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Peterson, Dale Lukas. "Bicycle dynamics| modelling and experimental validation." Thesis, University of California, Davis, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=3602188.
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This dissertation explores bicycle dynamics through an extension of the Whipple bicycle model and validation of the model equations equations of motion through the implementation of a robotic bicycle. An extended Whipple bicycle model is presented which makes uses of a unique set of physical parameters based on cylindrical gyrostats. The nonlinear equations of motion for this model are derived, linearized, and validated against a set of benchmark model parameters. A general formulation for the linearization of a system with configuration and velocity constraints is presented, and is demonstrated on an idealized rolling disk. The method of linearization is directly applicable to the equations of motion which result from the application of Kane's method. The linearization procedure is used to formulate the linear state space equations of motion for the bicycle model, which are then used as the plant model to design the robotic bicycle control system. The mechanical, electrical, and software aspects of the robotic bicycle are presented, along with representative results from a set of experiments.
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Williams, Trevor. "Influence of frame stiffness and rider position on bicycle dynamics| An analytical study." Thesis, The University of Wisconsin - Milwaukee, 2015. http://pqdtopen.proquest.com/#viewpdf?dispub=1600631.
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Advanced analytical and computational capabilities are allowing researchers to enhance the model complexity of bicycles and motorcycles in order to understand handling, stability and dynamic behavior. These models allow designers to investigate new frame layouts, alternative materials and different architectures. The structural stiffness of a frame plays a critical role in the handling behavior of a bike. However, the influence of structural stiffness has received limited attention in the existing literature. This study attempts to fill the gap by presenting analytical results that investigate the influence of structural stiffness in conjunction with rider positions on three distinct bicycle layouts. The analytical model consists of four rigid bodies: rear frame, front frame (front fork and handle bar assembly), front wheel and rear wheel. The overall model exhibits three degrees-of-freedom: the roll angle of the frame, the steering of the front frame and the rotation of the rear wheel with respect to the frame. The rear frame is divided into two parts, the rider and the bicycle frame, that are assumed to be rigidly connected. This is done in order to allow the model to account for varying rider positions. The influence of frame flexibility is studied by coupling the structural stiffness of the frame to the governing equations of motion. The governing equations of motion from a benchmark bike in the existing literature have been used, and then modified to accommodate rider positions and frame stiffness. Layouts from the benchmark bicycle, a commercially manufactured bicycle, and a cargo bicycle are used for this study in conjunction with rider positions ranging from a no hands position to a small aero tuck. The results are analyzed and compared with some proven analytical and experimental results in the existing literature. Results indicate that some of the rider positions can play a significant role in influencing the dynamic characteristics of a bike. Structural stiffness is seen to significantly affect the weave mode when the stiffness is reduced substantially. It is observed that the forward and lower rider positions are generally associated with a faster speed for onset of self-stability, that additionally last for a longer range of speeds. Furthermore, addition of a large luggage load to the cargo bike is seen to have a stabilizing effect as well as increase instability sensitivity to stiffness. Overall, it is observed that the inclusion of frame stiffness and an assessment of the distribution of a rider’s mass are important factors that govern the dynamic behavior of a bike, and should therefore be carefully evaluated.
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Klug, Silas [Verfasser]. "Modeling and Control of Bicycle Dynamics : with Focus on Brake and Suspension Systems / Silas Klug." Düren : Shaker, 2020. http://d-nb.info/120523974X/34.
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Masandukas, Mantas. "DVIRAČIO RATO JUDĖJIMO PER KLIŪTĮ DINAMIKOS ANALITINIS TYRIMAS." Master's thesis, Lithuanian Academic Libraries Network (LABT), 2010. http://vddb.laba.lt/obj/LT-eLABa-0001:E.02~2010~D_20100903_125550-84661.
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Dviračių struktūrinio vientisumo bandymai atliekami vadovaujantis reikalavimais, aprašytais standarte EN 14764:2005:E. Bandymo metu svarsčiais apkrautas dviratis juda per kliūtis, kurios imituoja kelio nelygumus. Bandymai taip pat atliekami vietoj svarsčių naudojant užspaudimą pneumatiniais cilindrais. Šiame darbe pateikiamas bandymo sąlygas atitinkantis dviračio dinamikos rato dinamikos analitinis tyrimas, kurį taikant galima įvertinti skirtingų apkrovos būdų įtaką bandymo sąlygoms ir rezultatų tikslumui.Main conditions of bicycle structural integrity test are presented in European standard EN 14764:2005:E. The fully-assembled bicycle is mounted on a test machine. Definite weights are applied to it. The bicycle is moved over the obstacles that simulate roughness of the way. The load to bicycle can also be produced by system of pneumatic cylinders. Analytical modeling of the dynamics of bicycle wheel rolled over the obstacle corresponded to the test condition is presented in the work. It allows analytical research of test condition with regard to different loading types and estimation of test result accuracy.
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Tiago, Jadiel Wylliam. "A bicicleta e seu lugar na cidade contempor?nea: o caso de Ribeir?o Preto." Pontif?cia Universidade Cat?lica de Campinas, 2013. http://tede.bibliotecadigital.puc-campinas.edu.br:8080/jspui/handle/tede/115.
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Previous issue date: 2013-06-24This paper proposes a contribution to the understanding of the role of the bicycle in the context of urban mobility, considering features contemporary urbanization, especially dynamic metropolitan travel and everyday relationships established in nearby towns around an urban center consolidation. Take as a case study the city of Ribeir?o Preto, in an analysis of its policies aiming to Public Transport and bicycle planning, from the 1980s, its impact in the overall urban mobility, with a focus on a specific use of bicycle, a poorer population, assessing what the impacts of these policies and the current condition of the city, established as a major urban center, establishing relationships and daily increasing trade flows with neighboring cities.
O presente trabalho prop?e uma contribui??o no entendimento de qual o papel da bicicleta no quadro de Mobilidade Urbana, considerando tra?os contempor?neos de urbaniza??o, em especial din?micas metropolitanas de viagens e rela??es di?rias estabelecidas, de cidades pr?ximas, em torno de um centro urbano mais consolidado. Toma-se como estudo de caso a cidade de Ribeir?o Preto, em uma an?lise de suas Pol?ticas voltadas ao Transporte P?blico e Planejamento Ciclovi?rio, a partir da d?cada de 1980, seus reflexos no quadro geral de mobilidade urbana, com foco a um uso espec?fico da bicicleta, por uma popula??o mais pobre, avaliando quais s?o os impactos destas pol?ticas e da atual condi??o da cidade, estabelecida como um importante centro urbano, estabelecendo rela??es di?rias crescentes de trocas e fluxos com as cidades vizinhas.
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Kanišauskaitė, Ieva. "Dviratis miesto planavimo ir susisiekimo kontekste." Master's thesis, Lithuanian Academic Libraries Network (LABT), 2008. http://vddb.library.lt/obj/LT-eLABa-0001:E.02~2008~D_20080627_141452-95811.
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Baigiamajame darbe nagrinėjama dviračio vieta miesto planavimo ir susisiekimo kontekste. Analizuojama bevariklio transporto esama būklė įvairiuose Lietuvos bei užsienio miestuose. Nagrinėjami Lietuvos miestų perspektyvos, planavimo ir kūrimo etapai. Darba sudaro: įvadas, kuriame pateikiamas tyrimo objektas, problemos, nustatytas tikslas ir uždaviniai. Pirmoje darbo dalyje – nagrinėjama bevariklio transporto reikalingumas darniame mieste ( automobilizacijos lygio dinamika, intensyvumo kitimas, eismo įvykių kitimas, eismo įvykių statistikos rodikliai), antroje dalyje nagrinėjama bevariklio transporto istorinė raida ir esama būklė miesto planavimo bei susisiekimo kontekste (atlikti tyrimai dviračių srautų Panevėžio miesto gatvėse). Trečioje dalyje pateikiami Lietuvos miestų trasų perspektyvos, planavimo ir kūrimo etapai. Išvadose pateikiama bevariklio transporto reikalingumas darniame mieste. Darbo pabaigoje pateikiamas literatūros sąrašas. Darbo apimtis – 82 p. teksto be priedų, 57 iliustr., 12 lent., 39 bibliografiniai ���altiniai. Atskirai pridedami darbo priedai.The object of this final project is bicycle in the context of urban planning and transport. This work analyses bicycle existance as motor vehicles alternative in Lithuania and in other European countries. The work consists of 3 parts: introduction, the analysis of current state, alternatives of the development, conclusion, suggestions and the list of literature. The need of bicycles in town development is analysed in the first part of the work (the level of automobilization, the statistics indicators of traffic accidents rate and etc.). Historical evolution of bicycle and the present situation of bicycle infrastructure in the context of urban planning and transport is described in the second part. The third part of the project describes the importance of bicycle transport development. Finally there are conclusion, suggestions and the list of literature. The volume of the project: 82 pages of text, 12 tables, 57 pictures, 39 sources of literature. Additions are enclosed.
