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| @ARTICLE{Astrom1976, | |
| author = {{\AA}str{\"o}m, Karl Johan and K{\"a}llstr{\"o}m, Claes}, | |
| title = {Identification on Ship Steering Dynamics}, | |
| journal = {Automatica}, | |
| year = {1976}, | |
| volume = {12}, | |
| pages = {9–22}, | |
| month = jan, | |
| bib = {bibtex-keys#Astrom1976}, | |
| bibpr = {private-bibtex-keys#Astrom1976}, | |
| file = {Astrom1976.pdf:Astrom1976.pdf:PDF}, | |
| review = {He uses a simplfied linear model of the yaw dynamics of a ship and | |
| is interested in finding the hydrodynamic forces on the ship. He | |
| ends up with a third order system with states: lateral velocity, | |
| yaw rate and the heading angle as an additional state. Give a detailed | |
| explanations of wind models and why you may be able to model them | |
| as white noise for this system. He has a section on whether the model | |
| is actually identifiable (i.e. can you identify all the parameters | |
| from the provide measured time series). This is ineteresting as I'm | |
| not sure if my bicycle controdl model has any coniditions on the | |
| parameters it can id. The state model is not identifiable with the | |
| rudder to heading transfer function but if you add in the sway velocity | |
| to rudder angle transfer function, the system becomes solvable under | |
| a single condition that turns out to be the be the same as if the | |
| state model is controllable. | |
| He says that the xd = Ax + Bu + w, y = Cx + Du + e is a good model | |
| when the sensor dynamics are considerably faster thatn the system | |
| dynamics and teh measurment errors of different sampling events are | |
| uncorrelated. | |
| He uses the maximum likelihood method and estimates the conditional | |
| mean and covriance with a Kalman filter.}, | |
| webpdf = {references-folder/Astrom1976.pdf} | |
| } | |
| @ARTICLE{Astrom2005, | |
| author = {{\AA}str{\"o}m, Karl J. and Klein, Richard E. and Lennartsson, Anders}, | |
| title = {Bicycle Dynamics and Control}, | |
| journal = {IEEE Control Systems Magazine}, | |
| year = {2005}, | |
| volume = {25}, | |
| pages = {26--47}, | |
| number = {4}, | |
| month = {August}, | |
| abstract = {This article analyzes the dynamics of bicycles from the perspective | |
| of control. Models of different complexity are presented, starting | |
| with simple ones and ending with more realistic models generated | |
| from multibody software. We consider models that capture essential | |
| behavior such as self-stabilization as well as models that demonstrate | |
| difficulties with rear wheel steering. We relate our experiences | |
| using bicycles in control education along with suggestions for fun | |
| and thought-provoking experiments with proven student attraction. | |
| Finally, we describe bicycles and clinical programs designed for | |
| children with disabilities.}, | |
| bib = {bibtex-keys#Astrom2005}, | |
| bibpr = {private-bibtex-keys#Astrom2005}, | |
| doi = {10.1109/MCS.2005.1499389}, | |
| file = {Astrom2005.pdf:Astrom2005.pdf:PDF}, | |
| keywords = {bicycles, control engineering computing, control engineering education,design, | |
| handicapped aids, nonlinear control systems, nonlinear dynamicalsystems, | |
| position control, stability bicycle control, bicycle dynamics, clinical | |
| programs, computer simulation, control education, disabled children, | |
| dynamic behavior, inverted pendulum, modelling, multibody software, | |
| nonminimum phase steering behavior, rear wheel steering difficulties, | |
| self-stabilization}, | |
| owner = {moorepants}, | |
| review = {Shows a steer torque measurement system constructed for the UCSB instrumented | |
| bicycle but with little extra information. They use a linear force | |
| transducer of some sort mounted on the handlebars. | |
| They first show the point mass model like Karnopp's 2004 model (older | |
| ones are referenced in Meijaard2007). They stablize the steer angel | |
| to roll angle transfer function with a negative feedback gain which | |
| has dependence on the forward velocity. | |
| He adds a basic model of the front fork geometry to the point mass | |
| model, giving a relationship between steer torque input and steer | |
| angle which is speed dependent. The roll angle to steer angle now | |
| has a builtin negative feedback law due to the front fork geometry | |
| and if the k2 gain is large enough (with steer torque = 0) the system | |
| is stable. He uses this to calculat a critical velocity for stability. | |
| Klein says you should grip the handlebars lightly to take advantage | |
| of the bicycle self stability. This corresponds to the differences | |
| in the Whipple model and one with arms. | |
| Cites Wier1972 as giving 0.1s and 0.3s of nueromuscular delay in steer | |
| torque and upper body lean, respectively. | |
| The gyroscopic effects give rise to derivative feedback. | |
| Claims that riders use variation in forward speed as an additional | |
| control variable.}, | |
| timestamp = {2008.10.16}, | |
| webpdf = {references-folder/Astrom2005.pdf} | |
| } | |
| @UNPUBLISHED{Astrom2005a, | |
| author = {{\AA}str{\"o}m, Karl J. and Klein, Richard E. and Lennartsson, Anders}, | |
| title = {Bicycle Dynamics and Control}, | |
| note = {Preprint of Astrom2005}, | |
| year = {2005}, | |
| abstract = {This article analyzes the dynamics of bicycles from the perspective | |
| of control. Models of different complexity are presented, starting | |
| with simple ones and ending with more realistic models generated | |
| from multibody software. We consider models that capture essential | |
| behavior such as self-stabilization as well as models that demonstrate | |
| difficulties with rear wheel steering. We relate our experiences | |
| using bicycles in control education along with suggestions for fun | |
| and thought-provoking experiments with proven student attraction. | |
| Finally, we describe bicycles and clinical programs designed for | |
| children with disabilities.}, | |
| bib = {bibtex-keys#Astrom2005a}, | |
| bibpr = {private-bibtex-keys#Astrom2005a}, | |
| doi = {10.1109/MCS.2005.1499389}, | |
| file = {Astrom2005a.pdf:Astrom2005a.pdf:PDF}, | |
| number = {4}, | |
| owner = {moorepants}, | |
| pages = {26--47}, | |
| timestamp = {2008.10.16}, | |
| webpdf = {references-folder/Astrom2005a.pdf} | |
| } | |
| @ARTICLE{Astrom2001, | |
| author = {{\AA}str{\"o}m, Karl J. and Lunze, J.}, | |
| title = {Why are we able to ride a bicycle?}, | |
| journal = {Automatisierungstechnik}, | |
| year = {2001}, | |
| volume = {49}, | |
| pages = {427--435}, | |
| number = {10}, | |
| month = {October}, | |
| bib = {bibtex-keys#Astrom2001}, | |
| bibpr = {private-bibtex-keys#Astrom2001}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @MASTERSTHESIS{Adiele1979, | |
| author = {C. Adiele}, | |
| title = {Two wheeled vehicle design}, | |
| school = {Sibley School of Mechanical and Aerospace Engineering, Cornell University}, | |
| year = {1979}, | |
| bib = {bibtex-keys#Adiele1979}, | |
| bibpr = {private-bibtex-keys#Adiele1979}, | |
| review = {Supposedly uses Kane's equations to derive the bicycle model. Meijaard2007 | |
| say the equations are wrong.}, | |
| timestamp = {2012.02.06} | |
| } | |
| @TECHREPORT{Cortes2007, | |
| author = {Aguilera Cortés, Luz Antonio and Jáuregui de la Mota, Rafael and | |
| González Palacios, Max | |
| Antonio and Torres Cisneros, Miguel and Cervantes Sánchez, J. Jesús | |
| and González Galván, | |
| Emilio J. and Herrera May, A. Leobardo}, | |
| title = {Simulación y Control de una Suspensión Semiactiva: Caso de una Bicicleta | |
| para | |
| Descenso}, | |
| institution = {Acta Universitaria}, | |
| year = {2007}, | |
| bib = {bibtex-keys#Cortes2007}, | |
| bibpr = {private-bibtex-keys#Cortes2007}, | |
| file = {Cortes2007.pdf:Cortes2007.pdf:PDF}, | |
| review = {suspension dynamics of bicycles}, | |
| timestamp = {2012.01.02}, | |
| webpdf = {references-folder/Cortes2007.pdf} | |
| } | |
| @INPROCEEDINGS{Akande2011, | |
| author = {F. B. Akande and D. Ahmad and A. B. Fashina}, | |
| title = {Modelling the motion resistance of a pneumatic bicycle wheel}, | |
| booktitle = {Tillage for agricultural productivity and environmental sustainability | |
| conference}, | |
| year = {2011}, | |
| address = {Ilorin, Nigeria}, | |
| month = {February 21--23}, | |
| organization = {International Soil Tillage Research Organization}, | |
| abstract = {The use of narrow wheels of which bicycle wheels are included have | |
| been proven to be one of the alternative solutions to soil compaction | |
| problems. Compaction caused by narrow wheels of higher inflation | |
| pressure is less than that caused by wider wheels of low inflation | |
| pressure. In this study, the motion resistance and motion resistance | |
| ratio of 660 mm bicycle wheel on the paved surface, grass field, | |
| tilled and wet surfaces have been measured empirically using the | |
| developed single wheel rolling resistance test rig for traction studies | |
| for non-lug narrow wheel. The motion resistance were measured as | |
| the towing force in real time using the Mecmesin Basic Force Gauge | |
| (BFG 2500). The respective effect of the dynamic load and towing | |
| velocity on motion resistance ratios have been modelled on different | |
| test surfaces. The mathematical modelling revealed that different | |
| relationships exist between the motion resistance ratio and the test | |
| variables on different test surfaces. These information will be useful | |
| in the development and operation of simple agricultural machines | |
| for low income farmers and the rural dwellers.}, | |
| bib = {bibtex-keys#Akande2011}, | |
| bibpr = {private-bibtex-keys#Akande2011}, | |
| file = {Akande2011.pdf:Akande2011.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2011.06.13}, | |
| webpdf = {references-folder/Akande2011.pdf} | |
| } | |
| @ARTICLE{Alden1985, | |
| author = {Alden, R.T.H. and Qureshy, F.A.}, | |
| title = {Eigenvalue Tracking Due to Parameter Variation}, | |
| journal = {IEEE Transactions on Automatic Control}, | |
| year = {1985}, | |
| volume = {AC-30}, | |
| pages = {923--925}, | |
| number = {9}, | |
| month = {September}, | |
| abstract = {This note describes an efficient eigenvalue tracking algorithm, which | |
| is applicable in many engineerings ystems where the effect of parameter | |
| variation on system stability is to be determined. Starting with | |
| the original system eigenvalues, the algorithm uses determinants | |
| to compute first-order eigenvalue sensitivities which are used in | |
| an iterative method that converges rapidly to the new eigenvalues | |
| corresponding to the parameter change. The algorithm tracks all the | |
| system eigenvalues starting from a given base case. It is shown to | |
| be less costly than repeated eigenvalue evaluation and is illustrated | |
| by means of a simple power system example.}, | |
| bib = {bibtex-keys#Alden1985}, | |
| bibpr = {private-bibtex-keys#Alden1985}, | |
| file = {Alden1985.pdf:Alden1985.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2008.10.16}, | |
| webpdf = {references-folder/Alden1985.pdf} | |
| } | |
| @ARTICLE{Amirouche1988, | |
| author = {F. M. L. Amirouche and R. L. Huston}, | |
| title = {Dynamics of Large Constrained Flexible Structures}, | |
| journal = {Journal of Dynamic Systems, Measurement, and Control}, | |
| year = {1988}, | |
| volume = {110}, | |
| pages = {78-83}, | |
| number = {1}, | |
| bib = {bibtex-keys#Amirouche1988}, | |
| bibpr = {private-bibtex-keys#Amirouche1988}, | |
| doi = {10.1115/1.3152654}, | |
| owner = {moorepants}, | |
| publisher = {ASME}, | |
| timestamp = {2009.11.04}, | |
| url = {http://link.aip.org/link/?JDS/110/78/1} | |
| } | |
| @BOOK{Anderson1979, | |
| title = {Optimal Filtering}, | |
| publisher = {Dover Publications}, | |
| year = {1979}, | |
| author = {Anderson, Brian D. O. and Moore, John B.}, | |
| bib = {bibtex-keys#Anderson1979}, | |
| bibpr = {private-bibtex-keys#Anderson1979}, | |
| review = {Ljung 1999 references this for good Kalman filter explanations.}, | |
| timestamp = {2011.12.08} | |
| } | |
| @ARTICLE{Andriacchi1998, | |
| author = {T. P. Andriacchi and E. J. Alexander and M. K. Toney and C. Dyrby | |
| and J. Sum}, | |
| title = {A Point Cluster Method for In Vivo Motion Analysis: applied to a | |
| Study of Knee Kinematics}, | |
| journal = {Journal of Biomechanical Engineering}, | |
| year = {1998}, | |
| volume = {120}, | |
| pages = {743--749}, | |
| number = {6}, | |
| bib = {bibtex-keys#Andriacchi1998}, | |
| bibpr = {private-bibtex-keys#Andriacchi1998}, | |
| doi = {10.1115/1.2834888}, | |
| file = {Andriacchi1998.pdf:Andriacchi1998.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.01.27}, | |
| url = {http://link.aip.org/link/?JBY/120/743/}, | |
| webpdf = {references-folder/Andriacchi1998.pdf} | |
| } | |
| @INBOOK{FlyingQualities, | |
| chapter = {10}, | |
| pages = {215--238}, | |
| title = {Flying Qualities}, | |
| year = {XXXX}, | |
| author = {Anonymous}, | |
| note = {I think is a chapter of a book from a prof at Virginia Tech}, | |
| bib = {bibtex-keys#FlyingQualities}, | |
| bibpr = {private-bibtex-keys#FlyingQualities}, | |
| file = {FlyingQualities.pdf:FlyingQualities.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/FlyingQualities.pdf} | |
| } | |
| @CONFERENCE{Anonymous1995, | |
| author = {Anonymous}, | |
| title = {International Symposium on Advanced Vehicle Control 1994. AVEC '94}, | |
| booktitle = {Vehicle System Dynamics}, | |
| year = {1995}, | |
| volume = {24}, | |
| number = {4--5}, | |
| month = {June}, | |
| bib = {bibtex-keys#Anonymous1995}, | |
| bibpr = {private-bibtex-keys#Anonymous1995}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @CONFERENCE{Anonymous1987, | |
| author = {Anonymous}, | |
| title = {ICTS International School of Applied Dynamics 3rd Seminar on Advanced | |
| Vehicle System Dynamics}, | |
| booktitle = {Vehicle System Dynamics}, | |
| year = {1987}, | |
| volume = {16}, | |
| bib = {bibtex-keys#Anonymous1987}, | |
| bibpr = {private-bibtex-keys#Anonymous1987}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @CONFERENCE{Anonymous1978, | |
| author = {Anonymous}, | |
| title = {Motorcycle Dynamics and Rider Control}, | |
| booktitle = {SAE Special Publications}, | |
| year = {1978}, | |
| number = {SP--428}, | |
| pages = {116}, | |
| address = {Detroit, MI, USA}, | |
| month = {February--March}, | |
| organization = {SAE}, | |
| publisher = {SAE, Warrendale, PA}, | |
| note = {Ten (10) papers by various authors were presented at this session. | |
| The subjects discussed in these papers included the following: motorcycle | |
| steering behavior and straight line stability characteristics; lateral-directional | |
| motorcycle dynamics; effect of frame flexibility on high weave of | |
| motorcycles; effect of front fork flexibility on the stability of | |
| motorcycles; measurement of braking performance; motorcycle dynamics | |
| EM DASH fact, fiction and folklore; and riding behavior of motorcyclists | |
| as influenced by pavement characteristics. Selected papers were abstracted | |
| separately.}, | |
| bib = {bibtex-keys#Anonymous1978}, | |
| bibpr = {private-bibtex-keys#Anonymous1978}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @TECHREPORT{Anon1954, | |
| author = {Anonymous}, | |
| title = {The Human Pilot}, | |
| institution = {United States Navy Bureau of Aeronautics}, | |
| year = {1954}, | |
| number = {AE-61-4 III}, | |
| month = {August}, | |
| bib = {bibtex-keys#Anon1954}, | |
| bibpr = {private-bibtex-keys#Anon1954}, | |
| owner = {luke}, | |
| timestamp = {2011.01.03} | |
| } | |
| @ARTICLE{Antonov2011, | |
| author = {Antonov, S. and Fehn, A. and Kugi, A.}, | |
| title = {Unscented Kalman filter for vehicle state estimation}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2011}, | |
| volume = {49}, | |
| pages = {1497-1520}, | |
| number = {9}, | |
| abstract = { Vehicle dynamics control (VDC) systems require information about | |
| system variables, which cannot be directly measured, e.g. the wheel | |
| slip or the vehicle side-slip angle. This paper presents a new concept | |
| for the vehicle state estimation under the assumption that the vehicle | |
| is equipped with the standard VDC sensors. It is proposed to utilise | |
| an unscented Kalman filter for estimation purposes, since it is based | |
| on a numerically efficient nonlinear stochastic estimation technique. | |
| A planar two-track model is combined with the empiric Magic Formula | |
| in order to describe the vehicle and tyre behaviour. Moreover, an | |
| advanced vertical tyre load calculation method is developed that | |
| additionally considers the vertical tyre stiffness and increases | |
| the estimation accuracy. Experimental tests show good accuracy and | |
| robustness of the designed vehicle state estimation concept. }, | |
| bib = {bibtex-keys#Antonov2011}, | |
| bibpr = {private-bibtex-keys#Antonov2011}, | |
| doi = {10.1080/00423114.2010.527994}, | |
| eprint = {http://www.tandfonline.com/doi/pdf/10.1080/00423114.2010.527994}, | |
| file = {Antonov2011.pdf:Antonov2011.pdf:PDF}, | |
| url = {http://www.tandfonline.com/doi/abs/10.1080/00423114.2010.527994}, | |
| webpdf = {references-folder/Antonov2011.pdf} | |
| } | |
| @ARTICLE{Antos2004, | |
| author = {Pavel Antos and Jorge Ambr\'{o}sio}, | |
| title = {A Control Strategy for Vehicle Trajectory Tracking Using Multibody | |
| Models}, | |
| journal = {Multibody System Dynamics}, | |
| year = {2004}, | |
| volume = {11}, | |
| pages = {365--394}, | |
| bib = {bibtex-keys#Antos2004}, | |
| bibpr = {private-bibtex-keys#Antos2004}, | |
| file = {Antos2004.pdf:Antos2004.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Antos2004.pdf} | |
| } | |
| @ARTICLE{Aoki1999, | |
| author = {A. Aoki}, | |
| title = {Effectiveness of the Basic Model for Motorcycle Dynamics}, | |
| journal = {JSME Journal Series C}, | |
| year = {1999}, | |
| volume = {65}, | |
| pages = {110--116}, | |
| number = {636}, | |
| bib = {bibtex-keys#Aoki1999}, | |
| bibpr = {private-bibtex-keys#Aoki1999}, | |
| file = {Aoki1999.pdf:Aoki1999.pdf:PDF}, | |
| timestamp = {2012.01.02}, | |
| webpdf = {references-folder/Aoki1999.pdf} | |
| } | |
| @ARTICLE{Aoki1979, | |
| author = {Akira Aoki}, | |
| title = {Experimental Study on Motorcycle Steering Performance}, | |
| journal = {Society of Automotive Engineers}, | |
| year = {1979}, | |
| month = {February}, | |
| note = {SAE Paper 790265}, | |
| abstract = {A study of the lateral motion of motorcycles has been conducted through | |
| experiments on four large motorcycles of Japanese manufacture. A | |
| total of five experimental procedures were applied to straight or | |
| nearly straight running conditions and curve running conditions, | |
| and the results of each experiment were arranged by frequency response | |
| function in terms of input and output.}, | |
| bib = {bibtex-keys#Aoki1979}, | |
| bibpr = {private-bibtex-keys#Aoki1979}, | |
| file = {Aoki1979.pdf:Aoki1979.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2010.09.10}, | |
| webpdf = {references-folder/Aoki1979.pdf} | |
| } | |
| @ARTICLE{Aoki1999a, | |
| author = {Aoki, Akira and Katayama, Tsuyoshi and Nishimi, Tomoo and Okayama, | |
| Takumi}, | |
| title = {Effects of Rider's Vibrational Characteristics on Straight-Running | |
| Stability of Motorcycles}, | |
| journal = {Transactions of the Japan Society of Mechanical Engineers. C}, | |
| year = {1999}, | |
| volume = {65}, | |
| pages = {2294-2301}, | |
| number = {634}, | |
| note = {Japanese}, | |
| abstract = {A six-degree-of-freedom model and a twelve-degree-of freedom model | |
| incorporating a rider's vibrational characteristics have been developed. | |
| The models include a mechanical model of the rider's body which consists | |
| of a leaning motion of the upper body and a lateral movement of the | |
| lower body. Damping properties and natural frequencies of weave and | |
| wobble modes were calculated using these models. Conclusions are | |
| drawn about effects of the rider's vibrational characteristics on | |
| the stability of motorcycles during straight running from the calculations | |
| in the six degree of freedom model. Implications for accurate modeling | |
| of motorcycle stability are derived from differences between the | |
| calculations in the twelve-degree-of-freedom model and running experiments.}, | |
| bib = {bibtex-keys#Aoki1999a}, | |
| bibpr = {private-bibtex-keys#Aoki1999a}, | |
| file = {Aoki1999a.pdf:Aoki1999a.pdf:PDF}, | |
| issn = {03875024}, | |
| publisher = {The Japan Society of Mechanical Engineers}, | |
| url = {http://ci.nii.ac.jp/naid/110002384218/en/}, | |
| webpdf = {references-folder/Aoki1999a.pdf} | |
| } | |
| @TECHREPORT{ArnbergTyden1974, | |
| author = {P. W. Arnberg and T. Tyden}, | |
| title = {Stability and maneuverability performance of different types of bicycles}, | |
| year = {1974}, | |
| number = {45 A}, | |
| bib = {bibtex-keys#ArnbergTyden1974}, | |
| bibpr = {private-bibtex-keys#ArnbergTyden1974} | |
| } | |
| @ARTICLE{Arndt2009, | |
| author = {David Arndt and James E. Bobrow and Steven Peters and Karl Iagnemma | |
| and Steven Dubowsky}, | |
| title = {Self-Balancing Control of a Four Wheeled Vehicle}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2009}, | |
| bib = {bibtex-keys#Arndt2009}, | |
| bibpr = {private-bibtex-keys#Arndt2009}, | |
| file = {Arndt2009.pdf:Arndt2009.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Arndt2009.pdf} | |
| } | |
| @ARTICLE{Ashkenas1984, | |
| author = {I. L. Ashkenas}, | |
| title = {Twenty-Five Years of Handling Qualities Research}, | |
| journal = {J. of Aircraft}, | |
| year = {1984}, | |
| volume = {21}, | |
| pages = {289--301}, | |
| number = {5}, | |
| note = {STI-P-323}, | |
| abstract = {This paper reflects on 25 years (or more) of handling quality research | |
| and shares with the reader some of the author's resulting experiences | |
| and thoughts. When reaching back so far and considering all that | |
| has been accomplished, there are many facets of handling or flying | |
| qualities which could be covered and considered. However, the author | |
| chooses to limit discussion to those aspects concerned with the theory | |
| of handling qualities, in turn relating to closed-loop, pilot-vehicle, | |
| frequency-domain analysis and its application to handling and flight | |
| control problems. This is not to deny other aspects of handling qualities | |
| research which are beyond the scope of this limited exposition, such | |
| as: ground and in flight simulation; rating systems; optimal control | |
| operator models; workload concepts; and data collection and codification. | |
| Rather, it is to emphasize those aspects that the author is personally | |
| most familiar with, and which stress the design guidance role of | |
| handling qualities theory and practice. This has always been important | |
| and it is especially important now because of increasing dependence | |
| on sophisticated flight control systems which can completely alter | |
| the way an airplane responds to the pilot's inputs. In fact, handling | |
| quality research has recently come up for its share of criticism | |
| as being inadequate to cope with some of today's design problems. | |
| For example, Berry, in a recent article in Astronautics and Aeronautics | |
| and Gibson, in a paper before the AGARD Conference in Fort Worth, | |
| both decried the fact that there have been a rash of generic handling | |
| problems associated with high-performance aircraft having sophisticated | |
| flight control systems, and that such systems have not always reached | |
| their full potential to provide handling qualities superior to much | |
| simpler aircraft of the past. Against this background, first to be | |
| discussed are the basic aspects of handling or flying qualities and | |
| some of the early design problems that were solved; then, the growth | |
| of handling qualities theory in response to design demands; and, | |
| finally, how that theory has been applied and expanded over the years | |
| to become a valuable tool, especially useful in coping with new situations | |
| such as those that seem to be occurring almost daily.}, | |
| bib = {bibtex-keys#Ashkenas1984}, | |
| bibpr = {private-bibtex-keys#Ashkenas1984}, | |
| file = {Ashkenas1984.pdf:Ashkenas1984.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.24}, | |
| webpdf = {references-folder/Ashkenas1984.pdf} | |
| } | |
| @ARTICLE{Astrom1980, | |
| author = {K.J. Åström}, | |
| title = {Maximum likelihood and prediction error methods}, | |
| journal = {Automatica}, | |
| year = {1980}, | |
| volume = {16}, | |
| pages = {551 - 574}, | |
| number = {5}, | |
| abstract = {The basic ideas behind the parameter estimation methods are discussed | |
| in a general setting. The application to estimation or parameters | |
| in dynamical systems is treated in detail using the prototype problem | |
| of estimating parameters in a continuous time system using discrete | |
| time measurements. Computational aspects are discussed. Theoretical | |
| results in consistency, asymptotic normality and efficiency are covered. | |
| Model validation and selection of model structures are discussed. | |
| An example is given which illustrates some properties of the methods | |
| and shows the usefulness of interactive computing. Additional examples | |
| illustrate what happens when the data has different artefacts.}, | |
| bib = {bibtex-keys#Astrom1980}, | |
| bibpr = {private-bibtex-keys#Astrom1980}, | |
| doi = {10.1016/0005-1098(80)90078-3}, | |
| file = {Astrom1980.pdf:Astrom1980.pdf:PDF}, | |
| issn = {0005-1098}, | |
| keywords = {Computer-aided design}, | |
| review = {The Maximum Likelihood Method for system id is described. It if formulated | |
| generally for a system of general set of parameters to identify. | |
| It is a general enough method to work with a wide variety of system | |
| id models. Seems like the method can either always be formulated | |
| as a least squares problem or has some direct relationship for the | |
| kinds of problems we do in engineering. The conditional meana nd | |
| covariance for a general problem is calculated usign a Kalman filter. | |
| I feel like this part is needed to help me with my human remnant | |
| issues, but the Kalman equations are presented explicity with little | |
| explanation, only cited Kalman's work. Some of the notes about application | |
| are interesting to me: the bad effect outliers often has on sys id | |
| efforts, bias can cause issues, time delays, etc.}, | |
| url = {http://www.sciencedirect.com/science/article/pii/0005109880900783}, | |
| webpdf = {references-folder/Astrom1980.pdf} | |
| } | |
| @INPROCEEDINGS{Baldwin2009, | |
| author = {G. Douglas Baldwin}, | |
| title = {Open Source Multibody Aeroelastic Modeling, Simulation, and Video | |
| Rendering}, | |
| booktitle = {Multibody Dynamics: An ECCOMAS Thematic Conference}, | |
| year = {2009}, | |
| abstract = {Multibody simulation and video animation are both powerful tools for | |
| analyzing, communicating, and promoting advanced vertical flight | |
| concepts. By combining these two activities, the rendered videos | |
| have the credibility of being physics based, and the multibody simulation | |
| results can be presented in a real world setting. This paper reports | |
| on the integration of two complimentary open source tools to create | |
| a general purpose multibody modeling, simulation, and video rendering | |
| environment that can be used for real-time pilot-in-the-loop or batch | |
| mode simulation and analysis. The two free open source tools that | |
| were integrated are MBDyn and Blender.}, | |
| bib = {bibtex-keys#Baldwin2009}, | |
| bibpr = {private-bibtex-keys#Baldwin2009}, | |
| file = {Baldwin2009.pdf:Baldwin2009.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {JKM - This guy uses some cool scripts that combine MBDyn and Blender | |
| to do beautiful animations of dynamics. He even has "real time" control.}, | |
| timestamp = {2009.07.24}, | |
| webpdf = {references-folder/Baldwin2009.pdf} | |
| } | |
| @ARTICLE{Baslamisli2009, | |
| author = {Baslamisli, S. \c{C}a\v{g}lar and K\"{o}se, \.{I}. Emre and Anla\c{s}, | |
| G.}, | |
| title = {Gain-scheduled integrated active steering and differential control | |
| for vehicle handling improvement}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2009}, | |
| volume = {47}, | |
| pages = {99--119}, | |
| number = {1}, | |
| abstract = {This paper presents a gain-scheduled active steering control and active | |
| differential design method to preserve vehicle stability in extreme | |
| handling situations. A new formulation of the bicycle model in which | |
| tyre slip angles, longitudinal slips and vehicle forward speed appear | |
| as varying vehicle parameters is introduced. Such a model happens | |
| to be useful in the design of vehicle dynamics controllers scheduled | |
| by vehicle parameters: after having expressed the parametric bicycle | |
| model in the parametric descriptor form, gain-scheduled active steering | |
| and differential controllers are designed to improve vehicle handling | |
| at Âlarge driver-commanded steering angles. Simulations reveal | |
| the efficiency of the selected modelling and controller design methodology | |
| in enhancing vehicle handling capacity during cornering on roads | |
| with varying adhesion coefficient and under variable speed operation.}, | |
| bib = {bibtex-keys#Baslamisli2009}, | |
| bibpr = {private-bibtex-keys#Baslamisli2009}, | |
| file = {Baslamisli2009.pdf:Baslamisli2009.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {Car "bicycle" model!}, | |
| timestamp = {2009.04.01}, | |
| url = {http://www.informaworld.com/10.1080/00423110801927100}, | |
| webpdf = {references-folder/Baslamisli2009.pdf} | |
| } | |
| @INPROCEEDINGS{Baslamisli2007, | |
| author = {Baslamisli, S. \c{C}a\v{g}lar and Polat, \.{I}. and K\"{o}se, \.{I}. | |
| Emre}, | |
| title = {Gain Scheduled Active Steering Control Based on a Parametric Bicycle | |
| Model}, | |
| booktitle = {Proceedings of the IEEE Intelligent Vehicles Symposium}, | |
| year = {2007}, | |
| pages = {1168--1173}, | |
| abstract = {This paper presents a gain scheduled active steering control design | |
| method to preserve vehicle stability in extreme handling situations. | |
| It is shown that instead of the classical linear tire model based | |
| on expressing cornering force proportional to tire sideslip angle, | |
| a simple rational model with validity extending beyond the linear | |
| regime of the tire may be considered. This results in a new formulation | |
| of the bicycle model in which tire sideslip angles and vehicle forward | |
| speed appear as time-varying parameters. Such a model happens to | |
| be useful in the design of controllers scheduled by tire sideslip | |
| angles: after having expressed the parametric bicycle model in the | |
| parametric descriptor form, a gain scheduled active steering controller | |
| is designed in this study to improve vehicle handling at "large" | |
| driver commanded steering angles. Simulations reveal the efficiency | |
| of the selected modeling and controller design methodology in enhancing | |
| vehicle handling capacity during cornering on roads with high and | |
| low adhesion coefficient.}, | |
| bib = {bibtex-keys#Baslamisli2007}, | |
| bibpr = {private-bibtex-keys#Baslamisli2007}, | |
| doi = {10.1109/IVS.2007.4290276}, | |
| file = {Baslamisli2007.pdf:Baslamisli2007.pdf:PDF}, | |
| issn = {1931-0587}, | |
| keywords = {control system synthesis, road vehicles, stability, steering systems, | |
| time-varying systems, vehicle dynamics, gain scheduled active steering | |
| control design, parametric bicycle model, rational model, time-varying | |
| parameter, tire sideslip angle, vehicle forward speed, vehicle handling | |
| capacity, vehicle stability}, | |
| owner = {moorepants}, | |
| review = {This is the car "bicycle" model!}, | |
| timestamp = {2009.02.07}, | |
| webpdf = {references-folder/Baslamisli2007.pdf} | |
| } | |
| @ARTICLE{Bassett2008, | |
| author = {{Bassett Jr.}, David R. and Pucher, John and Buehler, Ralph and Thomason, | |
| Dixie L. and Crouter, Scott E.}, | |
| title = {Walking, Cycling, and Obesity Rates in Europe, North America, and | |
| Australia}, | |
| journal = {Journal of Physical Activity and Health}, | |
| year = {2008}, | |
| volume = {5}, | |
| pages = {795--814}, | |
| bib = {bibtex-keys#Bassett2008}, | |
| bibpr = {private-bibtex-keys#Bassett2008}, | |
| file = {Bassett2008.pdf:Bassett2008.pdf:PDF}, | |
| owner = {Luke}, | |
| timestamp = {2008.12.18}, | |
| webpdf = {references-folder/Bassett2008.pdf} | |
| } | |
| @UNPUBLISHED{Basu-Mandal2006, | |
| author = {Basu-Mandal, P. and Chatterjee, A. and Papadopoulos, J.}, | |
| title = {Hands-Free Circular Motions of a Benchmark Bicycle}, | |
| note = {A pre-print provided by the authors.}, | |
| year = {2006}, | |
| abstract = {We write nonlinear equations of motion for an idealized benchmark | |
| bicycle in two different ways and verify their validity. We then | |
| present a complete description of handsfree circular motions. Three | |
| distinct families exist. (i) A handlebar-forward family, starting | |
| from capsize bifurcation off straight-line motion and ending in unstable | |
| static equilibrium, with the frame perfectly upright and the front | |
| wheel almost perpendicular. (ii) 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. (iii) 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. Small sections of two families are stable.}, | |
| bib = {bibtex-keys#Basu-Mandal2006}, | |
| bibpr = {private-bibtex-keys#Basu-Mandal2006}, | |
| keywords = {bicycle dynamics, circular motions}, | |
| owner = {moorepants}, | |
| timestamp = {2008.10.09} | |
| } | |
| @ARTICLE{Basu-Mandal2007, | |
| author = {Basu-Mandal, Pradipta and Chatterjee, Anindya and Papadopoulos, Jim | |
| M.}, | |
| title = {Hands-free circular motions of a benchmark bicycle}, | |
| journal = {Proceedings of the Royal Society A: Mathematical, Physical and Engineering | |
| Sciences}, | |
| year = {2007}, | |
| volume = {463}, | |
| pages = {1983--2003}, | |
| number = {2084}, | |
| month = {August}, | |
| abstract = {We write nonlinear equations of motion for an idealized benchmarkbicycle | |
| in two different ways and verify their validity. We then present | |
| a complete description of hands-free circular motions. Three distinct | |
| families exist. (i) A handlebar-forward family, starting from capsize | |
| bifurcation off straight-line motion and ending in unstable static | |
| equilibrium, with the frame perfectly upright and the front wheel | |
| almost perpendicular. (ii) 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. (iii) 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. Small sections of two families are stable.}, | |
| bib = {bibtex-keys#Basu-Mandal2007}, | |
| bibpr = {private-bibtex-keys#Basu-Mandal2007}, | |
| file = {Basu-Mandal2007.pdf:Basu-Mandal2007.pdf:PDF}, | |
| owner = {Luke}, | |
| timestamp = {2008.10.27}, | |
| url = {http://dx.doi.org/10.1098/rspa.2007.1849}, | |
| webpdf = {references-folder/Basu-Mandal2007.pdf} | |
| } | |
| @BOOK{Beckwith1990, | |
| title = {Mechanical Measurements}, | |
| publisher = {Addison-Wesley Publishing Company, Inc.}, | |
| year = {1990}, | |
| author = {Thomas G. Beckwith and Roy Marangoni}, | |
| edition = {Fourth}, | |
| bib = {bibtex-keys#Beckwith1990}, | |
| bibpr = {private-bibtex-keys#Beckwith1990}, | |
| owner = {moorepants}, | |
| timestamp = {2010.02.22} | |
| } | |
| @INPROCEEDINGS{Berriah1999, | |
| author = {Berriah, S. and Lachiver, G.}, | |
| title = {Control of equilibrium and trajectory of a remotely controlled bicycle}, | |
| booktitle = {Engineering Solutions for the Next Millennium. 1999 IEEE Canadian | |
| Conference on Electrical and Computer Engineering}, | |
| year = {1999}, | |
| bib = {bibtex-keys#Berriah1999}, | |
| bibpr = {private-bibtex-keys#Berriah1999}, | |
| file = {Berriah1999.pdf:Berriah1999.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {Google translate of the conclusion: | |
| A bicycle is an unmanned system that is inherently unstable and its | |
| remote control is impossible without the existence of an embedded | |
| controller. | |
| It was in this spirit that a digital controller was developed to monitor | |
| the human pilot. The pilot and the controller is a single entity. | |
| A subsumption architecture style was developed in the heart of it | |
| a fuzzy controller can monitor the balance of the bike as it moves. | |
| The fuzzy controller is constructed starting from the identification | |
| of a servo adjustable gain control which allowed a stable bike. | |
| Other notes from Ryan reading it and telling me what it meant: | |
| - They did build the prototype of the model. | |
| - A rate gyro measure roll rate. | |
| - They compare the output of their fuzzy controller model with the | |
| actual output of the servo motor driven with the model for a good | |
| match. | |
| - They show some time history traces of the servo motor, gyro, and | |
| speed, but I'm not sure this was during an actual stablization run | |
| or if it was just bench testing. I think it was bench testing.}, | |
| timestamp = {2009.11.03}, | |
| webpdf = {references-folder/Berriah1999.pdf} | |
| } | |
| @INPROCEEDINGS{Berritta2002, | |
| author = {R. Berritta and L. Mitolo}, | |
| title = {Evaluation of motorcycle performance in “U” turn test using multibody | |
| code LMS DADS}, | |
| booktitle = {HIGH-TECH CARS AND ENGINES, COMPONENTS, MATERIALS, TECNOLOGIES AND | |
| INNOVATIVE SYSTEMS}, | |
| year = {2002}, | |
| bib = {bibtex-keys#Berritta2002}, | |
| bibpr = {private-bibtex-keys#Berritta2002}, | |
| file = {Berritta2002.pdf:Berritta2002.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Berritta2002.pdf} | |
| } | |
| @ARTICLE{Berry2000, | |
| author = {Michael J. Berry and Timothy R. Koves and John J. Benedetto}, | |
| title = {The influence of speed, grade and mass during simulated off road | |
| bicycling}, | |
| journal = {Applied Ergonomics}, | |
| year = {2000}, | |
| volume = {31}, | |
| pages = {531--536}, | |
| bib = {bibtex-keys#Berry2000}, | |
| bibpr = {private-bibtex-keys#Berry2000}, | |
| file = {Berry2000.pdf:Berry2000.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Berry2000.pdf} | |
| } | |
| @INPROCEEDINGS{Besselink2008, | |
| author = {Igo Besselink and Tjalling Veldhuizen and Henk Nijmeijer}, | |
| title = {Improving Yaw Dynamics by Feedforward Rear Wheel Steering}, | |
| booktitle = {2008 IEEE Intelligent Vehicles Symposium}, | |
| year = {2008}, | |
| bib = {bibtex-keys#Besselink2008}, | |
| bibpr = {private-bibtex-keys#Besselink2008}, | |
| file = {Besselink2008.pdf:Besselink2008.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Besselink2008.pdf} | |
| } | |
| @INPROCEEDINGS{Beznos1998, | |
| author = {A. V. Beznos and A. M. Formal'sky and E. V. Gurfinkel and D. Jicharev | |
| and A. V. Lensky and K. V. Savitsky and L.S. Tchesalin}, | |
| title = {Control of autonomous motion of two-wheel bicycle with gyroscopic | |
| stabilization}, | |
| booktitle = {Proceedings of the 1998 IEEE International Conference on Robotics | |
| and Automation}, | |
| year = {1998}, | |
| pages = {2670--2675}, | |
| address = {Leuven, Belgium}, | |
| bib = {bibtex-keys#Beznos1998}, | |
| bibpr = {private-bibtex-keys#Beznos1998}, | |
| file = {Beznos1998.pdf:Beznos1998.pdf:PDF}, | |
| review = {robot}, | |
| timestamp = {2012.01.02}, | |
| webpdf = {references-folder/Beznos1998.pdf} | |
| } | |
| @MISC{Bianchi2009, | |
| author = {Bianchi}, | |
| title = {2007 Bianchi Pista Specifications}, | |
| howpublished = {http://www.bianchiusa.com/07-bicycles/07-track/07-pista.html}, | |
| month = {July}, | |
| year = {2009}, | |
| bib = {bibtex-keys#Bianchi2009}, | |
| bibpr = {private-bibtex-keys#Bianchi2009}, | |
| file = {Bianchi2009.pdf:Bianchi2009.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.07.21}, | |
| webpdf = {references-folder/Bianchi2009.pdf} | |
| } | |
| @MISC{BicyRobo2011, | |
| author = {BicyRobo}, | |
| title = {BicyRobo Thailand Championship}, | |
| howpublished = {World Wide Web}, | |
| year = {2011}, | |
| note = {http://bicyrobo.ait.ac.th/}, | |
| timestamp = {2012.08.08}, | |
| url = {http://bicyrobo.ait.ac.th/} | |
| } | |
| @ARTICLE{Biral2003, | |
| author = {Biral, F. and Bortoluzzi, D. and Cossalter, V. and Lio, M.}, | |
| title = {Experimental Study of Motorcycle Transfer Functions for Evaluating | |
| Handling}, | |
| journal = {Vehicle System Dynamics: International Journal of Vehicle Mechanics | |
| and Mobility}, | |
| year = {2003}, | |
| volume = {39}, | |
| pages = {1-25}, | |
| number = {1}, | |
| abstract = {Summary The transfer functions of a motorcycle, especially that between | |
| roll angle and steering torque, qualify input-output characteristics | |
| - that is, motion produced as a function of steering torque - and | |
| are closely related to ease of use and handling. This paper describes | |
| the measurement of the transfer functions of a typical sports motorcycle, | |
| resulting from data collected in slalom tests. These functions are | |
| then compared to analytical transfer functions derived from known | |
| models in the literature. The comparison shows fair to good agreement. | |
| Lastly, the formation of steering torque is analysed and the observed | |
| transfer functions are interpreted in this framework. It is shown | |
| that gyroscopic effects are mostly responsible for the lag between | |
| steering torque and roll angle, and that there is a velocity for | |
| which the various terms that combine to form steering torque cancel | |
| each other out, yielding a Âmaximum gain condition' for torque to | |
| roll transfer function which drivers rated Âgood handling'.}, | |
| bib = {bibtex-keys#Biral2003}, | |
| bibpr = {private-bibtex-keys#Biral2003}, | |
| doi = {10.1076/vesd.39.1.1.8243}, | |
| file = {Biral2003.pdf:Biral2003.pdf:PDF}, | |
| keywords = {steer torque, slalom}, | |
| owner = {moorepants}, | |
| review = {JKM - Biral et al. designed a custom steer torque measurement system | |
| using a cantilever beam. They don't specifically discuss the cross | |
| talk, but do mention that they use a half-bridge strain gauge. This | |
| design seems that it could be susceptible to cross talk from the | |
| forces applied to the handlebars by the rider. But they also report | |
| experimental values for torque that match model predictions very | |
| well. The measure torques from -20 to 20 Nm for a slalom maneuver | |
| at 13 m/s. | |
| They computed roll angle by integrating their roll rate measurements. | |
| To account for drift the motorcycle travel on straight sections at | |
| the beginning and end of each run. | |
| They ran the motorcycle through slaloms and examined the very sinosodial | |
| data during the slalom part of the maneuver. They did a variety of | |
| slaloms by changing cone spacing and varying the motorcycles speed. | |
| This gave data points at multiple frequencies. Speeds ranged from | |
| 2.5 to 27.2 m/s. (Their example graph is at 40 m/s??) The cone spacing | |
| was 7m, 14m, and 21m. | |
| They do not account for the inertial affects of the handlebars. | |
| They compare three experimental and three model tranfer functions | |
| (they use both one of Sharp's models and one of Lot's). Sharp's 1971 | |
| model is one of the earlier motorcycl models and the Lot one is more | |
| modern with extra stuff added in. These are interesting Bode plots | |
| because they aren't plotted for a constant speed, but for constant | |
| cone spacing. Since cone spacing is proportional to frequency with | |
| respect to speed you can make these plots. This is good because it | |
| is difficult to do experiments at exact repeatable speeds. They point | |
| out that there is a peak torque to roll angle amplitude ratio at | |
| about 7 m/s for all cone spacings. They also say that the riders | |
| give better handling ratings at this speed. | |
| The steer angle to yaw rate transfer function is quite linear until | |
| speeds where sideslip starts to matter. The linear part slope only | |
| depends on wheelbase and cone spacing. | |
| The Lot model seems to fit generally better than the Sharp model, | |
| though both fit pretty well (by eye). It would be great if they provided | |
| some statisics on how well the fits were. They could have also done | |
| this with system id techniques instead of fitting sinusoids to the | |
| data. | |
| They use a Nyquist plot to show why there is a "large" descrepancy | |
| in the phase of the roll/steer torque transfer function 7m graph. | |
| It just happens that the path of the experimental data passes through | |
| an opposite quadrant as the theorectical, so the phase has drastic | |
| change. But they are actually similar. | |
| Lot's model seems to be all numerical. | |
| They talk a bit about the contributions to steering torque and how | |
| the tires are biggest contributor. | |
| They point out that fitting a sinusoid to a non-linear simulation | |
| and plotting the point just as they did with experimental data it | |
| doesn't fall on the linear Bode plot line. Some of the error is explained | |
| by there fitting procedure and using a linear model.}, | |
| timestamp = {2009.09.16}, | |
| url = {http://www.informaworld.com/10.1076/vesd.39.1.1.8243}, | |
| webpdf = {references-folder/Biral2003.pdf} | |
| } | |
| @INPROCEEDINGS{Biral2010, | |
| author = {F. Biral and R. Lot and R. Sartori and A. Borin and B. Roessler†}, | |
| title = {An intelligent Frontal Collision Warning system for Motorcycles}, | |
| booktitle = {Bicycle and Motorcycle Dynamics 2010 Symposium on the Dynamics and | |
| Control of Single Track Vehicles}, | |
| year = {2010}, | |
| address = {Delft, Netherlands}, | |
| month = {October}, | |
| organization = {TU Delft}, | |
| bib = {bibtex-keys#Biral2010}, | |
| bibpr = {private-bibtex-keys#Biral2010}, | |
| file = {Biral2010.pdf:Biral2010.pdf:PDF}, | |
| keywords = {advanced rider assistance systems, frontal collision warning, optimal | |
| preview manoeuvre, motorcycle}, | |
| owner = {moorepants}, | |
| timestamp = {2011.04.25}, | |
| webpdf = {references-folder/Biral2010.pdf} | |
| } | |
| @MISC{Bjornstrup1995, | |
| author = {J{\o}rgen Bj{\o}rnstrup}, | |
| title = {Estimation of Human Body Segment Parameters - Historical Background}, | |
| year = {1995}, | |
| bib = {bibtex-keys#Bjornstrup1995}, | |
| bibpr = {private-bibtex-keys#Bjornstrup1995}, | |
| file = {Bjornstrup1995.pdf:Bjornstrup1995.pdf:PDF}, | |
| webpdf = {references-folder/Bjornstrup1995.pdf} | |
| } | |
| @MASTERSTHESIS{Bjermeland2006, | |
| author = {L. Bjermeland}, | |
| title = {Modeling, simulation and control system design for an autonomous | |
| bicycle}, | |
| school = {Norges Teknisk-Naturvitenskapelige Universitet}, | |
| year = {2006}, | |
| bib = {bibtex-keys#Bjermeland2006}, | |
| bibpr = {private-bibtex-keys#Bjermeland2006} | |
| } | |
| @PERIODICAL{Bloomfield1999, | |
| title = {Tricks Of A Two-Wheeler -- `Look, Ma, No Hands' Not As Tough As It | |
| Sounds}, | |
| year = {1999}, | |
| organization = {The Washington Post}, | |
| month = {August}, | |
| author = {Louis A. Bloomfield}, | |
| bib = {bibtex-keys#Bloomfield1999}, | |
| bibpr = {private-bibtex-keys#Bloomfield1999}, | |
| file = {Bloomfield1999.pdf:Bloomfield1999.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.16}, | |
| webpdf = {references-folder/Bloomfield1999.pdf} | |
| } | |
| @INPROCEEDINGS{Boniolo2010a, | |
| author = {Ivo Boniolo and Stefano Corbetta and Sergio M. Savaresi}, | |
| title = {Attitude estimation of a motorcycle in a Kalman filtering framework}, | |
| booktitle = {6th IFAC Symposium Advances in Automotive Control}, | |
| year = {2010}, | |
| bib = {bibtex-keys#Boniolo2010a}, | |
| bibpr = {private-bibtex-keys#Boniolo2010a}, | |
| file = {Boniolo2010a.pdf:Boniolo2010a.pdf:PDF}, | |
| timestamp = {2012.03.01}, | |
| webpdf = {references-folder/Boniolo2010a.pdf} | |
| } | |
| @INPROCEEDINGS{Boniolo2008a, | |
| author = {Ivo Boniolo and Michele Norgia and Mara Tanelli and Cesare Svelto | |
| and Sergio M. Savaresi}, | |
| title = {Performance analysis of an optical distance sensor for roll angle | |
| estimation}, | |
| booktitle = {Proceedings of the 17th World Congress The International Federation | |
| of Automatic Control}, | |
| year = {2008}, | |
| bib = {bibtex-keys#Boniolo2008a}, | |
| bibpr = {private-bibtex-keys#Boniolo2008a}, | |
| file = {Boniolo2008a.pdf:Boniolo2008a.pdf:PDF}, | |
| timestamp = {2012.03.01}, | |
| webpdf = {references-folder/Boniolo2008a.pdf} | |
| } | |
| @INPROCEEDINGS{Boniolo2010, | |
| author = {Ivo Boniolo and Sergio M Savaresi}, | |
| title = {Motorcycle lean angle estimation with frequency separation principle | |
| and angular rates measurements}, | |
| booktitle = {6th IFAC Symposium Advances in Automotive Control}, | |
| year = {2010}, | |
| bib = {bibtex-keys#Boniolo2010}, | |
| bibpr = {private-bibtex-keys#Boniolo2010}, | |
| file = {Boniolo2010.pdf:Boniolo2010.pdf:PDF}, | |
| timestamp = {2012.03.01}, | |
| webpdf = {references-folder/Boniolo2010.pdf} | |
| } | |
| @ARTICLE{Boniolo2009, | |
| author = {Boniolo, I. and Savaresi, S. M. and Tanelli, M.}, | |
| title = {Roll angle estimation in two-wheeled vehicles}, | |
| journal = {IET Control Theory and Applications}, | |
| year = {2009}, | |
| volume = {3}, | |
| pages = {20-32}, | |
| number = {1}, | |
| month = {January}, | |
| abstract = {An innovative method for estimating the roll angle in two-wheeled | |
| vehicles is proposed. The roll angle is a crucial variable in the | |
| dynamics of two-wheeled vehicles, since it greatly affects the behaviour | |
| of the tire-road contact forces. Hence, the capability of providing | |
| in real time a reliable measure of such quantity allows us to evaluate | |
| the dynamic properties of the vehicle and its tyres, and represents | |
| the enabling technology for the design of advanced braking, traction | |
| and stability control systems. The method proposed is based on a | |
| low-cost sensor configuration, suitable for industrial purposes. | |
| The validity of the proposed approach is assessed in a multi-body | |
| motorbike simulator environment and also on an instrumented test | |
| vehicle.}, | |
| address = {MICHAEL FARADAY HOUSE SIX HILLS WAY STEVENAGE, HERTFORD SG1 2AY, | |
| ENGLAND}, | |
| affiliation = {Boniolo, I (Reprint Author), Politecn Milan, Dipartimento Elettr \& | |
| Informaz, Piazza L da Vinci 32, I-20133 Milan, Italy. {[}Boniolo, | |
| I.; Savaresi, S. M.; Tanelli, M.] Politecn Milan, Dipartimento Elettr | |
| \& Informaz, I-20133 Milan, Italy. {[}Tanelli, M.] Univ Bergamo, | |
| Dipartimento Ingn Informaz \& Metodi Matemat, I-24044 Dalmine, BG, | |
| Italy.}, | |
| author-email = {tanelli@elet.polimi.it}, | |
| bib = {bibtex-keys#Boniolo2009}, | |
| bibpr = {private-bibtex-keys#Boniolo2009}, | |
| doc-delivery-number = {400KB}, | |
| doi = {10.1049/iet-cta:20080052}, | |
| file = {Boniolo2009.pdf:Boniolo2009.pdf:PDF}, | |
| issn = {1751-8644}, | |
| journal-iso = {IET Contr. Theory Appl.}, | |
| keywords = {roll angle}, | |
| keywords-plus = {MOTORCYCLE; STABILITY; SIMULATION; DYNAMICS; SYSTEMS; BRAKING; MODEL}, | |
| language = {English}, | |
| number-of-cited-references = {30}, | |
| owner = {Luke}, | |
| publisher = {INST ENGINEERING TECHNOLOGY-IET}, | |
| review = {JKM - These guys propose two methods to estimate the roll angle of | |
| the motorcycle using only gyros and vehicle speed: ``speed-based'' | |
| and``gyro-base''. The ``speed-based'' approach seems like it could | |
| be appropriate for our project, as it only requires measuring the | |
| roll and yaw body fixed rates and the wheel rate. The gyro-based | |
| is more detailed to incorporate the slope and bank angle of the roads, | |
| which we will not need. The accuracy of the method isn't super high, | |
| definitely not compared to measuring the roll angle with a mechanical | |
| device or maybe even motion capture. They say the peak estimation | |
| errors for roll angle are 5 degrees. They split the rate measurements | |
| into high and low frequency components because the low frequency | |
| contains the DC drift noise. A parameter is chosen for the low pass | |
| filter as low as possible to split the frequency signals. The high | |
| frequency estimated versus laser measured had a 0.05 error-to-signal | |
| ratio. They use a force balance equation (12) and warping function | |
| to estimate the low freq roll angle component. They tuned the warping | |
| function by performing steady state cornering tests and using system | |
| ID tools to fit a curve. The gyro-based rate is used to include road | |
| slope and bank angle. If the accuracy of 5 percent is good enough | |
| for our measurements this may be a good way to do things, but it | |
| requires having a way to measure roll angle of the bike for calibration | |
| purposes. This could be done by borrowing some distance lasers, using | |
| motion capture or building a mechical roll angle measurement device | |
| in the lab. | |
| Other things to note: | |
| - they claim that there are drive-by-wire motorcycles, should look | |
| this up | |
| - check out SAFEBIKE http://safebike.jku.at | |
| - look up more info on IMUs-Inertial Measurement systems | |
| - they used 4 one-axis gyros with a 10hz cutoff frequency | |
| - they used a 100-step encoder wheel for wheel rate measurement | |
| - they claim the laser sensors' measurement error is on average less | |
| than 1 degree | |
| - they adjusted for misalignment in mounting the gyros by riding straight | |
| for 10s to calibrate | |
| - equation 15 shows how the roll angle is different for tordial tires | |
| - they should have taken better care to align the gyros properly | |
| DLP -- Two optical distance sensors were mounted to the rear passenger | |
| foot pegs, so that lean angle can be determined by the formula phi | |
| = arctan( (z_1 - z_2) / L), where $z_1$ and $z_2$ are the distance | |
| readings from either sensor to the ground, and L is the constant | |
| distance between the two sensors. Pitching motions of the frame would | |
| affect this measurement although this effect would only be second | |
| order. For the large lean angles obtained by a motorcycle, $50^\circ | |
| - 55^\circ$, it seems like the pitching motion would be non negligble. | |
| Additionally, four single axis rate gyroscopes were mounted to the | |
| main frame of the motorcycle. The details of how they were mounted | |
| and aligned is not mentioned, but presumably the had one aligned | |
| with the longitudinal axis (to measure roll rate) and one with the | |
| vertical axis (to measure yaw rate), both when the motorcycle is | |
| in the upright zero steer configuration. The other two rate gyros | |
| were aligned with axes that were initially aligned with the yaw measurement | |
| axis, then rotated $\pm45^\circ$ about the longitudinal axis. These | |
| additional gyroscopes were used in their alternative LF roll angle | |
| estimation method.\\ | |
| I wonder why the complete kinematic differential equations of the | |
| motorcycle are not used to integrate and determine the actual coordinates. | |
| If the $u_i = \omega^D \cdot d_i$, where $d_i$ are the three body | |
| fixed coordinates ($d_2$ out of plane of symmetry, $d_3$ aligned | |
| with steer axis, $d_1 = d_2 \times d_3$) of the bicycle frame, then | |
| the kinematic differential equations are:\\ | |
| $\dot{q}_1=-(s_3/c_2) u_1 + (c_3/c_2) u_3$\\ | |
| $\dot{q}_2=c_3 u_1 + s_3 u_3$\\ | |
| $\dot{q}_3=s_3 t_2 u_1 + u_2 - c_3 t_2 u_3$\\ | |
| Where $q_1$ is the yaw, $q_2$ is the roll, and $q_3$ is the pitch. | |
| I guess probably the linearization is plenty accurate and the nonlinear | |
| equations needn't be used, especially for the roll angle differential | |
| equation. For the yaw angle differential equation, it seems like | |
| you could safely linearize in pitch, but maybe not lean. I wonder | |
| if drift in the estimated roll angle could be due to kinematic approximations | |
| such as these.\\ | |
| The filter they used was a digital low pass filter with unity gain | |
| at DC (s=0 <==> z=1): $(1-a) / (1 - a/z)$. The signal from the gyroscope | |
| was filtered, then subtracted the original to determine the high | |
| frequency component of roll rate, which was then integrated to estimate | |
| roll angle. One confusing thing that is not mentioned is that the | |
| optical sensor measures distance, and they talk about the high frequency | |
| component of the true roll angle as measured by the optical encoder, | |
| but they don't say if they used the exact same procedure with the | |
| *roll angle from the optical sensors* as they did with the *roll | |
| angle RATE from the rate gyroscope* -- i.e., did they just filter | |
| the roll angle signal from the optical sensors and then subtract | |
| it from the original roll angle in order to determine the HF "true" | |
| roll angle? Also missing from the paper was an analog to figure 10 | |
| for the LF component from both the optical sensors and the rate gyros.\\ | |
| The exact sensors they used were never mentioned. This would be nice | |
| and we should contact them to find this out.\\}, | |
| subject-category = {Automation \& Control Systems; Engineering, Electrical \& Electronic; | |
| Instruments \& Instrumentation}, | |
| times-cited = {0}, | |
| timestamp = {2009.03.06}, | |
| type = {Article}, | |
| unique-id = {ISI:000262865400002}, | |
| webpdf = {references-folder/Boniolo2009.pdf} | |
| } | |
| @INPROCEEDINGS{Boniolo2008, | |
| author = {Boniolo, I. and Tanelli, M. and Savaresi, S.M.}, | |
| title = {Roll angle estimation in two-wheeled vehicles}, | |
| booktitle = {17th IEEE International Conference on Control Applications, Part | |
| of 2008 IEEE Multi-conference on Systems and Control}, | |
| year = {2008}, | |
| pages = {31-36}, | |
| address = {San Antonio, Texas, USA}, | |
| month = {September}, | |
| abstract = {In this work an innovative method for estimating the roll angle in | |
| two-wheeled vehicles is proposed. The capability of providing in | |
| real time a reliable measure of such quantity allows to evaluate | |
| the dynamic properties of the vehicle and its tires and represents | |
| the enabling technology for the design of advanced ABS systems and | |
| stability control systems. The method proposed in this work is based | |
| on a low-cost sensor configuration, suitable for industrial purposes. | |
| The validity of the proposed approach is assessed in a multi-body | |
| simulator environment and on an instrumented test vehicle.}, | |
| bib = {bibtex-keys#Boniolo2008}, | |
| bibpr = {private-bibtex-keys#Boniolo2008}, | |
| doi = {10.1109/CCA.2008.4629599}, | |
| file = {Boniolo2008.pdf:Boniolo2008.pdf:PDF}, | |
| issn = {1085-1992}, | |
| journal = {Control Applications, 2008. CCA 2008. IEEE International Conference | |
| on}, | |
| keywords = {braking, control system synthesis, road vehicles, stability, vehicle | |
| dynamicsABS system design, antilock braking system, instrumented | |
| test vehicle, low-cost sensor configuration, multibody simulator | |
| environment, roll angle estimation, stability control system design, | |
| two-wheeled vehicle dynamics}, | |
| webpdf = {references-folder/Boniolo2008.pdf} | |
| } | |
| @INPROCEEDINGS{Bortoluzzi2000, | |
| author = {D. Bortoluzzi and A. Doria and R. Lot}, | |
| title = {Experimental investigation and simulation of motorcycle turning performance}, | |
| booktitle = {3rd International Motorcycle Conference}, | |
| year = {2000}, | |
| bib = {bibtex-keys#Bortoluzzi2000}, | |
| bibpr = {private-bibtex-keys#Bortoluzzi2000}, | |
| file = {Bortoluzzi2000.pdf:Bortoluzzi2000.pdf:PDF}, | |
| keywords = {steer torque}, | |
| review = {They identify the fact that you may have to use a positive or a negative | |
| steering torque to maintain a turn. | |
| Similar description of the steer torque measurement system as in Biral2003.}, | |
| timestamp = {2012.01.11}, | |
| webpdf = {references-folder/Bortoluzzi2000.pdf} | |
| } | |
| @ARTICLE{Bourlet1899, | |
| author = {Bourlet, C.}, | |
| title = {Etude theorique sur la bicyclette}, | |
| journal = {Bulletin de la Societe Mathematique de France}, | |
| year = {1899}, | |
| volume = {27}, | |
| pages = {47-67}, | |
| bib = {bibtex-keys#Bourlet1899}, | |
| bibpr = {private-bibtex-keys#Bourlet1899}, | |
| file = {Bourlet1899.pdf:Bourlet1899.pdf:PDF}, | |
| owner = {luke}, | |
| timestamp = {2009.10.26}, | |
| webpdf = {references-folder/Bourlet1899.pdf} | |
| } | |
| @ARTICLE{Bower1915, | |
| author = {Bower, George S.}, | |
| title = {Steering and Stability of Single-Track Vehicles}, | |
| journal = {The Automobile Engineer}, | |
| year = {1915}, | |
| volume = {5}, | |
| pages = {280--283}, | |
| bib = {bibtex-keys#Bower1915}, | |
| bibpr = {private-bibtex-keys#Bower1915}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30} | |
| } | |
| @BOOK{Box1994, | |
| title = {Time Series Analysis: Forecasting and Control}, | |
| publisher = {Prentice Hall}, | |
| year = {1994}, | |
| editor = {Jerome Grant}, | |
| author = {George E. P. Box and Gwilym M. Jenkins and Gregory C. Reinsel}, | |
| edition = {Third}, | |
| bib = {bibtex-keys#Box1994}, | |
| bibpr = {private-bibtex-keys#Box1994}, | |
| review = {Chapter 2 | |
| auto: as relates to itself. What is the variance of time series data | |
| points with respect to themselves? | |
| Autocovariance and autocorrelatoin are related by the stationary variance | |
| of the stochasitc process. Both give an idea of how the time series | |
| data are correlated to data k time steps away. | |
| Use these spectrum calcs for frequency views of the time series. The | |
| sample spectrum is the Fourier cosine transform of the estimate of | |
| teh autocovariance function but this isn't very useful. So the power | |
| spectrum is computed as the sample size goes to infinity. The power | |
| spectrum is the Fourier cosine transform of the autocovariance function. | |
| The spectral density is the spectrum on the autocorrelations instead | |
| of the autocovariances. The spectrums are mathematically equivalent | |
| to the autocovarainces and autocorrelations, but provide a different | |
| view.}, | |
| timestamp = {2012.02.10} | |
| } | |
| @ARTICLE{Boyd1997, | |
| author = {Thomas F. Boyd and R. R. Neptune and M. L. Hull}, | |
| title = {Pedal and knee loads using a multi-degree-of-freedom pedal platform | |
| in cycling}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1997}, | |
| volume = {30}, | |
| pages = {505 - 511}, | |
| number = {5}, | |
| abstract = {To provide a scientific basis for the design of bicycle pedals which | |
| possibly alleviate over-use knee injuries, two hypotheses were tested | |
| in the present study. The two hypotheses were: (1) that the three-dimensional | |
| pedal constraint loads; and (2) that the three-dimensional intersegmental | |
| knee loads would be reduced more significantly by a foot/pedal platform | |
| allowing both adduction/abduction and inversion/eversion rotations | |
| simultaneously than by a platform which allowed either rotation individually. | |
| To test these hypotheses, pedal load and lower limb kinematic data | |
| were collected from 10 subjects who pedaled with four pedal platforms | |
| which allowed zero, one, and two degrees of freedom. A number of | |
| quantities describing both pedal loads and intersegmental knee loads | |
| was computed for each of the four pedal platforms using a previously | |
| reported biomechanical model. The quantities included the positive | |
| and negative extremes, averages, and areas, as well as the total | |
| absolute area and RMS. Quantities were compared using analysis of | |
| variance techniques. The key results were that there were significant | |
| reductions in the coupled nondriving moments at the pedal for the | |
| dual-rotation platform compared to each of the single-rotation cases. | |
| The significant reductions in the coupled moments at the pedal were | |
| not manifest at the knee. However, a general nonsignificant reduction | |
| in both coupled knee moments was evident. Also, the valgus knee moment | |
| was significantly reduced by the dual-rotation platform compared | |
| to the inversion/eversion only design. Although the axial knee moment | |
| was not significantly reduced by the dual-rotation platform over | |
| the adduction/abduction design, there was a general nonsignificant | |
| reduction. The lack of significance in knee load results occurred | |
| because of high intersubject variability. Accordingly, load reduction | |
| benefits made by introducing the second degree of freedom need to | |
| be considered individually.}, | |
| bib = {bibtex-keys#Boyd1997}, | |
| bibpr = {private-bibtex-keys#Boyd1997}, | |
| doi = {DOI: 10.1016/S0021-9290(96)00152-2}, | |
| file = {Boyd1997.pdf:Boyd1997.pdf:PDF}, | |
| issn = {0021-9290}, | |
| keywords = {Cycling}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-3RGSWBR-X/2/370e4e69f48a79699d302f74ccefebb2}, | |
| webpdf = {references-folder/Boyd1997.pdf} | |
| } | |
| @MASTERSTHESIS{Brekke2010, | |
| author = {Snorre Eskeland Brekke}, | |
| title = {Autonomous Bicycle}, | |
| school = {Norwegian University of Science and Technology}, | |
| year = {2010}, | |
| bib = {bibtex-keys#Brekke2010}, | |
| bibpr = {private-bibtex-keys#Brekke2010}, | |
| file = {Brekke2010.pdf:Brekke2010.pdf:PDF}, | |
| timestamp = {2012.01.02}, | |
| webpdf = {references-folder/Brekke2010.pdf} | |
| } | |
| @ARTICLE{Bridges1987, | |
| author = {Bridges, P. and Russell, J. B.}, | |
| title = {The Effect of Topboxes on Motorcycle Stability}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {1987}, | |
| volume = {16}, | |
| pages = {345--354}, | |
| number = {5--6}, | |
| bib = {bibtex-keys#Bridges1987}, | |
| bibpr = {private-bibtex-keys#Bridges1987}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @MASTERSTHESIS{Brok2009, | |
| author = {Brok}, | |
| title = {A SimMechanics motorcycle tyre model for real time purposes}, | |
| school = {Delft University of Technology}, | |
| year = {2009}, | |
| bib = {bibtex-keys#Brok2009}, | |
| bibpr = {private-bibtex-keys#Brok2009}, | |
| file = {Brok2009.pdf:Brok2009.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2011.10.28}, | |
| webpdf = {references-folder/Brok2009.pdf} | |
| } | |
| @MASTERSTHESIS{Buehler2007, | |
| author = {Theodore J. Buehler}, | |
| title = {Fifty Years of Bicycle Policy in Davis, CA}, | |
| school = {University of California, Davis}, | |
| year = {2007}, | |
| month = {June}, | |
| bib = {bibtex-keys#Buehler2007}, | |
| bibpr = {private-bibtex-keys#Buehler2007}, | |
| file = {Buehler2007.pdf:Buehler2007.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.16}, | |
