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Broughton, Paul Stephen. "Risk and enjoyment in powered two wheeler use." Thesis, Edinburgh Napier University, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.506326.
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Wheeler, Tessa Verney. "Tessa Verney Wheeler : women and archaeology before World War Two." Thesis, University of Oxford, 2008. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.496428.
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Fouka, Majda Amina Aida. "Contributions for parametric identification and observation of powered two-wheeler vehicles." Thesis, Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLE033/document.
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Au cours des dernières années, la mobilité routière a été marquée par la croissance considérable du trafic des Véhicules à Deux-Roues Motorisés (V2RM), qui demeurant désormais le mode de déplacement le plus dominant et convoité, notamment pour les possibilités qu'il offre d'esquiver les embouteillages de trafic. Cependant, les conducteurs de deux-roues motorisés sont considérés comme les usagers de la route les plus vulnérables. En effet, le risque d'être tué dans un accident est 29 fois plus élevé pour un cyclomoteur que pour un conducteur de voiture de tourisme. Ce problème est d'autant plus important lors du freinage d'urgence ou lors de la prise de virage. Alors que les systèmes de sécurité passifs et actifs (ABS, ESP, ceintures de sécurité, airbags, etc.) développés en faveur des véhicules de tourisme ont amplement contribué à la diminution des risques sur la route, cependant, le retard dans le développement de ces systèmes pour les motos est considérable. Malgré quelques systèmes existants, les conducteurs de motos les utilisent mal ou pas du tout. Ceci est dû à une mauvaise formation et cela ne contribue donc pas à l'amélioration de leur sécurité. Par conséquent, il n'est pas anodin que ce retard, dans le développement des systèmes d'aide à la conduite, résonne avec un retard dans le développement des outils de recherches théoriques. L'objectif principal de la thèse est de concevoir des systèmes d'assistance à la conduite, ARAS (Advanced Rider Assistance Systems), pour les V2RM pouvant alerter ces conducteurs en amont des situations de conduite dangereuses. De nombreux défis sont encore ouverts en ce qui concerne la conception des systèmes ARAS comme l'accessibilité des états dynamiques et paramètres physiques des V2RM ainsi que la synthèse des indicateurs de risques en visitant tous les points d'intérêts. Nous nous intéressons alors à proposer des techniques d'estimation, tout en réduisant le nombre de capteurs et en contournant la problématique de non-mesurabilité de certains variables. Par ailleurs, la synthèse de ces approches répondant à certaines exigences (modélisation, structure simple, précision, instrumentation) constitue un défi supplémentaire. La première partie de thèse est consacrée aux algorithmes d'identification classiques. Ces techniques sont conçues pour estimer les paramètres physiques inconnus des modèles paramétriques des V2RM. La deuxième partie concerne des observateurs basés modèles. Pour cela, un observateur à entrées inconnues (UIO) pour reconstruire la dynamique de la direction en tenant compte de la géométrie de la route, et, un observateur interconnecté (IFO) pour l'estimation de la dynamique longitudinale et latéral, ont été proposées. Ensuite, nous nous sommes penchés sur des méthodes alternatives aux approches d'identification, notamment des techniques d'estimations basées identification capable à la fois d'estimer les états et les paramètres au même temps. À cette occasion, un observateur retardé à entrées inconnues pour les systèmes avec un degré relatif arbitraire (DUIO), et, un observateur de Luenberger adaptative (LAO) pour l'estimation des raideurs pneumatiques ont été développées. Les méthodes proposées nécessitent une combinaison simple de capteurs et prennent en compte des hypothèses réalistes telles que la variation de vitesse longitudinale. Tous ces travaux ont été validés à l'aide de BikeSim et/sur des données expérimentales. En outre, ce manuscrit introduit un algorithme d’auto-calibration pour l’alignement des unités de mesure inertielle (IMU). Une telle méthode d’auto-étalonnage s’applique aux boîtiers télématiques (e-Box) installés sur des véhicules à deux roues, dont les axes des IMU sont souvent mal alignés avec le repère référentielle du véhicule. La dernière partie de cette thèse traite des indicateurs objectifs (comportement sur/sous vireur de la moto et la distance de sortie de la voie de circulation) pour la quantification du risque<br>Nowadays, Powered Two-Wheeled Vehicles (PTWV) are an increasingly popular means of transport in daily urban and rural displacements, especially for the possibilities it offers to avoid traffic congestion. However, riders are considered as the most vulnerable road users. In fact, the risk of being killed in an accident is $29$ times higher for a motorcycle than for a driver of a four wheeled vehicle. Therewith, the unstable nature of the PTWV makes them more susceptible to control loss. This problem is even more complex during emergency braking or on cornering maneuvers. As matter of fact, passive and active safety systems (Anti-Lock Braking (ABS), Electronic Stability Control (ESP), seat belts, airbags) developed in favour of passenger vehicles have largely contributed to the reduction of risks on the road. However, the delay in the development of security systems for motorcycles is notable. Moreover, despite some existing systems, motorcycle riders use them badly or they don't use them at all. Therefore, it is not trivial that this delay, in the development of Advanced Rider Assistance Systems (ARAS), coming from a delay in the development of theoretical and research tools. This thesis fits into the context of designing ARAS for PTWV that can alert riders upstream of dangerous driving situations. Our work deals with observation and identification techniques to estimate the PTWV dynamic states and physical parameters. These latter are fundamental for risk quantification in ARAS design and to assess the safety of the PTWV, which are the main focus of our research work. The first part of the thesis concerns classical identification techniques to estimate physical parameters of PTWV. The second part deals with model-based observers implemented to estimate the dynamic states of the PTWV. We proposed an unknown input observer (UIO) for steering and road geometry estimation and an interconnected fuzzy observer (IFO) for both longitudinal and lateral dynamics. An alternative methods for identification algorithms are observer based identifier which provide both parameters identification and states estimation. Therefore, a Luenberger adaptive observer (LAO) to estimate lateral dynamic states and pneumatic stiffness as well as a delayed unknown inputs observer (DUIO) with an arbitrary relative degree, have been developed in this thesis. As matter of fact, all these techniques allow to estimate the vehicle dynamics while reducing the number of sensors and overcoming the problem of non-measurable states and parameters. These proposed methods require a simple combination of sensors and take into account realistic assumption like the longitudinal speed variation. Among others, this manuscript introduces a self calibration algorithm for Inertial Measurement Units (IMUs) alignment. Such a self-calibration method is used for telematic boxes (e-Boxes) installed on two-wheeled vehicles, whose IMUs’ axes are often result not to be aligned with the vehicle reference system. Finally, objective indicators are setting up to quantify riding risks. These functions were studied for ARAS purpose. To highlight the performance of these approaches, we have acquired data from high-fidelity motorcycle simulator and also with data from real motorcycles. To sum up, a comparison tables are drawn up for all the presented approaches. The results of both the numerical simulations and the performed experimentations seem to be quite promising
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Blackman, Ross Alexander. "The increased popularity of mopeds and motor scooters : exploring usage patterns and safety outcomes." Thesis, Queensland University of Technology, 2012. https://eprints.qut.edu.au/52685/1/Ross_Blackman_Thesis.pdf.
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Increased use of powered two-wheelers (PTWs) often underlies increases in the number of reported crashes, promoting research into PTW safety. PTW riders are overrepresented in crash and injury statistics relative to exposure and, as such, are considered vulnerable road users. PTW use has increased substantially over the last decade in many developed countries. One such country is Australia, where moped and scooter use has increased at a faster rate than motorcycle use in recent years. Increased moped use is particularly evident in the State of Queensland which is one of four Australian jurisdictions where moped riding is permitted for car licence holders and a motorcycle licence is not required.
A moped is commonly a small motor scooter and is limited to a maximum design speed of 50 km/h and a maximum engine cylinder capacity of 50 cubic centimetres. Scooters exceeding either of these specifications are classed as motorcycles in all Australian jurisdictions.
While an extensive body of knowledge exists on motorcycle safety, some of which is relevant to moped and scooter safety, the latter PTW types have received comparatively little focused research attention. Much of the research on moped safety to date has been conducted in Europe where they have been popular since the mid 20th century, while some studies have also been conducted in the United States. This research is of limited relevance to Australia due to socio-cultural, economic, regulatory and environmental differences. Moreover, while some studies have compared motorcycles to mopeds in terms of safety, no research to date has specifically examined the differences and similarities between mopeds and larger scooters, or between larger scooters and motorcycles.
To address the need for a better understanding of moped and scooter use and safety, the current program of research involved three complementary studies designed to achieve the following aims: (1) develop better knowledge and understanding of moped and scooter usage trends and patterns; and (2) determine the factors leading to differences in moped, scooter and motorcycle safety.
Study 1 involved six-monthly observations of PTW types in inner city parking areas of Queensland’s capital city, Brisbane, to monitor and quantify the types of PTW in use over a two year period. Study 2 involved an analysis of Queensland PTW crash and registration data, primarily comparing the police-reported crash involvement of mopeds, scooters and motorcycles over a five year period (N = 7,347). Study 3 employed both qualitative and quantitative methods to examine moped and scooter usage in two components: (a) four focus group discussions with Brisbane-based Queensland moped and scooter riders (N = 23); and (b) a state-wide survey of Queensland moped and scooter riders (N = 192).
Study 1 found that of the PTW types parked in inner city Brisbane over the study period (N = 2,642), more than one third (36.1%) were mopeds or larger scooters. The number of PTWs observed increased at each six-monthly phase, but there were no significant changes in the proportions of PTW types observed across study phases. There were no significant differences in the proportions or numbers of PTW type observed by season.