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Wolfe, Sage M. "Heavy Truck Modeling and Estimation for Vehicle-to-Vehicle Collision Avoidance Systems." The Ohio State University, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=osu1405704063.
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Frame, Jeffrey W. "Kinetic and kinematic effects of altering cleat placement during cycling." Virtual Press, 2005. http://liblink.bsu.edu/uhtbin/catkey/1314325.
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One of the most important aspects of high performance cycling is the best fit between rider and bike. Developing a proper bike fit requires conducting many biomechanical assessments due to the need to match a myriad of bike geometries and human anthropometric variables. One of the primary bike-rider system measurement parameters for power and pedal efficiencies is the cleat placement and alignment. The purpose of this study was to examine the effects of moving the cleats towards the heel on peak power outputs and pedal efficiencies using a Computrainer (CT) and 2D video analysis. Ten competitive male cyclists participated in the study consisting of tests for peak power (PP) outputs and pedaling efficiencies among two positions of cleats; toe (TP) and heel (HP). No significant differences in peak power outputs were reported between TP and HP (p = .827). Significant differences (p = .027) did exist, however between each condition within the SpinScan (SS) pedal efficiency test. Results from the 2-D video analysis indicate that there exists a difference in ankling patterns between the TP and HP during the first 50 percent of the power phase and the last 50 percent of the recovery phase of the pedal stroke (p = .000 and .001 respectively Based on the results of this study, further research into the longitudinal effects of training in this area are warranted.School of Physical Education, Sport, and Exercise Science
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Chae, Woen-sik. "EMG activity and kinematics of cycling movements at different pedal shaft widths." Virtual Press, 1995. http://liblink.bsu.edu/uhtbin/catkey/955093.
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The purpose of this study was to quantify the EMG activity of selected lower limb muscles during cycling, and to define the relationship between pedal shaft width and muscular involvement. This study has particular significance to the female cyclist who by virtue of pelvic width may have a less efficient pedalling force, or an imbalance of applied muscular force. Variables analyzed were hip, knee, ankle range of motion (ROM), biceps femoris(BF), vastus lateralis(VL), rectus femoris(RF), and vastus medialis(VMO) muscle activity. Significant differences among three different pedal shaft widths were determined through use of repeated measures oneway ANOVA, Newman-Keuls post hoc test. The hip ROM, biceps femoris, and vastus medialis EKG activity results of the present study appeared to indicate that different pedal shaft widths had an effect on changes in the ROM and EMG activity. This study indicated that the hip ROM values increased with an increase in the pedal shaft width. In contary, an increase in pedal shaft width significantly decreased the muscle activity in the vastus medialis while two inch pedal shaft width significantly decreased the muscle activity in the biceps femoris.School of Physical Education
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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.Master of Science
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Holliday, Wendy. "Intrinsic factors, performance and dynamic kinematics in optimisation of cycling biomechanics." Doctoral thesis, Faculty of Health Sciences, 2019. http://hdl.handle.net/11427/31052.
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Kinematic measurements conducted during bike set-ups utilise either static or dynamic measures. There is currently limited data on reliability of static and dynamic measures nor consensus on which is the optimal method. The aim of the study was to assess the difference between static and dynamic measures of the ankle, knee, hip, shoulder and elbow. Nineteen subjects performed three separate trials of a 10min duration at a fixed workload (70% of peak power output). Static measures were taken with a standard goniometer (GM), an inclinometer (IM) and dynamic three dimensional motion capture (3DMC) using an eight camera motion capture system. Static and dynamic joint angles were compared over the three trials to assess repeatability of the measurements and differences between static and dynamic values. There was a positive correlation between GM and IM measures for all joints. Only the knee, shoulder and elbow were positively correlated between GM and 3DMC, and IM and 3DMC. Although all three instruments were reliable, 3D motion analysis utilised different landmarks for most joints and produced different means. Changes in knee flexion angle from static to dynamic are attributable to changes in the positioning of the foot. Controlling for this factor, the differences are negated. It was demonstrated that 3DMC is not interchangeable with GM and IM, and it is recommended that 3DMC develop independent reference values for bicycle configuration.
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Betz, Christopher Brian. "Cardiorespiratory responses to altered rider position with conventional and aerodynamic handlebars." Thesis, This resource online, 1990. http://scholar.lib.vt.edu/theses/available/etd-02132009-171044/.
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Lloyd, Hywel ap Dafydd. "The dynamics of inbreeding depression in the butterfly Bicyclus anynana (Butler)." Thesis, University of Liverpool, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.426101.
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Chari, Kartik Seshadri. "Dynamic Modelling and Optimal Control of Autonomous Heavy-duty Vehicles." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-291634.
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Autonomous vehicles have gained much importance over the last decade owing to their promising capabilities like improvement in overall traffic flow, reduction in pollution and elimination of human errors. However, when it comes to long-distance transportation or working in complex isolated environments like mines, various factors such as safety, fuel efficiency, transportation cost, robustness, and accuracy become very critical. This thesis, developed at the Connected and Autonomous Systems department of Scania AB in association with KTH, focuses on addressing the issues related to fuel efficiency, robustness and accuracy of an autonomous heavy-duty truck used for mining applications. First, in order to improve the state prediction capabilities of the simulation model, a comparative analysis of two dynamic bicycle models was performed. The first model used the empirical PAC2002 Magic Formula (MF) tyre model to generate the tyre forces, and the latter used a piece-wise Linear approximation of the former. On top of that, in order to account for the nonlinearities and time delays in the lateral direction, the steering dynamic equations were empirically derived and cascaded to the vehicle model. The fidelity of these models was tested against real experimental logs, and the best vehicle model was selected by striking a balance between accuracy and computational efficiency. The Dynamic bicycle model with piece-wise Linear approximation of tyre forces proved to tick-all-the-boxes by providing accurate state predictions within the acceptable error range and handling lateral accelerations up to 4 m/s2. Also, this model proved to be six times more computationally efficient than the industry-standard PAC2002 tyre model. Furthermore, in order to ensure smooth and accurate driving, several Model Predictive Control (MPC) formulations were tested on clothoid-based Single Lane Change (SLC), Double Lane Change (DLC) and Truncated Slalom trajectories with added disturbances in the initial position, heading and velocities. A linear time-varying Spatial error MPC is proposed, which provides a link between spatial-domain and time-domain analysis. This proposed controller proved to be a perfect balance between fuel efficiency which was achieved by minimising braking and acceleration sequences and offset-free tracking along with ensuring that the truck reached its destination within the stipulated time irrespective of the added disturbances. Lastly, a comparative analysis between various Prediction-Simulation model pairs was made, and the best pair was selected in terms of its robustness to parameter changes, simplicity, computational efficiency and accuracy.Under det senaste årtiondet har utveckling av autonoma fordon blivit allt viktigare på grund av de stora möjligheterna till förbättringar av trafikflöden, minskade utsläpp av föroreningar och eliminering av mänskliga fel. När det gäller långdistanstransporter eller komplexa isolerade miljöer så som gruvor blir faktorer som bränsleeffektivitet, transportkostnad, robusthet och noggrannhet mycket viktiga. Detta examensarbete utvecklat vid avdelningen Connected and Autonomous Systems på Scania i samarbete med KTH fokuserar på frågor gällande bränsleeffektivitet, robusthet och exakthet hos en autonom tung lastbil i gruvmiljö. För att förbättra simuleringsmodellens tillståndsprediktioner, genomfördes en jämförande analys av två dynamiska fordonsmodeller. Den första modellen använde den empiriska däckmodellen PAC2002 Magic Formula (MF) för att approximera däckkrafterna, och den andra använde en stegvis linjär approximation av samma däckmodell. För att ta hänsyn till ickelinjäriteter och laterala tidsfördröjningar inkluderades empiriskt identifierade styrdynamiksekvationer i fordonsmodellen. Modellerna verifierades mot verkliga mätdata från fordon. Den bästa fordonsmodellen valdes genom att hitta en balans mellan noggrannhet och beräkningseffektivitet. Den Dynamiska fordonsmodellen med stegvis linjär approximation av däckkrafter visade goda resultat genom att ge noggranna tillståndsprediktioner inom det acceptabla felområdet och hantera sidoacceleration upp till 4 m/s2 . Den här modellen visade sig också vara sex gånger effektivare än PAC2002-däckmodellen. v För att säkerställa mjuk och korrekt körning testades flera MPC varianter på klotoidbaserade trajektorier av filbyte SLC, dubbelt filbyte DLC och slalom. Störningar i position, riktining och hastighet lades till startpositionen. En MPC med straff på rumslig avvikelse föreslås, vilket ger en länk mellan rumsdomän och tidsdomän. Den föreslagna regleringen visade sig vara en perfekt balans mellan bränsleeffektivitet, genom att minimering av broms- och accelerationssekvenser, och felminimering samtidigt som lastbilen nådde sin destination inom den föreskrivna tiden oberoende av de extra störningarna. Slutligen gjordes en jämförande analys mellan olika kombinationer av simulerings- och prediktionsmodell och den bästa kombinationen valdes med avseende på dess robusthet mot parameterändringar, enkelhet, beräkningseffektivitet och noggrannhet.