| webpdf = {references-folder/Buehler2007.pdf} | |
| } | |
| @TECHREPORT{Bullen2001, | |
| author = {Frank Bullen and Sean Wilkinson}, | |
| title = {Bicycle Accidents Caused By Steering Instability}, | |
| institution = {The Federal Office of Road Safety, Australia}, | |
| year = {2001}, | |
| bib = {bibtex-keys#Bullen2001}, | |
| bibpr = {private-bibtex-keys#Bullen2001}, | |
| file = {Bullen2001.pdf:Bullen2001.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Bullen2001.pdf} | |
| } | |
| @INPROCEEDINGS{Cain2010, | |
| author = {S. M. Cain and N. C. Perkins}, | |
| title = {Comparison of a Bicycle Steady-State Turning Model to Experimental | |
| Data}, | |
| booktitle = {Bicycle and Motorcycle Dynamics 2010 Symposium on the Dynamics and | |
| Control of Single Track Vehicles}, | |
| year = {2010}, | |
| address = {Delft, Netherlands}, | |
| month = {October}, | |
| organization = {TU Delft}, | |
| bib = {bibtex-keys#Cain2010}, | |
| bibpr = {private-bibtex-keys#Cain2010}, | |
| file = {Cain2010.pdf:Cain2010.pdf:PDF}, | |
| keywords = {instrumented bicycle, steady turning, rider lean, steering torque. | |
| steer torque sensor}, | |
| owner = {moorepants}, | |
| review = {Shows that including some sort of tire model doesnt' improve the results | |
| much. | |
| Steering torque sensor: A torque sensor (Transducer Techniques SWS-20) | |
| was installed inside the steer tube. Mounting in angular contact | |
| bearings was done to isolated only steer torque (remove crosstalk | |
| from other loads). Calibrated it themselves with known masses. The | |
| sensor stiffness was 4.97 n-m/deg. Amplified and sampled at 1000hz. | |
| The design may remove crosstalk from axial loading but the cross | |
| talk from all other bending moments seems like it could still be | |
| there. It isn't that great of an isolation of the steer torque. | |
| Measured steer angle with optical encoder, rear wheel speed with a | |
| reed swith and single magnet on the wheel. He measure the frame rates | |
| and acceleration at a point with a 3 axis rate gyro (Murata ENC-03M..of | |
| murata boy/girl fame) and a 3 axis accelerometer (analog devices | |
| adxl335). He calibrated the custom IMU using a technique by King. | |
| Collected data with Labview, two USB-6008s and a dell mini computer. | |
| He uses a simplified bicycel model. | |
| Uses tire models from Roland and Sharp. | |
| His model doesn't predict steering torque as well. | |
| Max steer torque for bicycle in steady turn measured in his experiments: | |
| 2.4 nm. All his measured steering torques were less than 10\% of | |
| the full scale (i.e. his sensor was oversized). | |
| Steering torque can be changed significantly by the rider leaning | |
| in or out of the turn. | |
| on of his conclusions: "By contrast, the steering angle/lateral acceleration | |
| ratio is largely insensitive to rider lean, suggesting that using | |
| the steering angle as a cue for bicycle control is advantageous over | |
| using steering torque."}, | |
| timestamp = {2011.04.25}, | |
| webpdf = {references-folder/Cain2010.pdf} | |
| } | |
| @MISC{Calfee2007, | |
| author = {Craig Calfee}, | |
| title = {Geometry of Bike Handling}, | |
| howpublished = {North American Hand Built Bicycle Show Program}, | |
| year = {2007}, | |
| timestamp = {2012.08.08} | |
| } | |
| @TECHREPORT{Calspan1974, | |
| author = {Calspan}, | |
| title = {A proposal to develop motorcycle rider training films}, | |
| institution = {Calspan Corporation}, | |
| year = {1974}, | |
| abstract = {This proposal describes a research program aimed at developing training | |
| films utilizing computer graphics techniques for use in motorcycle | |
| rider education. The approach is based on applying computer simulations | |
| and graphics methods already developed at Calspan to special motorcycle | |
| rider training problems. Emphasis has been placed on the off-tracking | |
| steering technique for cornering (i. e. the initiation of a turn | |
| by first steering out of it) but several other potential applications | |
| are identified.}, | |
| bib = {bibtex-keys#Calspan1974}, | |
| bibpr = {private-bibtex-keys#Calspan1974}, | |
| file = {Calspan1974.pdf:Calspan1974.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2010.09.15}, | |
| webpdf = {references-folder/Calspan1974.pdf} | |
| } | |
| @TECHREPORT{Calspan1974a, | |
| author = {Calspan}, | |
| title = {Research on the accident avoidance capabilities of motorcycles}, | |
| institution = {Calspan Corporation}, | |
| year = {1974}, | |
| number = {ZN-5571-V}, | |
| month = {December}, | |
| note = {Six month progress report}, | |
| bib = {bibtex-keys#Calspan1974a}, | |
| bibpr = {private-bibtex-keys#Calspan1974a}, | |
| file = {Calspan1974a.pdf:Calspan1974a.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Calspan1974a.pdf} | |
| } | |
| @ARTICLE{Cangley2012, | |
| author = {P. Cangley and L. Passfield and H. Carter and M. Bailey}, | |
| title = {A model for performance enhancement in competitive cycling}, | |
| journal = {Movement \& Sport Sciences – Science \& Motricité}, | |
| year = {2012}, | |
| volume = {75}, | |
| pages = {59--71}, | |
| doi = {10.1051/sm/2011126}, | |
| file = {Cangley2012.pdf:Cangley2012.pdf:PDF}, | |
| timestamp = {2012.04.17} | |
| } | |
| @ARTICLE{Capitani2006, | |
| author = {Capitani, R. and Masi, G. and Meneghin, A. and Rosti, D.}, | |
| title = {Handling analysis of a two-wheeled vehicle using {MSC.ADAMS}/motorcycle}, | |
| journal = {Vehicle System Dynamics: International Journal of Vehicle Mechanics | |
| and Mobility}, | |
| year = {2006}, | |
| volume = {44}, | |
| pages = {698--707}, | |
| abstract = {In this article, the results of a virtual analysis of a two-wheeled | |
| vehicle are described. A virtual prototype of a Piaggio Liberty 150 | |
| 4T was built to evaluate the handling behavior during some codified | |
| maneuvers. The activity was done with the cooperation of Piaggio | |
| & C. SpA and MSC Software. The multibody model was built using MSC.Adams/Motorcycle. | |
| It reproduces the original vehicle (geometry, inertia, and spring/damper | |
| coefficients) and is fully parametrized. The actions between ground | |
| and tires are calculated with the "Magic Formula". The multibody | |
| model, controlled applying a steering torque to the handlebar, was | |
| tested during some maneuvers (turn, ISO lane change, "Figure 8"), | |
| and the results were compared with the experimental data acquired | |
| with an instrumented vehicle during the same maneuvers. Signal comparison | |
| gave a good agreement except for the differences due to the input | |
| forces: the multibody model is controlled only with the steering | |
| torque, but body movements and feet and hand pressures are applied | |
| to the instrumented vehicle.}, | |
| bib = {bibtex-keys#Capitani2006}, | |
| bibpr = {private-bibtex-keys#Capitani2006}, | |
| doi = {10.1080/00423110600883603}, | |
| file = {Capitani2006.pdf:Capitani2006.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {They measure steer torque on a scooter and do some manuevers like | |
| changes and turns. For the lane change his model predicts counter | |
| steer angle, but he doesn't see it in the experimental data. His | |
| steer angle comparison shows orders of magnitudes difference in steering | |
| angle, the model seems really poor. Why didn't they plot the exp | |
| and model results on the same graph! It is hard to compare otherwise. | |
| He claims there is no counter because of the rider use his body to | |
| turn. In the lane change he reports -1.5 to 4 kg-m (-14.7 to 39.2 | |
| n-m) in steering torque. He shows experimental steering torques for | |
| the large 90 degree turn to be 0.9 kg-m to 1.25 kg-m (8.83 nm to | |
| 12.3 nm). The is no detail on how steer torque was measured. His | |
| model predicts a 245 n-m steer torque for the lane change ---> equals | |
| bad model. | |
| He calls his lane change and ISO lane change, but I don't see any | |
| reference to a ISO standard. | |
| He claims good agreement with his model and the experimental results | |
| in the conclusions. What a joke!! There is little to no agreement. | |
| All the comparision are not even in the same magnitude range and | |
| the trends are hardly there either. Crap. How did this make it through | |
| peer review for a journal!!}, | |
| timestamp = {2010.03.22}, | |
| webpdf = {references-folder/Capitani2006.pdf} | |
| } | |
| @ARTICLE{Cenciarini2006, | |
| author = {Cenciarini, Massimo and Peterka, Robert J.}, | |
| title = {Stimulus-Dependent Changes in the Vestibular Contribution to Human | |
| Postural Control}, | |
| journal = {Journal of Neurophysiology}, | |
| year = {2006}, | |
| volume = {95}, | |
| pages = {2733-2750}, | |
| number = {5}, | |
| abstract = {Humans maintain stable stance in a wide variety of environments. This | |
| robust behavior is thought to involve sensory reweighting whereby | |
| the nervous system adjusts the relative contribution of sensory sources | |
| used to control stance depending on environmental conditions. Based | |
| on prior experimental and modeling results, we developed a specific | |
| quantitative representation of a sensory reweighting hypothesis that | |
| predicts that a given reduction in the contribution from one sensory | |
| system will be accompanied by a corresponding increase in the contribution | |
| from different sensory systems. The goal of this study was to test | |
| this sensory-reweighting hypothesis using measures that quantitatively | |
| assess the relative contributions of the proprioceptive and graviceptive | |
| (vestibular) systems to postural control during eyes-closed stance | |
| in different test conditions. Medial/lateral body sway was evoked | |
| by side-to-side rotation of the support surface (SS) while simultaneously | |
| delivering a pulsed galvanic vestibular stimulus (GVS) through electrodes | |
| behind the ears. A model-based interpretation of sway evoked by SS | |
| rotations provided estimates of the proprioceptive weighting factor, | |
| Wp, and showed that Wp declined with increasing SS amplitude. If | |
| the sensory-reweighting hypothesis is true, then the decline in Wp | |
| should be accompanied by a corresponding increase in Wg, the graviceptive | |
| weighting factor, and responses to the GVS should increase in proportion | |
| to the value of Wg derived from responses to SS rotations. Results | |
| were consistent with the predictions of the proposed sensory-reweighting | |
| hypothesis. GVS-evoked sway increased with increasing SS amplitude, | |
| and Wg measures derived from responses to GVS and from responses | |
| to SS rotations were highly correlated.}, | |
| bib = {bibtex-keys#Cenciarini2006}, | |
| bibpr = {private-bibtex-keys#Cenciarini2006}, | |
| doi = {10.1152/jn.00856.2004}, | |
| eprint = {http://jn.physiology.org/content/95/5/2733.full.pdf+html}, | |
| file = {Cenciarini2006.pdf:Cenciarini2006.pdf:PDF}, | |
| url = {http://jn.physiology.org/content/95/5/2733.abstract}, | |
| webpdf = {references-folder/Cenciarini2006.pdf} | |
| } | |
| @ARTICLE{Cerone2010, | |
| author = {Cerone, V. and Andreo, D. and Larsson, M. and Regruto, D.}, | |
| title = {Stabilization of a Riderless Bicycle [{A}pplications of Control]}, | |
| journal = {Control Systems, IEEE}, | |
| year = {2010}, | |
| volume = {30}, | |
| pages = {23 -32}, | |
| number = {5}, | |
| month = {October}, | |
| abstract = {The bicycle provides transportation for leisure, recreation, and travel | |
| between home and work, throughout the world, in big cities as well | |
| as in small villages, supporting human mobility for more than a century. | |
| Modeling, analysis, and control of bicycle dynamics has been an attractive | |
| area of research in the last century as well as in recent years. | |
| Bicycle dynamics has attracted the attention of the automatic control | |
| research community because of its peculiar features, such as, for | |
| example, the fact that it depends strongly on the bicycle speed and | |
| that, under certain conditions, it exhibits both open right-half | |
| plane poles and zeros, making the design of feedback controllers | |
| for either balancing the bicycle in the upright position or moving | |
| it along a predefined path a challenging problem. In this article, | |
| the LPV nature of the bicycle dynamics is exploited to design a control | |
| system that automatically balances a riderless bicycle in the upright | |
| position. More precisely, the problem is formulated as the design | |
| of an LPV state-feedback controller that guarantees stability of | |
| this two-wheeled vehicle when the speed varies within a given range | |
| and its derivative is bounded.}, | |
| bib = {bibtex-keys#Cerone2010}, | |
| bibpr = {private-bibtex-keys#Cerone2010}, | |
| doi = {10.1109/MCS.2010.937745}, | |
| file = {Cerone2010.pdf:Cerone2010.pdf:PDF}, | |
| issn = {1066-033X}, | |
| keywords = {LPV state-feedback controller design;automatic control research community;bicycle | |
| dynamics;bicycle speed;linear-parameter-varying approach;riderless | |
| bicycle balancing;riderless bicycle stabilization;bicycles;control | |
| system synthesis;linear systems;position control;stability;state | |
| feedback;vehicle dynamics;velocity control;}, | |
| review = {They control a bicycle robot.}, | |
| webpdf = {references-folder/Cerone2010.pdf} | |
| } | |
| @TECHREPORT{Chandler1975, | |
| author = {Chandler, R. F. and Clauser, C. E. and McConville, J. T. and Reynolds, | |
| H. M. and Young, J. W.}, | |
| title = {Investigation of inertial properties of the human body}, | |
| institution = {Wright-Patterson Air Force Base}, | |
| year = {1975}, | |
| number = {AMRL TR 74-137}, | |
| address = {Ohio}, | |
| note = {NTIS No. AD-A016 485}, | |
| bib = {bibtex-keys#Chandler1975}, | |
| bibpr = {private-bibtex-keys#Chandler1975}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.26} | |
| } | |
| @MANUAL{Chaplin2002, | |
| title = {Parking Lot Exercises to develop bicycle handling proficiency}, | |
| author = {Lois Chaplin}, | |
| organization = {Cornell University}, | |
| address = {Ithaca, NY}, | |
| year = {2002}, | |
| bib = {bibtex-keys#Chaplin2002}, | |
| bibpr = {private-bibtex-keys#Chaplin2002}, | |
| file = {Chaplin2002.pdf:Chaplin2002.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Chaplin2002.pdf} | |
| } | |
| @INPROCEEDINGS{Chen2010, | |
| author = {Chih-Keng Chen and Trung-Kien Dao}, | |
| title = {A study of bicycle dynamics via system identification}, | |
| booktitle = {2010 International Symposium on Computer Communication Control and | |
| Automation (3CA)}, | |
| year = {2010}, | |
| volume = {2}, | |
| pages = {204--207}, | |
| month = {may}, | |
| abstract = {This study investigates bicycle dynamic properties by using system | |
| identification approaches. The nonlinear bicycle model with configuration | |
| parameters from a previously developed benchmark model is studied. | |
| The roll angle of the bicycle is controlled at different speeds to | |
| generate input-output data including steering torque, roll and steering | |
| angles. The collected data are then used to identify the one-input | |
| two-output linear model by a prediction-error identification method | |
| using parameterization in canonical state-space form. Numerous properties | |
| for various speed ranges are discussed from the pole and zero locations | |
| of the identified linear model. The system stability, limit-cycle | |
| phase portraits of the roll and steering angles, and the non-minimum | |
| phase property of the nonlinear system are further investigated and | |
| compared.}, | |
| bib = {bibtex-keys#Chen2010}, | |
| bibpr = {private-bibtex-keys#Chen2010}, | |
| doi = {10.1109/3CA.2010.5533583}, | |
| file = {Chen2010.pdf:Chen2010.pdf:PDF}, | |
| keywords = {bicycle dynamics;input-output data;nonlinear bicycle model;steering | |
| torque;system identification;bicycles;steering systems;vehicle dynamics;}, | |
| review = {Does simulated system id on the benchmark bicycle with good results. | |
| He has a controller too that tracks a path. | |
| He uses an eleven generalized coordinate model he developed in Chen2006 | |
| which is nonlinear to generate simulation results. He simulates with | |
| a roll angle controller so that non stable speeds can be studied. | |
| He uses his fuzzy logic controller to stablize the bicycle. He also | |
| adds an additive random signal to the controller output to give more | |
| excitation to steer torque. He uses the benchmark bicycle parameters | |
| for the simulations. | |
| He uses the pem function in matlab to identify the non-zero and non-unity | |
| entries of the A and B matrices of a fourth order model with one | |
| input and two outputs representing Whipple model. He then open loop | |
| simulates the identified model with the steer torque used to generate | |
| the non-lin sim data for that run. He does this for a series of speeds | |
| from 1 to 15 m/s. I'm curious why he didn't do less than 1 m/s. This | |
| allows him to plot the eigenvalues of the identified systems as a | |
| function of speed. The eigenvalue plot has some differences from | |
| the one in Meijaard2007. This could be due to the fact that his nonlinear | |
| model is incorrect. But if it is correct, He finds that capsize mode | |
| has this blip that goes briefly unstable before the stable speed | |
| range. There is general roughness in the curves too, they don't seem | |
| to be super continous from the plot from 0 to 15, but maybe if the | |
| resolution was better. | |
| He plots some limit cycles of his non-linear model at 3.5 m/s which | |
| is this funny speed where he found the capsize mode to go unstable. | |
| I don't know what he is trying to get at here. Figure 4 seems to | |
| have incorrectly labeled axes. | |
| His last section is devoted to developing a roll angle tracking controller. | |
| He uses some kind of general form for full state feedback tracking.}, | |
| webpdf = {references-folder/Chen2010.pdf} | |
| } | |
| @ARTICLE{Chen2007, | |
| author = {Chen, Chih-Keng and Dao, Thanh-Son}, | |
| title = {Genetic Fuzzy Control for Path-Tracking of an Autonomous Robotic | |
| Bicycle}, | |
| journal = {Journal of System Design and Dynamics}, | |
| year = {2007}, | |
| volume = {1}, | |
| pages = {536--547}, | |
| abstract = {Due to its non-holonomic constraints and a highly unstable nature, | |
| the autonomous bicycle is difficult to be controlled for tracking | |
| a target path while retaining its balance. As a result of the non-holonomic | |
| constraint conditions, the instantaneous velocity of the vehicle | |
| is limited to certain directions. Constraints of this kind occur | |
| under the no-slip condition. In this study, the problem of optimization | |
| of fuzzy logic controllers (FLCs) for path-tracking of an autonomous | |
| robotic bicycle using genetic algorithm (GA) is focused. In order | |
| to implement path-tracking algorithm, strategies for balancing and | |
| tracking a given roll-angle are also addressed. The proposed strategy | |
| optimizes FLCs by keeping the rule-table fixed and tuning their membership | |
| functions by introducing the scaling factors (SFs) and deforming | |
| coefficients (DCs). The numerical simualtions prove the effectiveness | |
| of the proposed structure of the genetic fuzzy controller for the | |
| developed bicycle system.}, | |
| bib = {bibtex-keys#Chen2007}, | |
| bibpr = {private-bibtex-keys#Chen2007}, | |
| doi = {10.1299/jsdd.1.536}, | |
| keywords = {Fuzzy System, Motion Control, Genetic Algorithm, Stability, Bicycle}, | |
| timestamp = {2012.01.03} | |
| } | |
| @ARTICLE{Chen2006, | |
| author = {Chen, Chih-Keng and Dao, Thanh-Son}, | |
| title = {Fuzzy Control for Equilibrium and Roll-Angle Tracking of an Unmanned | |
| Bicycle}, | |
| journal = {Multibody System Dynamics}, | |
| year = {2006}, | |
| volume = {15}, | |
| pages = {321-346}, | |
| affiliation = {Da-Yeh University Department of Mechanical and Automation Engineering | |
| 112 Shan-Jiau Rd. Changhua Taiwan 515 ROC 112 Shan-Jiau Rd. Changhua | |
| Taiwan 515 ROC}, | |
| bib = {bibtex-keys#Chen2006}, | |
| bibpr = {private-bibtex-keys#Chen2006}, | |
| doi = {10.1007/s11044-006-9013-7}, | |
| file = {Chen2006.pdf:Chen2006.pdf:PDF}, | |
| issn = {1384-5640}, | |
| issue = {4}, | |
| keyword = {Engineering}, | |
| publisher = {Springer Netherlands}, | |
| review = {He seems to derive the non-linear Whipple model with Lagrange's method. | |
| He doesn't verify it against anyone elses work, so the results are | |
| surely questionable. He develops a fuzzy controller for roll angle | |
| tracking and shows that it works well.}, | |
| webpdf = {references-folder/Chen2006.pdf} | |
| } | |
| @ARTICLE{Chen2005, | |
| author = {Chen, Chih-Keng and Dao, Thanh-Son and Yang, Chih-Kai}, | |
| title = {Turning dynamics and equilibrium of two-wheeled vehicles}, | |
| journal = {Journal of Mechanical Science and Technology}, | |
| year = {2005}, | |
| volume = {19}, | |
| pages = {377-387}, | |
| note = {10.1007/BF02916158}, | |
| abstract = {The equations of motion of two-wheeled vehicles, e g bicycles or motorcycles, | |
| are developed by using Lagrange’s equations for quasi-coord mates | |
| The pure rolling constiatnts between the ground and the two wheels | |
| aie considered in the dynamical equations of the system For each | |
| wheel, two nonholonomic and two holonomic 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 Equilibrium, an algorithm | |
| for searching for equilibrium points of two-wheeled vehicles and | |
| the associated problems are discussed Formulae foi calculating the | |
| radii of curvatures of ground-wheel contact paths and the reference | |
| point are also given}, | |
| affiliation = {Da-Yeh University Department of Mechanical and Automation Engineering | |
| 112 Shan-Jiau Rd 515 ROC Changhua Taiwan}, | |
| bib = {bibtex-keys#Chen2005}, | |
| bibpr = {private-bibtex-keys#Chen2005}, | |
| file = {Chen2005.pdf:Chen2005.pdf:PDF}, | |
| issn = {1738-494X}, | |
| issue = {0}, | |
| keyword = {Engineering}, | |
| publisher = {The Korean Society of Mechanical Engineers}, | |
| url = {http://dx.doi.org/10.1007/BF02916158}, | |
| webpdf = {references-folder/Chen2005.pdf} | |
| } | |
| @INPROCEEDINGS{Chen2000, | |
| author = {Ping Ho Chen}, | |
| title = {A scheme of fuzzy training and learning applied to Elebike control | |
| system}, | |
| booktitle = {Ninth IEEE International Conference on Fuzzy Systems}, | |
| year = {2000}, | |
| bib = {bibtex-keys#Chen2000}, | |
| bibpr = {private-bibtex-keys#Chen2000}, | |
| file = {Chen2000.pdf:Chen2000.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03}, | |
| webpdf = {references-folder/Chen2000.pdf} | |
| } | |
| @TECHREPORT{Cheng2003, | |
| author = {Kok Y. Cheng and David Bothman and Karl J. {\AA}str{\"o}m}, | |
| title = {Bicycle Torque Sensor Experiment}, | |
| institution = {University of California, Santa Barbara}, | |
| year = {2003}, | |
| abstract = {This experiment examines the relationship between the steering torque | |
| and the turning angle of a bicycle. Initially, a torque wrench experiment | |
| was conducted to determine the range of applied torque required to | |
| steer a bicycle. With this information, a handle bar assembly involving | |
| a load cell and a converter circuit weredesigned and fabricated. | |
| A calibration test was conducted on the load cell followed by a verification | |
| test to validate the handle bar assembly and the associated calibration | |
| data. Prior to conducting the experiment, two test courses were designed | |
| to test two types of bicycle turns: straight turns and circular turns. | |
| The results of the experiment concluded that a rider must apply large | |
| amounts of torque to the handle bars in order to complete a turn | |
| that requires a high turning angle. Sources for experimental errors | |
| and future improvements to this investigation are suggested.}, | |
| bib = {bibtex-keys#Cheng2003}, | |
| bibpr = {private-bibtex-keys#Cheng2003}, | |
| file = {Cheng2003.pdf:Cheng2003.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {JKM - This is a report about a design project at UCSB to develop and | |
| implement a steer torque measurement device. He gives a pretty bad | |
| anedoctal introduction to bicycle dynamics. They did some basic experiments | |
| by attaching a torque wrench to a bicycle and made left at right | |
| turns at speeds from 0 to 13 m/s (0 to 30mph). The torques were under | |
| 5Nm except for the 13 m/s trial which read about 20 Nm. They designed | |
| a pretty nice compac torque measurement setup by mounting the handlebars | |
| on bearings and using a linear force transducer to connect the handlbars | |
| to the steer tube which reduced the effects of other moments and | |
| forces acting on the steer tube. The use of bearings and rodends | |
| may be questionable as there is bearing friction and slop. Furthermore, | |
| downward forces on the handlebars could possibly still be transmitted | |
| to the load cell. The design does allow one to choose the lever arm | |
| for the load cell, thus giving some choice to amplify the force signal. | |
| They set it up to measure from 0 to 84 Nm with a Model SM Series | |
| S-type load cell from Interface with a 670 Newton range. They used | |
| a transducer amplifier also for signal conditioning. There are several | |
| sections on calibration, with some description of the use of pulleys | |
| and cables to apply a torque to the handlebars. They measured the | |
| torque during two different manuever types: a sharp turn at various | |
| angles and steady turns on various diameter circles both at 10mph | |
| (4.5 meters/second). The rider maintained constant speed through | |
| visual feedback of a speedometer. He talks of very noisy measurements | |
| and filters the noise by some type of moving average. He does not | |
| identify an countersteering. He claims the rider turns the handle | |
| bars right to initiate a right turn. There seems to be no counter-torque | |
| in the data for turns. For the sharp turns the highest reported torque | |
| is about 10 Nm, for the steady turning he reports the highest average | |
| torque as 1 Nm.}, | |
| timestamp = {2010.03.02}, | |
| webpdf = {references-folder/Cheng2003.pdf} | |
| } | |
| @ARTICLE{Chi2007, | |
| author = {Chi, Chieh-Tsung}, | |
| title = {Self-equilibrium control on a dynamic bicycle ride}, | |
| journal = {WSEAS Trans. Sys. Ctrl.}, | |
| year = {2007}, | |
| volume = {2}, | |
| pages = {527--536}, | |
| month = {November}, | |
| acmid = {1486748}, | |
| address = {Stevens Point, Wisconsin, USA}, | |
| bib = {bibtex-keys#Chi2007}, | |
| bibpr = {private-bibtex-keys#Chi2007}, | |
| file = {Chi2007.pdf:Chi2007.pdf:PDF}, | |
| issn = {1991-8763}, | |
| issue = {11}, | |
| keywords = {bicycle, center of gravity, cost, equilibrium control, hysteresis | |
| controller, sloping road}, | |
| numpages = {10}, | |
| publisher = {World Scientific and Engineering Academy and Society (WSEAS)}, | |
| url = {http://dl.acm.org/citation.cfm?id=1486744.1486748}, | |
| webpdf = {references-folder/Chi2007.pdf} | |
| } | |
| @INPROCEEDINGS{Chidzonga2007, | |
| author = {Chidzonga, R.F. and Chikuni, E.}, | |
| title = {Stabilizing a bicycle below critical speed}, | |
| booktitle = {AFRICON 2007}, | |
| year = {2007}, | |
| pages = {1-7}, | |
| month = {September}, | |
| abstract = {This paper discusses the control of a naturally unstable bicycle at | |
| stand still based on local linearization of a nonlinear model which | |
| results in a 2times2 multiple input multiple output system. It is | |
| shown through simulation plus new insights on stabilizing non-minimum | |
| phase systems and f-domain design techniques that it is possible | |
| to keep the bicycle vertical outside the self stability speed domain | |
| where theory in the literature has predicted that it's not possible. | |
| In reality the stabilization goal is a skill which can be acquired | |
| through practice.}, | |
| bib = {bibtex-keys#Chidzonga2007}, | |
| bibpr = {private-bibtex-keys#Chidzonga2007}, | |
| doi = {10.1109/AFRCON.2007.4401440}, | |
| file = {Chidzonga2007.pdf:Chidzonga2007.pdf:PDF}, | |
| keywords = {MIMO systems, bicycles, linear systems, nonlinear control systems, | |
| road vehicles, stabilitylocal linearization, multiple input multiple | |
| output system, nonlinear model, self stability speed domain, stabilization | |
| goal, unstable bicycle control}, | |
| webpdf = {references-folder/Chidzonga2007.pdf} | |
| } | |
| @INPROCEEDINGS{Chidzonga2003, | |
| author = {Richard. F. Chidzonga and Eduard Eitelberg}, | |
| title = {Controlling Velocity and Steering for Bicycle Stabilization}, | |
| booktitle = {First African Control Conference}, | |
| year = {2003}, | |
| address = {Cape Town, South Africa}, | |
| month = {December}, | |
| abstract = {Control of a naturally unstable riderless bicycle around zero equilibrium | |
| speed is investigated. A simple parametric model is derived. It predicts | |
| basic known dynamics. Jacobian linearization reveals that zero speed | |
| tilt stabilization is a MIMO non-minimum phase problem. It is shown | |
| that at certain operating conditions, the bicycle can be controlled | |
| only through velocity or steering. Combining both loops to maintain | |
| vertical balance at all speeds is the challenge. Some control structures | |
| and ideas are explored.}, | |
| bib = {bibtex-keys#Chidzonga2003}, | |
| bibpr = {private-bibtex-keys#Chidzonga2003}, | |
| file = {Chidzonga2003.pdf:Chidzonga2003.pdf:PDF}, | |
| keywords = {multi-loop control, bicycle stabilization}, | |
| owner = {moorepants}, | |
| review = {Point mass inverted pedulum type bicycle model. They are interested | |
| in stablity at zero forward velocity, in particular "rocking" (i.e. | |
| track stand). They try three control techniques for the track stand: | |
| PI, load sharing, and a nonlinear scheme. He seesm to manage the | |
| track stand with the load sharing controller. | |
| He's got a great christian religious acknowledgement. His wife's name | |
| seems to be Loveness. | |
| He cites a 1977 Astrom paper that may have some basic bicycle control | |
| stuff.}, | |
| timestamp = {2009.09.16}, | |
| webpdf = {references-folder/Chidzonga2003.pdf} | |
| } | |
| @TECHREPORT{Chitta2006, | |
| author = {Sachin Chitta and Vijay Kumar}, | |
| title = {Biking Without Pedaling}, | |
| institution = {Department of Mechanical Engineering, University of Pennsylvania}, | |
| year = {2006}, | |
| bib = {bibtex-keys#Chitta2006}, | |
| bibpr = {private-bibtex-keys#Chitta2006}, | |
| file = {Chitta2006.pdf:Chitta2006.pdf:PDF}, | |
| review = {They show the correcy looking eigenvalues for the whipple + leaning | |
| rider. | |
| They propel the bicycle forward just by steering.}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Chitta2006.pdf} | |
| } | |
| @ARTICLE{Cho1996, | |
| author = {Cho, YH and Kim, J}, | |
| title = {Stability Analysis of the human controlled vehicle moving along a | |
| curved path}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {1996}, | |
| volume = {25}, | |
| pages = {51--69}, | |
| bib = {bibtex-keys#Cho1996}, | |
| bibpr = {private-bibtex-keys#Cho1996}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Chou1992, | |
| author = {Chou, J.C.K.}, | |
| title = {Quaternion kinematic and dynamic differential equations}, | |
| journal = {Robotics and Automation, IEEE Transactions on}, | |
| year = {1992}, | |
| volume = {8}, | |
| pages = {53-64}, | |
| number = {1}, | |
| month = {February}, | |
| bib = {bibtex-keys#Chou1992}, | |
| bibpr = {private-bibtex-keys#Chou1992}, | |
| doi = {10.1109/70.127239}, | |
| issn = {1042-296X}, | |
| keywords = {differential equations, dynamics, kinematics, vectors3D vector space, | |
| acceleration, angular displacement, dynamic differential equations, | |
| momentum, multiplicative commutativity, quaternion kinematic differential | |
| equations, quaternion multiplications, rotations, vector quaternions, | |
| velocity}, | |
| owner = {luke}, | |
| timestamp = {2009.10.23} | |
| } | |
| @TECHREPORT{Clauser1969, | |
| author = {Clauser, C. E. and McConville, J. T. and Young, J. W.}, | |
| title = {Weight, volume and center of mass of segments of the human body}, | |
| institution = {Wright-Patterson Air Force Base}, | |
| year = {1969}, | |
| number = {AMRL TR 69-70}, | |
| address = {Ohio}, | |
| note = {NTIS No. AD-710 622}, | |
| bib = {bibtex-keys#Clauser1969}, | |
| bibpr = {private-bibtex-keys#Clauser1969}, | |
| file = {Clauser1969.pdf:Clauser1969.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.26}, | |
| webpdf = {references-folder/Clauser1969.pdf} | |
| } | |
| @ARTICLE{Cleary2011, | |
| author = {Patricia A Cleary and Pirooz Mohazzabi}, | |
| title = {On the stability of a bicycle on rollers}, | |
| journal = {European Journal of Physics}, | |
| year = {2011}, | |
| volume = {32}, | |
| pages = {1293}, | |
| number = {5}, | |
| abstract = {Riding a bicycle on the newest form of indoor training, rollers, presents | |
| a unique experiment on bicycle stability. The stability factors eliminated | |
| by riding on rollers are discussed in terms of refined handling and | |
| control of the centre of mass on a bicycle. This paper is intended | |
| for undergraduate physics majors as well as any other general readership | |
| interested in the dynamics of bicycle stability.}, | |
| bib = {bibtex-keys#Cleary2011}, | |
| bibpr = {private-bibtex-keys#Cleary2011}, | |
| file = {Cleary2011.pdf:Cleary2011.pdf:PDF}, | |
| url = {http://stacks.iop.org/0143-0807/32/i=5/a=017}, | |
| webpdf = {references-folder/Cleary2011.pdf} | |
| } | |
| @INPROCEEDINGS{Cloud1994, | |
| author = {Cloud, Chad}, | |
| title = {Teaching kids how to ride a bike [fuzzy control]}, | |
| booktitle = {Proceedings of the First International Joint Conference of the North | |
| American Fuzzy Information Processing Society Biannual Conference. | |
| The Industrial Fuzzy Control and Intelligent Systems Conference, | |
| and the NASA Joint Technology Workshop on Neural Networks and Fuzzy | |
| Logic. NAFIPS/IFIS/NASA '94.}, | |
| year = {1994}, | |
| pages = {175-176}, | |
| month = {December}, | |
| abstract = {The usual way to teach a kid to ride a bike is by using training wheels. | |
| This creates a somewhat stable bike so the kid will hardly ever fall. | |
| After the kid has mastered a bike with training wheels, the wheels | |
| are taken away, and the second stage of learning starts. At this | |
| moment, since the kid is not completely prepared for a bike without | |
| training wheels, the kid may (and does) fall. So we either risk the | |
| kid hurting him/herself, or we have to have the kid under time-consuming | |
| adult supervision. The main problem with the control is that there | |
| is an abrupt transition between the two stages, so the kid goes into | |
| the second training stage unprepared. A natural solution is to make | |
| this transition gradual. We propose Fuzzy Control}, | |
| bib = {bibtex-keys#Cloud1994}, | |
| bibpr = {private-bibtex-keys#Cloud1994}, | |
| doi = {10.1109/IJCF.1994.375104}, | |
| file = {Cloud1994.pdf:Cloud1994.pdf:PDF}, | |
| keywords = {Fuzzy Control, bike, training stage, training wheels, transition}, | |
| review = {Says that we can take linguistic based control rules from a person | |
| and translate them into fuzzy control laws.}, | |
| webpdf = {references-folder/Cloud1994.pdf} | |
| } | |
| @ARTICLE{Cloyd1996, | |
| author = {Cloyd, S. O. and Hubbard, M. and Alaways, L. W.}, | |
| title = {A Control Scheme for an Opposed Recumbent Tandem Human-Powered Bicycle}, | |
| journal = {Journal of Applied Biomechanics}, | |
| year = {1996}, | |
| volume = {212}, | |
| pages = {480--492}, | |
| number = {4}, | |
| month = {November}, | |
| bib = {bibtex-keys#Cloyd1996}, | |
| bibpr = {private-bibtex-keys#Cloyd1996}, | |
| file = {Cloyd1996.pdf:Cloyd1996.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {They use an LQR control scheme on a simple bicycle model (like Karnopp's) | |
| by tracking roll angle and lateral deviation. They use the same model | |
| as Nagai1983 and get similar simulation results.}, | |
| timestamp = {2009.02.07}, | |
| webpdf = {references-folder/Cloyd1996.pdf} | |
| } | |
| @INPROCEEDINGS{Coetzee2006, | |
| author = {Coetzee, Etienne and Krauskopf, Bernd and Lowenberg, Mark}, | |
| title = {Nonlinear Aircraft Ground Dynamics}, | |
| booktitle = {International Conference on Nonlinear Problems in Aviation and Aerospace}, | |
| year = {2006}, | |
| bib = {bibtex-keys#Coetzee2006}, | |
| bibpr = {private-bibtex-keys#Coetzee2006}, | |
| file = {Coetzee2006.pdf:Coetzee2006.pdf:PDF}, | |
| owner = {luke}, | |
| timestamp = {2009.10.29}, | |
| webpdf = {references-folder/Coetzee2006.pdf} | |
| } | |
| @ARTICLE{Cole2012, | |
| author = {Cole, David J.}, | |
| title = {A path-following driver–vehicle model with neuromuscular dynamics, | |
| including measured and simulated responses to a step in steering | |
| angle overlay}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2012}, | |
| volume = {0}, | |
| pages = {1-24}, | |
| number = {0}, | |
| abstract = { An existing driver–vehicle model with neuromuscular dynamics is improved | |
| in the areas of cognitive delay, intrinsic muscle dynamics and alpha–gamma | |
| co-activation. The model is used to investigate the influence of | |
| steering torque feedback and neuromuscular dynamics on the vehicle | |
| response to lateral force disturbances. When steering torque feedback | |
| is present, it is found that the longitudinal position of the lateral | |
| disturbance has a significant influence on whether the driver’s reflex | |
| response reinforces or attenuates the effect of the disturbance. | |
| The response to angle and torque overlay inputs to the steering system | |
| is also investigated. The presence of the steering torque feedback | |
| reduced the disturbing effect of torque overlay and angle overlay | |
| inputs. Reflex action reduced the disturbing effect of a torque overlay | |
| input, but increased the disturbing effect of an angle overlay input. | |
| Experiments on a driving simulator showed that measured handwheel | |
| angle response to an angle overlay input was consistent with the | |
| response predicted by the model with reflex action. However, there | |
| was significant intra- and inter-subject variability. The results | |
| highlight the significance of a driver’s neuromuscular dynamics in | |
| determining the vehicle response to disturbances. }, | |
| bib = {bibtex-keys#Cole2012}, | |
| bibpr = {private-bibtex-keys#Cole2012}, | |
| doi = {10.1080/00423114.2011.606370}, | |
| eprint = {http://www.tandfonline.com/doi/pdf/10.1080/00423114.2011.606370}, | |
| file = {Cole2012.pdf:Cole2012.pdf:PDF}, | |
| url = {http://www.tandfonline.com/doi/abs/10.1080/00423114.2011.606370}, | |
| webpdf = {references-folder/Cole2012.pdf} | |
| } | |
| @PHDTHESIS{Collins1963, | |
| author = {Robert Neil Collins}, | |
| title = {A Mathematical Analysis of the Stability of Two Wheeled Vehicles}, | |
| school = {Univeristy of Wisconsin}, | |
| year = {1963}, | |
| month = {June}, | |
| bib = {bibtex-keys#Collins1963}, | |
| bibpr = {private-bibtex-keys#Collins1963}, | |
| file = {Collins1963.pdf:Collins1963.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.16}, | |
| webpdf = {references-folder/Collins1963.pdf} | |
| } | |
| @TECHREPORT{Congleton2008, | |
| author = {Christopher Congleton}, | |
| title = {Results of the Fall 2007 UC Davis Campus Travel Assessment}, | |
| institution = {University of California Davis}, | |
| year = {2008}, | |
| number = {UCD-ITS-RR-09-01}, | |
| month = {October}, | |
| bib = {bibtex-keys#Congleton2008}, | |
| bibpr = {private-bibtex-keys#Congleton2008}, | |
| file = {Congleton2008.pdf:Congleton2008.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.16}, | |
| webpdf = {references-folder/Congleton2008.pdf} | |
| } | |
| @MASTERSTHESIS{Connors2009, | |
| author = {Brendan Connors}, | |
| title = {Modeling and Stability Analysis of a Recumbent Bicycle with Oscillating | |
| Leg Masses}, | |
| school = {University of California, Davis}, | |
| year = {2009}, | |
| bib = {bibtex-keys#Connors2009}, | |
| bibpr = {private-bibtex-keys#Connors2009}, | |
| file = {Connors2009.pdf:Connors2009.pdf:PDF}, | |
| owner = {moorepants}, | |
| tags = {sbl,bicycle}, | |
| timestamp = {2010.09.23}, | |
| webpdf = {references-folder/Connors2009.pdf} | |
| } | |
| @INPROCEEDINGS{Connors2008, | |
| author = {Brendan Connors and Mont Hubbard}, | |
| title = {Modelling and Stability Analysis of a Recumbent Bicycle with Oscillating | |
| Leg Masses}, | |
| booktitle = {The Engineering of Sport 7}, | |
| year = {2008}, | |
| editor = {Margaret Estivalet and Pierre Brisson}, | |
| volume = {1}, | |
| pages = {677--685}, | |
| month = {August}, | |
| organization = {ISEA}, | |
| publisher = {Springer Paris}, | |
| abstract = {It has been observed in the testing of a recumbent bicycle with a | |
| very low centre of gravity that the pedalling cadence can affect | |
| the riderÂs ability to control the vehicle. To understand the relationship | |
| between cadence and bicycle stability, a multibody dynamic model | |
| is created. This model has nine massive rigid bodies: the bicycle | |
| frame with fixed rider torso (with head & and arms), the front fork | |
| with handlebars, the front wheel, the rear wheel, the left thigh, | |
| the right thigh, the left shank with foot, the right shank with foot, | |
| and the cranks. Nonlinear equations of motion are compiled in Autolev, | |
| a symbolic calculator using KaneÂs method for multibody dynamics | |
| (Autolev, 2005). A simulation of the bicycle slowly accelerating | |
| from its starting speed (5 m/s) to its target speed (35 m/s) is run | |
| iteratively over several gear ratios. A steering controller is implemented | |
| to stabilize the bike outside its stable stable speed range. The | |
| simulation displays the lean and steer angles as well as steering | |
| control torque. Lean angle and control torque increase significantly | |
| with cadence, and steer angle increases slightly with cadence. This | |
| relationship is used to create a shifting strategy to reduce the | |
| control effort needed by the pilot during top top-speed speed-record | |
| attempts.}, | |
| bib = {bibtex-keys#Connors2008}, | |
| bibpr = {private-bibtex-keys#Connors2008}, | |
| doi = {10.1007/978-2-287-09411-8_79}, | |
| file = {Connors2008.pdf:Connors2008.pdf:PDF}, | |
| keywords = {recumbent bicycle modelling stability cadence}, | |
| owner = {moorepants}, | |
| review = {Shows steer torques required to stablize the bicycle with oscillating | |
| legs in a range of 1 to 8 n-m, with the cap being controlled by changing | |
| the frequency of osciallation of the legs (changing gears).}, | |
| tags = {sbl,bicycle}, | |
| timestamp = {2008.10.28}, | |
| webpdf = {references-folder/Connors2008.pdf} | |
| } | |
| @UNPUBLISHED{Connors2009a, | |
| author = {Connors, Brendan and Hubbard, Mont}, | |
| title = {Modeling and stability analysis of a recumbent bicycle with oscillating | |
| leg masses}, | |
| note = {to be submitted to ASME Journal of Biomechanical Engineering}, | |
| year = {2009}, | |
| bib = {bibtex-keys#Connors2009a}, | |
| bibpr = {private-bibtex-keys#Connors2009a}, | |
| owner = {moorepants}, | |
| tags = {sbl,bicycle}, | |
| timestamp = {2009.02.08} | |
| } | |
| @INPROCEEDINGS{Cooper1974, | |
| author = {Cooper, K. R.}, | |
| title = {The Effect of Aerodynamics on the Performance and Stability of High | |
| Speed Motorcycles}, | |
| booktitle = {Second AIAA Symposium on Aerodynamic of Sports and Competition Automobiles}, | |
| year = {1974}, | |
| address = {Los Angeles}, | |
| month = {May}, | |
| bib = {bibtex-keys#Cooper1974}, | |
| bibpr = {private-bibtex-keys#Cooper1974}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30} | |
| } | |
| @ARTICLE{Cooper1973, | |
| author = {Cooper, K. R.}, | |
| title = {The Wind Tunnel Development of a Low Drag, Partially Streamlined | |
| Motorcycle}, | |
| journal = {DME/NAE Quarterly Bulletin}, | |
| year = {1973}, | |
| volume = {4}, | |
| bib = {bibtex-keys#Cooper1973}, | |
| bibpr = {private-bibtex-keys#Cooper1973}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30} | |
| } | |
| @TECHREPORT{Cooper1969, | |
| author = {Cooper, R. J. and {Harper Jr.}, R. P.}, | |
| title = {The Use of Pilot Rating Scales in the Evaluation of Aircraft Handling | |
| Qualities}, | |
| institution = {NASA}, | |
| year = {1969}, | |
| type = {Technical Note}, | |
| number = {TN D-5153}, | |
| month = {April}, | |
| bib = {bibtex-keys#Cooper1969}, | |
| bibpr = {private-bibtex-keys#Cooper1969}, | |
| file = {Cooper1969.pdf:Cooper1969.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07}, | |
| webpdf = {references-folder/Cooper1969.pdf} | |
| } | |
| @BOOK{Cossalter2006, | |
| title = {Motorcycle dynamics}, | |
| publisher = {LULU}, | |
| year = {2006}, | |
| author = {Vittore Cossalter}, | |
| edition = {Second}, | |
| bib = {bibtex-keys#Cossalter2006}, | |
| bibpr = {private-bibtex-keys#Cossalter2006}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.18} | |
| } | |
| @ARTICLE{Cossalter2008, | |
| author = {Vittore Cossalter and Alessandro Bellati and Alberto Doria and Martino | |
| Peretto}, | |
| title = {Analysis of racing motorcycle performance with additional considerations | |
| for the Mozzi axis}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2008}, | |
| volume = {46}, | |
| pages = {815--826}, | |
| bib = {bibtex-keys#Cossalter2008}, | |
| bibpr = {private-bibtex-keys#Cossalter2008}, | |
| file = {Cossalter2008.pdf:Cossalter2008.pdf:PDF}, | |
| timestamp = {2012.01.04}, | |
| webpdf = {references-folder/Cossalter2008.pdf} | |
| } | |
| @ARTICLE{Cossalter2005, | |
| author = {Vittore Cossalter and Alberto Doria}, | |
| title = {The relation between contact patch geometry and the mechanical properties | |
| of motorcycle tyres}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2005}, | |
| volume = {43}, | |
| pages = {156--167}, | |
| bib = {bibtex-keys#Cossalter2005}, | |
| bibpr = {private-bibtex-keys#Cossalter2005}, | |
| file = {Cossalter2005.pdf:Cossalter2005.pdf:PDF}, | |
| timestamp = {2012.01.04}, | |
| webpdf = {references-folder/Cossalter2005.pdf} | |
| } | |
| @ARTICLE{Cossalter2004a, | |
| author = {Vittore Cossalter and Alberto Doria}, | |
| title = {Analysis of motorcycle slalom manoeuvres using the Mozzi axis concept}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2004}, | |
| volume = {42}, | |
| pages = {3}, | |
| number = {3}, | |
| bib = {bibtex-keys#Cossalter2004a}, | |
| bibpr = {private-bibtex-keys#Cossalter2004a}, | |
| file = {Cossalter2004a.pdf:Cossalter2004a.pdf:PDF}, | |
| timestamp = {2012.01.04}, | |
| webpdf = {references-folder/Cossalter2004a.pdf} | |
| } | |
| @ARTICLE{Cossalter2012, | |
| author = {Cossalter, Vittore and Doria, Alberto and Formentini, Matteo and | |
| Peretto, Martino}, | |
| title = {Experimental and numerical analysis of the influence of tyres’ properties | |
| on the straight running stability of a sport-touring motorcycle}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2012}, | |
| volume = {50}, | |
| pages = {357-375}, | |
| number = {3}, | |
| abstract = { The behaviour of a motorcycle on the road is largely governed by | |
| tyre properties. This paper presents experimental and numerical analyses | |
| dealing with the influence of tyre properties on the stability of | |
| weave and wobble in straight running. The final goal is to find optimal | |
| sets of tyre properties that improve the stability of a motorcycle. | |
| The investigation is based on road tests carried out on a sport-touring | |
| motorcycle equipped with sensors. Three sets of tyres are tested | |
| at different speeds in the presence of weave and wobble. The analysis | |
| of telemetry data highlights significant differences in the trends | |
| of frequency and damping of weave and wobble against speed. The experimental | |
| analysis is integrated by a parametric numerical analysis. Tyre properties | |
| are varied according to the design of experiments method, in order | |
| to highlight the single effects on stability of lateral and cornering | |
| coefficient of front and rear tyres. }, | |
| bib = {bibtex-keys#Cossalter2012}, | |
| bibpr = {private-bibtex-keys#Cossalter2012}, | |
| doi = {10.1080/00423114.2011.587520}, | |
| eprint = {http://www.tandfonline.com/doi/pdf/10.1080/00423114.2011.587520}, | |
| file = {Cossalter2012.pdf:Cossalter2012.pdf:PDF}, | |
| url = {http://www.tandfonline.com/doi/abs/10.1080/00423114.2011.587520}, | |
| webpdf = {references-folder/Cossalter2012.pdf} | |
| } | |
| @ARTICLE{Cossalter1999, | |
| author = {Cossalter, Vittore and Doria, Alberto and Lot, Roberto}, | |
| title = {Steady Turning of Two-Wheeled Vehicles}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {1999}, | |
| volume = {31}, | |
| pages = {157--181}, | |
| number = {3}, | |
| abstract = {When driving along a circular path, the driver of a motorcycle controls | |
| the vehicle mainly by means of steering torque. If low steering torque | |
| is necessary, the driver feels that the vehicle is manoeuvrable. | |
| In this paper, a mathematical model concerning steering torque is | |
| developed; it takes into account the actual kinematic behaviour of | |
| the vehicle and the properties of motorcycle tyres. Tyre forces act | |
| at the contact points of toroidal tyres, which are calculated according | |
| to kinematic analysis. Non-linear equations are solved using an iterative | |
| approach. Several numerical results are presented, and the influence | |
| of tyre properties and some geometrical and inertial properties of | |
| the vehicle on steering torque are discussed.}, | |
| bib = {bibtex-keys#Cossalter1999}, | |
| bibpr = {private-bibtex-keys#Cossalter1999}, | |
| file = {Cossalter1999.pdf:Cossalter1999.pdf:PDF}, | |
| keywords = {handling}, | |
| owner = {Luke}, | |
| publisher = {Taylor \& Francis}, | |
| review = {Has nice geomtric drawings of the motorcycle. He linearizes the holonomic | |
| constraint and solves for pitch angle. Seems to have analytical derviation | |
| of steady turning equations. | |
| Includes toroidal tires and tire model. | |
| He shows steady turn plots of torque for a particular speed and turn | |
| curvature. The max speeds are aroudn 30 m/s. Max steer torques shown | |
| are 10 nm. | |
| Figure 7 shows how varying the trail of the motorcycle affects steering | |
| torque in a particular steady turn. He breaks up the moment contributions | |
| from the different forces and stuff. He does this for some other | |
| parameters too.}, | |
| timestamp = {2008.11.17}, | |
| url = {http://www.informaworld.com/10.1076/vesd.31.3.157.2013}, | |
| webpdf = {references-folder/Cossalter1999.pdf} | |
| } | |
| @ARTICLE{Cossalter2003, | |
| author = {V. Cossalter and A. Doria and R. Lot and N. Ruffo and M. Salvador}, | |
| title = {Dynamic properties of motorcycle and scooter tires: measurment and | |
| comparison}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2003}, | |
| volume = {39}, | |
| pages = {329--352}, | |
| bib = {bibtex-keys#Cossalter2003}, | |
| bibpr = {private-bibtex-keys#Cossalter2003}, | |
| file = {Cossalter2003.pdf:Cossalter2003.pdf:PDF}, | |
| timestamp = {2012.01.04}, | |
| webpdf = {references-folder/Cossalter2003.pdf} | |
| } | |
| @INPROCEEDINGS{Cossalter1998, | |
| author = {Vittore Cossalter and Mauro Da Lio and Francesco Biral and Luca Fabbri}, | |
| title = {Evaluation of Motorcycle Maneuverability With the Optimal Maneuver | |
| Method}, | |
| booktitle = {Motorsports Engineering Conference \& Exposition}, | |
| year = {1998}, | |
| number = {983022}, | |
| address = {Dearbon, Michigan, USA}, | |
| month = {November}, | |
| organization = {SAE}, | |
| abstract = {This paper deals with the application of the optimal maneuver method | |
| to the assessment of motorcycle maneuverability.\\ | |
| The optimal maneuver method is a novel approach to the analysis of | |
| vehicle performance. The essence of this method is the solution of | |
| an optimal control problem which consists in moving the vehicle, | |
| according to holding trajectory constraints, between two given endpoints | |
| in the "most efficient way". The concept of "most efficient" is defined | |
| by a proper penalty function defined to express maneuverability.\\ | |
| In this paper we briefly outline the method and give examples of its | |
| application to three classical maneuvers commonly used to test motorcycle | |
| handling: a slalom test, a lane change maneuver and a U-curve.}, | |
| bib = {bibtex-keys#Cossalter1998}, | |
| bibpr = {private-bibtex-keys#Cossalter1998}, | |
| file = {Cossalter1998.pdf:Cossalter1998.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.12.10}, | |
| webpdf = {references-folder/Cossalter1998.pdf} | |
| } | |
| @ARTICLE{Cossalter2002, | |
| author = {Cossalter, V. and Lot, R.}, | |
| title = {A Motorcycle Multi-Body Model for Real Time Simulations Based on | |
| the Natural Coordinates Approach}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2002}, | |
| volume = {37}, | |
| pages = {423--447}, | |
| number = {6}, | |
| bib = {bibtex-keys#Cossalter2002}, | |
| bibpr = {private-bibtex-keys#Cossalter2002}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.23} | |
| } | |
| @ARTICLE{Cossalter2004, | |
| author = {Cossalter, V. and Lot, R. and Maggio, F.}, | |
| title = {The Modal Analysis of a Motorcycle in Straight Running and on a Curve}, | |
| journal = {Meccanica}, | |
| year = {2004}, | |
| volume = {39}, | |
| pages = {1--16}, | |
| number = {1}, | |
| month = {February}, | |
| abstract = {The vibrational modes (generalized) of a two-wheel vehicle are studied | |
| in several trim configurations. The modal analysis is carried out | |
| on a 3D non-linear mathematical model, developed using the natural | |
| coordinates approach. A special procedure for evaluating the steady | |
| state solutions in straight running and on a curve is proposed. The | |
| paper presents detailed results of the modal analysis for a production | |
| sports motorcycle. Furthermore, the influence of speed and lateral | |
| (centripetal) acceleration on stability, shape and modal interactions | |
| (coupling) is highlighted. Finally, consistency between the first | |
| experimental tests and simulation results is shown.}, | |
| bib = {bibtex-keys#Cossalter2004}, | |
| bibpr = {private-bibtex-keys#Cossalter2004}, | |
| file = {Cossalter2004.pdf:Cossalter2004.pdf:PDF}, | |
| owner = {Luke}, | |
| timestamp = {2008.11.17}, | |
| url = {http://dx.doi.org/10.1023/A:1026269926222}, | |
| webpdf = {references-folder/Cossalter2004.pdf} | |
| } | |
| @INPROCEEDINGS{Cossalter2002a, | |
| author = {Cossalter, V. and Lot, R. and Maggio, F.}, | |
| title = {The Influence of Tire Properties on the Stability of a Motorcycle | |
| in Straight Running and Curves}, | |
| booktitle = {SAE CONFERENCE PROCEEDINGS P}, | |
| year = {2002}, | |
| pages = {87-94}, | |
| bib = {bibtex-keys#Cossalter2002a}, | |
| bibpr = {private-bibtex-keys#Cossalter2002a}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.18} | |
| } | |
| @ARTICLE{Cossalter2007, | |
| author = {V. Cossalter and R. Lot and M. Peretto}, | |
| title = {Steady turning of motorcycles}, | |
| journal = {Proceedings of the Institution of Mechanical Engineers, Part D: Journal | |
| of Automobile Engineering}, | |
| year = {2007}, | |
| volume = {221}, | |
| pages = {1343--1356}, | |
| abstract = {When driving along a circular path, the rider controls a motorcycle | |
| mainly by the steering torque. If the steering torque is low and | |
| the vehicle is moderately over-steering, a good handling feeling | |
| is perceived by the rider. In this paper, non-linear steady turning | |
| results are analysed over a wide range of forward speeds and lateral | |
| accelerations, and different Âdriving zones are identified by | |
| considering the steering torque transition speeds and steering angle | |
| critical speed. A parametric linear model of steady turning, concerning | |
| both the steering torque and the steering angle, is developed and | |
| simple parametric expressions of transition speeds and the critical | |
| speed are obtained. Steady turning tests involving different motorcycles | |
| are presented, the transition speeds and critical speed are found | |
| by linear fitting, and the characteristics of the different driving | |
| zones are investigated. The primary purpose is to determine the conditions | |
| at which the operational safety and handling of the vehicle do not | |
| impose severe demands on rider skill for control and adequate path-following | |
| properties, i.e. to identify a Âpreferable driving zoneÂ.}, | |
| bib = {bibtex-keys#Cossalter2007}, | |
| bibpr = {private-bibtex-keys#Cossalter2007}, | |
| doi = {10.1243/09544070JAUTO322}, | |
| file = {Cossalter2007.pdf:Cossalter2007.pdf:PDF}, | |
| keywords = {motorcycle, steady turning, capsize, over-steering, under-steering}, | |
| owner = {moorepants}, | |
| review = {Claims that in a steady turn good handling is predicted by low steer | |
| torque and moderate over steer. | |
| Says that steer control is much more effective than body lean control | |
| due to quickly movnig arm limbs as compared to moving the body and | |
| that the steering control has more effect on the motrocycle motion | |
| per unit input as compared to lean control. | |
| He identifies the transition from positive to negative steering torque | |
| for a given lateral accerelation in a steady turn as a function of | |
| speed. High speeds and high lat acccel requires positive steer torque, | |
| whereas low speeds and low lat accels require negative steer torques. | |
| This is the second definition of the word countersteering (more like | |
| a counter torque). | |
| Has a contour plot similar to what Luke has been working on. Steer | |
| torques from -3 to 10 to maintain steady turns with lat accel from | |
| 0 to 11 at speeds of 5 to 50 m/s. | |
| He makes some bold claims on handling about correlations with subjective | |
| rider opinion, but with no citations to back it up.}, | |
| timestamp = {2010.03.22}, | |
| webpdf = {references-folder/Cossalter2007.pdf} | |
| } | |
| @ARTICLE{Cossalter2006a, | |
| author = {Vittore Cossalter and James Sadauckas}, | |
| title = {Elaboration and quantitative assessment of manoeuvrability for motorcycle | |
| lane change}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2006}, | |
| volume = {44}, | |
| pages = {903--920}, | |
| number = {12}, | |
| bib = {bibtex-keys#Cossalter2006a}, | |
| bibpr = {private-bibtex-keys#Cossalter2006a}, | |
| file = {Cossalter2006a.pdf:Cossalter2006a.pdf:PDF}, | |
| timestamp = {2012.01.04}, | |
| webpdf = {references-folder/Cossalter2006a.pdf} | |
| } | |
| @ARTICLE{Cox2008, | |
| author = {Peter Cox}, | |
| title = {The Role of Human Powered Vehicles in Sustainable Mobility}, | |
| journal = {Built Environment}, | |
| year = {2008}, | |
| volume = {32}, | |
| pages = {140-160}, | |
| number = {4}, | |
| month = {May}, | |
| abstract = {As part of the move towards sustainable transport and urban mobility | |
| practices, increased cycle use is commonly advocated as a factor | |
| in this modal shift. New developments in cycle technology are beginning | |
| to introduce new classes of cycles and other human powered vehicles | |
| as options within a wider advocacy of cycling for urban mobility | |
| and which may offer advantages and greater opportunity for users. | |
| However, these innovations may also raise questions for the design | |
| and construction of the built environment. Drawing on a SCOT approach, | |
| this paper therefore examines the implications of some innovatory | |
| cycle designs and the limitations on their deployment that may arise | |
| through the interaction with wider design environments.}, | |
| bib = {bibtex-keys#Cox2008}, | |
| bibpr = {private-bibtex-keys#Cox2008}, | |
| doi = {10.2148/benv.34.2.140}, | |
| file = {Cox2008.pdf:Cox2008.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2008.12.03}, | |
| webpdf = {references-folder/Cox2008.pdf} | |
| } | |
| @ARTICLE{Dohring1957, | |
| author = {D{\"{o}}hring, E.}, | |
| title = {Steering Wobble in Single-Track Vehicles}, | |
| journal = {Automob. Tech. Z.}, | |
| year = {1957}, | |
| volume = {58}, | |
| pages = {282--286}, | |
| number = {10}, | |
| note = {MIRA Translation No. 62167}, | |
| bib = {bibtex-keys#Dohring1957}, | |
| bibpr = {private-bibtex-keys#Dohring1957}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30} | |
| } | |
| @ARTICLE{Dohring1955, | |
| author = {D{\"{o}}hring, E.}, | |
| title = {Stability of Single-Track Vehicles}, | |
| journal = {Forschung Ing.-Wes.}, | |
| year = {1955}, | |
| volume = {21}, | |
| pages = {50--62}, | |
| number = {2}, | |
| note = {Translated by J. Lotsof, March 1957}, | |
| bib = {bibtex-keys#Dohring1955}, | |
| bibpr = {private-bibtex-keys#Dohring1955}, | |
| file = {Dohring1955.pdf:Dohring1955.pdf:PDF}, | |
| keywords = {steer angle,roll angle,inertia ellipsoids}, | |
| owner = {moorepants}, | |
| review = {DLP -- Dohring derives linear equations of motion for a bicycle model | |
| which includes a rigidly attached rider, no-slip rolling, and a steering | |
| damper. He presents the four roots of the characteristic equation, | |
| at various forward speeds, for four vehicle parameter sets: a vespa | |
| scooter, a Durkopp Machine Type MD 150, a BMW Machine Type R 51/3 | |
| with a rider and the same vehicle without a rider.\\ | |
| The translated paper is 27 pages long, the derivation of the equations | |
| of motion take up the first 15 and is done using Newton-Euler equations. | |
| Eigenvalues are plotted versus Froude number ($v/(g*l)^(0.5)$, where | |
| $l$ is the wheel base). The standard behavior of the weave, capsize, | |
| and caster modes as presented in \cite{Meijaard2007} are qualitatively | |
| identical to the results presented in this work, namely the existance | |
| of a stable speed range, below which the weave mode is unstable, | |
| above which the capsize mode is slightly unstable.\\ | |
| Discussion of a steering damper is included, and it is mentioned that | |
| it is more important that a steering damper prevent handlebar shimmy | |
| from occurring in the first place, rather than it have the ability | |
| to cause existing oscillations to die out. He recommends that vehicles | |
| be designed in such a way that a steering damper isn't needed. | |
| JKM | |
| He has some nice inertia ellipsoid drawings of the three different | |
| cycles he measured for comparing the inertia. | |
| He measured the inertial properties of a scooter, light motorcycle | |
| and heavy motorcycle. | |
| Equation of motion derivation and linear analysis.}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Dohring1955.pdf} | |
| } | |
| @ARTICLE{Dohring1954, | |
| author = {D{\"{o}}hring, E.}, | |
| title = {Die Stabilitat von Einspurfahrzeugen}, | |
| journal = {Automob. Techn. Z.}, | |
| year = {1954}, | |
| volume = {56}, | |
| pages = {69--72}, | |
| bib = {bibtex-keys#Dohring1954}, | |
| bibpr = {private-bibtex-keys#Dohring1954}, | |
| file = {Dohring1954.pdf:Dohring1954.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30}, | |
| webpdf = {references-folder/Dohring1954.pdf} | |
| } | |
| @PHDTHESIS{Dohring1953, | |
| author = {D{\"{o}}hring, E.}, | |
| title = {\"{U}ber die {S}tabilit\"{a}t und die {L}enkkr\"{a}fte von {E}inspurfahrzeugen}, | |
| school = {Technical University Braunschweig}, | |
| year = {1953}, | |
| address = {Germany}, | |
| bib = {bibtex-keys#Dohring1953}, | |
| bibpr = {private-bibtex-keys#Dohring1953}, | |
| file = {Dohring1953.pdf:Dohring1953.pdf:PDF}, | |
| keywords = {steering angle,}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.18}, | |
| webpdf = {references-folder/Dohring1953.pdf} | |
| } | |
| @ARTICLE{Dao2011, | |
| author = {Dao, Trung-Kien and Chen, Chih-Keng}, | |
| title = {Sliding-mode control for the roll-angle tracking of an unmanned bicycle}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2011}, | |
| volume = {49}, | |
| pages = {915-930}, | |
| number = {6}, | |
| abstract = { This study investigates the roll-angle tracking control of an unmanned | |
| bicycle using a sliding-mode controller (SMC). The roll angle is | |
| controlled at a specific speed via a simple proportional, derivative | |
| (PD) controller to generate inputâoutput data including steering | |
| torque as well as roll and steering angles. The collected data are | |
| then used to identify a one-input two-output linear model by a prediction-error | |
| identification method using parameterisation in a canonical state-space | |
| form derived as a Whipple model. Once the linear model is obtained, | |
| the SMC can be designed to control the bicycle. Simulations and comparisons | |
| with a proportional, integral, derivative (PID) controller show that | |
| this SMC is robust against changes and variations in speed as well | |
| as external disturbances. }, | |
| doi = {10.1080/00423114.2010.503810}, | |
| eprint = {http://www.tandfonline.com/doi/pdf/10.1080/00423114.2010.503810}, | |
| file = {Dao2011a.pdf:Dao2011a.pdf:PDF;Dao2011.pdf:Dao2011.pdf:PDF}, | |
| timestamp = {2012.04.16}, | |
| url = {http://www.tandfonline.com/doi/abs/10.1080/00423114.2010.503810} | |
| } | |
| @ARTICLE{Dao2011a, | |
| author = {Trung-Kien Dao and Chih-Keng Chen}, | |
| title = {Path Tracking Control of a Motorcycle Based on System Identification}, | |
| journal = {Vehicular Technology, IEEE Transactions on}, | |
| year = {2011}, | |
| volume = {60}, | |
| pages = {2927 -2935}, | |
| number = {7}, | |
| month = {sept. }, | |
| abstract = {This study investigates the roll angle tracking and path tracking | |
| controls of a motorcycle. For the control design, a required linear | |
| model is obtained from the system identification method. The roll | |
| angle is controlled at a specific speed via a simple PID controller | |
| to generate input-output data, including steering torque, as well | |
| as roll and steering angles. The collected data are then used to | |
| identify a one-input two-output linear model by a prediction error | |
| identification method using parameterization in a canonical state-space | |
| form derived as a Whipple model. With the obtained linear model, | |
| full-state feedback (FSF) is designed for roll angle tracking control. | |
| Simulations and comparisons with a PID controller show that this | |
| FSF is robust against changes in speed as well as external disturbances. | |
| On the basis of the roll angle tracking controller, a path tracking | |
| controller by path preview is developed with consideration of disturbance | |
| rejection. The simulations show the effectiveness of the proposed | |