Study 2 revealed some important differences between mopeds, scooters and motorcycles in terms of safety and usage through analysis of crash and registration data. All Queensland PTW registrations doubled between 2001 and 2009, but there was an almost fifteen-fold increase in moped registrations. Mopeds subsequently increased as a proportion of Queensland registered PTWs from 1.2 percent to 8.8 percent over this nine year period. Moped and scooter crashes increased at a faster rate than motorcycle crashes over the five year study period from July 2003 to June 2008, reflecting their relatively greater increased usage. Crash rates per 10,000 registrations for the study period were only slightly higher for mopeds (133.4) than for motorcycles and scooters combined (124.8), but estimated crash rates per million vehicle kilometres travelled were higher for mopeds (6.3) than motorcycles and scooters (1.7). While the number of crashes increased for each PTW type over the study period, the rate of crashes per 10,000 registrations declined by 40 percent for mopeds compared with 22 percent for motorcycles and scooters combined.
Moped and scooter crashes were generally less severe than motorcycle crashes and this was related to the particular crash characteristics of the PTW types rather than to the PTW types themselves. Compared to motorcycle and moped crashes, scooter crashes were less likely to be single vehicle crashes, to involve a speeding or impaired rider, to involve poor road conditions, or to be attributed to rider error. Scooter and moped crashes were more likely than motorcycle crashes to occur on weekdays, in lower speed zones and at intersections. Scooter riders were older on average (39) than moped (32) and motorcycle (35) riders, while moped riders were more likely to be female (36%) than scooter (22%) or motorcycle riders (7%). The licence characteristics of scooter and motorcycle riders were similar, with moped riders more likely to be licensed outside of Queensland and less likely to hold a full or open licence. The PTW type could not be identified in 15 percent of all cases, indicating a need for more complete recording of vehicle details in the registration data.
The focus groups in Study 3a and the survey in Study 3b suggested that moped and scooter riders are a heterogeneous population in terms of demographic characteristics, riding experience, and knowledge and attitudes regarding safety and risk. The self-reported crash involvement of Study 3b respondents suggests that most moped and scooter crashes result in no injury or minor injury and are not reported to police. Study 3 provided some explanation for differences observed in Study 2 between mopeds and scooters in terms of crash involvement. On the whole, scooter riders were older, more experienced, more likely to have undertaken rider training and to value rider training programs. Scooter riders were also more likely to use protective clothing and to seek out safety-related information.
This research has some important practical implications regarding moped and scooter use and safety. While mopeds and scooters are generally similar in terms of usage, and their usage has increased, scooter riders appear to be safer than moped riders due to some combination of superior skills and safer riding behaviour. It is reasonable to expect that mopeds and scooters will remain popular in Queensland in future and that their usage may further increase, along with that of motorcycles. Future policy and planning should consider potential options for encouraging moped riders to acquire better riding skills and greater safety awareness. While rider training and licensing appears an obvious potential countermeasure, the effectiveness of rider training has not been established and other options should also be strongly considered. Such options might include rider education and safety promotion, while interventions could also target other road users and urban infrastructure.
Future research is warranted in regard to moped and scooter safety, particularly where the use of those PTWs has increased substantially from low levels. Research could address areas such as rider training and licensing (including program evaluations), the need for more detailed and reliable data (particularly crash and exposure data), protective clothing use, risks associated with lane splitting and filtering, and tourist use of mopeds. Some of this research would likely be relevant to motorcycle use and safety, as well as that of mopeds and scooters.
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Rowden, Peter John. "Development and formative evaluation of a motorcycle rider training intervention to address risk taking." Thesis, Queensland University of Technology, 2012. https://eprints.qut.edu.au/64240/1/Peter_Rowden_Thesis.pdf.
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The need to address on-road motorcycle safety in Australia is important due to the disproportionately high percentage of riders and pillions killed and injured each year. One approach to preventing motorcycle-related injury is through training and education. However, motorcycle rider training lacks empirical support as an effective road safety countermeasure to reduce crash involvement. Previous reviews have highlighted that risk-taking is a contributing factor in many motorcycle crashes, rather than merely a lack of vehicle-control skills (Haworth & Mulvihill, 2005; Jonah, Dawson & Bragg, 1982; Watson et al, 1996). Hence, though the basic vehicle-handling skills and knowledge of road rules that are taught in most traditional motorcycle licence training programs may be seen as an essential condition of safe riding, they do not appear to be sufficient in terms of crash reduction. With this in mind there is considerable scope for the improvement of program focus and content for rider training and education. This program of research examined an existing traditional pre-licence motorcycle rider training program and formatively evaluated the addition of a new classroom-based module to address risky riding; the Three Steps to Safer Riding program. The pilot program was delivered in the real world context of the Q-Ride motorcycle licensing system in the state of Queensland, Australia. Three studies were conducted as part of the program of research: Study 1, a qualitative investigation of delivery practices and student learning needs in an existing rider training course; Study 2, an investigation of the extent to which an existing motorcycle rider training course addressed risky riding attitudes and motives; and Study 3, a formative evaluation of the new program.
A literature review as well as the investigation of learning needs for motorcyclists in Study 1 aimed to inform the initial planning and development of the Three Steps to Safer Riding program. Findings from Study 1 suggested that the training delivery protocols used by the industry partner training organisation were consistent with a learner-centred approach and largely met the learning needs of trainee riders. However, it also found that information from the course needs to be reinforced by on-road experiences for some riders once licensed and that personal meaning for training information was not fully gained until some riding experience had been obtained. While this research informed the planning and development of the new program, a project team of academics and industry experts were responsible for the formulation of the final program. Study 2 and Study 3 were conducted for the purpose of formative evaluation and program refinement.
Study 2 served primarily as a trial to test research protocols and data collection methods with the industry partner organisation and, importantly, also served to gather comparison data for the pilot program which was implemented with the same rider training organisation. Findings from Study 2 suggested that the existing training program of the partner organisation generally had a positive (albeit small) effect on safety in terms of influencing attitudes to risk taking, the propensity for thrill seeking, and intentions to engage in future risky riding. However, maintenance of these effects over time and the effects on riding behaviour remain unclear due to a low response rate upon follow-up 24 months after licensing.
Study 3 was a formative evaluation of the new pilot program to establish program effects and possible areas for improvement. Study 3a examined the short term effects of the intervention pilot on psychosocial factors underpinning risky riding compared to the effects of the standard traditional training program (examined in Study 2). It showed that the course which included the Three Steps to Safer Riding program elicited significantly greater positive attitude change towards road safety than the existing standard licensing course. This effect was found immediately following training, and mean scores for attitudes towards safety were also maintained at the 12 month follow-up. The pilot program also had an immediate effect on other key variables such as risky riding intentions and the propensity for thrill seeking, although not significantly greater than the traditional standard training. A low response rate at the 12 month follow-up unfortunately prevented any firm conclusions being drawn regarding the impact of the pilot program on self-reported risky riding once licensed.
Study 3a further showed that the use of intermediate outcomes such as self-reported attitudes and intentions for evaluation purposes provides insights into the mechanisms underpinning risky riding that can be changed by education and training. A multifaceted process evaluation conducted in Study 3b confirmed that the intervention pilot was largely delivered as designed, with course participants also rating most aspects of training delivery highly.
The complete program of research contributed to the overall body of knowledge relating to motorcycle rider training, with some potential implications for policy in the area of motorcycle rider licensing. A key finding of the research was that psychosocial influences on risky riding can be shaped by structured education that focuses on awareness raising at a personal level and provides strategies to manage future riding situations. However, the formative evaluation was mainly designed to identify areas of improvement for the Three Steps to Safer Riding program and found several areas of potential refinement to improve future efficacy of the program. This included aspects of program content, program delivery, resource development, and measurement tools. The planned future follow-up of program participants' official crash and traffic offence records over time may lend further support for the application of the program within licensing systems. The findings reported in this thesis offer an initial indication that the Three Steps to Safer Riding is a useful resource to accompany skills-based training programs.
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Bageant, Maia R. (Maia Reynolds). "Balancing a two-wheeled Segway robot." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/69500.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (p. 57).<br>In this thesis, I designed and constructed hardware for a two-wheeled balancing Segway robot. Because the robot could not be balanced based on a control system derived from the original analytical model, additional system dynamics in the form of frictional losses in the motors were incorporated. A SISO PID compensator and a SISO lead-lag compensator were designed to balance the robot based on the new model; both showed acceptable system responses but were subject to high-frequency oscillation. A SISO state feedback controller was also designed, and it was successful in creating stability in simulation and removing the high-frequency oscillation effects. The robot was rebuilt using new parts that better represented its ideal model, and software was created using National Instruments LabVIEW to control the robot.<br>by Maia R. Bageant.<br>S.B.
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Emond, Bryan R. "Optimal control of a two wheeled mobile robot." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1994. http://handle.dtic.mil/100.2/ADA286130.
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Thesis (M.S. in Mechanical Engineering) Naval Postgraduate School, September 1994.<br>Thesis advisor(s): Ranjan Mukherjee. "September 1994." Includes bibliographical references. Also available online.
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Bosco, Bruno, André Ellnefjärd, Nordenmark Victor Ellqvist, Alexander Hemberg, Henrik Olsson, and Jonas Tegelberg. "Development of a self-balancing two wheeled robot." Thesis, KTH, Maskinkonstruktion (Inst.), 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-102054.