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Ben, Robert N. "Part~A. Lithiated bicyclic sulfoxides. Part~B. The synthesis of optically active alpha-amino esters via kinetic dynamic resolution." Thesis, University of Ottawa (Canada), 1995. http://hdl.handle.net/10393/10122.
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Part A. Lithiated bicyclic sulfoxides. The stereochemistry of the reaction of the lithio derivatives of two sets of isomeric 3-thia (3.2.1) octane-3-oxides with electophiles such as benzyl bromide, acetone and D$\sb2$O has been studied. Introduction of the deuterium always occurred cis to the S=O bond as expected on the basis of earlier results described by Marquet for the related thiane-S-oxides. In contrast, benzyl groups were introduced either cis or trans to the existing S=O bond. The results are most readily rationalized in terms of a planar configuration at the $\alpha$-carbanion center. The unexpected cis benzylations are due to steric hindrance of the preferred approach anti to the S=O bond by either the ethano bridge or the 8-endo methyl group. Part B. The synthesis of optically active $\alpha$-amino esters via kinetic dynamic resolution. The synthesis of N-protected optically active $\alpha$-amino esters from racemic $\alpha$-halo esters via kinetic dynamic resolution will be described. This methodology is general in nature and provides the desired optically active N-protected amino esters in 70-95% yield with diastereomeric excesses in the range of 85 to $>$98%. Applications and mechanistic aspects of the reaction will be discussed.
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Mauny, Johan Raphaël. "Modélisation dynamique des systèmes non-holonomes intermittents : application à la bicyclette." Thesis, Ecole nationale supérieure Mines-Télécom Atlantique Bretagne Pays de la Loire, 2018. http://www.theses.fr/2018IMTA0113.
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Cette thèse traite de la modélisation dynamique des systèmes non-holonomes intermittents et de son application à la bicyclette 3D de Whipple. Pour cela, nous nous sommes appuyés sur un ensemble d'outils en mécanique géométrique (réduction Lagrangienne et projection dans le noyau des contraintes cinématiques essentiellement). Dans un premier temps, nous avons traité le cas de la bicyclette persistante. En définissant l'espace des configurations du vélo comme un fibré principal de groupe structural SE(3), nous avons obtenu un modèle des points de contact et des contraintes exempt de toute non-linéarité associée à un paramétrage de type coordonnées généralisées. Cette formulation nous a permis d'obtenir le noyau des contraintes sous une forme symbolique sans singularité. Nous avons alors produit un modèle symbolique de la dynamique de la bicyclette persistante en utilisant la méthode de réduction par projection de sa dynamique libre dans le sous espace de ses vitesses admissibles. Cette approche étend le cadre général mis au point ces dernières années pour la locomotion bio-inspirée. Profitant de la structure de SE(3), un modèle de la bicyclette intermittente a été proposé dans le cadre d'une approche événementielle. L'adoption du modèle physique de l'impact plastique, nous a permis d'étendre la méthode de réduction par projection au cas intermittent. Nous avons alors comparé notre approche "réduite" à l'approche classiquement utilisée et avons montré qu'elles partageaient une interprétation géométrique commune. Ces outils ont finalement été appliqués à la simulation de la bicyclette intermittente afin d'illustrer la richesse de sa dynamiqueThis thesis deals with the dynamic modelling of intermittent non-holonomic systems andits application to the Whipple 3D bicycle. To that end, we relied on a set of tools in geometric mechanics (mainly Lagrangian reduction and the projection in the kernel of the kinematic constraints). In the first instance, we have addressed the case of the bicycle subjected to persistent contacts. By defining the space of the bicycle configurations as a principal fibre bundle with SE(3) as structural group, we obtained a model of the contact points and of the constraints free of any non-linearities associated with a generalized coordinate type configuration. This formulation allowed us to obtain the kernel of the constraints in a symbolic form without singularity. We then produced a symbolic model of the dynamics ofthe bicycle subjected to persistent contacts using the projection reduction method of its free dynamics in the subspace of its permissible speeds. This approach extends the general framework developed in recent years for bio-inspired locomotion. Taking advantage of the structure of SE(3), a model of the intermittent bicycle was proposed as part of an event-driven approach. Moreover, the adoption ofthe physical model of plastic impact has allowed us to extend the projection reduction method to the intermittent case. We then compared our "reduced" approach to the conventional approach and showed that they shared a common geometric interpretation. These tools were finally applied to the simulation of the intermittent bicycle to illustrate its rich dynamics
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Kobal, Damjan. "The use of technology to motivate, to present and to deepen the comprehension of math." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2012. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-80412.
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The aim of the workshop is to present and discuss several ideas which relate to technology as well as to creative teaching. Educational experience, common sense and educational research have all proven how important for comprehensive understanding different cognitive
representations are. We will present and discuss several elementary mathematical ideas of which mechanical realisations mean ingenius technological inventions (for example: ‘car differential’ and ‘digital sound technology’). Technological insights can provide deep intuitive understanding of otherwise abstract mathematical concepts and therefore yield also better comprehension of mathematics. Besides that we will use and present the technology in the form of dynamic geometry programs to show, provoke and motivate rethinking and
deeper understanding of several elementary mathematical concepts.
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SON, DAO THANH, and 桃青山. "Dynamics and Control of an Unmanned Bicycle." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/93034418300822851937.
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碩士大葉大學
機械工程研究所碩士班
93
In this report, the equations of motion of a bicycle are developed by using Lagrange’s equations for quasi-coordinates. The pure rolling constraints between the ground and the two wheels are considered in the dynamical equations of the system. For each wheel, two holonomic and two nonholonomic constraints are introduced in a set of differential-algebraic equations (DAE). The constraint Jacobian matrix is obtained by collecting all the constraint equations and converting them into the velocity form. Bicycle equilibrium, an algorithm for searching for equilibrium points of bicycles and the associated problems are discussed. Formulae for calculating the radii of curvatures of ground-wheel contact paths and the reference point are also given. To solve the DAEs of motion and ensure numerical accuracy in simulation of the bicycle system, computational methods for constraint handling are also discussed. From the developed dynamic model, PID and fuzzy controllers creating steering torque are derived to recover the balance of the bicycle from a near fall. After that, another fuzzy controller is added for controlling the bicycle to a desired equilibrium point. The bicycle can track a given roll-angle while retaining balance. Further more,ground-path following control for the unmanned bicycle is accomplished by taking the shortest distance from the vehicle to the given path and its heading direction into account. The effectiveness of the control schemes is proven by simulations. Finally, a new genetic algorithm is used to train fuzzy controllers for various control tasks such as: self-balancing, roll-angle tracking and path-tracking. Simulation shows that this algorithm is very efficient in the sense of fast-training time, small number of generations and good control performance.
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Fitzgerald, Shaun James. "Understanding the Aerodynamic Environment in Track Cycling." Thesis, 2022. https://hdl.handle.net/2440/135651.
