian inventor Nikolai Benardos created the first electric arc welding method known as carbon arc welding, using carbon electrodes. The advances in arc welding continued with the invention of metal electrodes in the late 1800s by a Russian, Nikolai Slavyanov (1888), and an American, C. L. Coffin (1890). Around 1900, A. P. Strohmenger released a coated metal electrode in Britain, which gave a more stable arc. In 1905 Russian scientist Vladimir Mitkevich proposed the usage of three-phase electric arc for welding. In 1919, alternating current welding was invented by C. J. Holslag but did not become popular for another decade. Resistance welding was also developed during the final decades of the 19th century, with the first patents going to Elihu Thomson in 1885, who produced further advances over the next 15 years. Thermite welding was invented in 1893, and around that time another process, oxyfuel welding, became well established. Acetylene was discovered in 1836 by Edmund Davy, but its use was not practical in welding until about 1900, when a suitable blowtorch was developed. At first, oxyfuel welding was one of the more popular welding methods due to its portability and relatively low cost. As the 20th century progressed, however, it fell out of favor for industrial applications. It was largely replaced with arc welding, as metal coverings (known as flux) for the electrode that stabilize the arc and shield the base material from impurities continued to be developed. World War caused a major surge in the use of welding processes, with the various military powers attempting to determine which of the several new welding processes would be best. The British primarily used arc welding, even constructing a ship, the Fulagar, with an entirely welded hull. Arc welding was first applied to aircraft during the war as well, as some German airplane fuselages were constructed using the process. Also noteworthy is the first welded road bridge in the world, designed by Stefan Bryła of the Warsaw University of Technology in 1927, and built across the river Słudwia Maurzyce near Łowicz, Poland in 1929. During the 1920s, major advances were made in welding technology, including the introduction of automatic welding in 1920, in which electrode wire was fed continuously. Shielding gas became a subject receiving much attention, as scientists attempted to protect welds from the effects of oxygen and nitrogen in the atmosphere. Porosity and brittleness were the primary problems, and the solutions that developed included the use of hydrogen, argon, and helium as welding atmospheres. During the following decade, further advances allowed for the welding of reactive metals like aluminum and magnesium. This in conjunction with developments in automatic welding, alternating current, and fluxes fed a major expansion of arc welding during the 1930s and then during World War II. During the middle of the century, many new welding methods were invented. 1930 saw the release of stud welding, which soon became popular in shipbuilding and construction. Submerged arc welding was invented the same year and continues to be popular today. In 1932 a Russian, Konstantin Khrenov successfully implemented the first underwater electric arc welding. Gas tungsten arc welding, after decades of development, was finally perfected in 1941, and gas metal arc welding followed in 1948, allowing for fast welding of non-ferrous materials but requiring expensive shielding gases. Shielded metal arc welding was developed during the 1950s, using a flux-coated consumable electrode, and it quickly became the most popular metal arc welding process. In 1957, the flux-cored arc welding process debuted, in which the self-shielded wire electrode could be used with automatic equipment, resulting in greatly increased welding speeds, and that same year, plasma arc welding was invented. Electroslag welding was introduced in 1958, and it was followed by its cousin, electrogas welding, in 1961. In 1953 the Soviet scientist N. F. Kazakov proposed the diffusion bonding method. Other recent developments in welding include the 1958 breakthrough of electron beam welding, making deep and narrow welding possible through the concentrated heat source. Following the invention of the laser in 1960, laser beam welding debuted several decades later, and has proved to be especially useful in high-speed, automated welding. Electromagnetic pulse welding is industrially used since 1967. Friction stir welding was invented in 1991 by Wayne Thomas at The Welding Institute (TWI, UK) and found high-quality applications all over the world. All of these four new processes continue to be quite expensive due the high cost of the necessary equipment, and this has limited their applications. As an industrial process, the cost of welding plays a crucial role in manufacturing