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Lake, Kavan O. "Saving lives and money two wheels at a time." Thesis, Monterey, California : Naval Postgraduate School, 2010. http://edocs.nps.edu/npspubs/scholarly/theses/2010/Mar/10Mar%5FLake.pdf.
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Thesis (M.S. in Manpower Systems Analysis)--Naval Postgraduate School, March 2010.<br>Thesis Advisor: Henderson, David R. ; Hatch, William D. "March 2010." Author(s) subject terms: Motorcycle safety training, motorcycle accident, motorcycle fatality, motorcycle injury, motorcycle life insurance cost, motorcycle hospitalization cost, military occupational specialty cost. Includes bibliographical references (p. 69-70). Also available in print.
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Gerrard, Douglas R. "Dynamic control of a vehicle with two independent wheels." Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1997. http://handle.dtic.mil/100.2/ADA340452.
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Thesis (M.S. in Electrical Egnineering) Naval Postgraduate School, September 1997.<br>"September 1997." Thesis advisor(s): Xiaoping Yun. Includes bibliographical references (p. 27). Also available online.
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Strauss, Donald Parker. "Ridazz, Wrenches, and Wonks: A Revolution on Two Wheels Rolls Into Los Angeles." Antioch University / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=antioch1426626665.
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Batmanian, Saro, and Pasam Naga. "Control and balancing of a small vehicle with two wheels for autonomous driving." Thesis, KTH, Fordonsdynamik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-265618.
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Control and balancing of an inverted pendulum has gained a lot of attention over the past few decades due to its unstable properties. This has become a great challenge for control engineers to verify and test the control theory. To control and balance an inverted pendulum, proportional integrated derivative (PID) method or linear quadratic regulator (LQR) method can be used through which a lot of simulations can be done using the represented theories.Since urban population is increasing at a very alarming rate, there is a need to discover new ways of transportation to meet the future challenges and demands. Scania has come up with a new conceptual bus called NXT which aims to develop a modular vehicle that should configure and re-configure themselves between different transportation tasks. NXT vehicle has front and rear drive modules which can be represented as single axle, two-wheeled vehicles which in-turn can be viewed as an inverted pendulum with a huge Center of Gravity. Controlling and balancing of the pod or drive module precisely and accurately is an interesting challenge since it is an unstable inverted pendulum with huge center of gravity (COG). This behaviour of the system has created a research question whether the module is controllable or not.Therefore this thesis focuses on the possibility of controlling the pod which is a two-wheeled inverted pendulum vehicle with a COG offset. Also, the thesis focuses on the construction, mod-elling, testing and validation of a down-scaled model, what sensors are needed to balance the pod precisely, how the sensors must be integrated with the system and how the pod can be controlled remotely from a certain distance by a human. The developed pod houses the technologies like sensors, BLDC motor controllers, hoverboard, Arduino board and Bluetooth transmitters.The Master Thesis starts by presenting an introduction to the inverted pendulum theories, Scania NXT project, information about the research methods, thesis outline and structure . It continues by describing related literature about the inverted pendulums, segways, hoverboards, motor controllers and Arduino boards. Afterwards, the process of deriving a mathematical model, together with simulation in Matlab, Simulink and Simscape is described. Later, construction of the pod is made and lot of effort is put to run the pod. Since the pod needs to be controlled remotely by a human, a remote controlled systemis implemented via mobile phone using an app and finally the thesis is finished with a conclusion and ideas for future work.<br>Reglering och balancering av en inverterad pendel har väckt stor uppmärksamhet över de senaste decennierna på grund av dess instabila egenskaper. Det har skapat stora utmaningar för regleringenjörer eftersom området tillåter test och verifikation av diverese lösningar. För reglering och balansering av en inverterad pendel, så kan en regulator med proportionell, integral och derivat (PID) konstanter eller en linjär kvadratisk regulator (LQR) användas tillsammans med simuleringar för att bekräfta teorin.I och med att stadsbefolkningen ökar i mycket hög takt, så uppstår behovet av att uppfinna nya transportmedel för att lösa framtida utmaningar och krav. Scania har tagit fram en ny konceptbuss som heter NXT, med målet att utveckla ett modulfordon som kommer att konfigurera och rekonfigurera sig själva mellan olika transportuppgifter. NXT-fordonet har fram- och bakdriv-moduler som kan representeras som enaxlade tvåhjuliga fordon, vilka i sin tur kan betraktas som en inverterad pendel med en stor massa. Att reglera och balansera drivmodulen på ett noggrant sätt är en utmaning eftersom det är ett mycket instabilt system med enorm massa och en okänd tyngdpunkt. Systemets beteende har skapat en forskningsfråga om modulen är reglerbar eller inte.Denna uppsats fokuserar därmed på möjligheterna att kunna reglera drivmodulen samt vilka begränsningar det finns. Uppsatsen fokuserar också på konstruktion, modellering, testning och validering av en nedskalad modell, vilka sensorer som krävs för att balansera drivmodulem, samt hur sensorerna måste integreras med systemet för att kunna fjärstyra fordonet från ett visst avstånd. Utveckingen av en sådan nedskalad modell berör olika områden såsom sensorer, BLDC-motorstyrenheter, hoverboard balanserings scootrar, Arduino kretskort och Bluetooth-sändare/mottagare.Uppsasten börjar med en introduction om olika inverterade pendel teorier, Scania NXT project, forskningsmetoder, en översikt och övergripande struktur. Vidare fortsätter beskrivining av relaterade litteratur om inverterade pendel, Segway, hoverboard, borstlösa motor styrenheter och Arduino kretskort. Senare fortsätter processen för att härleda matematiska modeller som beskirver systemet, tillsammans med simuleringar i Matlab, Simulink och Simscape. Därefter beskrivs konstruktionen av en nedskalad modell av drivmodulen och beskrivning av nödvändiga processer för att få hårdvara och mjkukvara att fungera ihop. Då fordonen ska ha möjlighet att fjärrstyras, så implementerades en bluetooth enhet tillsammans med en programmerbar mobil applikation. Slutligen avlutas uppsatsen med resultat, slutsats och diskussioner och förslag till framtida arbeten.