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This research project aims to improve our understanding of the aerodynamic environment experienced by a track cyclist within an indoor velodrome. This has been completed through the use of an in-situ experimental setup and the development of theoretical calculations for salient measurements. By developing an understanding of the aerodynamic environment, we can improve the accuracy of theoretical modelling and help develop new methods of bicycle and/or rider drag reduction. The primary method for conducting this research was the development of an instrumented bicycle that can measure the incident airflow, roll angle, steering angle, and power output as a cyclist rides around a velodrome. A quasi-steady theoretical analysis of the airflow encountered by a cyclist travelling around a bend was created that indicates a yaw and pitch angle relative to the cyclist. A new model of velodrome geometry that includes transition curves into and out of the bends was also developed to improve the accuracy of theoretical calculations. Measurements of the roll and steering angles were completed and compared to theoretical calculations, including the effects of the bend transitions. The instrumented bicycle was also used to measure data in a velodrome with and without other riders. It is found that the relative airflow experienced by a cyclist in an indoor velodrome deviates from a direct headwind due to three primary factors. Firstly, there is the position of the rider in the lap, with curved airflow arising when cornering/leaning on the bends. Secondly, there are several effects due to the rider’s pedalling which can have a combination of influences, namely, rocking the bicycle side to side, steering the front wheel left to right, and the motion of the legs producing an upstream aerodynamic effect. Thirdly, there is an influence from other riders on the track, ranging from a large decrease in the airspeed when drafting directly behind a rider to a smaller influence from other riders when in their far wake. Turbulence measurements using the instrumented bicycle show that other riders on the track can alter the freestream turbulence experienced by a cyclist, even when other riders are half a lap ahead. Measurements of the flow through the middle of the bicycle frame were undertaken in a velodrome with a live rider, in a wind tunnel with an anatomically-accurate pedalling mannequin, and with potential flow calculations. The three different methods of experimentation all demonstrated a large deviation of ±15◦ of yaw angle due to the position and movement of the pedalling legs. A minor reduced-frequency effect was observed, indicating that the magnitude of the cadence can influence the aerodynamic results and the pedalling motion cannot be assumed to be quasi-steady at high cadences. The work undertaken in this project helps to provide a greater understanding of the flow experienced inside an indoor velodrome and provides validation of commonly used theoretical calculations. It can be used as a first step towards the understanding and reduction of the differences between wind tunnel and field testing.Thesis (Ph.D.) -- University of Adelaide, School of Mechanical Engineering, 2022
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Yang, Chih-Keng, and 楊智凱. "Dynamics Modeling and Control for A Riderless Bicycle System." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/87531414770761785372.
Full textAbstract:
碩士大葉大學
機電自動化研究所碩士班
92
ABSTRACT This thesis is to develop the mathematical model of a riderless bicycle. The six coordinates for the position and orientation of the vehicle body, the rolling angles of front and rear wheels, one steering angle of the fork are used. The equations of motion for the system are derived from Euler-Lagrange equations in quasi coordinates. The pure rolling constraints between ground and wheels are also considered in the dynamical equations of the riderless bicycle system. The symbolical mathematical software Maple is used to derive the equations of motion. The Matlab programs are written to solve the differential-algebra equations(DAE). The simulation study is the control for riderless bicycle system. From different initial values of steering angle of fork, the system can be controlled steadily without falling down. The equations of motion developed are verified by energy conservation and constraint equations. Finally, the thesis develops control scheme for riderless bicycle to stabilize its dynamics.
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Lai, David, and 賴大渭. "The Riding Dynamics and Safety Analysis of a Bicycle." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/77587491897897583258.
Full textAbstract:
博士國立清華大學
動力機械工程學系
98
Bicycles are driven by manpower, therefore, the brake safety is considered to be the most crucial index for high-quality bicycles. This paper focused on establishing mathematical model and then conducting parametric analysis of the riding dynamics for both rigid and fully suspended bicycle frames. The key factors for improving the brake performance of a bicycle can be obtained from the analyses of various friction coefficients of road surfaces, the types of bicycle frames, and the methods of brake forces applied. This paper employed the linear motion (1D), 2-D and 3-D turning conditions to establish the physical models of riding dynamics of the rigid bicycle frame and then derive the mathematical equations, which was used as a foundation of parametric analysis for linear brake and turning movement. Regarding the analysis of a fully suspended bicycle, a theoretical model that consisted of a front wheel, a rear wheel and a frame equipped with suspensions was established first. After that, the Lagrange method was used to derive the equations of motion for the bicycle, which led to the analysis of various riding parameters. Regarding the simulation and analysis of brake safety, the issues of riding and brake safety on rigid and fully suspended bicycles were discussed based on the results derived from the theoretical derivation. In the paper, the distribution curve of ideal brake force was used to obtain the optimal ratio of braking force for front and rear wheels, so ideal synchronization brake could be achieved and the brake performance of a bicycle could be improved. In addition, the simulation of dynamic response to linear riding of suspension bicycle also used the concept of ideal synchronization brake to improve the difficulty of excessive brake force. Discussion was implemented on braking force for front and rear wheels in using time delay during applying brake force, which prevents dead lock on one wheel. The simulation results obtained can be used as reference of practical engineering design on the ideal synchronization brake.
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Basu-Mandal, Pradipta. "Studies On The Dynamics And Stability Of Bicycles." Thesis, 2007. http://hdl.handle.net/2005/387.
Full textAbstract:
This thesis studies the dynamics and stability of some bicycles. The dynamics of idealized bicycles is of interest due to complexities associated with the behaviour of this seemingly simple machine. It is also useful as it can be a starting point for analysis of more complicated systems, such as motorcycles with suspensions, frame flexibility and thick tyres. Finally, accurate and reliable analyses of bicycles can provide benchmarks for checking the correctness of general multibody dynamics codes.
The first part of the thesis deals with the derivation of fully nonlinear differential equations of motion for a bicycle. Lagrange’s equations are derived along with the constraint equations in an algorithmic way using computer algebra.Then equivalent equations are obtained numerically using a Newton-Euler formulation. The Newton-Euler formulation is less straightforward than the Lagrangian one and it requires the solution of a bigger system of linear equations in the unknowns. However, it is computationally faster because it has been implemented numerically, unlike Lagrange’s equations which involve long analytical expressions that need to be transferred to a numerical computing environment before being integrated. The two sets of equations are validated against each other using consistent initial conditions. The match obtained is, expectedly, very accurate.
The second part of the thesis discusses the linearization of the full nonlinear equations of motion. Lagrange’s equations have been used.The equations are linearized and the corresponding eigenvalue problem studied. The eigenvalues are plotted as functions of the forward speed ν of the bicycle. Several eigenmodes, like weave, capsize, and a stable mode called caster, have been identified along with the speed intervals where they are dominant. The results obtained, for certain parameter values, are in complete numerical agreement with those obtained by other independent researchers, and further validate the equations of motion. The bicycle with these parameters is called the benchmark bicycle.
The third part of the thesis makes a detailed and comprehensive study of hands-free circular motions of the benchmark bicycle. Various one-parameter families of circular motions have been identified. Three distinct families exist: (1)A handlebar-forward family, starting from capsize bifurcation off straight-line motion, and ending in an unstable static equilibrium with the frame perfectly upright, and the front wheel almost perpendicular. (2) A handlebar-reversed family, starting again from capsize bifurcation, but ending with the front wheel again steered straight, the bicycle spinning infinitely fast in small circles while lying flat in the ground plane. (3) Lastly, a family joining a similar flat spinning motion (with handlebar forward), to a handlebar-reversed limit, circling in dynamic balance at infinite speed, with the frame near upright and the front wheel almost perpendicular; the transition between handlebar forward and reversed is through moderate-speed circular pivoting with the rear wheel not rotating, and the bicycle virtually upright.
In the fourth part of this thesis, some of the parameters (both geometrical and inertial) for the benchmark bicycle have been changed and the resulting different bicycles and their circular motions studied showing other families of circular motions.
Finally, some of the circular motions have been examined, numerically and analytically, for stability.
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Martin, Martin C. "The Essential Dynamics Algorithm: Essential Results." 2003. http://hdl.handle.net/1721.1/6718.
Full textAbstract:
This paper presents a novel algorithm for learning in a class of stochastic Markov decision processes (MDPs) with continuous state and action spaces that trades speed for accuracy. A transform of the stochastic MDP into a deterministic one is presented which captures the essence of the original dynamics, in a sense made precise. In this transformed MDP, the calculation of values is greatly simplified. The online algorithm estimates the model of the transformed MDP and simultaneously does policy search against it. Bounds on the error of this approximation are proven, and experimental results in a bicycle riding domain are presented. The algorithm learns near optimal policies in orders of magnitude fewer interactions with the stochastic MDP, using less domain knowledge. All code used in the experiments is available on the project's web site.
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LIN, CHENG-YI, and 林政毅. "A System Dynamics Model of the Development of the Bicycle Industry in Taiwan." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/mnaue6.
Full textAbstract:
碩士東海大學
經濟系
105
In the early stage of development, Taiwan’s bicycle industry depended on OEM(Original Equipment Manufacturer) orders, and once became the world’s number one bicycle exporting country. However, under low-cost competition from mainland China and Southeast Asian countries, it suffered the loss of OEM orders. To mitigate the challenges of the low-cost competition, Taiwanese companies adopted strategies, including developing their own brands and moving to the high-end product manufacturing, to maintain their competitive edge. By using the experience from OEM and the cooperation between R&D institutions and partner firms, Taiwan’s bicycle industry managed to produce high-end and high quality bicycles. In fact, the development of Taiwan's bicycle industry from OEM to OBM (own branding and manufacturing) is a complex and dynamic process. This study uses the system dynamics to explore the structure of the Taiwan bicycle industry to increase the understanding of the system behavior of the industry. It is found that the development of the bicycle industry in Taiwan is mainly influenced by the interaction between R & D institutions, car manufacturers, component manufacturers and foreign orders. In addition, different scenarios of key variables related the decision making are simulated and the implications of this model are also discussed.