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Denna rapport beskriver och förklarar processen för att utforma och konstruera en parallell tvåhjulig robot, lik en Segway, med syfte att tävla mot andra liknande konstruktioner i en tävling. Roboten är konstruerad kring den inverterade pendelns princip och eftersom den är instabil har den aktivt balanserats. En accelerometer och ett gyro har tillsammans med ett Kalmanfiler använts för att bestämma robotens vinkel mot tyngdaccelerationen. När tyngdpunkten flyttas, ger det återkopplade systemet en rörelse i motsatt riktning för att säkerställa balansen. Små korrigeringar är alltid nödvändiga för en stabil position, och dessa har implementerats i en PID-regulator. Flera delsystem har utvecklats och integrerats för att tillgodose behoven för att kunna medverka i tävlingen, såsom en mållinjesensor, ett vapensystem, ett par kodgivare, en set med utfällbara ben, en fjärrkontroll och en text-till-tal-modul. Alla delsystem förutom de utfällbara benen integrerades i den slutliga prototypen. Vid rapportens sammanställande kvarstod endast tävlingsmomentet.<br>This paper presents and explains the process of designing and constructing a parallel two wheeled balancing robot, much like a Segway, with the purpose of competing against other similar designs in a race. The robot is designed around the principal of an inverse pendulum, and because it is always unstable it has to be actively balanced to be able to stand up. An accelerometer and a gyro together with a Kalman filter are used to determine the angle of the robot. When the center of mass starts to tip over, the feedback system moves the robot in the same direction to keep its balance. Small corrections are always needed to be able to stand straight, which has been implemented in the form of a PID-controller. Several subsystems have also been developed or integrated to accommodate the needs to successfully participate in the race, such as a finish line sensor, a weapon system, a pair of encoders, a set of unfolding legs, a remote controller and a text-to-speech module. All subsystems except the unfolding legs were successfully integrated into the finished prototype, but upon completion of this report the finished robot has yet to participate in the competition.
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Souza, Daniel Câmara de. "Eletrodinâmica variacional e o problema eletromagnético de dois corpos." Universidade de São Paulo, 2014. http://www.teses.usp.br/teses/disponiveis/43/43134/tde-26012015-213657/.
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Estudamos a Eletrodinâmica de Wheeler-Feynman usando um princípio variacional para um funcional de ação finito acoplado a um problema de valor na fronteira. Para trajetórias C2 por trechos, a condição de ponto crítico desse funcional fornece as equações de movimento de Wheeler-Feynman mais uma condição de continuidade dos momentos parciais e energias parciais, conhecida como condição de quina de Weierstrass-Erdmann. Estudamos em detalhe um sub-caso mais simples, onde os dados de fronteira têm um comprimento mínimo. Nesse caso, mostramos que a condição de extremo se reduz a um problema de valor na chegada para uma equação diferencial com retardo misto dependente do estado e do tipo neutro. Resolvemos numericamente esse problema usando um método de shooting e um método de Runge-Kutta de quarta ordem. Para os casos em que as fronteiras mínimas têm velocidades descontínuas, elaboramos uma técnica para resolver as condições de quina de Weierstrass-Erdmann junto com o problema de valor na chegada. As trajetórias com velocidades descontínuas previstas pelo método variacional foram verificadas por experimentos numéricos. Em um segundo desenvolvimento, para o caso mais difícil de fronteiras de comprimento arbitrário, implementamos um método de minimização com gradiente fraco para o princípio variacional e problema de fronteira acima citado. Elaboramos dois métodos numéricos, ambos implementados em MATLAB, para encontrar soluções do problema eletromagnético de dois corpos. O primeiro combina o método de elementos finitos com o método de Newton para encontrar as soluções que anulam o gradiente fraco do funcional para fronteiras genéricas. O segundo usa o método do declive máximo para encontrar as soluções que minimizam a ação. Nesses dois métodos as trajetórias são aproximadas dentro de um espaço de dimensão finita gerado por uma Galerkiana que suporta velocidades descontínuas. Foram realizados diversos testes e experimentos numéricos para verificar a convergência das trajetórias calculada numericamente; também comparamos os valores do funcional calculados numericamente com alguns resultados analíticos sobre órbitas circulares.<br>We study the Wheeler-Feynman electrodynamics using a variational principle for an action functional coupled to a finite boundary value problem. For piecewise C2 trajectories, the critical point condition for this functional gives the Wheeler-Feynman equations of motion in addition to a continuity condition of partial moments and partial energies, known as the Weierstrass-Erdmann corner conditions. In the simplest case, for the boundary value problem of shortest length, we show that the critical point condition reduces to a two-point boundary value problem for a state-dependent mixed-type neutral differential-delay equation. We solve this special problem numerically using a shooting method and a fourth order Runge-Kutta. For the cases where the boundary segment has discontinuous velocities we developed a technique to solve the Weierstrass-Erdmann corner conditions and the two-point boundary value problem together. The trajectories with discontinuous velocities presupposed by the variational method were verified by numerical experiments. In a second development, for the harder case with boundaries of arbitrary length, we implemented a method of minimization with weak gradient for the variational principle quoted above. Two numerical methods were implemented in MATLAB to find solutions of the two-body electromagnetic problem. The first combines the finite element method with Newtons method to find the solutions that vanish the weak gradient. The second uses the method of steepest descent to find the solutions that minimize the action. In both methods the trajectories are approximated within a finite-dimensional space generated by a Galerkian that supports discontinuous velocities. Many tests and numerical experiments were performed to verify the convergence of the numerically calculated trajectories; also were compared the values of the functional computed numerically with some known analytical results on circular orbits.
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Evangelou, Simos. "Control and stability analysis of two-wheeled road vehicles." Thesis, Imperial College London, 2004. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.407098.
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Corominas, Hife Kensell Kyle. "Four Wheel Steering : Comparison with two wheel steering." Thesis, KTH, Skolan för teknikvetenskap (SCI), 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-153632.
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What are the differences between two wheel steering and four wheel steering? The aim of this project is to compare these two in terms of advantages gained from four wheel steering. A simulation is conducted on ADAMS Cars platform based on the RCV (Research Concept Vehicle) model, developed at KTH in Stockholm.
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Eriksson, Jonas, Sven Lindqvist, Erik Lundquist, Michael Raun, Martin Skande, and Daniel Skarp. "The Balancing Robot Challenge – To Balance a Two-Wheeled Robot." Thesis, KTH, Maskinkonstruktion (Inst.), 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-102062.
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Denna rapport behandlar framtagningen av en autonom robot, som balanserandes på två hjul, dels skall kunna stå stilla och bevara sin position, samt även kunna förflytta sig en given sträcka, läsa av en mållinje, och därefter återigen fixera sin position. Med i rapporten finns även utförliga beskrivningar av, och beräkningar vid implementation av sensorer och dess filter, reglersystem, motordrivkretsar, samt konstruktionsanvisningar som är nödvändiga vid utformning av en funktionsduglig prototyp.<br>This paper describes the process of developing an autonomous robot, which balancing on two wheels is able to stand still and keep its position, as well as being able to move a given distance, read a finish line, and then again fix its position. The paper also includes detailed descriptions of calculations concerning the implementation of sensors and their filters, control systems, motor drive circuits, and design attributes that are required when building an operational prototype.
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Castro, Arnoldo. "Modeling and dynamic analysis of a two-wheeled inverted-pendulum." Thesis, Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/44897.
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There is a need for smaller and more economic transportation systems. Two-wheeled inverted-pendulum machines, such as the Segway, have been proposed to address this need. However, the Segway places the operator on top of a naturally unstable platform that is stabilized by means of a control system. The control stability of the Segway can be severely affected when minor disturbances or unanticipated conditions arise. In this thesis, a dynamic model of a Segway is developed and used in simulations of various conditions that can arise during normal use. The dynamic model of a general two-wheeled inverted pendulum and human rider is presented. Initial estimates of the parameters were calculated or obtained from other references. The results from numerous experiments are presented and used to develop a better understanding of the dynamics of the vehicle. The experimental data was then used to adjust the model parameters to match the dynamics of a real Segway Human Transporter. Finally, the model was used to simulate various failure conditions. The simulations provide a better understanding of how these conditions arise, and help identify which parameters play an important role in their outcome.
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Savinoa, Giovanni, Roberto Lotc, Matteo Massaro, et al. "Active safety systems for powered two-wheelers: A systematic review." Taylor & Francis, 2020. https://publish.fid-move.qucosa.de/id/qucosa%3A72237.
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Objective: Active safety systems, of which antilock braking is a prominent example, are going to play an important role to improve powered two-wheeler (PTW) safety. This paper presents a systematic review of the scientific literature on active safety for PTWs. The aim was to list all systems under development, identify knowledge gaps and recognize promising research areas that require further efforts.
Methods: A broad search using “safety” as the main keyword was performed on Scopus, Web of Science and Google Scholar, followed by manual screening to identify eligible papers that underwent a full-text review. Finally, the selected papers were grouped by general technology type and analyzed via structured form to identify the following: specific active safety system, study type, outcome type, population/sample where applicable, and overall findings.
Results: Of the 8,000 papers identified with the initial search, 85 were selected for full-text review and 62 were finally included in the study, of which 34 were journal papers. The general technology types identified included antilock braking system, autonomous emergency braking, collision avoidance, intersection support, intelligent transportation systems, curve warning, human machine interface systems, stability control, traction control, and vision assistance. Approximately one third of the studies considered the design and early stage testing of safety systems (n. 22); almost one fourth (n.15) included evaluations of system effectiveness.