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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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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.
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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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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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Duranton, Coralie. "Fatigue analysis of two wheel‐ mounted brake disc designs." Thesis, KTH, Spårfordon, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-177313.
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Due to a need of more compact bogies, the brake discs can be mounted on the railway wheels, bolted through the wheel web. Thus, the wheels are drilled and have multiple areas of contact with the brake discs. To establish maintenance procedures that will be applied to the wheels, SNCF used the feedback from experience (as with the train AGC) which gives perfect performance in terms of safety. However, to optimize the maintenance process, numerical simulations may be preferred since they are less conservative. This report describes the numerical simulations, based on the finite element method, that were conducted to determine if the Régiolis wheel complies with the standard EN 13979-‐1 from a mechanical fatigue point of view. In addition, it provides additional insights regarding the loads and damage suffered by the wheel, which are not taken into account in the standard: the damage induced by disc braking and the fretting that may occur at the contact interfaces. This study has been used as a decision support for the first inspection intervals of the Régiolis wheels.
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Abbott, Michael Shawn. "Kinematics, Dynamics and Control of Single-Axle, Two-Wheel Vehicles (Biplanar Bicycles)." Thesis, Virginia Tech, 2000. http://hdl.handle.net/10919/31702.
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A two-wheeled, single-axle, differentially driven vehicle possesses many salient advantages when compared to traditional vehicle designs. In particular, high traction factor, zero turn radius, and inherent static and dynamic stability are characteristics of this configuration. Drive torque is provided via a swinging reaction mass hanging below the axle. While mechanically simple, the resulting nonlinear vehicle dynamics can be quite complex. Additional design challenges arise if non-pendulating platforms or hardware mounts are required. Ultimately, this vehicle class has great potential in autonomous robotic applications such as mine clearance, planetary exploration, and autonomous remote inspection. This thesis discusses the kinematic and dynamic analyses of this vehicle class and develops design tools including performance envelopes and control strategies. Further, it confronts the stable platform problem and provides one solution while suggesting alternative design concepts for other applications.<br>Master of Science
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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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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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Smaiah, Sarra. "Système de reconstruction de trajectoire pour véhicules deux roues motorisés." Thesis, université Paris-Saclay, 2020. http://www.theses.fr/2020UPASS022.