| control scheme.}, | |
| doi = {10.1109/TVT.2011.2159871}, | |
| file = {Dao2011a.pdf:Dao2011a.pdf:PDF}, | |
| issn = {0018-9545}, | |
| keywords = {PID controller;canonical state-space model;disturbance rejection;full-state | |
| feedback;motorcycle path tracking control;one-input two-output linear | |
| model;prediction error identification method;roll angle tracking;steering | |
| torque;system identification;angular velocity control;control system | |
| synthesis;linear systems;motorcycles;position control;state feedback;state-space | |
| methods;steering systems;three-term control;torque control;} | |
| } | |
| @TECHREPORT{Davis1975, | |
| author = {J. A. Davis}, | |
| title = {Bicycle Tire Testing - Effects of Inflation Pressure \& Low Coefficient | |
| Surfaces}, | |
| institution = {Calspan Corporation}, | |
| year = {1975}, | |
| bib = {bibtex-keys#Davis1975}, | |
| bibpr = {private-bibtex-keys#Davis1975}, | |
| file = {Davis1975.pdf:Davis1975.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Davis1975.pdf} | |
| } | |
| @TECHREPORT{Davis1974, | |
| author = {J. A. Davis and R. J. Cassidy}, | |
| title = {The Effect of Frame Properties on Bicycling Efficiency}, | |
| institution = {Calspan Corporation}, | |
| year = {1974}, | |
| bib = {bibtex-keys#Davis1974}, | |
| bibpr = {private-bibtex-keys#Davis1974}, | |
| file = {Davis1974.pdf:Davis1974.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Davis1974.pdf} | |
| } | |
| @ARTICLE{Davis1981, | |
| author = {R.R. Davis and M.L. Hull}, | |
| title = {Measurement of pedal loading in bicycling: II. Analysis and results}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1981}, | |
| volume = {14}, | |
| pages = {857 - 861, 863-872}, | |
| number = {12}, | |
| abstract = {A computer-based instrumentation system was used to accurately measure | |
| the six foot-pedal load components and the absolute pedal position | |
| during bicycling. The instrumentation system is the first of its | |
| kind and enables extensive and meaningful biomechanical analysis | |
| of bicycling. With test subjects riding on rollers which simulate | |
| actual bicycling, pedalling data were recorded to explore four separate | |
| hypotheses. Experiments yielded the following major conclusions: | |
| (1) Using cleated shoes retards fatigue of the quadriceps muscle | |
| group. By allowing more flexor muscle utilization during the backstroke, | |
| cleated shoes distribute the workload and alleviate the peak load | |
| demand on the quadriceps group; (2) overall pedalling efficiency | |
| increases with power level; (3) non-motive load components which | |
| apply adverse moments on the knee joint are of significant magnitude; | |
| (4) analysis of pedalling is an invaluable training aid. One test | |
| subject reduced his leg exertion at the pedal by 24 per cent.}, | |
| bib = {bibtex-keys#Davis1981}, | |
| bibpr = {private-bibtex-keys#Davis1981}, | |
| doi = {DOI: 10.1016/0021-9290(81)90013-0}, | |
| file = {Davis1981.pdf:Davis1981.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4BYSFKJ-12/2/7e2d24476ffb292f1619f9cbeebceeda}, | |
| webpdf = {references-folder/Davis1981.pdf} | |
| } | |
| @ARTICLE{Davis1981a, | |
| author = {Davis, R. and Hull, M. L.}, | |
| title = {DESIGN OF ALUMINUM BICYCLE FRAMES}, | |
| journal = {JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME}, | |
| year = {1981}, | |
| volume = {103}, | |
| pages = {901--907}, | |
| number = {4}, | |
| address = {345 E 47TH ST, NEW YORK, NY 10017}, | |
| affiliation = {DAVIS, R (Reprint Author), UNIV CALIF DAVIS,DEPT MECH ENGN,DAVIS,CA | |
| 95616.}, | |
| bib = {bibtex-keys#Davis1981a}, | |
| bibpr = {private-bibtex-keys#Davis1981a}, | |
| doc-delivery-number = {MM057}, | |
| file = {Davis1981a.pdf:Davis1981a.pdf:PDF}, | |
| issn = {0161-8458}, | |
| language = {English}, | |
| number-of-cited-references = {17}, | |
| publisher = {ASME-AMER SOC MECHANICAL ENG}, | |
| subject-category = {Engineering, Mechanical}, | |
| times-cited = {2}, | |
| type = {Article}, | |
| unique-id = {ISI:A1981MM05700033}, | |
| webpdf = {references-folder/Davis1981a.pdf} | |
| } | |
| @BOOK{Dean2008, | |
| title = {The Human-Powered Home: Choosing Muscles Over Motors}, | |
| publisher = {New Society Publishers}, | |
| year = {2008}, | |
| author = {Tamara Dean}, | |
| bib = {bibtex-keys#Dean2008}, | |
| bibpr = {private-bibtex-keys#Dean2008}, | |
| timestamp = {2012.01.30} | |
| } | |
| @INPROCEEDINGS{Defoort2008, | |
| author = {Defoort, M. and Murakami, T.}, | |
| title = {Second order sliding mode control with disturbance observer for bicycle | |
| stabilization}, | |
| booktitle = {Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International | |
| Conference on}, | |
| year = {2008}, | |
| pages = {2822 -2827}, | |
| month = {September}, | |
| abstract = {Controlling a riderless bicycle is a challenging problem because the | |
| dynamics are nonlinear. In this paper, an innovative robust control | |
| strategy based on 2nd order sliding mode control (SMC) is proposed | |
| for the stabilization of an autonomous bicycle. In order to improve | |
| overall performance, application of a disturbance observer (DOB) | |
| is suggested. The combination of 2nd order SMC and DOB enables to | |
| increase the robustness of the system trajectories while avoiding | |
| the chattering phenomenon. The proposed control scheme is validated | |
| by simulation and experimental results for bicycle stabilization | |
| at low and zero velocities.}, | |
| bib = {bibtex-keys#Defoort2008}, | |
| bibpr = {private-bibtex-keys#Defoort2008}, | |
| doi = {10.1109/IROS.2008.4650685}, | |
| file = {Defoort2008.pdf:Defoort2008.pdf:PDF}, | |
| keywords = {autonomous bicycle;bicycle stabilization;chattering phenomenon;disturbance | |
| observer;riderless bicycle;second order sliding mode control;bicycles;control | |
| nonlinearities;mobile robots;observers;road vehicles;robust control;variable | |
| structure systems;}, | |
| webpdf = {references-folder/Defoort2008.pdf} | |
| } | |
| @MANUAL{Dembia2011, | |
| title = {Yeadon: A Python Library For Human Inertia Estimation}, | |
| author = {Christopher Dembia}, | |
| year = {2011}, | |
| note = {http://pypi.python.org/pypi/yeadon/}, | |
| timestamp = {2012.03.06}, | |
| url = {http://pypi.python.org/pypi/yeadon/} | |
| } | |
| @TECHREPORT{Dempster1955, | |
| author = {Dempster, W. T.}, | |
| title = {Space Requirements of the Seated Operator, Geometrical, Kinematic | |
| and Mechanical Aspects of the Body with Special Reference to the | |
| Limbs}, | |
| institution = {Wright-Patterson AFB}, | |
| year = {1955}, | |
| type = {Technical Report}, | |
| number = {WADC 55-159}, | |
| address = {Ohio}, | |
| bib = {bibtex-keys#Dempster1955}, | |
| bibpr = {private-bibtex-keys#Dempster1955}, | |
| file = {Dempster1955.pdf:Dempster1955.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07}, | |
| webpdf = {references-folder/Dempster1955.pdf} | |
| } | |
| @ARTICLE{Desloge1988, | |
| author = {Edward A. Desloge}, | |
| title = {The Gibbs-Appell equations of motion}, | |
| journal = {American Journal of Physics}, | |
| year = {1988}, | |
| volume = {56}, | |
| pages = {841--846}, | |
| number = {9}, | |
| abstract = {A particularly simple and direct derivation of the Gibbs-Appell equations | |
| of motion is given. In addition to the conventional results, a relatively | |
| unknown but elegant and useful form of the equations of motion is | |
| also obtained. The role of virtual displacements in generating generalized | |
| equations of motion is discussed. The relationship between the Gibbs-Appell | |
| equations of motion and Langrange's equations of motion is discussed. | |
| Auxiliary results that facilitate the application of the Gibbs-Appell | |
| equations of motion to rigid bodies are presented. The theory is | |
| demonstrated by generating equations of motion for a disk rolling | |
| on a horizontal plane.}, | |
| bib = {bibtex-keys#Desloge1988}, | |
| bibpr = {private-bibtex-keys#Desloge1988}, | |
| doi = {10.1119/1.15463}, | |
| file = {Desloge1988.pdf:Desloge1988.pdf:PDF}, | |
| keywords = {EQUATIONS OF MOTION; CLASSICAL MECHANICS; ROLLING; DISKS}, | |
| owner = {moorepants}, | |
| publisher = {AAPT}, | |
| timestamp = {2009.01.31}, | |
| url = {http://link.aip.org/link/?AJP/56/841/1}, | |
| webpdf = {references-folder/Desloge1988.pdf} | |
| } | |
| @ARTICLE{Desloge1986, | |
| author = {Desloge, Edward A.}, | |
| title = {A comparison of Kane's equations of motion and the Gibbs--Appell | |
| equations of motion}, | |
| journal = {American Journal of Physics}, | |
| year = {1986}, | |
| volume = {54}, | |
| pages = {470-472}, | |
| number = {5}, | |
| bib = {bibtex-keys#Desloge1986}, | |
| bibpr = {private-bibtex-keys#Desloge1986}, | |
| doi = {10.1119/1.14566}, | |
| keywords = {EQUATIONS OF MOTION; DYNAMICAL SYSTEMS; CLASSICAL MECHANICS}, | |
| owner = {moorepants}, | |
| publisher = {AAPT}, | |
| timestamp = {2009.11.04}, | |
| url = {http://link.aip.org/link/?AJP/54/470/1} | |
| } | |
| @ARTICLE{Dijk2007, | |
| author = {van Dijk, Tomas}, | |
| title = {Bicycles made to measure}, | |
| journal = {Delft Outlook}, | |
| year = {2007}, | |
| volume = {3}, | |
| pages = {7--10}, | |
| bib = {bibtex-keys#Dijk2007}, | |
| bibpr = {private-bibtex-keys#Dijk2007}, | |
| file = {Dijk2007.pdf:Dijk2007.pdf:PDF}, | |
| timestamp = {2011.11.17}, | |
| webpdf = {references-folder/Dijk2007.pdf} | |
| } | |
| @ARTICLE{Dikarev1981, | |
| author = {E. D. Dikarev and S. B. Dikareva and N. A. Fufaev}, | |
| title = {Effect of Inclination of Steering Axis and of Stagger of the Front | |
| Wheel on Stability of Motion of a Bicycle}, | |
| journal = {Izv. AN sssR. Mekhanika Tverdogo Tela}, | |
| year = {1981}, | |
| volume = {16}, | |
| pages = {69-73}, | |
| number = {1}, | |
| bib = {bibtex-keys#Dikarev1981}, | |
| bibpr = {private-bibtex-keys#Dikarev1981}, | |
| file = {Dikarev1981.pdf:Dikarev1981.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.16}, | |
| webpdf = {references-folder/Dikarev1981.pdf} | |
| } | |
| @ARTICLE{Djerassi2003, | |
| author = {S. Djerassi and H. Bamberger}, | |
| title = {Constraint Forces and the Method of Auxiliary Generalized Speeds}, | |
| journal = {Journal of Applied Mechanics}, | |
| year = {2003}, | |
| volume = {70}, | |
| pages = {568-574}, | |
| number = {4}, | |
| bib = {bibtex-keys#Djerassi2003}, | |
| bibpr = {private-bibtex-keys#Djerassi2003}, | |
| doi = {10.1115/1.1572902}, | |
| keywords = {kinematics; vectors; decomposition; N-body problems}, | |
| owner = {moorepants}, | |
| publisher = {ASME}, | |
| timestamp = {2009.11.04}, | |
| url = {http://link.aip.org/link/?AMJ/70/568/1} | |
| } | |
| @INPROCEEDINGS{Donida2006, | |
| author = {Filippo Donida and Gianni Ferretti and Sergio M. Savaresi and Francesco | |
| Schiavo and Mara Tanelli}, | |
| title = {Motorcycle Dynamics Library in Modelica}, | |
| booktitle = {Modelica}, | |
| year = {2006}, | |
| abstract = {This paper presents a Modelica library developed for | |
| the dynamic simulation of a motorcycle, developed | |
| within the Dymola environment (see [1], [2], [3]) | |
| and tailored to test and validation of active control | |
| systems for motorcycle dynamics. As a matter of | |
| fact, as a complete analytical model for two-wheeled | |
| vehicles is not directly available due to the complexity | |
| of their dynamic behavior, a reliable model should | |
| be based on multibody modeling tools endowed with | |
| automated symbolic manipulation capabilities. In this | |
| work we illustrate the modular approach to motorcycle | |
| modeling and discuss the tire-road interaction model, | |
| which is the crucial part of the simulator. Moreover, | |
| we propose a virtual driver model which allows to | |
| perform all possible maneuvers.}, | |
| bib = {bibtex-keys#Donida2006}, | |
| bibpr = {private-bibtex-keys#Donida2006}, | |
| file = {Donida2006.pdf:Donida2006.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Donida2006.pdf} | |
| } | |
| @ARTICLE{Doria2012, | |
| author = {Doria, A. and Formentini, M. and Tognazzo, M.}, | |
| title = {Experimental and numerical analysis of rider motion in weave conditions}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2012}, | |
| abstract = {Motorcycle dynamics is characterised by the presence of modes of vibration | |
| that may become unstable and lead to dangerous conditions. In particular, | |
| the weave mode shows large yaw and roll oscillations of the rear | |
| frame and out of phase oscillations of the front frame about the | |
| steer axis. The presence of the rider influences the modes of vibration, | |
| since the mass, stiffness and damping of limbs modify the dynamic | |
| properties of the system; moreover, at low frequency the rider can | |
| control oscillations. There are few experimental results dealing | |
| with the response of the rider in the presence of large oscillations | |
| of the motorcycle. This lack is due to the difficulty of carrying | |
| out measurements on the road and of reproducing the phenomena in | |
| the laboratory. This paper deals with a research programme aimed | |
| at measuring the oscillations of the rider's body on a running motorcycle | |
| in the presence of weave. First, testing equipment is presented. | |
| It includes a special measurement device that is able to measure | |
| the relative motion between the rider and the motorcycle. Then the | |
| road tests carried out at increasing speeds (from 160 to 210 km/h) | |
| are described and discussed. Best-fitting methods are used for identifying | |
| the main features of measured vibrations in terms of natural frequencies, | |
| damping ratios and modal shapes. The last section deals with the | |
| comparison between measured and simulated response of the motorcycle–rider | |
| system in weave conditions; good agreement was found.}, | |
| bib = {bibtex-keys#Doria2012}, | |
| bibpr = {private-bibtex-keys#Doria2012}, | |
| doi = {10.1080/00423114.2011.621542}, | |
| eprint = {http://www.tandfonline.com/doi/pdf/10.1080/00423114.2011.621542}, | |
| file = {Doria2012.pdf:Doria2012.pdf:PDF}, | |
| url = {http://www.tandfonline.com/doi/abs/10.1080/00423114.2011.621542}, | |
| webpdf = {references-folder/Doria2012.pdf} | |
| } | |
| @ARTICLE{Doyle1988, | |
| author = {A. J. R. Doyle}, | |
| title = {The Essential Human Contribution to Bicycle Riding}, | |
| journal = {Training, Human Decision Making and Control}, | |
| year = {1988}, | |
| pages = {351--370}, | |
| bib = {bibtex-keys#Doyle1988}, | |
| bibpr = {private-bibtex-keys#Doyle1988}, | |
| file = {Doyle1988.pdf:Doyle1988.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {JKM - | |
| This quote is great "The old saw says that once learned it is never | |
| forgotten, but what exactly is learned has been by no means clear." | |
| His goal is to determine how much of the rider's control actions can | |
| be accounted for without involving higher cerebral functions. He | |
| mentions the Weir and Zellner work and the fact that it is about | |
| motorcycles and at high speed, then questions whether the control | |
| employed for their system is simply a different version of the one | |
| employed on a bicycle at low speed or different control methodologies | |
| all together. He mentions the arm and upper body movements and how | |
| it is difficult to tease out the delibirate movements verus the passive | |
| dynamics of the body. | |
| He doesn't seem to know about any bike self-stability as he claims | |
| that open-loop runs are virtually impossible, but then says that | |
| the autostability properties are woven with the human's dynamics. | |
| He says that "mathematical models are intolerant of inputs that have | |
| their origin ouside the system". He suggests removing upper body | |
| movement by using a brace. | |
| He eliminates the head angle, trail and front wheel gyro effect so | |
| that "all steer movements are a result of the human's control". | |
| He employs some kind of time step based calculation of the states | |
| where he can employ intermittent control and says that tuning the | |
| control values allows him to match the traces taken during the experiments. | |
| Since the system is so unstable this leaves the human little freedom | |
| of choice of which control system to use. | |
| He says that upper body leaning alone cannot exert control in the | |
| rolling plane. | |
| He describe countersteering, then says that it is clear that any desired | |
| heading changes have to be translated in into some form of demand | |
| to the lateral control system. i.e. to go right you must roll the | |
| frame right, to roll the frame right you must steer to initiate a | |
| righward roll. | |
| Figure 2 has uncanny resemblance to the control model we developed | |
| {Hess2012}. He only has on inner loop feeding back roll rate (we | |
| feed back steer angle, roll rate and roll angle) and says that is | |
| the essential loop a human must learn to control before being able | |
| to navigate and turn. | |
| It seems like he gets somewhat close matches from his control model | |
| to the real traces, but then adds in pulses (single or multiple) | |
| to the steering so that the traces matches more closely. This is | |
| done at first for a run where the rider goes into a steady turn and | |
| then out. This was done with a normal bicycle and he claimed there | |
| was no way to tease out the bicycle's auto stability from the traces. | |
| He blindfolds the subjects on the destabilized bicycle to prevent | |
| riders from trying to maintain direction but the riders seemed to | |
| go generally straight regardless. | |
| I need to reread the middle parts, I don't understand all his logic. | |
| He feeds back roll acceleration and integrates it to get roll angular | |
| velocity. This is basically a PD control on roll rate. These are | |
| continous. But he says that the roll angle control is discrete and | |
| uses a rule "Make a pulse against the lean whenever it gets bigger | |
| that 1.6 degrees." | |
| He says the gains are inversly proportional to speed. | |
| He cites the crossover model saying that humans can adjust their gain. | |
| He claims the balancing part of the control system is a lower cortex | |
| type of control. | |
| He never says what his computer simulation is. I guess it is detailed | |
| in his thesis. The graphs are poor and he never compares experiment | |
| to simulation directly.}, | |
| timestamp = {2010.09.15}, | |
| webpdf = {references-folder/Doyle1988.pdf} | |
| } | |
| @PHDTHESIS{Doyle1987, | |
| author = {Anthony John Redfern Doyle}, | |
| title = {The Skill of Bicycle Riding}, | |
| school = {Department of Psychology, University of Sheffield}, | |
| year = {1987}, | |
| abstract = {The principal theories of human motor skill are compared. Disagreements | |
| between them centre around the exact details of the feedback loops | |
| used for control. In order to throw some light on this problem a | |
| commonplace skill was analysed using computer techniques to both | |
| record and model the movement. Bicycle riding was chosen as an example | |
| because it places strict constraints on the freedom of the rider's | |
| actions and consequently allows a fairly simple model to be used. | |
| Given these constraints a faithful record of the delicate balancing | |
| movements of the handlebar must also be a record of the rider's actions | |
| in controlling the machine. | |
| An instrument pack, fitted with gyroscopic sensors and a handlebar | |
| potentiometer, recorded the roll, yaw and steering angle changes | |
| during free riding in digital form on a microcomputer disc. A discrete | |
| step computer model of the rider and machine was used to compare | |
| the output characteristic of various control systems with that of | |
| the experimental subjects. Since the normal bicycle design gives | |
| a measure of automatic stability it is not possible to tell how much | |
| of the handlebar movement is due to the rider and how much to the | |
| machine. Consequently a bicycle was constructed in which the gyroscopic | |
| and castor stability were removed. In order to reduce the number | |
| of sensory contributions the subjects were blindfolded. | |
| The recordings showed that the basic method of control was a combination | |
| of a continuous delayed repeat of the roll angle rate in the handle-bar | |
| channel, with short intermittent ballistic acceleration inputs to | |
| control angle of lean and consequently direction. | |
| A review of the relevant literature leads to the conclusion that the | |
| proposed control system is consistent with current physiological | |
| knowledge. Finally the bicycle control system discovered in the experiments | |
| is related to the theories of motor skills discussed in the second | |
| chapter.}, | |
| bib = {bibtex-keys#Doyle1987}, | |
| bibpr = {private-bibtex-keys#Doyle1987}, | |
| file = {Doyle1987.pdf:Doyle1987.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {He choose the bicycle balance task instead of smaller simpler tasks | |
| that could be synthesized into a more complex task. He sees the bicycle | |
| as allowing only a few stragteiges for its operation and this is | |
| an advantage. | |
| The principal control stragety for roll velocity is continous but | |
| there is strong evidence that intermitent movements are superimposed | |
| onto this stragtegy to control the angle of lean. I could imagine | |
| that his simulation model wasn't good enough to simulate the closed | |
| loop system without these corrective actions, I'm unsure whether | |
| the evidence for them is sound. | |
| pg55 He doesn't see much use in the traditional open-loop bicycle | |
| modeling techinques and claims that it is virtually impossible to | |
| specifiy a truly open-loop modle because the riders arms are on teh | |
| bars and have a inherent muscle action (tonus). | |
| pg60 The inertia of the rider was modeled as a single cylinder. The | |
| bicycle was diassembled, weighed and measured. He averaged the weight | |
| of the two subjects for simulation. He considerd the bicycle to be | |
| a flat plate for inertia calcs. Basically, very crude estimates of | |
| the inertia where made. | |
| Used a tire model : "more angle gives more force" I assume this is | |
| the slip angle ratio. | |
| His method of develop the "equations of motion" is very different | |
| from a typical engineering approach. I'd be quick to dismiss it, | |
| but he ends up with some kind of simulation that seems to act like | |
| a bicycle and even has speed dependent autostability. | |
| pg83 on the autostability: "No test of the real bike was made at this | |
| speed al though the author heard a first-hand account from an owner | |
| who, as a result of a bet, pushed his riderless bicycle down a steep | |
| hill and it ran upright to the bottom." | |
| He used a rate gyro for roll and yaw rates. He used a potentiometer | |
| for steer angle, geared down with a rubber o-ring band (which had | |
| slipping problems). He had a speed measuring device, but opted to | |
| compute the mean speed over the length of the run by recording the | |
| time.}, | |
| timestamp = {2011.06.07}, | |
| webpdf = {references-folder/Doyle1987.pdf} | |
| } | |
| @MASTERSTHESIS{Dressel2007, | |
| author = {Andrew Dressel}, | |
| title = {The Benchmarked Linearized Equations of Motion for an Idealized Bicycle | |
| (Implemented in Software and Distributed via the Internet)}, | |
| school = {Cornell University}, | |
| year = {2007}, | |
| month = {January}, | |
| abstract = {People have been successfully building and riding bicycles since the | |
| 1800s, and many attempts have been made to describe the motion of | |
| these machines mathematically. However, common acceptance of the | |
| correct linearized equations of motion for a bicycle has remained | |
| elusive. In his 1988 masterÂs thesis at Cornell University, Scott | |
| Hand derived the equations again and performed the first known extensive | |
| survey of the literature, finding and documenting the mistakes made | |
| in previous attempts. The question remained however of what mistakes, | |
| if any, Mr. Hand and his advisors made. The subsequent advent of | |
| cheap and plentiful computing power and the development of numerical | |
| methods to take advantage of it provide an opportunity to confirm, | |
| once and for all, the correct linearized equations of motion for | |
| an idealized bicycle. That is exactly what A. L. Schwab, J. P. Meijaard, | |
| and J. M. Papadopoulos have done in their recent paper. The next | |
| step is to efficiently promulgate these correct and confirmed equations | |
| in a useful form. The goal is that anyone working in the areas of | |
| bicycle or motorcycle handling or control can use these equations | |
| directly or verify their own underlying equations against this benchmark. | |
| This thesis describes a program, JBike6, its on-line help, and its | |
| web site designed specifically for that purpose: to provide a turn-key | |
| application for evaluating the self-stability of a bicycle. JBike6 | |
| also generates numbers (eigenvalues and matrix entries) that can | |
| be used to compare, to very high precision, against any other linearized | |
| or fully non-linear equations of motion for a bicycle. After a brief | |
| review of the application, theory, and results of JBike6, the contents | |
| of this thesis consist primarily of hard copy of the on-line help | |
| and web site and screen shots of the program. The text has been modified | |
| to be more readable as a narrative and some pictures have been formatted | |
| to fit within the margins. Obviously, the interactive nature of the | |
| program, the help file, and the web site, including the hyperlinks, | |
| animations, and videos, is not available in this printed document. | |
| While all the components will continue to evolve, this thesis is | |
| a snapshot of them in September 2006. Many redundancies have been | |
| removed, but some remain in order to preserve the integrity and flow | |
| of the individual components. All these components may currently | |
| be found on-line at www.tam.cornell.edu/~ad29/JBike6}, | |
| bib = {bibtex-keys#Dressel2007}, | |
| bibpr = {private-bibtex-keys#Dressel2007}, | |
| file = {Dressel2007.pdf:Dressel2007.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2008.10.16}, | |
| webpdf = {references-folder/Dressel2007.pdf} | |
| } | |
| @ARTICLE{Dressel2012, | |
| author = {Dressel, Andrew and Rahman, Adeeb}, | |
| title = {Measuring sideslip and camber characteristics of bicycle tyres}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2012}, | |
| volume = {0}, | |
| pages = {1-14}, | |
| number = {0}, | |
| abstract = { Sideslip and camber tyre properties, the forces and moments a tyre | |
| generates as it rolls forward under different circumstances, have | |
| been found to be important to motorcycle dynamics. A similar situation | |
| may be expected to exist for bicycles, but limited bicycle tyre data | |
| and a lack of the tools necessary to measure it may contribute to | |
| its absence in bicycle dynamics analyses. Measuring these properties | |
| requires holding the tyre at a fixed orientation with respect to | |
| the pavement and its direction of travel, and then measuring the | |
| lateral force and torque about the steer axis generated as the tyre | |
| rolls forward. Devices exist for measuring these characteristics | |
| of automobile tyres. One device is known to exist specifically for | |
| motorcycle tyres, and it has been used at least once on bicycle tyres, | |
| but the minimum load it can apply is nearly double the actual load | |
| carried by most bicycle tyres. This paper presents a low-cost device | |
| that measures bicycle tyre cornering stiffness and camber stiffness. | |
| }, | |
| bib = {bibtex-keys#Dressel2012}, | |
| bibpr = {private-bibtex-keys#Dressel2012}, | |
| doi = {10.1080/00423114.2011.615408}, | |
| eprint = {http://www.tandfonline.com/doi/pdf/10.1080/00423114.2011.615408}, | |
| file = {Dressel2012.pdf:Dressel2012.pdf:PDF}, | |
| url = {http://www.tandfonline.com/doi/abs/10.1080/00423114.2011.615408}, | |
| webpdf = {references-folder/Dressel2012.pdf} | |
| } | |
| @PHDTHESIS{Eaton1973, | |
| author = {Eaton, David J.}, | |
| title = {Man-Machine Dynamics in the Stabilization of Single-Track Vehicles}, | |
| school = {University of Michigan}, | |
| year = {1973}, | |
| bib = {bibtex-keys#Eaton1973}, | |
| bibpr = {private-bibtex-keys#Eaton1973}, | |
| file = {Eaton1973.pdf:Eaton1973.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {He does a nice review of the current work. He chooses Sharp's model | |
| as the most definitive motorcycle model and works with it. He shows | |
| the classic compensatory manual control system. He then shows the | |
| crossover model citing that a suprising amount of experimental data | |
| supports the model. He cites Weir as good manual control work and | |
| talks about how van Lunteren and Stassen's simulator may not be very | |
| realistic. He says that the van Lunteren and Stassen work was based | |
| on the Whipple model which hadn't be verified against experiment | |
| and points out the steer angle and lean angle inputs not being torques. | |
| He cite a bicycle simulator by Hattori in Japan, which I haven't | |
| heard of. | |
| He does two experiment sets: transient response of the uncontrolled | |
| motorcycle and roll stablization of the controlled motorcycle | |
| Figure 1.1 shows that for speeds below 30 mph the tire slip models | |
| do not vary much from a model without tireslip. | |
| He shows Sharp's simple tire relaxation forumla. | |
| He points out that stability may not always be desireable for the | |
| rider. | |
| "For motorcycles, steering-torque control is more likely than position | |
| control, due to the greatly increase instability of the capsize mode | |
| whne the steering degree of freedom is omitted." | |
| He and Weir independentely substantiated Sharp's model. Eaton's roots | |
| were identical to Sharps. He uses five bodies: engine, rear wheel, | |
| rear frame and rider, front frame and front wheel. he linearizes | |
| about the upright (except for coulomb headtube friction). Point contact | |
| wheels but he includes tire forces and moments due to slip and inclination. | |
| Figure's 2.1-2.3 show nice comparisons of the root loci with respect | |
| to speed for different tire models. He concludes that 1) path-curvature | |
| effects primarily influence the wobbl mode, 2) tire moments have | |
| an importnat influence on the cpaise mode and 3) the weave mode is | |
| influenced by the choice of a tire model only when speeds are below | |
| 20 mph. | |
| Insturmented motorcycle: The rider's upper body was rigidified with | |
| a brace. He did hands-off experiments with the brace!! He used a | |
| third wheel to measure roll angle. Yaw rate was measured with gyro. | |
| Roll angle and steer angle were measured with potentiometers. They | |
| used a chased car with the measurement equipment, including strip | |
| charts. | |
| Uncontrolled experiments: | |
| He excited steering by the rider applying an impulsive tap to the | |
| handlebars. He excited roll by hanging weights on teh motorcycle | |
| and then dropping one of the weights to apply a gravity based roll | |
| torque. He found that the weights didn't change the resultin gveritcal | |
| loads on the tires and coudl be neglected. He used the rate gyro | |
| to measure roll rate in the hand controlled experiments. He found | |
| it difficult to independently excite the motorcycle modes of motion | |
| with high speed wobble being the easiest to excite and capsize and | |
| weave being difficult. He did a combo excitation too: drop the weight | |
| and apply steer torque impulse to correct the fall. | |
| He compares simulation results for the combo excitation claiming to | |
| clearly see the wobble mode (except in roll angle), not seeing weave | |
| (due to high damping) and clearly seeing capsize at the two top speed | |
| runs. Figures 3.2-3.5 show ok agreement, with the higher 42 mph run | |
| showing most agreement. He did many tests, with little variablity. | |
| Wobble predicting decreased with speed. He sees constant damping | |
| and freq of the wobble mode with respect to speed. | |
| Other uncontrolled experiments: | |
| 1. The test vehicle seemed to be unstable at all speeds. | |
| 2. No low freq weave coudl be excited. He observed natural steer into | |
| the fall but it wasn't fast enough for enough correction. | |
| 3. Instability became less severe as speed increased. | |
| He found no evidence that any of his tire models were any better than | |
| his #1 model (lateral slip and inclination forces and aligning moments | |
| from slip angles). | |
| He goes through several hypotheses about why the the model doesn't | |
| match his experiments well, focusing on more complicated tire models | |
| and their effects at lower speeds. he concludes that he needs a better | |
| tire model at low speeds. | |
| Chapter 4: man-machine system | |
| He focues on the roll stablization inner loop. Feedback roll angle | |
| and control based on roll angle error. He eliminates body lean control | |
| as an option to simplify things. He does note that low speed and | |
| difficult manuevers may require body lean. He calculates the transfer | |
| functions from steer torque to roll for the open loop motorcycle | |
| at 15, 30 and 45 mph based on his measured parameters. Figure 4.2 | |
| shows the bode plots of each. The 30 and 45 Bode plots are almost | |
| the same and the 15 is very different. (15 mph is stable). The rider | |
| can control frequencies less than 10 rad/s. The 15 mph is dominated | |
| by weave and capsize, while the higher speeds are dominated by capsize | |
| alone. 15 is aproximated by 3rd order and the 30, 45 are approximated | |
| by a first order transfer function. This leads to a simple form of | |
| the human operator for the 30, 45 mph speeds: a simple gain and time | |
| delay. He focues on 30 mph for remaining analysis. | |
| He measured steer torque with a torque bar and the rider could only | |
| use one hand. He set up his strain gages and bar design to be primarily | |
| senstive to the applied steer torque. The roll angle sensor was not | |
| always reliable. He filtered all signals with a first order filter | |
| with break freqency of 5 rad/s. | |
| He identifies the controlled element with two methods: cross-spectral | |
| and impulse response methods. The impulse response method is finite | |
| impulse response using linear regression. he notes that the remnant | |
| is an issue and makes use of the Wingrove Edwards method to reduce | |
| the error in estimating the rider. There is a time delay where the | |
| autocorrelation function of the remnant is minimized. This time delay | |
| can be leveraged to remove much of the error in identifying the human | |
| controller. | |
| * you can use a Pade approximation to time delay to linearize the | |
| model in identification * | |
| Chapter 6: Roll stablization experiments | |
| These are basically the same as Eaton1973a, which I've alread reviewed. | |
| He sees 3 to 5 time larger steer angles at 15 mph than 30+ mph, but | |
| steer torques increase with speed. Roll angles and rates were nearly | |
| speed independent. He found a dominant frequency between 1.5 and | |
| 5.0 rad/s. | |
| He says that the motorcycle equations of motion are good predictors | |
| now, but the conclusions from Chapter 3 seemed like they were more | |
| mediocre. He shows much better matches of the controlled element | |
| (the motorcycle) during these experiments (he's looking at smalle | |
| bandwidth). his fit is worse for the 15 mph runs, mainly for 1-2 | |
| rad/s. He found that his roll angle measurement was better to work | |
| with than the roll rate (this was a limited of his id procedure). | |
| It looks like he decides to fix the time delay even though it was | |
| more variable: 0.14-0.21. He found the average for most days to be | |
| around 0.3, so he forced it to be 3.0 for the day and rider that | |
| didn't fit that. He had to fix the delat because any combination | |
| of the delay and lead equalization terms woudl give food fits (i.e. | |
| a flat spot in the linear regression??). | |
| He shows good matches to the crossover model for all speeds. | |
| Pg 134: A gain and time delay describe the rider block for higher | |
| speeds! "If the rider wishes to change the roll angle, he applies | |
| a steering torque to the handlebars of opposite sign to the direction | |
| of desired change." -- countersteering | |
| Conclusions: | |
| 1. Sharp's model is good for weave and capsize prediction except at | |
| low speeds. | |
| 2. The model doesn't describe wobble below 35 mph. A better tire model | |
| may be needed. | |
| 3. No real stable speed range was found. | |
| 4. His various tire models didn't improve fit results. | |
| 5. Tire overturning moments and aligning torques cancel each other. | |
| 6. Viscous steering dampers are prefered to Coulomb because the latter | |
| destablizes roll. | |
| 1. The rider remnant excitation provides enough to identify the controlled | |
| element (no other external forces are needed) | |
| 2. The time shift method can be used to identify the rider control | |
| block. | |
| 3. The rider can be modeled as a simple gain and time delay for high | |
| speed runs. Th time delay was consistently 0.3 seconds. | |
| 4. The rider can be described as a gain on rate control with lead | |
| equalization for 15 mph runs. | |
| 5. The crossover model was valid for this data. | |
| 6. The rider remnant is large and white. | |
| 7. Phase margins: 30-50 degrees, gain margins: 4-11 db for the rider | |
| transfer function. A dominant frequency was between 1.5 to 5.0 rad/s. | |
| 8. Body lean control was not necessary to control the motorcycle in | |
| normal riding. It may be more of a style thing if folks use it. | |
| Appendices | |
| A tire model. | |
| He measures the inertia with the rider on the bike in the brace. Roll | |
| inertia was measured by setting the bike on knife edge and osciallating | |
| it under springs. Yaw inertia was measured by suspending the bike | |
| from thr front and rear on strings and osciallating. The product | |
| of inertia was found the same a yaw but with the motorcycle tipped | |
| up. A torional pendulum was used for the wheels and fork. Engine | |
| inertia and mass was from manufacturer. | |
| He estimates the coloumb friction in the steering head with a break-away | |
| torque method (i.e. static friction), but says it was negligible. | |
| For some of the roll stabilization trials at 15 and 30 mph, he finds | |
| 30 in-lb (3.4 Nm) to be the maximum steer torque. | |
| He shows the tire mounted in a tire tester. He measured all the tire | |
| forces and moments.}, | |
| timestamp = {2009.10.30}, | |
| webpdf = {references-folder/Eaton1973.pdf} | |
| } | |
| @INPROCEEDINGS{Eaton1973a, | |
| author = {Eaton, David J.}, | |
| title = {An Experimental Study of the Motorcycle Roll Stabilization Task}, | |
| booktitle = {Proceedings of the Ninth Annual Conference on Manual Control}, | |
| year = {1973}, | |
| pages = {233--234}, | |
| month = {May}, | |
| bib = {bibtex-keys#Eaton1973a}, | |
| bibpr = {private-bibtex-keys#Eaton1973a}, | |
| file = {Eaton1973a.pdf:Eaton1973a.pdf:PDF}, | |
| review = {He cites Sharp's 1971 model as the definitive model and uses it in | |
| his analysis. He augmented it with tire aligning moments due to sideslip. | |
| He questions the work done by van Lunteren and Stassen because they | |
| used a bicycle simulator and simplified equations of motion and their | |
| use of steer angle as the fundamental input to bicycle control. He | |
| likes Weir's theorectical work. His goal is to use experimental uses | |
| to corraborate Sharp and Weir's work. | |
| This paper is strictly about his roll stabilization experiments, Weir's | |
| inner most loop. His model has a human controller, motorcycle plant | |
| and two additive noise components, one for the rider remnant and | |
| the other for the wind and road disturbances. | |
| He instrumented a motorcycle to measure steer angle with a potentiometer, | |
| roll rate with a rate gyro, roll angle with a third wheel and steer | |
| torque with a custom load bar with a strain gage. He says that the | |
| effects of controlling throttle on the rear frame and steering with | |
| only one hand are surely smaller than the effects of using position | |
| control input versus torque control inputs (i.e. it is not a big | |
| deal that the rider is controllin steer with one hand). He had a | |
| brace to prevent torso movement. There was a chase car that carried | |
| the recording equipment. | |
| He had three experienced riders of approximately the same weight. | |
| He uses data from Rider A (himself) for 15 experiments, 3 of which | |
| were at 15 mph and the rest at 30 mph. Rider B and C did twelve and | |
| eleven runs at 30 mph, respectively. | |
| He says that the correlation between the output, roll angle, at a | |
| time, lambda, before the current time and the current human remnant | |
| is less than the correlation between the current roll angle and the | |
| current rider remnant. Lambda should be between 0 and the rider's | |
| time delay. He uses this assumption and the Wingrove-Edwards methods | |
| with a impulse response identification to determine the rider control | |
| block, Yp. | |
| He first identifies Yc, the motorcycle and says it can be estimated | |
| by find the cross spectrum between roll and steer torque over the | |
| power spectrum of steer torque. Figure 3 gives and example of this | |
| as compared to the Bode plot of the motorcycle model, with good agreement. | |
| The best agreement is is between 1-4 rad/s, which corresponds to | |
| the frequencies where most of the power of the roll angle and steer | |
| torque records are. He claims that since the motorcycle can be easily | |
| identified from the data the human remnant must be the dominant noise | |
| and the wind/road noise is negligible. | |
| He uses his identification method and finds that for the 30 mph tests | |
| the human can be represented by a simply gain and a time delay (few | |
| runs also had a significant lead equalization term). The 15 mph runs | |
| could be described by a gain, lead equalization, a time delay and | |
| a zero at the origin. He then says that the resulting rider/motorcycle | |
| transfer function takes the form of the crossover model. | |
| Table one shows identified parameters. The time delay is practically | |
| the same for all riders and all speeds. Rider A shows seemingly significant | |
| differences from one day to the next for the 30 mph runs. | |
| Figure 5 shows the identified human and motorcycle model transfer | |
| function for 30 mph tests for great fits to the cross over model. | |
| The 15 mph fit is great too, but uses the estimated motorcycle model | |
| instead of the first principles model. | |
| He says increasing amounts of lead equalization are needed by the | |
| human as speed decreases to fit the dictates of the crossover model. | |
| To at least 10 rad/s the human remnant was found to be white. The | |
| remnant includes rider steer torque non-linearly correlated to the | |
| output, non-linear path corrections, misc steering torques, time | |
| varitaion in the human block, and errors in identifying the human. | |
| The mean square remnant was a large propotion of the mean square | |
| steering torque. | |
| He measures the parameters of the motorcycle including tire properites | |
| on a tire testing machine. | |
| Conclusions: | |
| 1. He could indentify the open loop motorcycle model. | |
| 2. You can use the Wingrove-Edwards method to identify the rider block. | |
| 3, 4. He can use a constant gain and time delay to model the rider | |
| for most runs, some required some lead equalization. | |
| 5. He gets agreement with the crossover model. | |
| 6. Most of the rider's steering torque was remnant. The power spectrum | |
| has similar shape as white noise run through the same filter.}, | |
| timestamp = {2009.02.07}, | |
| webpdf = {references-folder/Eaton1973a.pdf} | |
| } | |
| @INPROCEEDINGS{Eaton1973b, | |
| author = {Eaton, David J. and Segel, Leonard}, | |
| title = {Lateral Dynamics of the Uncontrolled Motorcycle}, | |
| booktitle = {Second International Congress on Automotive Safety}, | |
| year = {1973}, | |
| address = {San Francisco, CA, USA}, | |
| month = {July}, | |
| bib = {bibtex-keys#Eaton1973b}, | |
| bibpr = {private-bibtex-keys#Eaton1973b}, | |
| file = {Eaton1973b.pdf:Eaton1973b.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {He says only Dohring and Fu have done on the road motorcycle experiments | |
| before him. He used an analog computer to do the simulations. | |
| This paper is a repeat of the same results found in his dissertation. | |
| Refer to the notes there.}, | |
| timestamp = {2009.10.30}, | |
| webpdf = {references-folder/Eaton1973b.pdf} | |
| } | |
| @TECHREPORT{Edwards1972, | |
| author = {Frederick G. Edwards}, | |
| title = {Determination of pilot and vehicle describing functions from the | |
| Gemini-10 mission}, | |
| institution = {NASA Ames Research Center}, | |
| year = {1972}, | |
| bib = {bibtex-keys#Edwards1972}, | |
| bibpr = {private-bibtex-keys#Edwards1972}, | |
| file = {Edwards1972.pdf:Edwards1972.pdf:PDF}, | |
| timestamp = {2012.02.09}, | |
| webpdf = {references-folder/Edwards1972.pdf} | |
| } | |
| @INPROCEEDINGS{Ellis1973, | |
| author = {Ellis, J. R. and G. F. Hayhoe}, | |
| title = {The Steady State and Transient Handling Characteristics of a Motorcycle}, | |
| booktitle = {Second International Congress on Automotive Safety}, | |
| year = {1973}, | |
| address = {San Francisco, CA, USA}, | |
| month = {July}, | |
| bib = {bibtex-keys#Ellis1973}, | |
| bibpr = {private-bibtex-keys#Ellis1973}, | |
| file = {Ellis1973.pdf:Ellis1973.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30}, | |
| webpdf = {references-folder/Ellis1973.pdf} | |
| } | |
| @INPROCEEDINGS{Ellis1971, | |
| author = {Ellis, J. R. and G. F. Hayhoe}, | |
| title = {The Steering Geometry of a Single-Track Vehicle}, | |
| booktitle = {Second International Congress on Vehicle Mechanics}, | |
| year = {1971}, | |
| address = {Paris, France}, | |
| month = {September}, | |
| organization = {University of Paris}, | |
| bib = {bibtex-keys#Ellis1971}, | |
| bibpr = {private-bibtex-keys#Ellis1971}, | |
| file = {Ellis1971.pdf:Ellis1971.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30}, | |
| webpdf = {references-folder/Ellis1971.pdf} | |
| } | |
| @ARTICLE{Erb2001, | |
| author = {R. Erb}, | |
| title = {Zum Problem der Stabilität beim Fahrradfahren}, | |
| journal = {MNU}, | |
| year = {2001}, | |
| volume = {5}, | |
| pages = {279--284}, | |
| bib = {bibtex-keys#Erb2001}, | |
| bibpr = {private-bibtex-keys#Erb2001}, | |
| file = {Erb2001.pdf:Erb2001.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Erb2001.pdf} | |
| } | |
| @TECHREPORT{Ervin1976, | |
| author = {Ervin, R. D. and C. MacAdam and Y. Watanabe}, | |
| title = {Motorcycle Braking Performance, Final Technical Report}, | |
| institution = {Highway Safety Research Institute}, | |
| year = {1976}, | |
| number = {UM-HSRI-76-30-2}, | |
| month = {December}, | |
| bib = {bibtex-keys#Ervin1976}, | |
| bibpr = {private-bibtex-keys#Ervin1976}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30} | |
| } | |
| @ARTICLE{Escalona2011, | |
| author = {Escalona, José and Recuero, Antonio}, | |
| title = {A bicycle model for education in multibody dynamics and real-time | |
| interactive simulation}, | |
| journal = {Multibody System Dynamics}, | |
| year = {2011}, | |
| pages = {1-20}, | |
| abstract = {This paper describes the use of a bicycle model to teach multibody | |
| dynamics. The bicycle motion equations are first obtained as a DAE | |
| system written in terms of dependent coordinates that are subject | |
| to holonomic and non-holonomic constraints. The equations are obtained | |
| using symbolic computation. The DAE system is transformed to an ODE | |
| system written in terms of a minimum set of independent coordinates | |
| using the generalised coordinates partitioning method. This step | |
| is taken using numerical computation. The ODE system is then numerically | |
| linearised around the upright position and eigenvalue analysis of | |
| the resulting system is performed. The frequencies and modes of the | |
| bicycle are obtained as a function of the forward velocity which | |
| is used as continuation parameter. The resulting frequencies and | |
| modes are compared with experimental results. Finally, the non-linear | |
| equations of the bicycle are used to create an interactive real-time | |
| simulator using Matlab-Simulink. A series of issues on controlling | |
| the bicycle are discussed. The entire paper is focussed on teaching | |
| engineering students the practical application of analytical and | |
| computational mechanics using a model that being simple is familiar | |
| and attractive to them.}, | |
| affiliation = {Department of Mechanical and Materials Engineering, University of | |
| Seville, Camino de los Descubrimientos, s/n, 41092 Seville, Spain}, | |
| bib = {bibtex-keys#Escalona2011}, | |
| bibpr = {private-bibtex-keys#Escalona2011}, | |
| doi = {10.1007/s11044-011-9282-7}, | |
| file = {Escalona2011.pdf:Escalona2011.pdf:PDF}, | |
| issn = {1384-5640}, | |
| keyword = {Engineering}, | |
| publisher = {Springer Netherlands}, | |
| webpdf = {references-folder/Escalona2011.pdf} | |
| } | |
| @INPROCEEDINGS{Escalona2010, | |
| author = {J.L. Escalona and A.M. Recuero}, | |
| title = {A bicycle model for education in machine dynamics and real-time interactive | |
| simulation}, | |
| booktitle = {Proceedings of Bicycle and Motorcycle Dynamics 2010, A | |
| Symposium on the Dynamics and Control of Single Track Vehicles}, | |
| year = {2010}, | |
| address = {Delft, The Netherlands}, | |
| month = {October}, | |
| bib = {bibtex-keys#Escalona2010}, | |
| bibpr = {private-bibtex-keys#Escalona2010}, | |
| file = {Escalona2010.pdf:Escalona2010.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2011.10.26}, | |
| webpdf = {references-folder/Escalona2010.pdf} | |
| } | |
| @PHDTHESIS{Evangelou2003, | |
| author = {Simos Evangelou}, | |
| title = {The Control and Stability Analysis of Two-Wheeled Road Vehicles}, | |
| school = {University of London}, | |
| year = {2003}, | |
| month = {September}, | |
| abstract = {The multibody dynamics analysis software, AUTOSIM, is used to develop | |
| automated linear and nonlinear models for the hand derived motorcycle | |
| models presented in (Sharp, 1971, 1994b). A more comprehensive model, | |
| based on previous work (Sharp and Limebeer, 2001), is also derived | |
| and extended. One version of the code uses AUTOSIM to produce a FORTRAN | |
| or C program which solves the nonlinear equations of motion and generates | |
| time histories, and a second version generates linearised equations | |
| of motion as a MATLAB file that contains the state-space model in | |
| symbolic form. Local stability is investigated via the eigenvalues | |
| of the linearised models that are associated with equilibrium points | |
| of the nonlinear systems. The time histories produced by nonlinear | |
| simulation runs are also used with an animator to visualise the result. | |
| A comprehensive study of the effects of acceleration and braking | |
| on motorcycle stability with the use of the advanced motorcycle model | |
| is presented. The results show that the wobble mode of a motorcycle | |
| is significantly destabilised when the machine is descending an incline, | |
| or braking on a level surface. Conversely, the damping of the wobble | |
| mode is substantially increased when the machine is ascending an | |
| incline at constant speed, or accelerating on a level surface. Except | |
| at very low speeds, inclines, acceleration and deceleration appear | |
| to have little effect on the damping or frequency of the weave mode. | |
| A theoretical study of the effects of regular road undulations on | |
| the dynamics of a cornering motorcycle with the use of the same model | |
| is also presented. Frequency response plots are used to study the | |
| propagation of road forcing signals to the motorcycle steering system. | |
| It is shown that at various critical cornering conditions, regular | |
| road undulations of a particular wavelength can cause severe steering | |
| oscillations. The results and theory presented here are believed | |
| to explain many of the stability related road accidents that have | |
| been reported in the popular literature. The advanced motorcycle | |
| model is improved further to include a more realistic tyre-road contact | |
| geometry, a more comprehensive tyre model based on Magic Formula | |
| methods utilising modern tyre data, better tyre relaxation properties | |
| and other features of contemporary motorcycle designs. Parameters | |
| describing a modern high performance machine and rider are also included.}, | |
| bib = {bibtex-keys#Evangelou2003}, | |
| bibpr = {private-bibtex-keys#Evangelou2003}, | |
| file = {Evangelou2003.pdf:Evangelou2003.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Evangelou2003.pdf} | |
| } | |
| @ARTICLE{Evangelou2006, | |
| author = {Evangelou, S. and Limebeer, D.J.N. and Sharp, R.S. and Smith, M.C.}, | |
| title = {Control of motorcycle steering instabilities}, | |
| journal = {Control Systems Magazine, IEEE}, | |
| year = {2006}, | |
| volume = {26}, | |
| pages = {78-88}, | |
| number = {5}, | |
| month = {October}, | |
| abstract = {The establishment of damper settings that provide an optimal compromise | |
| between wobble- and weave-mode damping is discussed. The conventional | |
| steering damper is replaced with a network of interconnected mechanical | |
| components comprised of springs, dampers and inerters - that retain | |
| the virtue of the damper, while improving the weave-mode performance. | |
| The improved performance is due to the fact that the network introduces | |
| phase compensation between the relative angular velocity of the steering | |
| system and the resulting steering technique}, | |
| bib = {bibtex-keys#Evangelou2006}, | |
| bibpr = {private-bibtex-keys#Evangelou2006}, | |
| doi = {10.1109/MCS.2006.1700046}, | |
| file = {Evangelou2006.pdf:Evangelou2006.pdf:PDF}, | |
| issn = {0272-1708}, | |
| keywords = {compensation, motorcycles, springs (mechanical), stabilitydamper settings, | |
| inerters, interconnected mechanical components, motorcycle steering | |
| instabilities, phase compensation, springs, weave-mode damping, wobble-mode | |
| damping}, | |
| webpdf = {references-folder/Evangelou2006.pdf} | |
| } | |
| @INPROCEEDINGS{Evangelou2004, | |
| author = {Evangelou, S. and Limebeer, D.J.N. and Sharp, R.S. and Smith, M.C.}, | |
| title = {Steering compensation for high-performance motorcycles}, | |
| booktitle = {Decision and Control, 2004. CDC. 43rd IEEE Conference on}, | |
| year = {2004}, | |
| volume = {1}, | |
| pages = {749-754 Vol.1}, | |
| month = {December}, | |
| abstract = {This paper introduces the idea of using a mechanical steering compensator | |
| to influence the dynamic behaviour of a high-performance motorcycle. | |
| The compensator is seen as a possible replacement for a conventional | |
| steering damper, and comprises a network of a spring, a damper and | |
| a less familiar component called the inerter. The inerter was recently | |
| introduced to allow the synthesis of arbitrary passive mechanical | |
| impedances, and finds a new potential application in the present | |
| work. The approach taken here to design the compensator is based | |
| on classical Bode-Nyquist frequency response ideas. The vehicle study | |
| involves computer simulations, which make use of a state-of-the-art | |
| motorcycle model whose parameter set is based on a Suzuki GSX-R1000 | |
| sports machine. The study shows that it is possible to obtain significant | |
| improvements in the dynamic properties of the primary oscillatory | |
| modes, known as "wobble" and "weave", over a full range of lean angles, | |
| as compared with the standard machine fitted with a conventional | |
| steering damper.}, | |
| bib = {bibtex-keys#Evangelou2004}, | |
| bibpr = {private-bibtex-keys#Evangelou2004}, | |
| doi = {10.1109/CDC.2004.1428746}, | |
| file = {Evangelou2004.pdf:Evangelou2004.pdf:PDF}, | |
| issn = {0191-2216}, | |
| keywords = {compensation, frequency response, motorcycles, position control, springs | |
| (mechanical), steering systemsBode-Nyquist frequency response, high-performance | |
| motorcycles, inerter, mechanical steering compensator, passive mechanical | |
| impedance, spring, steering compensation, steering damper}, | |
| webpdf = {references-folder/Evangelou2004.pdf} | |
| } | |
| @TECHREPORT{Evangelou2000, | |
| author = {Simos Evangelou and David J. N. Limebeer}, | |
| title = {Animation of the "SL2001" motorcycle model}, | |
| institution = {Department of Electrical and Electronic Engineering, Imperial College | |
| of Science, Technology and Medicine}, | |
| year = {2000}, | |
| bib = {bibtex-keys#Evangelou2000}, | |
| bibpr = {private-bibtex-keys#Evangelou2000}, | |
| file = {Evangelou2000.pdf:Evangelou2000.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Evangelou2000.pdf} | |
| } | |
| @TECHREPORT{Evangelou2000a, | |
| author = {Simos Evangelou and David J. N. Limebeer}, | |
| title = {LISP programming of the "Sharp 1971" motorcycle model}, | |
| institution = {Department of Electrical and Electronic Engineering, Imperial College | |
| of Science, Technology and Medicine}, | |
| year = {2000}, | |
| bib = {bibtex-keys#Evangelou2000a}, | |
| bibpr = {private-bibtex-keys#Evangelou2000a}, | |
| file = {Evangelou2000a.pdf:Evangelou2000a.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Evangelou2000a.pdf} | |
| } | |
| @TECHREPORT{Evangelou2000b, | |
| author = {Simos Evangelou and David J. N. Limebeer}, | |
| title = {LISP programming of the "Sharp 1994" motorcycle model}, | |
| institution = {Department of Electrical and Electronic Engineering, Imperial College | |
| of Science, Technology and Medicine}, | |
| year = {2000}, | |
| bib = {bibtex-keys#Evangelou2000b}, | |
| bibpr = {private-bibtex-keys#Evangelou2000b}, | |
| file = {Evangelou2000b.pdf:Evangelou2000b.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Evangelou2000b.pdf} | |
| } | |
| @ARTICLE{Evangelou2008, | |
| author = {Simos Evangelou and David J. N. Limebeer and Maria Tomas Rodriguez}, | |
| title = {Influence of Road Camber on Motorcycle Stability}, | |
| journal = {Journal of Applied Mechanics}, | |
| year = {2008}, | |
| volume = {75}, | |
| pages = {231--236}, | |
| number = {6}, | |
| eid = {061020}, | |
| abstract = {This paper studies the influence of road camber on the stability of | |
| single-track road vehicles. Road camber changes the magnitude and | |
| direction of the tire force and moment vectors relative to the wheels, | |
| as well as the combined-force limit one might obtain from the road | |
| tires. Camber-induced changes in the tire force and moment systems | |
| have knock-on consequences for the vehicle's stability. The study | |
| makes use of computer simulations that exploit a high-fidelity motorcycle | |
| model whose parameter set is based on a Suzuki GSX-R1000 sports machine. | |
| In order to study camber-induced stability trends for a range of | |
| machine speeds and roll angles, we study the machine dynamics as | |
| the vehicle travels over the surface of a right circular cone. Conical | |
| road surfaces allow the machine to operate at a constant steady-state | |
| speed, a constant roll angle, and a constant road camber angle. The | |
| local road-tire contact behavior is analyzed by approximating the | |
| cone surface by moving tangent planes located under the road wheels. | |
| There is novelty in the way in which adaptive controllers are used | |
| to center the vehicle's trajectory on a cone, which has its apex | |
| at the origin of the inertial reference frame. The results show that | |
| at low speed both the weave- and wobble-mode stabilities are at a | |
| maximum when the machine is perpendicular to the road surface. This | |
| trend is reversed at high speed, since the weave- and wobble-mode | |
| dampings are minimized by running conditions in which the wheels | |
| are orthogonal to the road. As a result, positive camber, which is | |
| often introduced by road builders to aid drainage and enhance the | |
| friction limit of four-wheeled vehicle tires, might be detrimental | |
| to the stability of two-wheeled machines.}, | |
| bib = {bibtex-keys#Evangelou2008}, | |
| bibpr = {private-bibtex-keys#Evangelou2008}, | |
| doi = {10.1115/1.2937140}, | |
| file = {Evangelou2008.pdf:Evangelou2008.pdf:PDF}, | |
| keywords = {damping; friction; mechanical contact; mechanical stability; motorcycles; | |
| tyres; vehicle dynamics; wheels}, | |
| owner = {moorepants}, | |
| timestamp = {2008.12.03}, | |
| url = {http://link.aip.org/link/?AMJ/75/061020/1}, | |
| webpdf = {references-folder/Evangelou2008.pdf} | |
| } | |
| @ARTICLE{Evangelou2007, | |
| author = {Simos Evangelou and David J. N. Limebeer and Robin S. Sharp and Malcolm | |
| C. Smith}, | |
| title = {Mechanical Steering Compensators for High-Performance Motorcycles}, | |
| journal = {Journal of Applied Mechanics}, | |
| year = {2007}, | |
| volume = {74}, | |
| pages = {332-346}, | |
| number = {2}, | |
| bib = {bibtex-keys#Evangelou2007}, | |
| bibpr = {private-bibtex-keys#Evangelou2007}, | |
| doi = {10.1115/1.2198547}, | |
| file = {Evangelou2007.pdf:Evangelou2007.pdf:PDF}, | |
| keywords = {steering systems; motorcycles; vehicle dynamics; design engineering; | |
| quadratic programming}, | |
| publisher = {ASME}, | |
| url = {http://link.aip.org/link/?AMJ/74/332/1}, | |
| webpdf = {references-folder/Evangelou2007.pdf} | |
| } | |
| @MASTERSTHESIS{Evertse2010, | |
| author = {M. V. C. Evertse}, | |
| title = {Rider analysis using a fully instrumented motorcycle}, | |
| school = {Delft University of Technology}, | |
| year = {2010}, | |
| bib = {bibtex-keys#Evertse2010}, | |
| bibpr = {private-bibtex-keys#Evertse2010}, | |
| file = {Evertse2010.pdf:Evertse2010.pdf:PDF}, | |
| review = {Lane change 40 Nm max torque}, | |
| timestamp = {2012.02.06}, | |
| webpdf = {references-folder/Evertse2010.pdf} | |
| } | |
| @TECHREPORT{Evertse2009, | |
| author = {Marc V. C. Evertse}, | |
| title = {Rider Analysis: Strengthen bridge between rider feeling and data}, | |
| institution = {Yamaha Motor Europe NV}, | |
| year = {2009}, | |
| bib = {bibtex-keys#Evertse2009}, | |
| bibpr = {private-bibtex-keys#Evertse2009}, | |
| file = {Evertse2009.pdf:Evertse2009.pdf:PDF}, | |
| timestamp = {2011.12.19}, | |
| webpdf = {references-folder/Evertse2009.pdf} | |
| } | |
| @ARTICLE{Fajans2000, | |
| author = {Fajans, J.}, | |
| title = {Steering in Bicycles and Motorcycles}, | |
| journal = {American Journal of Physics}, | |
| year = {2000}, | |
| volume = {68}, | |
| pages = {654--659}, | |
| number = {7}, | |
| bib = {bibtex-keys#Fajans2000}, | |
| bibpr = {private-bibtex-keys#Fajans2000}, | |
| file = {Fajans2000.pdf:Fajans2000.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07}, | |
| webpdf = {references-folder/Fajans2000.pdf} | |
| } | |
| @INPROCEEDINGS{Falco1997, | |
| author = {de Falco, D. and Riviezzo, E.}, | |
| title = {Bond graph modeling the longitudinal dynamics of motorcycles}, | |
| booktitle = {International Conference on Bond Graph Modeling and Simulation}, | |
| year = {1997}, | |
| bib = {bibtex-keys#Falco1997}, | |
| bibpr = {private-bibtex-keys#Falco1997}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Filippi2011, | |
| author = {de Filippi, Pierpaolo and Mara Tanelli and Matteo Corno and Sergio | |
| M. Savaresi}, | |
| title = {Enhancing active safety of two-wheeled vehicles via electronic stability | |
| control}, | |
| booktitle = {Proceedings of the 18th World Congress The International Federation | |
| of Automatic Control}, | |
| year = {2011}, | |
| bib = {bibtex-keys#Filippi2011}, | |
| bibpr = {private-bibtex-keys#Filippi2011}, | |
| file = {Filippi2011.pdf:Filippi2011.pdf:PDF}, | |
| timestamp = {2012.03.01}, | |
| webpdf = {references-folder/Filippi2011.pdf} | |
| } | |
| @UNPUBLISHED{Findlay2006, | |
| author = {Findlay, Chad and Moore, Jason Keith and Perez-Maldonado, Claudia}, | |
| title = {{SISO} Control of a Bicycle-Rider System}, | |
| note = {MAE 272 Report 2, Winter 2006}, | |
| year = {2006}, | |
| bib = {bibtex-keys#Findlay2006}, | |
| bibpr = {private-bibtex-keys#Findlay2006}, | |
| file = {Findlay2006.pdf:Findlay2006.pdf:PDF}, | |
| owner = {luke}, | |
| timestamp = {2009.11.01}, | |
| webpdf = {references-folder/Findlay2006.pdf} | |
| } | |
| @UNPUBLISHED{Findlay2006a, | |
| author = {Findlay, Chad and Moore, Jason Keith and Perez-Maldonado, Claudia}, | |
| title = {{SISO} Control of a Bicycle-Rider System Presentation}, | |
| note = {MAE 272 Report 2, Winter 2006}, | |
| year = {2006}, | |
| bib = {bibtex-keys#Findlay2006a}, | |
| bibpr = {private-bibtex-keys#Findlay2006a}, | |
| file = {Findlay2006a.pdf:Findlay2006a.pdf:PDF}, | |
| owner = {luke}, | |
| timestamp = {2009.11.01}, | |
| webpdf = {references-folder/Findlay2006a.pdf} | |
| } | |
| @BOOK{Foale2002, | |
| title = {Motorcycle handling and chassis design: the art and science}, | |
| publisher = {Tony Foale Designs}, | |
| year = {2002}, | |
| author = {Tony Foale}, | |
| bib = {bibtex-keys#Foale2002}, | |
| bibpr = {private-bibtex-keys#Foale2002}, | |
| timestamp = {2012.02.06} | |
| } | |
| @PHDTHESIS{Forouhar1992, | |
| author = {F.A. Forouhar}, | |
| title = {Robust stabilization of high-speed oscillations in single track vehicles | |
| by feedback control of gyroscopic moments of crankshaft and engine | |
| inertia}, | |
| school = {University of California, Berkeley}, | |
| year = {1992}, | |
| bib = {bibtex-keys#Forouhar1992}, | |
| bibpr = {private-bibtex-keys#Forouhar1992}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30} | |
| } | |
| @ARTICLE{Franke1990, | |
| author = {Franke, G. and Suhr, W. and Rie\ss, F.}, | |
| title = {An advanced model of bicycle dynamics}, | |
| journal = {European Journal of Physics}, | |
| year = {1990}, | |
| volume = {11}, | |
| pages = {116--121}, | |
| number = {2}, | |
| abstract = {A theoretical model of a moving bicycle is presented for arbitrary | |
| bicycle geometries at finite angles. The nonlinear equations of motion | |
| are derived and solved with the help of a computer. The solutions | |
| are tested for energy conservation, and examined with respect to | |
| inherent stability. For common bicycles, velocity and lean angle | |