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Lipp, Genevieve Marie. "Single-track Vehicle Dynamics and Stability." Diss., 2014. http://hdl.handle.net/10161/9099.
Full textAbstract:
This work is concerned with the dynamics and stability of nonlinear systems that roll in a single track, including holonomic and nonholonomic systems. First the classic case of Euler's disk is introduced as an example of a nonholnomic system in three dimensions, and the methodology for deriving equations of motion that is used throughout this work is demonstrated, including use of Lagrange's equations, accommodating constraints with both Lagrange multipliers and with Gauss's Principle.
Next, a disk in two dimensions with an eccentric center of mass is explored. The disk is assumed to roll on a cubic curve, creating the possibility of well-escape behavior, which is examined analytically and numerically, showing regions of multi-periodicity and chaos. This theoretical system is compared to an experiment designed
to demonstrate the same behavior.
The remainder of the present document is concerned with the stability of a bicycle, both on flat ground, and on a type of trainer known as "rollers." The equations of motion are derived using Lagrange's equations with nonholonomic constraints, then the equations are linearized about a constant forward velocity, and a straight path, yielding a two degree of freedom system for the roll and steer angles. Stability is then determined for a variety of different parameters, exploring the roll of bicycle geometry and rider position, along with the effect of adding a steering torque, taking the form of different control laws.
Finally, the system is adapted to that of a bicycle on rollers, and the related equations of motion are derived and linearized. Notable differences with the classic bicycle case are detailed, a new eigenvalue behavior is presented, and configurations for optimal drum spacing are recommended.
Dissertation
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Chang, Nai-Yuan, and 張乃元. "Implementation of Dynamics Digital Signals Processing (DSP) on 8-bit PIC Microcontrollers for Electrical Bicycle." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/48097551239170302493.
Full textAbstract:
碩士國立中正大學
機械工程所
96
Traditionally, Low-bit Microcontrollers (MCU) have not supported the digital signal processing (DSP) engine. This thesis develops a method, Matrix Iteration Time-fixed (MIT) method, to implement dynamical system in the peripheral interface controller (PIC). It makes Low-bit Microcontrollers (MCU) have the ability to deal with digital signal processing, and we apply this method on the Electrical bicycle. The controller design process is consists of (1) mathematical modeling; (2) equivalent parameter identification; (3) controller synthesis. Finally, the control dynamics of current feedback is implemented in the 8-bit PIC microcontroller of Electrical bicycle that reduces the current overshoots and energy is saved during the acceleration and deceleration.
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Tsai, Yang Ming, and 蔡曜名. "Dynamic Analysis of a Moving Bicycle." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/45307437061180538321.
Full textAbstract:
碩士長庚大學
機械工程學系
98
This research contains two parts. The first part is to derive the equations of motion of a moving bike, and to analyze the factors affecting the motion. The second part is to develop a real-time human-computer interacting (HCI) system to simulate the real-time motion of a moving bike through the virtual reality. In the first part, the equations of motion based on Newton’s Law are derived and transformed into 1-order nonlinear ODEs. These equations are implemented by 4th-order Runge-Kutta method for numerical calculation, and a MATLAB program is developed to simulate the motion of a moving bike. Using this program, the factors, such as the braking forces, accelerating torque, gradient of hill and coefficients of friction, are analyzed to identify how they affect the motion of a moving bike. Furthermore, the safety of braking is evaluated by checking the normal forces of ground upon the front and rear wheels. If the normal force at the front wheel becomes zero, the equations of wheelie motion are subsequently used for calculation. Alternatively, if the normal force at the rear wheel is zero, the equations of stoppie motion are applied. In the second part, a real-time virtual-reality HCI system is developed by integrating a C-embedded LabVIEW software and a hardware. The braking forces for the front and rear wheels are measured by two load cells, and the rotational speed is measured by an encoder. These signals are acquired by A/D converter, in which the derivative of the rotational speed with respect to time represents the driving torque. These data are input into the software for calculating the real-time statuses of the motion, such as the velocity of bike, rotational speed of wheels, normal forces of ground to wheels, angle of stoppie or wheelie. User can experience the scenario through the virtual-reality vision and the speed of fly wheel of the HCI system, and then make a response by adjusting the braking forces and accelerating torque on demand. This interaction allows the user not only play the normal biking but also perform some special tricks, e.g. stoppie and wheelie, through this HCI system.
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Li, Guan-Xun, and 李冠勳. "Dynamic analysis of electric bicycle motors." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/yyve57.
Full textAbstract:
碩士國立虎尾科技大學
機械與機電工程研究所
104
Today the electric bicycle industry innovative design concept, the general stereotype cycling trip is laborious and time-saving concept, so adding booster motor on the bike, bike to the effort and time-saving design of the motor based on the need to reduce costs, reduce noise, intensity required compliant, bicycle manufacturers need to optimize the motor design, to change the gear composite plastic gears, due to the reduction of risks and costs proofing, so will the use of finite element analysis, to know in advance whether the intensity of compliance. In this study, the first 3D CAD software to draw the whole motor structure for Discussion gear part, using finite element software that converts Hypermesh flexible body, and finally to the motion dynamic simulation software ADAMS simulation of the planetary gear set of the process, with a dynamic simulation software ADAMS to simulate the stress intensity during motor operation of gears, with this analysis and simulation, you can learn to change from metal to plastic gears, strength is still able to meet the standards.
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Sun, Jia-You, and 孫嘉佑. "Mechanism Design of Bicycle Dynamic Testing." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/uw87uz.
Full textAbstract:
碩士國立虎尾科技大學
機械與電腦輔助工程系碩士班
104
In order to test the performance and reliabilities of a bicycle, it is necessary to perform a test equipment, in such a way that the loadings, fracture, fatigue, et al. can be tested out. The research proposed a test mechanism to simulate a real human riding by using a 4-bar linkage and a cam. The output pedaling speed keeps constant speed base on a given constant input speed of the cam. Consequently, if a test equipment consisting the proposed mechanism, the test condition will be as similar as a human riding, and additionally a continue test, which can check the reliability and fatigue, can be easily applied. The design of research institutions respectively for analog portion and entity portion operated test preliminary results obtained whether it is institutional feasibility of operation or the overall movement mechanism and Cam and crank speed is equal to or not…both reached.
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Lin, Jhih Fong, and 林志峯. "Dynamic analysis of the brake system of bicycle." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/67220905180857726352.
Full textAbstract:
碩士長庚大學
機械工程研究所
96
This research contains two parts; one is the development of a simulator of brake system to simulate the dynamic responses of a bicycle according to user’s braking behavior, and the other is the analysis of the baking efficiency and the safety of the bicycle. For the simulator, a mathematical model is built in the software, which is calculated by 4-th Runge-Kutta method, to simulate the motion and reaction forces of bicycle. The software is based on the platform of Labview as an interface to integrate with the hardware, where C-langrage is embedded for the numerical simulation. The hardware consists of two load cells, data acquisition system, and a brake system. Through the virtual-reality vision of the simulator, the real-time interaction of the user with the system can be implemented. Furthermore, the influences of the parameters (including the brake forces of the front and rear wheels, the height of the center of mass, the friction coefficients of the brake system..) on the braking efficiency (the braking distance and time) and the safety are analyzed. If the braking forces are large, a large deceleration will be induced to decrease the braking distance and time, but also to reduce the normal force of the rear wheel, even to lift the rear wheel. When the deceleration is too large, a flipping over could take place to cause the unsafety of the rider. Therefore, it is tradeoff to increase the braking forces of the front and rear wheels for raising both the braking efficiency and the unsafety. Using the simulator, we can simulate and analyze the dynamic responses of a real braking process of a moving bicycle with a rider. Different strategies of the front and rear braking are compared, according to their braking efficiencies and safeties. Moreover, a skill of “stoppie” can be performed by this simulator by controlling the front and rear braking processes properly.
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Lin, ChangLu, and 林長祿. "Study of Dynamic Balancing Control for A Riderless Bicycle." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/35846392250823778635.
Full textAbstract:
碩士大葉大學
機械與自動化工程學系
97
This thesis is focused on designing and realizing the balancing control system of an unmanned bicycle. The control system of the unmanned bicycle is based on the steering control system that is implemented by PID controllers in an industrial personal computer (IPC). A data measurement system for the bicycle is developed, which measures the roll angle of the bicycle body, the steering angle of the front fork, and the bicycle speed. The steering control system driven by a servomotor is designed to simulate the steering control of the rider. These data are provided to the controller implementing the calculation. The bicycle speed and roll angle are controlled independently. The speed control is achieved by one control loop with a PID controller and a PWM, and the roll-angle control by two control loops, where the outer is to generate the reference steering angle by a PID controller, and the inner is to control the steering angle following the reference, also by a PID controller. The data acquisition program and the control program used are written by LabVIEW. The experimental data are used to show the feasibility of the proposed system and controller.
