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Author: Michał Niełaczny
Publisher: Springer
ISBN: 3319953842
Category : Technology & Engineering
Languages : en
Pages : 85
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Book Description
This book presents a three-dimensional model of the complete unicycle–unicyclist system. A unicycle with a unicyclist on it represents a very complex system. It combines Mechanics, Biomechanics and Control Theory into the system, and is impressive in both its simplicity and improbability. Even more amazing is the fact that most unicyclists don’t know that what they’re doing is, according to science, impossible – just like bumblebees theoretically shouldn’t be able to fly. This book is devoted to the problem of modeling and controlling a 3D dynamical system consisting of a single-wheeled vehicle, namely a unicycle and the cyclist (unicyclist) riding it. The equations of motion are derived with the aid of the rarely used Boltzmann–Hamel Equations in Matrix Form, which are based on quasi-velocities. The Matrix Form allows Hamel coefficients to be automatically generated, and eliminates all the difficulties associated with determining these quantities. The equations of motion are solved by means of Wolfram Mathematica. To more faithfully represent the unicyclist as part of the model, the model is extended according to the main principles of biomechanics. The impact of the pneumatic tire is investigated using the Pacejka Magic Formula model including experimental determination of the stiffness coefficient. The aim of control is to maintain the unicycle–unicyclist system in an unstable equilibrium around a given angular position. The control system, based on LQ Regulator, is applied in Wolfram Mathematica. Lastly, experimental validation, 3D motion capture using software OptiTrack – Motive:Body and high-speed cameras are employed to test the model’s legitimacy. The description of the unicycle–unicyclist system dynamical model, simulation results, and experimental validation are all presented in detail.
Author: Michał Niełaczny
Publisher: Springer
ISBN: 3319953842
Category : Technology & Engineering
Languages : en
Pages : 85
Get Book Here
Book Description
This book presents a three-dimensional model of the complete unicycle–unicyclist system. A unicycle with a unicyclist on it represents a very complex system. It combines Mechanics, Biomechanics and Control Theory into the system, and is impressive in both its simplicity and improbability. Even more amazing is the fact that most unicyclists don’t know that what they’re doing is, according to science, impossible – just like bumblebees theoretically shouldn’t be able to fly. This book is devoted to the problem of modeling and controlling a 3D dynamical system consisting of a single-wheeled vehicle, namely a unicycle and the cyclist (unicyclist) riding it. The equations of motion are derived with the aid of the rarely used Boltzmann–Hamel Equations in Matrix Form, which are based on quasi-velocities. The Matrix Form allows Hamel coefficients to be automatically generated, and eliminates all the difficulties associated with determining these quantities. The equations of motion are solved by means of Wolfram Mathematica. To more faithfully represent the unicyclist as part of the model, the model is extended according to the main principles of biomechanics. The impact of the pneumatic tire is investigated using the Pacejka Magic Formula model including experimental determination of the stiffness coefficient. The aim of control is to maintain the unicycle–unicyclist system in an unstable equilibrium around a given angular position. The control system, based on LQ Regulator, is applied in Wolfram Mathematica. Lastly, experimental validation, 3D motion capture using software OptiTrack – Motive:Body and high-speed cameras are employed to test the model’s legitimacy. The description of the unicycle–unicyclist system dynamical model, simulation results, and experimental validation are all presented in detail.
Author: David William Vos
Publisher:
ISBN:
Category : Unicycles
Languages : en
Pages : 340
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Book Description
Studies the dynamics and active control of a mechanical unicycle with the human rider replaced by a turntable. The unicycle equations of motion are derived, linear in all states except yaw rate which is not considered a perturbation quantity. Using the specialized linear equations with yaw rate also linearized, the dynamics of the open loop system are studied and shown to decouple into longitudinal and lateral systems for zero turntable angular velocity, and linear controllers are proposed for stabilization. The systems reduce to lower order models by exploitation of the time scale separation of the open loop dynamics. A variation of the LQG control design method is derived and used in both the lateral and longitudinal controller designs. This method allows recovery of LQ regulator inner loop without use of pole zero cancellation strategy, hence potentially offering greater parameter uncertainty robustness. The lateral controller is continuously gain scheduled and implemented in a bang-bang setting in order to deal with coulomb friction effects between the tire and the ground. An estimation algorithm is defined to continuously determine estimates of the friction and hence adapt the bang-bang control algorithm.