| ranges of self-stable motion are predicted.}, | |
| bib = {bibtex-keys#Franke1990}, | |
| bibpr = {private-bibtex-keys#Franke1990}, | |
| file = {Franke1990.pdf:Franke1990.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.01.31}, | |
| url = {http://stacks.iop.org/0143-0807/11/116}, | |
| webpdf = {references-folder/Franke1990.pdf} | |
| } | |
| @INCOLLECTION{Frezza2003, | |
| author = {Frezza, Ruggero and Beghi, Alessandro}, | |
| title = {Simulating a Motorcycle Driver}, | |
| booktitle = {New Trends in Nonlinear Dynamics and Control and their Applications}, | |
| publisher = {Springer Berlin / Heidelberg}, | |
| year = {2003}, | |
| editor = {Kang, Wei and Borges, Carlos and Xiao, Mingqing}, | |
| volume = {295}, | |
| series = {Lecture Notes in Control and Information Sciences}, | |
| pages = {175-186}, | |
| note = {10.1007/978-3-540-45056-6_11}, | |
| affiliation = {Department of Information Engineering, University of Padova, Italy}, | |
| bib = {bibtex-keys#Frezza2003}, | |
| bibpr = {private-bibtex-keys#Frezza2003}, | |
| file = {Frezza2003.pdf:Frezza2003.pdf:PDF}, | |
| isbn = {978-3-540-40474-3}, | |
| keyword = {Engineering}, | |
| url = {http://dx.doi.org/10.1007/978-3-540-45056-6_11}, | |
| webpdf = {references-folder/Frezza2003.pdf} | |
| } | |
| @ARTICLE{Frezza2006, | |
| author = {Frezza, R. and Beghi, A.}, | |
| title = {A virtual motorcycle driver for closed-loop simulation}, | |
| journal = {Control Systems Magazine, IEEE}, | |
| year = {2006}, | |
| volume = {26}, | |
| pages = {62-77}, | |
| number = {5}, | |
| month = {October}, | |
| abstract = {The development of a motorcycle driver for virtual prototyping applications | |
| is discussed. The driver is delivered with a commercial multibody | |
| code as a tool for performing closed-loop maneuvers with virtual | |
| motorcycle models. The closed-loop controller is developed with a | |
| qualitative analysis of how a human rider controls a motorcycle. | |
| The analysis concerns handling and maneuverability, which are relevant | |
| for real and virtual vehicle performance evaluation. A motorcycle | |
| model for control design and a controller structure are developed. | |
| The model is based on a mathematical representation of common-sense | |
| rules of motorcycle riding. The virtual rider is then tested in various | |
| operating conditions to assess whether the control requirements are | |
| achieved. Criteria for evaluating driver models are briefly discussed}, | |
| bib = {bibtex-keys#Frezza2006}, | |
| bibpr = {private-bibtex-keys#Frezza2006}, | |
| doi = {10.1109/MCS.2006.1700045}, | |
| file = {Frezza2006.pdf:Frezza2006.pdf:PDF}, | |
| issn = {0272-1708}, | |
| keywords = {closed loop systems, control system CAD, motorcycles, virtual prototypingclosed-loop | |
| maneuvers, commercial multibody code, control design, maneuverability, | |
| motorcycle control, motorcycle driver development, motorcycle handling, | |
| multibody tools, qualitative analysis, system performance evaluation, | |
| virtual motorcycle models, virtual prototyping}, | |
| webpdf = {references-folder/Frezza2006.pdf} | |
| } | |
| @INBOOK{Frezza2004, | |
| chapter = {Simulating a Motorcycle Driver}, | |
| pages = {175-186}, | |
| title = {New Trends in Nonlinear Dynamics and Control and their Applications}, | |
| publisher = {Springer Berlin / Heidelberg}, | |
| year = {2004}, | |
| author = {Ruggero Frezza and Alessandro Beghi}, | |
| volume = {295}, | |
| number = {295}, | |
| series = {Lecture Notes in Control and Information Sciences}, | |
| abstract = {Controlling a riderless bicycle or motorcycle is a challenging problem | |
| because the dynamics are nonlinear and non-minimum phase. Further | |
| difficulties are introduced if one desires to decouple the control | |
| of the longitudinal and lateral dynamics. In this paper, a control | |
| strategy is proposed for driving a motorcycle along a lane, tracking | |
| a speed pro.le given as a function of the arc length of the mid lane.}, | |
| bib = {bibtex-keys#Frezza2004}, | |
| bibpr = {private-bibtex-keys#Frezza2004}, | |
| doi = {10.1007/b80168}, | |
| file = {Frezza2004.pdf:Frezza2004.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.18}, | |
| webpdf = {references-folder/Frezza2004.pdf} | |
| } | |
| @ARTICLE{Fu1965, | |
| author = {Fu, Hiroyasu}, | |
| title = {Fundamental Characteristics of Single-Track Vehicles in Steady Turning}, | |
| journal = {JSME Bulletin}, | |
| year = {1965}, | |
| volume = {9}, | |
| pages = {284--293}, | |
| number = {34}, | |
| bib = {bibtex-keys#Fu1965}, | |
| bibpr = {private-bibtex-keys#Fu1965}, | |
| file = {Fu1965.pdf:Fu1965.pdf:PDF}, | |
| keywords = {roll angle,steer torque,tire slip,motorcycle}, | |
| owner = {moorepants}, | |
| review = {Measures roll angle with an arm and measures steering torque but doesn't | |
| show info on it here except in the review section. The "formal" reviews | |
| are included at the end of the paper with Kageyama and Kondo asking | |
| questions. The open review is pretty cool. I haven't seen that before.}, | |
| timestamp = {2009.10.30}, | |
| webpdf = {references-folder/Fu1965.pdf} | |
| } | |
| @INPROCEEDINGS{Fuchs1998, | |
| author = {Andreas Fuchs}, | |
| title = {Trim of aerodynamically faired single-track vehicles in crosswinds}, | |
| booktitle = {Proceedings of the 3rd European Seminar on Velomobiles}, | |
| year = {1998}, | |
| address = {Roskilde, Denmark}, | |
| month = {August}, | |
| abstract = {This paper is about minimizing the disturbing effects of steady crosswinds | |
| on singletrack | |
| vehicles (velomobiles and hpv / bicycles / motorcycles). A solution | |
| of the static | |
| problem Âaerodynamically faired single-track vehicle in crosswind | |
| is presented. | |
| The Cornell Bicycle Model (Cornell Bicycle Research Project) describes | |
| the physical | |
| behavior of an idealized bicycle (single-track vehicle) at no wind. | |
| Other equations in a | |
| previous paper describe the torques on fairings due to aerodynamic | |
| forces which induce | |
| lean of single-track vehicles and lead to steering-action. These equations | |
| are combined | |
| with those of the bicycle model to describe the conditions for equilibrium | |
| at some lean | |
| but zero steering angle. Parameters affecting equilibrium are mass | |
| distribution, vehicleand | |
| fairing geometry and the relative position of fairing and vehicle | |
| structure. Faired | |
| single-track velomobiles whose parameters are such that the equilibrium-equation | |
| (Âtrim | |
| equationÂ) is fullfilled could be easier to ride in steady crosswind | |
| than those designed at | |
| random. | |
| Because the trim equation derived in this paper does not describe | |
| the dynamic behavior | |
| e.g. of a velomobile coming from a no-wind situation into one with | |
| steady, alternating or | |
| impulse-input crosswind, further investigations will be needed for | |
| even better hpv- or | |
| other single-track vehicle design.}, | |
| bib = {bibtex-keys#Fuchs1998}, | |
| bibpr = {private-bibtex-keys#Fuchs1998}, | |
| file = {Fuchs1998.pdf:Fuchs1998.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Fuchs1998.pdf} | |
| } | |
| @ARTICLE{Fujii2012, | |
| author = {Fujii, Shigeru and Shiozawa, Souichi and Shinagawa, Akinori and Kishi, | |
| Tomoaki}, | |
| title = {Steering characteristics of motorcycles}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2012}, | |
| volume = {0}, | |
| pages = {1-19}, | |
| number = {0}, | |
| abstract = {In this study, the results of a steady-state cornering test using | |
| a sport-touring motorcycle and the analysis of those test results | |
| are presented. This test was conducted as an activity in our efforts | |
| to realise a quantitative development method for motorcycles. The | |
| measurement data from this test include measurement results for tyre | |
| force, tyre moment, and tyre slip angle that have not been practically | |
| addressed in the research of motorcycles, in addition to normal measurement | |
| results for velocity, steering angle, steering torque, roll angle, | |
| etc. Until now research on motorcycle dynamics characteristics has | |
| indicated that ‘there is a strong relationship between the motorcycle | |
| dynamics characteristics and the tyre slip angle’. However, since | |
| it is difficult to take highly precise measurements of the motorcycle’s | |
| tyre slip angle during actual riding, especially when the motorcycle | |
| is tilted during cornering, such measurements have been avoided, | |
| cf. [H. Ishii and Y. Tezuka, Considerations of turning performance | |
| for motorcycle, SETC (1997), pp. 383–389]. Nevertheless, in this | |
| research we attempted to measure the tyre slip angle and also attempted | |
| to investigate in detail the dynamics characteristics and tyre characteristics | |
| during riding. Until now there has not been an adequate investigation | |
| conducted under a variety of riding conditions, but it is the aim | |
| of this research to show that it is possible to measure the tyre | |
| slip angle with a reasonable accuracy. It is our opinion that this | |
| will open a new path to a more detailed investigation of the motorcycle’s | |
| dynamics characteristics. In addition, we conducted measurements | |
| using not only the normal rider’s lean angle (lean-with posture), | |
| but also measurements in the case where the rider’s lean angle was | |
| intentionally changed, in order to investigate the effects that a | |
| change in the rider’s posture has on the variation in the measurement | |
| results of the motorcycle’s dynamics. Furthermore, we then compared | |
| these measurement results with the results obtained from simulations. | |
| Additionally, steering index values were calculated from the measurement | |
| results.}, | |
| bib = {bibtex-keys#Fujii2012}, | |
| bibpr = {private-bibtex-keys#Fujii2012}, | |
| doi = {10.1080/00423114.2011.607900}, | |
| eprint = {http://www.tandfonline.com/doi/pdf/10.1080/00423114.2011.607900}, | |
| file = {Fujii2012.pdf:Fujii2012.pdf:PDF}, | |
| keywords = {inertial measurment unit,kalman filter,GPS,roll angle}, | |
| url = {http://www.tandfonline.com/doi/abs/10.1080/00423114.2011.607900}, | |
| webpdf = {references-folder/Fujii2012.pdf} | |
| } | |
| @INPROCEEDINGS{Fujikawa1986, | |
| author = {Fujikawa, H. and M. Hubbard}, | |
| title = {Optimal Human Control and Stability of the Skateboard}, | |
| booktitle = {Proceedings of the 25th Conference, Society of Instrument and Control | |
| Engineers}, | |
| year = {1986}, | |
| address = {Tokyo, Japan}, | |
| month = {July}, | |
| organization = {Society of Instrument and Control Engineers,}, | |
| bib = {bibtex-keys#Fujikawa1986}, | |
| bibpr = {private-bibtex-keys#Fujikawa1986}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Fukui2008, | |
| author = {Katsuhiko Fukui and Toshimichi Takahashi}, | |
| title = {Study of the Performance of a Driver-vehicle System for Changing | |
| the Steering Characteristics of a Vehicle}, | |
| journal = {R\&D Review of Toyota CRDL}, | |
| year = {2008}, | |
| volume = {40}, | |
| pages = {20--25}, | |
| number = {4}, | |
| bib = {bibtex-keys#Fukui2008}, | |
| bibpr = {private-bibtex-keys#Fukui2008}, | |
| file = {Fukui2008.pdf:Fukui2008.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Fukui2008.pdf} | |
| } | |
| @MASTERSTHESIS{Galbusera2004, | |
| author = {Luca Galbusera}, | |
| title = {PROBLEMI DI STABILIZZAZIONE NELLA GUIDA DI UNA BICICLETTA}, | |
| school = {POLITECNICO DI MILANO}, | |
| year = {2004}, | |
| bib = {bibtex-keys#Galbusera2004}, | |
| bibpr = {private-bibtex-keys#Galbusera2004}, | |
| file = {Galbusera2004.pdf:Galbusera2004.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Galbusera2004.pdf} | |
| } | |
| @MASTERSTHESIS{Gallaspy2000, | |
| author = {Gallaspy, Jason Matthew}, | |
| title = {Gyroscopic Stabilization of an Unmanned Bicycle}, | |
| school = {Auburn University}, | |
| year = {2000}, | |
| address = {Auburn, Alabama, USA}, | |
| abstract = {This paper presents a method for stabilizing an unmanned bicycle upright. | |
| The system uses a gimbaled gyroscope to apply a restoring torque | |
| on the bicycle frame if a leaning angle is sensed. First, a dynamic | |
| model is developed by determining state equations from mechanical | |
| and electrical principles. This model is used to design a controller | |
| to stabilize the bicycle, which is implemented using a digital microcontroller. | |
| Simulations using MATLAB/Simulink are analyzed, and experimental | |
| results are summarized. Finally, recommendations for further work | |
| are included in the concluding remarks.}, | |
| bib = {bibtex-keys#Gallaspy2000}, | |
| bibpr = {private-bibtex-keys#Gallaspy2000}, | |
| file = {Gallaspy2000.pdf:Gallaspy2000.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {Used some sort of gyroscope on a gimbal to stablize the bike. Wasn't | |
| able to make it work in real life.}, | |
| timestamp = {2009.12.21}, | |
| webpdf = {references-folder/Gallaspy2000.pdf} | |
| } | |
| @UNPUBLISHED{Gallaspy2001, | |
| author = {Jason M. Gallaspy and John Y. Hung}, | |
| title = {Gyroscopic Stabilization Of A Stationary Unmanned Bicycle}, | |
| note = {a planned journal article of the same name as his thesis}, | |
| year = {2001}, | |
| abstract = {This paper presents a method for stabilizing an unmanned bicycle in | |
| the upright position. Nonlinear dynamics of the bicycle and control | |
| gyroscope are modeled using LagrangeÂs method. Then, a linear approximate | |
| model is developed to design a controller to stabilize the bicycle. | |
| An 8-bit fixed-point microcontroller computes control commands to | |
| actuate the gyroscope gimbal axis, thus producing a restoring torque | |
| on the bicycle frame. Simulations using MATLAB/SIMULINK are analyzed, | |
| and experimental results are summarized. Finally, recommendations | |
| for further work are given in the concluding remarks.}, | |
| bib = {bibtex-keys#Gallaspy2001}, | |
| bibpr = {private-bibtex-keys#Gallaspy2001}, | |
| file = {Gallaspy2001.pdf:Gallaspy2001.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.12.19}, | |
| webpdf = {references-folder/Gallaspy2001.pdf} | |
| } | |
| @INPROCEEDINGS{Gani1997, | |
| author = {Gani, M. and Limebeer, D. and Sharp, R.}, | |
| title = {Multi-body simulation software in the analysis of motorcycle dynamics}, | |
| booktitle = {Transportation Systems. Proceedings volume from the 8th IFAC/IFIP/IFORS | |
| Symposium.}, | |
| year = {1997}, | |
| bib = {bibtex-keys#Gani1997}, | |
| bibpr = {private-bibtex-keys#Gani1997}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Gani1997a, | |
| author = {M. Gani and D. Limebeer and R.S. Sharp}, | |
| title = {Multibody simulation software in the study of two-wheeled road vehicles}, | |
| booktitle = {Proc. 8th IFAC/IFIP/IFORS Symposium on Transportation Systems '97}, | |
| year = {1997}, | |
| address = {Chania, Greece.}, | |
| month = {June}, | |
| abstract = {Due to the model complexity, the manual derivation of the equations | |
| of motion of two-wheeled road vehicles is not practical, particularly | |
| if one wishes to study complex modes of operation such as certain | |
| cornering phenomena. We establish the feasibility of using multi-body | |
| model building software to study the straight running properties | |
| of a motorcycle. Our results accurately match those found by Sharp | |
| [6], who hand derived the equations of motion, with the added advantage | |
| of a significant reduction in the time taken to model the system. | |
| Furthermore, we demonstrate the agreement between the results of | |
| the linear model and the time responses obtained from a small perturbation | |
| non-linear system derived by the multi-body package. We also contend | |
| that the probability of incorrectly modelling the system, using these | |
| software tools, is less than that found in manual methods. Three | |
| examples are given to demonstrate how these tools can reduce the | |
| time and effort needed in improving motorcycle design. Firstly, a | |
| motorcycle model is used to predict the change in stability resulting | |
| from changes in the mechanical trail. Then we show how this base | |
| model used by Sharp [6] can be extended to include bounce, pitch | |
| and suspension freedoms. Finally, we implement a simple rider control | |
| mechanism to study the counter steering phenomenon.}, | |
| bib = {bibtex-keys#Gani1997a}, | |
| bibpr = {private-bibtex-keys#Gani1997a}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Gani1997b, | |
| author = {Gani, M. and Limebeer, D. J. N. and Sharp, R.}, | |
| title = {The analysis of motorcycle dynamics and control}, | |
| booktitle = {Proceedings of the Workshop Modelling and Control of Mechanical Systems}, | |
| year = {1997}, | |
| bib = {bibtex-keys#Gani1997b}, | |
| bibpr = {private-bibtex-keys#Gani1997b}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Gani1996, | |
| author = {Mahbub Gani and Robin Sharp and David Limebeer}, | |
| title = {Multi-body simulation software in the study of two-wheeled road vehicles}, | |
| booktitle = {Proceedings of the 35th Conference on Decision and Control}, | |
| year = {1996}, | |
| address = {Kobe, Japan}, | |
| month = {December}, | |
| bib = {bibtex-keys#Gani1996}, | |
| bibpr = {private-bibtex-keys#Gani1996}, | |
| file = {Gani1996.pdf:Gani1996.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Gani1996.pdf} | |
| } | |
| @ARTICLE{Garcia1988, | |
| author = {Garcia, A. and Hubbard, M.}, | |
| title = {Spin Reversal of the Rattleback: Theory and Experiment}, | |
| journal = {Proceedngs of the Royal Society London A}, | |
| year = {1988}, | |
| volume = {418}, | |
| pages = {165-197}, | |
| bib = {bibtex-keys#Garcia1988}, | |
| bibpr = {private-bibtex-keys#Garcia1988}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @TECHREPORT{Gelder2006, | |
| author = {van Gelder, Eric}, | |
| title = {A Literature Review of Tilting Vehicle Dynamics and Controls}, | |
| institution = {University of California, Davis}, | |
| year = {2006}, | |
| bib = {bibtex-keys#Gelder2006}, | |
| bibpr = {private-bibtex-keys#Gelder2006}, | |
| file = {Gelder2006.pdf:Gelder2006.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Gelder2006.pdf} | |
| } | |
| @ARTICLE{Genin1997, | |
| author = {Joseph Genin and Juehui Hong and Wei Xu}, | |
| title = {Accelerometer Placement for Angular Velocity Determination}, | |
| journal = {Journal of Dynamic Systems, Measurement, and Control}, | |
| year = {1997}, | |
| volume = {119}, | |
| pages = {474-477}, | |
| number = {3}, | |
| bib = {bibtex-keys#Genin1997}, | |
| bibpr = {private-bibtex-keys#Genin1997}, | |
| doi = {10.1115/1.2801281}, | |
| owner = {moorepants}, | |
| publisher = {ASME}, | |
| timestamp = {2009.11.04}, | |
| url = {http://link.aip.org/link/?JDS/119/474/1} | |
| } | |
| @INPROCEEDINGS{Genta1990, | |
| author = {Genta, G. and Albesiano, R.}, | |
| title = {MATHEMATICAL MODEL FOR ASSESSING THE DRIVEABILTY OF MOTORCYCLES}, | |
| booktitle = {Proceedings - Society Of Automotive Engineers May 7-11 1990}, | |
| year = {1990}, | |
| number = {707-714 8756-8470}, | |
| publisher = {SAE}, | |
| note = {SAE Paper 905211}, | |
| bib = {bibtex-keys#Genta1990}, | |
| bibpr = {private-bibtex-keys#Genta1990}, | |
| file = {Genta1990.pdf:Genta1990.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03}, | |
| webpdf = {references-folder/Genta1990.pdf} | |
| } | |
| @INPROCEEDINGS{Getz1995a, | |
| author = {Getz, Neil H.}, | |
| title = {Internal equilibrium control of a bicycle}, | |
| booktitle = {Proceedings of the 34th IEEE Conference on Decision and Control (Cat. | |
| No.95CH35803)}, | |
| year = {1995}, | |
| volume = {4}, | |
| pages = {4285-4287}, | |
| address = {New York, NY, USA}, | |
| month = {December}, | |
| organization = {IEEE Control Syst. Soc}, | |
| publisher = {IEEE}, | |
| note = {Proceedings of 1995 34th IEEE Conference on Decision and Control, | |
| 13-15 December 1995, New Orleans, LA, USA}, | |
| abstract = {Internal equilibrium control is applied to the problem of path-tracking | |
| with balance for the bicycle using steering and rear-wheel torque | |
| as inputs. From the internal dynamics of the bicycle an internal | |
| equilibrium manifold, a submanifold of the state-space, is constructed. | |
| The internal equilibrium controller makes a neighborhood of the manifold | |
| attractive and invariant. This results in approximate tracking of | |
| time-parameterized paths in the plane while retaining balance.}, | |
| affiliation = {Getz, N.H.; Dept. of Electr. Eng. \& Comput. Sci., California Univ., | |
| Berkeley, CA, USA.}, | |
| bib = {bibtex-keys#Getz1995a}, | |
| bibpr = {private-bibtex-keys#Getz1995a}, | |
| file = {Getz1995a.pdf:Getz1995a.pdf:PDF}, | |
| identifying-codes = {[C1996-03-3360F-003],[0 7803 2685 7/95/\$4.00],[10.1109/CDC.1995.478913]}, | |
| isbn = {0 7803 2685 7}, | |
| keywords = {Theoretical or Mathematical/ dynamics; motion control; vehicles/ internal | |
| equilibrium control; bicycle; steering; rear-wheel torque; internal | |
| equilibrium manifold; internal dynamics; state-space submanifold/ | |
| C3360F Control of other land traffic systems; C3120C Spatial variables | |
| control}, | |
| language = {English}, | |
| number-of-references = {4}, | |
| owner = {moorepants}, | |
| publication-type = {C}, | |
| timestamp = {2009.11.04}, | |
| type = {Conference Paper}, | |
| unique-id = {INSPEC:5189922}, | |
| webpdf = {references-folder/Getz1995a.pdf} | |
| } | |
| @INPROCEEDINGS{Getz1994, | |
| author = {Getz, Neil H.}, | |
| title = {Control of balance for a nonlinear nonholonomic non-minimum phase | |
| model of a bicycle}, | |
| booktitle = {American Control Conference}, | |
| year = {1994}, | |
| volume = {1}, | |
| number = {{P}aper 751712}, | |
| pages = {148-151}, | |
| address = {Baltimore, {MD}}, | |
| month = {June--July}, | |
| organization = {AACC}, | |
| abstract = {A feedback control law is derived that causes a nonlinear, nonholonomic, | |
| nonminimum phase model of a riderless powered two-wheeled bicycle | |
| to stably track arbitrary smooth trajectories of roll-angle and non-zero | |
| rear-wheel velocity.}, | |
| bib = {bibtex-keys#Getz1994}, | |
| bibpr = {private-bibtex-keys#Getz1994}, | |
| doi = {10.1109/ACC.1994.751712}, | |
| file = {Getz1994.pdf:Getz1994.pdf:PDF}, | |
| keywords = { dynamics, feedback, motion control, nonlinear control systems, stability, | |
| tracking balance control, feedback control, nonlinear nonholonomic | |
| non-minimum phase model, roll-angle, trajectory tracking, two-wheeled | |
| bicycle, velocity}, | |
| owner = {moorepants}, | |
| review = {Uses a very simpel bicycle model, but it is nonholonic and exhibits | |
| non-minumum phase. They are only concerned with balancing and track | |
| roll angle and rear wheel velovity with a PD control on roll angle | |
| and P control on velecity. He simlutes the control of an example | |
| model for various roll angle trajectories.}, | |
| timestamp = {2009.01.31}, | |
| webpdf = {references-folder/Getz1994.pdf} | |
| } | |
| @INPROCEEDINGS{Getz1995, | |
| author = {Getz, Neil H. and Marsden, Jerrold E.}, | |
| title = {Control for an autonomous bicycle, Paper 525473}, | |
| booktitle = {International Conference on Robotics and Automation}, | |
| year = {1995}, | |
| volume = {2}, | |
| pages = {1397-1402}, | |
| address = {Nagoya, Aichi, Japan}, | |
| month = {May}, | |
| organization = {IEEE}, | |
| abstract = {The control of nonholonomic and underactuated systems with symmetry | |
| is illustrated by the problem of controlling a bicycle. We derive | |
| a controller which, using steering and rear-wheel torque, causes | |
| a model of a riderless bicycle to recover its balance from a near | |
| fall as well as converge to a time parameterized path in the ground | |
| plane. Our construction utilizes new results for both the derivation | |
| of equations of motion for nonholonomic systems with symmetry, as | |
| well as the control of underactuated robotic systems}, | |
| bib = {bibtex-keys#Getz1995}, | |
| bibpr = {private-bibtex-keys#Getz1995}, | |
| doi = {10.1109/ROBOT.1995.525473}, | |
| file = {Getz1995.pdf:Getz1995.pdf:PDF}, | |
| issn = {1050-4729}, | |
| keywords = { mobile robots autonomous bicycle, nonholonomic systems, rear-wheel | |
| torque, riderless bicycle, steering, symmetry, time-parameterized | |
| path convergence, underactuated robotic systems}, | |
| owner = {moorepants}, | |
| timestamp = {2009.01.31}, | |
| webpdf = {references-folder/Getz1995.pdf} | |
| } | |
| @ARTICLE{Gibbs1879, | |
| author = {Gibbs, J. W.}, | |
| title = {On the Fundamental Formulae of Dynamics}, | |
| journal = {American Journal of Mathematics}, | |
| year = {1879}, | |
| volume = {2}, | |
| pages = {49--64}, | |
| number = {1}, | |
| bib = {bibtex-keys#Gibbs1879}, | |
| bibpr = {private-bibtex-keys#Gibbs1879}, | |
| copyright = {Copyright © 1879 The Johns Hopkins University Press}, | |
| issn = {00029327}, | |
| jstor_articletype = {primary_article}, | |
| jstor_formatteddate = {Mar., 1879}, | |
| owner = {moorepants}, | |
| publisher = {The Johns Hopkins University Press}, | |
| timestamp = {2009.11.04}, | |
| url = {http://www.jstor.org/stable/2369196} | |
| } | |
| @INPROCEEDINGS{Giner2009, | |
| author = {Giner, D.M. and Jian Kang and Manka, M.}, | |
| title = {A "corner solver" for motorcycles as a tool for the development of | |
| a virtual rider}, | |
| booktitle = {Vehicle Power and Propulsion Conference, 2009. VPPC '09. IEEE}, | |
| year = {2009}, | |
| pages = {1110 -1117}, | |
| month = {September}, | |
| abstract = {In this paper, a solver for the cornering analysis of motorcycles | |
| is presented. Its main outcome is the trim condition of the vehicle | |
| accelerating through a corner. There are several advantages of using | |
| this approach over a dynamic solution. Firstly, a controller is not | |
| needed to stabilize the motorcycle under the desired conditions and, | |
| secondly, the solution is much faster. The exploration of the motorcycle | |
| equilibrium points and their dependence on the speed and the corner | |
| radius will give a useful insight for the design of a virtual rider.}, | |
| bib = {bibtex-keys#Giner2009}, | |
| bibpr = {private-bibtex-keys#Giner2009}, | |
| doi = {10.1109/VPPC.2009.5289724}, | |
| file = {Giner2009.pdf:Giner2009.pdf:PDF}, | |
| keywords = {corner solver;motorcycle equilibrium points;virtual rider;motorcycles;traffic | |
| engineering computing;vehicle dynamics;virtual reality;}, | |
| webpdf = {references-folder/Giner2009.pdf} | |
| } | |
| @INPROCEEDINGS{Giner2008, | |
| author = {David Moreno Giner and Claudio Brenna and Ioannis Symeonidis and | |
| Gueven Kavadarlic}, | |
| title = {MYMOSA – TOWARDS THE SIMULATION OF REALISTIC MOTORCYCLE MANOEUVRES | |
| BY COUPLING MULTIBODY AND CONTROL TECHNIQUES}, | |
| booktitle = {Proceedings of IMECE2008 2008 ASME International Mechanical Engineering | |
| Congress and Exposition}, | |
| year = {2008}, | |
| number = {IMECE2008-67297}, | |
| bib = {bibtex-keys#Giner2008}, | |
| bibpr = {private-bibtex-keys#Giner2008}, | |
| file = {Giner2008.pdf:Giner2008.pdf:PDF}, | |
| timestamp = {2012.01.04}, | |
| webpdf = {references-folder/Giner2008.pdf} | |
| } | |
| @INPROCEEDINGS{Giner2009a, | |
| author = {David Moreno Giner and Michal Manka}, | |
| title = {Motorcycle dynamic models for virtual rider design and cornering | |
| analysis}, | |
| booktitle = {Proceedings of the ASME 2009 International Design Engineering Technical | |
| Conferences \& Computers and Information in Engineering Conference, | |
| IDETC/CIE 2009}, | |
| year = {2009}, | |
| bib = {bibtex-keys#Giner2009a}, | |
| bibpr = {private-bibtex-keys#Giner2009a}, | |
| file = {Giner2009a.pdf:Giner2009a.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Giner2009a.pdf} | |
| } | |
| @TECHREPORT{Godthelp1975, | |
| author = {J. Godthelp and M. Buist}, | |
| title = {Stability and Manoeuvrability Characteristics of Single Track Vehicles}, | |
| institution = {Institute for Road Safety Research}, | |
| year = {1975}, | |
| number = {IZF 1975 C-2}, | |
| bib = {bibtex-keys#Godthelp1975}, | |
| bibpr = {private-bibtex-keys#Godthelp1975}, | |
| file = {Godthelp1975.pdf:Godthelp1975.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Godthelp1975.pdf} | |
| } | |
| @ARTICLE{Godthelp1978, | |
| author = {J. Godthelp and P.I.J. Wouters}, | |
| title = {Koers houden door fietsers en bromfietsers}, | |
| journal = {Verkeerskunde}, | |
| year = {1978}, | |
| pages = {537 - 543}, | |
| number = {11}, | |
| month = {November}, | |
| abstract = {Benodigde strookbreedte op rechte wegvakken en kruisingen | |
| Wendbaarheid en stabiliteit van tweewielers | |
| Consequenties voor verkeers- en gedragsregels}, | |
| bib = {bibtex-keys#Godthelp1978}, | |
| bibpr = {private-bibtex-keys#Godthelp1978}, | |
| file = {Godthelp1978.pdf:Godthelp1978.pdf:PDF}, | |
| keywords = {bicycle, experimental, geometrical properties, stability, maneuvrability}, | |
| owner = {kooijman}, | |
| review = {good literature review, good summary of the stability / maneuvrability | |
| problem related to bicycle geometrical properties, and a good explanation | |
| for relavance of the used testing procedures.}, | |
| timestamp = {2008.04.03}, | |
| webpdf = {references-folder/Godthelp1978.pdf} | |
| } | |
| @TECHREPORT{Gohl2006, | |
| author = {J. Gohl and R. Rajamani and P. Starr and L. Alexander}, | |
| title = {Development of a novel tilt-controlled narrow commuter vehicle}, | |
| institution = {University of Michigan, Center of Transportation Studies}, | |
| year = {2006}, | |
| number = {CTS 06-05}, | |
| bib = {bibtex-keys#Gohl2006}, | |
| bibpr = {private-bibtex-keys#Gohl2006}, | |
| file = {Gohl2006.pdf:Gohl2006.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Gohl2006.pdf} | |
| } | |
| @ARTICLE{Gonzalez1989, | |
| author = {Hiroko Gonzalez and M.L. Hull}, | |
| title = {Multivariable optimization of cycling biomechanics}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1989}, | |
| volume = {22}, | |
| pages = {1151 - 1161}, | |
| number = {11-12}, | |
| abstract = {Relying on a biomechanical model of the lower limb which treats the | |
| leg-bicycle system as a five-bar linkage constrained to plane motion, | |
| a cost function derived from the joint moments developed during cycling | |
| is computed. At constant average power of 200 W, the effect of five | |
| variables on the cost function is studied. The five variables are | |
| pedalling rate, crank arm length, seat tube angle, seat height, and | |
| longitudinal foot position on the pedal. A sensitivity analysis of | |
| each of the five variables shows that pedalling rate is the most | |
| sensitive, followed by the crank arm length, seat tube angle, seat | |
| height, and longitudinal foot position on the pedal (the least sensitive). | |
| Based on Powell's method, a multivariable optimization search is | |
| made for the combination of variable values which minimize the cost | |
| function. For a rider of average anthropometry (height 1.78 m, weight | |
| 72.5 kg), a pedalling rate of 115 rev min-1, crank arm length of | |
| 0.140 m, seat tube angle of 76°, seat height plus crank arm length | |
| equal to 97\% of trochanteric leg length, and longitudinal foot position | |
| on the pedal equal to 54\% of foot length correspond to the cost | |
| function global minimum. The effect of anthropometric parameter variations | |
| is also examined and these variations influence the results significantly. | |
| The optimal crank arm length, seat height, and longitudinal foot | |
| position on the pedal increase as the size of rider increases whereas | |
| the optimal cadence and seat tube angle decrease as the rider's size | |
| increases. The dependence of optimization results on anthropometric | |
| parameters emphasizes the importance of tailoring bicycle equipment | |
| to the anthropometry of the individual.}, | |
| bib = {bibtex-keys#Gonzalez1989}, | |
| bibpr = {private-bibtex-keys#Gonzalez1989}, | |
| doi = {DOI: 10.1016/0021-9290(89)90217-0}, | |
| file = {Gonzalez1989.pdf:Gonzalez1989.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4C4FF6M-F/2/b5e4187fef443c14777e8d0704ce77ef}, | |
| webpdf = {references-folder/Gonzalez1989.pdf} | |
| } | |
| @ARTICLE{Gonzalez1988, | |
| author = {Hiroko Gonzalez and M.L. Hull}, | |
| title = {Multivariable optimization of cycling biomechanics}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1988}, | |
| volume = {21}, | |
| pages = {872 - 872}, | |
| number = {10}, | |
| bib = {bibtex-keys#Gonzalez1988}, | |
| bibpr = {private-bibtex-keys#Gonzalez1988}, | |
| doi = {DOI: 10.1016/0021-9290(88)90079-6}, | |
| file = {Gonzalez1988.pdf:Gonzalez1988.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4C00GS2-NM/2/5486d206cf5bc34b007ac076bb382be0}, | |
| webpdf = {references-folder/Gonzalez1988.pdf} | |
| } | |
| @INPROCEEDINGS{Goodarzi2007, | |
| author = {Avesta Goodarzi and Amir Soltani and Ebrahim Esmailzadeh}, | |
| title = {Handling improvement of motorcycles using active seats}, | |
| booktitle = {Advances in Automotive Control}, | |
| year = {2007}, | |
| bib = {bibtex-keys#Goodarzi2007}, | |
| bibpr = {private-bibtex-keys#Goodarzi2007}, | |
| doi = {10.3182/20070820-3-US-2918.00039}, | |
| file = {Goodarzi2007.pdf:Goodarzi2007.pdf:PDF}, | |
| timestamp = {2012.03.01}, | |
| webpdf = {references-folder/Goodarzi2007.pdf} | |
| } | |
| @TECHREPORT{Gordon1989, | |
| author = {Gordon, C. C. and Churchill, T. and Clauser, C. E. and Bradtmiller, | |
| B. and McConville, J. T.and Tebbetts, I. and Walker, R. A.}, | |
| title = {1988 Anthropometric survey of U.S. Army personnel: summary statistics | |
| interim report}, | |
| institution = {U.S. Army Natick RD\&E Center}, | |
| year = {1989}, | |
| number = {NATICK/TR-89/027}, | |
| address = {Massachusetts}, | |
| bib = {bibtex-keys#Gordon1989}, | |
| bibpr = {private-bibtex-keys#Gordon1989}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.26} | |
| } | |
| @TECHREPORT{Goyal1989, | |
| author = {Suresh Goyal}, | |
| title = {Second Order Kinematic Constraint Between Two Bodies Rolling, Twisting | |
| and Slipping Against Each Other While Maintaining Point Contact}, | |
| institution = {Cornell University}, | |
| year = {1989}, | |
| number = {TR 89-1043}, | |
| address = {Ithaca, New York}, | |
| month = {October}, | |
| bib = {bibtex-keys#Goyal1989}, | |
| bibpr = {private-bibtex-keys#Goyal1989}, | |
| file = {Goyal1989.pdf:Goyal1989.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Goyal1989.pdf} | |
| } | |
| @ARTICLE{Greenslade1983, | |
| author = {{Greenslade Jr.}, T. B.}, | |
| title = {More bicycle physics}, | |
| journal = {Physics Teacher}, | |
| year = {1983}, | |
| volume = {21}, | |
| pages = {360--363}, | |
| bib = {bibtex-keys#Greenslade1983}, | |
| bibpr = {private-bibtex-keys#Greenslade1983}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Griffiths2005, | |
| author = {I. W. Griffiths and J. Watkins and D. Sharpe}, | |
| title = {Measuring the moment of inertia of the human body by a rotating platform | |
| method}, | |
| journal = {American Journal of Physics}, | |
| year = {2005}, | |
| volume = {73}, | |
| pages = {85-92}, | |
| number = {1}, | |
| bib = {bibtex-keys#Griffiths2005}, | |
| bibpr = {private-bibtex-keys#Griffiths2005}, | |
| doi = {10.1119/1.1648688}, | |
| file = {Griffiths2005.pdf:Griffiths2005.pdf:PDF}, | |
| keywords = {biomechanics; gyroscopes; rotation; angular momentum; readout electronics}, | |
| publisher = {AAPT}, | |
| url = {http://link.aip.org/link/?AJP/73/85/1}, | |
| webpdf = {references-folder/Griffiths2005.pdf} | |
| } | |
| @MISC{Gustafsson2002, | |
| author = {Gustafsson, Fredrik}, | |
| title = {Methods for estimating the roll angle and pitch angle of a two-wheeled | |
| vehicle system and a computer program to perform the methods}, | |
| year = {2002}, | |
| bib = {bibtex-keys#Gustafsson2002}, | |
| bibpr = {private-bibtex-keys#Gustafsson2002}, | |
| file = {Gustafsson2002.pdf:Gustafsson2002.pdf:PDF}, | |
| nationality = {Swedish}, | |
| number = {WO 02/01151 A1}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Gustafsson2002.pdf}, | |
| yearfiled = {2001} | |
| } | |
| @ARTICLE{Henaff1987, | |
| author = {le H{\'{e}}naff, Y.}, | |
| title = {Dynamical stability of the bicycle}, | |
| journal = {European Journal of Physics}, | |
| year = {1987}, | |
| volume = {8}, | |
| pages = {207--210}, | |
| bib = {bibtex-keys#Henaff1987}, | |
| bibpr = {private-bibtex-keys#Henaff1987}, | |
| file = {Henaff1987.pdf:Henaff1987.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Henaff1987.pdf} | |
| } | |
| @ARTICLE{Hakansson2007, | |
| author = {Hakansson, N.A. and Hull, M.L.}, | |
| title = {Influence of Pedaling Rate on Muscle Mechanical Energy in Low Power | |
| Recumbent Pedaling Using Forward Dynamic Simulations}, | |
| journal = {Neural Systems and Rehabilitation Engineering, IEEE Transactions | |
| on}, | |
| year = {2007}, | |
| volume = {15}, | |
| pages = {509-516}, | |
| number = {4}, | |
| month = {December}, | |
| abstract = {An understanding of the muscle power contributions to the crank and | |
| limb segments in recumbent pedaling would be useful in the development | |
| of rehabilitative pedaling exercises. The objectives of this work | |
| were to 1) quantify the power contributions of the muscles to driving | |
| the crank and limb segments using a forward dynamic simulation of | |
| low-power pedaling in the recumbent position, and 2) determine whether | |
| there were differences in the muscle power contributions at three | |
| different pedaling rates. A forward dynamic model was used to determine | |
| the individual muscle excitation amplitude and timing to drive simulations | |
| that best replicated experimental kinematics and kinetics of recumbent | |
| pedaling. The segment kinematics, pedal reaction forces, and electromyograms | |
| (EMG) of 10 muscles of the right leg were recorded from 16 subjects | |
| as they pedaled a recumbent ergometer at 40, 50, and 60 rpm and a | |
| constant 50 W workrate. Intersegmental joint moments were computed | |
| using inverse dynamics and the muscle excitation onset and offset | |
| timing were determined from the EMG data. All quantities were averaged | |
| across ten cycles for each subject and averaged across subjects. | |
| The model-generated kinematic and kinetic quantities tracked almost | |
| always within 1 standard deviation (SD) of the experimental data | |
| for all three pedaling rates. The uniarticular hip and knee extensors | |
| generated 65\% of the total mechanical work in recumbent pedaling. | |
| The triceps surae muscles transferred power from the limb segments | |
| to the crank and the bi-articular muscles that crossed the hip and | |
| knee delivered power to the crank during the leg transitions between | |
| flexion and extension. The functions of the individual muscles did | |
| not change with pedaling rate, but the mechanical energy generated | |
| by the knee extensors and hip flexors decreased as pedaling rate | |
| increased. By varying the pedaling rate, it is possible to manipulate | |
| the individual muscle power contributions to the crank and limb segments | |
| in recumbe- - nt pedaling and thereby design rehabilitative pedaling | |
| exercises to meet specific objectives.}, | |
| bib = {bibtex-keys#Hakansson2007}, | |
| bibpr = {private-bibtex-keys#Hakansson2007}, | |
| doi = {10.1109/TNSRE.2007.906959}, | |
| file = {Hakansson2007.pdf:Hakansson2007.pdf:PDF}, | |
| issn = {1534-4320}, | |
| keywords = {electromyography, kinematics, patient rehabilitationEMG, crank, electromyograms, | |
| forward dynamic simulations, hip extensors, inverse dynamics, kinetics, | |
| knee extensors, leg extension, leg flexion, limb segments, low power | |
| recumbent pedaling, muscle excitation amplitude, muscle mechanical | |
| energy, muscle power, pedal reaction forces, pedaling rate, rehabilitative | |
| pedaling exercises, segment kinematics, triceps surae muscles}, | |
| webpdf = {references-folder/Hakansson2007.pdf} | |
| } | |
| @ARTICLE{Hall2004, | |
| author = {B D Hall}, | |
| title = {On the propagation of uncertainty in complex-valued quantities}, | |
| journal = {Metrologia}, | |
| year = {2004}, | |
| volume = {41}, | |
| pages = {173}, | |
| number = {3}, | |
| abstract = {This paper explores a recent suggestion to use a bivariate form of | |
| the Gaussian 'error propagation law' to propagate uncertainty in | |
| the measurement of complex-valued quantities (Ridler N M and Salter | |
| M J 2002 Metrologia [/0026-1394/39/3/6] 39 295â302 ). Several alterative | |
| formulations of the law are discussed in which the contributions | |
| from individual input terms are more explicit. The calculation of | |
| complex-valued sensitivity coefficients is discussed and a matrix | |
| generalization of the notion of a 'component of uncertainty' in a | |
| measurement result is introduced. A form of a 'chain rule' is given | |
| for the propagation of uncertainty when several intermediate equations | |
| are involved.}, | |
| bib = {bibtex-keys#Hall2004}, | |
| bibpr = {private-bibtex-keys#Hall2004}, | |
| file = {Hall2004.pdf:Hall2004.pdf:PDF}, | |
| url = {http://stacks.iop.org/0026-1394/41/i=3/a=010}, | |
| webpdf = {references-folder/Hall2004.pdf} | |
| } | |
| @ARTICLE{Hall2003, | |
| author = {B D Hall}, | |
| title = {Calculating measurement uncertainty for complex-valued quantities}, | |
| journal = {Measurement Science and Technology}, | |
| year = {2003}, | |
| volume = {14}, | |
| pages = {368}, | |
| number = {3}, | |
| abstract = {A software technique is described that provides support for uncertainty | |
| calculations for complex-valued measurements. The technique is based | |
| on classical methods of multivariate statistics and propagation of | |
| variance as well as automatic differentiation, which is an established | |
| computational method. It facilitates propagation of covariance data | |
| by automating the calculation of sensitivity coefficients. The technique | |
| introduces a simple abstraction to represent measurement data and | |
| defines arithmetic operations and standard functions that manipulate | |
| this abstraction. The method is not difficult to implement and is | |
| easy to use. An example source code in C++ is included.}, | |
| bib = {bibtex-keys#Hall2003}, | |
| bibpr = {private-bibtex-keys#Hall2003}, | |
| file = {Hall2003.pdf:Hall2003.pdf:PDF}, | |
| url = {http://stacks.iop.org/0957-0233/14/i=3/a=316}, | |
| webpdf = {references-folder/Hall2003.pdf} | |
| } | |
| @INPROCEEDINGS{Ham2006, | |
| author = {Woonchul Ham and Hyunseok Choi}, | |
| title = {Autonomous Tracking Control and Inverse Kinematics of Unmanned Electric | |
| Bicycle System}, | |
| booktitle = {SICE-ICASE, 2006. International Joint Conference}, | |
| year = {2006}, | |
| pages = {336 -339}, | |
| month = {October}, | |
| abstract = {In the former researches for the unmanned bicycle system, we do focus | |
| on stabilizing it by using the lateral motion of mass and suggest | |
| a control algorithm for steering angle and driving wheel speed for | |
| a given desired path. We also suggest a new algorithm for nonlinear | |
| inverse kinematic problem which is similar to Piccard's iterative | |
| method in basic concept. We then propose a tracking control strategy | |
| by moving the center of load mass left and right respectively based | |
| on the nonlinear compensation-like control studied in the former | |
| researches. From the computer simulation results, we can show the | |
| effectiveness of the proposed control strategy}, | |
| bib = {bibtex-keys#Ham2006}, | |
| bibpr = {private-bibtex-keys#Ham2006}, | |
| doi = {10.1109/SICE.2006.315703}, | |
| file = {Ham2006.pdf:Ham2006.pdf:PDF}, | |
| keywords = {Piccard iterative method;autonomous tracking control;inverse kinematics;unmanned | |
| electric bicycle system;iterative methods;mobile robots;nonlinear | |
| control systems;remotely operated vehicles;robot kinematics;robust | |
| control;tracking;}, | |
| webpdf = {references-folder/Ham2006.pdf} | |
| } | |
| @INPROCEEDINGS{Ham2007, | |
| author = {Woonchul Ham and Seunghwan Kim}, | |
| title = {A New Iterative Algorithm for the Inverse Kinematic Problem and Its | |
| Application to Unmanned Electric Bicycle System}, | |
| booktitle = {Computational Intelligence in Robotics and Automation, 2007. CIRA | |
| 2007. International Symposium on}, | |
| year = {2007}, | |
| pages = {444 -449}, | |
| month = {June}, | |
| abstract = {In the former researches (Ingyu Park, et al., 2001), (Sangduck Lee | |
| and Woonchul Ham, 2002), (Seonghoon Kim and Woonchul Ham, 2004), | |
| we suggested an algorithm which can be used for deriving the nonlinear | |
| inverse kinematic problem in unmanned bicycle system by using iterative | |
| method. In this short note, we reinforce the former method and propose | |
| a new iterative algorithm for a certain type of nonlinear dynamic | |
| equation such as inverse kinematics of bicycle system. The idea of | |
| proposed algorithm is similar to Piccard's iterative method in basic | |
| concept. We also propose a robust control strategy for tracking problem | |
| in bicycle system based on nonlinear compensation. In this control | |
| algorithm, we invent and attach the load mass balance system for | |
| the self stabilization with more ease. From the computer simulation | |
| results, we can see that the proposed control algorithm can be applied | |
| to the real system.}, | |
| bib = {bibtex-keys#Ham2007}, | |
| bibpr = {private-bibtex-keys#Ham2007}, | |
| doi = {10.1109/CIRA.2007.382889}, | |
| file = {Ham2007.pdf:Ham2007.pdf:PDF}, | |
| keywords = {computer simulation;iterative algorithm;load mass balance system;nonlinear | |
| compensation;nonlinear dynamic equation;nonlinear inverse kinematic | |
| problem;robust control strategy;self stabilization;unmanned electric | |
| bicycle system;bicycles;compensation;iterative methods;mobile robots;nonlinear | |
| dynamical systems;remotely operated vehicles;robot kinematics;robust | |
| control;}, | |
| webpdf = {references-folder/Ham2007.pdf} | |
| } | |
| @MASTERSTHESIS{Hand1988, | |
| author = {Richard Scott Hand}, | |
| title = {Comparison and Stability Analysis of Linearized Equations of Motion | |
| For a Basic Bicycle Model}, | |
| school = {Cornell University}, | |
| year = {1988}, | |
| address = {Ithaca, New York}, | |
| month = {May}, | |
| bib = {bibtex-keys#Hand1988}, | |
| bibpr = {private-bibtex-keys#Hand1988}, | |
| file = {Hand1988.pdf:Hand1988.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Hand1988.pdf} | |
| } | |
| @ARTICLE{Harper1986, | |
| author = {Harper, R. P. and Cooper, G. E.}, | |
| title = {Handling Qualities and Pilot Evaluation}, | |
| journal = {Journal of Guidance}, | |
| year = {1986}, | |
| volume = {9}, | |
| pages = {515-529}, | |
| number = {5}, | |
| bib = {bibtex-keys#Harper1986}, | |
| bibpr = {private-bibtex-keys#Harper1986}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @MISC{Harper1984, | |
| author = {{Harper Jr.}, Robert P. and George E. Cooper}, | |
| title = {Handling Qualities and Pilot Evaluation}, | |
| year = {1984}, | |
| note = {Wright Brothers Lectureship in Aeronautics}, | |
| bib = {bibtex-keys#Harper1984}, | |
| bibpr = {private-bibtex-keys#Harper1984}, | |
| file = {Harper1984.pdf:Harper1984.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Harper1984.pdf} | |
| } | |
| @ARTICLE{Hartman1978, | |
| author = {Hartman, Charles H.}, | |
| title = {Human Factors Portion of the Motorcycle Dynamics and Handling Equation}, | |
| journal = {SAE Special Publications}, | |
| year = {1978}, | |
| volume = {SP--428}, | |
| pages = {73--78}, | |
| month = {February--March}, | |
| bib = {bibtex-keys#Hartman1978}, | |
| bibpr = {private-bibtex-keys#Hartman1978}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Hasegawa1980, | |
| author = {Hasegawa, A}, | |
| title = {Analysis of Controllability and Stability of Motorcycles Analysis | |
| of Stability at High | |
| Speed Driving}, | |
| booktitle = {Proc. International Motorcycle Safety Conference}, | |
| year = {1980}, | |
| volume = {2}, | |
| pages = {479--500}, | |
| month = {May}, | |
| bib = {bibtex-keys#Hasegawa1980}, | |
| bibpr = {private-bibtex-keys#Hasegawa1980}, | |
| timestamp = {2012.02.12} | |
| } | |
| @INPROCEEDINGS{Hauser2004, | |
| author = {Hauser, J. and Saccon, A. and Frezza, R.}, | |
| title = {Achievable motorcycle trajectories}, | |
| booktitle = {Decision and Control, 2004. CDC. 43rd IEEE Conference on}, | |
| year = {2004}, | |
| volume = {4}, | |
| pages = { 3944-3949 Vol.4}, | |
| month = {December}, | |
| abstract = { The authors show that a (simple, nonholonomic) motorcycle can exactly | |
| track a large class of smooth trajectories in the plane. Instability | |
| and nontrivial dynamic coupling make the exploration of aggressive | |
| motorcycle trajectories a rather challenging task. Previously (Hauser | |
| et al., 2004), we developed optimization techniques for constructing | |
| a suitable roll trajectory that (approximately) implements the desired | |
| plane trajectory. In that work, we found that the tracking error | |
| is usually quite small leading to the natural question: Given a smooth | |
| trajectory in the plane, does there exist a bounded roll trajectory | |
| that allows a simple motorcycle model to exactly track the plane | |
| trajectory? In this paper, we develop a technique for proving that | |
| such exact tracking is possible and apply it to a number of example | |
| cases. Our technique is based on the nonlinear system inversion work | |
| of Devasia and Paden (1998). Indeed, our algorithm is in the class | |
| that they propose. Unfortunately, we have been unable to directly | |
| use their results as the motorcycle system does not appear to satisfy | |
| the specific conditions required.}, | |
| bib = {bibtex-keys#Hauser2004}, | |
| bibpr = {private-bibtex-keys#Hauser2004}, | |
| file = {Hauser2004.pdf:Hauser2004.pdf:PDF}, | |
| issn = {0191-2216}, | |
| keywords = { motorcycles, optimisation, position control exact tracking, motorcycle | |
| trajectories, nonholonomic motorcycle, nonlinear system inversion, | |
| nontrivial dynamic coupling, smooth trajectory tracking, tracking | |
| error}, | |
| webpdf = {references-folder/Hauser2004.pdf} | |
| } | |
| @ARTICLE{He2005, | |
| author = {Qichang He and Xiumin Fan and Dengzhe Ma}, | |
| title = {Full Bicycle Dynamic Model for Interactive Bicycle Simulator}, | |
| journal = {Journal of Computing and Information Science in Engineering}, | |
| year = {2005}, | |
| volume = {5}, | |
| pages = {373--380}, | |
| number = {4}, | |
| bib = {bibtex-keys#He2005}, | |
| bibpr = {private-bibtex-keys#He2005}, | |
| doi = {10.1115/1.2121749}, | |
| file = {He2005.pdf:He2005.pdf:PDF}, | |
| keywords = {bicycles; digital simulation; mechanical engineering computing; interactive | |
| systems; vibrations; vehicle dynamics}, | |
| publisher = {ASME}, | |
| url = {http://link.aip.org/link/?CIS/5/373/1}, | |
| webpdf = {references-folder/He2005.pdf} | |
| } | |
| @TECHREPORT{Herfkens1949, | |
| author = {Herfkens}, | |
| title = {The stability of the bicycle}, | |
| institution = {Instituut voor Rijwielontwikkeling}, | |
| year = {1949}, | |
| bib = {bibtex-keys#Herfkens1949}, | |
| bibpr = {private-bibtex-keys#Herfkens1949}, | |
| file = {Herfkens1949.pdf:Herfkens1949.pdf:PDF}, | |
| owner = {luke}, | |
| timestamp = {2009.10.26}, | |
| webpdf = {references-folder/Herfkens1949.pdf} | |
| } | |
| @UNPUBLISHED{Hespanha2007, | |
| author = {Hespanha, Jo{\~a}o P.}, | |
| title = {Undergraduate Lecture Notes on LQG/LQR controller design}, | |
| note = {Course lecture notes}, | |
| month = {April}, | |
| year = {2007}, | |
| address = {at \url{http://www.ece.ucsb.edu/~hespanha/published}}, | |
| bib = {bibtex-keys#Hespanha2007}, | |
| bibpr = {private-bibtex-keys#Hespanha2007}, | |
| day = {1}, | |
| howpublished = {On the WWW}, | |
| owner = {moorepants}, | |
| timestamp = {2009.01.31} | |
| } | |
| @ARTICLE{Hess1995, | |
| author = {Hess, R.A.}, | |
| title = {Modeling the effects of display quality upon human pilot dynamics | |
| and perceived vehicle handling qualities}, | |
| journal = {Systems, Man and Cybernetics, IEEE Transactions on}, | |
| year = {1995}, | |
| volume = {25}, | |
| pages = {338-344}, | |
| number = {2}, | |
| month = {February}, | |
| abstract = {A model-based technique addressing the effect of display or visual | |
| scene quality upon human pilot dynamics is introduced. The technique | |
| builds upon a methodology proposed for the preliminary assessment | |
| of flight simulator fidelity which uses a structural model of the | |
| human pilot. This model is incorporated in what is termed the primary | |
| control loop(s) for the task at hand. It is shown that the measured | |
| effects of degradations in display quality upon human pilot dynamics | |
| can be modeled by simple reductions in the gains associated with | |
| error and proprioceptive signals in the structural model. A control | |
| theoretic rationale for these gain reductions is presented. The effect | |
| of display quality upon perceived handling qualities is discussed | |
| and demonstrated in a simple example. Although the research had its | |
| genesis in flight simulator fidelity studies, the modeling procedure | |
| is applicable to any continuous control task involving degraded visual | |
| conditions}, | |
| bib = {bibtex-keys#Hess1995}, | |
| bibpr = {private-bibtex-keys#Hess1995}, | |
| doi = {10.1109/21.364831}, | |
| file = {Hess1995.pdf:Hess1995.pdf:PDF}, | |
| issn = {0018-9472}, | |
| keywords = {aerospace simulation, aircraft control, aircraft displays, human factors, | |
| man-machine systemsdisplay quality, flight simulator fidelity, human | |
| factor, human pilot dynamics, model-based technique, perceived vehicle | |
| handling, primary control loop, proprioceptive signals}, | |
| webpdf = {references-folder/Hess1995.pdf} | |
| } | |
| @ARTICLE{Hess1990c, | |
| author = {Hess, Ronald}, | |
| title = {A Model of the Human's Use of Motion Cues in Vehicular Control}, | |
| journal = {Journal of Guidance, Control and Dynamics}, | |
| year = {1990}, | |
| volume = {13}, | |
| pages = {476--482}, | |
| month = {May--June}, | |
| bib = {bibtex-keys#Hess1990c}, | |
| bibpr = {private-bibtex-keys#Hess1990c}, | |
| owner = {Luke}, | |
| timestamp = {2008.12.18} | |
| } | |
| @ARTICLE{Hess1987, | |
| author = {Ronald Hess}, | |
| title = {A Qualitative Model of Human Interaction with Complex Dynamic Systems}, | |
| journal = {IEEE Transactions on Sytems, Man, and Cybernetics}, | |
| year = {1987}, | |
| volume = {SMC-17}, | |
| pages = {33-51}, | |
| number = {1}, | |
| month = {January/February}, | |
| abstract = {Abstract-A qualitative model describing human interaction with complex | |
| dynamic systems is developed. The model is hierarchical in nature | |
| and consists of three parts: a behavior generator, an internal model, | |
| and a sensory information processor. The behavior generator is responsible | |
| for action decomposition, turning higher level goals or missions | |
| into physical action at the human-machine interface. The internal | |
| model is an internal representation of the environment which the | |
| human is assumed to possess and is divided into four submodel categories. | |
| The sensory information processor is responsible for sensory composition. | |
| All three parts of the model act in consort to allow anticipatory | |
| behavior on the part of the human in goal-directed interaction with | |
| dynamic systems. Human workload and error are interpreted in this | |
| framework, and the familiar example of an automobile commute is used | |
| to illustrate the nature of the activity in the three model elements. | |
| Finally, with the qualitative model as a guide, verbal protocols | |
| from a manned simulation study of a helicopter instrument landing | |
| task are analyzed with particular emphasis on the effect of automation | |
| on human-machine performance.}, | |
| bib = {bibtex-keys#Hess1987}, | |
| bibpr = {private-bibtex-keys#Hess1987}, | |
| file = {Hess1987.pdf:Hess1987.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2008.10.16}, | |
| webpdf = {references-folder/Hess1987.pdf} | |
| } | |
| @INBOOK{Hess1990d, | |
| chapter = {Identification of Pilot Dynamics From Simulation and Flight Test}, | |
| pages = {151--176}, | |
| title = {Control and Dynamic Systems}, | |
| publisher = {Academic Press}, | |
| year = {1990}, | |
| editor = {C. T. Leondes}, | |
| author = {Hess, R. A.}, | |
| volume = {33}, | |
| bib = {bibtex-keys#Hess1990d}, | |
| bibpr = {private-bibtex-keys#Hess1990d}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @INBOOK{Hess1990e, | |
| chapter = {Methodology for the Analytical Assessment of Aircraft Handling Qualities}, | |
| pages = {129-149}, | |
| title = {Control and Dynamic Systems}, | |
| publisher = {Academic Press}, | |
| year = {1990}, | |
| editor = {C. T. Leondes}, | |
| author = {Hess, R. A.}, | |
| volume = {33}, | |
| bib = {bibtex-keys#Hess1990e}, | |
| bibpr = {private-bibtex-keys#Hess1990e}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @INBOOK{Hess1996, | |
| chapter = {Human-in-the-Loop Control}, | |
| title = {CRC Control Handbook}, | |
| publisher = {CRC Press}, | |
| year = {1996}, | |
| editor = {W. S. Levine}, | |
| author = {Hess, R. A.}, | |
| number = {80}, | |
| address = {Boca Raton, FL}, | |
| bib = {bibtex-keys#Hess1996}, | |
| bibpr = {private-bibtex-keys#Hess1996}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @INBOOK{Hess1985, | |
| chapter = {A Model-Based Theory for Analyzing Human Control Behavior}, | |
| pages = {129--175}, | |
| title = {Advances in Man-Machine Systems Research}, | |
| publisher = {JAI Press}, | |
| year = {1985}, | |
| editor = {W. B. Rouse}, | |
| author = {Hess, R. A.}, | |
| volume = {2}, | |
| bib = {bibtex-keys#Hess1985}, | |
| bibpr = {private-bibtex-keys#Hess1985}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @INBOOK{Hess1997, | |
| chapter = {Feedback Control Models: Manual Control and Tracking}, | |
| pages = {1249--1294}, | |
| title = {Handbook of Human Factors and Ergonomics}, | |
| publisher = {Wiley}, | |
| year = {1997}, | |
| editor = {Gavriel Salvendy}, | |
| author = {Hess, R. A.}, | |
| number = {38}, | |
| address = {New York}, | |
| edition = {Second}, | |
| bib = {bibtex-keys#Hess1997}, | |
| bibpr = {private-bibtex-keys#Hess1997}, | |
| owner = {moorepants}, | |
| review = {Chapter 38: Feedback Control Models - Manual Control and Tracking | |
| is a great introduction to manual control theory. | |
| Page 1263 gives some example covariances of observation and motor | |
| noise. This may be relevant to picking the process and measurment | |
| noise in the bicycle-rider system. | |
| He discusses crossover model, optimal controllers, fuzzy control, | |
| precision human modeling and anthropomorphic models for human operator | |
| control. | |
| Anthropomorphic: explicit system design of the humans systems: central | |
| nervous, vestibular, neuormuscular.}, | |
| timestamp = {2009.02.07} | |
| } | |
| @INBOOK{Hess1987a, | |
| chapter = {Feedback Control Models}, | |
| pages = {1212--1242}, | |
| title = {Handbook of Human Factors}, | |
| publisher = {John Wiley \& Sons}, | |
| year = {1987}, | |
| editor = {Salvendy, Gavriel}, | |
| author = {Hess, Ronald A.}, | |
| edition = {First}, | |
| month = {January}, | |
| bib = {bibtex-keys#Hess1987a}, | |
| bibpr = {private-bibtex-keys#Hess1987a}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @INBOOK{Hess2003, | |
| chapter = {Pilot Control}, | |
| title = {Principles and Practice of Aviation Psychology}, | |
| publisher = {Erlbaum}, | |
| year = {2003}, | |
| editor = {P. S. Tang and M. A.Vidulich}, | |
| author = {Hess, R. A.}, | |
| number = {8}, | |
| address = {Mahwah, NJ}, | |
| bib = {bibtex-keys#Hess2003}, | |
| bibpr = {private-bibtex-keys#Hess2003}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @INBOOK{Hess2003a, | |
| chapter = {8: Pilot Control}, | |
| pages = {265--310}, | |
| title = {Principles of Aviation Psychology: Human Factors in Transportation}, | |
| publisher = {CRC Press}, | |
| year = {2003}, | |
| editor = {Pamela S. Tang and Michael A. Vidulich}, | |
| author = {Ronald A. Hess}, | |
| address = {New York}, | |
| bib = {bibtex-keys#Hess2003a}, | |
| bibpr = {private-bibtex-keys#Hess2003a}, | |
| owner = {moorepants}, | |
| timestamp = {2010.05.06} | |
| } | |
| @ARTICLE{Hess2009a, | |
| author = {Hess, R. A.}, | |
| title = {Analytical Assessment of Performance, Handling Qualities and Added | |
| Dynamics in Rotorcraft Flight Control}, | |
| journal = {IEEE Transactions on Systems, Man, and Cybernetics - Part A, Systems | |
| and Human}, | |
| year = {2009}, | |
| volume = {SMC-39}, | |
| pages = {262-271}, | |
| number = {1}, | |
| bib = {bibtex-keys#Hess2009a}, | |
| bibpr = {private-bibtex-keys#Hess2009a}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @INPROCEEDINGS{Hess2006, | |
| author = {Hess, R. A.}, | |
| title = {Simplified Approach for Modelling Pilot Pursuit Control Behaviour | |
| in Multi-Loop Flight Control Tasks}, | |
| booktitle = {Proceedings of the Institution of Mechanical Engineers, Part G: Journal | |
| of Aerospace Engineering}, | |
| year = {2006}, | |
| volume = {220}, | |
| number = {2}, | |
| pages = {85--102}, | |
| bib = {bibtex-keys#Hess2006}, | |
| bibpr = {private-bibtex-keys#Hess2006}, | |
| doi = {10.1243/09544100JAERO33}, | |
| file = {Hess2006.pdf:Hess2006.pdf:PDF}, | |
| keywords = {pilot models, handling qualities, manual control}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07}, | |
| webpdf = {references-folder/Hess2006.pdf} | |
| } | |
| @ARTICLE{Hess1999, | |
| author = {Ronald A. Hess}, | |
| title = {Book Review: Advances in Aircraft Flight Control}, | |
| journal = {IEEE Transactions on Automatic Control}, | |
| year = {1999}, | |
| volume = {44}, | |
| pages = {887--889}, | |
| number = {4}, | |
| bib = {bibtex-keys#Hess1999}, | |
| bibpr = {private-bibtex-keys#Hess1999}, | |
| file = {Hess1999.pdf:Hess1999.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Hess1999.pdf} | |
| } | |
| @ARTICLE{Hess1997a, | |
| author = {Hess, R. A.}, | |
| title = {Unified Theory for Aircraft Handling Qualities and Adverse Aircraft-Pilot | |
| Coupling}, | |
| journal = {Journal of Guidance, Control, and Dynamics}, | |
| year = {1997}, | |
| volume = {20}, | |
| pages = {1141-1148}, | |
| number = {6}, | |
| month = {September}, | |
| bib = {bibtex-keys#Hess1997a}, | |
| bibpr = {private-bibtex-keys#Hess1997a}, | |
| file = {Hess1997a.pdf:Hess1997a.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Hess1997a.pdf} | |
| } | |
| @ARTICLE{Hess1990, | |
| author = {Ronald A. Hess}, | |
| title = {Identification of Pilot-Vehicle Dynamics from Simulation and Flight | |
| Test}, | |
| journal = {Control and Dynamic Systems, Advances in Aerospace Systems Dynamics | |
| and Control Systems}, | |
| year = {1990}, | |
| volume = {33}, | |
| pages = {151--175}, | |
| bib = {bibtex-keys#Hess1990}, | |
| bibpr = {private-bibtex-keys#Hess1990}, | |
| owner = {moorepants}, | |
| timestamp = {2011.01.03} | |
| } | |
| @ARTICLE{Hess1989a, | |
| author = {Hess, R. A.}, | |
| title = {A Theory for Handling Qualities Based Upon a Structural Pilot Model}, | |
| journal = {Journal of Guidance, Control, and Dynamics}, | |
| year = {1989}, | |
| volume = {12}, | |
| pages = {792-797}, | |
| number = {6}, | |
| month = {November}, | |
| bib = {bibtex-keys#Hess1989a}, | |
| bibpr = {private-bibtex-keys#Hess1989a}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Hess1983, | |
| author = {Hess, R. A.}, | |
| title = {A Model-Based Investigation of Manipulator Characteristics and Pilot/Vehicle | |
| Performance}, | |
| journal = {Journal of Guidance, Control, and Dynamics}, | |
| year = {1983}, | |
| volume = {6}, | |
| pages = {348-354}, | |
| number = {5}, | |
| month = {September}, | |
| bib = {bibtex-keys#Hess1983}, | |
| bibpr = {private-bibtex-keys#Hess1983}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @INPROCEEDINGS{Hess1982, | |
| author = {Hess, R. A.}, | |
| title = {Prediction of Aircraft Handling Qualities Using Analytical Models | |
| of the Human Pilot}, | |
| booktitle = {AGARD Conference Proceedings, No. 333, Criteria for Handling Qualities | |
| of Military Aircraft}, | |
| year = {1982}, | |
| pages = {25-1--25-8}, | |
| month = {April}, | |
| bib = {bibtex-keys#Hess1982}, | |
| bibpr = {private-bibtex-keys#Hess1982}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Hess1981, | |
| author = {Hess, R. A.}, | |
| title = {Pursuit Tracking and Higher Levels of Skill Development in the Human | |
| Pilot}, | |
| journal = {IEEE Transactions on Systems, Man, and Cybernetics}, | |
| year = {1981}, | |
| volume = {SMC-11}, | |
| pages = {262-273}, | |
| number = {4}, | |
| bib = {bibtex-keys#Hess1981}, | |
| bibpr = {private-bibtex-keys#Hess1981}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Hess1980, | |
| author = {Hess, R. A.}, | |
| title = {Structural Model of the Adaptive Human Pilot}, | |
| journal = {Journal of Guidance, Control, and Dynamics}, | |
| year = {1980}, | |
| volume = {3}, | |
| pages = {416-423}, | |
| number = {5}, | |
| month = {September}, | |
| bib = {bibtex-keys#Hess1980}, | |
| bibpr = {private-bibtex-keys#Hess1980}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Hess1978, | |
| author = {Hess, R. A.}, | |
| title = {A Dual-Loop Model of the Human Controller}, | |
| journal = {Journal of Guidance, Control, and Dynamics}, | |
| year = {1978}, | |
| volume = {1}, | |
| pages = {254-260}, | |
| number = {4}, | |
| month = {July-Aug.}, | |
| bib = {bibtex-keys#Hess1978}, | |
| bibpr = {private-bibtex-keys#Hess1978}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Hess1973, | |
| author = {Hess, R. A.}, | |
| title = {Nonadjectival Rating Scales in Human Response Experiments}, | |
| journal = {Human Factors}, | |
| year = {1973}, | |
| volume = {15}, | |
| pages = {275-280}, | |
| number = {3}, | |
| bib = {bibtex-keys#Hess1973}, | |
| bibpr = {private-bibtex-keys#Hess1973}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @TECHREPORT{Hess1972, | |
| author = {Ronald A. Hess}, | |
| title = {An introduction to human describing function and remnant measurement | |
| in single loop tracking tasks}, | |
| institution = {Naval Postgraduate School}, | |
| year = {1972}, | |
| number = {AFFDL/FGC-TM-72-9}, | |
| month = {May}, | |
| bib = {bibtex-keys#Hess1972}, | |
| bibpr = {private-bibtex-keys#Hess1972}, | |
| review = {He calculates the analytical form of the linear portion of the human | |
| controller and the spectral content of the human remnant as a function | |
| of the spectral content and plant dynamics of the inputs and outputs | |