Conclusions: Our systematic review shows that a multiplicity of active safety systems for PTWs were examined in the scientific literature, but the levels of development are diverse. A few systems are currently available in the series production, whereas other systems are still at the level of early-stage prototypes. Safety benefit assessments were conducted for single systems, however, organized comparisons between systems that may inform the prioritization of future research are lacking. Another area of future analysis is on the combined effects of different safety systems, that may be capitalized for better performance and to maximize the safety impact of new technologies.
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Vasu, Aishwarya. "MODEL-BASED CONTROL OF DIFFERENTIALLY DRIVEN TWO-WHEELED MOBILE ROBOT." OpenSIUC, 2010. https://opensiuc.lib.siu.edu/theses/360.
Full textAbstract:
The objective is to model a two wheeled nonholonomic mobile robot for the parking problem and stabilize it using piecewise continuous static feedback control. The nonholonomic robots cannot be stabilized using continuous static feedback controls. In this thesis, the kinematic model of the robot is transformed into a feasible coordinate system. A stabilizing kinematic controller is designed for the stabilization problem in the new coordinate system. The robot has two inputs, viz., v, linear velocity and ω, angular velocity. Two DC motors are used for the left and the right wheels to implement the computed linear and angular velocities. This is included to realize the robot driven by electric motors. The two DC motors are controlled using PID controllers. The practical implementation for a two wheeled robot is also discussed. Pololu 3PI robot is used for the implementation. Line tracking and Line tracking algorithm with PID is also discussed. Possible enhancements include the implementation of the algorithm in dsPIC family of microcontrollers. CMX scheduler for dsPIC family of products can also be ported on dsPIC and the same environment can be simulated in real time. This can be extended to multiple agents who are controlled by a single master, thus forming a single master multi slave network.
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Beller, Philip. "FLUX : Rethinking two-wheel mobility." Thesis, Umeå universitet, Designhögskolan vid Umeå universitet, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-171771.
Full textAbstract:
This project has investigated how to reshape two-wheel mobility in a more functional driven way, without losing the thrill of riding a motorcycle. The intitial cue was offered by the current rise of electric powertrains in the market. The opportunity of finding new spaces in the existing motorcycle architecture that could increase it's functionality and safety served as inspiration for this project. By achieving these steps this project wishes to envision a product that can attract new audiences whilst making two-wheel mobility more accessible. The process involved a variety of techniques that range from concept creation to 3D visualisation. During the ideation phase digital and analogue sketching techniques were combined after benchmarking existing products and visualising through animations possible solutions. In a later step the design was refined using digital painting in addition to polygon modelling. It has been helpful to evaluate the product in VR through various steps of the process, this provided a better understanding of the volumes and enabled a more accurate design of certain components. The result of the project is Flux. Combining unusual materials, like silicone, with a new layout offered the possibility of creating a simple yet advanced solution that provides various benefits to riding in everyday life. These benefits range from an enhanced cargo capability to an easier way to swap or recharge the batteries. In addition, it features some seamlessly integrated technology improvements that are vowed to make riding safer, without compromising on the experience.
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McLundie, W. M. "Investigation of Two-Wheeled Road Traffic Accidents using Explicit FE Techniques." Thesis, Cranfield University, 2007. http://hdl.handle.net/1826/3170.
Full textAbstract:
With the increase of road traffic accidents increasing due to motorised traffic
in the developing world growing alongside the more traditional bicycles and
light motorcycles there is good reason to re-examine the two-wheeler case. In
addition, if you include the large congestion charge scheme now underway in
London and similar projects being considered in other cities globally, there is
an even stronger case. These schemes encourage commuters to get back
onto two wheels but with a potential increase in road traffic accidents.
The development of Explicit Finite Element Analysis (FEA) over the last 15
years, and large improvements in solver times has made examination of
complex impact events achievable. As an extension of this knowledge it is
now beginning to be feasible to consider the complex case of injury to
vulnerable road users (VRU's).
This thesis describes why two-wheeler accidents are increasingly relevant,
and the details of which injuries are most common in each particular case.
From physical testing, bicycle models for adult and child cases were created
and the most relevant car to cyclist accident scenarios re-constructed.
Existing humanoid models and vehicle models were adapted to understand
biomechanical effects in the collision.
The results show that although there is great variation due to this complex
event in terms of biomechanical and frictional effects and therefore the
resulting kinematics, as a mathematical method of investigating future protection devices it should be possible to gain a greater understanding of
their effects in the real world. To this end a final section detailing the
development of active and passive technologies (including structural
optimisation techniques) has been included.
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Salerno, Alessio. "Design, dynamics and control of a fast two-wheeled quasiholonomic robot." Thesis, McGill University, 2006. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=102722.
Full textAbstract:
The control of wheeled mobile robots is particularly challenging because of the presence of nonholonomic constraints. Modern two-wheeled mobile robot control is further complicated by the presence of one unstable equilibrium point, which requires a continuous stabilization of the intermediate body by means of sensors. In order to simplify the control of these systems, Quasimoro, a novel two-wheeled mobile robot, is proposed. The control of Quasimoro is simplified by means of its mechanical design. The robot is designed for quasiholonomy, a property that simplifies the control of nonoholonomic systems. To further simplify the control, the robot is designed so as to have a stable equilibrium point.<br>A nonholonomic robotic mechanical system that can be rendered quasiholonomic by control is termed, in this thesis, quasiholonomic. This is the case of Quasimoro.<br>This work proposes a model-based design methodology for wheeled mobile robots, intended to decrease the development costs, under which the prototype is built only when the system requirements are fully met. Following this methodology, the proposed robot is then designed and prototyped.<br>The conceptual design of the robot is undertaken by means of a detailed analysis of the most suitable drive systems and their layout. The mathematical model of the robot is formulated in the framework of the Lagrange formalism, by resorting to the concept of holonomy matrix, while the controllability analysis is conducted using modern tools from geometric control.<br>The embodiment design entails the simulation of three virtual prototypes aimed at further simplifying the robot control. To this end, a robot drive system, based on the use of a timing belt transmission and a bicycle wheel, is designed, calibrated and tested. Due to Quasimoro's drive system, the stabilization of the intermediate body, a well-known challenge in two-wheeled mobile robot control, is achieved without the use of additional mechanical stabilizers---such as casters---or of sensors---such as gyros.<br>The intended application of the proposed robot is the augmentation of wheelchair users, a field that tremendously benefits from the cost-effectiveness and control simplification of the system at hand. For purposes of validation, a full-scale proof-of-concept prototype of the robot is realized. Moreover, the robot functionality is demonstrated by means of motion control experiments.
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Nasrallah, Danielle Sami. "Contributions to the modelling and control of two-wheeled mobile robots." Thesis, McGill University, 2006. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=102818.
Full textAbstract:
Wheeled mobile robots moving on uneven terrain are attracting interest at an impressive pace. In the work reported here two distinct architectures of two-wheeled mobile robots are proposed.<br>The first architecture, corresponding to the case where the two wheels linked by a frame lie in a vertical plane, constitutes the material of our earlier research and is laid out in the appendix. The system being unilaterally constrained by the environment, slipping or losing contact with the ground can occasionally occur. Therefore, nine distinct topologies are identified and accounted for in the model describing all the possible motion modes of the system. The mathematical model is formulated using the Natural Orthogonal Complement (NOC) and takes into account the terrain geometry. Additionally, the model includes necessary conditions for the switching between the distinct topologies.<br>The second architecture pertains to an Anti-Tilting Outdoor Mobile robot, ATOM, composed of two spherical wheels and a cylindrical central body. The spherical shape of the wheels allows the robot to restore its posture after flipping over, thus giving it the anti-tilting property. Moreover, this particular shape ensures pure-rolling motion on uneven terrain without resorting to any adaptive structure; i.e., without increasing the complexity of the system. Here, also, the mathematical model is developed using the NOC, while taking into account the terrain geometry. Moreover, constraints on the terrain curvatures are derived in order to ensure pure rolling. Although the design of ATOM is simple, this brings about new challenges in terms of control. According to its structure, ATOM pertains to the class of Mobile Wheeled Pendulums (MWP). A feature common to MWPs, that is not encountered in other wheeled robots, is that their central body, which constitutes the platform of the robot, can rotate about the wheel axis. Therefore, aside the nonholonomy aspects encountered in conventional wheeled robots; the central body stabilization problem is pointed out here and rigorously treated in order to avoid unstable zero-dynamics. For that, an intrinsic dynamcal property, referred to as the natural behaviour of the system, is brought forward and employed to control the heading velocity of the robot using the inclination of the central body. Moreover, a particular selection of the generalized coordinates and the system outputs allows a global stabilization of the system without resorting to any linearization. Furthermore, a posture control (preceded by a velocity and orientation control) is proposed based on sliding mode and Lyapunov function for navigation. Finally, the robust aspect of the controller is underlined by showing the control behaviour versus an over/under estimation of system parameters.
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Lange, Joakim. "Development of front suspension for an electric two-wheeled amphibious vehicle." Thesis, KTH, Maskinkonstruktion (Inst.), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-175688.