Author: R. L. Huston
Publisher:
ISBN:
Category : Unicycles
Languages : en
Pages : 9
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Book Description
Author: Kevin M. Lynch
Publisher: Cambridge University Press
ISBN: 1107156300
Category : Computers
Languages : en
Pages : 545
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Book Description
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Author: Miguel Botto-Tobar
Publisher: Springer Nature
ISBN: 3030320332
Category : Technology & Engineering
Languages : en
Pages : 414
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Book Description
This book constitutes the proceedings of the 1st International Conference on Advances in Emerging Trends and Technologies (ICAETT 2019), held in Quito, Ecuador, on 29–31 May 2019, jointly organized by Universidad Tecnológica Israel, Universidad Técnica del Norte, and Instituto Tecnológico Superior Rumiñahui, and supported by SNOTRA. ICAETT 2019 brought together top researchers and practitioners working in different domains of computer science to share their expertise and to discuss future developments and potential collaborations. Presenting high-quality, peer-reviewed papers, the book discusses the following topics: Technology Trends Electronics Intelligent Systems Machine Vision Communication Security e-Learning e-Business e-Government and e-Participation
Author: Buddhika Lakmal Aththanayaka
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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Book Description
Self-balanced unicycle has received the attention of researchers for decades. Over the years, unicycle models with several different assemblies have been introduced by them. A thorough analysis of the dynamics of a unicycle with a frame and a rotating disk is discussed in this research. A torque applied to the rolling wheel maintains the longitudinal stability of the system by moving forward and backward. The rotating disk mounted on the top of the frame maintains the lateral stability of the system by providing a torque. Due to this torque the rolling wheel precess and change its yaw direction. The components of the unicycle assembly are addressed separately for the analysis of the dynamics. First, only the rolling wheel considered. Then, the rolling wheel and the frame are analyzed. Finally, the completed assembly with the rotating disk considered to build the dynamics model. In each of these cases both Newton-Euler and Lagrangian methods are used to obtain the dynamics equations for the unicycle.
Author: D. J. N. Limebeer
Publisher: Oxford University Press
ISBN: 0192559818
Category : Technology & Engineering
Languages : en
Pages : 480
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Book Description
Dynamics and Optimal Control of Road Vehicles uniquely offers a unified treatment of tyre, car and motorcycle dynamics, and the application of nonlinear optimal control to vehicle-related problems within a single book. This is a comprehensive and accessible text that emphasises the theoretical aspects of vehicular modelling and control. The book focuses on two major elements. The first is classical mechanics and its use in building vehicle and tyre dynamics models. The second focus is nonlinear optimal control, which is used to solve a range of minimum-time and minimum-fuel, as well as track curvature reconstruction problems. As is known classically, all of this material is bound together by the calculus of variations and stationary principles. The treatment of this material is supplemented with a number of examples that were designed to highlight obscurities and subtleties in the theory.
Author: Chun-Yi Su
Publisher: Springer
ISBN: 3642335039
Category : Computers
Languages : en
Pages : 642
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Book Description
The three volume set LNAI 7506, LNAI 7507 and LNAI 7508 constitutes the refereed proceedings of the 5th International Conference on Intelligent Robotics and Applications, ICIRA 2012, held in Montreal, Canada, in October 2012. The 197 revised full papers presented were thoroughly reviewed and selected from 271 submissions. They present the state-of-the-art developments in robotics, automation and mechatronics. This volume covers the topics of robot actuators and sensors; robot design, development and control; robot intelligence, learning and linguistics; robot mechanism and design; robot motion analysis and planning; robotic vision, recognition and reconstruction; and planning and navigation.
Author: A.M. Bloch
Publisher: Springer
ISBN: 1493930176
Category : Science
Languages : en
Pages : 582
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Book Description
This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The synthesis is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.
Author: Bruce A. Francis
Publisher: Springer
ISBN: 9783319247274
Category : Technology & Engineering
Languages : en
Pages : 0
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Book Description
This brief describes the coordinated control of groups of robots using only sensory input – and no direct external commands. Furthermore, each robot employs the same local strategy, i.e., there are no leaders, and the text also deals with decentralized control, allowing for cases in which no single robot can sense all the others. One can get intuition for the problem from the natural world, for example, flocking birds. How do they achieve and maintain their flying formation? Recognizing their importance as the most basic coordination tasks for mobile robot networks, the brief details flocking and rendezvous. They are shown to be physical illustrations of emergent behaviors with global consensus arising from local interactions. The authors extend the consideration of these fundamental ideas to describe their operation in flying robots and prompt readers to pursue further research in the field. Flocking and Rendezvous in Distributed Robotics will provide graduate students a firm grounding in the subject, while also offering an authoritative reference work for more experienced workers seeking a brief but thorough treatment of an area that has rapidly gained in interest.