| for a single loop compensatory tracking task.}, | |
| timestamp = {2012.02.29} | |
| } | |
| @ARTICLE{Hess2009, | |
| author = {Hess, R. A. and Marchesi, F.}, | |
| title = {Analytical Assessment of Flight Simulator Fidelity Using Pilot Models}, | |
| journal = {Journal of Guidance, Dynamics, and Control}, | |
| year = {2009}, | |
| bib = {bibtex-keys#Hess2009}, | |
| bibpr = {private-bibtex-keys#Hess2009}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Hess2001, | |
| author = {Hess, R. A. and Siwakosit, W.}, | |
| title = {Assessment of Flight Simulator Fidelity in Multiaxis Tasks Including | |
| Visual Cue Quality}, | |
| journal = {Journal of Aircraft}, | |
| year = {2001}, | |
| volume = {38}, | |
| pages = {607-614}, | |
| number = {4}, | |
| month = {July-Aug.}, | |
| bib = {bibtex-keys#Hess2001}, | |
| bibpr = {private-bibtex-keys#Hess2001}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @INPROCEEDINGS{Hess1998, | |
| author = {R. A. Hess and P. W. Stout}, | |
| title = {Predicting Handling Qualities Levels for Vehicles with Nonlinear | |
| Dynamics}, | |
| booktitle = {36th Aerospace Sciences Meeting and Exhibit}, | |
| year = {1998}, | |
| number = {AIAA 98-0494}, | |
| address = {Reno, NV, USA}, | |
| month = {January}, | |
| organization = {AIAA}, | |
| bib = {bibtex-keys#Hess1998}, | |
| bibpr = {private-bibtex-keys#Hess1998}, | |
| file = {Hess1998.pdf:Hess1998.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Hess1998.pdf} | |
| } | |
| @ARTICLE{Hess1974, | |
| author = {Hess, R. A. and Teichgraber, W. M.}, | |
| title = {Error Quantization Effects in Compensatory Tracking Tasks}, | |
| journal = {IEEE Transactions on Systems, Man, and Cybernetics}, | |
| year = {1974}, | |
| volume = {SMC-4}, | |
| pages = {343-349}, | |
| number = {4}, | |
| bib = {bibtex-keys#Hess1974}, | |
| bibpr = {private-bibtex-keys#Hess1974}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Hess1988, | |
| author = {Hess, R. A. and Tran, P. M.}, | |
| title = {Pilot/Vehicle Analysis of a Twin-Lift Helicopter Configuration in | |
| Hover}, | |
| journal = {Journal of Guidance, Control, and Dynamics}, | |
| year = {1988}, | |
| volume = {11}, | |
| pages = {465-472}, | |
| number = {5}, | |
| month = {September}, | |
| bib = {bibtex-keys#Hess1988}, | |
| bibpr = {private-bibtex-keys#Hess1988}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Hess2002, | |
| author = {Hess, R. A. and Zeyada, Y. and Heffley, R. K.}, | |
| title = {Modeling and Simulation for Helicopter Task Analysis}, | |
| journal = {Journal of the American Helicopter Society}, | |
| year = {2002}, | |
| volume = {47}, | |
| pages = {243-252}, | |
| number = {4}, | |
| bib = {bibtex-keys#Hess2002}, | |
| bibpr = {private-bibtex-keys#Hess2002}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Hess1986, | |
| author = {Hess, R.A. and Mcnally, B.D.}, | |
| title = {Automation Effects in a Multiloop Manual Control System}, | |
| journal = {Systems, Man and Cybernetics, IEEE Transactions on}, | |
| year = {1986}, | |
| volume = {16}, | |
| pages = {111-121}, | |
| number = {1}, | |
| month = {January}, | |
| abstract = {An experimental and analytical study was undertaken to investigate | |
| human interaction with a simple multiloop manual control system in | |
| which the human's activity was systematically varied by changing | |
| the level of automation. The system simulated was the longitudinal | |
| dynamics of a hovering helicopter. The automation-systems-stabilized | |
| vehicle responses from attitude to velocity to position and also | |
| provided for display automation in the form of a flight director. | |
| The control-loop structure resulting from the task definition can | |
| be considered a simple stereotype of a hierarchical control system. | |
| The experimental study was complemented by an analytical modeling | |
| effort which utilized simple crossover models of the human operator. | |
| It was shown that such models can be extended to the description | |
| of multiloop tasks involving preview and precognitive human operator | |
| behavior. The existence of time optimal manual control behavior was | |
| established for these tasks and the role which internal models may | |
| play in establishing human-machine performance was discussed.}, | |
| bib = {bibtex-keys#Hess1986}, | |
| bibpr = {private-bibtex-keys#Hess1986}, | |
| doi = {10.1109/TSMC.1986.289287}, | |
| file = {Hess1986.pdf:Hess1986.pdf:PDF}, | |
| issn = {0018-9472}, | |
| webpdf = {references-folder/Hess1986.pdf} | |
| } | |
| @ARTICLE{Hess1990a, | |
| author = {Hess, R.A. and Modjtahedzadeh, A.}, | |
| title = {A Control Theoretic Model of Driver Steering Behavior}, | |
| journal = {IEEE Control Systems Magazine}, | |
| year = {1990}, | |
| volume = {10}, | |
| pages = {3-8}, | |
| number = {5}, | |
| month = {August}, | |
| abstract = {Following well established feedback control design principles, a control | |
| theoretic model of driver steering behavior is presented. While accounting | |
| for the inherent manual control limitations of the human, the compensation | |
| dynamics of the driver are chosen to produce a stable, robust, closedloop | |
| driver/vehicle system with a bandwidth commensurate with the demands | |
| of the driving task being analyzed. A technique for selecting driver | |
| model parameters is a natural by-product of the control theoretic | |
| modeling approach. Experimental verification shows the ability of | |
| the model to produce driver/vehicle responses similar to those obtained | |
| in a simulated lane-keeping driving task on a curving road. A technique | |
| for selecting driver model parameters is a natural byproduct of the | |
| control theoretic modeling approach. Experimental verification shows | |
| the ability of the model to produce driver/vehicle responses similar | |
| to those obtained in a simulated lane-keeping driving task on a curving | |
| road.}, | |
| bib = {bibtex-keys#Hess1990a}, | |
| bibpr = {private-bibtex-keys#Hess1990a}, | |
| doi = {10.1109/37.60415}, | |
| file = {Hess1990a.pdf:Hess1990a.pdf:PDF}, | |
| keywords = {automobiles, closed loop systems, control system synthesis, feedback, | |
| man-machine systemsautomobiles, closed loop systems, control theoretic | |
| model, driver steering behavior, driver-vehicle responses, feedback | |
| control design, man machine systems}, | |
| owner = {moorepants}, | |
| timestamp = {2008.10.16}, | |
| webpdf = {references-folder/Hess1990a.pdf} | |
| } | |
| @INPROCEEDINGS{Hess1989, | |
| author = {Hess, R.A. and Modjtahedzadeh, A.}, | |
| title = {A preview control model of driver steering behavior}, | |
| booktitle = {Systems, Man and Cybernetics, 1989. Conference Proceedings., IEEE | |
| International Conference on}, | |
| year = {1989}, | |
| pages = {504-509 vol.2}, | |
| month = {November}, | |
| abstract = {A preview control model of driver steering behavior is introduced | |
| which is an outgrowth of a model of the human pilot. This model was | |
| developed to describe the preview control behavior of the human pilot | |
| in low-level flight tasks. The model describes preview behavior as | |
| a natural extension of compensatory and pursuit tracking. The preview | |
| model is exercised in analyzing driving tasks such as lane tracking | |
| on a cured roadway, and lane change maneuvers}, | |
| bib = {bibtex-keys#Hess1989}, | |
| bibpr = {private-bibtex-keys#Hess1989}, | |
| doi = {10.1109/ICSMC.1989.71347}, | |
| file = {Hess1989.pdf:Hess1989.pdf:PDF}, | |
| keywords = {behavioural sciences, human factorsdriver steering behavior, human | |
| pilot, lane change maneuvers, lane tracking, preview control model}, | |
| webpdf = {references-folder/Hess1989.pdf} | |
| } | |
| @ARTICLE{Hess2012, | |
| author = {Ronald Hess and Jason K. Moore and Mont Hubbard}, | |
| title = {Modeling the Manually Controlled Bicycle}, | |
| journal = {IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems | |
| and Humans}, | |
| year = {2012}, | |
| volume = {42}, | |
| pages = {545--557}, | |
| number = {3}, | |
| bib = {bibtex-keys#Hess2012}, | |
| bibpr = {private-bibtex-keys#Hess2012}, | |
| doi = {10.1109/TSMCA.2011.2164244}, | |
| timestamp = {2012.01.25} | |
| } | |
| @ARTICLE{Higbie1974, | |
| author = {Higbie, J.}, | |
| title = {The motorcycle as a gyroscope}, | |
| journal = {American Journal of Physics}, | |
| year = {1974}, | |
| volume = {42}, | |
| pages = {701--702}, | |
| number = {8}, | |
| month = {August}, | |
| bib = {bibtex-keys#Higbie1974}, | |
| bibpr = {private-bibtex-keys#Higbie1974}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Higgins1975, | |
| author = {Higgins, Jr., Walter T.}, | |
| title = {A Comparison of Complementary and Kalman Filtering}, | |
| journal = {IEEE Transactions on Aerospace and Electronic Systems}, | |
| year = {1975}, | |
| volume = {AES-11}, | |
| pages = {321--325}, | |
| file = {Higgins1975.pdf:Higgins1975.pdf:PDF}, | |
| timestamp = {2012.03.18} | |
| } | |
| @INPROCEEDINGS{Hikichi1995, | |
| author = {Toichiro Hikichi and Yoshitaka Tezuka}, | |
| title = {Study on improving the motorcycle high speed stability using a rear | |
| wheel self-steering system}, | |
| booktitle = {SAE International Congress and Exposition}, | |
| year = {1995}, | |
| number = {950198}, | |
| address = {Detroit, Michigan, USA}, | |
| bib = {bibtex-keys#Hikichi1995}, | |
| bibpr = {private-bibtex-keys#Hikichi1995}, | |
| file = {Hikichi1995.pdf:Hikichi1995.pdf:PDF}, | |
| timestamp = {2012.01.04}, | |
| webpdf = {references-folder/Hikichi1995.pdf} | |
| } | |
| @ARTICLE{Hinrichs1990, | |
| author = {Hinrichs, R. N.}, | |
| title = {Adjustments to the segment center of mass proportions of Clauser | |
| et al. (1969)}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1990}, | |
| volume = {23}, | |
| bib = {bibtex-keys#Hinrichs1990}, | |
| bibpr = {private-bibtex-keys#Hinrichs1990}, | |
| file = {Hinrichs1990.pdf:Hinrichs1990.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.26}, | |
| webpdf = {references-folder/Hinrichs1990.pdf} | |
| } | |
| @ARTICLE{Hoagg2007, | |
| author = {Hoagg, Jesse B. and Bernstein, Dennis S.}, | |
| title = {Nonminimum-Phase Zeros: Much To Do About Nothing}, | |
| journal = {IEEE Control Systems Magazine}, | |
| year = {2007}, | |
| volume = {27}, | |
| pages = {45-57}, | |
| month = {June}, | |
| abstract = {In the popular literature there is a certain fascination with the | |
| concept of zero [1]Â[3]. While today the inconspicuous 0 is taken | |
| for granted, the situation was different in the distant past. For | |
| example, the Romans had no symbol for 0, a fact memorialized by the | |
| jump from 1 B.C. to 1 A.D., a convention instituted in 531 A.D. [4, | |
| p. 91]. In contrast, the Mayans had a symbol for zero, and the first | |
| day of each Mayan month was day zero [3, p. 18]. The modern zero | |
| of mathematics slowly earned its membership in the club of numbers | |
| through Indian mathematics, although this acceptance was achieved | |
| only through a tortuous process that spanned centuries [3]. A conceptual | |
| impediment to the acceptance of zero is the difficulty in understanding | |
| the ratio 1/0. Presumably, this ratio is infinity or ?, a much more | |
| challenging concept. That 0 and inifinity are close cousins casts | |
| suspicion on zero as a valid number. Even in modern times, the zero | |
| appears begrudgingly on your telephone keypad after the 9. In Europe, | |
| the ground floor in a building is routinely labeled 0, and thus the | |
| meaning of floor -1 is unambiguous, whereas, in the United States, | |
| there is no floor 0, and negative floor numbers are rarely used. | |
| Despite the human reluctance to admit zero as an authentic number, | |
| it is as difficult to imagine mathematics today without zero as it | |
| is to imagine technology without the wheel and axle. Although the | |
| number zero is well known, the system-theoretic concept of a system | |
| zero is virtually unknown outside of dynamics and control theory. | |
| The purpose of this article is to illuminate the critical role of | |
| system zeros in control- system performance for the benefit of a | |
| wide audience both inside and outside the control systems community.}, | |
| bib = {bibtex-keys#Hoagg2007}, | |
| bibpr = {private-bibtex-keys#Hoagg2007}, | |
| file = {Hoagg2007.pdf:Hoagg2007.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {The response of a non-minumum pahse system to an unbounded input (e^t) | |
| can be potentially be bounded. | |
| In general, each zero blocks a specific input signal. In the case | |
| of a right half plane zero, the blocked signal is unbounded. | |
| Initial undershoot describes a response that initially departs in | |
| the nonasymptotic direction (an initial error growth) before reversing. | |
| This can only happen with an odd number of positive zeros.}, | |
| timestamp = {2008.10.24}, | |
| webpdf = {references-folder/Hoagg2007.pdf} | |
| } | |
| @ARTICLE{Hoffmann1975, | |
| author = {Hoffmann, Errol R.}, | |
| title = {Human Control of Road Vehicles}, | |
| journal = {Vehicle System Dynamics: International Journal of Vehicle Mechanics | |
| and Mobility}, | |
| year = {1975}, | |
| volume = {5}, | |
| pages = {105--126}, | |
| number = {1}, | |
| abstract = {This paper reviews the present state of knowledge of human control | |
| of road vehicles. Lateral and longitudinal control of motorcycles | |
| and automobiles are discussed, whenever information is available. | |
| Although knowledge has increased greatly in the last decade, the | |
| major part of this concerns lateral control and most is of an ad | |
| hoc nature. Adequate mathematical models for longitudinal motion | |
| of the vehicle are yet to be developed. Their development is a necessary | |
| step in the attainment of a complete understanding of longitudinal | |
| control.}, | |
| bib = {bibtex-keys#Hoffmann1975}, | |
| bibpr = {private-bibtex-keys#Hoffmann1975}, | |
| file = {Hoffmann1975.pdf:Hoffmann1975.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| url = {http://www.informaworld.com/10.1080/00423117508968408}, | |
| webpdf = {references-folder/Hoffmann1975.pdf} | |
| } | |
| @ARTICLE{Horiuchi2000, | |
| author = {Shinichiro Horiuchi and Naohiro Yuhara}, | |
| title = {An Analytical Approach to the Prediction of Handling Qualities of | |
| Vehicles With Advanced Steering Control System Using Multi-Input | |
| Driver Model}, | |
| journal = {Journal of Dynamic Systems, Measurement, and Control}, | |
| year = {2000}, | |
| volume = {122}, | |
| pages = {490-497}, | |
| number = {3}, | |
| bib = {bibtex-keys#Horiuchi2000}, | |
| bibpr = {private-bibtex-keys#Horiuchi2000}, | |
| doi = {10.1115/1.1286334}, | |
| file = {Horiuchi2000.pdf:Horiuchi2000.pdf:PDF}, | |
| keywords = {road vehicles; transport control; human factors; user modelling}, | |
| publisher = {ASME}, | |
| url = {http://link.aip.org/link/?JDS/122/490/1}, | |
| webpdf = {references-folder/Horiuchi2000.pdf} | |
| } | |
| @ARTICLE{Hou2009, | |
| author = {Zhi-Chao Hou and Yi ning Lu and Yao xin Lao and Dan Liu}, | |
| title = {A new trifilar pendulum approach to identify all inertia parameters | |
| of a rigid body or assembly}, | |
| journal = {Mechanism and Machine Theory}, | |
| year = {2009}, | |
| volume = {44}, | |
| pages = {1270 - 1280}, | |
| number = {6}, | |
| abstract = {An improved approach is presented for using a trifilar pendulum to | |
| identify 10 inertia parameters of odd-shaped bodies. The parameters | |
| include the mass, the coordinates of the center of gravity, and the | |
| moments and products of inertia. Owing to carefully designed procedures | |
| of distance measurement and coordinate transform, no angular measurement | |
| is necessary for orientation description in the new approach. Balancing | |
| weights and load cells are introduced to facilitate the adjustments | |
| of the location and orientation of the body during tests. In order | |
| to evaluate the precision of the identified results, tentative error | |
| indices are suggested for the parameters, respectively. Two examples | |
| are given to demonstrate the new approach.}, | |
| bib = {bibtex-keys#Hou2009}, | |
| bibpr = {private-bibtex-keys#Hou2009}, | |
| doi = {DOI: 10.1016/j.mechmachtheory.2008.07.004}, | |
| file = {Hou2009.pdf:Hou2009.pdf:PDF}, | |
| issn = {0094-114X}, | |
| keywords = {Trifilar pendulum}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| url = {http://www.sciencedirect.com/science/article/B6V46-4TB0TYY-1/2/709e85a1fd4f5e146474532db41c6e9c}, | |
| webpdf = {references-folder/Hou2009.pdf} | |
| } | |
| @INPROCEEDINGS{Hubbard1994, | |
| author = {Hubbard, M.}, | |
| title = {Simulating Sensitive Dynamic Control of a Bobsled}, | |
| booktitle = {Proceedings of 2nd Conference on Mathematics and Computers in Sport}, | |
| year = {1994}, | |
| month = {July}, | |
| note = {Bond University, Queensland, Australia}, | |
| bib = {bibtex-keys#Hubbard1994}, | |
| bibpr = {private-bibtex-keys#Hubbard1994}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Hubbard1980, | |
| author = {Hubbard, M.}, | |
| title = {Human Control of the Skateboard}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1980}, | |
| volume = {13}, | |
| pages = {745-754}, | |
| number = {9}, | |
| bib = {bibtex-keys#Hubbard1980}, | |
| bibpr = {private-bibtex-keys#Hubbard1980}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Hubbard1979, | |
| author = {Hubbard, M.}, | |
| title = {Lateral Dynamics and Stability of the Skateboard}, | |
| journal = {ASME Journal of Applied Mechanics}, | |
| year = {1979}, | |
| volume = {46}, | |
| pages = {931-936}, | |
| number = {4}, | |
| bib = {bibtex-keys#Hubbard1979}, | |
| bibpr = {private-bibtex-keys#Hubbard1979}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Hubbard1989b, | |
| author = {Mont Hubbard and LeRoy W. Alaways}, | |
| title = {Rapid and accurate estimation of release conditions in the javelin | |
| throw}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1989}, | |
| volume = {22}, | |
| pages = {583--595}, | |
| bib = {bibtex-keys#Hubbard1989b}, | |
| bibpr = {private-bibtex-keys#Hubbard1989b}, | |
| file = {Hubbard1989b.pdf:Hubbard1989b.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2010.06.04} | |
| } | |
| @INPROCEEDINGS{Hubbard1979a, | |
| author = {Hubbard, M. and Glass, S. K.}, | |
| title = {Optimal Human Control of an Unstable Vehicle in a Simple Tracking | |
| Task}, | |
| booktitle = {Proceedings of the Thirteenth Asilomar Conference on Circuits, Systems | |
| and Computers}, | |
| year = {1979}, | |
| pages = {60-64}, | |
| address = {Pacific Grove, CA}, | |
| month = {November}, | |
| bib = {bibtex-keys#Hubbard1979a}, | |
| bibpr = {private-bibtex-keys#Hubbard1979a}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @INPROCEEDINGS{Hubbard1989, | |
| author = {Hubbard, M. and Kallay, M. and Joy, K. and Reus, J. and Rowhani, | |
| P.}, | |
| title = {Simulation of Vehicle and Track Performance in the Bobsled}, | |
| booktitle = {Proceedings 3rd ASME/ASCE Mechanics Symposium}, | |
| year = {1989}, | |
| address = {San Diego, CA}, | |
| month = {July}, | |
| bib = {bibtex-keys#Hubbard1989}, | |
| bibpr = {private-bibtex-keys#Hubbard1989}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Hubbard1989a, | |
| author = {Hubbard, M. and Kallay, M. and Rowhani, P.}, | |
| title = {Three Dimensional Bobsled Turning Dynamics}, | |
| journal = {International Journal of Sport Biomechanics}, | |
| year = {1989}, | |
| volume = {5}, | |
| pages = {222-237}, | |
| bib = {bibtex-keys#Hubbard1989a}, | |
| bibpr = {private-bibtex-keys#Hubbard1989a}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @INPROCEEDINGS{Huffman1996, | |
| author = {Huffman, K. and Hubbard, M.}, | |
| title = {A Motion-Based Virtual Reality Training Simulator for Bobsled Drivers}, | |
| booktitle = {The Engineering of Sport}, | |
| year = {1996}, | |
| editor = {S. Haake}, | |
| pages = {195-203}, | |
| address = {Balkema, Rotterdam}, | |
| month = {July}, | |
| bib = {bibtex-keys#Huffman1996}, | |
| bibpr = {private-bibtex-keys#Huffman1996}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @CONFERENCE{Huffman1993, | |
| author = {Huffman, R.K. and Hubbard, M. and Reus, J.}, | |
| title = {Use of an Interactive Bobsled Simulator in Driver Training}, | |
| booktitle = {Advances in Bioengineering}, | |
| year = {1993}, | |
| address = {New York}, | |
| month = {November}, | |
| organization = {ASME}, | |
| publisher = {ASME}, | |
| note = {presented at ASME Winter Annual Meeting , New Orleans}, | |
| bib = {bibtex-keys#Huffman1993}, | |
| bibpr = {private-bibtex-keys#Huffman1993}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Hull1990, | |
| author = {M.L. Hull and Andrew Beard and Hemant Varma}, | |
| title = {Goniometric measurement of hip motion in cycling while standing}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1990}, | |
| volume = {23}, | |
| pages = {687 - 689, 691-703}, | |
| number = {7}, | |
| abstract = {The purpose of this study was to develop an instrument for quantifying | |
| the motion of the hip relative to the bicycle while cycling in the | |
| standing position. Because of the need to measure hip motion on the | |
| road as well as in the laboratory, a goniometer which locates the | |
| hip using spherical coordinates was designed. The goniometer is presented | |
| first, followed by the development of the equations that enable the | |
| distance from the joint center to the pedal spindle to be determined. | |
| The orientation of this line segment is specified by calculating | |
| two angles referenced to the frame. Also outlined are the procedures | |
| used to both calibrate the goniometer and perform an accuracy check. | |
| The results of this check indicate that the attachment point of the | |
| goniometer to the rider can be located to within 2.5 mm of the true | |
| position. The goniometer was used to record the hip movement patterns | |
| of six subjects who cycled in the standing position on a treadmill. | |
| Representative results from one test subject who cycled at 6\% grade | |
| and 25 km h-1 are presented. Results indicate that the bicycle is | |
| leaned from side to side with the frequency of leaning equal to the | |
| frequency of pedalling. Extreme lean angles are ±6°. The distance | |
| from the hip to the pedal varies approximately sinusoidally with | |
| frequency equal to pedalling rate and amplitude somewhat less than | |
| crank arm length. The absolute elevation of the hip, however, exhibits | |
| two cycles for each crank cycle. Asymmetry in the plot of elevation | |
| over a single crank cycle indicates that the pelvis rocks from side | |
| to side and that the elevation of the pelvis midpoint changes. Extreme | |
| values of the pelvis rocking angle are ±12°. Highest pelvis midpoint | |
| elevations, however, do not occur at the same crank angles as those | |
| angles at which the pelvis rocking is extreme. It appears that the | |
| vertical motion of the hips affects pedalling mechanics when cycling | |
| in the standing position.}, | |
| bib = {bibtex-keys#Hull1990}, | |
| bibpr = {private-bibtex-keys#Hull1990}, | |
| doi = {DOI: 10.1016/0021-9290(90)90168-3}, | |
| file = {Hull1990.pdf:Hull1990.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4C0MS5T-GM/2/7472e9f4c8a8804c69b47c72d73e1b25}, | |
| webpdf = {references-folder/Hull1990.pdf} | |
| } | |
| @ARTICLE{Hull1981, | |
| author = {M.L. Hull and R.R. Davis}, | |
| title = {Measurment of pedal loading in bicycling: I. Instrumentation}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1981}, | |
| volume = {14}, | |
| pages = {843 - 855}, | |
| number = {12}, | |
| abstract = {This paper presents a new instrumentation system to precisely measure | |
| pedal loads and pedal position. A pedal/dynamometer unit implementing | |
| four octagonal strain rings measures all six load components between | |
| the foot and pedal. To study the relationship between foot position | |
| and loading, the pedal/dynamometer offers three degree-of-freedom | |
| adjustability. Pedal position along the pedal arc is precisely described | |
| by measuring crank arm angle and relative angle between pedal and | |
| crank arm. Linear, continuous rotation potentiometers measure the | |
| two angles. Transducer signals are sampled by a digital computer | |
| which calculates resultant loads and pedal position as functions | |
| of crank arm angle. Transducers are designed to mount on most bicycles | |
| without modification. Test subjects ride their own bicycles unconstrained | |
| on rollers so that loading data is representative of actual cycling.}, | |
| bib = {bibtex-keys#Hull1981}, | |
| bibpr = {private-bibtex-keys#Hull1981}, | |
| doi = {DOI: 10.1016/0021-9290(81)90012-9}, | |
| file = {Hull1981.pdf:Hull1981.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4BYSFKJ-11/2/0c82e14a0f823d81c28336e0c4d5c5fb}, | |
| webpdf = {references-folder/Hull1981.pdf} | |
| } | |
| @ARTICLE{Hull1988, | |
| author = {M.L. Hull and H. Gonzalez}, | |
| title = {Bivariate optimization of pedalling rate and crank arm length in | |
| cycling}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1988}, | |
| volume = {21}, | |
| pages = {839 - 849}, | |
| number = {10}, | |
| abstract = {The contribution of this paper is a bivariate optimization of cycling | |
| performance. Relying on a biomechanical model of the lower limb, | |
| a cost function derived from the joint moments developed during cycling | |
| is computed. At constant average power, both pedalling rate (i.e. | |
| rpm) and crank arm length are systematically varied to explore the | |
| relation between these variables and the cost function. A crank arm | |
| length of 170 mm and pedalling rate of 100 rpm correspond closely | |
| to the cost function minimum. In cycling situations where the rpm | |
| deviates from 100 rpm, however, crank arms of length other than 170 | |
| mm yield minimum cost function values. In addition, the sensitivity | |
| of optimization results to both increased power and anthropometric | |
| parameter variations is examined. At increased power, the cost function | |
| minimum is more strongly related to the pedalling rate, with higher | |
| pedalling rates corresponding to the minimum. Anthropometric parameter | |
| variations influence the results significantly. In general it is | |
| found that the cost function minimum for tall people occurs at longer | |
| crank arm lengths and lower pedalling rates than the length and rate | |
| for short people.}, | |
| bib = {bibtex-keys#Hull1988}, | |
| bibpr = {private-bibtex-keys#Hull1988}, | |
| doi = {DOI: 10.1016/0021-9290(88)90016-4}, | |
| file = {Hull1988.pdf:Hull1988.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4C00GS2-K5/2/b02738b5e35acf492de6978275a3fe6b}, | |
| webpdf = {references-folder/Hull1988.pdf} | |
| } | |
| @ARTICLE{Hull1988a, | |
| author = {Maury Hull and Hiroko Gonzalez and Rob Redfield}, | |
| title = {Optimization of pedaling rate in cycling using a muscle stress-based | |
| objective function}, | |
| journal = {International Journal Of Sports Biomechanics}, | |
| year = {1988}, | |
| volume = {4}, | |
| pages = {1--20}, | |
| bib = {bibtex-keys#Hull1988a}, | |
| bibpr = {private-bibtex-keys#Hull1988a}, | |
| file = {Hull1988a.pdf:Hull1988a.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Hull1988a.pdf} | |
| } | |
| @ARTICLE{Hull1985, | |
| author = {M.L. Hull and M. Jorge}, | |
| title = {A method for biomechanical analysis of bicycle pedalling}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1985}, | |
| volume = {18}, | |
| pages = {631 - 644}, | |
| number = {9}, | |
| abstract = {This paper reports a new method, which enables a detailed biomechanical | |
| analysis of the lower limb during bicycling. The method consists | |
| of simultancously measuring both the normal and tangential pedal | |
| forces, the EMGs of eight leg muscles, and the crank arm and pedal | |
| angles. Data were recorded for three male subjects of similar anthropometric | |
| characteristics. Subjects rode under different pedalling conditions | |
| to explore how both pedal forces and pedalling rates affect the biomechanics | |
| of the pedalling process. By modelling the leg-bicycle as a five | |
| bar linkage and driving the linkage with the measured force and kinematic | |
| data, the joint moment histories due to pedal forces only (i.e. no | |
| motion) and motion only (i.e. no pedal forces) were generated. Total | |
| moments were produced by superimposing the two moment histories. | |
| The separate moment histories, together with the pedal forces and | |
| EMG results, enable a detailed biomechanical analysis of bicycle | |
| pedalling. Inasmuch as the results are similar for all three subjects, | |
| the analysis for one subject is discussed fully. One unique insight | |
| gained via this new method is the functional role that individual | |
| leg muscles play in the pedalling process.}, | |
| bib = {bibtex-keys#Hull1985}, | |
| bibpr = {private-bibtex-keys#Hull1985}, | |
| doi = {DOI: 10.1016/0021-9290(85)90019-3}, | |
| file = {Hull1985.pdf:Hull1985.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4BYSG1D-6N/2/b29149297b997ea92153f068e7ad7543}, | |
| webpdf = {references-folder/Hull1985.pdf} | |
| } | |
| @ARTICLE{Hull1991, | |
| author = {M.L. Hull and Steve Kautz and Andrew Beard}, | |
| title = {An angular velocity profile in cycling derived from mechanical energy | |
| analysis}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1991}, | |
| volume = {24}, | |
| pages = {577 - 586}, | |
| number = {7}, | |
| abstract = {The contributions of this article are twofold. One is a procedure | |
| for determining the angular velocity profile in seated cycling that | |
| maintains the total mechanical energy of both legs constant. A five-bar | |
| linkage model (thigh, shank, foot, crank and frame) of seated (fixed | |
| hip) cycling served for the derivation of the equations to compute | |
| potential and kinetic energies of the leg segments over a complete | |
| crank cycle. With experimentally collected pedal angle data as input, | |
| these equations were used to compute the total combined mechanical | |
| energy (sum of potential and kinetic energies of the segments of | |
| both legs) for constant angular velocity pedalling at 90 rpm. Total | |
| energy varied indicating the presence of internal work. Motivated | |
| by a desire to test the hypothesis that reducing internal work in | |
| cycling will reduce energy expenditure, a procedure was developed | |
| for determining the angular velocity profile that eliminated any | |
| change in total energy. Using data recorded from five subjects, this | |
| procedure was used to determine a reference profile for an average | |
| equivalent cadence of 90 rpm. The pahse of this profile is such that | |
| highest and lowest angular velocities occur when the cranks are near | |
| vertical and horizontal respectively. The second contribution is | |
| the testing of the hypothesis that the reference angular velocity | |
| profile serves to effectively reduce internal work for the subjects | |
| whose data were used to develop this profile over the range of pedalling | |
| rates (80-100 rpm) naturally preferred. In this range, the internal | |
| work was decreased a minimum of 48\% relative to the internal work | |
| associated with constant angular velocity pedalling. The acceptance | |
| of this hypothesis has relevance to the protocol for future experiments | |
| which explore the effect of reduced internal work on energy expenditure | |
| in cycling.}, | |
| bib = {bibtex-keys#Hull1991}, | |
| bibpr = {private-bibtex-keys#Hull1991}, | |
| doi = {DOI: 10.1016/0021-9290(91)90290-4}, | |
| file = {Hull1991.pdf:Hull1991.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4C35T2X-8N/2/93938d00ad73625d1027757ed7551254}, | |
| webpdf = {references-folder/Hull1991.pdf} | |
| } | |
| @ARTICLE{Hull1996, | |
| author = {Tom Boyd M. L. Hull and D. Wootten}, | |
| title = {An improved accuracy six-load component pedal dynamometer for cycling}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1996}, | |
| volume = {29}, | |
| pages = {1105 - 1110}, | |
| number = {8}, | |
| abstract = {This paper describes a new six-load component pedal dynamometer designed | |
| for study of knee overuse injury in cycling. A unique capability | |
| of the dynamometer is the ability to interface with multiple pedal | |
| platforms of varying height while maintaining a desired elevation | |
| of the foot above the pedal spindle axis. The dynamometer was designed | |
| using a concept described in an earlier article by Quinn and Mote | |
| (1991, Exp. Mech.30, 40-48) which measures shear strain across multiple, | |
| thin cross-sections. An optimal design technique was used for choosing | |
| dimensions of the load measuring cross-sections. A dynamometer was | |
| designed and built using the optimal results. Calibration, accuracy | |
| results, and sample data are presented. A comparison of accuracy | |
| reveals that the new dynamometer is more accurate than previously | |
| reported instruments.}, | |
| bib = {bibtex-keys#Hull1996}, | |
| bibpr = {private-bibtex-keys#Hull1996}, | |
| doi = {DOI: 10.1016/0021-9290(95)00177-8}, | |
| issn = {0021-9290}, | |
| keywords = {Six-load component}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-3W0NDMG-G/2/41898427782d5623951a690792587ffe} | |
| } | |
| @INPROCEEDINGS{Hurt1973, | |
| author = {Hurt, H. H.}, | |
| title = {Motorcycle Handling and Collision Avoidance: Anatomy of a Turn}, | |
| booktitle = {Second International Congress on Automotive Safety}, | |
| year = {1973}, | |
| address = {San Francisco, CA, USA}, | |
| month = {July}, | |
| bib = {bibtex-keys#Hurt1973}, | |
| bibpr = {private-bibtex-keys#Hurt1973}, | |
| file = {Hurt1973.pdf:Hurt1973.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30}, | |
| webpdf = {references-folder/Hurt1973.pdf} | |
| } | |
| @INPROCEEDINGS{Hurt1977, | |
| author = {Hurt, H. H. and C. J. DuPont}, | |
| title = {Human Factors in Motorcycle Accidents}, | |
| booktitle = {SAE International Automotive Engineering Congress and Expo}, | |
| year = {1977}, | |
| number = {770103}, | |
| month = {February}, | |
| bib = {bibtex-keys#Hurt1977}, | |
| bibpr = {private-bibtex-keys#Hurt1977}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30} | |
| } | |
| @ARTICLE{Huston1984, | |
| author = {Ronald L. Huston}, | |
| title = {Unicycle Dynamics and Stability}, | |
| journal = {Society of Automotive Engineers}, | |
| year = {1984}, | |
| month = {February}, | |
| abstract = {Governing equations of motion for a unicycle with a rider are presented. | |
| The system is assumed to be moving on a flat horizontal surface. | |
| Two specific cases are investigated: straight-line rolling and stationary | |
| positioning. Criteria for stability are explored. It is shown that | |
| stability can be obtained through active pedal monitoring by the | |
| rider.}, | |
| bib = {bibtex-keys#Huston1984}, | |
| bibpr = {private-bibtex-keys#Huston1984}, | |
| file = {Huston1984.pdf:Huston1984.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2010.09.10}, | |
| webpdf = {references-folder/Huston1984.pdf} | |
| } | |
| @INPROCEEDINGS{Huyge2005, | |
| author = {Kevin Huyge and Jorge Ambr\'{o}sio and Manuel Pereira}, | |
| title = {A control strategy for the dynamics of a motorcycle}, | |
| booktitle = {ENOC}, | |
| year = {2005}, | |
| address = {Eindhoven, Netherlands}, | |
| month = {August}, | |
| bib = {bibtex-keys#Huyge2005}, | |
| bibpr = {private-bibtex-keys#Huyge2005}, | |
| file = {Huyge2005.pdf:Huyge2005.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {LQR control design. Controller is function of velocity. Motorcycle | |
| model is based on Cossalter2002. He adds a pretty complex rider biomechanical | |
| model onto the motorcycle with eight bodies. He is able to track | |
| a path (lane change or s-curve?). I guess he used the LQR to stabilize | |
| the rider bodies too, but that is not clear.}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Huyge2005.pdf} | |
| } | |
| @ARTICLE{Hwang2011, | |
| author = {Hwang, Chih-Lyang and Wu, Hsiu-Ming and Shih, Ching-Long}, | |
| title = {An autonomous dynamic balance of an electrical bicycle in motion | |
| using variable structure under-actuated control}, | |
| journal = {Asian Journal of Control}, | |
| year = {2011}, | |
| volume = {13}, | |
| pages = {240--254}, | |
| number = {2}, | |
| abstract = {Based on previous studies, two strategies, the controls of the center | |
| of gravity (CG) and the angle of steering handle, are employed to | |
| stabilize the bicycle in motion. In general, a pendulum is applied | |
| to adjust the CG of the bicycle. An additional factor is the inclination | |
| with respect to gravitational direction of the bicycle in motion | |
| (i.e., lean angle). As a whole, the system produces three outputs | |
| that will affect the dynamic balance of the electric bicycle: the | |
| angles of the pendulum, the lean, and the steering. The proposed | |
| control method used to generate the handle and pendulum torques is | |
| named variable structure under-actuated control (VSUAC), possessing | |
| the number of control inputs smaller than the system output. The | |
| purpose of using the VSUAC is the huge uncertainties of a bicycle | |
| system, often encountered with irregularities in ground conditions | |
| and gusts of wind. Merely using the ordinary proportional-derivative-integral | |
| (PID) control or other linear control methods usually do not show | |
| good robust performance when the aforementioned conditions are present. | |
| Finally, the simulations of the electrical bicycle in motion using | |
| ordinary PID control, modified proportional-derivative control (MPDC), | |
| and VSUAC are compared to judge the effectiveness and efficiency | |
| of the proposed control.Copyright © 2010 John Wiley and Sons Asia | |
| Pte Ltd and Chinese Automatic Control Society}, | |
| bib = {bibtex-keys#Hwang2011}, | |
| bibpr = {private-bibtex-keys#Hwang2011}, | |
| doi = {10.1002/asjc.303}, | |
| issn = {1934-6093}, | |
| keywords = {Electrical bicycle, dynamic balance, variable structure under actuated | |
| control, modified proportional-derivative control, Lyapunov stability}, | |
| publisher = {John Wiley and Sons Asia Pte Ltd}, | |
| url = {http://dx.doi.org/10.1002/asjc.303} | |
| } | |
| @INPROCEEDINGS{Hwang2008, | |
| author = {Chih-Lyang Hwang and Hsiu-Ming Wu and Ching-Long Shih}, | |
| title = {Fuzzy sliding-mode under-actuated control for autonomous dynamic | |
| balance of an electrical bicycle}, | |
| booktitle = {Fuzzy Systems, 2008. FUZZ-IEEE 2008. (IEEE World Congress on Computational | |
| Intelligence). IEEE International Conference on}, | |
| year = {2008}, | |
| pages = {251 -257}, | |
| month = {June}, | |
| abstract = {The purpose of this paper is to stabilize the running motion of an | |
| electrical bicycle. In order to do so, two strategies are employed | |
| in this paper. One is to control the bikepsilas center of gravity | |
| (CG), and the other is to control the angle of the bikepsilas steering | |
| handle. In addition, the proposed system produces three outputs that | |
| will affect the dynamic balance of an electrical bicycle: the bikepsilas | |
| pendulum angle, lean angle, and steering angle. Based on the data | |
| of input-output, two scaling factors are employed to normalize the | |
| sliding surface and its derivative. According to the concept of if-then | |
| rule, an appropriate rule table for the ith subsystem is obtained. | |
| Then the output scaling factor based on Lyapunov stability is determined. | |
| The proposed control method used to generate the handle torque and | |
| pendulum torque is called fuzzy sliding-mode under-actuated control | |
| (FSMUAC). The purpose of using the FSMUAC is the huge uncertainties | |
| of a bicycle system often caused by different ground conditions and | |
| gusts of wind; merely ordinary proportional-derivative-integral (PID) | |
| control method or other linear control methods usually do not show | |
| good robust performance in such situations.}, | |
| bib = {bibtex-keys#Hwang2008}, | |
| bibpr = {private-bibtex-keys#Hwang2008}, | |
| doi = {10.1109/FUZZY.2008.4630373}, | |
| file = {Hwang2008.pdf:Hwang2008.pdf:PDF}, | |
| issn = {1098-7584}, | |
| keywords = {Lyapunov stability;angle control;autonomous dynamic balance;bike center | |
| of gravity;bike lean angle;bike pendulum angle;bike steering handle;electrical | |
| bicycle system;fuzzy sliding-mode under-actuated control;handle torque;if-then | |
| rule;output scaling factor;pendulum torque;rule table for;running | |
| motion stabilization;sliding surface;Lyapunov methods;angular velocity | |
| control;bicycles;fuzzy control;variable structure systems;}, | |
| webpdf = {references-folder/Hwang2008.pdf} | |
| } | |
| @ARTICLE{Imaizumi1996, | |
| author = {Hirohide Imaizumi and Takehiko Fujioka and Manabu Omae}, | |
| title = {Rider model by use of multibody dynamics analysis}, | |
| journal = {JSAE Review}, | |
| year = {1996}, | |
| volume = {17}, | |
| pages = {65--77}, | |
| bib = {bibtex-keys#Imaizumi1996}, | |
| bibpr = {private-bibtex-keys#Imaizumi1996}, | |
| file = {Imaizumi1996.pdf:Imaizumi1996.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Imaizumi1996.pdf} | |
| } | |
| @ARTICLE{Imaizumi1998, | |
| author = {Imaizumi and Hirohide and Fujioka and Takehiko}, | |
| title = {Motorcycle-rider system dynamics by multibody dynamics analysis: | |
| Effects of the rear load on wobble motions and the control assembly}, | |
| journal = {JSAE Review}, | |
| year = {1998}, | |
| volume = {19}, | |
| pages = {54--57}, | |
| number = {1}, | |
| month = {January}, | |
| bib = {bibtex-keys#Imaizumi1998}, | |
| bibpr = {private-bibtex-keys#Imaizumi1998}, | |
| keywords = {dynamics, man machine systems, oscillations, loads, computer simulation, | |
| vehicle suspensions, motion control}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @MISC{NorthernDigitalIncorporated2009, | |
| author = {Northern Digital Incorporated}, | |
| title = {Optotrak Certus Motion Capture System}, | |
| year = {2009}, | |
| note = {http://www.ndigital.com/}, | |
| bib = {bibtex-keys#NorthernDigitalIncorporated2009}, | |
| bibpr = {private-bibtex-keys#NorthernDigitalIncorporated2009}, | |
| organization = {Northern Digital Incorporated}, | |
| owner = {moorepants}, | |
| timestamp = {2008.12.05}, | |
| url = {\url{http://www.ndigital.com/}} | |
| } | |
| @INPROCEEDINGS{Indiveri1999, | |
| author = {Indiveri, G.}, | |
| title = {Kinematic time-invariant control of a 2D nonholonomic vehicle}, | |
| booktitle = {Proceedings of the 38th IEEE Conference on Decision and Control}, | |
| year = {1999}, | |
| bib = {bibtex-keys#Indiveri1999}, | |
| bibpr = {private-bibtex-keys#Indiveri1999}, | |
| file = {Indiveri1999.pdf:Indiveri1999.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {His model isn't quite a bicycle (it is just 2D like the bicycle model | |
| for the car) but is non-holonomic. This paper is more about general | |
| control for non-holonomic systems. I guess the non-linear cases are | |
| tough to derive control models for.}, | |
| timestamp = {2009.11.03}, | |
| webpdf = {references-folder/Indiveri1999.pdf} | |
| } | |
| @BOOK{Irving1961, | |
| title = {Motorcycle Engineering}, | |
| publisher = {Temple Press}, | |
| year = {1961}, | |
| author = {Irving, P. E.}, | |
| bib = {bibtex-keys#Irving1961}, | |
| bibpr = {private-bibtex-keys#Irving1961}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30} | |
| } | |
| @INPROCEEDINGS{Iuchi2006, | |
| author = {Iuchi, K. and Murakami, T.}, | |
| title = {An Approach to fusion control of stabilization control and human | |
| input in Electric Bicycle}, | |
| booktitle = {32nd Annual Conference on IEEE Industrial Electronics}, | |
| year = {2006}, | |
| pages = {3211--3216}, | |
| address = {Paris, France}, | |
| abstract = {As well know, a bicycle is a high efficiency vehicle and is suitable | |
| for aging society in the future. In the practical use, however, the | |
| bicycle is not always stable and the motion stabilization is required | |
| for a widespread application. This paper focuses on the instability | |
| of the bicycle. There are few researches which realize the control | |
| system supporting driver's operation because human input is regarded | |
| as disturbance and make system unstable. This paper realizes the | |
| posture control of the electric bicycle which is able to accept human | |
| input. Estimating human input from motor reaction torque, control | |
| system is constructed without force sensor}, | |
| bib = {bibtex-keys#Iuchi2006}, | |
| bibpr = {private-bibtex-keys#Iuchi2006}, | |
| doi = {10.1109/IECON.2006.347498}, | |
| file = {Iuchi2006.pdf:Iuchi2006.pdf:PDF}, | |
| review = {They design a controller that can work in tandem with a rider's control | |
| input. They don't measure steer torque though, but estimate it from | |
| the motor reaction torque. They explain that other controllers would | |
| treat the rider's input torque as a disturbance and try to eliminate | |
| it, so care has to be taken to allow the rider steer torque. They | |
| calculate the human torque based on the motor torque taking into | |
| accoutn the handlebar and motor inertia. They also mention backlash | |
| problems and that the human estimate takes those into account with | |
| a dead zone. The show some experimental results which are hard to | |
| interpret, but I think it shows a rider controlling the bicycle with | |
| a heavy weight in the front basket. Then it shows the same thing, | |
| but with the fusion control system turned on.}, | |
| timestamp = {2012.01.01}, | |
| webpdf = {references-folder/Iuchi2006.pdf} | |
| } | |
| @INPROCEEDINGS{Iuchi2005, | |
| author = {Iuchi, K. and Niki, H. and Murakami, T.}, | |
| title = {Attitude control of bicycle motion by steering angle and variable | |
| COG control}, | |
| booktitle = {Industrial Electronics Society, 2005. IECON 2005. 31st Annual Conference | |
| of IEEE}, | |
| year = {2005}, | |
| pages = {6}, | |
| month = {November}, | |
| abstract = {As well know, a bicycle is a high efficiency vehicle and is suitable | |
| for aging society in the future. In the practical use, however, the | |
| bicycle is not always stable and the motion stabilization is required | |
| for a widespread application. In an electric bicycle, two strategies | |
| are taken up to stabilize the running motion of a bicycle. One is | |
| center of gravity (COG) control of bicycle, and the other is a control | |
| of steering angle of handle. In the past research, there are few | |
| researches that consider an autonomous control of bicycle by using | |
| both steering and COG position control. To address this issue, this | |
| paper describes a strategy that realizes autonomous motion of bicycle | |
| with the use of steering and COG control. Numerical and experimental | |
| results are shown to verify the validity of the proposed strategy.}, | |
| bib = {bibtex-keys#Iuchi2005}, | |
| bibpr = {private-bibtex-keys#Iuchi2005}, | |
| doi = {10.1109/IECON.2005.1569222}, | |
| file = {Iuchi2005.pdf:Iuchi2005.pdf:PDF}, | |
| keywords = { attitude control, electric vehicles, position control, steering systems | |
| COG position control, attitude control, autonomous control, center | |
| of gravity control, electric bicycle, motion stabilization, steering | |
| angle control}, | |
| review = {They use both steering and center of gravity control. The bicycle | |
| model includes rider lean but seems simpler in design than the Whipple | |
| model. They have non-holonmic wheel to ground constraints. They use | |
| PD control on a roll angle feedback to control steer angle and rider | |
| lean angle. They implement this controller on a robot bicycle with | |
| both control methods. They use a laptop and real time linux. They | |
| bicycle is on rollers during the experiment. They show plots of the | |
| roll angle being stablized.}, | |
| webpdf = {references-folder/Iuchi2005.pdf} | |
| } | |
| @UNPUBLISHED{Jackson1998, | |
| author = {A. W. Jackson and M. Dragovan}, | |
| title = {An experimental investigation of bicycle dynamics}, | |
| note = {Unpublished report}, | |
| year = {1998}, | |
| bib = {bibtex-keys#Jackson1998}, | |
| bibpr = {private-bibtex-keys#Jackson1998}, | |
| file = {Jackson1998.pdf:Jackson1998.pdf:PDF}, | |
| keywords = {steer torque, no hands, experiements, instrumented bicycle}, | |
| review = {No hand riding experiments trying to figure out steer torque and lean | |
| torque from accel, rate and steer angle data. | |
| He integrated the roll rate gyro signals to get roll angle. The drift | |
| was managed by starting and ending with the bicycle upright and stationary. | |
| They use a potentiometer with timing belt for +/- 30 degree steer | |
| angle measurement. | |
| cites Jones analysis and uses it to form the torques acting on the | |
| front assembly. | |
| They don't measure steer torque but attempt to predict the contributions | |
| to torque on the front frame based on orientation, rate and acceleration | |
| data taken while riding a bicycle with no-hands. | |
| Pg 11: They identified the pedaling frequency in the roll angle. The | |
| largest torque is the castoring torque, then gyroscopic torque, then | |
| the rider weight torque. | |
| Pg 12: They say that the descrepancy in steer torque may be due to | |
| the scrub torque which was not accounted for.}, | |
| timestamp = {2012.01.11}, | |
| webpdf = {references-folder/Jackson1998.pdf} | |
| } | |
| @ARTICLE{James2005, | |
| author = {James, Stephen R}, | |
| title = {Lateral dynamics of motorcycles towing single-wheeled trailers}, | |
| journal = {Vehicle System Dynamics: International Journal of Vehicle Mechanics | |
| and Mobility}, | |
| year = {2005}, | |
| volume = {43}, | |
| pages = {581--599}, | |
| number = {8}, | |
| abstract = {A motorcycle towing a single-wheel trailer may provide useful transport | |
| for light cargo on narrow tracks and off-road use, particularly in | |
| rural areas of developing countries. Four designs of such trailers | |
| are described. Linear models are derived for the lateral dynamics | |
| of an off-road motorcycle towing this type of trailer straight ahead | |
| at constant speed. The trailers were tested behind an instrumented | |
| motorcycle. Linear autoregressive models were fitted to the experimental | |
| data using system identification techniques. Analytical and experimentally | |
| derived models largely agreed on frequency, damping and shape of | |
| the weave, wobble and trailer sway normal modes. The trailers made | |
| the motorcycleÂs steering heavier but the analytical models did | |
| not predict this. The location of the articulation axes between the | |
| motorcycle and the trailer were found to be critical for stability. | |
| The best trailer design handled well with loads up to 200 kg and | |
| speeds up to 70 km/h.}, | |
| bib = {bibtex-keys#James2005}, | |
| bibpr = {private-bibtex-keys#James2005}, | |
| doi = {10.1080/00423110412331289862}, | |
| file = {James2005.pdf:James2005.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.18}, | |
| url = {http://www.informaworld.com/10.1080/00423110412331289862}, | |
| webpdf = {references-folder/James2005.pdf} | |
| } | |
| @ARTICLE{James2002, | |
| author = {James, Stephen R.}, | |
| title = {Lateral dynamics of an offroad motorcycle by system identification}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2002}, | |
| volume = {38}, | |
| pages = {1--22}, | |
| number = {1}, | |
| month = {July}, | |
| bib = {bibtex-keys#James2002}, | |
| bibpr = {private-bibtex-keys#James2002}, | |
| doi = {10.1076/vesd.38.1.1.3520}, | |
| file = {James2002.pdf:James2002.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {He says Aoki1979 did experiments, measured steer torque and did some | |
| basic system id. | |
| He uses the manually controlled input signal for system identification | |
| of the underlying vehicle model. He notes that special perturbations | |
| are not needed. | |
| He develops a motorcycle model using Lagrange's method and cites similartiy | |
| to Sharp's work. He does this symbolically with Maple. His model | |
| is 10th order. | |
| He measured some tire properties, but describes very little about | |
| it. | |
| He shows comparisons to several other numerical motorcycle models | |
| and then talk about model reduction. He can reduce the models to | |
| 6 ro 7th order when it is stable and get similar response up to 12hz. | |
| He instrumented an off-road motorcycle to measure: | |
| - Forward speed with a magnetic pickup on the wheel | |
| - Steering torque by mounting a light weight extra handlebar set coaxilaly | |
| with the steer axis which was connected to the handlebars via a tangential | |
| load cell (probably similar to Cheng2003) | |
| - Yaw and roll rates with rate gyros | |
| - Lateral acceleration with mems accelerometers (didn't use do to | |
| noise from engine) | |
| - Steering angle with potentiometer. | |
| His experiments were primarily on asphalt but a few were done on a | |
| flat dirt track too. He basically just road the motorcycle and applied | |
| "random" perturbations to the extra handlebars for a steer torque | |
| input to the motorcycle. Speeds were from 2 m/s to 19 m/s. | |
| He shows the power spectral density of the steer torque signal for | |
| the asphaly runs which start to taper off around 10 hz or so. The | |
| weave frequency has ten times the amplitude as the wobble frequency. | |
| He says steering torque was correlated to yaw rate at a 0.1-0.2 second | |
| delay and points to the fact that the rider had to keep the motorcycl | |
| from running off of the single lane track. He says that since there | |
| is output to input feedback he couldn't use non-parametric models, | |
| models with output error and models fit with subspace methods. He | |
| cites Ljung's book for explanation. This is new to me. | |
| He uses black box ARX models for his fits for SIMO. He mentions that | |
| assesing goodness of fit with residuals was confounded by unsuitable | |
| time scaling and model instability at low speeds. There is something | |
| about the frequency of the data being high enough for the system | |
| id to pick up the both weave and wobble modes. | |
| Figure four shows identified weave mode poles for the experiments | |
| in comparison to the ones predicted by his motorcycle model. He show | |
| confidence intervals around the identified poles, but the model results | |
| doesn't seem to match the id results. He does claim that this figure | |
| shows the prediction of instability below 5 m/s. There are differences | |
| in the dirt experiment and the asphaly experiments. He tried various | |
| combinations of outputs in the id process, but found roll rate to | |
| be critical for identifying weave. | |
| Figure five shows some eigenvector phasor plots for the weave mode | |
| at three different speeds. The choice of visualization is pretty | |
| poor, but it looks like there is only decent agreement in the yaw | |
| phasor. He says they agree well but gives no numbers as to how well. | |
| Figure six shows the wobble eigenvalue comparions, which look pretty | |
| bad, but he says the it was robust?? I don't see how. | |
| He shows steer torque to yaw rate ratios as a function of speed for | |
| steady turns and compares it to other models. Yet the other models | |
| are not the same motorcycle parameters. | |
| Figure 8 shows Bode plots for various speeds and compares his experimental | |
| results with his model. The agreement doesn't look as bad in this | |
| view. | |
| He fit lower order models (6 and 7th) to the experimental data even | |
| though his first principles models were of higher order. | |
| He measured some of the physical properties of his motorcycle but | |
| it was very thorough, leaving some parameters as estimates.}, | |
| timestamp = {2009.11.03}, | |
| webpdf = {references-folder/James2002.pdf} | |
| } | |
| @PHDTHESIS{Jansen2011, | |
| author = {Arjen Jansen}, | |
| title = {Human Power: Empirically Explored}, | |
| school = {Delft University of Technology}, | |
| year = {2011}, | |
| bib = {bibtex-keys#Jansen2011}, | |
| bibpr = {private-bibtex-keys#Jansen2011}, | |
| file = {Jansen2011.pdf:Jansen2011.pdf:PDF}, | |
| timestamp = {2012.01.30}, | |
| webpdf = {references-folder/Jansen2011.pdf} | |
| } | |
| @INPROCEEDINGS{Jayasuriya1984, | |
| author = {Jayasuriya, S. and Hubbard, M. and Hrovat, D.}, | |
| title = {A Control Scheme for a Pole-Vaulter Derived From an Optimal Aiming | |
| Strategy}, | |
| booktitle = {Proceedings of 1984 American Control Conference}, | |
| year = {1984}, | |
| address = {San Diego, CA}, | |
| bib = {bibtex-keys#Jayasuriya1984}, | |
| bibpr = {private-bibtex-keys#Jayasuriya1984}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @INPROCEEDINGS{Jennings1974, | |
| author = {Jennings, G.}, | |
| title = {A Study of Motorcycle Suspension Damping Characteristics}, | |
| booktitle = {SAE West Coast Automotive Meeting}, | |
| year = {1974}, | |
| month = {August}, | |
| bib = {bibtex-keys#Jennings1974}, | |
| bibpr = {private-bibtex-keys#Jennings1974}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30} | |
| } | |
| @ARTICLE{Jex1967, | |
| author = {Jex, H.R.}, | |
| title = {Two Applications of a Critical-Instability Task to Secondary Work | |
| Load Research}, | |
| journal = {Human Factors in Electronics, IEEE Transactions on}, | |
| year = {1967}, | |
| volume = {HFE-8}, | |
| pages = { 279-282}, | |
| number = {4}, | |
| month = {December}, | |
| abstract = {Secondary (or ``auxiliary,'' or ``subsidiary'') tasks have often been | |
| used to load or to stress an operator while he performs a primary | |
| manual control task. As discussed in Poulton,[1]the secondary task | |
| should measurably stress the operator's parameter being tested, without | |
| rendering the primary task behavior meaningless. This problem has | |
| given rise to several types of secondary tasks, which fall into two | |
| categories. In the first category are secondary tasks that do not | |
| involve the same form of manual control activity as the primary task, | |
| such as: mental arithmetic, verbal report of warning light detection, | |
| verbal repetition of heard number sequences, etc.[2]-[4]In the second | |
| category are secondary tasks involving similar psychomotor activity | |
| as the primary task, such as: tracking in a second degree-of-freedom, | |
| two-handed tracking, monitoring, and extinguishing warning lights, | |
| etc.[5]In the latter case, the distinctions between a secondary task | |
| and a multiloop control situation are not sharp and depend primarily | |
| on the relative emphasis placed on secondary task performance, specified | |
| by the procedures or practiced by the operator.}, | |
| bib = {bibtex-keys#Jex1967}, | |
| bibpr = {private-bibtex-keys#Jex1967}, | |
| file = {Jex1967.pdf:Jex1967.pdf:PDF}, | |
| issn = {0096-249X}, | |
| webpdf = {references-folder/Jex1967.pdf} | |
| } | |
| @INPROCEEDINGS{Jex1978, | |
| author = {H. R. Jex and R. E. Magdaleno and A. M. Junker}, | |
| title = {Roll Tracking of G-Vector Tilt and Various Types of Motion Washout}, | |
| booktitle = {Fourteenth Annual Conference on Manual Control}, | |
| year = {1978}, | |
| pages = {463--502}, | |
| month = {April}, | |
| organization = {University of Southern California}, | |
| timestamp = {2012.08.13} | |
| } | |
| @BOOK{Jolliffe2002, | |
| title = {Principal Component Analysis}, | |
| publisher = {Springer}, | |
| year = {2002}, | |
| author = {Jolliffe, I.T.}, | |
| series = {Springer Series in Statistics}, | |
| address = {New York}, | |
| edition = {2nd}, | |
| bib = {bibtex-keys#Jolliffe2002}, | |
| bibpr = {private-bibtex-keys#Jolliffe2002}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @BOOK{Jolliffe1986, | |
| title = {Principal Component Analysis}, | |
| publisher = {Springer-Verlag}, | |
| year = {1986}, | |
| author = {I. T. Jolliffe}, | |
| series = {Springer Series in Statistics}, | |
| bib = {bibtex-keys#Jolliffe1986}, | |
| bibpr = {private-bibtex-keys#Jolliffe1986}, | |
| owner = {moorepants}, | |
| timestamp = {2009.03.19} | |
| } | |
| @ARTICLE{Jones1942, | |
| author = {Arthur Taber Jones}, | |
| title = {Physics and Bicycles}, | |
| journal = {American Journal of Physics}, | |
| year = {1942}, | |
| volume = {10}, | |
| pages = {332--333}, | |
| month = {December}, | |
| bib = {bibtex-keys#Jones1942}, | |
| bibpr = {private-bibtex-keys#Jones1942}, | |
| file = {Jones1942.pdf:Jones1942.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Jones1942.pdf} | |
| } | |
| @ARTICLE{Jones2006, | |
| author = {David E. H. Jones}, | |
| title = {The Stability of the Bicycle}, | |
| journal = {Physics Today}, | |
| year = {2006}, | |
| pages = {51--56}, | |
| bib = {bibtex-keys#Jones2006}, | |
| bibpr = {private-bibtex-keys#Jones2006}, | |
| file = {Jones2006.pdf:Jones2006.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Jones2006.pdf} | |
| } | |
| @ARTICLE{Jones1970, | |
| author = {David E. H. Jones}, | |
| title = {The Stability of the Bicycle}, | |
| journal = {Physics Today}, | |
| year = {1970}, | |
| volume = {23}, | |
| pages = {34--40}, | |
| number = {4}, | |
| bib = {bibtex-keys#Jones1970}, | |
| bibpr = {private-bibtex-keys#Jones1970}, | |
| file = {Jones1970.pdf:Jones1970.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Jones1970.pdf} | |
| } | |
| @ARTICLE{Jorge1986, | |
| author = {M. Jorge and M.L. Hull}, | |
| title = {Analysis of EMG measurements during bicycle pedalling}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1986}, | |
| volume = {19}, | |
| pages = {683 - 694}, | |
| number = {9}, | |
| abstract = {Activity of eight leg muscles has been monitored for six test subjects | |
| while pedalling a bycycle on rollers in the laboratory. Each electromyogram | |
| (EMG) data channel was digitized at a sampling rate of 2 kHz by a | |
| minicomputer. Data analysis entailed generating plots of both EMG | |
| activity regions and integrated EMG (IEMG). For each test subject, | |
| data were recorded for five cases of pedalling conditions. The different | |
| pedalling conditions were defined to explore a variety of research | |
| hypotheses. This exploration has led to the following conclusions: | |
| 1. (1) Muscular activity levels of the quadriceps are influenced | |
| by the type of shoes worn and activity levels increase with soft | |
| sole shoes as opposed to cycling shoes with cleats and toeclips. | |
| 2. (2) EMG activity patterns are not strongly related to pedalling | |
| conditions (i.e. load, seat height and shoe type). The level of muscle | |
| activity, however, is significantly affected by pedalling conditions. | |
| 3. (3) Muscular activity bears a complex relationship with seat height | |
| and quadriceps activity level decreases with greater seat height. | |
| 4. (4) Agonist (i.e. hamstrings) and antagonist (i.e. quadriceps) | |
| muscles of the hip/knee are active simultaneously during leg extension. | |
| Regions of peak activity levels, however, do not overlap. The lack | |
| of significant cocontraction of agonist/antagonist muscles enables | |
| muscle forces during pedalling action to be computed by solving a | |
| series of equilibrium problems over different regions of the crank | |
| cycle. Regions are defined and a solution procedure is outlined.}, | |
| bib = {bibtex-keys#Jorge1986}, | |
| bibpr = {private-bibtex-keys#Jorge1986}, | |
| doi = {DOI: 10.1016/0021-9290(86)90192-2}, | |
| file = {Jorge1986.pdf:Jorge1986.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4C4869J-F/2/14a64200848b6390bf42d12b4f4ff120}, | |
| webpdf = {references-folder/Jorge1986.pdf} | |
| } | |
| @TECHREPORT{Juniper1983, | |
| author = {R. G. Juniper and M. C. Good}, | |
| title = {Braking, Stability and Handling of Motorcycles}, | |
| institution = {Office of Road Safety, Department of Transport, Australia}, | |
| year = {1983}, | |
| number = {Cr 29}, | |
| month = {August}, | |
| abstract = {A review of the literature relating to braking stability and handling | |
| of motorcycles was undertaken. Evidence of relationshops between | |
| motorcycle characteristics and accidents was sought. Anecdotal evidence | |
| of operational problems published in user magazines was also reviewed. | |
| Experimental and analytical investigations of motorcycle dynamics, | |
| and the effects of accessories, tyres and machine modifcations was | |
| surveyed. Problem areas were identified and priorities for further | |
| research recommended.}, | |
| bib = {bibtex-keys#Juniper1983}, | |
| bibpr = {private-bibtex-keys#Juniper1983}, | |
| file = {Juniper1983.pdf:Juniper1983.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.12.10}, | |
| webpdf = {references-folder/Juniper1983.pdf} | |
| } | |
| @ARTICLE{Kageyama1995, | |
| author = {I. Kageyama}, | |
| title = {The relationship between rider and two-wheeled vehicle: a view to | |
| handling and safety}, | |
| journal = {IATSS Research}, | |
| year = {1995}, | |
| volume = {19}, | |
| pages = {37--42}, | |
| bib = {bibtex-keys#Kageyama1995}, | |
| bibpr = {private-bibtex-keys#Kageyama1995}, | |
| file = {Kageyama1995.pdf:Kageyama1995.pdf:PDF}, | |
| timestamp = {2012.01.18}, | |
| webpdf = {references-folder/Kageyama1995.pdf} | |
| } | |
| @ARTICLE{Kageyama1985, | |
| author = {Kageyama, Ichiro and Kogo, Akihiko}, | |
| title = {Human Factors in the Steering System of Two-wheeled Vehicles}, | |
| journal = {Bulletin of JSME}, | |
| year = {1985}, | |
| volume = {28}, | |
| pages = {1233-1239}, | |
| number = {240}, | |
| abstract = {This study analyzes the role of human factors in the steering system | |
| of two-wheeled vehicles, using equivalent mechanical elements as | |
| the first step toward systems analysis of the man/vehicle relationship. | |
| This steering system, including human factors, has approximately | |
| one torsional degree of freedom. These factors can be obtained by | |
| the frequency response of a steering bench model with a rider. First, | |
| the repeatability and linearity of human factors are checked. Then, | |
| the human factor values are shown to change accordingly as the rider's | |
| handle grip and press forces vary. Finally, an equation for two-wheeled | |
| vehicle motion is derived, and the result of these calculations makes | |
| it clear that human factors play a major role in the behavior of | |
| two-wheeled vehicles.}, | |
| bib = {bibtex-keys#Kageyama1985}, | |
| bibpr = {private-bibtex-keys#Kageyama1985}, | |
| file = {Kageyama1985.pdf:Kageyama1985.pdf:PDF}, | |
| issn = {00213764}, | |
| publisher = {The Japan Society of Mechanical Engineers}, | |
| url = {http://ci.nii.ac.jp/naid/110002357845/en/}, | |
| webpdf = {references-folder/Kageyama1985.pdf} | |
