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Author: R. L. Huston
Publisher:
ISBN:
Category : Unicycles
Languages : en
Pages : 9
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Book Description
Author: R. L. Huston
Publisher:
ISBN:
Category : Unicycles
Languages : en
Pages : 9
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Book Description
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: Veysel Gazi
Publisher: Springer Science & Business Media
ISBN: 3642180418
Category : Technology & Engineering
Languages : en
Pages : 299
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Book Description
Swarming species such as flocks of birds or schools of fish exhibit fascinating collective behaviors during migration and predator avoidance. Similarly, engineered multi-agent dynamic systems such as groups of autonomous ground, underwater, or air vehicles (“vehicle swarms”) exhibit sophisticated collective behaviors while maneuvering. In this book we show how to model and control a wide range of such multi-agent dynamic systems and analyze their collective behavior using both stability theoretic and simulation-based approaches. In particular, we investigate problems such as group aggregation, social foraging, formation control, swarm tracking, distributed agreement, and engineering optimization inspired by swarm behavior.
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: Andrei A. Agrachev
Publisher: Springer Science & Business Media
ISBN: 3662064049
Category : Science
Languages : en
Pages : 415
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Book Description
This book presents some facts and methods of the Mathematical Control Theory treated from the geometric point of view. The book is mainly based on graduate courses given by the first coauthor in the years 2000-2001 at the International School for Advanced Studies, Trieste, Italy. Mathematical prerequisites are reduced to standard courses of Analysis and Linear Algebra plus some basic Real and Functional Analysis. No preliminary knowledge of Control Theory or Differential Geometry is required. What this book is about? The classical deterministic physical world is described by smooth dynamical systems: the future in such a system is com pletely determined by the initial conditions. Moreover, the near future changes smoothly with the initial data. If we leave room for "free will" in this fatalistic world, then we come to control systems. We do so by allowing certain param eters of the dynamical system to change freely at every instant of time. That is what we routinely do in real life with our body, car, cooker, as well as with aircraft, technological processes etc. We try to control all these dynamical systems! Smooth dynamical systems are governed by differential equations. In this book we deal only with finite dimensional systems: they are governed by ordi nary differential equations on finite dimensional smooth manifolds. A control system for us is thus a family of ordinary differential equations. The family is parametrized by control parameters.
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: 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: Spyros G Tzafestas
Publisher: Elsevier
ISBN: 0124171036
Category : Technology & Engineering
Languages : en
Pages : 718
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Book Description
Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background
Author: Lazaros S. Iliadis
Publisher: Springer
ISBN: 3642239609
Category : Computers
Languages : en
Pages : 517
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Book Description
The two-volume set IFIP AICT 363 and 364 constitutes the refereed proceedings of the 12th International Conference on Engineering Applications of Neural Networks, EANN 2011, and the 7th IFIP WG 12.5 International Conference, AIAI 2011, held jointly in Corfu, Greece, in September 2011. The 52 revised full papers and 28 revised short papers presented together with 31 workshop papers were carefully reviewed and selected from 150 submissions. The second volume includes the papers that were accepted for presentation at the AIAI 2011 conference. They are organized in topical sections on computer vision and robotics, classification/pattern recognition, financial and management applications of AI, fuzzy systems, learning and novel algorithms, recurrent and radial basis function ANN, machine learning, generic algorithms, data mining, reinforcement learning, Web applications of ANN, medical applications of ANN and ethics of AI, and environmental and earth applications of AI. The volume also contains the accepted papers from the First Workshop on Computational Intelligence in Software Engineering (CISE 2011) and the Workshop on Artificial Intelligence Applications in Biomedicine (AIAB 2011).
Author: Salvatore Nicosia
Publisher: Springer
ISBN: 3540450009
Category : Technology & Engineering
Languages : en
Pages : 292
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Book Description
Robotics applications, initially developed for industrial and manufacturing contexts, are now strongly present in several elds. Besides well-known space and high-technology applications, robotics for every day life and medical s- vices is becoming more and more popular. As an example, robotic manipu- tors are particularly useful in surgery and radiation treatments, they could be employed for civil demining, for helping disabled people, and ultimately for domestic tasks, entertainment and education. Such a kind of robotic app- cations require the integration of many di erent skills. Autonomous vehicles and mobile robots in general must be integrated with articulated manipu- tors. Many robotic technologies (sensors, actuators and computing systems) must be properly used with speci c technologies (localisation, planning and control technologies). The task of designing robots for these applications is a hard challenge: a speci c competence in each area is demanded, in the e ort of a truly integrated multidisciplinary design.