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Chuang, Ya-wen, and 莊雅雯. "Dynamic study of survival performance in taiwan's bicycle industry." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/69313280117565664131.
Full textAbstract:
碩士國立宜蘭大學
應用經濟學系碩士班
98
Abstract This study suggested that the 1981-90 period is the transforming & upgrading stage of domestic cycling industry. Then, the paper took the 4-year period between 1970 and1983 and grabbed the cycling components companies registered in the enterprise list of MOEA(Ministry of Economic Affairs), furthermore, the comparison with the company list during 1992-95. According to the related literature, the study chose company’s initial scale, survival duration, sale turnover, gathering effect, new/old firm and professional capability on related cycling products as the research variables. Moreover, the Cox Proportional Hazards Model in survival analysis can be used to explore the relative survival analysis. The empirical results show that the survival situation of Taiwan’s cycling industry and its factors are significant on gathering effect between 1970-73 and 1992-1995. As far as the other variables, the differences have been examined. This study expected the results can provide the firms in cycling industry the future direction as well as offer the government the suggestions on making policy decision related bicycle industry.
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Bajic, Marko. "Dynamic interactions between bicycles and rumble strips." Thesis, 2005. http://spectrum.library.concordia.ca/8369/1/MR04413.pdf.
Full textAbstract:
The rumble strips have proven to provide a good protection against the run-off-the-road type of accidents. However, installing them on the local and community roads has raised many concerns among the cyclists. The cyclists occasionally cross over the rumble strip patterns in order to avoid obstacles or debris on the road shoulders or pass a slower moving rider. The majority of the reported concerns are those regarding the ride comfort and controllability of a bicycle traversing the rumble strip patterns. The ride discomfort and controllability of a bicycle traveling on the rumble strips are experimentally investigated by considering a comprehensive test matrix involving: (1) the conventional and suspended bicycles; (2) different rumble strip patterns and traversing speeds; (3) oblique angle of approach to rumble strip; (4) multiple trials and (5) seven test subjects. The objective assessment of the ride comfort on the rumble strip patterns is carried out by measuring the acceleration responses of the bicycle frame at the handle bar and the seat post while the controllability of the bicycle is assessed in terms of the measured yaw oscillations of the handle bar. The cyclist's sensation of the rumble strip patterns is further investigated through subjective measurements where the riders rated each test based on different criteria involving the ride comfort and controllability
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Liang, Jing Hao, and 梁景皓. "Dynamic Analysis and Steering Control of a Bicycle-riding Robot." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/67341347055743065603.
Full textAbstract:
碩士國立清華大學
動力機械工程學系
103
This thesis investigates the issue of the bicycle-riding robot via dynamic analysis of the bicycle. Assumed that the rear wheel and the front wheel of the bicycle with their own degree of freedom in the space coordinate. After considering the length of the bicycle, the relationship of the roll and yaw angle between the rear and front wheel and other restrictions, a bicycle model has been resembled. Using the Euler-Lagrange equation derives the dynamic equation and finds that it is unstable on the roll direction after linearization; however, when the bicycle speeds up, the controllability of the steering angle can be improved. Moreover, we find that the yaw rate is influenced by the steering angle directly. A balance controller and a steering controller are designed using the linear model. Simulations show that the bicycle-riding robot can keep balance and turn around by the state feedback control. Because the system is unstable in the open-loop and there is a non-minimum phase phenomenon, we implement the controller on the bicycle-riding robot and verify the performances and the characteristics of the dynamic analysis and discuss the results.
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Tseng, Wen-Long, and 曾文龍. "The Study of Multi-body Dynamic Dummy on Bicycle Collision." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/75612582244184340718.
Full textAbstract:
碩士國立成功大學
醫學工程研究所
91
Bicycles and lightweight motorcycles are extremely popular and provide a very important means of transportation in Taiwan, nevertheless bicycle and motorcycle accidents cause serious head injuries in riders. Wearing a helmet is the best method to prevent head injuries in traffic accidents. The helmet standard requires the protective performance of helmet against head injuries in accidents. However, the helmet standard does not completely meet the requirements of the riders in the impact-absorbing capacity and results in the insufficient protective performance of the helmet. The objective of this research is to establish a multi-body dynamics model to evaluate the kinematics process of rider in accidents. A multi-body dynamics model of rider based on Hybrid III 50﹪dummy was established with joints and spring-damping model to limit the range of motion and stiffness between the bodies. A contact model, force-penetration relationship, was used to describe the interface of bodies. The mathematical dynamics software MADYMO was used to simulate the kinematics process of rider, with EASi-CRASH MAD as pre- and post- processor. The results show that the spine horizontal timing (SPOT－H) of the simulated kinematics process of rider agreed with the experimental data of cadaver and dummy. The pattern of velocity of the head agreed with the test data, but the acceleration was not realistic. Angular velocity and acceleration of rider’s head could validate the boundary conditions of head-neck compositions. We have concluded that the multi-body dynamic model could apply to simulation of bicycle collision, but the model requires to modify the characteristics of joints, in which include range of motion, stiffness, friction, damping and hysteresis of joint.
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Liao, Yu-Wei, and 廖昱維. "Design Software for a Dynamic Test Rig on Bicycle Braking System." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/56938692488031387224.
Full textAbstract:
碩士國立交通大學
機械工程系
91
After making a survey for the bicycle test rigs that can be searched nowadays, one can find that there are some references about dynamic test on bicycle braking system. However, discussion the important braking conditions, load-transfer effect, there is few reference to mention about these simulation and the test system. It requires an additional hypothesis or inference to simulate the real braking behavior in the further study. In these conditions, some unknown braking conditions maybe ignored unconsciously. Therefore, an appropriate braking simulation with load-transfer effect will be developed to a better test braking system. The object of this study is to design complete test software, which can work on a new developed dynamic bicycle test rig. It can record real-time braking signals in the testing for the specific functions on bicycle braking system. The whole results of braking behavior by means of analyzing the testing data can be obtained in this study, and expecting to provide this study a reference for further design and safety testing on the bicycle braking system.
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CHEN, TZU-YU, and 陳姿羽. "Twin-cam five-bar linkage mechanism design for bicycle dynamic testing." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/pqka9h.
Full textAbstract:
碩士國立虎尾科技大學
機械與電腦輔助工程系碩士班
107
This research is mainly to design a group of institutions to simulate the action of real pedaling bicycles. Based on the five-bar linkage mechanism, the mechanism simulates the human thigh and calf structure, and cooperates with a set of cam to distribute the power input. The cam pushes the thigh link and drives the calf link to rotate at a constant speed. Wherein, when the right lower leg link contacts the right pedal, the left lower leg link will leave the left pedal, and the phenomenon of unilateral force is applied, so that the action of actually pedaling the bicycle is more suitable. This study first establishes the mathematical model of the organization for design, and then uses the analysis software to perform the mechanism motion simulation to confirm the feasibility and rationality of the organization. Finally, the processing combines the institutional entity model to confirm that the designed institutions have achieved the desired goals. The results of this study, if combined with the power input of the motor, can be applied to the long-term bicycle fatigue test machine in the future, in order to replace the artificial fatigue test.
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Consell, Ryan. "A Novel System for the Measurement of Dynamic Loading on a Bicycle Frame." Thesis, 2013. http://hdl.handle.net/10012/7345.
Full textAbstract:
The design of bicycle frames has remained fairly static for the majority of the past century, but recent increases in demand for high performance bicycles has created an accelerated design cycle that requires innovation. In order to design new frames with confidence in their capacity to withstand the rigors of use, reliable data about the nature of that use is needed, but this data is not currently available. The purpose of this research was to develop and implement a system that is capable of interpolating loads applied to a bicycle frame during vigorous riding for the purpose of improving the quality of information available to bicycle designers.
The system that was developed employed finite element modeling to locate strain gauges on a frame and a least-squares approximate solution of strain readings to interpolate the applied loads. At its best, the system is capable of resolving loads with better than a 2% error. This system is limited, though, as it can only be applied in cases where the frame has a significant strain reaction to a load case but does not have a significant change in geometry during loading. This system was implemented on a cross-country mountain bicycle frame for the purposes of determining a rider weight to load relationship and to compare the standardized test procedures for bicycles to the loads experienced in the field.
It was confirmed that there is a linear relationship between rider weight and load on the frame for all component forces except that applied to the bottom bracket, out of plane with the bicycle frame. It was also found that the British Standards fatigue testing practices, which are used internationally to assess bicycle safety, are inconsistent in their representation of realistic riding conditions when compared with the results from the field tests. Some loads appear conservative, some offer a very large factor of safety, and two are not represented at all. In particular, the moment about the bottom bracket due to pedaling and the load on the seat from the rider appear to consistently exceed the standardized test requirements while the moment caused by fork splay seems much smaller than the tests demand.