decisions. Many different variables affect the total cost, including equipment cost, labor cost, material cost, and energy cost. Depending on the process, equipment cost can vary, from inexpensive for methods like shielded metal arc welding and oxyfuel welding, to extremely expensive for methods like laser beam welding and electron beam welding. Because of their high cost, they are only used in high production operations. Similarly, because automation and robots increase equipment costs, they are only implemented when high production is necessary. Labor cost depends on the deposition rate (the rate of welding), the hourly wage, and the total operation time, including both time welding and handling the part. The cost of materials includes the cost of the base and filler material, and the cost of shielding gases. Finally, energy cost depends on arc time and welding power demand. For manual welding methods, labor costs generally make up the vast majority of the total cost. As a result, many cost-saving measures are focused on minimizing operation time. To do this, welding procedures with high deposition rates can be selected, and weld parameters can be fine-tuned to increase welding speed. Mechanization and automation are often implemented to reduce labor costs, but this frequently increases the cost of equipment and creates additional setup time. Material costs tend to increase when special properties are necessary, and energy costs normally do not amount to more than several percent of the total welding cost. In recent years, in order to minimize labor costs in high production manufacturing, industrial welding has become increasingly more automated, most notably with the use of robots in resistance spot welding (especially in the automotive industry) and in arc welding. In robot welding, mechanized devices both hold the material and perform the weld and at first, spot welding was its most common application, but robotic arc welding increases in popularity as technology advances. Other key areas of research and development include the welding of dissimilar materials (such as steel and aluminum, for example) and new welding processes, such as friction stir, magnetic pulse, conductive heat seam, and laser-hybrid welding. Furthermore, progress is desired in making more specialized methods like laser beam welding practical for more applications, such as in the aerospace and automotive industries. Researchers also hope to better understand the often unpredictable properties of welds, especially microstructure, residual stresses, and a weld's tendency to crack or deform. The trend of accelerating the speed at which welds are performed in the steel erection industry comes at a risk to the integrity of the connection. Without proper fusion to the base materials provided by sufficient arc time on the weld, a project inspector cannot ensure the effective diameter of the puddle weld therefore he or she cannot guarantee the published load capacities unless they witness the actual installation. This method of puddle welding is common in the United States and Canada for attaching steel sheets to bar joist and structural steel members. Regional agencies are responsible for ensuring the proper installation of puddle welding on steel construction sites. Currently there is no standard or weld procedure which can ensure the published holding capacity of any unwitnessed connection, but this is under review by the American Welding Society. Glasses and certain types of plastics are commonly welded materials. Unlike metals, which have a specific melting point, glasses and plastics have a melting range, called the glass transition. When heating the solid material into this range, it will generally become softer and more pliable. When it crosses through the glass transition, it will become a very thick, sluggish, viscous liquid. Typically, this viscous liquid will have very little surface tension, becoming a sticky, honey-like consistency, so welding can usually take place by simply pressing two melted surfaces together. The two liquids will generally mix and join as one. Upon cooling through the glass transition, the welded piece will solidify as one solid piece of amorphous material. Glass welding is a common practice during glassblowing. It is used very often in the construction of lighting, neon signs, flashtubes, scientific equipment, and the manufacture of dishes and other glassware. Welding glass is accomplished by heating the glass through the glass transition, turning it into a thick, formable, liquid mass. Heating is usually done with a gas or oxy-gas torch, or a furnace, because the temperatures for melting glass are often quite high. This temperature may vary, depending on the type of glass. For example, lead glass becomes a weldable liquid at around , whereas quartz glass (fused silica) must