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Les conducteurs des véhicules deux roues motorisés sont considérés parmi les usagers de la route les plus vulnérables, comme en témoigne le nombre d'accidents, en augmentation chaque année. Le nombre important des décès relatifs aux véhicules seuls « sans tiers identifié » est lié à la perte de contrôle dans les virages. Ces travaux de thèse reposent sur une plate-forme moto instrumentée avec un système multi-capteurs. Nous avons proposé des algorithmiques pour reconstruire avec précision les trajectoires des motos lors de la négociation des virages. Ce système est destiné à évaluer et examiner de manière objective le comportement des conducteurs lors de prise de virages afin de mieux les former. L’objectif est de les amener à adopter une trajectoire de sécurité pour améliorer la sécurité routière. Les données nécessaires à la reconstruction de trajectoire sont acquises à l’aide d’une moto instrumentée embarquant plusieurs capteurs redondants (capteurs de référence et capteurs à faible coût) qui mesurent les actions du conducteur (roulis, direction) et le comportement de la moto (position, vitesse, accélération, odométrie, cap et attitude). Ce travail s’inscrit dans le cadre d’un projet ANR VIROLO ++. La solution que nous avons proposé a permis de reconstruire les trajectoires des motos dans les virages avec une précision acceptable. L'algorithme développé sera utilisé afin d'évaluer et examiner de manière objective la manière dont les conducteurs négocient les virages. Le système embarqué portant cet algorithme peut être utilisé pour la formation initiale et l’entraînement afin de mieux former les conducteurs de motos à estimer une trajectoire sûre et à assurer ainsi une sécurité lors de la prise de virages<br>The drivers of Powered Two Wheels vehicles are considered among the most vulnerable road users, as attested by the number of crashes increasing every year. The significant part of mortalities related to single vehicle “without identifying a third party” is related to the loss of control in bends. These thesis work is based on an instrumented motorcycle platform with a multi-sensor system. We have proposed algorithms to accurately reconstruct motorcycle trajectories achieved when negotiating bends. This system is intended to objectively evaluate and examine the behavior of drivers when negotiating bends in order to better train them. The goal is to lead them to adopt a safe trajectory in order to improve the road safety. Data required for the trajectory reconstruction are acquired using an instrumented motorcycle embedding several redundant sensors (reference sensors and low-cost sensors) that measure the rider’s actions (roll, steering) and the motorcycle behavior (position, velocity, acceleration, odometry, heading and attitude). This work is a part of the ARN project VIROLO++. The solution we have proposed allows to reconstruct bikes trajectories in bends with acceptable accuracy. The developed algorithm will be used to objectively evaluate and examine how riders negotiate bends. The embedded system carrying this algorithm can be used for the initial training and retraining in order to better train motorcycle drivers to estimate a safe trajectory and thus ensure safety when taking bends
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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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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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ChangYao-Hsi and 張躍錫. "Rear Suspension Mechanisms Design of Two Wheels Vehicles." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/14011031268418963051.
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碩士<br>崑山科技大學<br>機械工程研究所<br>93<br>Controllability, comfort, and safety are important to people for riding bikes and motorcycles. However, a good suspension system design produces a comfortable riding. Hence, the purpose of this study is to creative design a new, comfortable, and safe mechanism of rear suspension system of two wheels vehicles.
The concept of this study is a rotational damper pair replaces a revolute pair. First, this work is to analyze the topological structure and motion characteristics of existed rear suspension mechanisms. Then, the design criteria of the topological structure are described. Based on the design criteria of topology, the Yan’s methodology of mechanism design is applied to synthesize new rear suspension mechanisms. Furthermore, the kinematic and force ratio analysis of two new mechanisms is done well. Finally, we developed a computer program to calculate of the kinematic and force ratio characteristics of designed rear suspension mechanisms for improving the feasibility of provided theory .
The results of his work are one (4,4) and five (6,7) new rear suspension mechanisms are founded. Additionally, .we also designed two feasible new rear suspension mechanisms whose motion and force ratio characteristics are better than the original ones.
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Yeh, Chih-Hao, and 葉智豪. "Design and Manufacture of Automatic Manual Transmission for Electric Two-wheels." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/09876850883266253366.
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碩士<br>國立中正大學<br>機械工程學系暨研究所<br>103<br>In this thesis, a specially designed automated manual transmission is prototyped and implemented in a 48-volt electric two-wheel. The transmission includes not only a set of manual gears, a collar, a collar driver, and a potentiometer to detect the position of collar but also the single-directional beating to replace conventional clutches. Since this transmission adopts manual gears and its “clutch” consumes no power, it is the most energy-saving transmission design for the present industry. In this thesis, mechatronic design is detailed and experimental data verifies such a design.
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Wang, Kuang-An, and 王廣安. "Two Wheels Inverted Pendulum Control and Application Based On Visual Navigation." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/70274479580138232355.
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碩士<br>國立臺灣海洋大學<br>電機工程學系<br>104<br>Abstract
With the advance of science and technology, Internet draws us closer to each other. Mobile devices, such as tablets, mobile phones and smart watches, become more and more popular. However, in addition to text and voice, the visual function is critical. In addition, people try to explore where they can barely reach like mysterious sky or seabed. Quadcopter was developed to fly high and capture the beautiful landscapes. Unmanned submarine was used to monitor environments and give us a dream of pursuing mermaids. So, the inspiration of combining remote image sensing and robot control in the thesis was born.
This paper is to have users (especially, the disabled patients) wearing a mobile phone-based VR helmet indoors which can control an exploring robot remotely with head gesture. Additionally, the remote robot will send video and audio back to the phone inside VR helmet. People far away can interact with patients by this way. Besides, mobile phones of the system can do image processing for autonomous tracking. The entire system includes mechanism, circuits and algorithms designs.