| } | |
| @ARTICLE{Kageyama2004, | |
| author = {Kageyama, Ichiro and Miyagishi, Shun'ichi and Baba, Masayuki and | |
| Uchiyama, Hajime}, | |
| title = {Construction of Rider Robot for Motorcycle}, | |
| journal = {Journal of the Society of Automotive Engineers of Japan}, | |
| year = {2004}, | |
| volume = {58}, | |
| pages = {67--73}, | |
| abstract = {This paper deals with the construction of a rider robot for motorcycle. | |
| The robot which controls vertical stability and the direction control | |
| of the motorcycle is constructed as a tool for evaluation of the | |
| two-wheeled vehicle behavior. The control algorithm of the system | |
| is constructed based on control action of the human rider. For the | |
| lateral control, the system identifies white lane marker using a | |
| CCD camera. Sub-handle system which simulates the rider arms is adopted | |
| with damper and spring, and it is controlled by servo-motor. As a | |
| result, it is shown that the rider robot follows the white lane marker.}, | |
| bib = {bibtex-keys#Kageyama2004}, | |
| bibpr = {private-bibtex-keys#Kageyama2004}, | |
| timestamp = {2011.12.31} | |
| } | |
| @INPROCEEDINGS{Kageyama1996a, | |
| author = {I. Kageyama and Y. Owada}, | |
| title = {An analysis of a riding control algorithm for two wheeled vehicles | |
| with a neural network modeling}, | |
| booktitle = {The Dynamics of Vehicles on Roads and on Tracks. Proceedings of 14th | |
| IAVSD-symposium.}, | |
| year = {1996}, | |
| editor = {Sauvage, G.}, | |
| pages = {317--326}, | |
| bib = {bibtex-keys#Kageyama1996a}, | |
| bibpr = {private-bibtex-keys#Kageyama1996a}, | |
| file = {Kageyama1996a.pdf:Kageyama1996a.pdf:PDF}, | |
| timestamp = {2012.01.18}, | |
| webpdf = {references-folder/Kageyama1996a.pdf} | |
| } | |
| @ARTICLE{Kageyama1996, | |
| author = {Kageyama, I. and Owada, Y.}, | |
| title = {An Analysis of a Riding Control Algorithm for two wheeled vehicles | |
| with a neural network modeling}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {1996}, | |
| volume = {25}, | |
| pages = {317--326}, | |
| bib = {bibtex-keys#Kageyama1996}, | |
| bibpr = {private-bibtex-keys#Kageyama1996}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Kageyama1992, | |
| author = {I. Kageyama and H. B. Pacejka}, | |
| title = {On a new driver model with fuzzy control}, | |
| booktitle = {The Dynamics of Vehicles on Roads and on Tracks. Proceedings of 12th | |
| IAVSD-symposium.}, | |
| year = {1992}, | |
| editor = {Sauvage, G.}, | |
| pages = {314--324}, | |
| bib = {bibtex-keys#Kageyama1992}, | |
| bibpr = {private-bibtex-keys#Kageyama1992}, | |
| file = {Kageyama1992.pdf:Kageyama1992.pdf:PDF}, | |
| timestamp = {2012.01.18}, | |
| webpdf = {references-folder/Kageyama1992.pdf} | |
| } | |
| @ARTICLE{Kageyama2002, | |
| author = {Kageyama, Ichiro and Tagami, Nozomu}, | |
| title = {Development of a riding simulator for two-wheeled vehicles}, | |
| journal = {JSAE Review}, | |
| year = {2002}, | |
| volume = {23}, | |
| pages = {347--352}, | |
| abstract = {This paper describes the development of a riding simulator for two-wheeled | |
| vehicles, which use to analyze the human factor of | |
| riders. We have already produced longitudinal motion of the simulator | |
| system. Therefore, in this study, we constructed a model for | |
| lateral motion of simulator system using transfer function from the | |
| equations of motion and scale factor from the results | |
| of experiments. And finally, we confirmed the total simulator system | |
| using riders’ heart rate when they control the riding simulator.}, | |
| bib = {bibtex-keys#Kageyama2002}, | |
| bibpr = {private-bibtex-keys#Kageyama2002}, | |
| file = {Kageyama2002.pdf:Kageyama2002.pdf:PDF}, | |
| timestamp = {2012.01.02}, | |
| webpdf = {references-folder/Kageyama2002.pdf} | |
| } | |
| @ARTICLE{Kageyama1959, | |
| author = {Katumi Kageyama and Hiroyasu Fu}, | |
| title = {Experiments on Control Characteristics of a Motor-cycle in Steady | |
| Turning, Especially on the Effects of Lean in and Lean out}, | |
| journal = {Jour. SAE Japan}, | |
| year = {1959}, | |
| volume = {13}, | |
| pages = {41--45}, | |
| number = {10}, | |
| note = {596009}, | |
| bib = {bibtex-keys#Kageyama1959}, | |
| bibpr = {private-bibtex-keys#Kageyama1959}, | |
| timestamp = {2012.02.01} | |
| } | |
| @ARTICLE{Kageyama1962, | |
| author = {Kageyama, Katumi and Fu, Hiroyasu and Kosa, Fumio}, | |
| title = {Experimental Study on the Standing Stability of the Motorcycle}, | |
| journal = {JSME Bulletin}, | |
| year = {1962}, | |
| volume = {5}, | |
| pages = {202--209}, | |
| number = {17}, | |
| bib = {bibtex-keys#Kageyama1962}, | |
| bibpr = {private-bibtex-keys#Kageyama1962}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30} | |
| } | |
| @ARTICLE{Kallstrom1981, | |
| author = {C.G. Källström and K.J. Åström}, | |
| title = {Experiences of system identification applied to ship steering}, | |
| journal = {Automatica}, | |
| year = {1981}, | |
| volume = {17}, | |
| pages = {187 - 198}, | |
| number = {1}, | |
| abstract = {Different system identification methods have been applied to determine | |
| ship steering dynamics from full-scale experiments. The techniques | |
| used include output error, maximum likelihood and more general prediction | |
| error methods. Different model structures have been investigated | |
| ranging from input-output models in difference equation form to the | |
| equations of motion in their natural form. Effects of disturbances, | |
| errors and dynamics in sensors and actuators have been considered. | |
| Programs for interactive system identification have been used extensively. | |
| The experiments have been performed both under open loop and closed | |
| loop conditions. Both linear and nonlinear models have been considered. | |
| The paper summarizes the experiences obtained from applying system | |
| identification methods to many different ships. The results have | |
| been applied both to investigate steering properties and to design | |
| autopilots for ship steering. Insight into ship steering dynamics | |
| and identification methodology has been obtained.}, | |
| bib = {bibtex-keys#Kallstrom1981}, | |
| bibpr = {private-bibtex-keys#Kallstrom1981}, | |
| doi = {10.1016/0005-1098(81)90094-7}, | |
| file = {Kallstrom1981.pdf:Kallstrom1981.pdf:PDF}, | |
| issn = {0005-1098}, | |
| keywords = {Computer-aided design}, | |
| review = {The paper is about identifying ship dynamics with a variety of methods. | |
| Ships are usually modeled by first principles with a 3rd order model | |
| called Nomoto's model. They find that even with poor data, Nomoto's | |
| parameters can be found, but with better data higher order models | |
| may be better. He exami nes the identifiability of Nomto's model | |
| and notes that some extra sensors (than normally on a ship) help | |
| make the parameters uniquely identifiable. They examined both open | |
| and closed loop dynamics (i.e. with and without autopilot). The open | |
| loop tests were done by commanding binary randomlike steering commands. | |
| During closed loop they let changed the desired heading a random | |
| binary fashion and also changed the autopilot gain. The found the | |
| predicition error methods to be generally better than the output | |
| error methods, but the prediction horizon was important. Nomoto's | |
| model is a simplified linear transfer function relating sway velocity | |
| to rudder angle. They use Norribin's nonlinear model, as it only | |
| introduces one more parameter to the linear model. He shows that | |
| you can try to estimate the continous parameters directly or you | |
| can write the continious parameters as a functino of the discrete | |
| parameters, thus estimating them first. He compares the estimated | |
| parameters from three experiments for a ship using both the discrete | |
| and continous model. They find similar parameters from both discrete | |
| and continous and mostly the same parameters across experiments. | |
| The output error method gave different results than the maximum likelehood. | |
| He says that a the Akaike criterion indicated that a third order | |
| model was better than a 2nd order model. He found differences in | |
| the discrete and continious methods with the sea scout data (continious | |
| did more poorly). He found that 60s prediction horizon was need for | |
| good estimates with the sea stratus data. He says that a complex | |
| pole zero pair indicated was probably due to wave disturbances at | |
| .2 hz and not actual process dynamics. | |
| Grey box: he sets up a very complicated state space parameterization | |
| including process and measurement noise covariance matrices. They | |
| use a Kalman filter for state estimation. He talks about the identifibility | |
| of the parametes and says that given sway velocity and heading measurements, | |
| plus know acceleration derivatives and that the model is observable | |
| and controlable then the parameters are identifiables (he cites previous | |
| work for this). He can't identify all parameters of R1 and R2. He | |
| fixes some parameters based on physical models. WIth the output error | |
| method, he gets a large variation in parameter estimates among experiments. | |
| For the prediction error method he finds that at least a 10s prediction | |
| horizon is needed for good results and parameter estimation. He shows | |
| the "best" model simulation plot for a different experiment input | |
| with good fit results. Summary: parameter estimation was good for | |
| predictio error methods given the horizon wasn't too short. The output | |
| error method usually gave poor results.}, | |
| url = {http://www.sciencedirect.com/science/article/pii/0005109881900947}, | |
| webpdf = {references-folder/Kallstrom1981.pdf} | |
| } | |
| @ARTICLE{Kamata2003, | |
| author = {Yutaka Kamata and Hidekazu Nishimura}, | |
| title = {System identification and attitude control of motorcycle by computer-aided | |
| dynamics analysis}, | |
| journal = {JSAE Review}, | |
| year = {2003}, | |
| volume = {24}, | |
| pages = {411 - 416}, | |
| number = {4}, | |
| abstract = {System identification of the motorcycle model constructed by computer-aided | |
| dynamics analysis is introduced to design a control system for attitude | |
| stabilization of the motorcycle. The identified model can be reduced | |
| to the coupled mode system between the roll and the front steering. | |
| The front-steering control system using the roll angle is designed | |
| by H∞ control theory, based on the reduced-order model and the full-order | |
| model, respectively. It is verified from simulation results that | |
| the motorcycle attitude against disturbance is stabilized by the | |
| H∞ controller, and that the reduced-order controller exhibits efficient | |
| stabilization performance in comparison with the full-order controller.}, | |
| bib = {bibtex-keys#Kamata2003}, | |
| bibpr = {private-bibtex-keys#Kamata2003}, | |
| doi = {10.1016/S0389-4304(03)00071-7}, | |
| issn = {0389-4304}, | |
| url = {http://www.sciencedirect.com/science/article/pii/S0389430403000717} | |
| } | |
| @ARTICLE{Kamman1984, | |
| author = {J. W. Kamman and R. L. Huston}, | |
| title = {Dynamics of Constrained Multibody Systems}, | |
| journal = {Journal of Applied Mechanics}, | |
| year = {1984}, | |
| volume = {51}, | |
| pages = {899-903}, | |
| number = {4}, | |
| bib = {bibtex-keys#Kamman1984}, | |
| bibpr = {private-bibtex-keys#Kamman1984}, | |
| doi = {10.1115/1.3167743}, | |
| owner = {moorepants}, | |
| publisher = {ASME}, | |
| timestamp = {2009.11.04}, | |
| url = {http://link.aip.org/link/?AMJ/51/899/1} | |
| } | |
| @INPROCEEDINGS{Kane1978, | |
| author = {Kane, Thomas R.}, | |
| title = {The Effect of Frame Flexibility on High Speed Weave of Motorcycles}, | |
| booktitle = {SAE Paper 780306}, | |
| year = {1978}, | |
| pages = {33-40}, | |
| organization = {SAE}, | |
| abstract = {The effect of frame flexibility on the stability of constant speed, | |
| straight line motions of amotorycle is studied by reference to linearized | |
| differential equations governing the behavior of a system of five | |
| rigid bodies, two of which are connect to each other with a hinge, | |
| a spring, and a damper, and are intended to represent a flexible | |
| frame, while the rest represent the front forke and wheels of the | |
| vehicle. Alth the configuration of the system is characterized by | |
| seven generalized coordinates, it is shown that the stability information | |
| of interest can be deduced from four first-order differential equations.}, | |
| bib = {bibtex-keys#Kane1978}, | |
| bibpr = {private-bibtex-keys#Kane1978}, | |
| owner = {luke}, | |
| timestamp = {2009.11.01} | |
| } | |
| @ARTICLE{Kane1977, | |
| author = {Thomas R. Kane}, | |
| title = {Kinematical Implications of Side Slip for Single-Track Vehicles}, | |
| journal = {Society of Automotive Engineers}, | |
| year = {1977}, | |
| month = {February}, | |
| note = {SAE Paper 770056}, | |
| abstract = {The fact that single-track vehicles do not necessarily roll without | |
| slipping must be taken into account in the analysis of certain motions | |
| of such vehicles. This paper deals with kinematical questions arising | |
| under these circumstances. Constraint equations are formulated for | |
| motions involving side slip unaccompanied by longitudinal slip, expressions | |
| for side slip velocities are developed, and comparisons are drawn | |
| between the kinematical consequences of assuming rolling without | |
| slip and rolling with side slip}, | |
| bib = {bibtex-keys#Kane1977}, | |
| bibpr = {private-bibtex-keys#Kane1977}, | |
| file = {Kane1977.pdf:Kane1977.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2010.09.10}, | |
| webpdf = {references-folder/Kane1977.pdf} | |
| } | |
| @INPROCEEDINGS{Kane1977a, | |
| author = {Kane, Thomas R.}, | |
| title = {Steady Turning of Single-Track Vehicles}, | |
| booktitle = {International Automotive Engineering Congress and Exposition}, | |
| year = {1977}, | |
| number = {770057}, | |
| address = {Detroit, {MI}}, | |
| month = {February--March}, | |
| organization = {SAE}, | |
| bib = {bibtex-keys#Kane1977a}, | |
| bibpr = {private-bibtex-keys#Kane1977a}, | |
| file = {Kane1977a.pdf:Kane1977a.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.01.31}, | |
| webpdf = {references-folder/Kane1977a.pdf} | |
| } | |
| @ARTICLE{Kane1975, | |
| author = {Kane, Thomas R.}, | |
| title = {Fundamental kinematical relationships for single-track vehicles}, | |
| journal = {International Journal for Mechanical Sciences}, | |
| year = {1975}, | |
| volume = {17}, | |
| pages = {499--504}, | |
| bib = {bibtex-keys#Kane1975}, | |
| bibpr = {private-bibtex-keys#Kane1975}, | |
| file = {Kane1975.pdf:Kane1975.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.01.31}, | |
| webpdf = {references-folder/Kane1975.pdf} | |
| } | |
| @ARTICLE{Kane1962, | |
| author = {Kane, Thomas R. and Huston, R.L.}, | |
| title = {An Addition to the Theory of Gyroscopic Stabilization}, | |
| journal = {Journal of Applied Mechanics}, | |
| year = {1962}, | |
| volume = {29}, | |
| pages = {214-215}, | |
| month = {March}, | |
| bib = {bibtex-keys#Kane1962}, | |
| bibpr = {private-bibtex-keys#Kane1962}, | |
| owner = {luke}, | |
| review = {test review}, | |
| timestamp = {2009.11.01} | |
| } | |
| @BOOK{Kane2000, | |
| title = {Dynamics Online: Theory and Implementation with AUTOLEV}, | |
| publisher = {Online Dynamics, Inc.}, | |
| year = {2000}, | |
| author = {Kane, T. R. and Levinson, D. A}, | |
| address = {Sunnyvale, CA}, | |
| bib = {bibtex-keys#Kane2000}, | |
| bibpr = {private-bibtex-keys#Kane2000}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.08} | |
| } | |
| @BOOK{Kane1985, | |
| title = {Dynamics: Theory and Applications}, | |
| publisher = {McGraw Hill}, | |
| year = {1985}, | |
| author = {Kane, Thomas R. and Levinson, David A.}, | |
| address = {New York, NY}, | |
| abstract = {This textbook is intended to provide a basis for instruction in dynamics. | |
| Its purpose is not only to equip students with the skills they need | |
| to deal effectively with present-day dynamics problems, but also | |
| to bring them into position to interact smoothly with those trained | |
| more conventionally.}, | |
| bib = {bibtex-keys#Kane1985}, | |
| bibpr = {private-bibtex-keys#Kane1985}, | |
| isbn = {0070378460}, | |
| owner = {moorepants}, | |
| timestamp = {2009.01.31} | |
| } | |
| @ARTICLE{Kane1983, | |
| author = {Kane, Thomas R. and Levinson, David A.}, | |
| title = {The Use of Kane's Dynamical Equations in Robotics}, | |
| journal = {The International Journal of Robotics Research}, | |
| year = {1983}, | |
| volume = {2}, | |
| pages = {3-21}, | |
| number = {3}, | |
| abstract = {Extensive experience has shown that the use of general- purpose, multibody-dynamics | |
| computer programs for the numerical formulation and solution of equations | |
| of motion of robotic devices leads to slow evaluation of actuator | |
| forces and torques and slow simulation of robot motions. In this | |
| paper, it is shown how improvements in computational efficiency can | |
| be effected by using Kane's dynamical equations to formulate explicit | |
| equations of motion. To these ends, a detailed analysis of the Stanford | |
| Arm is presented in such a way that each step in the analysis serves | |
| as an illustrative example for a general method of attack on problems | |
| of robot dynamics. Simulation results are reported and are used as | |
| a basis for discussing questions of computational efficiency.}, | |
| bib = {bibtex-keys#Kane1983}, | |
| bibpr = {private-bibtex-keys#Kane1983}, | |
| doi = {10.1177/027836498300200301}, | |
| eprint = {http://ijr.sagepub.com/cgi/reprint/2/3/3.pdf}, | |
| file = {Kane1983.pdf:Kane1983.pdf:PDF}, | |
| url = {http://ijr.sagepub.com/cgi/content/abstract/2/3/3}, | |
| webpdf = {references-folder/Kane1983.pdf} | |
| } | |
| @ARTICLE{Kane1982, | |
| author = {Thomas R. Kane and David A. Levinson}, | |
| title = {Realistic mathematical modeling of the rattleback}, | |
| journal = {International Journal of Non-Linear Mechanics}, | |
| year = {1982}, | |
| volume = {17}, | |
| pages = {175 - 186}, | |
| number = {3}, | |
| abstract = {The rattleback (also called a Celt or wobblestone) is an object which, | |
| when placed on a horizontal surface and caused to rotate about a | |
| vertical axis, sometimes begins to oscillate, stops turning, and | |
| then starts rotating in the direction opposite to that associated | |
| with the original motion. Earlier analyses dealing with this phenomenon | |
| have been based on a variety of assumptions. In the present work, | |
| it is shown by means of numerical solutions of full, non-linear equations | |
| of motion that one can construct a realistic mathematical model by | |
| assuming rolling without slipping and employing a torque proportional | |
| to angular velocity to provide for energy dissipation.}, | |
| bib = {bibtex-keys#Kane1982}, | |
| bibpr = {private-bibtex-keys#Kane1982}, | |
| doi = {DOI: 10.1016/0020-7462(82)90017-8}, | |
| issn = {0020-7462}, | |
| owner = {moorepants}, | |
| review = {Amazingly thorough kinematic analysis of the rattleback. If you are | |
| ever confused about it, this is the paper to look at.}, | |
| timestamp = {2009.11.04}, | |
| url = {http://www.sciencedirect.com/science/article/B6TJ2-46V0F2N-2T/2/a9637de033954b219d85077f4787d764} | |
| } | |
| @BOOK{Kane1983a, | |
| title = {Spacecraft Dynamics}, | |
| publisher = {McGraw Hill Book Company}, | |
| year = {1983}, | |
| editor = {Diane D. Heiberg and Madelaine Eichber}, | |
| author = {Thomas R. Kane and Peter W. Likins and Davis A. Levinson}, | |
| bib = {bibtex-keys#Kane1983a}, | |
| bibpr = {private-bibtex-keys#Kane1983a}, | |
| file = {Kane1983a.pdf:Kane1983a.pdf:PDF}, | |
| timestamp = {2011.11.29}, | |
| webpdf = {references-folder/Kane1983a.pdf} | |
| } | |
| @ARTICLE{Karanam2011, | |
| author = {Karanam, Venkata Mangaraju and Chatterjee, Anindya}, | |
| title = {Common underlying steering curves for motorcycles in steady turns}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2011}, | |
| volume = {49}, | |
| pages = {931-948}, | |
| number = {6}, | |
| __markedentry = {[moorepants:]}, | |
| abstract = { We study the steady turn behaviours of some light motorcycle models | |
| on circular paths, using the commercial software package ADAMS-Motorcycle. | |
| Steering torque and steering angle are obtained for several path | |
| radii and a range of steady forward speeds. For path radii much greater | |
| than motorcycle wheelbase, and for all motorcycle parameters including | |
| tyre parameters held fixed, dimensional analysis can predict the | |
| asymptotic behaviour of steering torque and angle. In particular, | |
| steering torque is a function purely of lateral acceleration plus | |
| another such function divided by path radius. Of these, the first | |
| function is numerically determined, while the second is approximated | |
| by an analytically determined constant. Similarly, the steering angle | |
| is a function purely of lateral acceleration, plus another such function | |
| divided by path radius. Of these, the first is determined numerically | |
| while the second is determined analytically. Both predictions are | |
| verified through ADAMS simulations for various tyre and geometric | |
| parameters. In summary, steady circular motions of a given motorcycle | |
| with given tyre parameters can be approximately characterised by | |
| just one curve for steering torque and one for steering angle. }, | |
| doi = {10.1080/00423114.2010.483282}, | |
| eprint = {http://www.tandfonline.com/doi/pdf/10.1080/00423114.2010.483282}, | |
| file = {Karanam2011.pdf:Karanam2011.pdf:PDF}, | |
| timestamp = {2012.04.16}, | |
| url = {http://www.tandfonline.com/doi/abs/10.1080/00423114.2010.483282} | |
| } | |
| @ARTICLE{Karchin2002, | |
| author = {Karchin, A. and Hull, M.L.}, | |
| title = {Experimental optimization of pivot point height for swing-arm type | |
| rear suspensions in off-road bicycles}, | |
| journal = {Transactions of the ASME. Journal of Biomechanical Engineering}, | |
| year = {2002}, | |
| volume = {124}, | |
| pages = {101-6}, | |
| number = {1}, | |
| month = {February}, | |
| abstract = {Towards the ultimate goal of designing dual suspension off-road bicycles | |
| which decouple the suspension motion from the pedaling action, this | |
| study focused on determining experimentally the optimum pivot point | |
| height for a swing-arm type rear suspension such that the suspension | |
| motion was minimized. Specific objectives were (1) to determine the | |
| effect of interaction between the front and rear suspensions on the | |
| optimal pivot point height, (2) to investigate the sensitivity of | |
| the optimal height to the pedaling mechanics of the rider in both | |
| the seated and standing postures, (3) to determine the dependence | |
| of the optimal height on the rider posture. Eleven experienced subjects | |
| rode a custom-built adjustable dual suspension off-road bicycle, | |
| {[}Needle, S., and Hull, M. L., 1997, ``An Off-Road Bicycle With | |
| Adjustable Suspension Kinematics,{''} Journal of Mechanical Design | |
| /b 119/, pp. 370-375], on an inclined treadmill. The treadmill was | |
| set to a constant 6 percent grade at a constant velocity of 24.8 | |
| km/hr. With the bicycle in a fixed gear combination of 38{*}14, the | |
| corresponding cadence was 84 rpm. For each subject, the pivot point | |
| height was varied randomly while the motions across both the front | |
| and rear suspension elements were measured. Subjects rode in both | |
| the seated and standing postures and with the front suspension active | |
| and inactive. It was found that the power loss from the rear suspension | |
| at the optimal pivot point height was not significantly dependent | |
| on the interaction between the front and rear suspensions. In the | |
| seated posture, the optimal pivot point height was 9.8 cm on average | |
| and had a range of 8.0-12.3 cm. The average optimal pivot point height | |
| for the seated posture corresponded to an average power loss for | |
| the rear suspension that was within 10 percent of the minimum power | |
| loss for each subject for 8 of the 11 subjects. In the standing posture, | |
| the average height was 5.9 cm and ranged from 5.1-7.2 cm. The average | |
| height for the standing posture was within 10 percent of the minimum | |
| power loss for each subject for 9 of the 11 subjects. While the optimum | |
| height was relatively insensitive to pedaling mechanics in both the | |
| seated and standing postures, the choice of the optimal pivot point | |
| height in production bicycles necessitates some compromise in performance | |
| given the disparity in the averages between the seated and standing | |
| postures.}, | |
| address = {USA}, | |
| affiliation = {Karchin, A.; Biomed. Eng. Program, California Univ., Davis, CA, USA.}, | |
| bib = {bibtex-keys#Karchin2002}, | |
| bibpr = {private-bibtex-keys#Karchin2002}, | |
| identifying-codes = {[A2002-08-8745-030],[0148-0731(200202)124:1L.101:EOPP;1-8],[S0148-0731(02)01501-7],[10.1115/1.1427701]}, | |
| issn = {0148-0731}, | |
| keywords = {Experimental/ biomechanics; mechanical engineering; sport/ optimum | |
| pivot point height; front suspensions; sensitivity; pedaling mechanics; | |
| rider; seated postures; standing postures; optimal height; custom-built | |
| adjustable dual suspension off-road bicycle; inclined treadmill; | |
| constant velocity; fixed gear combination; cadence; active front | |
| suspension; swing-arm type rear suspensions; off-road bicycles; design; | |
| dual suspension off-road bicycles; suspension motion; pedaling action; | |
| inactive front suspension; power loss; average height; production | |
| bicycles; experimental optimization; 24.8 km/h; 9.8 cm; 5.9 cm; 8.0 | |
| to 12.3 cm; 5.1 to 7.2 cm/ A8745D Physics of body movements/ velocity | |
| 6.89E+00 m/s; size 9.8E-02 m; size 5.9E-02 m; size 8.0E-02 to 1.23E-01 | |
| m; size 5.1E-02 to 7.2E-02 m}, | |
| language = {English}, | |
| number-of-references = {8}, | |
| owner = {moorepants}, | |
| publication-type = {J}, | |
| publisher = {ASME}, | |
| timestamp = {2009.12.04}, | |
| type = {Journal Paper}, | |
| unique-id = {INSPEC:7203366} | |
| } | |
| @BOOK{Karnopp2004, | |
| title = {Vehicle Stability}, | |
| publisher = {Marcel Dekker, Inc.}, | |
| year = {2004}, | |
| author = {Dean Karnopp}, | |
| bib = {bibtex-keys#Karnopp2004}, | |
| bibpr = {private-bibtex-keys#Karnopp2004}, | |
| file = {Karnopp2004.pdf:Karnopp2004.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Karnopp2004.pdf} | |
| } | |
| @ARTICLE{Karnopp2002, | |
| author = {Karnopp, Dean}, | |
| title = {Tilt Control for Gyro-Stabilized Two-Wheeled Vehicles}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2002}, | |
| volume = {37}, | |
| pages = {145--156}, | |
| number = {2}, | |
| abstract = { Fully enclosed motorcycles could form the basis for extremely fuel | |
| and space efficient vehicles, but their inherent instability upon | |
| encountering even a momentary loss of traction renders them unsuitable | |
| for general use. It will be shown that a relatively simple tilt control | |
| system using a gyroscope to provide a tilt control moment is capable | |
| of stabilizing the vehicle at still stand or at speed on a very low | |
| traction surface. Furthermore, the system can achieve a coordinated | |
| turn on high traction surfaces. Since the gyro is an energy storage | |
| device, it can be used also in a hybrid system to provide extra power | |
| for acceleration and to recover some energy during braking. This | |
| relatively old idea should be reconsidered in light of the improved | |
| electromechanical devices, which have been developed recently for | |
| hybrid electric vehicles. }, | |
| bib = {bibtex-keys#Karnopp2002}, | |
| bibpr = {private-bibtex-keys#Karnopp2002}, | |
| doi = {10.1076/vesd.37.2.145.3535}, | |
| eprint = {http://www.tandfonline.com/doi/pdf/10.1076/vesd.37.2.145.3535}, | |
| url = {http://www.tandfonline.com/doi/abs/10.1076/vesd.37.2.145.3535} | |
| } | |
| @INPROCEEDINGS{Karthikeyan2003, | |
| author = {S. Karthikeyan and M. Dighole and T. S. Nellainayagam and R. Venkatesan}, | |
| title = {Stability and Control Analysis of a Scooter}, | |
| booktitle = {2003 SAE/JSAE Small Engine Technology Conference \& Exhibition}, | |
| year = {2003}, | |
| number = {2003-32-0057/20034357}, | |
| address = {Madison, Wisconsin, USA}, | |
| month = {September}, | |
| abstract = {In India, scooters are now being increasingly used by young women | |
| because of its lesser weight and ease of riding. Prevalent riding | |
| conditions demand higher stability and maneuverability at low speeds, | |
| which could be achieved by an in-depth study. A virtual handling | |
| model of the scooter has been developed using multibody analysis | |
| software for studying the stability and maneuverability. Realizing | |
| the role of tire properties on the stability characteristics of two-wheelers, | |
| a new tire model that can simulate combined slip conditions has been | |
| developed and used in the scooter model. A robust steering controller | |
| has been used for maintaining the desired path of the scooter. The | |
| virtual model has been analyzed under linear and non-linear conditions | |
| for both straight running and cornering maneuvers. The stability | |
| characteristics of the scooter have been studied by root locus and | |
| eigenvector analysis. The consistency of the model has been verified | |
| by a brief plausibility study. Vibrational modes of the scooter have | |
| been identified and studied. A very important design criterion has | |
| been identified and its effect on rider?s perception of the scooter | |
| recognized. Predicted results were found to match with experimental | |
| data and rider perception.}, | |
| bib = {bibtex-keys#Karthikeyan2003}, | |
| bibpr = {private-bibtex-keys#Karthikeyan2003}, | |
| file = {Karthikeyan2003.pdf:Karthikeyan2003.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.12.10}, | |
| webpdf = {references-folder/Karthikeyan2003.pdf} | |
| } | |
| @ARTICLE{Katayama1988, | |
| author = {Katayama, T. and Aoki, A. and Nishimi, T.}, | |
| title = {Control Behaviour of Motorcycle Riders}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {1988}, | |
| volume = {17}, | |
| pages = {211-229}, | |
| bib = {bibtex-keys#KatayamaAokiNishimi1988}, | |
| bibpr = {private-bibtex-keys#KatayamaAokiNishimi1988} | |
| } | |
| @ARTICLE{Katayama1997, | |
| author = {Katayama, T. and Nishimi, T. and Okayama, T. and Aoki, A.}, | |
| title = {A simulation model for motorcycle rider’s control behaviors}, | |
| journal = {Transactions of Society of Automotive Engineers of Japan}, | |
| year = {1997}, | |
| volume = {28}, | |
| pages = {137--142}, | |
| number = {3}, | |
| note = {in Japanese with English summary}, | |
| bib = {bibtex-keys#Katayama1997}, | |
| bibpr = {private-bibtex-keys#Katayama1997}, | |
| doi = {10.1016/S0389-4304(03)00071-7}, | |
| timestamp = {2012.01.02} | |
| } | |
| @ARTICLE{Kautz1995, | |
| author = {S. A. Kautz and M. L. Hull}, | |
| title = {Dynamic optimization analysis for equipment setup problems in endurance | |
| cycling}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1995}, | |
| volume = {28}, | |
| pages = {1391 - 1401}, | |
| number = {11}, | |
| abstract = {The goals of the work reported by this article are two-fold. The first | |
| is to develop a dynamic optimization framework for analysis of equipment | |
| setup problems in endurance cycling. The second is to illustrate | |
| the application of the approach by determining an optimal chainring | |
| shape. To achieve these goals, a mathematical model of the pedaling | |
| motion for given trajectories of the net joint moments and the rate | |
| of change of the chainring radius was derived, and chainring optimization | |
| was posed as an optimal control problem. The cost functional produced | |
| a chainring shape that reduced the cost of endurance cycling at 250 | |
| W and 90 rpm, apparently by taking advantage of mechanical interactions | |
| that arise as a natural consequence of the movement. However, the | |
| predicted joint moments required larger peak values during phases | |
| of significantly increased joint velocity. Thus, the [`]optimal' | |
| performance predicted by the cost functional appears opposed to expectations | |
| based on muscle mechanics and illustrates the need for further analysis | |
| of endurance cycling with a physiologically based cost functional.}, | |
| bib = {bibtex-keys#Kautz1995}, | |
| bibpr = {private-bibtex-keys#Kautz1995}, | |
| doi = {DOI: 10.1016/0021-9290(95)00007-5}, | |
| file = {Kautz1995.pdf:Kautz1995.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-3YGTSWJ-X/2/0d89f3a99f876cedbe16d83a9c71571d}, | |
| webpdf = {references-folder/Kautz1995.pdf} | |
| } | |
| @ARTICLE{Kautz1993, | |
| author = {S.A. Kautz and M.L. Hull}, | |
| title = {A theoretical basis for interpreting the force applied to the pedal | |
| in cycling}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1993}, | |
| volume = {26}, | |
| pages = {155 - 165}, | |
| number = {2}, | |
| abstract = {This article presents an analytical technique for decomposing the | |
| pedal force in cycling into a muscular component due directly to | |
| the net intersegmental moments and a nonmuscular component due to | |
| gravitational and inertial effects. The decomposition technique uses | |
| the Newton-Euler system of dynamic equations for the leg segments | |
| to solve for the two components, given the planar segmental kinematics | |
| and the intersegmental moments. Applications of the technique to | |
| cycling studies of muscle function, pedalling effectiveness, and | |
| optimization analyses based on inverse dynamics are discussed. While | |
| this article focuses on the pedal force in cycling, the decomposition | |
| method can be directly applied to analyze the reaction forces during | |
| a general planar movement of the leg when the segmental kinematics | |
| and intersegmental moments are specified. This article also demonstrates | |
| the significance of the nonmuscular component relative to the muscular | |
| component by performing the decomposition of the pedal forces of | |
| an example subject who pedalled at three different cadences against | |
| a common work load. The key results were that the nonmuscular components | |
| increased in magnitude as the cadence increased, whereas the magnitude | |
| of the muscular component remained relatively constant over the majority | |
| of the crank cycle. Also, even at the slowest pedalling rate of 70 | |
| rpm, the magnitude of the nonmuscular component was substantial.}, | |
| bib = {bibtex-keys#Kautz1993}, | |
| bibpr = {private-bibtex-keys#Kautz1993}, | |
| doi = {DOI: 10.1016/0021-9290(93)90046-H}, | |
| file = {Kautz1993.pdf:Kautz1993.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4BYSH8F-RK/2/950cfdea07bf9c01577d4d01f7e4706f}, | |
| webpdf = {references-folder/Kautz1993.pdf} | |
| } | |
| @ARTICLE{Kautz1994, | |
| author = {S.A. Kautz and M.L. Hull and R.R. Neptune}, | |
| title = {A comparison of muscular mechanical energy expenditure and internal | |
| work in cycling}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1994}, | |
| volume = {27}, | |
| pages = {1459 - 1467}, | |
| number = {12}, | |
| abstract = {The hypothesis that the sum of the absolute changes in mechanical | |
| energy (internal work) is correlated with the muscular mechanical | |
| energy expenditure (MMEE) was tested using two elliptical chainrings, | |
| one that reduced and one that increased the internal work (compared | |
| to circular). Upper and lower bounds were put on the extra MMEE (work | |
| done by net joint torques in excess of the external work) with respect | |
| to the effect of intercompensation between joint torques due to biarticular | |
| muscles. This was done by having two measures of MMEE, one that allowed | |
| no intercompensation and one that allowed complete intercompensation | |
| between joints spanned by biarticular muscles. Energy analysis showed | |
| no correlation between internal work and the two measures of MMEE. | |
| When compared to circular, the chainring that reduced internal work | |
| increased MMEE, and phases of increased crank velocity associated | |
| with the elliptical shape resulted in increased power absorbed by | |
| the upstroke leg as it was accelerated against gravity. The resulting | |
| negative work necessitated additional positive work. Thus, the hypothesis | |
| that the internal work is correlated with MMEE was found to be invalid, | |
| and the total mechanical work done cannot be estimated by summing | |
| the internal and external work. Changes in the dynamics of cycling | |
| caused by a non-circular chainring may affect performance and must | |
| be considered during the non-circular chainring design process.}, | |
| bib = {bibtex-keys#Kautz1994}, | |
| bibpr = {private-bibtex-keys#Kautz1994}, | |
| doi = {DOI: 10.1016/0021-9290(94)90195-3}, | |
| file = {Kautz1994.pdf:Kautz1994.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4C0MTHG-12M/2/d042535d4fb07f3a7c822f2b12b98382}, | |
| webpdf = {references-folder/Kautz1994.pdf} | |
| } | |
| @ARTICLE{Kelly2000, | |
| author = {Kelly, A. and Hubbard, M.}, | |
| title = {Design and Construction of a Bobsled Driver Training Simulator}, | |
| journal = {Sports Engineering}, | |
| year = {2000}, | |
| volume = {3}, | |
| pages = {13-24}, | |
| bib = {bibtex-keys#Kelly2000}, | |
| bibpr = {private-bibtex-keys#Kelly2000}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @INPROCEEDINGS{Keo2008, | |
| author = {Keo, Lychek and Masaki, Yamakita}, | |
| title = {Trajectory control for an autonomous bicycle with balancer, Paper | |
| 4601741}, | |
| booktitle = {International Conference on Advanced Intelligent Mechatronics}, | |
| year = {2008}, | |
| pages = {676--681}, | |
| address = {Xi'an, China}, | |
| month = {July}, | |
| organization = {IEEE/ASME}, | |
| abstract = {In this paper, we propose a new trajectory tracking and balancing | |
| control for an unmanned bicycle with a balancer using a simplified | |
| model. The bicycle with the balancer dynamics is derived from Lagrangian | |
| and nonholonomic constraints with respect to translation and rotation | |
| relative to the ground plane. The trajectory tracking control is | |
| derived by an input-output linearization approach and an output-zeroing | |
| control is applied to the balancer for balancing the bicycle. The | |
| proposed control algorithm is guaranteed to maintain bicycle stability | |
| even when the linear velocity is zero without requiring a secondary | |
| controller. Numerical simulation show the effectiveness of the proposed | |
| control system.}, | |
| bib = {bibtex-keys#Keo2008}, | |
| bibpr = {private-bibtex-keys#Keo2008}, | |
| doi = {10.1109/AIM.2008.4601741}, | |
| file = {Keo2008.pdf:Keo2008.pdf:PDF}, | |
| keywords = {Autonomous Bicycle,Balance Control, Output Zeroing, Trajectory Tracking}, | |
| owner = {moorepants}, | |
| review = {They model a bicycle with leaning inverted pendulum. They stabilize | |
| the bicycle and track a path. I don't understand the control design. | |
| They stabilize at zero forward speed.}, | |
| timestamp = {2009.01.31}, | |
| webpdf = {references-folder/Keo2008.pdf} | |
| } | |
| @INPROCEEDINGS{Keo2010, | |
| author = {Lychek Keo and Sirichai Pornsarayouth and Masaki Yamakita and Kazuhiro | |
| Ito}, | |
| title = {Stabilization of an Unmanned Bicycle with Flywheel Balancer}, | |
| booktitle = {8th IFAC Symposium on Nonlinear Control Systems}, | |
| year = {2010}, | |
| bib = {bibtex-keys#Keo2010}, | |
| bibpr = {private-bibtex-keys#Keo2010}, | |
| file = {Keo2010.pdf:Keo2010.pdf:PDF}, | |
| timestamp = {2012.03.01}, | |
| webpdf = {references-folder/Keo2010.pdf} | |
| } | |
| @ARTICLE{Keo2011, | |
| author = {Keo, Lychek and Yamakita, Masaki}, | |
| title = {Control of an Autonomous Electric Bicycle with both Steering and | |
| Balancer Controls}, | |
| journal = {Advanced Robotics}, | |
| year = {2011}, | |
| volume = {25}, | |
| pages = {1--22}, | |
| month = {January}, | |
| abstract = {In this paper, we propose a new cooperation control algorithm for | |
| stabilizing and trajectory tracking of an unmanned electric bicycle. | |
| The simplified model of the bicycle with the balancer is derived | |
| from Lagrangian and non-holonomic constraints with respect to translation | |
| and rotation relative to the ground plane. The stabilizing control | |
| and trajectory control of an autonomous bicycle are derived independently | |
| based on the simplified model. The balancing control is derived based | |
| on the output-zeroing controller. The steering and balancer for stabilizing | |
| the bicycle are used when the linear velocity is zero or the system | |
| starts up. It is shown that a balancing control using both the steering | |
| and the balancer has a better performance than conventional ones | |
| with only balancer or steering. The trajectory tracking control is | |
| derived by an input-output linearization approach to track the path | |
| in the ground plane. The steering and the back wheel are used to | |
| design the trajectory control. The coupling of the steering between | |
| the balancing control and the trajectory control are set by weighting | |
| gain. The balancing and the trajectory control have been implemented | |
| with the real bicycle by using MATLAB XPC-TARGET. An autonomous electric | |
| bicycle can be controlled remotely <I>via</I> a host PC. Numerical | |
| simulation and experimental results are shown to verify the effectiveness | |
| of the proposed control strategy.}, | |
| bib = {bibtex-keys#Keo2011}, | |
| bibpr = {private-bibtex-keys#Keo2011}, | |
| doi = {doi:10.1163/016918610X538462}, | |
| file = {Keo2011.pdf:Keo2011.pdf:PDF}, | |
| url = {http://www.ingentaconnect.com/content/vsp/arb/2011/00000025/F0020001/art00001}, | |
| webpdf = {references-folder/Keo2011.pdf} | |
| } | |
| @BOOK{Khalil2002, | |
| title = {Nonlinear Systems}, | |
| publisher = {Prentice Hall}, | |
| year = {2002}, | |
| author = {Khalil, Hassan K.}, | |
| edition = {3rd}, | |
| bib = {bibtex-keys#Khalil2002}, | |
| bibpr = {private-bibtex-keys#Khalil2002}, | |
| owner = {luke}, | |
| timestamp = {2009.05.18} | |
| } | |
| @MASTERSTHESIS{Kim2006, | |
| author = {Jeong Woo Kim}, | |
| title = {Geometric Design of Bicycle Linkage Suspension}, | |
| school = {UNIVERSITY OF CALIFORNIA, IRVINE}, | |
| year = {2006}, | |
| bib = {bibtex-keys#Kim2006}, | |
| bibpr = {private-bibtex-keys#Kim2006}, | |
| file = {Kim2006.pdf:Kim2006.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Kim2006.pdf} | |
| } | |
| @ARTICLE{Kirshner1980, | |
| author = {Daniel Kirshner}, | |
| title = {Some nonexplanations of bicycle stability}, | |
| journal = {American Journal of Physics}, | |
| year = {1980}, | |
| volume = {48}, | |
| pages = {36-38}, | |
| number = {1}, | |
| bib = {bibtex-keys#Kirshner1980}, | |
| bibpr = {private-bibtex-keys#Kirshner1980}, | |
| doi = {10.1119/1.12246}, | |
| file = {Kirshner1980.pdf:Kirshner1980.pdf:PDF}, | |
| publisher = {AAPT}, | |
| url = {http://link.aip.org/link/?AJP/48/36/1}, | |
| webpdf = {references-folder/Kirshner1980.pdf} | |
| } | |
| @MISC{Klein2009, | |
| author = {Klein, R.}, | |
| title = {Lose the Training Wheels}, | |
| howpublished = {http://www.losethetrainingwheels.org/}, | |
| year = {2009}, | |
| bib = {bibtex-keys#Klein2009}, | |
| bibpr = {private-bibtex-keys#Klein2009}, | |
| organization = {Lose the Training Wheels}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07}, | |
| url = {http://www.losethetrainingwheels.org/} | |
| } | |
| @INPROCEEDINGS{Klein1991, | |
| author = {Klein, R.E.}, | |
| title = {The bicycle project approach-a vehicle to relevancy and motivation | |
| }, | |
| booktitle = {Frontiers in Education Conference, 1991. Twenty-First Annual Conference. | |
| 'Engineering Education in a New World Order.' Proceedings.}, | |
| year = {1991}, | |
| pages = {47-52}, | |
| month = {September}, | |
| abstract = {The author's pedagogical experience with the bicycle project approach | |
| at the University of Illinois where open-ended projects are used | |
| to supplement lecture mode course material is presented. The focus | |
| is on the stable single track trailer (SSTT) design challenge. The | |
| SSTT design challenge was to achieve a towed riderless bicycle which | |
| will follow, steer, and balance of its own accord behind a lead bicycle. | |
| Design constraints included using a tow linkage that would not transmit | |
| a torque. The project design approach permitted students to come | |
| to grips with an unstructured problem, one for which the answer was | |
| not readily available at the back of the text. Problem clarification, | |
| synthesis, visualization of spatial mechanisms, stability of mechanisms, | |
| report writing, success, and failure were all inherent in the design | |
| challenge}, | |
| bib = {bibtex-keys#Klein1991}, | |
| bibpr = {private-bibtex-keys#Klein1991}, | |
| doi = {10.1109/FIE.1991.187432}, | |
| file = {Klein1991.pdf:Klein1991.pdf:PDF}, | |
| keywords = {education, project engineering Illinois University, bicycle project, | |
| mechanisms stability, open-ended projects, problem clarification, | |
| report writing, spatial mechanisms visualisation, stable single track | |
| trailer, tow linkage, towed riderless bicycle, pedagodgy}, | |
| review = {Example of using the bicycle in the classroom to teach.}, | |
| webpdf = {references-folder/Klein1991.pdf} | |
| } | |
| @ARTICLE{Klein1989, | |
| author = {Klein, R.E.}, | |
| title = {Using bicycles to teach system dynamics}, | |
| journal = {Control Systems Magazine, IEEE}, | |
| year = {1989}, | |
| volume = {9}, | |
| pages = {4-9}, | |
| number = {3}, | |
| month = {April}, | |
| abstract = {The author reports on an innovative approach, based on open-ended | |
| design questions related to bicycles, for the teaching of dynamic | |
| systems concepts in an undergraduate mechanical engineering environment. | |
| He outlines needs for improved classroom learning, pedagogical methods | |
| and underlying philosophy, how the bicycle was introduced as a main | |
| portion of the instruction, how the class was managed, supporting | |
| materials used, and a summary of major benefits achieved. The results | |
| to date show that: (1) the notion of using the bicycle in the classroom | |
| as a teaching tool and research topic is feasible; (2) the associated | |
| economics are attractive; (3) students are able to apply the abstract | |
| notions of systems theory to a concrete problem; (4) the professor | |
| can improve his or her expertise in a designated area (such as two-wheeled | |
| vehicle dynamics); (5) the percentage and quality of students electing | |
| follow-up courses in the systems area increase; and (6) students | |
| improve their professional confidence}, | |
| bib = {bibtex-keys#Klein1989}, | |
| bibpr = {private-bibtex-keys#Klein1989}, | |
| doi = {10.1109/37.24804}, | |
| file = {Klein1989.pdf:Klein1989.pdf:PDF}, | |
| issn = {0272-1708}, | |
| keywords = {dynamics, educational aids, mechanical engineering, system theory, | |
| teachingbicycles, concepts, educational aids, mechanical engineering, | |
| system dynamics, systems theory, teaching}, | |
| webpdf = {references-folder/Klein1989.pdf} | |
| } | |
| @INPROCEEDINGS{Klein1990, | |
| author = {Klein, R. E.}, | |
| title = {Simulation of bicycle lateral dynamics: an opportunity in dynamic | |
| systems education}, | |
| booktitle = {Simulation in Engineering Education Including Supplemental Papers. | |
| Proceedings of the SCS Multiconference on Modeling and Simulation | |
| on Microcomputers}, | |
| year = {1990}, | |
| bib = {bibtex-keys#Klein1990}, | |
| bibpr = {private-bibtex-keys#Klein1990}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Klein1988, | |
| author = {Klein, R. E.}, | |
| title = {Novel systems and dynamics teaching techniques using bicycles}, | |
| booktitle = {Proceedings of the 1988 American Control Conference}, | |
| year = {1988}, | |
| bib = {bibtex-keys#Klein1988}, | |
| bibpr = {private-bibtex-keys#Klein1988}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Knight2008, | |
| author = {Randy Knight}, | |
| title = {The Bicyclist's Paradox}, | |
| journal = {The Physics Teacher}, | |
| year = {2008}, | |
| volume = {46}, | |
| pages = {275--279}, | |
| bib = {bibtex-keys#Knight2008}, | |
| bibpr = {private-bibtex-keys#Knight2008}, | |
| file = {Knight2008.pdf:Knight2008.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Knight2008.pdf} | |
| } | |
| @PHDTHESIS{Koenen1983, | |
| author = {Koenen, C.}, | |
| title = {The dynamic behaviour of a motorcycle when running straight ahead | |
| and when cornering}, | |
| school = {Delft University of Technology}, | |
| year = {1983}, | |
| bib = {bibtex-keys#Koenen1983}, | |
| bibpr = {private-bibtex-keys#Koenen1983}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.23} | |
| } | |
| @TECHREPORT{Koenen1977, | |
| author = {C. Koenen and H.B. Pacejka and D.A. Timan and J.A. Zwaan}, | |
| title = {Beweging van motorrijwielen verstoord door wegdek onregelmatigheden}, | |
| institution = {Technische Hogeschool Delft Laboratorium voor Voertuigtechniek.}, | |
| year = {1977}, | |
| bib = {bibtex-keys#Koenen1977}, | |
| bibpr = {private-bibtex-keys#Koenen1977}, | |
| file = {Koenen1977.pdf:Koenen1977.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Koenen1977.pdf} | |
| } | |
| @BOOK{Kondo1962, | |
| title = {Dynamics of Single-Track Vehicles}, | |
| publisher = {Foundation Bicycle Technical Research}, | |
| year = {1962}, | |
| author = {Kondo, M.}, | |
| bib = {bibtex-keys#Kondo1962}, | |
| bibpr = {private-bibtex-keys#Kondo1962}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30} | |
| } | |
| @ARTICLE{Kondo1955, | |
| author = {Kondo, M.}, | |
| title = {Experimental Study on the Stability and Control of Single-Track Vehicles}, | |
| journal = {JSME}, | |
| year = {1955}, | |
| volume = {58}, | |
| pages = {827--833}, | |
| number = {442}, | |
| bib = {bibtex-keys#Kondo1955}, | |
| bibpr = {private-bibtex-keys#Kondo1955}, | |
| file = {Kondo1955.pdf:Kondo1955.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {There is some kind of test stand for a motorcycle that looks like | |
| it has a dummy rider on it. The front wheel is on a rotating drum | |
| and the rear wheel seems to be fixed. A lab test on stability. | |
| He did some analysis on the front end geometry (head angle, trail, | |
| fork offset and wheel diameter). | |
| He also seems to have an instrumented motorcycle. The experimental | |
| time history of a Figure 8 manuever shows steer torque and steer | |
| angle (Fig 11). Manuevers: steady turn, figure 8, and navigating | |
| a curve (or turn). He shows some plots of data from various figure | |
| 8's.}, | |
| timestamp = {2009.10.30}, | |
| webpdf = {references-folder/Kondo1955.pdf} | |
| } | |
| @ARTICLE{Kondo1963, | |
| author = {Kondo, M. and A. Nagaoka and F. Yoshimura}, | |
| title = {Theoretical Study on the Running Stability of the Two-Wheelers}, | |
| journal = {Trans. SAE Japan}, | |
| year = {1963}, | |
| volume = {17}, | |
| pages = {8}, | |
| number = {1}, | |
| bib = {bibtex-keys#Kondo1963}, | |
| bibpr = {private-bibtex-keys#Kondo1963}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30} | |
| } | |
| @MASTERSTHESIS{Kooijman2006, | |
| author = {J. D. G. Kooijman}, | |
| title = {Experimental Validation of a Model for the Motion of an Uncontrolled | |
| Bicycle}, | |
| school = {Delft University of Technology}, | |
| year = {2006}, | |
| type = {{MS}c Thesis}, | |
| abstract = {Recently a model of the motion of an uncontrolled bicycle was benchmarked. | |
| In this model, many physical aspects of the real bicycle are considered | |
| negligible, such as the fexibility of the frame and wheels, play | |
| in the bearings, and precise tire characteristics. Apart from fexibility | |
| and play, in this model the most un- certain aspect, that had to | |
| be verifed was the replacement of the tires by ideal rolling, knife-edge | |
| wheels. The admissibility of these assumptions was checked by comparing | |
| experimental results with numerical simulation results. The experimental | |
| system consisted of an instrumented bicycle without rider. Sensors | |
| were installed on the bicycle for measuring the lean rate and the | |
| yaw rate, the steering angle and the rear wheel rotation. Sidewheels | |
| were added to the bicycle to prevent it from completely falling over | |
| under unstable conditions. All twenty five parameters of the instrumented | |
| bicycle required for the lin- earised model were measured. The lengths | |
| were measured with a tape measure, angles with an integrated protractor | |
| and spirit-level and the mass of the different parts with scales | |
| accurate to 0.01kg. For the measurement of the mass moment of inertia | |
| of the front frame, rear frame, front wheel and rear wheel a torsion | |
| pendulum was constructed. Measurements were recorded for the case | |
| in which the bicycle coasted freely on a level surface. From the | |
| measured data, eigenvalues for the bicycle were extracted by means | |
| of curve fitting. These eigenvalues were then compared with the results | |
| from the linearised equations of motion of the model. The experimental | |
| results show a very good agreement with the results as ob- tained | |
| by the linearised analysis of the dynamic model of an uncontrolled | |
| bicycle. This shows that the tire slip and frame and fork compliance | |
| are not important for the lateral dynamics of the bicycle in the | |
| speed range up to 6 m/s.}, | |
| bib = {bibtex-keys#Kooijman2006}, | |
| bibpr = {private-bibtex-keys#Kooijman2006}, | |
| file = {Kooijman2006.pdf:Kooijman2006.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2008.12.04}, | |
| webpdf = {references-folder/Kooijman2006.pdf} | |
| } | |
| @ARTICLE{Kooijman2011, | |
| author = {Kooijman, J. D. G. and Meijaard, J. P. and Papadopoulos, Jim M. and | |
| Ruina, Andy and Schwab, A. L.}, | |
| title = {A Bicycle Can Be Self-Stable Without Gyroscopic or Caster Effects}, | |
| journal = {Science}, | |
| year = {2011}, | |
| volume = {332}, | |
| pages = {339-342}, | |
| number = {6027}, | |
| abstract = {A riderless bicycle can automatically steer itself so as to recover | |
| from falls. The common view is that this self-steering is caused | |
| by gyroscopic precession of the front wheel, or by the wheel contact | |
| trailing like a caster behind the steer axis. We show that neither | |
| effect is necessary for self-stability. Using linearized stability | |
| calculations as a guide, we built a bicycle with extra counter-rotating | |
| wheels (canceling the wheel spin angular momentum) and with its front-wheel | |
| ground-contact forward of the steer axis (making the trailing distance | |
| negative). When laterally disturbed from rolling straight, this bicycle | |
| automatically recovers to upright travel. Our results show that various | |
| design variables, like the front mass location and the steer axis | |
| tilt, contribute to stability in complex interacting ways.}, | |
| doi = {10.1126/science.1201959}, | |
| eprint = {http://www.sciencemag.org/content/332/6027/339.full.pdf}, | |
| file = {Kooijman2011.pdf:Kooijman2011.pdf:PDF}, | |
| url = {http://www.sciencemag.org/content/332/6027/339.abstract} | |
| } | |
| @INPROCEEDINGS{Kooijman2008a, | |
| author = {J. D. G. Kooijman and A. L. Schwab}, | |
| title = {Some Observations on Human Control of a Bicycle}, | |
| booktitle = {11th mini Conference on Vehicle System Dynamics, Identification and | |
| Anomalies (VSDIA2008), Budapest, Hungary}, | |
| year = {2008}, | |
| editor = {I. Zobory}, | |
| pages = {8}, | |
| month = {November}, | |
| publisher = {Budapest University of Technology and Economincs}, | |
| bib = {bibtex-keys#Kooijman2008a}, | |
| bibpr = {private-bibtex-keys#Kooijman2008a}, | |
| file = {Kooijman2008a.pdf:Kooijman2008a.pdf:PDF}, | |
| owner = {schwab}, | |
| timestamp = {2008.12.01}, | |
| webpdf = {references-folder/Kooijman2008a.pdf} | |
| } | |
| @INPROCEEDINGS{Kooijman2011a, | |
| author = {J. D. G. Kooijman and A. L. Schwab}, | |
| title = {A review on handling aspects in bicycle and motorcycle control}, | |
| booktitle = {Proceedings of the ASME 2011 International Design Engineering Technical | |
| Conferences \& Computers and Information in Engineering Conference. | |
| IDETC/CIE}, | |
| year = {2011}, | |
| number = {DETC2011-47963}, | |
| address = {Washington, DC, USA}, | |
| month = {August}, | |
| abstract = {This paper gives an overview on handling aspects in bicycle and motorcycle | |
| control, from both theoretical and experimental points of view. Parallels | |
| are drawn with the literature on aircraft handling. The paper concludes | |
| with the open ends and promising directions for future work in the | |
| field of handling and control of single track vehicles.}, | |
| bib = {bibtex-keys#Kooijman2011a}, | |
| bibpr = {private-bibtex-keys#Kooijman2011a}, | |
| file = {Kooijman2011a.pdf:Kooijman2011a.pdf:PDF}, | |
| timestamp = {2011.11.17}, | |
| webpdf = {references-folder/Kooijman2011a.pdf} | |
| } | |
| @INPROCEEDINGS{Kooijman2009, | |
| author = {J. D. G. Kooijman and A. L. Schwab}, | |
| title = {Experimental Validation of the Lateral Dynamics of a Bicycle on a | |
| Treadmill}, | |
| booktitle = {Proceedings of the ASME 2009 International Design Engineering Technical | |
| Conferences \& Computers and Information in Engineering Conference, | |
| IDETC/CIE 2009}, | |
| year = {2009}, | |
| number = {DETC2009-86965}, | |
| bib = {bibtex-keys#Kooijman2009}, | |
| bibpr = {private-bibtex-keys#Kooijman2009}, | |
| file = {Kooijman2009.pdf:Kooijman2009.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {The experiment from Kooijman2006 and Kooijman2008 was repeated on | |
| a treadmill. This allow for the speed of the bicycle to be controlled | |
| for better, giving better fits to of the predicted weave eigenvalue | |
| for 88 runs. They claim the reasons they can't fit the capsize eigenvalue | |
| is because it damps out rapidly below the weave critical speed, thus | |
| not easy to measure and that above the weave critical speed that | |
| the capsize eigenvalue is so slow that it is hard to measure and | |
| the weave motion dominates. This is not quite right though as the | |
| eigen value magnitudes are the same at least one speed in within | |
| the stable speed range. Their final conclusion is that the eigenvalues | |
| and critical speeds are well predicted between a certain speed range | |
| and that treadmill riding is the same as riding on flat ground. This | |
| should be clarified with respect to riderless bicycles. The steer | |
| angle on the plot is rather steady, maybe because the scaling is | |
| wrong.}, | |
| timestamp = {2009.09.24}, | |
| webpdf = {references-folder/Kooijman2009.pdf} | |
| } | |
| @ARTICLE{Kooijman2008, | |
| author = {J. D. G. Kooijman and A. L. Schwab and J. P. Meijaard}, | |
| title = {Experimental validation of a model of an uncontrolled bicycle}, | |
| journal = {Multibody System Dynamics}, | |
| year = {2008}, | |
| volume = {19}, | |
| pages = {115-132}, | |
| month = {May}, | |
| abstract = {In this paper, an experimental validation of some modelling aspects | |
| of an uncontrolled bicycle is presented. In numerical models, many | |
| physical aspects of the real bicycle are considered negligible, such | |
| as the flexibility of the frame and wheels, play in the bearings, | |
| and precise tire characteristics. The admissibility of these assumptions | |
| has been checked by comparing experimental results with numerical | |
| simulation results. The numerical simulations were performed on a | |
| three-degree-of-freedom benchmarked bicycle model. For the validation | |
| we considered the linearized equations of motion for small perturbations | |
| of the upright steady forward motion. The most dubious assumption | |
| that was validated in this model was the replacement of the tires | |
| by knife-edge wheels rolling without slipping (non-holonomic constraints). | |
| The experimental system consisted of an instrumented bicycle without | |
| rider. Sensors were present for measuring the roll rate, yaw rate, | |
| steering angle, and rear wheel rotation. Measurements were recorded | |
| for the case in which the bicycle coasted freely on a level surface. | |
| From these measured data, eigenvalues were extracted by means of | |
| curve fitting. These eigenvalues were then compared with the results | |
| from the linearized equations of motion of the model. As a result, | |
| the model appeared to be fairly accurate for the low-speed low-frequency | |
| behaviour.}, | |
| bib = {bibtex-keys#Kooijman2008}, | |
| bibpr = {private-bibtex-keys#Kooijman2008}, | |
| doi = {10.1007/s11044-007-9050-x}, | |
| file = {Kooijman2008.pdf:Kooijman2008.pdf:PDF}, | |
| keywords = {Bicycle dynamics, Experiments, Instrumentation, Multibody dynamics, | |
| Non-holonomic constraints}, | |
| owner = {moorepants}, | |
| review = {JKM - He reports different parameter values for the front frame than | |
| in his thesis.}, | |
| timestamp = {2008.12.05}, | |
| webpdf = {references-folder/Kooijman2008.pdf} | |
| } | |
| @INPROCEEDINGS{Kooijman2009a, | |
| author = {J. D. G. Kooijman and A. L. Schwab and Jason K. Moore}, | |
| title = {Some Observations on Human Control of a Bicycle}, | |
| booktitle = {Proceedings of the ASME 2009 International Design and Engineering | |
| Technical Conferences \& Computers and Information in Engineering | |
| Conference}, | |
| year = {2009}, | |
| bib = {bibtex-keys#Kooijman2009a}, | |
| bibpr = {private-bibtex-keys#Kooijman2009a}, | |
| file = {Kooijman2009a.pdf:Kooijman2009a.pdf:PDF}, | |
| owner = {moorepants}, | |
| tags = {sbl,bicycle}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Kooijman2009a.pdf} | |
| } | |
| @ARTICLE{Koon1997, | |
| author = {Wang Sang Koon and Marsden, J. E.}, | |
| title = {The {H}amiltonian and {L}agrangian Approaches to the Dynamics of | |
| Nonholonomic Systems}, | |
| journal = {Reports on Mathematical Physics}, | |
| year = {1997}, | |
| volume = {40}, | |
| pages = {21--62}, | |
| bib = {bibtex-keys#Koon1997}, | |
| bibpr = {private-bibtex-keys#Koon1997}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Krauss2007, | |
| author = {Ryan W. Krauss and Wayne J. Book}, | |
| title = {A Python Software Module for Automated Identification of Systems | |
| Modeled With the Transfer Matrix Method}, | |
| journal = {ASME Conference Proceedings}, | |
| year = {2007}, | |
| volume = {2007}, | |
| pages = {1573-1582}, | |
| number = {43033}, | |
| bib = {bibtex-keys#Krauss2007}, | |
| bibpr = {private-bibtex-keys#Krauss2007}, | |
| doi = {10.1115/IMECE2007-42319}, | |
| publisher = {ASME}, | |
| url = {http://link.aip.org/link/abstract/ASMECP/v2007/i43033/p1573/s1} | |
| } | |
| @INPROCEEDINGS{Kuleshov2008, | |
| author = {Alexander Kuleshov}, | |
| title = {Nonlinear Dynamics of a Simplified Skateboard Model}, | |
| booktitle = {The Engineering of Sport 7}, | |
| year = {2008}, | |
| editor = {Margaret Estivalet and Pierre Brisson}, | |
| volume = {1}, | |
| pages = {135-142}, | |
| month = {August}, | |
| organization = {ISEA}, | |
| publisher = {Springer Paris}, | |
| abstract = {In this paper the further investigation and development for the simplified | |
| mathematical model of a skateboard with a rider are obtained. This | |
| model was first proposed by Mont Hubbard (Hubbard 1979, Hubbard 1980). | |
| It is supposed that there is no riderÂs control of the skateboard | |
| motion. To derive equations of motion of the skateboard the Gibbs-Appell | |
| method is used. The problem of integrability of the obtained equations | |
| is studied and their stability analysis is fulfilled. The effect | |
| of varying vehicle parameters on dynamics and stability of its motion | |
| is examined.}, | |
| bib = {bibtex-keys#Kuleshov2008}, | |
| bibpr = {private-bibtex-keys#Kuleshov2008}, | |
| doi = {10.1007/978-2-287-09411-8_16}, | |
| file = {Kuleshov2008.pdf:Kuleshov2008.pdf:PDF}, | |
| keywords = {Skateboard Nonholonomic Constraints Integrability Stability of Motion}, | |
| owner = {moorepants}, | |
| timestamp = {2008.10.28}, | |
| webpdf = {references-folder/Kuleshov2008.pdf} | |
| } | |
| @ARTICLE{Kuleshov2007, | |
| author = {Kuleshov, A.~S.}, | |
| title = {Mathematical model of a skateboard with one degree of freedom}, | |
| journal = {Physics - Doklady}, | |
| year = {2007}, | |
| volume = {52}, | |
| pages = {283-286}, | |
| month = {May}, | |
| adsnote = {Provided by the SAO/NASA Astrophysics Data System}, | |
| adsurl = {http://adsabs.harvard.edu/abs/2007DokPh..52..283K}, | |
| bib = {bibtex-keys#Kuleshov2007}, | |
| bibpr = {private-bibtex-keys#Kuleshov2007}, | |
| doi = {10.1134/S1028335807050102}, | |
| file = {Kuleshov2007.pdf:Kuleshov2007.pdf:PDF}, | |
| keywords = {45.50.Dd}, | |
| webpdf = {references-folder/Kuleshov2007.pdf} | |
| } | |
| @TECHREPORT{Kunkel1976, | |
| author = {D. T. Kunkel}, | |
| title = {Bicycle dynamics: simulated bicycle/rider system performance in a | |
| turning maneuver Calspan technical report}, | |
| institution = {Schwinn Bicycle Company}, | |
| year = {1976}, | |
| note = {Calspan Corp.}, | |
| bib = {bibtex-keys#Kunkel1976}, | |
| bibpr = {private-bibtex-keys#Kunkel1976}, | |
| owner = {moorepants}, | |
| timestamp = {2010.09.10} | |
| } | |
| @TECHREPORT{Kunkel1975, | |
| author = {Dennis T. Kunkel}, | |
| title = {Simulation Study of Motorcycle Response to Pavement Grooving}, | |
| institution = {Calspan Corporation}, | |
| year = {1975}, | |
| number = {ZN-5740-V-1}, | |
| month = {October}, | |
| bib = {bibtex-keys#Kunkel1975}, | |
| bibpr = {private-bibtex-keys#Kunkel1975}, | |
| file = {Kunkel1975.pdf:Kunkel1975.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Kunkel1975.pdf} | |
| } | |
| @TECHREPORT{Kunkel1973, | |
| author = {D. T. Kunkel and R. D. Roland}, | |
| title = {A Comparitive Evaluation of the Schwinn Continental and Continental-Based | |
| Sprint Bicycles}, | |
| institution = {Calspan Corporation}, | |
| year = {1973}, | |
| bib = {bibtex-keys#Kunkel1973}, | |
| bibpr = {private-bibtex-keys#Kunkel1973}, | |
| file = {Kunkel1973.pdf:Kunkel1973.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Kunkel1973.pdf} | |
| } | |
| @ARTICLE{Kuriyama2005, | |
| author = {Kuriyama, Takeyuki and Kageyama, Ichiro and Baba, Masayuki and Miyagishi, | |
| Shunichi}, | |
| title = {2102 Control System Design and Construction of Rider Robot for Two-wheel | |
| Vehicle}, | |