be heated to over . Sometimes a tube may be attached to the glass, allowing it to be blown into various shapes, such as bulbs, bottles, or tubes. When two pieces of liquid glass are pressed together, they will usually weld very readily. Welding a handle onto a pitcher can usually be done with relative ease. However, when welding a tube to another tube, a combination of blowing and suction, and pressing and pulling is used to ensure a good seal, and to shape the glass. Sometimes a filler rod may be used, but usually not. Because glass is very brittle in its solid state, it is often prone to cracking upon heating and cooling, especially if the heating and cooling are uneven. This is because the brittleness of the glass does not allow for uneven thermal expansion. Glass that has been welded will usually need to be cooled very slowly and evenly through the glass transition, in a process called annealing, to relieve any internal stresses created by a temperature gradient. There are many types of glass, and it is most common to weld using the same types. Different glasses often have different rates of thermal expansion, which can cause them to crack upon cooling when they contract differently. For instance, quartz has very low thermal expansion, while soda-lime glass has very high thermal expansion. When welding different glasses to each other, it is usually important to closely match their coefficients of thermal expansion, to ensure that cracking does not occur. Also, some glasses will simply not mix with others, so welding between certain types may not be possible. Glass can also be welded to metals and ceramics, although with metals the process is usually more adhesion to the surface of the metal rather than a commingling of the two materials. However, certain glasses will typically bond only to certain metals. For example, lead glass bonds readily to copper or molybdenum, but not to aluminum. Tungsten electrodes, which are often used in lighting, will not bond to quartz glass, so the tungsten is often wetted with molten borosilicate, which will bond to both the tungsten and the quartz. However, care must be taken to ensure that all materials have similar coefficients of thermal expansion to prevent cracking both when the object cools and when it is heated again. Special alloys are often used for this purpose, ensuring that the coefficients of expansion match, and sometimes thin, metallic coatings may be applied to a metal to create a good bond with the glass. Plastics are generally divided into two categories, which are "thermosets" and "thermoplastics." A thermoset is a plastic in which a chemical reaction sets the molecular bonds after first forming the plastic, and then the bonds cannot be broken again without degrading the plastic. Thermosets cannot be melted, therefore, once a thermoset has set it is impossible to weld it. Examples of thermosets include epoxies, silicone, vulcanized rubber, polyester, and polyurethane. Thermoplastics, by contrast, form long molecular chains, which are often coiled or intertwined, forming an amorphous structure without any long-range, crystalline order. Some thermoplastics may be fully amorphous, while others have a partially crystalline/partially amorphous structure. Both amorphous and semicrystalline thermoplastics have a glass transition, above which welding can occur, but semicrystallines also have a specific melting point which is above the glass transition. Above this melting point, the viscous liquid will become a free-flowing liquid. Examples of thermoplastics include polyethylene, polypropylene, polystyrene, polyvinylchloride (PVC), and fluoroplastics. Welding thermoplastics is very similar to welding glass. The plastic first must be cleaned and then heated through the glass transition, turning the weld-interface into a thick, viscous liquid. Two heated interfaces can then be pressed together, allowing the molecules to mix through intermolecular diffusion, joining them as one. Then the plastic is cooled through the glass transition, allowing the weld to solidify. A filler rod may often be used for certain types of joints. The main differences between welding glass and plastics are the types of heating methods, the much lower melting temperatures, and the fact that plastics will burn if overheated. Many different methods have been devised for heating plastic to a weldable temperature without burning it. Ovens or electric heating tools can be used to melt the plastic. Ultrasonic, laser, or friction heating are other methods. Resistive metals may be implanted in the plastic, which respond to induction heating. Some plastics will begin to burn at temperatures lower than their glass transition, so welding can be performed by blowing a heated, inert gas onto the plastic, melting it while, at the same tme, shielding it from oxygen.