For mechanism aspects, for the sake of portability, the robot car has only two wheels driven by servo motors and forms a self-balanced robot. A long stick with a camera sits on the top of moving platform in order to get a better view. Mechanical parts were designed using SolidWorks and produced by a 3D printer.
For circuit aspects, the robot car uses Arduino Pro Mini as core, and calculates the attitude angles with a six-axis accelerometer. Voltage regulator module makes the power stable. UART and SPI are the interface of communication for mobile phone and transmitter. The circuit board is designed using Protel 99 SE and carved with CNC machine.
For algorithm aspects, PID control is the main control method of this system. It is easy to use and popular for industry. In addition, the system can use image processing capability to help navigation. Computer vision is extremely good at localization. It can separate the target object from the background and track the target.
The project integrates the mobile phone and MCU with PID and image processing algorithms. It has a purpose that the disabled people can interact with the outside world by this system and enjoy a new social life.
Keywords：self-balanced robot, VR helmet, image processing, head gesture.
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CHEN, SHIH-HSIEN, and 陳世賢. "Motion Control of Two Wheels Inverted Pendulum Robot in Different Enviroment." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/9rdj5c.
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碩士<br>國立臺灣科技大學<br>機械工程系<br>105<br>The goal of this thesis is to investigate the motion control performance of two-wheel inverted pendulum (TWIP) vehicle in different environment. The control kernel of this system is Arduino Nano 3.0. Accelerometer and gyroscope are used to measure the tilt angle and angular velocity of the inverted pendulum, respectively. Kalman filter is used to estimate the accurate tilt angle based on sensor fusion process. The brushless DC hub motor (BLDC) was chosen as the wheel driving power which is equipped with hall sensor for measuring the moving distance and speed of inverted pendulum. The handle bar in front of TWIP generates the signal through potentiometer to control TWIP turning.
The model-free and robust fuzzy sliding mode controller (FSMC) is chosen for controlling this system. The experiment results show that FSMC not only can achieve TWIP stability in balance control but also achieve the velocity command in different environment (ex：flat、incline、no-load、loaded) in velocity control. The steering control algorithm also makes TWIP turning smoothly and keeps TWIP balancing. All those control schemes are integrated into the system control kernel for improving the TWIP motion performance.
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Rosenbarger, Elizabeth Mae. "Campus on two wheels : increasing bicycle mode share on the UT-Austin campus." Thesis, 2012. http://hdl.handle.net/2152/ETD-UT-2012-08-6134.
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This research report examines infrastructure strategies to increase the bicycle commute mode share. By analyzing existing conditions and results from on-campus participatory events, recommendations to improve and increase bicycling at the University of Texas at Austin campus are proposed. This report includes a literature review of sustainable transportation and university campuses, bicycle infrastructure best practices, bicyclist route preferences, evaluations of bicycle infrastructure, the role of bicycling in past master plans at the UT-Austin campus, and bicycling in other university’s plans. Existing conditions analyze the characteristics of streets in and around campus and data from the Bike-UT survey is discussed. Participatory research events are described and their findings analyzed to better understand how current bicyclists perceive spaces on campus and make their route choices. Finally, considering best practices, existing conditions, and findings from campus research events, recommendations are proposed to increase the bicycle mode share on the UT-Austin campus.<br>text
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Wang, Yu-Cheng, and 王育晟. "Global Localization and Mapping of a Two-Armed Robot with Omnidirectional Mecanum Wheels." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/68517527131062162338.
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碩士<br>國立中興大學<br>電機工程學系所<br>100<br>This thesis presents techniques for global localization and mapping of a mobile anthropomorphous two-armed robot (ATAR) with the KINECT sensor and Mecanum four-wheeled omnidirectional base. An EKF-based global localization of the mobile ATAR is presented by using several artificial landmarks with given positions and four encoders mounted on four-wheeled omnidirectional base. An EKF-based approach using SURF is proposed for global localization and mapping of the mobile ATAR based on partially unknown natural landmarks. To conduct required experimentation, this thesis constructs an experimental, mobile, anthropomorphous two-armed robotic system with two anthropomorphous dual arms, a SoPC-based controlled Mecanum four-wheeled omnidirectional base and a KINECT sensor. Several simulations and experimental results are conducted to show the accuracy and performance of both proposed methods. The proposed techniques might be of interests to professionals working in the field of intelligent robots.
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CHE-CHUNG, LEE, and 李哲仲. "Improvement of Passive Safety of Two－Wheels Commuting Vehicles － Based on Industrial Design Solutions." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/07747207001331825936.