Full textAbstract:
This master thesis is a part of a larger development project initiated at the department of Naval Architecture at KTH. The project goal is to design and manufacture a full scale proof-of-concept prototype of a electric powered two-wheeled amphibious vehicle. The focus of this thesis is the vehicle's front suspension system. In the present state, only a rough conceptual idea exist of the overall vehicle and its front suspension. The aim of this thesis is to analyze, evaluate and choose a suitable front suspension system and implement it into a detailed conceptual design. The rest of the vehicle is yet to be developed why the design boundaries for the front suspension are open-ended. This means that the design is likely to be revised in continued development. To deal with the open-ended boundaries a parameterized design is requested. An additional segment of the thesis is to produce parameterized development models used to derive the design. These models are considered as deliverables since they will be used when revising the front suspension for it to conform with the rest of the vehicle. With the information provided by the existing rough concept in terms of major components and vehicle architecture an estimation of the centre of gravity location have been carried out. This location enables a number of parameterized analytical models to be derived and utilized in the design of an optimized front suspension anti-dive geometry. The analytical models have been validated by creating a parametric ADAMS View model of the vehicle with a main purpose of simulating vehicle dynamics. The resulting design is a symmetric front swing arm suspension with a hub centre steering, torque arms and guide struts. An electric hub motor is also implemented in the wheel to provide tractive power in the front. The subsystem detailed conceptual design have been created in Solid Edge ST5 CAD software. Simplified finite element structural analysis in Ansys Workbench 14.0 is used to provide an initial estimate of the factor of safety for the parts. Because of the influence of the rest of the vehicle the proposed design delivered by this thesis is to be reviewed as a conceptual blueprint for the final front suspension. As there is no pre-existing design constraints from the rest of the vehicle the different subsystems are required to be parallel and iteratively developed due to their cross dependence.<br>Examensarbetet som följer i denna rapport är en del i ett större utvecklingsprojekt som startades på KTH Marina System. Målet med projektet är att utveckla och tillverka en fullskalig prototyp av ett tvåhjuligt elektriskt framdrivet amfibiefordon. Examensarbetets fokus ligger på utvecklingen av fordonets framhjulsupphängning. I nuläget existerar endast en grov konceptuell idé över hela fordonet och dess framhjulupphängning. Målet med examensarbetet är att analysera, utvärdera och välja en passande lösning för främre hjulupphängningen och implementera i en detaljerad konceptuell konstruktion. Eftersom resten av fordonet ännu inte har utvecklats existerar inga direkta angränsande system för konstruktionen. Den föreslagna konstruktionen kommer därför med hög sannolikhet behöva revideras när utvecklingen av fordonet går framåt. För att underlätta ändringar ska konstruktionen vara parametriserad. En annan del av examensarbetet är att ta fram utvecklingsmodeller, även dom parametriserade, som kommer att nyttjas i konstruktionsarbetet. Modellerna anses också som leverabler eftersom de även kommer att användas när konstruktionen behöver revideras för att passa samman med resten av fordonet. Den information som återfinns i den konceptuella iden över fordonet användes för att ta fram en uppskattning för positionen av fordonets masscentrum. Med hjälp av denna position har ett antal parametriserade analytiska modeller tagits fram och använts för att konstruera en hjulupphängningsgeometri. Geometrin har optimerats för så kallade anti-dive egenskaper, egenskaper som förhindrar att fordonets nos dyker vid kraftiga inbromsningar. De analytiska modellerna har validerats genom att en parametriserad ADAMS View modell av fordonet har tagits fram. Den resulterande främre hjulupphängningen är en symmetrisk swingarm med navstyrning, momentarmar och styrlänkar. En elektrisk navmotor är implementerad i hjulet för att tillföra drivkraft till framvagnen. De olika delarna har skapats i Solid Edge ST5 CAD programvara och förenklade hållfasthetsanalyser har genomförts i Ansys Workbench 14.0. På grund av beroendet mot det resterande fordonet som konstruktionen lider av måste den anses som en konceptuell sammanställningsritning av den slutgiltiga framhjulupphängningen. Utan några förutbestämda konstruktionsavgränsningar från övriga system behöver komponenternautvecklas parallellt och iterativt.
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Gani, Mahbub Rahman. "The computer assisted modelling, simulation and analysis of two-wheeled road vehicles." Thesis, Imperial College London, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.322711.
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Lord, Nathan. "Simulation Tools for Predicting Energy Consumption and Range of Electric Two-wheelers." The Ohio State University, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=osu1468844436.
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Sayidmarie, O. "Design and real-time control of a new structure two-wheeled robot." Thesis, University of Sheffield, 2016. http://etheses.whiterose.ac.uk/13238/.
Full textAbstract:
The work presented in this thesis deals with the design and real-time implementation of a control system for a new configuration of two-wheeled robot. In real life applications, two wheeled robots are considered to carry payloads of different sizes at different positions and different motion speeds along the vertical axis. Such parameters will have an impact on the robot stability and the control mechanism, hence their detailed study is essential for robust performance of the system. This work investigates the impact of the dynamic change of the payload position on the system damping characteristics whilst the robot is in its balancing state. A mathematical model is developed to describe and study the dynamics of the two-wheeled robot system. Accurate tilt angle measurement is achieved through applying a sensor fusion realized by complementary filter. A PID control strategy is considered to balance and position the robot assuming a fixed location of the payload. Then the controller is extended to provide the robot with the ability of self-standing from its rest position without human interaction. The developed controller and the sensor fusion filter are implemented on a microcontroller development board. The results show that the implementation of the controller fulfils the requirement to balance the robot. The two-wheeled robot test rig was modified to accommodate the payload actuation unit and improve the overall performance. Consequentially, the controller of the robot is also modified with the sensor fusion algorithm enhanced by implementing Kalman filter. The controller comprise a PID feedback with a feedforward approach. Furthermore, gain scheduling approach is utilized to ensure smooth and fast braking of the two-wheeled robot. The control approach is extended to an intelligent controller, where a PD-like fuzzy controller is design. A binary coding technique is developed for real-time implementation of the fuzzy controller. Such coding and implementation eliminates the need to store a big lookup table for the controller rules. The controller is tested in laboratory experiments and its robustness is demonstrated with application of various disturbance forces on the system. In order to evaluate the performance of the new configuration two-wheeled robot, various experiments are conducted under different conditions. The results demonstrate that the proposed two-wheeled robot configuration and the proposed control approaches form a solid foundation and a framework for assisted mobility of disabled and elderly people.
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SAINI, JITENDER. "FLOW AND ACOUSTIC ANALYSIS OF TWO-WHEELER MUFFLER." Thesis, 2016. http://dspace.dtu.ac.in:8080/jspui/handle/repository/15505.
Full textAbstract:
Muffler manufacturers are being confronted with the problem of designing mufflers with low
restriction as well as low radiated exhaust noise. Increased competition and stricter regulation
norms have intensified the need for development of an efficient muffler. The traditional “build
& test” procedure which is time consuming and expensive, can nowadays be assisted by
simulation models which are able to predict the performance of several different muffling
systems in a short time, thus saving time and resources.
Generally, mufflers should be designed to satisfy the two requirements. One is high noise
attenuation performance, which is a fundamental requirement of a muffler. An exhaust muffler
should muffle the frequency range of interest, especially the low frequency range, because it
is well known that most of the noise is limited to the engine rotational frequency and its first
few orders & the second is minimum back pressure, the extra static pressure exerted by the
muffler on the engine through restriction in the flow of exhaust gases. This needs to be kept to
a minimum, because a large back pressure will result in reduction of volumetric efficiency and
the specific fuel consumption rate. These two important design requirements for a muffler are
often contradictory.
The purpose of this work is to investigate the flow and acoustic performance of a 100 cc two
wheeler muffler. The computational fluid dynamic (CFD) analysis is done to predict the flow
performance by finding the flow parameters, pressure and velocity. When it comes to
acoustical performance, there are several parameters that describes the characteristics of a
muffler, the transmission Loss (TL) is the most popular amongst them because of the reason
that it is a property of the muffler only and it doesn’t depend upon the sound source. It can also
be useful, to check the validity of a mathematical model. For acoustic analysis, the transmission
loss of the present muffler was predicted using commercial software package. At first the
design was investigated for single expansion chamber, by doing harmonic acoustic analysis
and the validation is made with the analytical results. Then the validated procedure is adopted
for the concept muffler and results are compared with the experimental results. Comparing
measured and FEA results allowed assessment of the accuracy and reliability of the simulation.
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KANOJIA, SHUBHAM. "CONSUMER PERCEPTIONS ON ELECTRIC TWO-WHEELERS." Thesis, 2023. http://dspace.dtu.ac.in:8080/jspui/handle/repository/20241.
Full textAbstract:
Overlapping environmental concerns are driving the production and sales of electric
vehicles. Global sharks like Bosch, AVL, Cummins, and other manufacturers were
drawn to India because of its highly skilled and semi-skilled technology workforce,
large client base, and affordable labour prices and enter India to manufacture electric
two-wheelers.
The numerous aspects that have an impact on and influence a consumer's decision to
invest in and buy these cars must be studied in order to understand prejudged
attitudes and perceptions towards electric 2-wheelers. Electric 2-Wheeler purchases
are influenced by a number of variables, including environmental concerns,
performance, infrastructure, price sensitivity, and an individual's perception of these
variables.
Infrastructure and price sensitivity set the stage for how customers will view electric
two-wheelers, while cost and performance have an adverse effect on how quickly
consumers will adopt electric two-wheelers. As a result, in order to encourage and
promote the use of electric vehicles, the government must step in and make a
contribution because it has a substantial impact through the development of
environmental regulations, the provision of infrastructure, the subsidization of the
cost of vehicles, and the lowering of bank interest rates.
We all know that the 2 wheeler and vehicle industries are among the worst polluters
of the environment because of the quantity of CO2 and other harmful petrol
emissions that have a significant impact on the planet's pollution and climate change
scenarios. Therefore, it's crucial to encourage people to buy electric cars. This study
took into account four key factors, including price sensitivity, environmental
consciousness, infrastructure, and performance mentioned in questionnaire that
influence consumers' intentions to buy electric two-wheelers.