An axle is a central shaft for a rotating wheel or gear. On wheeled vehicles, the axle may be fixed to the wheels, rotating with them, or fixed to its surroundings, with the wheels rotating around the axle. In the former case, bearings or bushings are provided at the mounting points where the axle is supported. In the latter case, a bearing or bushing sits inside the hole in the wheel to allow the wheel or gear to rotate around the axle. Sometimes, especially on bicycles, the latter type is referred to as a spindle. On cars and trucks, several senses of the word "Tandem axle" co-occur in casual usage, referring to the shaft itself, its housing, or simply any transverse pair of wheels. The shaft itself rotates with the wheel, being either bolted or splined in fixed relation to it, and is called an "axle" or "axle shaft". However, it is equally true that the surrounding housing (typically a casting) is also called an "axle" (or "axle housing"). An even broader (somewhat figurative) sense of the word refers to every transverse pair of wheels, whether they are connected to each other or not. Thus even transverse pairs of wheels in an independent suspension are usually called "an axle". Axles are an integral component of a wheeled vehicle. In a live-axle suspension system, the axles serve to transmit driving torque to the wheel, as well as to maintain the position of the wheels relative to each other and to the vehicle body. The axles in this system must also bear the weight of the vehicle plus any cargo. A non-driving axle, such as the front beam axle in Heavy duty trucks and some 2 wheel drive light trucks and vans, will have no shaft. It serves only as a suspension and steering component. Conversely, many front wheel drive cars have a solid rear beam axle. In other types of suspension systems, the axles serve only to transmit driving torque to the wheels; The position and angle of the wheel hubs is a function of the suspension system. This is typical of the independent suspension found on most newer cars and SUV's, and on the front of many light trucks. These systems still have a differential, but it will not have attached axle housing tubes. It may be attached to the vehicle frame or body, or integral in a transaxle. The axle shafts (usually C.V. type) then transmit driving torque to the wheels. Like a full floating axle system, the shafts in an independent suspension system do not support any vehicle weight. "Axle" in reference to a vehicle also has a more ambiguous definition, meaning parallel wheels on opposing sides of the vehicle, regardless of their mechanical connection type to each other and the vehicle frame or body. A straight axle is a single rigid shaft connecting a wheel on the left side of the vehicle to a wheel on the right side. The axis of rotation fixed by the axle is common to both wheels. Such a design can keep the wheel positions steady under heavy stress, and can therefore support heavy loads. Straight axles are used on trains, for the rear axles of commercial trucks, and on heavy duty off-road vehicles. The axle can be protected and further reinforced by enclosing the length of the axle in a housing. In split-axle designs, the wheel on each side is attached to a separate shaft. Modern passenger cars have split drive axles. In some designs, this allows independent suspension of the left and right wheels, and therefore a smoother ride. Even when the suspension is not independent, split axles permit the use of a differential, allowing the left and right drive wheels to be driven at different speeds as the automobile turns, improving traction and extending tire life. A tandem axle is a group of two or more axles situated close together. Truck designs will use such a configuration to provide a greater weight capacity than a single axle. Semi trailers usually have a tandem axle at the rear. An axle that is driven by the engine is called a drive axle. Modern front wheel drive cars typically combine the transmission and front axle into a single unit called a transaxle. The drive axle is a split axle with a differential and universal joints between the two half axles. Each half axle connects to the wheel by use of a constant velocity (CV) joint which allows the wheel assembly to move freely vertically as well as to pivot when making turns. In rear wheel drive cars and trucks, the engine turns a driveshaft which transmits rotational force to a drive axle at the rear of the vehicle. The drive axle may be a live axle, but modern automobiles generally use a split axle with a differential. Some simple vehicle designs, such as leisure go-karts, may have a single driven wheel where the drive axle is a split axle with only one of the two shafts driven by the engine, or else have both wheels connected to one shaft without a differential (kart racing). However, other go-karts have two rear drive wheels too. A dead axle, also called lazy axle, is not part of the drivetrain but is instead free-rotating. The rear axle of a front-wheel drive car may be considered a dead axle. Many trucks and trailers use dead axles for strictly load-bearing purposes. A dead axle located immediately in front of a drive axle is called a pusher axle. A tag axle is a dead axle situated behind a drive axle. On some vehicles (such as motorcoaches), the tag axle may be steerable. Some dump trucks and trailers are configured with lift axles (also known as airlift axles or drop axles), which may be mechanically raised or lowered. The axle is lowered to increase the weight capacity, or to distribute the weight of the cargo over more wheels, for example to cross a weight restricted bridge. When not needed, the axle is lifted off the ground to save wear on the tires and axle and to increase traction in the remaining wheels. Lifting an axle also alleviates lateral scrubbing of the additional axle in very tight turns, allowing the vehicle to turn more readily. In some situations removal of pressure from the additional axle is necessary for the vehicle to complete a turn at all. Several manufacturers offer computer-controlled airlift, so that the dead axles are automatically lowered when the main axle reaches its weight limit. The dead axles can still be lifted by the press of a button if needed. The full-floating design is typically used in most 3/4 and 1-ton light trucks, medium duty trucks and heavy-duty trucks, as well as most agricultural applications, such as large tractors and combines. There are a few exceptions, such as many Land-Rover vehicles. A full-floating axle can be identified by a protruding hub to which the axle shaft flange is bolted. These axles can carry more weight than a semi-floating or non-floating axle assembly because the hubs have two bearings riding on a fixed spindle. The axle shafts themselves do not carry any weight; they serve only to transmit torque from the differential to the wheels. Full-floating axle shafts are retained by the aforementioned flange bolted to the hub, while the hub and bearings are retained on the spindle by a large nut. The semi-floating design carries the weight of the vehicle on the axle shaft itself; there is a single bearing at the end of the axle housing that carries the load from the axle and that the axle rotates through. This design is found under most 1/2 ton and lighter trucks and SUVs.