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碩士<br>大葉大學<br>設計研究所碩士在職專班<br>101<br>This research aims to find an improvement of passive safety for scooter drivers in Taiwan. The number of motorcycles is growing fast over here, and so does the numbers of safety problems. It is worthy to look for a possible solution on this field, especially focusing on Ordinary Heavy-Duty Motorcyclists. This thesis indicates active safety and passive safety. In the moment, ‘active safety’ applied on vehicles is difficult to match market requests, because it will rise the costs for motorcycling essentially. So we concentrated on passive safety for both, vehicles and also driver’s gear. This research uses questionnaires to analyze the acceptance of a big number of Taiwan motorcycle users, there it shows that users have low acceptance for existing protective products, especially for changes on the vehicles, because of high costs and inconvenience in usage. So for us it turned out more meaningful to focus our design improvements on the driver’s body. During the design improvement part, the author chose professional specialists from Taiwan’s motorcycle market as interviewees. We used an in-depth interview method and compared existing products with prepared ideas for improvement, collecting opinions and suggestions. Finally, the professionals came to a positive conclusion on the offered design work. According to their general impression, the design improvement shows possibilities for a safety enhancement.
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Bo-HanWang and 王柏翰. "On the Design of New Linkage Type Anti-dive Suspension Mechanisms for Two Wheels Vehicles." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/02883191098539538410.
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Chang, Yung-Chang, and 張永昌. "The Relationship among Travel Motivation , Specialization and Preferred Setting Attributes of Travel Distance－The Example of 『Four plus Two』Wheels at Sun Moon Lake." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/92331171651537112655.
Full textAbstract:
碩士<br>朝陽科技大學<br>休閒事業管理系碩士班<br>98<br>Abstract
The purpose of this study was to investigate the effect of the travel motivation and specialization on the preferred setting attributes of travel distances that was based on the example of the community of “Four Plus Two” Wheels, By adopting convenience sampling, questionnaires were distributed to the “Four Plus Two” cyclists around Sun Moon Lake National Scenic Area, 405 effective questionnaires were collected. Analyzed by SPSS 12.0, the statistical and analytical methods included item analysis, descriptive statistics, reliability analysis, correlation, independent sample t-test, one way ANOVA, and multiple regression analysis. The Findings of the study were as follows:
1.The majority of the informants in “Four Plus Two” Wheels were the male cyclists, aging mostly between 31 and 40. In education, most of the subjects were found with bachelors degrees; in marital status, the higher percentage of the informants lies in the married with children; in occupation, government employees stand the greatest part; in economic status, the mainstream is found in informants with monthly income between NT$20,000 and NT$40,000.
2.Types of the bikes owned by most of the informants were the mountaineering bikes; most of the informants live in Nantou County, and most of whom have never joined any cycling team. With respect to the vehicles carrying the bikes for the journey around Sun Moon Lake, compact cars were mostly used.
3.The travel motivation of the community of “Four Plus Two” Wheels focused mainly on exercising, plus specialized or skillful levels in cycling techniques, knowledge, and biking path recognition.
4.In choosing the cycling paths, of which not only the facility and the design were taken into serious consideration, but preferences for the paths with cultural and natural resources were also given.
5.Finally, in regression analysis, effects of travel motivation and specialization were found significantly on the preferred setting attributes of travel distances.
“Four Plus Two” Wheels is a booming community, and related studies investigating on more different variables are suggested in the future.
Key Words：”Four Plus Two” wheels, travel motivation, specialization, preferred setting attributes of travel distance
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Tsai, Chiao-Lun, and 蔡僑倫. "DSP-based balance and two-wheel synchronous control for two-wheel robot." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/25993947953563620441.
Full textAbstract:
碩士<br>國立中央大學<br>電機工程研究所<br>92<br>Two-wheel robot system is a self-balance two-wheel robot car, we can control it self-balance, going forward and backward, making a turn and fixed position. DSP F2812 is the control center of the two-wheel-robot system, which includes fuzzy control algorithm, motor servo control, A/D converter, analog filter, digital filter, and wireless transmission module etc. In the system, the sensors tilt and gyro are used to measure inclination angle and angle velocity of the robot. Analog low-pass filter and digital filter process the above two signals to be usable. We use encoder to measure velocity and angle velocity of the motors of robot. Then the robot’s motions self-balance, going forward and backward, and making a turn are controlled by the designed fuzzy control algorithm in DSP. All control signals are transmitted via wireless transmission module.
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DAI, SHU-TING, and 戴舒婷. "Two-wheel Self-Balanced Car." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/43451125709359280026.
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碩士<br>南臺科技大學<br>電子工程系<br>105<br>In Taiwan, various industries suffered a bottleneck in development. Especially the catering industries, the cost of human resource labor is a very important issue. First of all, the employers can’t offer employees higher salary because of the low profit. Besides, working in the catering industries is boring and require a lot of man power that can’t attract young people to join. In this case, a better solution is using robots as a replacement. It does not only help the development of industry but also reduce human resource requirement.