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SHIVAM, KUMAR, and 庫馬. "Design of a Combined Braking System for Two-Wheeler Vehicles." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/67760941762163364016.
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SAVINO, GIOVANNI. "Development of the Autonomous Braking for Powered Two Wheeler Application." Doctoral thesis, 2009. http://hdl.handle.net/2158/596158.
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PENUMAKA, AVINASH PRABHAKAR. "Design of integrated safety system for powered two wheelers." Doctoral thesis, 2010. http://hdl.handle.net/2158/596127.
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Ravichandra, K. "Child labour in two-Wheeler repair workshops in unorganised sector: With special reference to Anantapur District." Thesis, 1996. http://hdl.handle.net/2009/4571.
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LIN, JIA-XUN, and 林嘉壎. "Improvement of the Interaction with Two-Wheeler Intelligent Vehicle of Future-Based on the Methods of Industrial Design." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/unapq4.
Full textAbstract:
碩士<br>大葉大學<br>設計暨藝術學院碩士班<br>105<br>Motorcycles represent a free ride, no cabin driving form, gravity shifting, left and right inclination, etc., this special experience helps to enhance the psychological and physical quality of life. It can provide an experience that is not comparable. With the development of urbanization and public transportation, the chances of riding motorcycles have diminished, in addition to the widespread decline in riding experience, leading people to think that it is dangerous and then reject it. How to continue the original driving experience in the future?
This research will explore the relationship between people and motorcycles through the study of the history; compare accident data; motorcycle riding teaching, and analyze the riding process of the relevant problems encountered to find the cause of dangerous situations. The interaction between vehicle and driver will be the focus. Through the interaction design as the basis, the future development of road traffic and safety improvement is enhanced parallel, then the design suggestions of the intelligent two-wheeler vehicle will be developed. Finally the acceptance was proven by interview with professionals.
Interviewees initially had a certain degree of exclusion for "intelligent two-wheeler vehicles", but after the presentation of the design proposals, the acceptance was significantly improved.
And some interviewees said the design suggestion might have a positive effect on the acceptance of potential customers. Ergonomical reorganization of the interaction between the vehicle and the driver is the key to enhance the driving pleasure.
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Karanam, Venkata Mangaraju. "Studies In The Dynamics Of Two And Three Wheeled Vehicles." Thesis, 2012. https://etd.iisc.ac.in/handle/2005/2561.
Full textAbstract:
Two and three-wheeled vehicles are being used in increasing numbers in many emerging countries. The dynamics of such vehicles are very different from those of cars and other means of transportation. This thesis deals with a study of the dynamics of a motorcycle and an extensively used three-wheeled vehicle, called an “auto-rickshaw” in India. The commercially available multi-body dynamics (MBD) software, ADAMS, is used to model both the vehicles and simulations are performed to obtain insight into their dynamics.
In the first part of the thesis, a study of the two wheeler dynamics is presented. A fairly detailed model of a light motorcycle with all the main sub-systems, such as the frame, front fork, shock absorbers , power train, brakes, front and rear wheel including tire slips and the rider is created in ADAMS-Motorcycle. The simulation results dealing with steering torques and angles for steady turns on a circular path are presented. From the simulation results and analytical models, it is shown that for path radius much greater than motorcycle wheel base, the steering torque and angle can be described by only two functions for each of the two variables. The first function is related to the lateral acceleration and can be determined numerically and the second function, in terms of the inverse of the path radius, is derived as an analytical approximation. Various tire and geometric parameters are varied in the ADAMS simulations and it is clearly shown that steady circular motion of a motorcycle can be reasonably approximated by only two curves–one for steering torque and one for steering angle.
In the second part of the thesis, a stability analysis of the three-wheeled “autorickshaw” is presented. The steering instability is one of the major problems of the “auto-rickshaw” and this is studied using a MBD model created in ADAMS-CAR .In an Initial model the frame ,steering column and rear-forks (trailing arms) are assumed to be rigid. A linear eigenvalue analysis, at different speeds, reveals a predominantly steering oscillation, called a “wobble” mode, with a frequency in the range of 5 to 6Hz. The analysis results show that the damping of this mode is small but positive up to the maximum speed(14m/s) of the three-wheeled vehicle. Experiments performed on the three-wheeled vehicle show that the mode is unstable at speeds below 8.33m/s and thus the experimental results do not agree with the model. Next, this wobble instability is studied with an analytical model, similar to the model proposed for wheel shimmy problem in aircrafts. The results of this model show that the wobble is stable at low speeds regardless of the magnitude of torsional stiffness of steering column. This is also not matching with the experimental result. A more refined MBD model with flexibility incorporated in the frame, steering column and the trailing arm is constructed. Simulation results with the refined model show three modes of steering oscillations. Two of these are found to be well damped and the third is found to be lightly damped with negative damping at low speeds, and the results of the model with the flexibility is shown to be matching reasonably well with the experimental results. Detailed simulations with flexibility of each body incorporated, one at a time, show that the flexibility in the steering column is the main contributor of the steering instability and the instability is similar to the wheel shimmy problem in aircrafts. Finally, studies of modal interaction on steering instabilities and parametric studies with payload and trail are presented.
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Karanam, Venkata Mangaraju. "Studies In The Dynamics Of Two And Three Wheeled Vehicles." Thesis, 2012. http://etd.iisc.ernet.in/handle/2005/2561.
Full textAbstract:
Two and three-wheeled vehicles are being used in increasing numbers in many emerging countries. The dynamics of such vehicles are very different from those of cars and other means of transportation. This thesis deals with a study of the dynamics of a motorcycle and an extensively used three-wheeled vehicle, called an “auto-rickshaw” in India. The commercially available multi-body dynamics (MBD) software, ADAMS, is used to model both the vehicles and simulations are performed to obtain insight into their dynamics.
In the first part of the thesis, a study of the two wheeler dynamics is presented. A fairly detailed model of a light motorcycle with all the main sub-systems, such as the frame, front fork, shock absorbers , power train, brakes, front and rear wheel including tire slips and the rider is created in ADAMS-Motorcycle. The simulation results dealing with steering torques and angles for steady turns on a circular path are presented. From the simulation results and analytical models, it is shown that for path radius much greater than motorcycle wheel base, the steering torque and angle can be described by only two functions for each of the two variables. The first function is related to the lateral acceleration and can be determined numerically and the second function, in terms of the inverse of the path radius, is derived as an analytical approximation. Various tire and geometric parameters are varied in the ADAMS simulations and it is clearly shown that steady circular motion of a motorcycle can be reasonably approximated by only two curves–one for steering torque and one for steering angle.
In the second part of the thesis, a stability analysis of the three-wheeled “autorickshaw” is presented. The steering instability is one of the major problems of the “auto-rickshaw” and this is studied using a MBD model created in ADAMS-CAR .In an Initial model the frame ,steering column and rear-forks (trailing arms) are assumed to be rigid. A linear eigenvalue analysis, at different speeds, reveals a predominantly steering oscillation, called a “wobble” mode, with a frequency in the range of 5 to 6Hz. The analysis results show that the damping of this mode is small but positive up to the maximum speed(14m/s) of the three-wheeled vehicle. Experiments performed on the three-wheeled vehicle show that the mode is unstable at speeds below 8.33m/s and thus the experimental results do not agree with the model. Next, this wobble instability is studied with an analytical model, similar to the model proposed for wheel shimmy problem in aircrafts. The results of this model show that the wobble is stable at low speeds regardless of the magnitude of torsional stiffness of steering column. This is also not matching with the experimental result. A more refined MBD model with flexibility incorporated in the frame, steering column and the trailing arm is constructed. Simulation results with the refined model show three modes of steering oscillations. Two of these are found to be well damped and the third is found to be lightly damped with negative damping at low speeds, and the results of the model with the flexibility is shown to be matching reasonably well with the experimental results. Detailed simulations with flexibility of each body incorporated, one at a time, show that the flexibility in the steering column is the main contributor of the steering instability and the instability is similar to the wheel shimmy problem in aircrafts. Finally, studies of modal interaction on steering instabilities and parametric studies with payload and trail are presented.
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Grassi, Alessandro. "Belted Safety Jacket: a new concept in motorcycle passive safety." Doctoral thesis, 2018. http://hdl.handle.net/2158/1128888.
Full textAbstract:
This study aims to deepen previous knowledge in Powered Two-Wheeler passive safety with an innovative approach in this field, capable to systematically explore all possible design solutions, in order to find new devices/systems able to increase rider's safety. This research results of fundamental importance because in the last years, in Italy, in Europe and in the rest of the world, the Powered Two-Wheelers (PTWs) circulating park has constantly increased. This phenomenon was strictly linked to the user's unremitting demand for mobility. Motorcycles, scooters and mopeds specifically play a significant role in cities around the world, where traffic congestion and parking spaces represent a relevant daily problem. However, PTWs inherent instability and the absence of passive safety protective devices or structures represent a challenge for road safety. Riders are at far more risk than car drivers per kilometer covered in terms of fatalities and severe injuries compared with car occupants. Moreover, although the holistic approach to safety includes different factors (e.g. safe road, improved user training, safe vehicle, etc.), protective systems are still a cornerstone to ensure more tolerance in case of riders' or other road users' errors. For this reason, ensuring safer vehicles equipped with more protective devices could help to improve the motorcyclist’s safety.
• Chapter 1 presents, in the first part, a little review of the new approach to the transport safety system carried out, in the last years, by the main social institutions operating in this sector, and in the second part a statistical overview of the accident trends in the world and in specific in Europe.