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Wang, Tan active 21st century. "Solving dynamic repositioning problem for bicycle sharing systems : model, heuristics, and decomposition." Thesis, 2014. http://hdl.handle.net/2152/28258.
Full textAbstract:
Bicycle sharing systems (BSS) have emerged as a powerful stimulus to non- motorized travel, especially for short-distance trips. However, the imbalances in the distribution of bicycles in BSS are widely observed. It is thus necessary to reposition bicycles to reduce the unmet demand due to such imbalances as much as possible. This paper formulates a new mixed-integer linear programming model considering the dynamic nature of the demand to solve the repositioning problem, which is later validated by an illustrative example. Due to the NP-Hard nature of this problem, we seek for two heuristics (greedy algorithm and rolling horizon approach) and one exact solution method (Benders’ decomposition) to get an acceptable solution for problems with large instances within a reasonable computation time. We create four datasets based on real world data with 12, 24, 36, and 48 stations respectively. Computational results show that our model and solution methods performed well. Finally, this paper gives some suggestions on extensions or modifications that might be added to our work in the future.text
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Hsieh, Hui-Ju, and 謝蕙如. "A Study on Dynamic of Growth in Taiwan’s Bicycle In-dustry A-Team." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/58607402086599466382.
Full textAbstract:
碩士大葉大學
管理學院碩士在職專班
98
In this study, Taiwan's bicycle industry A-Team as the research object, shown by systems thinking, "see the whole" of the morphology of the association between va-riables, and the complexities behind the structure and to identify their own development dynamics of the loop shows that Taiwan's bicycle industry A-Team in the development of important factors, how to form a dynamic loop A-Team to grow, and to find out the A-Team growth engines and found that its growth may have limitations, side effects and bottlenecks, and then draw up coping strategies. The results of this study was first proposed A-Team has three kinds of power, found that A-Team to grow dynamic loop diagram, the different loop combined to form A-Team cohesion, competitiveness and growth force, and to make each of these three forces would be affect the formation of a dynamic cycle.
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Lin, Chun-Yin, and 林俊印. "A Study on the Mechanics of Bicycle Frame under Dynamic and Static Loadings." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/27134589498336962335.
Full textAbstract:
碩士元智大學
機械工程學系
96
In this study, the mechanics of bike under dynamic and static loadings is investigated with experiments and finite element analysis. As for the experiment, strain gage and real time data acquisition system are used to obtain strain data at measured points under specified riding conditions. Thus, the weakness of bike structure can then be check out via the test results. The riding conditions include (1) rider sits on the bike to estimate the static stress conditions of the bike, (2) 100 and 50 kg riders on the bike running on a rolling platform to simulate the ride on a flat road. This test can check the deformation of bike frame under different loading conditions, (3) riding through a step with 15 cm gap to check the stress conditions of the bike when passing the step. In addition, finite element analysis is also conducted for getting the stress distribution of the whole bike frame. The simulated results are also compared with the experimental data for validation purposes. It is found that the seat post has the maximum strain throughout all the test conditions. The deformation of seat post with 100 kg rider is about 2.6 times higher than that with 50 kg rider both for riding on the rolling platform or static riding condition. Besides, while riding through a step, the strain of the seat post for the mountain bike was 1.46 times to that of the static riding condition. Likewise, the folding bike has a 2.20 times difference for the same two riding conditions. It is concluded that the resulted strain is more severe when riding through a step, and the mountain bike has better anti-shock capability because it has shock absorbers installed. Through the study, the weakness of the bike frame under different loading conditions is obtained. It is believed that these quantized data can help the engineer to improve the bike structure at the design stage and thus improve both the reliability of bike and the safety of the riders.
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Huang, Kuan-Hao, and 黃冠豪. "Non-contact Torque sensing and Real-time Dynamic Power Management for Electrically Assisted Bicycle." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/69849698094471119893.
Full textAbstract:
碩士國立交通大學
機械工程學系
100
This paper investigates the issues of the dynamic power management of electrical system by use of simulated cycling model in power assisted electric bicycle. The features of this bicycle focused on different road conditions and terrain slope when rider is cycling under the given command velocity. The proposed controller estimated the corresponding human power that the rider required and predicted the limitation of maximum assisted power from battery. With the collocation of thin in-wheel brushless dc motor and Lithium iron phosphate (LiFePO4) battery, we approached two assisted power ratio during the cycling, and observe the actual batteries power output. The performances of dynamic power management controller are experimentally evaluated to demonstrate the effectiveness of power-assisted bicycle in various cycling circumstance.
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Hsiao, Chi-Hsuan, and 蕭啟軒. "Control of Self-riding Bicycle System with Fuzzy Sliding Mode Control and Dynamic Compensation." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/h8a7hs.
Full textAbstract:
碩士國立臺灣大學
生物產業機電工程學研究所
107
This study aims to develop a more robust riderless bicycle system. In order to overcome external disturbance and internal uncertainty, we use a gyroscopic balancer and the control strategy combining fuzzy sliding mode control (FSMC) and dynamic compensation. There are two aspects of the dynamic compensation. First is to improve control performance by incorporating the steady state error of sliding value. With PID control voltage compensation and PID sliding value compensation, FSMC control voltage and sliding value zero are adjusted respectively by the state error. Second is to further improve the performance by applying the compensation for handlebar turning. If the turning angel is changed, results in movement of the system equilibrium position, the compensator adjusts immediately to maintain the balance stability. The dynamic model of the system is derived based on Lagrange equation; then all state variables converged to equilibrium point by FSMC, proved by the numerical simulation. Next, combining FSMC with the dynamic compensation makes the riderless bicycle system be more capable of resisting constant disturbance, proved by field testing with one-sided loading. Tested by multiple sets of one sided loading, PID control voltage compensation combined with FSMC can bear 8.20N-m one-sided loading, improving 53% one-sided loading capability compared with only using FSMC; PID sliding value compensation combined with FSMC has better effect and can bear 9.46N-m one sided loading above, improving 76% one sided loading capability compared to only using FSMC. Afterward, relation between turning angle and compensation value is found out by regression analysis and applied in handlebar compensation. In the end, the riderless bicycle with the approach developed in the study successfully circles on asphalt road without falling down.
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Juang, Huan-Chi, and 莊桓綺. "Exploring Dynamic Innovation Capabilities of Taiwanese Bicycle Manufacturers :The Study of OEM Transform into OBM." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/50402147512429522840.
Full textAbstract:
碩士國立屏東科技大學
科技管理研究所
101
With the increasing trend for firms from OEM transformed into OBM, academic researchers have increasable focused on studying the factors of capability affected to the success or failure by the transforming. Base on the dynamic capability theory, our research focuses on the dynamic innovation capability measuring by the constructs of position, process and path with specific comparative cases of 4 outstanding Taiwan bicycle firms including Giant, Merida, O-Ta, and LEECHI. Using patent indicators as presentative variables of dynamic innovation capability and patent analysis tool for collecting patents information to verify related propositions. Our research showed that dynamic innovation capability increasing with firms from OEM transformed to OBM, and the dynamic innovation capability positive related to the performance. The research provides an empirical study to support the dynamic capability theory and provide a useful reference for policy of the firm from OEM transformed to OBM.
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Metaxides, Evangelos. "Static and dynamic testing of a recumbent bicycle's suspension components, and design of a damping coefficient-spring constant test machine." Thesis, 1995. http://hdl.handle.net/1957/35229.
Full textAbstract:
The purpose of this study is to provide the necessary technical
background and data for the development of a suspension system for a
recumbent bicycle. For this reason, the customer requirements-design
criteria for the development of the suspension system were set, and several
static and dynamic tests were conducted on the bicycle's suspension
components in order to determine their shock absorption properties. The
shock absorption properties of the bicycle's components can be used as
means of evaluating the specifications of the suspension system that will
satisfy the established design criteria best. In addition, a test machine that
can be used for damping coefficient and spring constant measurements was
designed to provide further assistance with the analysis of the damping and
elastic properties of the recumbent bicycle's suspension components. It was
designed so that it can also be used for similar testing of other materials
and parts used in the bicycle industry. The subject of this study was BikeE,
a recumbent bicycle that was developed by Professor D. G. Ullman and the
BikeE Corporation in 1992.Graduation date: 1995
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Tang, Min-Hua, and 唐民華. "The Effect of Test Standards on Designing Light-weight Bicycle Pedals - EN Dynamic Durability Test Applied." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/98mg38.