In this thesis, the main focus is to realize a robot based on two-wheel cars as a servant. The catering industries can combine with technology to use two-wheel self-balanced cars to replace the demand for the human resource. In addition, using Kiosk machine to order meals and two-wheel self-balanced cars to deliver meals. It can not only reduce manpower requirement but also increase the restaurant's entertainment and attract more people.
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Hong, Manh Ta, and 謝鴻邁. "Vertical two-wheeled Robot." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/30278420766421082705.
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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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Hung, Yi-Tein, and 洪屹廷. "Control Design for Two-Wheel Vehicle Motion." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/36h9jc.
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Hung, Mei-Ru, and 洪梅茹. "Trackless Two-wheel Drive Automated Guided Vehicle." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/2hr48d.
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碩士<br>國立臺灣科技大學<br>機械工程系<br>107<br>This research develops two-wheel drive automatic guided vehicle and establish its trackless navigation system the driving wheel is designed at the center of the platform. To reduce the radius of rotation. In this research, SLAM technology was used to create the environmental map and execute positioning. For completing the AGV autonomous navigation and obstacle avoidance purpose. The main development is based on Robot Operating System (ROS) structure, and built at Linux operating system. The overall system of the automatic guided vehicle can be divided into Beckhoff PC and Linux PC. The communication between these two systems is used by Modbus TCP. Beckhoff PC is employed control the motor speed. Linux PC is used to create the map, path planning, avoid obstacles and sent speed command to Beckhoff PC. The AGV scans the environment information through the laser sensor. Gmapping package is adopted to create the 2D map by using the data of laser sensor. The navigation function is completed by the move_base package of ROS. Finally, the integration of SLAM technology, navigation and avoid obstacles based on ROS structure at implemented on a two-wheel drive AGV for autonomous navigation with 0.05 position error.
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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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Tu, Ying Wei, and 涂殷瑋. "Taipei low traffic load-rate: the design of four wheel vehicle deformed two wheel." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/t4a7sp.
Full textAbstract:
碩士<br>大同大學<br>工業設計學系(所)<br>105<br>Traffic jams resulting from low traffic load-rate of vehicles has become a burden to Taipei City under its rapidly expanding population and transportation. This is not solely caused by vehicles. As pointed out by Mikael Colville-Andersen (2014), the key to carrying capacity is how many people can travel on a road and not how many vehicles can travel on the road.
There are many examples of adaptation to severe environments in nature through feature changing, and such feature changes are often applied in different fields by the elaborate techniques of designers. Besides creating new models of use, the applications resolve many inconveniences in life. Hence, this study examines the use of design techniques for changing features to resolve the issue of traffic jams caused by low traffic load-rate of vehicles.
This study is divided into the following steps: The first step is to analyze the issue of low occupancy of vehicles in Taipei City, and understand the usage of transportation tools and preferences of commuters. The second step is to find an approach to feature change based on the demand of Taipei City citizens on transportation tools, and analyze the structure of vehicle combination. The design concept was established as changing from four-wheel larger vehicles to two-wheel smaller vehicles. The third step is implementation of the changed structure of vehicle combination, and testing its feasibility and ability to resolve the issue of low traffic load-rate of vehicles in Taipei City. This will also satisfy users’ requirements on vehicle functionality, and think outside the box of the typical vehicle, providing a basis for future vehicle design and urban development.
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Wang, Pei-Lin, and 王培霖. "DSP based motion control for two-wheel robot." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/20796403789946308633.
Full textAbstract:
碩士<br>國立中央大學<br>電機工程研究所<br>92<br>Two-wheel robot system is a self-balance two-wheel robot car, we can control it self-balance, going forward and backward, making a turn and fixed position. DSP F2812 is the control center of the two-wheel-robot system, which includes fuzzy control algorithm, motor servo control, A/D converter, analog filter, digital filter, and wireless modem etc. In the system, the sensors tilt and gyro are used to measure inclination angle and angle velocity of the robot. Analog low-pass filter and digital filter process the above two signals to be usable. We use encoder to measure velocity and angle velocity of the motors of robot. Then the robot’s motions self-balance, going forward and backward, and making a turn are controlled by the designed fuzzy control algorithm in DSP. All control signals are transmitted via wireless modem.
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Chen, Ming-Chang, and 陳銘昌. "A Design of Two-Wheel Balancing Matrix Robot." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/24264181783283174968.
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碩士<br>國立雲林科技大學<br>電子工程系<br>103<br>In this study, two two-wheel balancing robots are built. The first robot, based on a rigorous mathematical model from the literature, is built with LEGO Mindstorms EV3 and Matrix Robotics and their accessories. The software for driving the robot is written with LabView. EV3 reads data from the encoders of the EV3 motors and a gyro, computes the motor speeds and the tilting angle of the robot, adjusts these parameters with gains, and then uses a PID method to control the speed of the motors to achieve a balancing position for the robot. The second robot is built with a FPGA development board called DE0-nano with a NIOS II/f soft core, two NXT light sensors, and two Matrix motors and accessories. The balance goal of the robot is to minimize the fluctuation of the difference of the readings of the two light sensors. The motors are controlled with PWM signals from NIOS II with a PID mechanism. While both robots can balance their positions well, the performances of their motors are compared.