Shock absorber
A shock absorber is a mechanical device designed to smooth out or damp shock impulse, and dissipate kinetic energy. It is a type of dashpot. Other names for a shock absorber include damper and dashpot. The automotive suspension component is often called just shock. During the early 20th century in the U.S., the then-well-known Houdaille brand (pronounced WHO-dye) was in some places a genericized trademark for the device, but has since disappeared from use. Pneumatic and hydraulic shock absorbers are used in conjunction with cushions and springs. An automobile shock absorber contains spring-loaded check valves and orifices to control the flow of oil through an internal piston. The shock absorber absorbs and dissipates energy. One design consideration, when designing or choosing a shock absorber, is where that energy will go. In most dashpots, energy is converted to heat inside the viscous fluid. In hydraulic cylinders, the hydraulic fluid heats up, while in air cylinders, the hot air is usually exhausted to the atmosphere. In other types of dashpots, such as electromagnetic types, the dissipated energy can be stored and used later. In general terms, shock absorbers help cushion vehicles on uneven roads. Shock absorbers are an important part of the suspension systems of automobiles, motorcycles, and other wheeled or tracked vehicles, as well as aircraft landing gear and the supports for many industrial machines. Large shock absorbers have also been used in structural engineering to reduce the susceptibility of structures to earthquake damage and resonance. A transverse mounted shock absorber, called a yaw damper, helps keep railcars from swaying excessively from side to side, and is important in passenger railroads, commuter rail, and rapid transit systems because it increases passenger comfort and prevents railcars from damaging station platforms. The success of passive damping technologies in suppressing vibration is demonstrated by its market size—around US $4.5 billion. In a vehicle, shock absorbers reduce the effect of traveling over rough ground, leading to improved ride quality and vehicle handling. While shock absorbers serve the purpose of limiting excessive suspension movement, their intended sole purpose is to dampen spring oscillations. Shock absorbers use valving of oil and gasses to absorb excess energy from the springs. Spring rates are chosen by the manufacturer based on the weight of the vehicle, loaded and unloaded. Some people use shocks to modify spring rates but this is not the correct use. Along with hysteresis in the tire itself, they dampen the energy stored in the motion of the unsprung weight up and down. Effective wheel bounce damping may require tuning shocks to an optimal resistance. Spring-based shock absorbers commonly use coil springs or leaf springs, though torsion bars are used in torsional shocks as well. Ideal springs alone, however, are not shock absorbers, as springs only store and do not dissipate or absorb energy. Vehicles typically employ both hydraulic shock absorbers and springs or torsion bars. In this combination, "shock absorber" refers specifically to the hydraulic piston that absorbs and dissipates vibration. Applied to a structure such as a building or bridge it may be part of a seismic retrofit or as part of new, earthquake resistant construction. In this application it allows yet restrains motion and absorbs resonant energy, which can cause excessive motion and eventual structural failure. It may eventually be possible to generate useful energy from the displacement of the fluid in a shock absorber. Shock absorbers are sometimes used to absorb kinetic energy during lifting with offshore cranes. The kinetic energy comes from velocity differences due to wave motion. There are several commonly-used approaches to shock absorption:
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