| journal = {The Transportation and Logistics Conference}, | |
| year = {2005}, | |
| volume = {14}, | |
| pages = {207--210}, | |
| bib = {bibtex-keys#Kuriyama2005}, | |
| bibpr = {private-bibtex-keys#Kuriyama2005}, | |
| file = {Kuriyama2005.pdf:Kuriyama2005.pdf:PDF}, | |
| publisher = {The Japan Society of Mechanical Engineers}, | |
| url = {http://ci.nii.ac.jp/naid/110006189595/en/}, | |
| webpdf = {references-folder/Kuriyama2005.pdf} | |
| } | |
| @INPROCEEDINGS{Kuroiwa1995, | |
| author = {Kuroiwa, Osamu and Baba, Masayuki and Nakata, Noriaki}, | |
| title = {Study of motorcycle handling characteristics and rider feeling during | |
| lane change}, | |
| booktitle = {SAE International Congress and Exposition}, | |
| year = {1995}, | |
| number = {950200}, | |
| address = {Detroit, Michigan, USA}, | |
| month = {February}, | |
| organization = {SAE}, | |
| bib = {bibtex-keys#Kuroiwa1995}, | |
| bibpr = {private-bibtex-keys#Kuroiwa1995}, | |
| file = {Kuroiwa1995.pdf:Kuroiwa1995.pdf:PDF}, | |
| timestamp = {2012.01.02}, | |
| webpdf = {references-folder/Kuroiwa1995.pdf} | |
| } | |
| @MISC{Kvale1981, | |
| author = {Chris Kvale and John Corbett}, | |
| title = {A Fresh Look at Steering Geometry}, | |
| month = {December}, | |
| year = {1981}, | |
| bib = {bibtex-keys#Kvale1981}, | |
| bibpr = {private-bibtex-keys#Kvale1981}, | |
| file = {Kvale1981.pdf:Kvale1981.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Kvale1981.pdf} | |
| } | |
| @ARTICLE{Kwak2001, | |
| author = {Kwak, B. and Park, Y.}, | |
| title = {Vehicle states observer using adaptive tire-road friction estimator}, | |
| journal = {JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS | |
| AND MANUFACTURING}, | |
| year = {2001}, | |
| volume = {44}, | |
| pages = {668-675}, | |
| number = {3}, | |
| month = {September}, | |
| abstract = {Vehicle stability control system is a new idea which can enhance the | |
| vehicle stability and handling in the emergency situation. This system | |
| requires the information of the yaw rate, sideslip angle and road | |
| friction in order to control the traction and braking forces at the | |
| individual wheels. This paper proposes an observer for the vehicle | |
| stability control system. This observer consisted of the state observer | |
| for vehicle motion estimation and the road condition estimator for | |
| the identification of the coefficient of the road friction. The state | |
| observer uses 2 degrees-of-freedom bicycle model and estimates the | |
| system variables based on the Kalman filter. The road condition estimator | |
| uses the same vehicle model and identifies the coefficient of the | |
| tire-road friction based on the recursive least square method. Both | |
| estimator,,; make use of each other information. We show the effectiveness | |
| and feasibility of the proposed scheme under various road conditions | |
| through computer simulations of a fifteen degree-of-freedom non-linear | |
| vehicle model.}, | |
| address = {SHINANOMACHI-RENGAKAN BLDG, SHINANOMACHI 35, SHINJUKU-KU, TOKYO, | |
| 160-0016, JAPAN}, | |
| affiliation = {Kwak, B (Reprint Author), Mando Corp, Cent R\&D Ctr, Sci Town, Taejon | |
| 305701, South Korea. Mando Corp, Cent R\&D Ctr, Taejon 305701, South | |
| Korea. Korea Adv Inst Sci \& Technol, Dept Mech Engn, Ctr Noise \& | |
| Vibrat Control, NoViC, Taejon 305701, South Korea.}, | |
| bib = {bibtex-keys#Kwak2001}, | |
| bibpr = {private-bibtex-keys#Kwak2001}, | |
| doc-delivery-number = {486KQ}, | |
| file = {Kwak2001.pdf:Kwak2001.pdf:PDF}, | |
| issn = {1340-8062}, | |
| journal-iso = {JSME Int. J. Ser. C-Mech. Syst. Mach. Elem. Manuf.}, | |
| keywords = {stability control; extended Kalman filter; tire road friction; recursive | |
| least square method}, | |
| language = {English}, | |
| number-of-cited-references = {9}, | |
| owner = {Luke}, | |
| publisher = {JAPAN SOC MECHANICAL ENGINEERS}, | |
| subject-category = {Engineering, Manufacturing; Engineering, Mechanical}, | |
| times-cited = {1}, | |
| timestamp = {2009.03.06}, | |
| type = {Article}, | |
| unique-id = {ISI:000171817300012}, | |
| webpdf = {references-folder/Kwak2001.pdf} | |
| } | |
| @INPROCEEDINGS{Kwon2001, | |
| author = {Dong-Soo Kwon and Gi-Hun Yang and Chong-Won Lee and Jae-Cheol Shin | |
| and Youngjin Park and Byungbo Jung and Doo Yong Lee and Kyungno Le | |
| and Sunmin Kim and Soonhung Han and Byoung-Hyun Yoo and Kwangyun | |
| Wohn and Jung-Hyun Ahn}, | |
| title = {KAIST interactive bicycle simulator}, | |
| booktitle = {Proceedings 2001 ICRA. IEEE International Conference on Robotics | |
| and Automation}, | |
| year = {2001}, | |
| bib = {bibtex-keys#Kwon2001}, | |
| bibpr = {private-bibtex-keys#Kwon2001}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Kwon2002, | |
| author = {Dong-Soo Kwon and Gi-Hun Yang and Youngjin Park and Sunmin Kim and | |
| Chong-Won Lee and Jae-Cheol Shin and Soonhung Han and Jonghwan Lee | |
| and Kwangyun Wohn and Sehoon Kim and Doo Yong Lee and Kyungno Lee | |
| and Jae-Heon Yang and Yun-Mook Choi}, | |
| title = {KAIST interactive bicycle racing simulator: the 2nd version with | |
| advanced features}, | |
| booktitle = {Intelligent Robots and System, 2002. IEEE/RSJ International Conference | |
| on}, | |
| year = {2002}, | |
| volume = {3}, | |
| pages = { 2961-2966 vol.3}, | |
| abstract = {This paper presents the KAIST interactive bicycle racing simulator | |
| system, which consists of a pair of bicycle simulators. The rider | |
| on the racing simulator experiences realistic sensations of motion, | |
| while being able to see the other bicycle simulator and having the | |
| audio-visual experience of riding in a velodrome or on the KAIST | |
| campus. The 2nd bicycle of the racing simulator system consists of | |
| a bicycle, a 4-DOF platform, a handlebar and a pedal resistance system | |
| to generate motion feelings; a real-time visual simulator a HMD and | |
| beam projection system; and a 3D sound system. The system has an | |
| integrating control network with an AOIM (Area Of Interest Management) | |
| based network structure for multiple simulators.}, | |
| bib = {bibtex-keys#Kwon2002}, | |
| bibpr = {private-bibtex-keys#Kwon2002}, | |
| doi = {10.1109/IRDS.2002.1041722}, | |
| file = {Kwon2002.pdf:Kwon2002.pdf:PDF}, | |
| issn = { }, | |
| keywords = { digital simulation, sport, virtual reality AOIM, KAIST, handlebar, | |
| interactive bicycle racing simulator, motion feelings, pedal resistance, | |
| racing simulator}, | |
| webpdf = {references-folder/Kwon2002.pdf} | |
| } | |
| @TECHREPORT{Kyle1996, | |
| author = {Chester R. Kyle}, | |
| title = {Abbreviated Tire Test Report, U. S. Cycling Team}, | |
| institution = {General Motors}, | |
| year = {1996}, | |
| bib = {bibtex-keys#Kyle1996}, | |
| bibpr = {private-bibtex-keys#Kyle1996}, | |
| file = {Kyle1996.pdf:Kyle1996.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2010.05.24}, | |
| webpdf = {references-folder/Kyle1996.pdf} | |
| } | |
| @TECHREPORT{Kyle1996a, | |
| author = {Chester R. Kyle}, | |
| title = {Coast down tests in a university hallway using an instrumented and | |
| weighted tricycle}, | |
| institution = {University of California, Long Beach`}, | |
| year = {1996}, | |
| bib = {bibtex-keys#Kyle1996a}, | |
| bibpr = {private-bibtex-keys#Kyle1996a}, | |
| file = {Kyle1996a.pdf:Kyle1996a.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2010.05.24}, | |
| webpdf = {references-folder/Kyle1996a.pdf} | |
| } | |
| @TECHREPORT{Kyle1995, | |
| author = {Chester R. Kyle}, | |
| title = {GM test of tire characteristics on a flat track slow speed steel | |
| band}, | |
| institution = {General Motors}, | |
| year = {1995}, | |
| bib = {bibtex-keys#Kyle1995}, | |
| bibpr = {private-bibtex-keys#Kyle1995}, | |
| file = {Kyle1995.pdf:Kyle1995.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2010.05.24}, | |
| webpdf = {references-folder/Kyle1995.pdf} | |
| } | |
| @INBOOK{Kyle1988, | |
| chapter = {3-3: The Sunraycer, Wheels, Tires and Brakes}, | |
| title = {GM Sunraycer case history}, | |
| publisher = {Society of Automotive Engineers}, | |
| year = {1988}, | |
| author = {Kyle, Chester R.}, | |
| number = {M-101}, | |
| address = {Warrendale, PA, USA}, | |
| bib = {bibtex-keys#Kyle1988}, | |
| bibpr = {private-bibtex-keys#Kyle1988}, | |
| file = {Kyle1988.pdf:Kyle1988.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.12.14}, | |
| webpdf = {references-folder/Kyle1988.pdf} | |
| } | |
| @TECHREPORT{Kyle1987, | |
| author = {Chester R. Kyle}, | |
| title = {GM Tire Test Report on 17" Moulton Tires}, | |
| institution = {General Motors}, | |
| year = {1987}, | |
| month = {April}, | |
| bib = {bibtex-keys#Kyle1987}, | |
| bibpr = {private-bibtex-keys#Kyle1987}, | |
| file = {Kyle1987.pdf:Kyle1987.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2010.05.19}, | |
| webpdf = {references-folder/Kyle1987.pdf} | |
| } | |
| @ARTICLE{Lai2003, | |
| author = {Hsien-Chung Lai and Jing-Sin Liu and D. T. Lee and Li-Sheng Wang}, | |
| title = {Design parameters study on the stability and perception of riding | |
| comfort of the electrical motorcycles under rider leaning}, | |
| journal = {Mechatronics}, | |
| year = {2003}, | |
| volume = {13}, | |
| pages = {49 - 76}, | |
| number = {1}, | |
| bib = {bibtex-keys#Lai2003}, | |
| bibpr = {private-bibtex-keys#Lai2003}, | |
| doi = {DOI: 10.1016/S0957-4158(01)00082-4}, | |
| file = {Lai2003.pdf:Lai2003.pdf:PDF}, | |
| issn = {0957-4158}, | |
| keywords = {Electrical motorcycles}, | |
| url = {http://www.sciencedirect.com/science/article/B6V43-44PVJ91-1/2/4a5467587fd2860cb983a04ee9efee81}, | |
| webpdf = {references-folder/Lai2003.pdf} | |
| } | |
| @ARTICLE{Lam2011, | |
| author = {Pom Yuan Lam and Tan Kian Sin}, | |
| title = {Gyroscopic Stabilization of a Self-Balancing Robot Bicycle}, | |
| journal = {International Journal of Automation Technology}, | |
| year = {2011}, | |
| volume = {5}, | |
| pages = {916--923}, | |
| abstract = {This paper reports the design and development of a self-balancing | |
| bicycle using off-the-shelf electronics. A self-balancing bicycle | |
| is an unstable nonlinear system similar to an inverted pendulum. | |
| Experimental results show the robustness and efficiency of the proportional | |
| plus derivative controller balancing the bicycle. The system uses | |
| a control moment gyroscope as an actuator for balancing.}, | |
| bib = {bibtex-keys#Lam2011}, | |
| bibpr = {private-bibtex-keys#Lam2011}, | |
| timestamp = {2012.01.03} | |
| } | |
| @MASTERSTHESIS{Lange2011, | |
| author = {de Lange, Peter}, | |
| title = {Rider Identification in Bicycling: {A} preliminary analysis}, | |
| school = {Delft University of Technology}, | |
| year = {2011}, | |
| bib = {bibtex-keys#Lange2011}, | |
| bibpr = {private-bibtex-keys#Lange2011}, | |
| file = {Lange2011.pdf:Lange2011.pdf:PDF}, | |
| review = {Peter's control model has PID plus double derivative control on roll | |
| and steer, effectively giving gains on angle, rate, angular acceleration | |
| and the integral of angle. I'm not sure what the physical meaning | |
| of the integral of an angle would be. He uses the same nueromuscular | |
| model as us but with a frequency of 2.17 rad/s and a damping ratio | |
| of 1.414. He also includes a time delay of 0.03 ms. He mentions co-contraction | |
| control which is a passive stiffness and damping in the arm muscles | |
| that he claims is utilize in position tasks, but doesn't use it. | |
| He cites Happee2009. He rewrites his controller and plant into a | |
| general form, of which he say any plant and controller can be mapped | |
| to. Peter seemed to use data from runs with Luke riding, but must | |
| have used the parameters for me, as I hadn't calculated them yet, | |
| not sure though. He fit a Finite Impulse Response black box model | |
| to the roll and steer angles. He shows the resulting model output | |
| which is very noisy and then with a filtered version. When trying | |
| to fit a parametric model, he found that the time delay, however | |
| small, caused the system to be unstable. He also was unable to get | |
| a stable model for a low speed of 2.1 m/s, citing that the FIR model | |
| has a poor signal to noise ratio. He only fits on the steer angle | |
| output, but gets reasonable matching in roll as a side effect. He | |
| uses a method to examine covariance of the parameters to eliminate | |
| ones that are crucial for the model. He notes that the steer into | |
| the fall is observed from the estimated roll related gains being | |
| positive. He says roll angle, roll rate, steering rate and integral | |
| action are critical for a stable model. He shows that this integral | |
| steering is proportional to the heading angle. So he controls heading | |
| without having heading feedback. He also uses it to explain countersteering. | |
| Pertabator design goal was to apply a pure roll torque without exciting | |
| steer torque. He analyzes a swing perturbator, sliding mass perturbator, | |
| lateral acceleration of the ground}, | |
| timestamp = {2011.11.15}, | |
| webpdf = {references-folder/Lange2011.pdf} | |
| } | |
| @MANUAL{Lebigot2010, | |
| title = {uncertainties: a Python package for calculations with uncertainties}, | |
| author = {Eric O. Lebigot}, | |
| year = {2010}, | |
| note = {http://pypi.python.org/pypi/uncertainties/}, | |
| timestamp = {2012.08.08}, | |
| url = {http://pypi.python.org/pypi/uncertainties/} | |
| } | |
| @INPROCEEDINGS{Lee2002, | |
| author = {Lee, Sangduck and Ham, Woonchul}, | |
| title = {Self stabilizing strategy in tracking control of unmanned electric | |
| bicycle with mass balance, Paper 1041594}, | |
| booktitle = {International Conference on Intelligent Robots and Systems}, | |
| year = {2002}, | |
| volume = {3}, | |
| pages = { 2200-2205}, | |
| address = {Lausanne, Switzerland}, | |
| month = {September--October}, | |
| organization = {IEEE/RSJ}, | |
| abstract = { Ingyu Park et al. (2001) investigated an unmanned bicycle system | |
| but did not consider the lateral motion of mass. In this paper, we | |
| derive a simple kinematic and dynamic formulation of an unmanned | |
| electric bicycle with load mass balance system which, plays important | |
| role in stabilization. We propose a control algorithm for the self | |
| stabilization of unmanned bicycle by using nonlinear control based | |
| on the sliding patch and stuck phenomena. In deriving the above control | |
| algorithm, we assume that the load mass is located in the middle | |
| of the mass balance system. We then propose a control strategy to | |
| turn the bicycle system left or right by moving the center of load | |
| mass left and right respectively. In the computer simulations, we | |
| adopt a low pass filter for the real implementation of the proposed | |
| control law which bring. about the chattering problem. From the computer | |
| simulation results, we can show the effectiveness of the proposed | |
| control strategy.}, | |
| bib = {bibtex-keys#Lee2002}, | |
| bibpr = {private-bibtex-keys#Lee2002}, | |
| doi = {10.1109/IRDS.2002.1041594}, | |
| file = {Lee2002.pdf:Lee2002.pdf:PDF}, | |
| keywords = { electric vehicles, low-pass filters, mobile robots, nonlinear control | |
| systems, robot dynamics, robot kinematics, stability, tracking chattering | |
| problem, dynamic formulation, kinematic formulation, lateral mass | |
| motion, low-pass filter, mass balance, nonlinear control, self stabilization, | |
| self-stabilizing strategy, sliding patch phenomenon, stuck phenomenon, | |
| tracking control, unmanned electric bicycle}, | |
| owner = {moorepants}, | |
| review = {Mass balancer | |
| Controller: sliding patch and stuck phenomena, something akin to sliding | |
| mode control | |
| The control the non-linear equations. | |
| It moves the mass left to go left and right to go right | |
| He thinks his paper is the first to show roll stabilization with path | |
| tracking using steering, upper body motion and wheel speed control.}, | |
| timestamp = {2009.01.31}, | |
| webpdf = {references-folder/Lee2002.pdf} | |
| } | |
| @INPROCEEDINGS{Lenkeit1995, | |
| author = {John F. Lenkeit}, | |
| title = {A servo rider for the automatic and remote path control of a motorcycle}, | |
| booktitle = {SAE International Congress and Exposition}, | |
| year = {1995}, | |
| number = {950199}, | |
| bib = {bibtex-keys#Lenkeit1995}, | |
| bibpr = {private-bibtex-keys#Lenkeit1995}, | |
| file = {Lenkeit1995.pdf:Lenkeit1995.pdf:PDF}, | |
| timestamp = {2012.01.04}, | |
| webpdf = {references-folder/Lenkeit1995.pdf} | |
| } | |
| @ARTICLE{Lesser1992, | |
| author = {Lesser, Martin}, | |
| title = {A geometrical interpretation of Kane's Equations}, | |
| journal = {Proceedings of the Royal Society A: Mathematical, Physical and Engineering | |
| Sciences}, | |
| year = {1992}, | |
| volume = {436}, | |
| pages = {69--87}, | |
| number = {1896}, | |
| month = {January}, | |
| abstract = {The method for the development of the equations of motion for systems | |
| of constrained particles and rigid bodies, developed by T. R. Kane | |
| and called Kane's Equations, is discussed from a geometric viewpoint. | |
| It is shown that what Kane calls partial velocities and partial angular | |
| velocities may be interpreted as components of tangent vectors to | |
| the system's configuration manifold. The geometric picture, when | |
| attached to Kane's formalism shows that Kane's Equations are projections | |
| of the Newton-Euler equations of motion onto a spanning set of the | |
| configuration manifold's tangent space. One advantage of Kane's method, | |
| is that both non-holonomic and non-conservative systems are easily | |
| included in the same formalism. This easily follows from the geometry. | |
| It is also shown that by transformation to an orthogonal spanning | |
| set, the equations can be diagonalized in terms of what Kane calls | |
| the generalized speeds. A further advantage of the geometric picture | |
| lies in the treatment of constraint forces which can be expanded | |
| in terms of a spanning set for the orthogonal complement of the configuration | |
| tangent space. In all these developments, explicit use is made of | |
| a concrete realization of the multidimensional vectors which are | |
| called K-vectors for a K-component system. It is argued that the | |
| current presentation also provides a clear tutorial route to Kane's | |
| method for those schooled in classical analytical mechanics.}, | |
| bib = {bibtex-keys#Lesser1992}, | |
| bibpr = {private-bibtex-keys#Lesser1992}, | |
| owner = {Luke}, | |
| timestamp = {2008.12.11}, | |
| url = {http://dx.doi.org/10.1098/rspa.1992.0005} | |
| } | |
| @INPROCEEDINGS{Leva1993, | |
| author = {de Leva, P.}, | |
| title = {Validity and accuracy of four methods for locating the center of | |
| mass of young male and female athletes}, | |
| booktitle = {International Society of Biomechanics XIVth Congress-Abstracts}, | |
| year = {1993}, | |
| editor = {Bouisset, S. and Metral, S. and Monod, H.}, | |
| pages = {318-319}, | |
| address = {France}, | |
| organization = {Universite Paris-Sud}, | |
| bib = {bibtex-keys#Leva1993}, | |
| bibpr = {private-bibtex-keys#Leva1993}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.26} | |
| } | |
| @ARTICLE{Leva1996, | |
| author = {de Leva, P.}, | |
| title = {Joint center longitudinal positions computed from a selected subset | |
| of ChandlerÂs data}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1996}, | |
| volume = {29}, | |
| bib = {bibtex-keys#Leva1996}, | |
| bibpr = {private-bibtex-keys#Leva1996}, | |
| file = {Leva1996.pdf:Leva1996.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.26}, | |
| webpdf = {references-folder/Leva1996.pdf} | |
| } | |
| @ARTICLE{Lew2008, | |
| author = {Lew, E.~S. and Orazov, B. and O'Reilly, O.~M.}, | |
| title = {The dynamics of Charles Taylor's remarkable one-wheeled vehicle}, | |
| journal = {Regular and Chaotic Dynamics}, | |
| year = {2008}, | |
| volume = {13}, | |
| pages = {257-266}, | |
| month = {August}, | |
| adsnote = {Provided by the SAO/NASA Astrophysics Data System}, | |
| adsurl = {http://adsabs.harvard.edu/abs/2008RCD....13..257L}, | |
| bib = {bibtex-keys#Lew2008}, | |
| bibpr = {private-bibtex-keys#Lew2008}, | |
| doi = {10.1134/S1560354708040035}, | |
| file = {Lew2008.pdf:Lew2008.pdf:PDF}, | |
| webpdf = {references-folder/Lew2008.pdf} | |
| } | |
| @TECHREPORT{Lewis1973, | |
| author = {Lewis, G.D.}, | |
| title = {The manoeuvrability and braking performance of small-wheeled bicycles | |
| when ridden by children.}, | |
| institution = {Transport and Road Research Laboratory (TRRL), Department of Environment, | |
| Crawthorne, Berkshire}, | |
| year = {1973}, | |
| number = {LR 500}, | |
| bib = {bibtex-keys#Lewis1973}, | |
| bibpr = {private-bibtex-keys#Lewis1973}, | |
| owner = {moorepants}, | |
| timestamp = {2008.10.16} | |
| } | |
| @ARTICLE{Li1990, | |
| author = {Li, Z. and Canny, J.}, | |
| title = {Motion of two rigid bodies with rolling constraint}, | |
| journal = {Robotics and Automation, IEEE Transactions on}, | |
| year = {1990}, | |
| volume = {6}, | |
| pages = {62-72}, | |
| number = {1}, | |
| month = {February}, | |
| abstract = {The motion of two rigid bodies under rolling constraint is considered. | |
| In particular, the following two problems are addressed: (1) given | |
| the geometry of the rigid bodies, determine the existence of an admissible | |
| path between two contact configurations; and (2) assuming that an | |
| admissible path exists, find such a path. First, the configuration | |
| space of contact is defined, and the differential equations governing | |
| the rolling constraint are derived. Then, a generalized version of | |
| Frobenius's theorem, known as Chow's theorem, for determining the | |
| existence of motion is applied. Finally, an algorithm is proposed | |
| that generates a desired path with one of the objects being flat. | |
| Potential applications of this study include adjusting grasp configurations | |
| of a multifingered robot hand without slipping, contour following | |
| without dissipation or wear by the end-effector of a manipulator, | |
| and wheeled mobile robotics}, | |
| bib = {bibtex-keys#Li1990}, | |
| bibpr = {private-bibtex-keys#Li1990}, | |
| doi = {10.1109/70.88118}, | |
| issn = {1042-296X}, | |
| keywords = {differential equations, matrix algebra, robotsChow's theorem, Frobenius's | |
| theorem, admissible path, configuration space, contact configurations, | |
| contour following, differential equations, end-effector, matrix algebra, | |
| multifingered robot hand, rigid bodies, rolling constraint, wheeled | |
| mobile robotics}, | |
| owner = {Luke}, | |
| review = {hello, I like this paper}, | |
| timestamp = {2009.02.05} | |
| } | |
| @INPROCEEDINGS{Liang2006, | |
| author = {Liang, Chi-Ying and Lin, Wai-Hon and Chang, Bruce}, | |
| title = {Applying fuzzy logic control to an electric bicycle}, | |
| booktitle = {First International Conference on Innovative Computing, Information | |
| and Control}, | |
| year = {2006}, | |
| editor = {Pan, J.-S. and Shi, P. and Zhao, Y.}, | |
| pages = {513--516}, | |
| address = {Los Alamitos, CA, USA}, | |
| month = {September}, | |
| organization = {IEEE; ICIC Int.; National Natural Sci. Found. of China; Beijing Jiaotong | |
| Univ.; Kaosiung Univ. of Appl. Sci}, | |
| publisher = {IEEE Comput. Soc}, | |
| note = {First International Conference on Innovative Computing, Information | |
| and Control, 30 August-1 September 2006, Beijing, China}, | |
| abstract = {Bicycles are used virtually everywhere, and for many applications; | |
| transportation, recreation and exercise. Their dynamic behavior is | |
| statically unstable like the inverted pendulum. In this paper, we | |
| developed an intelligent electric bicycle based on fuzzy logic and | |
| single chip approach. We chose the PSoC (programmable system-on-chips) | |
| as the microprocessor. The key point is to adjust the PWM (pulse | |
| width modulation) signal to control the speed of the bicycle, automatically. | |
| With this method we hope one can ride the bicycle easily, whether | |
| the road is level or steep.}, | |
| affiliation = {Chi-Ying Liang; Dept. of Electron. Eng., Wu Feng Inst. of Technol., | |
| Taiwan.}, | |
| bib = {bibtex-keys#Liang2006}, | |
| bibpr = {private-bibtex-keys#Liang2006}, | |
| doi = {http://dx.doi.org/10.1109/ICICIC.2006.54}, | |
| file = {Liang2006.pdf:Liang2006.pdf:PDF}, | |
| identifying-codes = {[0-7695-2616-0/06/\$20.00]}, | |
| isbn = {0 7695 2616 0}, | |
| keywords = {Practical/ bicycles; electric vehicles; fuzzy control; intelligent | |
| control; system-on-chip; velocity control/ fuzzy logic control; intelligent | |
| electric bicycle; transportation; dynamic behavior; inverted pendulum; | |
| single chip approach; programmable system-on-chip; PSoC; microprocessor; | |
| PWM control; speed control/ B8520 Transportation; B1265F Microprocessors | |
| and microcomputers; C3360B Road-traffic system control; C1340F Fuzzy | |
| control; C3120E Velocity, acceleration and rotation control; C5130 | |
| Microprocessor chips}, | |
| language = {English}, | |
| number-of-references = {9}, | |
| owner = {luke}, | |
| publication-type = {C}, | |
| review = {This is a fuzzy logic speed controller. Nothing about balancing or | |
| lateral control.}, | |
| timestamp = {2009.11.01}, | |
| type = {Conference Paper}, | |
| unique-id = {INSPEC:9132237}, | |
| webpdf = {references-folder/Liang2006.pdf} | |
| } | |
| @ARTICLE{Liesegang1978, | |
| author = {Liesegang, J. and Lee, A.~R.}, | |
| title = {Dynamics of a bicycle: Nongyroscopic aspects}, | |
| journal = {American Journal of Physics}, | |
| year = {1978}, | |
| volume = {46}, | |
| pages = {130-132}, | |
| month = {February}, | |
| adsnote = {Provided by the SAO/NASA Astrophysics Data System}, | |
| adsurl = {http://adsabs.harvard.edu/abs/1978AmJPh..46..130L}, | |
| bib = {bibtex-keys#Liesegang1978}, | |
| bibpr = {private-bibtex-keys#Liesegang1978}, | |
| doi = {10.1119/1.11370}, | |
| file = {Liesegang1978.pdf:Liesegang1978.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.04}, | |
| webpdf = {references-folder/Liesegang1978.pdf} | |
| } | |
| @TECHREPORT{Lignoski2002, | |
| author = {Brad Lignoski}, | |
| title = {Bicycle Stability, Is the Steering Angle Proportional to the Lean?}, | |
| institution = {The College of Wooster}, | |
| year = {2002}, | |
| month = {May}, | |
| abstract = {If the steering of a bicycle is proportional to the lean angle, then | |
| the motion of the center of mass of the bike can be modeled as a | |
| damped simple harmonic oscillator. This would in part explain why | |
| a bicycle is stable. An experiment was performed to determine weather | |
| or not the steering angle is proportional to the lean. Due to noisy | |
| data, the proportionality was not conclusively verified, but evidence | |
| does suggest that the steer angle is proportional to the lean angle | |
| for small angles. The constant of proportionality was determined | |
| to be k=2.40±0.15. Improvements for future versions of this investigation | |
| are suggested.}, | |
| bib = {bibtex-keys#Lignoski2002}, | |
| bibpr = {private-bibtex-keys#Lignoski2002}, | |
| file = {Lignoski2002.pdf:Lignoski2002.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Lignoski2002.pdf} | |
| } | |
| @INPROCEEDINGS{Limebeer2008, | |
| author = {Limebeer, D.J.N. and Sharma, A.}, | |
| title = {The dynamics of the accelerating bicycle}, | |
| booktitle = {Communications, Control and Signal Processing, 2008. ISCCSP 2008. | |
| 3rd International Symposium on}, | |
| year = {2008}, | |
| pages = {237-242}, | |
| month = {March}, | |
| bib = {bibtex-keys#Limebeer2008}, | |
| bibpr = {private-bibtex-keys#Limebeer2008}, | |
| doi = {10.1109/ISCCSP.2008.4537226}, | |
| file = {Limebeer2008.pdf:Limebeer2008.pdf:PDF}, | |
| keywords = {acceleration, braking, mechanical stability, vehicle dynamics, wheelsaccelerating | |
| bicycle, bicycle dynamics, braking, cornering, d Alemberts principle, | |
| forces of inertia, machine dynamics, road wheels, roll angle, stability}, | |
| webpdf = {references-folder/Limebeer2008.pdf} | |
| } | |
| @ARTICLE{Limebeer2001, | |
| author = {D.J.N. Limebeer and R.S. Sharp and S. Evangelou}, | |
| title = {The stability of motorcycles under acceleration and braking}, | |
| journal = {J. Mech. Eng. Sci}, | |
| year = {2001}, | |
| volume = {215}, | |
| pages = {1095Â1109}, | |
| number = {9}, | |
| bib = {bibtex-keys#Limebeer2001}, | |
| bibpr = {private-bibtex-keys#Limebeer2001}, | |
| file = {Limebeer2001.pdf:Limebeer2001.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.25}, | |
| webpdf = {references-folder/Limebeer2001.pdf} | |
| } | |
| @ARTICLE{Limebeer2006, | |
| author = {Limebeer, David J.N. and Sharp, Robert S.}, | |
| title = {Bicycles, motorcycles, and models}, | |
| journal = {IEEE Control Systems Magazine}, | |
| year = {2006}, | |
| volume = {26}, | |
| pages = { 34-61}, | |
| number = {5}, | |
| month = {October}, | |
| bib = {bibtex-keys#Limebeer2006}, | |
| bibpr = {private-bibtex-keys#Limebeer2006}, | |
| file = {Limebeer2006.pdf:Limebeer2006.pdf:PDF}, | |
| issn = {0272-1708}, | |
| owner = {Luke}, | |
| review = {JKM - Limebeer and Sharp show a graph of steer torque for the benchmark | |
| bicycle model on page 47 for step inputs of steer torque that range | |
| from -0.5 to 2.5 Nm for extreme roll and steer angles. | |
| They give a basic historical overview of bicycles and motorcycles. | |
| They then talk about the history of the bicycle/motorcycle equations | |
| with a callout about Whipple. They give a basic point mass model | |
| which is the same as the one in Astrom2005 and show the speed dependency | |
| of the steer to roll transfere function. They then show the Whipple | |
| model results with the benchmark parameters. He gives good description | |
| of the weave, capsize and caster modes in terms of the eigenvectors. | |
| He looks at some special cases of the Whipple model: | |
| - locked steering: bicycle capsizes at all speeds | |
| - point mass model with trail and head angle: take away inertia from | |
| whipple model: steer torque to steer angle transfer function is a | |
| constant, a virtual spring. | |
| - no trail, head angle or front frame mass offset: shows steer to | |
| roll relationship | |
| - no trail, no head angle: adds steering damping... | |
| - gyro effects: easily rideable in experiments, a simple low bandwith | |
| challenge for the rider, no auto stable range. he mentions Jim's | |
| no trail, no gyro model | |
| He points out counter steering early accounts of the phenomena. He | |
| then says you can think of countersteering in two ways. The first | |
| is always present and the second is only present at high speeds. | |
| The second describes the opposite torque that may be needed to maintain | |
| a steady turn at high speed (i.e. steer torque left to initiate a | |
| right turn, but then steer torque right to maintain the turn). The | |
| first way is the more common interpretation. It is the fact that | |
| an intial left steer torque and steer angle to the left are require | |
| to go into a right turn. | |
| They emulate rider control of the Whipple model with roll rate plus | |
| roll angle feedback (PD on roll angle). He sets the two gains to | |
| zero in the autostable region and sets them to stablizing values | |
| outside. He chooses gains for three speeds such that the torque step | |
| response gives about the same steady state roll angle. | |
| Steer torque left to initiate right turn and then steer torque right | |
| to stabilize happens a high speed (above stable speed range). Fig | |
| 16 | |
| He points out the steer angle and lateral displacement show initial | |
| overshoot (i.e. non mimium phase behavior) and attributes it to the | |
| zero in the steer torque to steer angle transfer function. | |
| He claims that closing the roll loop with PD and picking stablizing | |
| gains forces the steer torque input to osciallate at th weave frequency. | |
| This implies that control is done at the weave frequency. | |
| Alot more to detail... | |
| Should go through all the refereneces... | |
| Body lean control is helpful when near a curb. | |
| It is interesting to note that both here and in Astrom 2005 the countersteer | |
| analysis is not done with the Whipple model. Here it is done with | |
| a point mass model with the developed steer torque input, where as | |
| Astrom does it with a similar model and a steer angle input.}, | |
| timestamp = {2008.11.13}, | |
| webpdf = {references-folder/Limebeer2006.pdf} | |
| } | |
| @ARTICLE{Liu1995, | |
| author = {C. Q. Liu and R. L. Huston}, | |
| title = {An Energy Theorem for Developing Testing Functions for Numerical | |
| Simulations of Dynamic Systems}, | |
| journal = {Journal of Dynamic Systems, Measurement, and Control}, | |
| year = {1995}, | |
| volume = {117}, | |
| pages = {193-198}, | |
| number = {2}, | |
| bib = {bibtex-keys#Liu1995}, | |
| bibpr = {private-bibtex-keys#Liu1995}, | |
| doi = {10.1115/1.2835179}, | |
| owner = {moorepants}, | |
| publisher = {ASME}, | |
| timestamp = {2009.11.04}, | |
| url = {http://link.aip.org/link/?JDS/117/193/1} | |
| } | |
| @ARTICLE{Liu1992, | |
| author = {C. Q. Liu and R. L. Huston}, | |
| title = {Another Look at Orthogonal Curvilinear Coordinates in Kinematic and | |
| Dynamic Analyses}, | |
| journal = {Journal of Applied Mechanics}, | |
| year = {1992}, | |
| volume = {59}, | |
| pages = {1033-1035}, | |
| number = {4}, | |
| bib = {bibtex-keys#Liu1992}, | |
| bibpr = {private-bibtex-keys#Liu1992}, | |
| doi = {10.1115/1.2894021}, | |
| owner = {moorepants}, | |
| publisher = {ASME}, | |
| timestamp = {2009.11.04}, | |
| url = {http://link.aip.org/link/?AMJ/59/1033/1} | |
| } | |
| @ARTICLE{Liu2006, | |
| author = {C. Q. Liu and Fang Li and R. L. Huston}, | |
| title = {Dynamics of a Basketball Rolling Around the Rim}, | |
| journal = {Journal of Dynamic Systems, Measurement, and Control}, | |
| year = {2006}, | |
| volume = {128}, | |
| pages = {359-364}, | |
| number = {2}, | |
| bib = {bibtex-keys#Liu2006}, | |
| bibpr = {private-bibtex-keys#Liu2006}, | |
| doi = {10.1115/1.2194073}, | |
| keywords = {sport; differential equations; integration; rolling friction; mechanical | |
| contact}, | |
| owner = {moorepants}, | |
| publisher = {ASME}, | |
| timestamp = {2009.11.04}, | |
| url = {http://link.aip.org/link/?JDS/128/359/1} | |
| } | |
| @ARTICLE{Liu1992a, | |
| author = {Liu, T.S. and Chen, J.S.}, | |
| title = {Nonlinear analysis of stability for motorcycle-rider systems}, | |
| journal = {International Journal Of Vehicle Design}, | |
| year = {1992}, | |
| volume = {13}, | |
| pages = {276--294}, | |
| number = {3}, | |
| bib = {bibtex-keys#Liu1992a}, | |
| bibpr = {private-bibtex-keys#Liu1992a}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Liu1991, | |
| author = {Liu, T.S. and Hsiao, I.H}, | |
| title = {Taguchi method applied to motorcycle handling}, | |
| journal = {International Journal Of Vehicle Design}, | |
| year = {1991}, | |
| volume = {12}, | |
| pages = {345--356}, | |
| number = {3}, | |
| bib = {bibtex-keys#Liu1991}, | |
| bibpr = {private-bibtex-keys#Liu1991}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Liu1993, | |
| author = {Liu, T.S. and Wu, J.C.}, | |
| title = {A model for a rider-motorcycle system using fuzzy control}, | |
| journal = {Systems, Man and Cybernetics, IEEE Transactions on}, | |
| year = {1993}, | |
| volume = {23}, | |
| pages = {267--276}, | |
| number = {1}, | |
| month = {January}, | |
| abstract = {A rider-motorcycle system is a representative man-machine system in | |
| view of the major role that the rider plays in determining the performance | |
| of the integrated system. The handling property of motorcycles influences | |
| safety during riding. In the study, a motorcycle model subjected | |
| to fuzzy control representing rider's perception and action is investigated | |
| to facilitate motorcycle design. A mathematical model of three-dimensional | |
| (3D) multibody dynamics is constructed, which accounts for not only | |
| motorcycle structures but also the rider's posture change. The fuzzy | |
| controller based on control rules and fuzzy reasoning methods plays | |
| the role of the rider in a rider-motorcycle system. The fuzzy control | |
| is facilitated by the construction of look-up tables. A rider-motorcycle | |
| system undergoing circular motion is simulated. The study provides | |
| a viable means for computer-aided design of a representative man-machine | |
| control system}, | |
| bib = {bibtex-keys#Liu1993}, | |
| bibpr = {private-bibtex-keys#Liu1993}, | |
| doi = {10.1109/21.214787}, | |
| file = {Liu1993.pdf:Liu1993.pdf:PDF}, | |
| issn = {0018-9472}, | |
| keywords = {fuzzy control, model-based reasoning, road vehicles3D multibody dynamics, | |
| circular motion, control rules, fuzzy control, fuzzy reasoning methods, | |
| look-up tables, man-machine system, motorcycle structures, posture | |
| change, rider-motorcycle system, safety}, | |
| webpdf = {references-folder/Liu1993.pdf} | |
| } | |
| @ARTICLE{Liu2010, | |
| author = {Yan Bin Liu and Qing Hua Ji and Xiao Chao Sun and Jian Hai Han}, | |
| title = {Kinematics and Trajectory Tracking Motion Plan of an Unmanned Bicycle}, | |
| journal = {Advanced Materials Research}, | |
| year = {2010}, | |
| volume = {152 - 153}, | |
| pages = {341-345}, | |
| month = {October}, | |
| abstract = {Kinematics and ground plane trajectory tracking motion plan of an | |
| unmanned bicycle were researched in this paper. For the unmanned | |
| bicycle controlled by a steering torque, a pedaling toque and a tilting | |
| torque, rigorous kinematics model was set up and discussed, and when | |
| the ground plane trajectories and the bicycle tilting angular trajectory | |
| were given, by use of Back-stepping design means, the steering angular | |
| velocity, the rear wheel rotation angular velocity and the other | |
| motion parameters trajectories of the unmanned bicycle were planned | |
| and discussed, the simulation results showed that the kinematics | |
| model built was accurate and rigorous, all above motion parameter | |
| plans were reasonable.}, | |
| bib = {bibtex-keys#Liu2010}, | |
| bibpr = {private-bibtex-keys#Liu2010}, | |
| doi = {10.4028/www.scientific.net/AMR.152-153.341}, | |
| file = {Liu2010.pdf:Liu2010.pdf:PDF}, | |
| keywords = {Kinematic, Motion Plan, Trajectory Tracking, Unmanned Bicycle}, | |
| owner = {moorepants}, | |
| timestamp = {2011.07.07}, | |
| webpdf = {references-folder/Liu2010.pdf} | |
| } | |
| @INBOOK{Ljung1995a, | |
| chapter = {58}, | |
| pages = {1033--1054}, | |
| title = {System Identification}, | |
| publisher = {CRC Press}, | |
| year = {1995}, | |
| editor = {William S. Levine}, | |
| author = {Lennart Ljung}, | |
| bib = {bibtex-keys#Ljung1995a}, | |
| bibpr = {private-bibtex-keys#Ljung1995a}, | |
| file = {Ljung1995a.pdf:Ljung1995a.pdf:PDF}, | |
| timestamp = {2012.02.29}, | |
| webpdf = {references-folder/Ljung1995a.pdf} | |
| } | |
| @INPROCEEDINGS{Ljung2008, | |
| author = {Lennart Ljung}, | |
| title = {Perspectives of System Identification}, | |
| booktitle = {IFAC Congress}, | |
| year = {2008}, | |
| address = {Seoul, South Korea}, | |
| month = {July}, | |
| bib = {bibtex-keys#Ljung2008}, | |
| bibpr = {private-bibtex-keys#Ljung2008}, | |
| file = {Ljung2008.pdf:Ljung2008.pdf:PDF}, | |
| review = {The part on convexifcation is interesting and could be applicable | |
| to our bicycle/rider grey box models as we have several local minima. | |
| Secondly, his related presentation for this paper gives some details | |
| on model reduction. In the case shown he has 20th order helicopter | |
| model with 1 input and 8 outputs. He calculated 8 SISO 12th order | |
| models, concatenates them, reduces the 96th order model to 20th order | |
| and finally does a fit with the resulting model giving unbelievably | |
| better fits.}, | |
| timestamp = {2011.11.14}, | |
| webpdf = {references-folder/Ljung2008.pdf} | |
| } | |
| @BOOK{Ljung1998, | |
| title = {System Identification: Theory for the User}, | |
| publisher = {Prentice Hall}, | |
| year = {1998}, | |
| author = {Lennart Ljung}, | |
| timestamp = {2012.08.08} | |
| } | |
| @TECHREPORT{Ljung1995, | |
| author = {Lennart Ljung}, | |
| title = {System Identification}, | |
| institution = {Link\"{o}ping University}, | |
| year = {1995}, | |
| address = {Link\"{o}ping, Sweden}, | |
| month = {May}, | |
| bib = {bibtex-keys#Ljung1995}, | |
| bibpr = {private-bibtex-keys#Ljung1995}, | |
| file = {Ljung1995.pdf:Ljung1995.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Ljung1995.pdf} | |
| } | |
| @ARTICLE{Ljung1994, | |
| author = {Ljung, Lennart and Glad, Torkel}, | |
| title = {On Global Identifiability of Arbitrary Model Parameterizations}, | |
| journal = {Automatica}, | |
| year = {1994}, | |
| volume = {30}, | |
| pages = {265--276}, | |
| number = {2}, | |
| month = {February}, | |
| bib = {bibtex-keys#Ljung1994}, | |
| bibpr = {private-bibtex-keys#Ljung1994}, | |
| file = {Ljung1994.pdf:Ljung1994.pdf:PDF}, | |
| webpdf = {references-folder/Ljung1994.pdf} | |
| } | |
| @ARTICLE{Lobas1987, | |
| author = {Lobas, L. G.}, | |
| title = {Controllability, Stabilizability and observability of the motion | |
| of wheeled vehicles}, | |
| journal = {Prikladnaya Mekhanika}, | |
| year = {1987}, | |
| volume = {23}, | |
| pages = {93-98}, | |
| number = {4}, | |
| note = {Translated from the Russian: UDC 62-50:629.113}, | |
| bib = {bibtex-keys#Lobas1987}, | |
| bibpr = {private-bibtex-keys#Lobas1987} | |
| } | |
| @ARTICLE{Loduha1995, | |
| author = {T. A. Loduha and B. Ravani}, | |
| title = {On First-Order Decoupling of Equations of Motion for Constrained | |
| Dynamical Systems}, | |
| journal = {Journal of Applied Mechanics}, | |
| year = {1995}, | |
| volume = {62}, | |
| pages = {216-222}, | |
| number = {1}, | |
| bib = {bibtex-keys#Loduha1995}, | |
| bibpr = {private-bibtex-keys#Loduha1995}, | |
| owner = {moorepants}, | |
| publisher = {ASME}, | |
| timestamp = {2009.11.04}, | |
| url = {http://link.aip.org/link/?AMJ/62/216/1} | |
| } | |
| @ARTICLE{Lorenzo1999, | |
| author = {de Lorenzo, D.S. and Hull, M.L.}, | |
| title = {Quantification of structural loading during off-road cycling}, | |
| journal = {Transactions of the ASME. Journal of Biomechanical Engineering}, | |
| year = {1999}, | |
| volume = {121}, | |
| pages = {399-405}, | |
| number = {4}, | |
| month = {August}, | |
| abstract = {To provide data for fatigue life prediction and testing of structural | |
| components in off-road bicycles, the objective of the research described | |
| herein was to quantify the loads input to an off-road bicycle as | |
| a result of surface-induced loads. A fully instrumented test bicycle | |
| was equipped with dynamometers at the pedals, handlebars, and hubs | |
| to measure all in-plane structural loads acting through points of | |
| contact between the bicycle and both the rider and the ground. A | |
| portable data acquisition system carried by the standing rider allowed, | |
| for the first time, this loading information to be collected during | |
| extended off-road testing. In all, 7 experienced riders rode a downhill | |
| trail test section with the test bicycle in both front-suspension | |
| and full-suspension configurations. The load histories were used | |
| quantitatively to describe the bad components through the computation | |
| of means, standard deviations amplitude probability density functions, | |
| and power spectral density functions. For the standing position, | |
| the coefficients of variation for the load components normal to the | |
| ground were greater than 1.2 for handlebar forces and 0.3 and 0.5-0.6 | |
| for the pedal and hub forces, respectively. Thus the relative contribution | |
| of the dynamic loading was much greater than the static loading at | |
| the handlebars but less so at the pedals and hubs. As indicated by | |
| the rainflow count, high amplitude loading was developed approaching | |
| 3 and 5 times the weight of the test subjects at the front and rear | |
| wheels, respectively. The power spectral densities showed that energy | |
| was concentrated in the band 0-50 Hz. Through stress computations | |
| and knowledge of material properties, the data can be used analytically | |
| to predict the fatigue life of important structural components such | |
| as those for steering. The data can also be used to develop a fatigue | |
| testing protocol for verifying analytical predictions of fatigue | |
| life.}, | |
| address = {USA}, | |
| affiliation = {de Lorenzo, D.S.; Hull, M.L.; Dept. of Mech. Eng., California Univ., | |
| Davis, CA, USA.}, | |
| bib = {bibtex-keys#Lorenzo1999}, | |
| bibpr = {private-bibtex-keys#Lorenzo1999}, | |
| file = {Lorenzo1999.pdf:Lorenzo1999.pdf:PDF}, | |
| identifying-codes = {[A1999-24-8745-029],[0148-0731/99/\$3.00],[0148-0731(199908)121:4L.399:QSLD;1-I]}, | |
| issn = {0148-0731}, | |
| keywords = {Practical, Experimental/ biomechanics; fatigue testing; sport/ fatigue | |
| life prediction; structural components testing; surface-induced loads; | |
| pedals; handlebars; hubs; in-plane structural loads; portable data | |
| acquisition system; experienced riders; downhill trail test section; | |
| bad components; amplitude probability density functions; power spectral | |
| density functions; standing position; static loading; 0 to 50 Hz/ | |
| A8745D Physics of body movements/ frequency 0.0E+00 to 5.0E+01 Hz}, | |
| language = {English}, | |
| number-of-references = {11}, | |
| owner = {moorepants}, | |
| publication-type = {J}, | |
| publisher = {ASME}, | |
| timestamp = {2009.12.04}, | |
| type = {Journal Paper}, | |
| unique-id = {INSPEC:6401357}, | |
| webpdf = {references-folder/Lorenzo1999.pdf} | |
| } | |
| @MASTERSTHESIS{Lorenzo1997, | |
| author = {de Lorenzo, David S.}, | |
| title = {Quantification of Structural Loading During Off-road Cycling}, | |
| school = {Univeristy of California, Davis}, | |
| year = {1997}, | |
| bib = {bibtex-keys#Lorenzo1997}, | |
| bibpr = {private-bibtex-keys#Lorenzo1997}, | |
| file = {Lorenzo1997.pdf:Lorenzo1997.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {JKM - David de Lorenzo instrumeted a bike to measure pedal forces, | |
| handlebar forces, hub forces to measure the in-plane structural loads. | |
| He took the bike to the trails and had 7 riders do a downhill section. | |
| The hand reactions were measured with a handlerbar sensitive to x | |
| (pointing forward and parallel to the ground) and z (pointing upwards, | |
| perpendicular to the ground) axis forces on both the left and right | |
| sides of the handlebar. Net torque about any vector in the fork plane | |
| of symmetry can be calculated from these. Figure 3d shows a plot | |
| of steering torque with maximums around 7 Nm. The stem extension | |
| torque (representing the torque from pushin down and up on the handlebars) | |
| reaches 15 Nm. The calibration information leads me to believe that | |
| the crosstalk from the all of the forces and moments on the handlebars | |
| gives a very low accuracy for the reported torques, probably in the | |
| +/- 1 to 3 Nm range.}, | |
| timestamp = {2010.04.13}, | |
| webpdf = {references-folder/Lorenzo1997.pdf} | |
| } | |
| @UNPUBLISHED{Lorenzo1996, | |
| author = {de Lorenzo, D. S. and Hubbard, Mont}, | |
| title = {Dynamic Bicycle Stability of a Flexibly Coupled Rider}, | |
| note = {Internal report UC Davis}, | |
| year = {1996}, | |
| bib = {bibtex-keys#Lorenzo1996}, | |
| bibpr = {private-bibtex-keys#Lorenzo1996}, | |
| owner = {moorepants}, | |
| tags = {sbl,bicycle}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Lot2004, | |
| author = {Lot, Roberto}, | |
| title = {A Motorcycle Tire Model for Dynamic Simulations: Theoretical and | |
| Experimental Aspects}, | |
| journal = {Meccanica}, | |
| year = {2004}, | |
| volume = {39}, | |
| pages = {207--220}, | |
| number = {3}, | |
| month = {June}, | |
| abstract = {This paper describes a model for motorcycle tires based on a physical | |
| interpretation of experimental data. In this model the real shape | |
| of the tire carcass is accurately described and its deformability | |
| is taken into account. The actual position of the contact point, | |
| that is, the center of the contact patch, is calculated. The concept | |
| of instantaneous slip is defined by calculating the longitudinal | |
| slip and sideslip angles using the velocity of the actual contact | |
| point, which moves with respect to the rim. Tire forces and torques | |
| are applied on the actual contact point and calculated according | |
| to PacejkaâÂÂs magic formula. The coupling of sliding properties | |
| with elastic ones and the use of the instantaneous slip concept make | |
| it possible to properly describe both steady state and transient | |
| behavior using the same relations, thus avoiding the use of any auxiliary | |
| equations.}, | |
| bib = {bibtex-keys#Lot2004}, | |
| bibpr = {private-bibtex-keys#Lot2004}, | |
| file = {Lot2004.pdf:Lot2004.pdf:PDF}, | |
| owner = {Luke}, | |
| timestamp = {2009.03.06}, | |
| url = {http://dx.doi.org/10.1023/B:MECC.0000022842.12077.5c}, | |
| webpdf = {references-folder/Lot2004.pdf} | |
| } | |
| @ARTICLE{Lowell1982, | |
| author = {J. Lowell and H. D. McKell}, | |
| title = {The Stability of Bicycles}, | |
| journal = {American Journal of Physics}, | |
| year = {1982}, | |
| volume = {50}, | |
| pages = {1106--1112}, | |
| number = {12}, | |
| month = {December}, | |
| bib = {bibtex-keys#Lowell1982}, | |
| bibpr = {private-bibtex-keys#Lowell1982}, | |
| file = {Lowell1982.pdf:Lowell1982.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Lowell1982.pdf} | |
| } | |
| @ARTICLE{Lucia2001, | |
| author = {Lucia, ALEJANDRO and HOYOS, JESÚS and CHICHARRO and JOSÉ L.}, | |
| title = {Preferred pedalling cadence in professional cycling}, | |
| journal = {Medicine \& Science in Sports \& Exercise}, | |
| year = {2001}, | |
| volume = {33}, | |
| pages = {1361--1366}, | |
| number = {8}, | |
| bib = {bibtex-keys#Lucia2001}, | |
| bibpr = {private-bibtex-keys#Lucia2001}, | |
| file = {Lucia2001.pdf:Lucia2001.pdf:PDF}, | |
| timestamp = {2012.01.04}, | |
| webpdf = {references-folder/Lucia2001.pdf} | |
| } | |
| @BOOK{Luke2004, | |
| title = {Multilevel Modeling}, | |
| publisher = {Sage Publications}, | |
| year = {2004}, | |
| editor = {Michael S. Lewis-Beck}, | |
| author = {Douglas A. Luke}, | |
| bib = {bibtex-keys#Luke2004}, | |
| bibpr = {private-bibtex-keys#Luke2004}, | |
| timestamp = {2012.02.23} | |
| } | |
| @INPROCEEDINGS{Lunteren1973, | |
| author = {van Lunteren, A. and H. G. Stassen}, | |
| title = {Parameter Estimation in Linear Models of the Human Operator in a | |
| Closed Loop with Application of Deterministic Test Signals}, | |
| booktitle = {Proceedings of the 9th Annual Conference on Manual Control}, | |
| year = {1973}, | |
| month = {May}, | |
| bib = {bibtex-keys#Lunteren1973}, | |
| bibpr = {private-bibtex-keys#Lunteren1973}, | |
| file = {Lunteren1973.pdf:Lunteren1973.pdf:PDF}, | |
| owner = {Jodi}, | |
| review = {They describe the theoretical framework for determinining the open-loop | |
| and closed-loop transfer functions where there is an uncorrolated | |
| remnant. For closed loop systems also a method using deterministic | |
| test signals is described. The paper ends with a description of the | |
| idenfitication proces for multiloop systems. Unfortunately there | |
| are no physical numbers to go with the described work.}, | |
| timestamp = {2008.05.21}, | |
| webpdf = {references-folder/Lunteren1973.pdf} | |
| } | |
| @TECHREPORT{Lunteren1970, | |
| author = {van Lunteren, A. and H. G. Stassen}, | |
| title = {Investigations on the Bicycle Simulator}, | |
| institution = {Delft University of Technology, Laboratory for Measurement and Control}, | |
| year = {1970}, | |
| type = {{C}hapter {III} of {A}nnual {R}eport 1969 of the {M}an-{M}achine | |
| {S}ystems {G}roup}, | |
| number = {WTHD21}, | |
| bib = {bibtex-keys#Lunteren1970}, | |
| bibpr = {private-bibtex-keys#Lunteren1970}, | |
| file = {Lunteren1970.pdf:Lunteren1970.pdf:PDF}, | |
| owner = {Jodi}, | |
| review = {bicycle simulator is built on the whipple equations of motion. A leaned | |
| upper body is added. | |
| Only stabilizing task on a straight course is considered. at a moderate | |
| speed - 10 to 20 kph. They hypothesize that human control is carried | |
| out by a PID controller with a delay. | |
| The simulator ties to mimmic a bicycle running straight at a given | |
| speed (15kph). The simulator is stationary, and pivots about a motor | |
| controlled horizontal-longitudenal axis. A second motor is used to | |
| mimmic front wheel gyroscopic effects. | |
| This is an approximation of a bicycle as the contact points dont move. | |
| They measure the bicycle and rider lean and the steer angle and carryout | |
| all the experiments at 15kph. | |
| They conclude that the human bicycle controller can be described by | |
| a PD controler with a time delay. Where the input is the frame lean | |
| angle and the outputs are the steer angle and upper body lean angle. | |
| Average time delay on the handlebar control is 150ms and on the upper | |
| body control is 100ms. NO RIDER LEAN OR STEER TORQUE! | |
| They use the polarity coincidence correlation method (PCC) (from chapter | |
| II) to identify the human controller. To identify the coefficients | |
| of the Delayed PID controller. the characteristics of the riders | |
| inputs and outputs. | |
| He shows how the parameter id method that works with open loop id | |
| can be modified for the closed loop system with remnant involved. | |
| They finish with future work: they wish to add a visual display unit | |
| to carryout cours followng (tracking) control.}, | |
| timestamp = {2008.05.21}, | |
| webpdf = {references-folder/Lunteren1970.pdf} | |
| } | |
| @INPROCEEDINGS{Lunteren1970a, | |
| author = {van Lunteren,A. and H. G. Stassen}, | |
| title = {On the Influence of Drugs on the Behavior of a Bicycle Rider}, | |
| booktitle = {Sixth Annual Conference on Manual Control}, | |
| year = {1970}, | |
| address = {Wright-Patterson AFB, Ohio}, | |
| bib = {bibtex-keys#Lunteren1970a}, | |
| bibpr = {private-bibtex-keys#Lunteren1970a}, | |
| file = {Lunteren1970a.pdf:Lunteren1970a.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {FIgure 2 shows a nice physiological based block diagram of the human | |
| control system. It even includes angle angle and neck muscles in | |
| the course following component. They administer drugs to the rider | |
| to block some of the sensory abilities, thus simplifying the system. | |
| Drugs: | |
| - Secobarbitalinatricum - quick acting sleeping drug | |
| - Chlordiazepoxydi hydrochloridum - minor tranquilizer | |
| - Perphenazinum - a neurolepticum, dampens the emotional brain | |
| - Aethyl aLcohol - vodka, similar effects as Secobarbi... | |
| They did a serious of experiments with one week in between each experiment | |
| with the different drugs, including a placebo. They also performed | |
| a basic reaction time experiment each time. Blood samples were taken | |
| during the course of the alcohol consumption. | |
| They show that the vodka and the other barituate affect the controller. | |
| The other drugs less so. There is correlation between the RMS error | |
| of the controll actions and the drug dose.}, | |
| timestamp = {2009.11.03}, | |
| webpdf = {references-folder/Lunteren1970a.pdf} | |
| } | |
| @INPROCEEDINGS{Lunteren1970b, | |
| author = {van Lunteren, A. and H. G. Stassen}, | |
| title = {On the Variance of the Bicycle Rider's Behavior}, | |
| booktitle = {Procedings of the 6th Annual Conference on Manual Control}, | |
| year = {1970}, | |
| address = {Wright-Patterson AFB, Ohio}, | |
| month = {April}, | |
| abstract = {The behavior of a rider stabilizing a bicycle simulator has been studied. | |
| THe simulater used deomonstrates a reasonable similarity to a normal | |
| bicycle; the forward motion is missing, however, its effects on the | |
| dynamics of the simulator are take into account.\\The behavior of | |
| the cyclist has been described by the describing functions between | |
| the input of the rider, viz. the frame angle, and the outputs, viz. | |
| the rotations of handle bar and upper body. The parameters of he | |
| model in this way obtained were determined using an on-line open | |
| loop parameter estimation method. For low values of teh remnants | |
| the bias due to teh use of an open loop method in a closed loop system | |
| is small.\\It has been found that the behavior of the rider is time-independent | |
| over at least five minutes. Futhermore, if $\sigma_a$ is the mean | |
| value of the standard deviation of the parameters for one subject | |
| within one test, if $\sigma_b$ is the mean value of the standard | |
| deviation for one subject over a number of tests, and if $\sigma_c$ | |
| is teh mean value of the standard deviation for a group of subjects, | |
| then the relation between these quantities can be approximated by | |
| $\sigma_a:\sigma_b\:\sigma_c=1:2:3:$.}, | |
| bib = {bibtex-keys#Lunteren1970b}, | |
| bibpr = {private-bibtex-keys#Lunteren1970b}, | |
| file = {Lunteren1970b.pdf:Lunteren1970b.pdf:PDF}, | |
| owner = {Jodi}, | |
| review = {JKM-They use a bicycle simulator that mimics a very basic bicycle | |
| model to estimate the open loop transfer function of the human operator | |
| in a simple bicycle stabilization task. They used a PID controller | |
| with a time lag to represent the human and used an optimization technique | |
| that minimized the error between the experimental ouputs of the human | |
| and the model outputs from the PID controller using the same experimental | |
| input. They found some variance between riders and runs but claimed | |
| it was because they were controlling the bicycle at 15 km/h and thus | |
| it wasn't a critical control task. | |
| - they say the bicycle is an unstable system because they used a very | |
| simple model | |
| - they assume the rider uses steer angle and rider lean angle to control | |
| the roll angle of the bicycle | |
| - there is more detail to the project in their annual report from | |
| the same year (Lunteren1970) | |
| - they only mention Whipple as a previous model | |
| - the simulator neglects the frame and fork coupling, among other | |
| things | |
| - they don't test speeds below 10 km/h | |
| - they use the simplest bicycle model (same as presented by Karnopp | |
| and others) with a upper body that can lean | |
| - they got inertia, CoM, and mass values for the human from Williams | |
| and Lissner 1962 | |
| - the simulator is assumed to have resonable similiarity to a bicycle | |
| and a rider only takes a few minutes to learn to stabilize it | |
| - I am not sure how they measured lean angle of the rider | |
| - they assume a PID controller with a time lag for the human operator | |
| control model | |
| - they do include remnant in the system model | |
| - they estimate the PID coefficients and time lag by minimizing the | |
| error between the measure outputs from the simulator experiments | |
| to the output of the PID model. this simply looks at the open loop | |
| linear model of the human operator | |
| - their minimization techniques seemed to be a bit limited then. they | |
| didn't try to work with closed loop model and had to make more assumptions | |
| for when minimizing with respect to the time lag. we could do this | |
| much easier with todays tools | |
| - there is probably an optimal observation time for the experiments | |
| that minimize uncertaintity, this may not be trivial | |
| - the remnant produces a bias if this optimization technique is used | |
| for the closed loop system | |
| - they only had 4k of memory on their computer, but still did most | |
| of the calcs real time for the transfer function parameters | |
| - Figure 5 compares this optimization technique to some others they've | |
| done, one of which doesn't have the bias | |
| - they then look at the variance of riders control actions over time | |
| and over a group of riders | |
| - fig 6 shows that a rider's behavior can be treated as invariant | |
| for up to 5 minutes | |
| - comparing two riders, they show that the handlebar actions are similar | |
| but the upper body actions are not so similar | |
| - the nyquist plot of the two riders shows that there is a considerable | |
| difference in control actions but they both easily stablize the system, | |
| they do note that the riders were of different sizes | |
| - they think that making the stabilization task more difficult would | |
| make the riders behave more similar | |
| - they feel their procedure to determine the time delay numbers is | |
| good even though they had to make extra assumptions | |
| - they found a proportional relationship between the standard deviations | |
| of the transfer functions when taking more tests and using more subjects | |
| - they wonder whether the remnant should represent non-linearaties | |
| or a test signal introduced by the rider | |
| - they found a 0.5hz frequency when no external disturbances were | |
| applied}, | |
| timestamp = {2008.05.21}, | |
| webpdf = {references-folder/Lunteren1970b.pdf} | |
| } | |
| @INPROCEEDINGS{Lunteren1969, | |
| author = {van Lunteren, A. and H. G. Stassen}, | |
| title = {On-Line Parameter Estimation of the Human Transfer in a Man-Bicycle | |
| System}, | |
| booktitle = {Technical sessions, 4th congress of IFAC}, | |
| year = {1969}, | |
| number = {70.3}, | |
| pages = {41--55}, | |
| address = {Warsaw, Poland}, | |
| month = {June}, | |
| bib = {bibtex-keys#Lunteren1969}, | |
| bibpr = {private-bibtex-keys#Lunteren1969}, | |
| file = {Lunteren1969.pdf:Lunteren1969.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {The bicycle can be used for normal folks instead of highly trained | |
| pilots as most studies have previously been focused on. The bicycle | |
| is also unstable requiring the rider to stablize it. Figrue one shows | |
| a McRuer like human control system. | |
| The goals of this study are to answer: | |
| 1. How accurately can the human be described by a linear model plus | |
| remnant? | |
| 2. How variable is the model for a given subject? | |
| 3. How valid is the model for a randomly chosen group of riders? | |
| They oversimplified Whipple's model for their bicycle simulator only | |
| using the roll dynamics. The simulator coudl be pedaled or the pedaling | |
| torque created by a motor for motorcycle/moped simulations. A noise | |
| component coudl be injected in to the simulator's dynamics for side | |
| wind simulatiosn and such. They can only do online parameter estimation | |
| with the PID model even though they know about McRuer's poles/zeros | |
| forumation. | |
| They estimate the rider parameters with a basic linear regression | |
| on the current time steps based on a moving average. This seems to | |
| be flawed to some degree because the parameter estimations will be | |
| poor with few time samples and get better as more sample are collected. | |
| A moving average only uses a finite previous times too. They mention | |
| that this method is only valid for open loop systems because a bias | |
| due to remnant would be introduced otherwise. The parameters can | |
| be identified to 10\% accuracy even when the relative remnant N1 | |
| is 40\%. The behavior of the rider was shown to be stationary for | |
| at least 5 min observation times. 5 male subjects tested every day | |
| over ten days, the results in the tables seem repeatable. | |
| Conclusions | |
| 1. The best fit model is a PD with time delay. | |
| 2. The time delays, lead time constants and effective values of remnant | |
| are very different for the two control actions. | |
| 3. The lean action is lower in the cerebral heriarchy than the handlebar | |
| action. | |
| 4. The variation in estimated parameters among all riders was about | |
| twice that of a single rider, thus a generalization of the model | |
| to a group may be poor.}, | |
| timestamp = {2009.11.03}, | |
| webpdf = {references-folder/Lunteren1969.pdf} | |
| } | |
| @INPROCEEDINGS{Lunteren1967, | |
| author = {van Lunteren, A. and H. G. Stassen}, | |
| title = {Investigations on the Characteristics of a Human Operator Stabilizing | |
| a Bicycle Model}, | |
| booktitle = {International Symposium on Ergonomics in Machine Design}, | |
| year = {1967}, | |
| address = {Prague}, | |
| bib = {bibtex-keys#Lunteren1967}, | |
| bibpr = {private-bibtex-keys#Lunteren1967}, | |
| file = {Lunteren1967.pdf:Lunteren1967.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {They show that the human controller can be modeled by PID controllers | |
| with time lag using a bicycle simulator. They want to find the controller | |
| representative of a large population instead of the typical highly | |
| trained test pilot. The bicycle is good platform for this, because | |
| most people can ride bikes. Interested primarily in the stabilization | |
| task. The studies started in 1962. They assume decoupled steer to | |
| frame motions...which seems bad. They allow the rider to lean. The | |
| model for the bicyle simulator is a simple doubple inverted pendulum, | |
| with roll moment acting on the frame due to steer angle and rate | |
| (plus the one due to bicycle roll and rider lean). They used a PID | |
| model instead of the McRuer models because of technical limitations | |
| of the equipment. The bicycle roll angle is fed back to give an error | |
| signal. This is then run through PID control with a time delay to | |
| give a steer angle and rider lean angle input to the bicycle. Remnant | |
| are introduced at the output of the controller blocks for each bicycle | |
| input. They find a 2 hz natural frequency of the human-bicycle system. | |
| He plots the auto and cross correlations of the steer angle, lean | |
| angle, roll angle and output noise. The output noise seems to be | |
| basically white. The angles have a peak frequency as 2 hz (and one | |
| at the pedaling frequency). | |
| They present a correlation method and on-line parameter estimation | |
| method to determine the transfer functions of the human, both giving | |
| similar results in the Bode plots of an example identification. The | |
| on-line method is 10 times faster though. | |
| They say that the integral action didn't show up in either of the | |
| identified transfer functions. The ratio of derivative action to | |
| the proportional action of the upper body lean is three times that | |
| of the same ratio in the handlebar transfer functions. (i.e. lean | |
| angle is actuated more from roll rate than the handlebars are). | |
| They consider the steering action to be the result of cerebral activity | |
| and the upper body motion to be a reflex pattern based on a comparison | |