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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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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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Gu, Andy, and 顧耀宏. "Design and Control of a Personal Self-balancing Two-wheel Scooter Design and Control of a Personal Self-balancing Two-wheel Scooter." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/50552729588398985748.
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碩士<br>國立中興大學<br>電機工程學系<br>93<br>This thesis develops techniques for system design, modeling and control of a personal self-balancing two-wheel scooter driven by two DC servomotors. The design attempts to construct a low-cost human transporter using low-tech commercial components. A mechatronic system structure for the vehicle is described and its mathematical modeling incorporating with the fiction between the wheels and motion surfaces is derived. The overall system can be divided into two subsystems: rotation subsystem and inverted pendulum subsystem. Two control methods are used to maintain the inverted pendulum; they are an integral control with state feedback and a fuzzy logic control. Two kinds of control laws, including robust PD feedback control and fuzzy PD control, are proposed to achieve the rotation control. Numerical and experimental results indicate that the proposed controllers are capable of providing appropriate control actions to steer the vehicle in desired manners.
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Lin, Weng-Ching, and 林翁慶. "ABS Control Design for Two-Wheel Drive Electric Scooter." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/07775881133477616722.
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碩士<br>國立中興大學<br>電機工程學系所<br>100<br>Electric motorcycles are different from traditional gas-engine vehicles with an internal combustion engine because the former is equipped with one or more brushless DC motors instead. This research intends to develop a novel method for realizing a non-mechanical ABS controller for electric scooters based on the application of a regenerative, kinetic, or short-circuit braking mechanism. In which, boundary layer velocity control is proposed to ensure the optimal wheel rotating speed under the optimal slip ratio between the tires and road. The anti-lock braking controller drives the motor’s low-side braking circuit to induce an open or a short circuit loop on the motor stator’s coil to the load and hence to generate braking actions similar to those in the conventional mechanical ABS control mechanism. It’s expected that satisfactory results of this study can contribute to electric motorcyclist’s security.
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Lee, Hsin-Han, and 李欣翰. "Intelligent Motion Control of Two Wheel Inverted Pendulum Vehicle." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/21592773036818098719.
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碩士<br>國立臺灣科技大學<br>機械工程系<br>103<br>In this thesis, the design and implementation of two-wheel inverted pendulum (TWIP) vehicle motion control is investigated. Arduino Nano is used as the controller of this system. An accelerometer and gyroscope sensors are used to measure the tilt angle and angular velocity of the inverted pendulum. Kalman Filter is employed to estimate the accurate tilt angle based on sensor fusion process. DC hub motor is employed as the wheel driving power and encoders are used to measure the rotational speed of motors. TWIP vehicle turning is based on the handle bar potentiometer signal.
The model-free and robust fuzzy sliding model controller (FSMC) is chosen for controlling this system. The significantly dead zone characteristic is considered into fuzzy rule base directly. In addition, TWIP balance control, wheel synchronization control, velocity and position control blocks are designed and integrated into the system control for improving the vehicle motion performance. The experimental results show that the FSMC controller successfully monitors the TWIP vehicle dynamic operator.
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Liu, Yi-Xian, and 劉奕賢. "Motion control of a self-balancing two-wheel scooter." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/73563988527487816978.
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碩士<br>義守大學<br>電子工程學系<br>102<br>Now a day, Taiwan''s energy dependence on foreign imports, the increasing prices
of petroleum fuel is expensive and scarce. In daily traffic vehicle in Taiwan still use
motorbike and car primary. In older adults the proportion of vehicles is locomotives
far greater than the cars. Traffic accident in Taiwan, the proportion of the elderly
population riding motorcycles cause injury or death to the majority.
My study paper hope we can design and research the two-wheel which can
balance by self. In system use Arduino Uno board for major control center, with
L298N driver board and MPU-6050 integrate sensor and a servo motor to form the
body. Using MPU-6050 sensors detected the data into the Arduino Uno fuzzy
algorithms let system allow to judge the body tilt changes. And servo motor to adjust
the center of gravity to keep the body balanced center of gravity.
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WEN, CHI-YU, and 温啓佑. "The Obstacle Avoidance Application of Two-Wheel Balancing Robot." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/pvt9kx.