• Chapter 2 describes the most important parts of the reference standard (ISO 13232), used to test and assess a new protective device fitted to motorcycles and it introduces the injury mechanisms and the most common injury indexes.
• Chapter 3 represents the backbone of this work and it comprises several activities: the first one is the analysis of the state of the art, carried out to understand previous research works in this sector, what is missing and where research is heading; the second one aims to understand the rider's needs, in order to translate them in device features and selection/decision criteria; the third one is the implementation of a map of possible problem solutions (NoP) using TRIZ and OTSM tools; the last one is the selection of the best solution among those found.
• Chapter 4 presents the solution chosen and the F.E model of the device derived from it. This is integrated within PTW, car, dummy and helmet models into a specific crash test configuration to evaluate its rider's injury reduction capability. It also reports the implementation of a full factorial design to understand: possible device geometrical features interactions and the possibility to install the device on other PTWs. The last activity is the device geometrical optimization setup, carried out to find the best device configuration.
• Chapter 5 shows how to apply the ISO 13232 methodology to an European Powered Two-Wheelers (PTWs) accidentological database, to verify if the set of the seven most relevant configurations, proposed by the ISO standard, does correspond to the most representative European accident scenarios. After this analysis, they are described the new indexes for the configurations and their speeds assessment, and finally, it is presented the impact configurations set emerged from the accidentological databases analysis.
• Chapter 6, the final chapter, reports and analyzes the numerical simulation of the device into the new impact configurations set. A bio-mechanical indexes comparison for each configuration, with and without the device fitted on PTW-rider, is presented to understand the protection offered by the designed device.
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Hong, Manh Ta, and 謝鴻邁. "Vertical two-wheeled Robot." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/30278420766421082705.
Full textAbstract:
碩士<br>明新科技大學<br>精密機電工程研究所<br>100<br>Vertical two-wheeled robot is a kind of balance robot based on the inverted pendulum. The kind of this robot has been developed in a lot of robotic laboratories. It’s unstable characteristics is a good example to verify the control theory for an engineer. To verify that the vertical two-wheeled robot can be balanced we can use a closed-loop controller method such as the proportional – integral – derivative method (PID) or the linear quadratic regulator (LQR), and pole placement.
This Master thesis starts by presenting a background of a vertical two-wheeled robot. It continues by expressing related work in this area. Then this thesis describes the mathematical model of a vertical two-wheeled robot based on the inverted pendulum system. This thesis uses Matlab to simulate the system with pole placement method. We also focus on the construction of this kind of robot and its working theory. Then we design some experiment to verify the results of this research. Finally this thesis finishes with a general conclusion and some suggestion for future work.
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Li, Po-Wen, and 李博文. "Enhancement of Two-Wheeled Vehicle." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/94f8fw.
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碩士<br>元智大學<br>電機工程學系<br>104<br>Two-wheeled electric vehicles may probably encounter unexpected accident with operating time increased, in this context , the two-wheeled electric vehicle has the probability of losing control, causing serious damage to users or disasters occurring. To avoid such situation occurs, this thesis design a control system contains two hardware controllers. Usually, these two hardware controllers are both in operation, another enable wafer is used to determine which output signal is adopted.
Main controller of two-wheeled electric vehicle is C8051F120 development board, deputy controller is W77E058A single wafer. These two controller are always in operation, the other enable wafer AT89S51 is used to monitor the output of the main controller. Under normal conditions, the main controller executes signal processing and output controlling, when the enable wafer senses the main controller disabled, it will switch the system mastership to the deputy controller and alert, so that the operator has sufficient time to travel the two-wheeled electric vehicle to a safe place, seeking for assistance.
The main purpose of the deputy controller of the two-wheeled electric vehicle is designed for backup, so we use the W77E058A single chip for low cost. Therefore, the benefits of dual-core controller is to ensure both high performance at low cost and security. Overall, two-wheeled electric vehicle not only has good performance at flat ground, slopes, meadows and rugged terrain but also has low cost, high stability and high security, etc., it has reached the goal of commercialization.
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Tsai, Ching-Feng, and 蔡慶豐. "Design of the Two-Wheeled Transporter." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/29440595817373105449.
Full textAbstract:
碩士<br>淡江大學<br>機械與機電工程學系碩士班<br>95<br>The objective of this thesis is to design the prototype of a two-wheeled transporter for human beings. The research work includes the mechanical components design and manufacturing, structure analysis and simulation, choosing of electrical motors, drivers, battery, and electromechanical system integration.
The computer aided-design (CAD) software package (ProE) is used to design the 3D prototype of initial concept of this transporter. Then the prototype is designed based on the above concept and the calculated dimensions of all the mechanical parts. A tilt sensor and gyro are used to measure the inclination angle and the angular velocity of the transporter. A control device of the variable load is used to simulate the behavior of human-beings who lean forward or backward when they stand on the two-wheel transporter. The input signals of the controller are inclination angle and angular velocity.A fuzzy controller is designed to control the stability of this transporter by the motor outputs.
The major contribution of this thesis is to develop a two-wheeled transporter for human beings. A control device of the variable load is used to analyze dynamic moving behavior, and apply the fuzzy theory in controller design, and to simulate balance model of two-wheeled transporter.
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Chen, Shih-Yi, and 陳世一. "Research of Two- Wheeled Balancing Robotics." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/65469792181117970989.
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碩士<br>義守大學<br>電機工程學系碩士班<br>98<br>The main topic in this thesis is to discuss the control of the two-wheeled balancing robotics. Based on the Lego NXT, combine with gyro sensor to establish the two-wheeled balancing robotics. By proper programming, the expected results will be shown in this thesis.
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Chang, Po-Hsiung, and 張博雄. "A Personal Mobile Vehicle with Two-Wheeled and Three-Wheeled Driving Modes." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/55878246149079190504.
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碩士<br>國立高雄應用科技大學<br>機械與精密工程研究所<br>101<br>A novel personal mobile vehicle that has two different driving modes is developed in this study. The vehicle can be transformed from a coaxial two-wheeled car into a three-wheeled car by simply pressing a switch, and vice versa. When the car is driven in two-wheeled mode, PID controllers are utilized for velocity, direction, and balancing control.
A three-wheeled car is intrinsic stable, but it is possibly to tip over when suddenly decelerated or accelerated. Thus, a simple control algorithm is proposed to prevent the three-wheeled car from tipping over. Finally, a series of experiments has been made for testing the prototype of the vehicle. The results show that it can be driven on even and uneven terrains by using the two driving modes. Besides, it can be driven to climb up and down the inclines of eight degrees easily and stably.
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Wang, Chih-Yu, and 汪志宇. "Fuzzy Control for Two-Wheeled Mobile Robots." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/79101259893587959369.
Full textAbstract:
碩士<br>國立臺灣師範大學<br>應用電子科技學系<br>100<br>This thesis is to research and produce a two-wheeled mobile robot. There are two parts of the robot, two left, right, each equipped with a DC motor to drive the car of two mobile robot. The architecture for the control is composed of single chip 82g516 for the core controller, optical coupler TLP250, H-bridge motor driver circuit, three-axis accelerometer (to measure the angle on the analog signal) and the motor encoder pulse signal for the sensing circuit.
This thesis contains the simulation and experiment. Contains the simulation aspects: fuzzy controller, LQR controller and PID controller, three control methods to simulate the balance of the two mobile robot controller. Experiments contain: PID controller constant speed control experiment, the PID controller about two wheel synchronization experiment and the fuzzy controller balanced experiment to verify that produced the performance of the two-wheeled mobile robot.
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LEE, HUNG-JU, and 李泓儒. "Modular Concept on Two-wheeled Vehicle Design." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/38815536217573986453.
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碩士<br>實踐大學<br>工業產品設計學系碩士班<br>104<br>This study focuses on discussing over future designs of two-wheeled motor vehicles from the perspective of modularization. As time goes by, a range of material processing and power system revolutions makes the vehicles get rid of the traditional styles and consumers are attaching increasing importance to the presentation of personalization and recreation in addition to product performance. This study probed into the history processes of double-wheeled vehicles and the advantages of modular product by discussing and arranging the literatures, and proposed the core values of design goals. Two kinds of electric two-wheel vehicles, namely “Modular Scooter Alpha+” and “Modular Competitive Two-wheel Balancing Car SR” are designed based on the concept of modularization along with different modular components to present different styles and performances, making it possible for single body to be diversified and personalized.
The study independently discussed and integrated the components of vehicles of the design and the elements of an vehicle are classified into two parts, the “core car body” orienting at movement and the “modular suites” focusing on the presentation of performance and style, which makes it possible for quantity car bodies manufactured to show personal demands and style by virtue of different components. In addition, the designs are displaying by methods of 3d simulation diagram and scale model making, and the future outlook of the design herein will be determined by the feedback on the product from the interviews of vehicle design companies. From their feedback, we can safely conclude that the modular vehicles will definitely inspire a trend in the future. One of the major concerns involved is technology when it comes to actual mass production and safety; however, it’s worth expecting as a whole.
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CHIOU, JIUN-KAI, and 邱俊凱. "Two-wheeled Balancing Robot Implementation and Control." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/4vm327.