Full textAbstract:
碩士朝陽科技大學
工業設計系
102
This study mainly discusses light weight design of ball bearing pedals used for mountain bicycles in order to meet the market trend. Based on materials, manufacturing methods and structures, there are four approaches to reduce the weight of bicycle pedals: 1. changing the materials of pedal axis or pedal frame; 2. re-designing the pedal pattern; 3. changing the processing method; and 4. altering the pedal structure. Among the above four approaches, altering the pedal structure in size and rotation assembly creates the greatest effect on passing the EN test standards. Bicycle pedals cannot be marketed in the EU zone unless they pass the EN test. The EN criteria have been used as the test method for exporting bicycle pedals. By 2013, the EU zone had been Taiwan’s No. 1 export market in this field. The experimental method is used for carrying out the research and the EN standards are applied to conduct the experiment. The pedals currently meeting the EN standards are used for light-weight design in this study. Based on the parts and structures of the standard pedals, the cause and effect analysis is applied to analyze and modify the parts and the structure. Two samples are made for the test so as to verify if the modified parts and structure can meet the EN standards. An analysis and comparison are also made by software on the modified axis. The results are described as follows. 1. Longer diameter achieves a better performance when the axis end surface is used to offset the bending moment caused by load. Moreover, direct contact with a single axis can obtain the best result for counteracting load. 2. A change of rotation pivot pattern is made from two ends to one end bearing load. However, such change increases imbalanced load bearing and causes greater wear of parts. 3. The use of double axes causes the greatest load bearing on rotating parts while the inner axis is turning. Thus, the parts wear to a greater degree. It’s better to use two bearings. 4. While stamping on the pedals, the inward component of force is nearly zero. Under such a circumstance, the step difference between the axis and bearing for generating thrust can be reduced to the inner ring of the bearing, which equals to the length of the diameter.
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Wei, Yu-Che, and 魏淯麒. "Dynamic Stress Analysis and Optimization Design of On-Road Bicycle Frame Undergoing Drop-Mass Impact Test." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/38288675045204477516.
Full textAbstract:
碩士國立高雄第一科技大學
機械與自動化工程研究所
102
This paper applies the nonlinear finite element analysis tool ANSYS/LS-DYNA to simulate the drop-mass impact test of an on-road bicycle frame. Permanent deformation of frame is regarded as the performance measure. To create the mathematical model between design variables and permanent deformation, the uniform design method is used to plan a set of experiments with multiple factors and multiple levels. Then, the frame in each experiment is analyzed by ANSYS/LS-DYNA to obtain the permanent deformation value. Next, the Kriging interpolation method is used to construct the surrogate model of permanent deformation based on the input and output data of experiments. The goal of optimization is to minimize the permanent deformation and the optimal solutions of design variables are solved by the downhill simplex method. From results, after the optimization processes, the improvement of the permanent deformation of front fork is 10.29 %. From the sensitivity analysis, the fifth length of down tube has the largest sensitivity for the permanent deformation of front fork as the drop-mass impact test is applied.
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Du, Shi-Hong, and 杜世宏. "Effects of the Shock Absorber on Dynamic Behaviors of Bicycles By Using ADAMS." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/96010197381513129003.
Full textAbstract:
碩士華梵大學
機電工程學系博碩專班
98
The purpose of this paper is to analysis effects of shock absorbers on the dynamic behaviors of bicycles by using ADAMS software. In this paper, the structure of the bicycles consist twelve parts and three absorbers connected between the parts. The material properties of parts and the related motion and constrained conditions between parts are defined. In the analysis of simulation, the absorber is described by using both the spring coefficient and the damping coefficient. Loads of the bicycle included the weight of driver and reactions are assumed to two periodical vertical force functions and one periodical torque function. Effects of spring coefficient and the damping coefficient of absorbers on the position of center mass of the frame and the twist angle of the rear frame are examined. Effects of frequencies of loads on the position of center mass of the frames and the twist angle of the rear frame are also investigated.
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Liu, Tzu-Tsen, and 劉姿岑. "The Moderating Effect of Dynamic Capabilities on Task Environment and Channel Evolution: A Case Study of Bicycle Industry." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/21933702771120657962.
Full textAbstract:
碩士國立屏東商業技術學院
行銷與流通管理系(所)
98
In recent years, as petroleum prices skyrocketed and live style became in fashion, cycling has been the most popular leisure activity. The bicycle industry is also booming under such environmental trend. Even thought the global financial crisis occurred in 2008 and economic recession prevailed over the world, the bicycle industry is still thriving. According to the development trace of bicycle industry in Taiwan, this research finds that the OEM/ODM was the major business model, but now this model is facing the dilemma of over dependent on OEM/ODM customers. Therefore, bicycle firms transfer gradually their business models from OEM to OBM, and even start dedicating their efforts on marketing channel and customer services. However, in the process of marketing channel evolution, environmental changes may play the key influential role on channel model. Further, why some companies are able to modify quickly but the others aren’t? These issues have been the concerned focus for bicycle firms. Following the practice trend, this study aims to examine the fitness between environment characteristics and marketing channel evolution, and then applies dynamic capabilities theory to explore the driving forces of successful transformation. In the past, most of studies pertaining to dynamic capability are conceptual and cross section research. Teece, Pisano, and Shuen’s (1997) article was the first one mentioning the term of dynamic capabilities. Then, Eisenhardt and Martin further refined the concept of dynamic capabilities in 2000. So far, there is still lack of long term observation of firms’ dynamic capabilities. Therefore, this research applies case study to observe bicycle firms’ resources changes and long term channel evolution. After that, this research hopes to contribute to the theory of dynamic capabilities. This study applies case study to explore the experiences of Giant and Merida which represent the successful model in bicycle industry. After reviewing literature, collecting secondary data, and interviewing relevant persons, this research proposes several propositions. In addition, in order to avoid potential construct validity problems and to enhance the overall quality of research, this research adopts triangulation principle which emphasizes establishing multiple sources of evidence. The main secondary data of this research comes from newspapers, magazines, books, and research paper. This study also verifies the information credibility by interviewing relevant persons. According to the comparative analysis of cases, this study finds that the task environment uncertainty will affect the marketing channel structure. The more turbulent the task environment that firms face, the more likely the firms establish multiple marketing channel. This study also finds that accumulation of firms’ resources also will affect their future development. Finally, this study suggests that there are moderating effects of dynamic capabilities on the relationship between environment characteristics and marketing channel evolution. In other words, if firms had stronger dynamic capabilities, such as able to accumulated resources and then further reconfigure and transform those resources, then they could perform new strategies much more easily. Therefore, this study proposes that firms need to cope with environmental changes and then adjust their resources configuration, so that they may adopt appropriate marketing channel model in return. Besides, during the reconfiguring process of firms’ resources, the capabilities of learning and entrepreneurship are the most important driving forces.
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Hui-ChunChiang and 江慧君. "Experimental and Numerical Studies of Quasi-static compression behavior and Dynamic Rolling Contact Responses for Pneumatic Bicycle Tires." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/18860871577788640825.
Full textAbstract:
碩士國立成功大學
航空太空工程學系碩博士班
98
The purpose of this work is to study the rolling contact response of inflated pneumatic radial bicycle tires with a half vertical car weight loaded initially. Tires were designed to roll over a specific 75mm hight speed bump and 100 mm height speed hump obstacle on a dry roadway at a prescribed incident speed. The dynamic interactive response between the road bump and tire are examined numerically. Tire structure contains the rubber tread and reinforcing composite layers (i.e., the inner layer, carcass, bead filler and bead wires). The Mooney-Rivlin constitute law was adopted to describe the large deformation and non-linear behavior of rubber material which be obtained from the experimental data of force and displacement curve. The classical laminated theory was used to model the mechanical response for the reinforcing composite layers. In the present study, the 26”x1.5” radial tires with the smooth pattern were chosen to study the dynamic contact rolling response when tires roll over the speed bump and speed hump obstacle on a dry pavement. Finite Element Commercial Codes – LS-DYNA were used to simulate the smooth pattern tire’s qusi-static response in order to compare the normal contact forces obtained from both FEM commercial codes and compressive test data. It reveals that both experiment data and LS-DYNA simulated normal contact forces for the wheel compressing on the compression device. Current LS-DYNA tire models for four tread patterns mentioned above were then used to simulate the complete process of the tire rolling over two kinds of prescribed obstacle. It is noted that tires were numerically inflated to 240 kPa and loaded with a half bicycle weight initially, and the tires were then accelerated from rest on a dry-flat pavement up to velocities of 10、20 and 30 km/hr. The tires were then in contact with a prescribed 75 mm height road bump and 100mm height road hump. The lateral contact force and the normal contact force of the above mentioned simulation velocities on tires with two tread patterns rolling over bump and hump were obtained and reported. Detailed simulated results were also reported.