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碩士<br>國立高雄海洋科技大學<br>電訊工程研究所<br>106<br>This thesis proposes is to design a two-wheeled balancing robot control system, the system has ultrasonic obstacle avoidance function.User can issue commands and receive robot data through Bluetooth. Base on LOGO Mindstorms EV3, combine with EV3 gyro sensor, EV3 motors, ultrasonic sensor to establish the two-wheeled balancing robot. Used leJOS to write program such as balance, communication, control and avoidance. The system use a PID method to control the motors to achieve a balancing robot. After robot is well balanced, user may control robot moving using Bluetooth. Robot can avoid detected obstacle while moving, robot can transmit the distance between obstacle, motor output power and gyro angular velocity to user through bluetooth at the same time.
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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.
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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.
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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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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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Chen, Jun-Rong, and 陳家榮. "Improvement in DSP based motion control for two-wheel robot." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/36353594356002409648.
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碩士<br>國立中央大學<br>電機工程研究所<br>93<br>We develop and control a two-wheel robot which the core DSP F2812 integrates a lot of parts including motor servo control, external circuit signals, wireless transmission module, analog filter, digital filter, and fuzzy control algorithm. The dynamic sensors tilt and gyro are used to control the balance of the robot and the sensor digital compass is used to correct the directional error of the body and then getting the position and velocity by the feedback of the encoder. Through the integration of the information, we implement the designed fuzzy controllers to make the robot balance, move forward and backward, turn, and stop. In the period of running, getting the status of the robot and issuing the commands are transmitted via wireless transmission module.
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Cheng, Chun-Yuan, and 鄭鈞元. "Balance control of two-wheel robot with self-balanced ability." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/22383957579445990988.
Full textAbstract:
碩士<br>國立中央大學<br>電機工程研究所<br>91<br>The paper controls a two-wheel robot with self-balanced ability. It is divided into two parts --- the body and two wheels. We keep the balance of robot body using the computer and FPGA. We use the gyro to measure the angle and angular velocity of body and two encoders to measure velocity and position of two wheels, respectively. Fuzzy controller is used to control the robot for moving forward and backward in this paper.
The two-wheel robot with self-balanced ability is finished by two students. Two theses are proposed as follows :
(A)The robot balance control system and two-wheel synchronous control system are realized in the computer, respectively. They can achieve the goal of keeping the body balance and make the rotational speed of two wheels the same.
(B)The forward and backward movement control system and two-wheel synchronous control system are realized in the computer, respectively.
They can achieve the goal of moving forward and backward.
This thesis is focused on the research of (A).
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HSU, FU BOA, and 許復堡. "Design of Gear-type Automatic Transmissions for Two-wheel Vehicles." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/31163610771291462194.
Full textAbstract:
碩士<br>國立中山大學<br>機械工程研究所<br>84<br>Gear-type automatic transmissions can provide several speed
ratios by means of interengaging different elements of the gear
trains and the output shaft by the centrifugal clutches, and
they are widely used in mechanical systems. The purpose of
this work is to develop a systematic methodology for the
configurations and kinematic designs of gear-type automatic
transmissions for two-wheel vehicles. First, we analyze the
system and find the basic characteristics of automatic
transmissions out. According to these characteristics, the
design procedures for both ordinary and planetary gear systems
are detablished : a caralog of automatic transmissions
configurations is set up from the atlas of geared kinematic
chains. Then, according to the given speed ratios, a
systematic porcedure for the kinematic design of gear systems
is successfully developed. The teeth numbers can easily be
found by using such a procedure. Finally, we can have multi-
speed transmissions by combining the ordinary and planetary
gear systems and present several design examples of 4-speed and
5- speed automatic transmissions as a result of this work. The
results of this work are of benefit to the design of gear-type
automatic transmissions for two-wheel vehicles.
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Thu, Phan Hoai, and 潘懷書. "Experimental Study on the Stability of Uncontrolled Two-Wheel Vehicles." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/78131950946462551807.
Full textAbstract:
碩士<br>大葉大學<br>機械與自動化工程學系<br>101<br>ABSTRACT
This study shows numerous experimental results which focus on answering the question: “If we have several two-wheel vehicles, by experimental method, how can we judge which one is more stable?”
Some oscillation modes concerning two-wheel vehicles can become unstable for a given vehicle speed: capsize mode, wobble mode, and weave mode. In our work, bicycles are used to develop the stability of two-wheel vehicles. A testing system is developed with appropriate sensors for measuring steering angle, vehicle roll, yaw angle, and forward speed. LabVIEW with non-linear curve fitting function is the tool of choice for data acquisition and data analysis. This system is used to judge the stability of bicycles. In this study, we accomplish experiments on different bicycles. The measurement results of these bicycle are compared together to figure out which one is more stable. Moreover, we also run the theoretical bicycle model to validate experimental results.
Keywords: Bicycle Dynamics, Bicycle Stability, Bicycle Experimental Measurement, Curve fitting function.