Full textAbstract:
碩士<br>國立臺灣科技大學<br>電機工程系<br>107<br>This study is mainly to build a two-wheeled balancing robot. The first task is to simulate the results of using two-wheeled robot mathematical model under PID control or Fuzzy control, then build to a real two-wheeled balancing robot. Two-wheeled balancing robot integrates Lithium polymer battery, converter, microcontroller unit, encoder, Inertial Measurement Unit (IMU), dc motor driver, DC geared motor, wireless module, etc. On the two-wheeled balancing robot platform, the tilt angle is obtained by reading the accelerometer and the gyroscope measurement and fuse the sensor measurement and then implement the proportional-integral-derivative (PID) controller to control the two-wheeled balancing robot on a microcontroller unit. The two-wheeled balancing robot can independently balance without external control signal or support. In the sensor fusion part, a three-axis accelerometer and a three-axis gyroscope are integrated in a low-cost MPU-6500, it is used to perform a variety of sensor fusion methods to measure the tilt angle, and it will be the feedback of PID controller, and according tilt angle controller will drive the motor to balance the two-wheeled balancing robot. Finally observe the influence of different sensor fusion methods on controller behavior.
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Yang, Cho-Han, and 楊卓翰. "DSP-Based Control of Two-Wheeled Inverted Pendulum." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/b2wg9p.
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碩士<br>國立臺灣海洋大學<br>電機工程學系<br>102<br>This thesis considers the design of DSP28335-based balance controllers for a two-wheeled inverted pendulum control system. The design goal is to maintain balance of the two-wheeled inverted pendulum. A gyroscope is used to measure the angular velocity of the car body. Then, the angular of the car body can be derived by integrating the obtained angular velocity. Moreover, a motor encoder is utilized to measure the position of the car body. And then the velocity of the car body can be derived by the obtained position information. Finally, an infrared ray sensor is applied for correcting the angular deviation. We design PID, pole placement, and sliding mode controllers for the two-wheeled inverted pendulum to achieve the desired performance. Experiment results show that the sliding mode controller provides a better performance in our two-wheeled inverted pendulum control system than the other two control laws.
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Chiang, Tong-Ying, and 江東穎. "Design and implementation of two-wheeled intelligent robot." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/11015848081218155551.
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碩士<br>中國文化大學<br>數位機電科技研究所<br>98<br>This thesis is divided into two parts, the first part includes the derivations of control equations. In the control scheme, the fuzzy inference is designated as a main controller and the neural network is designated as auxiliary part. The neural uncertainty observer is added to fuzzy balance controllers. It is utilized to observe the external load disturbance, nonlinear friction and unstructured uncertainties, etc.. According to the observed result the control difficulty of balancing controller can be reduced. To verify the effectiveness of the proposed control architecture. The MATLAB simulation is carried out. The second part is the experimental implementation of Parallax Inc’s Boe-Bot robot. The Accelerometer 2125 and ADXRS610 are used to measure the inclination angle and the angular velocity of Boe-Bot robot. The inclination angle and the angular velocity are two inputs of balance controller. The conventional PD, fuzzy and the proposed neural fuzzy control algorithms are programmed the BS2 module, respectively. The control signals are evaluated by the PIC16C57 and sent to the left and right motors. The data stored in BS2 and the waveform in the oscilloscope are acquired to observe the balancing condition. After watching the condition of balance and amended algorithms.
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Liao, Yu-Ching, and 廖育靖. "CompactRIO Based Balancing Control for Two-Wheeled Robot." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/74551976620426978711.
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碩士<br>淡江大學<br>電機工程學系碩士在職專班<br>98<br>In the thesis, the graphical programming language LabVIEW and the embedded system platform CompactRIO are used to design a two-wheeled self-balancing robot. CompactRIO is an embedded integrated controller including real-time processor, reconfigurable FPGA-based chip, I/O of analog and digital. The signals of two sensors are used to be inputs of CompactRIO. One is an one-axle gyro and the one is a three-axle accelerometer. They are used to measure the tilt angle and angular velocity of the two-wheeled robot. The Kalman filter is used to improve the measurement errors caused by the gyro and accelerometer so that a correct tilt angle can be obtained. A two-input and one-output fuzzy controller is design to balancing control the two-wheeled robot. The tilt angle obtained by the Kalman filter and the increment value of angle are used to be two inputs of fuzzy controller, and the motor speed is the output of fuzzy controller. From some experiment results, we can see that the implemented fuzzy controller actually let the two-wheeled robot balance by itself. And the robot quickly becomes a balancing state when it has an outside small force.
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Lan, Shih-min, and 藍士閔. "Musical Notation Recognition System for Two-Wheeled Robot." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/54729351297367741062.
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碩士<br>國立臺灣科技大學<br>資訊工程系<br>97<br>For improvement of technique, the develop of robot become humanity and diversification. We create a musical notation recognition system by combining several techniques of image process. When robot reading the musical notation, the robot can sing the contents of musical notation in short time. In several recognition systems, the recognition result of musical notation has serious effect for skewing and warping. Our proposed recognition system would resolve this problem.
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Hsu, Mao-Kuo, and 徐茂國. "Development of a Two-Wheeled Self-Balancing Platform." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/44337684657660254242.
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碩士<br>國立臺灣科技大學<br>機械工程系<br>96<br>The objective of this research is to design and fabricate a two-wheeled self-balancing platform that can be employed as a transporter of a human-sized humanoid robot. The mathematical model of the platform was derived by Kane’s dynamics. A feedback controller based on the model was developed using the linear quadratic regulator (LQR) method and modified by conducting experiments. The test results show that the controller can effectively and successfully control the platform to balance itself, move forwards and backwards, and turn left and right.
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Chung-Wei, Chen, and 陳崇煒. "Balancing and Positioning Control for Two-wheeled Vehicle." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/15963224099806945865.
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碩士<br>國立屏東科技大學<br>車輛工程系所<br>100<br>The main purpose of this research is using the adaptive robust control to two-wheeled vehicle system, quickly achieve balancing and positioning then no longer shaking, the foremost balancing approach is to use the DC motor by input voltage or negative voltage is generated counterweight , can be effectively stabilized. In this research, use a second-order dynamic model to represent the two wheeled vehicle model dynamic response. When the adaptive robust controller design is accomplish, use the above derived the dynamic model to verify the feasibility of the controller. The results show that the designed controller can successfully control the body level angle and the moving displacement.
If using the traditional XPC interface control will not in open space be able to experiment; In this research, using the DSP blocks as the control interface to two-wheeled vehicle, this ideal we can achieve stand alone, don't need for an external line, increase its usefulness and reliability.
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Chiu, Hua Yen, and 邱華彥. "Controllers Design for a Two-Wheeled Inverted Pendulum." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/88905300381920938005.
Full textAbstract:
碩士<br>國立臺灣海洋大學<br>電機工程學系<br>104<br>The goal of this thesis is to design DSP28335-based balancing controllers for a two-wheeled inverted pendulum. First, we derived the dynamic equations of the two-wheeled inverted pendulum by Newton-Euler method. Then, based on the obtained dynamic equation, a LQR controller, a robust controller, and a PID controller are designed to balance the inverted pendulum. We compare and analyze the results obtained by different control methods by simulations and experiments. We use a gyroscope and an accelerometer to measure angular velocity and tilt angle of the system. A complementary filter is used here to improve the measurement precision of the tilt angle.
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Chien, Chih-Wen, and 簡誌文. "DSP Based Motion Control for Two-Wheeled Transporter." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/52032945146664645526.
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碩士<br>淡江大學<br>機械與機電工程學系碩士班<br>95<br>The objective of this thesis is to design the prototype of a two-wheeled transporter for human beings. The research work includes the mechanical components design and manufacturing, structure analysis and simulation, choosing of electrical motors, drivers and battery, controller design, and electromechanical system integration.The forward and backward motions of the two-wheeled transporter are depended on the position of the center of gravity (COG) of the transporter. Therefore, an adjustable mechanism is designed to change the COG position of the transporter by a remote controller. The COG is changed by moving the steel block on the conveyor in order to simulate the real operating behavior of human beings on the transporter. DSP is the major controller of the entire system, which includes fuzzy control algorithm,motor control, A/D converter and signal process etc. A tilt sensor and gyro are used to measure the inclination angle and the angular velocity of the transporter. The input signals of the controller are inclination angle and angular velocity. A fuzzy controller is designed to control the stability of this transporter by the motor outputs.The major contribution of this thesis is to develop a two-wheeled transporter for human beings. A control device of the variable load is used to analyze dynamic moving behavior, and apply the fuzzy theory in controller design, and to simulate balance model of two-wheeled transporter.
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Chen, Chien-Chun, and 陳建淳. "Adaptive Fuzzy Control of Two-Wheeled Balancing Vehicle." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/01447670804662768277.
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碩士<br>銘傳大學<br>電子工程學系碩士班<br>99<br>This thesis proposes an adaptive fuzzy controller to balance a constructed two-wheeled vehicle at upright position. The thesis is divided into three parts. At the first, the dynamical model of the two-wheeled vehicle-LEGO Mindstorms NXT is established. But the two-wheeled vehicle is a multi input and multi output (MIMO) nonlinear system. It will lead us too difficult to design fuzzy rules of fuzzy controller. Therefore, we combined all output errors of two-wheeled vehicle into one error by experience. At the second, based on the developed model of two-wheeled vehicle, an adaptive fuzzy is then illustrated. Adaptation laws for the proposed fuzzy controller are used to approximate an ideal controller. Adaptation laws are derived from the Lyapunov stability analysis, so that the system tracking performance and the error convergence can be assured in the closed-loop control system.
Finally, we implement the proposed adaptive fuzzy controller and the Proportional Integral Derivative (PID) controller on the two-wheeled vehicle respectively which construct by LEGO Mindstorms NXT kits. Experiment result show that the performances of the proposed adaptive fuzzy controller are better than the PID controller.