國立高雄大學圖資館 |

Language: English

Back

Dynamics of the unicyclemodelling an...

Kapitaniak, Tomasz.

Dynamics of the unicyclemodelling and experimental verification /

Record Type:	Electronic resources : Monograph/item
Title/Author:	Dynamics of the unicycleby Michal Nielaczny, Barnat Wieslaw, Tomasz Kapitaniak.
Reminder of title:	modelling and experimental verification /
Author:	Nielaczny, Michal.
other author:	Wieslaw, Barnat.
Published:	Cham :Springer International Publishing :2019.
Description:	xi, 77 p. :ill. (some col.), digital ;24 cm.
Contained By:	Springer eBooks
Subject:	UnicyclesDynamics.
Online resource:	http://dx.doi.org/10.1007/978-3-319-95384-7
ISBN:	9783319953847$q(electronic bk.)

Dynamics of the unicyclemodelling and experimental verification /
Nielaczny, Michal.

Dynamics of the unicyclemodelling and experimental verification /[electronic resource] :by Michal Nielaczny, Barnat Wieslaw, Tomasz Kapitaniak. - Cham :Springer International Publishing :2019. - xi, 77 p. :ill. (some col.), digital ;24 cm. - SpringerBriefs in applied sciences and technology,2191-530X. - SpringerBriefs in applied sciences and technology..

This book presents a three-dimensional model of the complete unicycle-unicyclist system. A unicycle with a unicyclist on it represents a very complex system. It combines Mechanics, Biomechanics and Control Theory into the system, and is impressive in both its simplicity and improbability. Even more amazing is the fact that most unicyclists don't know that what they're doing is, according to science, impossible - just like bumblebees theoretically shouldn't be able to fly. This book is devoted to the problem of modeling and controlling a 3D dynamical system consisting of a single-wheeled vehicle, namely a unicycle and the cyclist (unicyclist) riding it. The equations of motion are derived with the aid of the rarely used Boltzmann-Hamel Equations in Matrix Form, which are based on quasi-velocities. The Matrix Form allows Hamel coefficients to be automatically generated, and eliminates all the difficulties associated with determining these quantities. The equations of motion are solved by means of Wolfram Mathematica. To more faithfully represent the unicyclist as part of the model, the model is extended according to the main principles of biomechanics. The impact of the pneumatic tire is investigated using the Pacejka Magic Formula model including experimental determination of the stiffness coefficient. The aim of control is to maintain the unicycle-unicyclist system in an unstable equilibrium around a given angular position. The control system, based on LQ Regulator, is applied in Wolfram Mathematica. Lastly, experimental validation, 3D motion capture using software OptiTrack - Motive:Body and high-speed cameras are employed to test the model's legitimacy. The description of the unicycle-unicyclist system dynamical model, simulation results, and experimental validation are all presented in detail.

ISBN: 9783319953847$q(electronic bk.)

Standard No.: 10.1007/978-3-319-95384-7doiSubjects--Topical Terms:

830200
Unicycles
--Dynamics.

LC Class. No.: TL400 / .N545 2019

Dewey Class. No.: 629.2271

Dynamics of the unicyclemodelling and experimental verification /
LDR:02915nmm a2200325 a 4500 001 550402
003 DE-He213
005 20180702201354.0
006 m d
007 cr nn 008maaau
008 191004s2019 gw s 0 eng d
020 $a 9783319953847$q(electronic bk.)
020 $a 9783319953830$q(paper)
024 7 $a 10.1007/978-3-319-95384-7 $2 doi
035 $a 978-3-319-95384-7
040 $a GP $c GP
041 0 $a eng
050 4 $a TL400 $b .N545 2019
072 7 $a TGMD4 $2 bicssc
072 7 $a TEC009070 $2 bisacsh
072 7 $a SCI018000 $2 bisacsh
082 0 4 $a 629.2271 $2 23
090 $a TL400 $b .N667 2019
100 1 $a Nielaczny, Michal. $3 830198
245 1 0 $a Dynamics of the unicycle $h [electronic resource] : $b modelling and experimental verification / $c by Michal Nielaczny, Barnat Wieslaw, Tomasz Kapitaniak.
260 $a Cham : $b Springer International Publishing : $b Imprint: Springer, $c 2019.
300 $a xi, 77 p. : $b ill. (some col.), digital ; $c 24 cm.
490 1 $a SpringerBriefs in applied sciences and technology, $x 2191-530X
520 $a This book presents a three-dimensional model of the complete unicycle-unicyclist system. A unicycle with a unicyclist on it represents a very complex system. It combines Mechanics, Biomechanics and Control Theory into the system, and is impressive in both its simplicity and improbability. Even more amazing is the fact that most unicyclists don't know that what they're doing is, according to science, impossible - just like bumblebees theoretically shouldn't be able to fly. This book is devoted to the problem of modeling and controlling a 3D dynamical system consisting of a single-wheeled vehicle, namely a unicycle and the cyclist (unicyclist) riding it. The equations of motion are derived with the aid of the rarely used Boltzmann-Hamel Equations in Matrix Form, which are based on quasi-velocities. The Matrix Form allows Hamel coefficients to be automatically generated, and eliminates all the difficulties associated with determining these quantities. The equations of motion are solved by means of Wolfram Mathematica. To more faithfully represent the unicyclist as part of the model, the model is extended according to the main principles of biomechanics. The impact of the pneumatic tire is investigated using the Pacejka Magic Formula model including experimental determination of the stiffness coefficient. The aim of control is to maintain the unicycle-unicyclist system in an unstable equilibrium around a given angular position. The control system, based on LQ Regulator, is applied in Wolfram Mathematica. Lastly, experimental validation, 3D motion capture using software OptiTrack - Motive:Body and high-speed cameras are employed to test the model's legitimacy. The description of the unicycle-unicyclist system dynamical model, simulation results, and experimental validation are all presented in detail.
650 0 $a Unicycles $x Dynamics. $3 830200
650 1 4 $a Engineering. $3 210888
650 2 4 $a Vibration, Dynamical Systems, Control. $3 274667
650 2 4 $a Classical Mechanics. $3 769955
650 2 4 $a Statistical Physics and Dynamical Systems. $3 760415
650 2 4 $a Biomechanics. $3 188942
700 1 $a Wieslaw, Barnat. $3 830199
700 1 $a Kapitaniak, Tomasz. $3 204239
710 2 $a SpringerLink (Online service) $3 273601
773 0 $t Springer eBooks
830 0 $a SpringerBriefs in applied sciences and technology. $3 557662
856 4 0 $u http://dx.doi.org/10.1007/978-3-319-95384-7
950 $a Engineering (Springer-11647)