| of the identified time delays. The lean time delay is larger than | |
| the steer time delay. They used parameters for a moped in the simulator | |
| at 15 km/h. They show that the time delay increases as the give the | |
| rider drugs. | |
| They didn't seem to do anything about the human remnant.}, | |
| timestamp = {2009.11.03}, | |
| webpdf = {references-folder/Lunteren1967.pdf} | |
| } | |
| @ARTICLE{Lupu2011, | |
| author = {Mircea F. Lupu and Mingui Sun and Zhi-Hong Mao}, | |
| title = {Information Transmission in Human Manual Control of Unstable Systems}, | |
| year = {2011}, | |
| abstract = {The complexity of human-machine interaction | |
| (HMI) is growing rapidly in modern medical, industrial, and | |
| military systems. Human operators are often challenged by | |
| control of high-order systems or unstable systems near the limits | |
| of controllability. However, there is no quantitative indication | |
| of human performance and cognitive workload in these difficult | |
| HMI tasks. Here, we characterize HMI as information flows mea- | |
| sured in bits per second (b/s). We derive that for a normal human | |
| operator to stabilize highly unstable systems the information- | |
| transmission rate of manual control with one degree of freedom | |
| ranges between 3 and 4 b/s. This result reveals the potential | |
| and limitation of human manual control and is instructive to | |
| the design of HMI interfaces that may maximally utilize human | |
| control commands.}, | |
| bib = {bibtex-keys#Lupu2011}, | |
| bibpr = {private-bibtex-keys#Lupu2011}, | |
| file = {Lupu2011.pdf:Lupu2011.pdf:PDF}, | |
| keywords = {Information transmission, manual control, un-stable systems}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Lupu2011.pdf} | |
| } | |
| @INPROCEEDINGS{Lynch1972, | |
| author = {James P. Lynch and R. Douglas Roland}, | |
| title = {Computer animation of a bicycle simulation}, | |
| booktitle = {Fall Joint Computer Conference}, | |
| year = {1972}, | |
| bib = {bibtex-keys#Lynch1972}, | |
| bibpr = {private-bibtex-keys#Lynch1972}, | |
| file = {Lynch1972.pdf:Lynch1972.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2010.09.15}, | |
| webpdf = {references-folder/Lynch1972.pdf} | |
| } | |
| @INPROCEEDINGS{Maakaroun2011, | |
| author = {Salim Maakaroun and Philippe Chevrel and Maxime Gautier and Wisama | |
| Khalil}, | |
| title = {Modelling and Simulation of a Two wheeled vehicle with suspensions | |
| by using Robotic Formalism}, | |
| booktitle = {Proceedings of the 18th World Congress The International Federation | |
| of Automatic Control}, | |
| year = {2011}, | |
| address = {Milano, Italy}, | |
| month = {September}, | |
| bib = {bibtex-keys#Maakaroun2011}, | |
| bibpr = {private-bibtex-keys#Maakaroun2011}, | |
| file = {Maakaroun2011.pdf:Maakaroun2011.pdf:PDF}, | |
| timestamp = {2012.03.01}, | |
| webpdf = {references-folder/Maakaroun2011.pdf} | |
| } | |
| @TECHREPORT{MacAdam1988, | |
| author = {Charles C. MacAdam}, | |
| title = {Development of Driver/Vehicle Steering Interaction Models For Dynamics | |
| Analysis}, | |
| institution = {University of Michigan}, | |
| year = {1988}, | |
| bib = {bibtex-keys#MacAdam1988}, | |
| bibpr = {private-bibtex-keys#MacAdam1988}, | |
| file = {MacAdam1988.pdf:MacAdam1988.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/MacAdam1988.pdf} | |
| } | |
| @TECHREPORT{Magdaleno1971, | |
| author = {R. E. Magdaleno and D. T. McRuer}, | |
| title = {Experimental Validation and Analytical Elaboration for Models of | |
| the Pilot's Neuromuscular Subsystem in Tracking Tasks}, | |
| institution = {NASA}, | |
| year = {1971}, | |
| number = {CR-1757}, | |
| month = {April}, | |
| timestamp = {2012.08.13} | |
| } | |
| @MISC{Mages2012, | |
| author = {Jürgen Mages}, | |
| title = {Python Lowracer}, | |
| howpublished = {World Wide Web}, | |
| month = {August}, | |
| year = {2012}, | |
| note = {[Online; accessed 10-Aug-2012] http://www.python-lowracer.de/}, | |
| timestamp = {2012.05.25}, | |
| url = {http://www.python-lowracer.de/} | |
| } | |
| @ARTICLE{Maggio2008, | |
| author = {Maggio, Fabiano and Cossalter, Vittore}, | |
| title = {How a rear steering system may improve motorcycle dynamics}, | |
| journal = {INTERNATIONAL JOURNAL OF VEHICLE DESIGN}, | |
| year = {2008}, | |
| volume = {46}, | |
| pages = {328--346}, | |
| number = {3}, | |
| abstract = {This research investigates how motorcycle dynamics may be improved | |
| by applying a steering system on the rear wheel. The study is carried | |
| out using a widely validated multi-body model of motorcycle and rider. | |
| Two types of rear steering systems are compared: a self-steering | |
| wheel coupled with a spring-damper assembly and a controlled steering | |
| wheel, whose steering angle is governed accordingly to a first-order | |
| relationship between front and rear steering angle. In general, any | |
| rear steering system transfers energy from weave mode to wobble mode. | |
| Thus, both solutions stabilise high-speed weave, but increase instability | |
| when braking. The passive system shows unexpected reactions when | |
| accelerating in cornering condition, whereas the active system is | |
| almost neutral.}, | |
| address = {WORLD TRADE CENTER BLDG, 29 ROUTE DE PRE-BOIS, CASE POSTALE 896, | |
| CH-1215 GENEVA, SWITZERLAND}, | |
| affiliation = {Cossalter, V (Reprint Author), Univ Padua, Dept Mech Engn, Via Venezia | |
| 1, I-35131 Padua, Italy. {[}Maggio, Fabiano; Cossalter, Vittore] | |
| Univ Padua, Dept Mech Engn, I-35131 Padua, Italy.}, | |
| author-email = {fabiano.maggio@gmail.com Vittore.Cossalter@unipd.it}, | |
| bib = {bibtex-keys#Maggio2008}, | |
| bibpr = {private-bibtex-keys#Maggio2008}, | |
| doc-delivery-number = {319NO}, | |
| issn = {0143-3369}, | |
| journal-iso = {Int. J. Veh. Des.}, | |
| keywords = {motorcycle stability; weave; wobble; 2WS motorcycle; steering system}, | |
| keywords-plus = {STABILITY; MODEL; FLEXIBILITY; SIMULATIONS; VEHICLES}, | |
| language = {English}, | |
| number-of-cited-references = {35}, | |
| owner = {moorepants}, | |
| publisher = {INDERSCIENCE ENTERPRISES LTD}, | |
| subject-category = {Engineering, Mechanical; Transportation Science \& Technology}, | |
| times-cited = {0}, | |
| timestamp = {2009.11.18}, | |
| type = {Article}, | |
| unique-id = {ISI:000257170900004} | |
| } | |
| @INPROCEEDINGS{Malewicki1974, | |
| author = {Malewicki, D. J.}, | |
| title = {The Dynamics and Aerodynamics of Jump Motorcycles}, | |
| booktitle = {Second AIAA Symposium on Aerodynamics of Sports and Competition Automobiles}, | |
| year = {1974}, | |
| address = {Los Angeles}, | |
| month = {May}, | |
| bib = {bibtex-keys#Malewicki1974}, | |
| bibpr = {private-bibtex-keys#Malewicki1974}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30} | |
| } | |
| @INPROCEEDINGS{Mammar2005, | |
| author = {Mammar, S. and Espie, S. and Honvo, C.}, | |
| title = {Motorcycle modelling and roll motion stabilization by rider leaning | |
| and steering torque}, | |
| booktitle = {Proceedings of the 2005 IEEE Conference on Control Applications, | |
| Toronto Canada, August 28-31, 2005}, | |
| year = {2005}, | |
| pages = {1421-1426}, | |
| bib = {bibtex-keys#Mammar2005}, | |
| bibpr = {private-bibtex-keys#Mammar2005}, | |
| file = {Mammar2005.pdf:Mammar2005.pdf:PDF}, | |
| review = {They build a motorcycle model in the image of Sharps work. The show | |
| an eigenvalue plot but it is poorly made. It seems like it may be | |
| correct..at least for the model without the rider leaning motion, | |
| as I see no unstable modes associated with that. Looks like they've | |
| got 6 degrees of freedom, which would be the whipple model plus the | |
| tire lateral degrees. They include non-linear tire to road forces. | |
| The inputs to his bicycle model are steer torque and the rider lean | |
| angle, rate and acceleration. He has a human time delay, human neuromuscular | |
| dynamics, a rider gain and lead compensator. He says the lead compensator | |
| if for the mental workload and that the gain is for the rider's simple | |
| proportional action on the percieved error in roll angle. The nueromuscular | |
| filter is second order with damping = 0.707 and natural frequency | |
| of 10 rad/s (same as Ron Hess's helicopter pilot models...he cites | |
| Ron's car paper). He ends up designing a speed dependent controller | |
| which has feedback gains and a more complicated element with PI type | |
| control to control steer torque (he doesn't use rider lean control | |
| here). He only feeds back roll angle and the uses H infinity loop | |
| shaping methods to select the gains, one of which is the speed dependent | |
| gain. He show's both disturbance rejection and roll angle tracking | |
| simulations for the controller, which show good performance.}, | |
| webpdf = {references-folder/Mammar2005.pdf} | |
| } | |
| @INPROCEEDINGS{Man1979, | |
| author = {Man, Guy K. and Kane, Thomas R.}, | |
| title = {Steady Turning of Two-Wheeled Vehicles, Paper 790187}, | |
| booktitle = {Dynamics of Wheeled Recreational Vehicles}, | |
| year = {1979}, | |
| pages = {55-75}, | |
| address = {Detroit, {MI}}, | |
| month = {February--March}, | |
| organization = {SAE}, | |
| bib = {bibtex-keys#Man1979}, | |
| bibpr = {private-bibtex-keys#Man1979}, | |
| file = {Man1979.pdf:Man1979.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.01.31}, | |
| webpdf = {references-folder/Man1979.pdf} | |
| } | |
| @TECHREPORT{Manning1951, | |
| author = {Manning, J. R.}, | |
| title = {The Dynamical Stability of Bicycles}, | |
| institution = {Road Research Lab, Department of Scientific and Industrial Research}, | |
| year = {1951}, | |
| number = {RN/1605/JRM}, | |
| month = {July}, | |
| bib = {bibtex-keys#Manning1951}, | |
| bibpr = {private-bibtex-keys#Manning1951}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30} | |
| } | |
| @ARTICLE{Marumo2003, | |
| author = {Marumo, Yoshitaka and Katayama, Tsuyoshi}, | |
| title = {Energy Flow Method for Studying Motorcycle Straight-Running Stability | |
| Effects of Rider's Vibration Characteristics on Weave Mode}, | |
| journal = {JARI Research Journal}, | |
| year = {2003}, | |
| volume = {25}, | |
| pages = {283--286}, | |
| bib = {bibtex-keys#Marumo2003}, | |
| bibpr = {private-bibtex-keys#Marumo2003}, | |
| file = {Marumo2003.pdf:Marumo2003.pdf:PDF}, | |
| timestamp = {2012.01.18}, | |
| webpdf = {references-folder/Marumo2003.pdf} | |
| } | |
| @ARTICLE{Marumo2007, | |
| author = {Marumo, Y. and Nagai, M.}, | |
| title = {Steering control of motorcycles using steer-by-wire system}, | |
| journal = {Vehicle System Dynamics: International Journal of Vehicle Mechanics | |
| and Mobility}, | |
| year = {2007}, | |
| volume = {45}, | |
| pages = {445--458}, | |
| number = {5}, | |
| abstract = {This study proposes a steering control method to improve motorcycle | |
| handling and stability. Steer-by-wire (SBW) technology is applied | |
| to the motorcycle's steering system to remove characteristic difficulties | |
| of vehicle maneuvers. By examining computer simulation using a simplified | |
| motorcycle model, the actual rolling angle of the SBW motorcycle | |
| is controlled to follow the desired rolling angle intended by the | |
| rider. A state feedback control such as linear quadratic control | |
| gives the SBW vehicle a good follow-through performance compared | |
| with proportional-derivative control because it can decouple rolling | |
| motion from the other motions, which affect the rolling motion in | |
| the strongly coupled motorcycle system.}, | |
| bib = {bibtex-keys#Marumo2007}, | |
| bibpr = {private-bibtex-keys#Marumo2007}, | |
| doi = {10.1080/00423110701200194}, | |
| file = {Marumo2007.pdf:Marumo2007.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {They introduce steer by wire on a motorcycle to remove countersteering. | |
| They want the motorcycle to steer like a four wheel vehicle. Turn | |
| left to go left and return to nominal when steering is released. | |
| They use Sharp's 4 dof motorcycle model. | |
| They use a PD control on the roll angle and add it to a feedforward | |
| torque from the commanded roll angle that was passed through a steady | |
| state inverse transfer function of steer torque to roll to produce | |
| the steer torque to the system. So the rider would specify the desired | |
| roll angle (which could theorectically be calculated from the desired | |
| heading and path). They didn't find good success with the PD scheme | |
| claiming that the PD controller was affected by the other states? | |
| They then try a set point regulator control scheme (this looks like | |
| LQR). They choose the weighting factor to gives similar gain values | |
| as the PD design gave. | |
| I'm not sure what the G^{-1}(0) block does. Seems like it will add | |
| an extra torque for not much reason. Would the controller work without | |
| it? | |
| They show -50 nm of torque for a commanded 20 degree roll angle.}, | |
| timestamp = {2010.03.29}, | |
| webpdf = {references-folder/Marumo2007.pdf} | |
| } | |
| @BOOK{McCullagh1977, | |
| title = {Pedal Power: In Work, Leisure, and Transportation}, | |
| publisher = {Rodale Press}, | |
| year = {1977}, | |
| editor = {James C. McCullagh}, | |
| author = {James C. McCullagh and David Gordon Wilson and Stuart S. Wilson and | |
| John McGeorge and Mark Blossom and Diana Branch}, | |
| pages = {133}, | |
| address = {Emmaus, PA}, | |
| bib = {bibtex-keys#McCullagh1977}, | |
| bibpr = {private-bibtex-keys#McCullagh1977}, | |
| file = {McCullagh1977.pdf:McCullagh1977.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.12.30}, | |
| webpdf = {references-folder/McCullagh1977.pdf} | |
| } | |
| @ARTICLE{McKenna2002, | |
| author = {S. P. McKenna and M. R. Hill and M. L. Hull}, | |
| title = {A single loading direction for fatigue life prediction and testing | |
| of handlebars for off-road bicycles}, | |
| journal = {International Journal of Fatigue}, | |
| year = {2002}, | |
| volume = {24}, | |
| pages = {1149 - 1157}, | |
| number = {11}, | |
| abstract = {Components for off-road bicycles including handlebars continue to | |
| be recalled with regularity because of problems with structural failure | |
| as a result of high cycle fatigue in the off-road environment. The | |
| objectives of this study were to 1) devise a method for determining | |
| the point on the handlebar cross section that experiences the maximum | |
| cumulative damage when the handlebar is subjected to loads applied | |
| by the rider's hands that vary randomly in both magnitude and direction, | |
| 2) use this method with an existing database of handlebar loads (DeLorenzo | |
| and Hull, J Biomech Eng, 1999) to determine a single loading direction | |
| to be used in design and testing of the handlebar, and 3) determine | |
| the sensitivity of the point of maximum cumulative damage to structural | |
| and material properties of the handlebar. The load database was generated | |
| by seven subjects who rode a rough downhill course in the standing | |
| posture and provided a total of 28 trials for analysis. For each | |
| of the 28 trials, the stress histories at 1-degree increments around | |
| the handlebar circumference were determined. The cumulative damage | |
| at each of the 360 points for each of the 28 trials was computed | |
| using rainflow counting in conjunction with Walker's equation to | |
| represent the S-N diagram for the handlebar material. The maximum | |
| cumulative damage varied by more than six orders of magnitude between | |
| trials and the location of the point of maximum damage ranged from | |
| 110° to 343° (angle measured from horizontal axis pointing forward | |
| with positive counterclockwise rotation viewed from the right side | |
| of the bicycle). The median location was 142°. To create a tensile | |
| stress in bending at 142°, a load would have to be applied at 322° | |
| (322° = 142°+180°). Thus, 322° was found to be the single loading | |
| direction representative of the variable-direction load database. | |
| This direction did not change for a handlebar with different structural | |
| and material properties and coincided approximately with a vector | |
| drawn along the line of the arms of the rider. This loading direction | |
| can be used in conjunction with information on the effects of assembly | |
| of the handlebar with a stem to analytically predict the high cycle | |
| fatigue life of a particular stem/handlebar assembly. Furthermore, | |
| this loading direction can also be used to experimentally determine | |
| the expected in-service fatigue life of a particular stem/handlebar | |
| assembly.}, | |
| bib = {bibtex-keys#McKenna2002}, | |
| bibpr = {private-bibtex-keys#McKenna2002}, | |
| doi = {DOI: 10.1016/S0142-1123(02)00028-2}, | |
| file = {McKenna2002.pdf:McKenna2002.pdf:PDF}, | |
| issn = {0142-1123}, | |
| url = {http://www.sciencedirect.com/science/article/B6V35-45JPG5N-2/2/6d37bf518cc9119c8d031a21cee171c0}, | |
| webpdf = {references-folder/McKenna2002.pdf} | |
| } | |
| @TECHREPORT{McRuer1976, | |
| author = {McRuer, D. and Klein, R.}, | |
| title = {Effects of Automobile Steering Characteristics on Driver Vehicle | |
| System Dynamics in Regulation Tasks}, | |
| institution = {SAE}, | |
| year = {1976}, | |
| month = {October}, | |
| note = {SAE Paper No. 760778}, | |
| bib = {bibtex-keys#McRuer1976}, | |
| bibpr = {private-bibtex-keys#McRuer1976}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{McRuer1969, | |
| author = {McRuer, D. and Weir, D.H.}, | |
| title = {Theory of Manual Vehicular Control}, | |
| journal = {Man-Machine Systems, IEEE Transactions on}, | |
| year = {1969}, | |
| volume = {10}, | |
| pages = {257-291}, | |
| number = {4}, | |
| month = {December}, | |
| abstract = {The analytical basis of manual vehicular control theory is a combination | |
| of feedback systems analysis and mathematical models for human operators | |
| engaged in control tasks. Simplified representations for the operator-system | |
| combination are provided by the 'crossover model', which is described | |
| in detail. The system dynamics and average performance of the crossover | |
| model system are developed. With these as bases, case studies are | |
| presented to illustrate the types of result which can be obtained | |
| from application of the operator-vehicle control theory. Two aircraft | |
| control examples illustrate the use of the theory and its empirical | |
| correlates to estimate operator dynamic characteristics, system performance, | |
| pilot ratings, pilot commentary, design implications, and some experimental | |
| guidelines. A driver automobile example is presented to illustrate | |
| the use of the theory in structuring the key guidance and control | |
| features of the driver's visual field. A comprehensive bibliography | |
| of operator-vehicle system analysis applications is also provided.}, | |
| bib = {bibtex-keys#McRuer1969}, | |
| bibpr = {private-bibtex-keys#McRuer1969}, | |
| doi = {10.1109/TMMS.1969.299930}, | |
| file = {McRuer1969.pdf:McRuer1969.pdf:PDF}, | |
| issn = {0536-1540}, | |
| webpdf = {references-folder/McRuer1969.pdf} | |
| } | |
| @ARTICLE{McRuer1980, | |
| author = {D. T. McRuer}, | |
| title = {Human dynamics in man-machine systems}, | |
| journal = {Automatica}, | |
| year = {1980}, | |
| volume = {16}, | |
| pages = {237--253}, | |
| number = {3}, | |
| bib = {bibtex-keys#McRuer1980}, | |
| bibpr = {private-bibtex-keys#McRuer1980}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.25} | |
| } | |
| @ARTICLE{McRuer1967, | |
| author = {Duane T. McRuer and Dunstan Graham and Ezra S. Krendel}, | |
| title = {Manual control of single-loop systems: Part I}, | |
| journal = {Journal of the Franklin Institute}, | |
| year = {1967}, | |
| volume = {283}, | |
| pages = {1 - 29}, | |
| number = {1}, | |
| abstract = {The c. 1959 mathematical model for human operator control dynamics | |
| has been validated and extended to produce a practically complete | |
| mathematical description of manual control dynamics for single-loop | |
| systems. This model is essential to the analytical design of closed-loop | |
| man-machine systems, and it facilitates understanding of the human | |
| as a control device. An extensive number of selected experiments | |
| using 9 subjects, 4 forms of plant dynamics of general applicability, | |
| and 3 principal forcing functions, yielded definitive describing | |
| function data over a frequency range of two decades including system | |
| crossover. Models were constructed at three levels of detail: 1) | |
| a crossover model which is easily and usefully applied; 2) an extended | |
| crossover model which accounts more adequately for low frequency | |
| lags and plant dynamics; and 3) a precision model which provides | |
| a description so detailed that inferences can be drawn about neuromuscular | |
| functions. The resulting adaptive, optimalizing c. 1965 human operator | |
| mathematical model is presented, with a detailed summary of its adjustments | |
| for proper application.}, | |
| bib = {bibtex-keys#McRuer1967}, | |
| bibpr = {private-bibtex-keys#McRuer1967}, | |
| doi = {DOI: 10.1016/0016-0032(67)90112-3}, | |
| file = {McRuer1967.pdf:McRuer1967.pdf:PDF}, | |
| issn = {0016-0032}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.24}, | |
| url = {http://www.sciencedirect.com/science/article/B6V04-49WKD3P-N5/2/2b6903b0beb6ab8981684e554d5673de}, | |
| webpdf = {references-folder/McRuer1967.pdf} | |
| } | |
| @ARTICLE{McRuer1967a, | |
| author = {Duane T. McRuer and Dunstan Graham and Ezra S. Krendel}, | |
| title = {Manual control of single-loop systems: Part II}, | |
| journal = {Journal of the Franklin Institute}, | |
| year = {1967}, | |
| volume = {283}, | |
| pages = {145 - 168}, | |
| number = {2}, | |
| bib = {bibtex-keys#McRuer1967a}, | |
| bibpr = {private-bibtex-keys#McRuer1967a}, | |
| doi = {DOI: 10.1016/0016-0032(67)90231-1}, | |
| file = {McRuer1967a.pdf:McRuer1967a.pdf:PDF}, | |
| issn = {0016-0032}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.24}, | |
| url = {http://www.sciencedirect.com/science/article/B6V04-49WH4C8-2H0/2/1a46a45da202420478c227ccd8a6ec34}, | |
| webpdf = {references-folder/McRuer1967a.pdf} | |
| } | |
| @TECHREPORT{McRuer1974, | |
| author = {McRuer, D. T. and Krendel, E. S.}, | |
| title = {Mathematical models of human pilot behavior}, | |
| institution = {Systems Technology, Inc.}, | |
| year = {1974}, | |
| type = {Technical Report}, | |
| number = {STI-P-146}, | |
| address = {Hawthorne, CA, USA}, | |
| note = {AGARD AG 188}, | |
| bib = {bibtex-keys#McRuer1974}, | |
| bibpr = {private-bibtex-keys#McRuer1974}, | |
| file = {McRuer1974.pdf:McRuer1974.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.18}, | |
| webpdf = {references-folder/McRuer1974.pdf} | |
| } | |
| @ARTICLE{McRuer1968, | |
| author = {McRuer, D. T. and Magdaleno, R. E. and Moore, G. P.}, | |
| title = {A Neuromuscular Actuation System Model}, | |
| journal = {IEEE Transactions on Man-Machine Systems}, | |
| year = {1968}, | |
| volume = {9}, | |
| pages = {61-71}, | |
| number = {3}, | |
| bib = {bibtex-keys#McRuer1968}, | |
| bibpr = {private-bibtex-keys#McRuer1968}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{McRuer1969a, | |
| author = {McRuer, D. T. and Weir, D. H.}, | |
| title = {Theory of Manual Vehicular Control}, | |
| journal = {Ergonomics}, | |
| year = {1969}, | |
| volume = {12}, | |
| pages = {599-633}, | |
| number = {4}, | |
| bib = {bibtex-keys#McRuer1969a}, | |
| bibpr = {private-bibtex-keys#McRuer1969a}, | |
| file = {McRuer1969a.pdf:McRuer1969a.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.23}, | |
| webpdf = {references-folder/McRuer1969a.pdf} | |
| } | |
| @ARTICLE{Meijaard2006a, | |
| author = {Meijaard, J. and Popov, A.}, | |
| title = {Numerical continuation of solutions and bifurcation analysis in multibody | |
| systems applied to motorcycle dynamics}, | |
| journal = {NONLINEAR DYNAMICS}, | |
| year = {2006}, | |
| volume = {43}, | |
| pages = {97-116}, | |
| number = {1-2}, | |
| month = {January}, | |
| abstract = {It is shown how the equations of motion for a multibody system can | |
| be generated in a symbolic form and the resulting equations can be | |
| used in a program for the analysis of nonlinear dynamical systems. | |
| Stationary and periodic solutions are continued when a parameter | |
| is allowed to vary and bifurcations are found. The variational or | |
| linearized equations and derivatives with respect to parameters are | |
| also provided to the analysis program, which enhances the efficiency | |
| and accuracy of the calculations. The analysis procedure is firstly | |
| applied to a rotating orthogonal double pendulum, which serves as | |
| a test for the correctness of the implementation and the viability | |
| of the approach. Then, the procedure is used for the analysis of | |
| the dynamics of a motorcycle. For running straight ahead, the nominal | |
| solution undergoes Hopf bifurcations if the forward velocity is varied, | |
| which lead to periodic wobble and weave motions. For stationary cornering, | |
| wobble instabilities are found at much lower speeds, while the maximal | |
| speed is limited by the saturation of the tyre forces.}, | |
| address = {VAN GODEWIJCKSTRAAT 30, 3311 GZ DORDRECHT, NETHERLANDS}, | |
| affiliation = {Meijaard, J (Reprint Author), Univ Nottingham, Sch Mech Mat \& Mfg | |
| Engn, Univ Pk, Nottingham NG7 2RD, England. Univ Nottingham, Sch | |
| Mech Mat \& Mfg Engn, Nottingham NG7 2RD, England.}, | |
| author-email = {jaap.meijaard@nottingham.ac.uk}, | |
| bib = {bibtex-keys#Meijaard2006a}, | |
| bibpr = {private-bibtex-keys#Meijaard2006a}, | |
| doc-delivery-number = {012DN}, | |
| doi = {10.1007/s11071-006-0753-y}, | |
| file = {Meijaard2006a.pdf:Meijaard2006a.pdf:PDF}, | |
| issn = {0924-090X}, | |
| journal-iso = {Nonlinear Dyn.}, | |
| keywords = {bifurcations; continuation; double pendulum; motorcycle dynamics; | |
| multibody dynamics}, | |
| keywords-plus = {PERIODIC-SOLUTIONS; STABILITY; PATH}, | |
| language = {English}, | |
| number-of-cited-references = {39}, | |
| publisher = {SPRINGER}, | |
| subject-category = {Engineering, Mechanical; Mechanics}, | |
| times-cited = {9}, | |
| type = {Proceedings Paper}, | |
| unique-id = {ISI:000235318500008}, | |
| webpdf = {references-folder/Meijaard2006a.pdf} | |
| } | |
| @TECHREPORT{Meijaard2011, | |
| author = {Meijaard, J. P. and Papadopoulos, Jim M. and Ruina, Andy and Schwab, | |
| A. L.}, | |
| title = {History of thoughts about bicycle self-stability}, | |
| institution = {Cornell University}, | |
| year = {2011}, | |
| file = {Meijaard2011.pdf:Meijaard2011.pdf:PDF}, | |
| timestamp = {2012.03.06} | |
| } | |
| @ARTICLE{Meijaard2007, | |
| author = {Meijaard, J. P. and Papadopoulos, Jim M. and Ruina, Andy and Schwab, | |
| A. L.}, | |
| title = {Linearized dynamics equations for the balance and steer of a bicycle: | |
| {A} benchmark and review}, | |
| journal = {Proceedings of the Royal Society A: Mathematical, Physical and Engineering | |
| Sciences}, | |
| year = {2007}, | |
| volume = {463}, | |
| pages = {1955--1982}, | |
| number = {2084}, | |
| month = {August}, | |
| abstract = {We present canonical linearized equations of motion for the Whipple | |
| bicycle model consisting of four rigid laterally symmetric ideally | |
| hinged parts: two wheels, a frame and a front assembly. The wheels | |
| are also axisymmetric and make ideal knife-edge rolling point contact | |
| with the ground level. The mass distribution and geometry are otherwise | |
| arbitrary. This conservative non-holonomic system has a seven-dimensional | |
| accessible configuration space and three velocity degrees of freedom | |
| parametrized by rates of frame lean, steer angle and rear wheel rotation. | |
| We construct the terms in the governing equations methodically for | |
| easy implementation. The equations are suitable for e.g. the study | |
| of bicycle self-stability. We derived these equations by hand in | |
| two ways and also checked them against two nonlinear dynamics simulations. | |
| In the century-old literature, several sets of equations fully agree | |
| with those here and several do not. Two benchmarks provide test cases | |
| for checking alternative formulations of the equations of motion | |
| or alternative numerical solutions. Further, the results here can | |
| also serve as a check for general purpose dynamic programs. For the | |
| benchmark bicycles, we accurately calculate the eigenvalues (the | |
| roots of the characteristic equation) and the speeds at which bicycle | |
| lean and steer are self-stable, confirming the century-old result | |
| that this conservative system can have asymptotic stability.}, | |
| bib = {bibtex-keys#Meijaard2007}, | |
| bibpr = {private-bibtex-keys#Meijaard2007}, | |
| doi = {10.1098/rspa.2007.1857}, | |
| file = {Meijaard2007.pdf:Meijaard2007.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {They quote Kooijman2007 which is acutally Kooijman2008.}, | |
| tags = {bicycle,Whipple,linear}, | |
| timestamp = {2008.10.27}, | |
| url = {\url{http://rspa.royalsocietypublishing.org/content/463/2084/1955.abstract}}, | |
| webpdf = {references-folder/Meijaard2007.pdf} | |
| } | |
| @INPROCEEDINGS{Meijaard2006, | |
| author = {J. P. Meijaard and A. L. Schwab}, | |
| title = {Linearized Equations for and Extended Bicycle Model}, | |
| booktitle = {III European Conference on Computational Mechanics Solids, Structures | |
| and Coupled Problems in Engineering}, | |
| year = {2006}, | |
| editor = {C. A. Mota Soares}, | |
| address = {Lisbon, Portugal}, | |
| month = {June}, | |
| bib = {bibtex-keys#Meijaard2006}, | |
| bibpr = {private-bibtex-keys#Meijaard2006}, | |
| file = {Meijaard2006.pdf:Meijaard2006.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Meijaard2006.pdf} | |
| } | |
| @BOOK{Meriam1975, | |
| title = {Dynamics}, | |
| publisher = {Wiley}, | |
| year = {1975}, | |
| author = {Meriam, J.L.}, | |
| isbn = {9780471596073}, | |
| lccn = {74030017}, | |
| url = {http://books.google.com/books?id=NIcoAQAAMAAJ} | |
| } | |
| @INPROCEEDINGS{Metz2004, | |
| author = {L. D. Metz}, | |
| title = {What Constitutes Good Handling?}, | |
| booktitle = {Proceedings of the 2004 SAE Motorsports Engineering Conference and | |
| Exhibition}, | |
| year = {2004}, | |
| number = {2004-01-3532}, | |
| bib = {bibtex-keys#Metz2004}, | |
| bibpr = {private-bibtex-keys#Metz2004}, | |
| file = {Metz2004.pdf:Metz2004.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Metz2004.pdf} | |
| } | |
| @UNPUBLISHED{Michini2006, | |
| author = {B. Michini and S. Torrez}, | |
| title = {Autonomous Stability Control of a Moving bicycle}, | |
| note = {MIT Report}, | |
| year = {2006}, | |
| bib = {bibtex-keys#Michini2006}, | |
| bibpr = {private-bibtex-keys#Michini2006}, | |
| file = {Michini2006.pdf:Michini2006.pdf:PDF}, | |
| review = {This is the proposal for their bicycle robot project.}, | |
| webpdf = {references-folder/Michini2006.pdf} | |
| } | |
| @TECHREPORT{Milliken1975, | |
| author = {Bill Milliken}, | |
| title = {Suggested Research Studies on the Rational Design and Specification | |
| of Motorcycle Tires}, | |
| institution = {Calspan Corporation}, | |
| year = {1975}, | |
| number = {85-662}, | |
| month = {October}, | |
| bib = {bibtex-keys#Milliken1975}, | |
| bibpr = {private-bibtex-keys#Milliken1975}, | |
| file = {Milliken1975.pdf:Milliken1975.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2010.09.15}, | |
| webpdf = {references-folder/Milliken1975.pdf} | |
| } | |
| @INPROCEEDINGS{Mirnateghi2006, | |
| author = {Mirnateghi, N. and Peterson, D.L. and Paden, B.E.}, | |
| title = {Systems with Friction: Performance Limitations and Range Deficiency}, | |
| booktitle = {Decision and Control, 2006 45th IEEE Conference on}, | |
| year = {2006}, | |
| pages = {6099-6103}, | |
| month = {December}, | |
| bib = {bibtex-keys#Mirnateghi2006}, | |
| bibpr = {private-bibtex-keys#Mirnateghi2006}, | |
| doi = {10.1109/CDC.2006.377247}, | |
| keywords = {differential equations, friction, sampled data systems, trackingdifferential | |
| equations, discontinuous right-hand side, friction, tracking limitations}, | |
| owner = {luke}, | |
| timestamp = {2009.04.03} | |
| } | |
| @TECHREPORT{Mitchell1992, | |
| author = {Mitchell, D. G. and Aponso, B. L. and Klyde, D. H.}, | |
| title = {Effects of Cockpit Lateral Stick Characteristics on Handling Qualities | |
| and Pilot Dynamics}, | |
| institution = {NASA}, | |
| year = {1992}, | |
| number = {CR 4443}, | |
| month = {June}, | |
| bib = {bibtex-keys#Mitchell1992}, | |
| bibpr = {private-bibtex-keys#Mitchell1992}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Mitiguy1996, | |
| author = {Mitiguy, Paul and Kane, Thomas R.}, | |
| title = {Motion Variables Leading to Efficient Equations of Motion}, | |
| journal = {The International Journal of Robotics Research}, | |
| year = {1996}, | |
| volume = {15}, | |
| pages = {522--532}, | |
| number = {5}, | |
| bib = {bibtex-keys#Mitiguy1996}, | |
| bibpr = {private-bibtex-keys#Mitiguy1996}, | |
| file = {Mitiguy1996.pdf:Mitiguy1996.pdf:PDF}, | |
| owner = {luke}, | |
| timestamp = {2009.10.12}, | |
| webpdf = {references-folder/Mitiguy1996.pdf} | |
| } | |
| @ARTICLE{Mitiguy2001, | |
| author = {Mitiguy, Paul C. and Reckdahl, Keith J.}, | |
| title = {Efficient dynamical equations for gyrostats}, | |
| journal = {Journal of Guidance, Control, and Dynamics}, | |
| year = {2001}, | |
| volume = {24}, | |
| pages = {1144-1156}, | |
| number = {6}, | |
| month = {November}, | |
| abstract = {To formulate equations of motion, the analyst must choose constants | |
| that characterize the mass distribution of system components. Traditionally, | |
| one chooses as constants the mass of each particle and the mass and | |
| central inertia scalars of each rigid body. However, this characterization | |
| of the mass distribution leads to inefficient equations of motion | |
| for gyrostats and necessitates the determination of an unnecessary | |
| large number of mass and inertia scalars. For gyrostats, there exist | |
| special formulas and a methodology for characterizing mass distribution | |
| that lead to efficient dynamic equations. In this context, efficient | |
| refers to relative simplicity, ease of manipulation for purposes | |
| of designing automatic control systems, and minimal consumption of | |
| computer time during numerical solution.}, | |
| address = {1801 ALEXANDER BELL DRIVE, STE 500, RESTON, VA 22091 USA}, | |
| affiliation = {Mitiguy, PC (Reprint Author), MSC Software, 66 Bovet Rd, San Mateo, | |
| CA 94206 USA. MSC Software, San Mateo, CA 94206 USA. Space Syst Loral, | |
| Dynam \& Controls Anal, Palo Alto, CA 94303 USA.}, | |
| bib = {bibtex-keys#Mitiguy2001}, | |
| bibpr = {private-bibtex-keys#Mitiguy2001}, | |
| doc-delivery-number = {493LH}, | |
| file = {Mitiguy2001.pdf:Mitiguy2001.pdf:PDF}, | |
| issn = {0731-5090}, | |
| journal-iso = {J. Guid. Control Dyn.}, | |
| language = {English}, | |
| number-of-cited-references = {16}, | |
| owner = {moorepants}, | |
| publisher = {AMER INST AERONAUT ASTRONAUT}, | |
| subject-category = {Engineering, Aerospace; Instruments \& Instrumentation}, | |
| times-cited = {2}, | |
| timestamp = {2009.11.04}, | |
| type = {Article}, | |
| unique-id = {ISI:000172223900009}, | |
| webpdf = {references-folder/Mitiguy2001.pdf} | |
| } | |
| @ARTICLE{Miura2007, | |
| author = {Miura, Yumiko and Tokutake, Hiroshi and Fukui, Katsuhiko}, | |
| title = {Handling qualities evaluation method based on actual driver characteristics}, | |
| journal = {VEHICLE SYSTEM DYNAMICS}, | |
| year = {2007}, | |
| volume = {45}, | |
| pages = {807-817}, | |
| number = {9}, | |
| month = {September}, | |
| abstract = {The present study proposes an objective handling qualities evaluation | |
| method using driver-in-the-loop analysis. The driving simulator experiments | |
| were performed for various driving conditions, drivers and vehicle | |
| dynamics. The response characteristics of the driver model and the | |
| closed-loop system were analyzed. The analysis revealed the driving | |
| strategies clearly, indicating the importance of closed-loop analysis. | |
| Using the identified driver model and its strategies, a cost function | |
| of the handling qualities was constructed. The cost function can | |
| be used to estimate the handling qualities analytically from the | |
| vehicle dynamics. The proposed method was validated by comparison | |
| with the handling qualities evaluation rated by the driver's comments.}, | |
| address = {325 CHESTNUT ST, SUITE 800, PHILADELPHIA, PA 19106 USA}, | |
| affiliation = {Tokutake, H (Reprint Author), Osaka Prefecture Univ, Dept Aerosp Engn, | |
| 1-1 Gakuen Cho, Sakai, Osaka 5998531, Japan. Osaka Prefecture Univ, | |
| Dept Aerosp Engn, Sakai, Osaka 5998531, Japan. Toyota Cent Res \& | |
| Dev Labs Inc, Vehicle Safety ITS Ctr, Vehicle Dynam Lab, Nagakute, | |
| Aichi 4801192, Japan.}, | |
| author-email = {tokutake@aero.osakafu-u.ac.jp}, | |
| bib = {bibtex-keys#Miura2007}, | |
| bibpr = {private-bibtex-keys#Miura2007}, | |
| doc-delivery-number = {205PF}, | |
| doi = {10.1080/00423110601127810}, | |
| file = {Miura2007.pdf:Miura2007.pdf:PDF}, | |
| issn = {0042-3114}, | |
| journal-iso = {Veh. Syst. Dyn.}, | |
| keywords = {handling qualities evaluation; driver model; driver-in-the-loop analysis; | |
| driving simulator experiments}, | |
| language = {English}, | |
| number-of-cited-references = {10}, | |
| publisher = {TAYLOR \& FRANCIS INC}, | |
| subject-category = {Engineering, Mechanical}, | |
| times-cited = {0}, | |
| type = {Article}, | |
| unique-id = {ISI:000249126400002}, | |
| webpdf = {references-folder/Miura2007.pdf} | |
| } | |
| @INPROCEEDINGS{Miyagishi2006, | |
| author = {Miyagishi, Shun'ichi and Baba, Masayuki and Uchiyama, Hajime and | |
| Kageyama, Ichiro and Kuriyama, Takeyuki}, | |
| title = {Construction of Rider Robot Proto2 for Motorcycles}, | |
| booktitle = {Proceedings. JSAE Annual Congress}, | |
| year = {2006}, | |
| abstract = {Preliminary researches on the rider robot control algorithm and its | |
| system configuration have been conducted for evaluating quantitatively | |
| of motorcycle dynamic characteristics. Consequently, it has been | |
| confirmed that the control is possible by using the control algorithm. | |
| However, some problems remained to be resolved. Taking the above-mentioned | |
| into considerations, the prototype 2 has been developed with targets | |
| at vehicle weight reduction etc. While the already-developed algorithm | |
| is applied to the prototype 2, its effectiveness was reviewed using | |
| simulation. As for the simulation model, the vehicle part is expressed | |
| based on Prof. Sharp's 12 DOF model, and the control part uses MATLAB/Simulink. | |
| Consequently, validity of the algorithm was confirmed.}, | |
| bib = {bibtex-keys#Miyagishi2006}, | |
| bibpr = {private-bibtex-keys#Miyagishi2006}, | |
| timestamp = {2012.01.02} | |
| } | |
| @ARTICLE{Miyagishi2003, | |
| author = {Shunichi Miyagishi and Ichiro Kageyama and Kouhei Takama and Masayuki | |
| Baba and Hajime Uchiyama}, | |
| title = {Study on construction of a rider robot for two-wheeled vehicle}, | |
| journal = {JSAE Review}, | |
| year = {2003}, | |
| volume = {24}, | |
| pages = {321 - 326}, | |
| number = {3}, | |
| abstract = {In this study, we constructed a fully autonomous two-wheeled vehicle | |
| (the Rider Robot) which was used for evaluation of dynamics. As the | |
| first step of the study, we constructed the control algorithms and | |
| the control system. | |
| The control algorithms consist of the standing stability control which | |
| keeps the perpendicular motion, and the directional control which | |
| follows the target course. These algorithms were determined based | |
| on human rider's behavior. The system was constructed using some | |
| actuators and sensors. | |
| The results show that Rider Robot could follow the target course while | |
| keeping the standing stability. Consequently, there is considerable | |
| validly in these constructed algorithms and the system.}, | |
| bib = {bibtex-keys#Miyagishi2003}, | |
| bibpr = {private-bibtex-keys#Miyagishi2003}, | |
| doi = {10.1016/S0389-4304(03)00045-6}, | |
| file = {Miyagishi2003.pdf:Miyagishi2003.pdf:PDF}, | |
| issn = {0389-4304}, | |
| url = {http://www.sciencedirect.com/science/article/pii/S0389430403000456}, | |
| webpdf = {references-folder/Miyagishi2003.pdf} | |
| } | |
| @ARTICLE{Miyagishi2001, | |
| author = {Miyagishi, Shunichi and Kageyama, Ichiro and Takama, Kouhei and Baba, | |
| Masayuki and Uchiyama, Hajime}, | |
| title = {1411 A Study On a Rider Robot for Two Wheeled Vehicle}, | |
| journal = {The Transportation and Logistics Conference}, | |
| year = {2001}, | |
| volume = {10}, | |
| pages = {125--128}, | |
| abstract = {In this study, we constructed autonomous two wheeled vehicle (the | |
| Rider Robot) which use for evaluation of two wheeled vehicle dynamics. | |
| The Rider Robot consist electromechanical device and operate by the | |
| control algorithm without the need for a human rider. We consider | |
| the control algorithm was separated directory and standing control. | |
| The model of standing control was constructed for the model using | |
| the data based on maneuver of the rider using multiple regression | |
| analysis. And direction control was giving the purpose of dynamic | |
| roll angle, which from purpose turning radius that acquired the difference | |
| between image analysis and second order prediction model.}, | |
| bib = {bibtex-keys#Miyagishi2001}, | |
| bibpr = {private-bibtex-keys#Miyagishi2001}, | |
| file = {Miyagishi2001.pdf:Miyagishi2001.pdf:PDF}, | |
| publisher = {The Japan Society of Mechanical Engineers}, | |
| url = {http://ci.nii.ac.jp/naid/110002490780/en/}, | |
| webpdf = {references-folder/Miyagishi2001.pdf} | |
| } | |
| @ARTICLE{Modjtahedzadeh1993, | |
| author = {Modjtahedzadeh, A. and Hess, R. A.}, | |
| title = {A Model of Driver Steering Control Behavior for Use in Assessing | |
| Vehicle Handling Qualities}, | |
| journal = {Journal of Dynamics, Systems, Measurement. and Control}, | |
| year = {1993}, | |
| volume = {115}, | |
| pages = {456-464}, | |
| abstract = {A control theoretic model of driver steering control behavior is presented. | |
| The resulting model is shown capable of producing driver/vehicle | |
| steering responses which compare favorably with those obtained from | |
| driver simulation. The model is simple enough to be used by engineers | |
| who may not be manual control specialists. The model contains both | |
| preview and compensatory steering dynamics. An analytical technique | |
| for vehicle handling qualities assessment is briefly discussed. Driver/vehicle | |
| responses from two driving tasks evaluated in a driver simulator | |
| are used to evaluate the overall validity of the driver/vehicle model. | |
| Finally, the model is exercised in predictive fashion in the computer | |
| simulation of a lane keeping task on a curving roadway where the | |
| simulated vehicle possessed one of three different steering systems: | |
| a conventional two-wheel steering system and a pair of four-wheel | |
| steering systems.}, | |
| bib = {bibtex-keys#Modjtahedzadeh1993}, | |
| bibpr = {private-bibtex-keys#Modjtahedzadeh1993}, | |
| file = {Modjtahedzadeh1993.pdf:Modjtahedzadeh1993.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2008.10.08}, | |
| webpdf = {references-folder/Modjtahedzadeh1993.pdf} | |
| } | |
| @INPROCEEDINGS{Moore2008, | |
| author = {Jason Moore and Mont Hubbard}, | |
| title = {Parametric Study of Bicycle Stability}, | |
| booktitle = {The Engineering of Sport 7}, | |
| year = {2008}, | |
| editor = {Margaret Estivalet and Pierre Brisson}, | |
| volume = {2}, | |
| organization = {International Sports Engineering Association}, | |
| publisher = {Springer Paris}, | |
| abstract = {Bicycles are inherently dynamically stable and this stability can | |
| be beneficial to handling qualities. A dynamical model can predict | |
| the self-stability. Previous models determined the sensitivity of | |
| stability to changes in parameters, but have often used idealized | |
| parameters occurring in the equations of motion that were not possible | |
| to realistically change independently. A mathematical model of a | |
| bicycle is developed and verified. The model is used together with | |
| a physical parameter generation algorithm to evaluate the dependence | |
| of four important actual design parameters on the self-stability | |
| of a bicycle.}, | |
| bib = {bibtex-keys#Moore2008}, | |
| bibpr = {private-bibtex-keys#Moore2008}, | |
| doi = {10.1007/978-2-287-99056-4_39}, | |
| file = {Moore2008.pdf:Moore2008.pdf:PDF}, | |
| keywords = {bicycle, stability, parametric, dynamics, linear}, | |
| owner = {moorepants}, | |
| timestamp = {2008.12.03}, | |
| webpdf = {references-folder/Moore2008.pdf} | |
| } | |
| @MANUAL{Moore2011a, | |
| title = {BicycleParameters: A Python library for bicycle parameter estimation | |
| and analysis}, | |
| author = {Jason K. Moore}, | |
| year = {2011}, | |
| note = {http://pypi.python.org/pypi/BicycleParameters}, | |
| timestamp = {2012.03.07}, | |
| url = {http://pypi.python.org/pypi/BicycleParameters} | |
| } | |
| @UNPUBLISHED{Moore2009, | |
| author = {Jason K. Moore}, | |
| title = {A comparison of bicycle dynamics, on and off the treadmill}, | |
| note = {Unpublished internal report, UC Davis}, | |
| year = {2009}, | |
| bib = {bibtex-keys#Moore2009}, | |
| bibpr = {private-bibtex-keys#Moore2009}, | |
| owner = {moorepants}, | |
| review = {JKM - All I've done on this is make the models. Practically nothing | |
| is written. Maybe it will appear in my dissertation...}, | |
| timestamp = {2009.02.08} | |
| } | |
| @UNPUBLISHED{Moore2006, | |
| author = {Moore, Jason K.}, | |
| title = {Low Speed Bicycle Stability: {E}ffects of Geometric Parameters}, | |
| note = {For course MAE 223, UC Davis, Winter 2006}, | |
| month = {August}, | |
| year = {2006}, | |
| bib = {bibtex-keys#Moore2006}, | |
| bibpr = {private-bibtex-keys#Moore2006}, | |
| file = {Moore2006.pdf:Moore2006.pdf:PDF}, | |
| owner = {luke}, | |
| timestamp = {2009.11.01}, | |
| webpdf = {references-folder/Moore2006.pdf} | |
| } | |
| @INPROCEEDINGS{Moore2010, | |
| author = {Jason K. Moore and Mont Hubbard and Dale L. Peterson and A. L. Schwab | |
| and J. D. G. Kooijman}, | |
| title = {An Accurate Method of Measuring and Comparing a Bicycle's Physical | |
| Parameters}, | |
| booktitle = {Bicycle and Motorcycle Dynamics: Symposium on the Dynamics and Control | |
| of Single Track Vehicles}, | |
| year = {2010}, | |
| address = {Delft, Netherlands}, | |
| month = {October}, | |
| bib = {bibtex-keys#Moore2010}, | |
| bibpr = {private-bibtex-keys#Moore2010}, | |
| file = {Moore2010.pdf:Moore2010.pdf:PDF}, | |
| owner = {moorepants}, | |
| tags = {sbl,bicycle}, | |
| timestamp = {2010.05.04}, | |
| webpdf = {references-folder/Moore2010.pdf} | |
| } | |
| @ARTICLE{Moore2010a, | |
| author = {Jason K. Moore and Mont Hubbard and A. L. Schwab and J. D. G. Kooijman | |
| and Dale L. Peterson}, | |
| title = {Statistics of bicycle rider motion}, | |
| journal = {Procedia Engineering}, | |
| year = {2010}, | |
| volume = {2}, | |
| pages = {2937--2942}, | |
| number = {2}, | |
| note = {The Engineering of Sport 8 - Engineering Emotion}, | |
| abstract = {An overview of bicycle and rider kinematic motions from a series of | |
| experimental treadmill tests is presented. The full kinematics of | |
| bicycles and riders were measured with an active motion capture system. | |
| Motion across speeds are compared graphically with box and whiskers | |
| plots. Trends and ranges in amplitude are shown to characterize the | |
| system motion. This data will be used to develop a realistic biomechanical | |
| model and control model for the rider and for future experimental | |
| design.}, | |
| bib = {bibtex-keys#Moore2010a}, | |
| bibpr = {private-bibtex-keys#Moore2010a}, | |
| doi = {DOI: 10.1016/j.proeng.2010.04.091}, | |
| file = {Moore2010a.pdf:Moore2010a.pdf:PDF}, | |
| issn = {1877-7058}, | |
| keywords = {Bicycle dynamics}, | |
| tags = {sbl,bicycle}, | |
| url = {http://www.sciencedirect.com/science/article/B9869-508WXJK-37/2/a5dd5a57c5ab57f73a1ccd739068f4ae}, | |
| webpdf = {references-folder/Moore2010a.pdf} | |
| } | |
| @INPROCEEDINGS{Moore2009a, | |
| author = {Jason K. Moore and J. D. G. Kooijman and Mont Hubbard and A. L. Schwab}, | |
| title = {A Method for Estimating Physical Properties of a Combined Bicycle | |
| and Rider}, | |
| booktitle = {Proceedings of the ASME 2009 International Design Engineering Technical | |
| Conferences \& Computers and Information in Engineering Conference, | |
| IDETC/CIE 2009}, | |
| year = {2009}, | |
| address = {San Diego, CA, USA}, | |
| month = {August--September}, | |
| organization = {ASME}, | |
| abstract = {A method is presented to estimate and measure the geometry, mass, | |
| centers of mass and the moments of inertia of a typical bicycle and | |
| rider. The results are presented in a format for ease of use with | |
| the benchmark bicycle model [1]. Example numerical data is also presented | |
| for a typical male rider and city bicycle.}, | |
| bib = {bibtex-keys#Moore2009a}, | |
| bibpr = {private-bibtex-keys#Moore2009a}, | |
| file = {Moore2009a.pdf:Moore2009a.pdf:PDF}, | |
| owner = {moorepants}, | |
| tags = {sbl,bicycle}, | |
| timestamp = {2009.09.21}, | |
| webpdf = {references-folder/Moore2009a.pdf} | |
| } | |
| @INPROCEEDINGS{Moore2009b, | |
| author = {Moore, J. K. and Kooijman, J. D. G. and Schwab, A. L.}, | |
| title = {Rider motion identification during normal bicycling by means of principal | |
| component analysis}, | |
| booktitle = {Multibody Dynamics 2009, ECCOMAS Thematic Conference}, | |
| year = {2009}, | |
| editor = {K. Arczewski and J. Fr\c{a}czek, M. Wojtyra}, | |
| address = {Warsaw, Poland}, | |
| month = {June-July}, | |
| abstract = {Recent observations of a bicyclist riding through town and on a treadmill | |
| show that the rider uses the upper body very little when performing | |
| normal maneuvers and that the bicyclist may in fact primarily use | |
| steering input for control. They also revealed that other motions | |
| such as lateral movement of the knees were used in low speed stabilization. | |
| In order to validate the hypothesis that there is little upper body | |
| motion during casual cycling, an in-depth motion capture analysis | |
| was performed on the bicycle and rider system. We used motion capture | |
| technology to record the motion of three similar young adult male | |
| riders riding two different city bicycles on a treadmill. Each rider | |
| rode each bicycle while performing stability trials at speeds ranging | |
| from 2 km/h to 30 km/h: stabilizing while pedaling normally, stabilizing | |
| without pedaling, line tracking while pedaling, and stabilizing with | |
| nohands. These tasks were chosen with the intent of examining differences | |
| in the kinematics at various speeds, the effects of pedaling on the | |
| system, upper body control motions and the differences in tracking | |
| and stabilization. Principal component analysis was used to transform | |
| the data into a manageable set organized by the variance associated | |
| with the principal components. In this paper, these principal components | |
| were used to characterize various distinct kinematic motions that | |
| occur during stabilization with and without pedaling. These motions | |
| were grouped on the basis of correlation and conclusions were drawn | |
| about which motions are candidates for stabilization related control | |
| actions.}, | |
| bib = {bibtex-keys#Moore2009b}, | |
| bibpr = {private-bibtex-keys#Moore2009b}, | |
| file = {Moore2009b.pdf:Moore2009b.pdf:PDF}, | |
| owner = {moorepants}, | |
| tags = {sbl,bicycle}, | |
| timestamp = {2009.02.07}, | |
| webpdf = {references-folder/Moore2009b.pdf} | |
| } | |
| @ARTICLE{Moore2011, | |
| author = {Moore, Jason K. and Kooijman, J. D. G. and Schwab, A. L. and Hubbard, | |
| Mont}, | |
| title = {Rider motion identification during normal bicycling by means of principal | |
| component analysis}, | |
| journal = {Multibody System Dynamics}, | |
| year = {2011}, | |
| volume = {25}, | |
| pages = {225--244}, | |
| abstract = {Recent observations of a bicyclist riding through town and on a treadmill | |
| show that the rider uses the upper body very little when performing | |
| normal maneuvers and that the bicyclist may, in fact, primarily use | |
| steering input for control. The observations also revealed that other | |
| motions such as lateral movement of the knees were used in low speed | |
| stabilization. In order to validate the hypothesis that there is | |
| little upper body motion during casual cycling, an in-depth motion | |
| capture analysis was performed on the bicycle and rider system. We | |
| used motion capture technology to record the motion of three similar | |
| young adult male riders riding two different city bicycles on a treadmill. | |
| Each rider rode each bicycle while performing stability trials at | |
| speeds ranging from 2 km/h to 30 km/h: stabilizing while pedaling | |
| normally, stabilizing without pedaling, line tracking while pedaling, | |
| and stabilizing with no-hands. These tasks were chosen with the intent | |
| of examining differences in the kinematics at various speeds, the | |
| effects of pedaling on the system, upper body control motions and | |
| the differences in tracking and stabilization. Principal component | |
| analysis was used to transform the data into a manageable set organized | |
| by the variance associated with the principal components. In this | |
| paper, these principal components were used to characterize various | |
| distinct kinematic motions that occur during stabilization with and | |
| without pedaling. These motions were grouped on the basis of correlation | |
| and conclusions were drawn about which motions are candidates for | |
| stabilization-related control actions.}, | |
| affiliation = {Mechanical and Aerospace Engineering, University of California, Davis, | |
| One Shields Avenue, Davis, CA 95616-5294, USA}, | |
| bib = {bibtex-keys#Moore2011}, | |
| bibpr = {private-bibtex-keys#Moore2011}, | |
| doi = {10.1007/s11044-010-9225-8}, | |
| file = {Moore2011.pdf:Moore2011.pdf:PDF}, | |
| issn = {1384-5640}, | |
| issue = {2}, | |
| keyword = {Engineering}, | |
| publisher = {Springer Netherlands}, | |
| url = {http://dx.doi.org/10.1007/s11044-010-9225-8}, | |
| webpdf = {references-folder/Moore2011.pdf} | |
| } | |
| @INPROCEEDINGS{Moore2007, | |
| author = {Jason K. Moore and Dale L. Peterson and Mont Hubbard}, | |
| title = {Influence of rider dynamics on the Whipple bicycle model}, | |
| booktitle = {11th International Symposium on Computer Simulation in Biomechanics}, | |
| year = {2007}, | |
| address = {Tainan, Taiwan}, | |
| month = {June}, | |
| organization = {ISB}, | |
| bib = {bibtex-keys#Moore2007}, | |
| bibpr = {private-bibtex-keys#Moore2007}, | |
| file = {Moore2007.pdf:Moore2007.pdf:PDF}, | |
| owner = {Luke}, | |
| tags = {sbl,bicycle}, | |
| timestamp = {2008.12.18}, | |
| webpdf = {references-folder/Moore2007.pdf} | |
| } | |
| @INPROCEEDINGS{Morchin1993, | |
| author = {Morchin, William C. and Oman, Henry}, | |
| title = {Power control for electric bicycles}, | |
| booktitle = {Proceedings of the Intersociety Energy Conversion Engineering Conference}, | |
| year = {1993}, | |
| volume = {2}, | |
| pages = {251--258}, | |
| address = {Atlanta, GA, USA}, | |
| month = {August}, | |
| bib = {bibtex-keys#Morchin1993}, | |
| bibpr = {private-bibtex-keys#Morchin1993}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Moreno2008, | |
| author = {Moreno, D. and Talaia, P. and Cuyper, J. De and Lozano, M.S.}, | |
| title = {MYMOSA - A virtual motorcycle rider for closed-loop simulation of | |
| motorcycles}, | |
| booktitle = {Proceedings of ISAM 2008}, | |
| year = {2008}, | |
| abstract = {MYMOSA - Integrated motorcycle safety}, | |
| bib = {bibtex-keys#Moreno2008}, | |
| bibpr = {private-bibtex-keys#Moreno2008}, | |
| file = {Moreno2008.pdf:Moreno2008.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Moreno2008.pdf} | |
| } | |
| @TECHREPORT{Mortimer1973, | |
| author = {R. G. Mortimer and P. A. Domas and R. E. Dewar}, | |
| title = {The relationship of bicycle maneuverability to handlebar configuration}, | |
| institution = {Highway Safety Research Institute, University of Michigan,}, | |
| year = {1973}, | |
| number = {UM-HSRI-HF-TM-73-5}, | |
| address = {Univeristy of Michigan, Huron Parkway \& Baxter Road, Ann Arbor, | |
| Michigan 48105}, | |
| month = {June}, | |
| bib = {bibtex-keys#Mortimer1973}, | |
| bibpr = {private-bibtex-keys#Mortimer1973}, | |
| file = {Mortimer1973.pdf:Mortimer1973.pdf:PDF}, | |
| owner = {Jodi}, | |
| review = {Purely experimental study on the effect of different types of handlebars | |
| on the maneuvrability of a bicycle. | |
| 3 handlebars: racing, standard and highrise | |
| 6 tasks: | |
| Circle : time | |
| figure eight : time | |
| lane change: time | |
| straight lane tracking fixed low speed: number of boundary crossovers | |
| (errors) | |
| cornering fixed speed: radius | |
| slalom fixed speed: number of boundary crossovers and cones nocked | |
| over | |
| Slalom: maximum speed | |
| two groups of riders used: standard and race. | |
| rider rating of the bicycle and a rating of the task - on a 5 point | |
| scale. | |
| conclusions: The race handlebars make the bicycle least maneuverable | |
| and a high rise is ok.}, | |
| timestamp = {2008.05.14}, | |
| webpdf = {references-folder/Mortimer1973.pdf} | |
| } | |
| @TECHREPORT{Muhich2004, | |
| author = {Christopher M. Muhich and Christopher D. Wagner}, | |
| title = {Design of a bicycle stabilizer}, | |
| institution = {University of Notre Dame}, | |
| year = {2004}, | |
| bib = {bibtex-keys#Muhich2004}, | |
| bibpr = {private-bibtex-keys#Muhich2004}, | |
| file = {Muhich2004.pdf:Muhich2004.pdf:PDF}, | |
| timestamp = {2012.01.02}, | |
| webpdf = {references-folder/Muhich2004.pdf} | |
| } | |
| @ARTICLE{Muhlfeld1951, | |
| author = {Muhlfeld, A.}, | |
| title = {Die Lenkung des Kraftrades}, | |
| journal = {Automob. Tech. Z.}, | |
| year = {1951}, | |
| volume = {53}, | |
| pages = {249-252}, | |
| number = {10}, | |
| bib = {bibtex-keys#Muhlfeld1951}, | |
| bibpr = {private-bibtex-keys#Muhlfeld1951}, | |
| review = {Eaton cites this as similar experiments to Wilson-Jones1951.}, | |
| timestamp = {2012.02.09} | |
| } | |
| @MASTERSTHESIS{Muraoka2002, | |
| author = {D. Muraoka}, | |
| title = {Stable Running Control of Autonomous Bicycle Robot}, | |
| school = {Keio University}, | |
| year = {2002}, | |
| note = {in Japanese}, | |
| bib = {bibtex-keys#Muraoka2002}, | |
| bibpr = {private-bibtex-keys#Muraoka2002}, | |
| timestamp = {2012.01.01} | |
| } | |
| @MISC{Murata2009, | |
| author = {Murata}, | |
| title = {Murata Boy}, | |
| howpublished = {http://www.murataboy.com/}, | |
| year = {2009}, | |
| bib = {bibtex-keys#Murata2009}, | |
| bibpr = {private-bibtex-keys#Murata2009}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07}, | |
| url = {\url{http://www.murataboy.com/}} | |
| } | |
| @INPROCEEDINGS{Murayama2007, | |
| author = {Murayama, Akihiro and Yamakita, Masaki}, | |
| title = {Development of autonomous bike robot with balancer, Paper 4601741}, | |
| booktitle = {Annual Conference}, | |
| year = {2007}, | |
| pages = {1048--1052}, | |
| address = {Kagawa, Japan}, | |
| month = {September}, | |
| organization = {SICE}, | |
| abstract = {Recently it is expected to develop robots which can work in dissastered | |
| area or places where human can not approach. In dissasterd area, | |
| it is considered that a bike type robot which has narrower body and | |
| has high manuvability is more efficient than vehicles with four wheels. | |
| In the literatures, bike type robots with stabilizing mechanism with | |
| wheel or steerling control have been proposed. In this paper we discuss | |
| a development of bike type robot with a balancer and show experimental | |
| result in an open field.}, | |
| bib = {bibtex-keys#Murayama2007}, | |
| bibpr = {private-bibtex-keys#Murayama2007}, | |
| doi = {10.1109/SICE.2007.4421139}, | |
| file = {Murayama2007.pdf:Murayama2007.pdf:PDF}, | |
| isbn = {978-4-907764-27-2}, | |
| keywords = {Output Zeroing Control,underactuated}, | |
| owner = {moorepants}, | |
| review = {They add a 2 degree of freedom rider lean pendulum. The measure roll | |
| or lean rate with a gyro, then use an accelerometer to help relieve | |
| the drift issues associated with integrating the rate signal. The | |
| moped is completely autonomous except for the trajectory generation. | |
| They have some wireless bluetooth capabilities. They may create the | |
| trajectory with a wireless manually operated joystick. They use the | |
| same controller as Yamakita2006 but adapted to the 2 dof acutator. | |
| They stablize the bicycle insie a room for at least 10mins with osciallorty | |
| stabization. I think this first 10 min check was with zero velocity. | |
| Then they tried with a slow speed, 1m/s. Then they took it outside | |
| on asphalt at 2 m/s and stablized it too.}, | |
| timestamp = {2009.01.31}, | |
| webpdf = {references-folder/Murayama2007.pdf} | |
| } | |
| @MISC{Mutsaerts2010, | |
| author = {J. T. M. Mutsaerts}, | |
| title = {Lego {NXT}bike-{GS} bicycle with active stability}, | |
| howpublished = {Youtube.com}, | |
| month = {May}, | |
| year = {2010}, | |
| note = {http://youtu.be/o7nSQ2ycGX4}, | |
| timestamp = {2012.08.08}, | |
| url = {http://youtu.be/o7nSQ2ycGX4} | |
| } | |
| @INPROCEEDINGS{Nadpurohit1983, | |
| author = {R.N. Nadpurohit and S. Suryanarayan}, | |
| title = {Some experimental studies on the influence of wheel base and trail | |
| on the dynamic stability of the bicycle-rider system}, | |
| booktitle = {Proceedings of the Sixth World Congress on Theory of Machines and | |
| MEchanisms}, | |
| year = {1983}, | |
| pages = {705--708}, | |
| bib = {bibtex-keys#Nadpurohit1983}, | |
| bibpr = {private-bibtex-keys#Nadpurohit1983} | |
| } | |
| @ARTICLE{Nagai1983, | |
| author = {Nagai, M.}, | |
| title = {Analysis of Rider and Single-track-vehicle System; Its Application | |
| to Computer-controlled Bicycles}, | |
| journal = {Automatica}, | |
| year = {1983}, | |
| volume = {19}, | |
| pages = {737--740}, | |
| number = {6}, | |
| bib = {bibtex-keys#Nagai1983}, | |
| bibpr = {private-bibtex-keys#Nagai1983}, | |
| file = {Nagai1983.pdf:Nagai1983.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {DLP -- A model of a bicycle which includes rider lean angle and steer | |
| angle as control inputs is presented, analyzed, and its dynamic response | |
| is compared with that of an experimental bicycle. The model presents | |
| linearized EOMS and assumes no slip rolling, ignores mass of front | |
| fork and wheels, and assumes the center of mass of the rider and | |
| bicycle are lumped on a vertical line including the system center | |
| of mass. The model is a 2nd order. The EOMS are put into state space | |
| form, with the inputs being the steer angle and the rider lean angle, | |
| and outputs being the roll angle and the later deviation (not sure | |
| of exactly what point). It is found that the system is observable | |
| as long as the velocity is non zero, and that the systems is controllable | |
| as long as the speed is not equal to Lr*w and that the (4,2) entry | |
| of the B matrix is non-zero. \\ | |
| Output feedback (roll angle and lateral deviation) is assumed, and | |
| the stability of the system is analyzed. The author considers three | |
| cases: Case A, when the feedback gain matrix (U=-K*Y) is diagonal, | |
| Case B, when only handlebar steering is used and rider lean is constant | |
| (second row of K is all zeroes), and Case C, when no restrictions | |
| are made on the gain matrix. For Case A and Case B, the author presents | |
| simple inequalities which much be satisfied to achieve stability, | |
| and interestingly, for Case A, he finds that to turn left, the rider | |
| must lean left and steer left -- the countersteer phenomenom is supposedly | |
| no longer present, an indication that RHP zeroes are moved into the | |
| LHP with additional control inputs. For Case B, he does find the | |
| countersteer phenomenom.}, | |
| timestamp = {2009.11.03}, | |
| webpdf = {references-folder/Nagai1983.pdf} | |
| } | |
| @INPROCEEDINGS{Nakano1997, | |
| author = {Y. Nakano and H. Iwasaki and S. Iwane}, | |
| title = {Stabilizing Control of un-manned bicycle with piezoelectric micro-gyroscope}, | |
| booktitle = {Proceeding of SICE Conference}, | |
| year = {1997}, | |
| volume = {40}, | |
| pages = {343--344}, | |
| note = {in Japanese}, | |
| bib = {bibtex-keys#Nakano1997}, | |
| bibpr = {private-bibtex-keys#Nakano1997}, | |
| timestamp = {2012.01.01} | |
| } | |
| @ARTICLE{Narasimha2003, | |
| author = {Roddam Narasimha}, | |
| title = {How two bicycle mechanics achieved the world's first powered flight}, | |
| journal = {Resonance}, | |
| year = {2003}, | |
| pages = {61--75}, | |
| bib = {bibtex-keys#Narasimha2003}, | |
| bibpr = {private-bibtex-keys#Narasimha2003}, | |
| file = {Narasimha2003.pdf:Narasimha2003.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Narasimha2003.pdf} | |
| } | |
| @ARTICLE{Needle1997, | |
| author = {S. A. Needle and M. L. Hull}, | |
| title = {An off-road bicycle with adjustable suspension kinematics}, | |
| journal = {Transactions of the ASME}, | |
| year = {1997}, | |
| volume = {119}, | |
| pages = {370--375}, | |
| bib = {bibtex-keys#Needle1997}, | |
| bibpr = {private-bibtex-keys#Needle1997}, | |
| file = {Needle1997.pdf:Needle1997.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Needle1997.pdf} | |
| } | |
| @INPROCEEDINGS{Nehaoua2010, | |
| author = {Lamri Nehaoua and Amine Khettat and Hichem Arioui and Hocine Imine | |
| and Stephane Espie}, | |
| title = {Rider Steer Torque Estimation for Motorcycle Riding Simulator}, | |
| booktitle = {5th IFAC Symposium on Mechatronic Systems}, | |
| year = {2010}, | |
| address = {Cambridge, MA, USA}, | |
| month = {September}, | |
| bib = {bibtex-keys#Nehaoua2010}, | |
| bibpr = {private-bibtex-keys#Nehaoua2010}, | |
| file = {Nehaoua2010.pdf:Nehaoua2010.pdf:PDF}, | |
| timestamp = {2012.03.01}, | |
| webpdf = {references-folder/Nehaoua2010.pdf} | |
| } | |
| @ARTICLE{Neptune1999, | |
| author = {R. R. Neptune and M. L. Hull}, | |
| title = {A theoretical analysis of preferred pedaling rate selection in endurance | |
| cycling}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1999}, | |
| volume = {32}, | |
| pages = {409 - 415}, | |
| number = {4}, | |
| abstract = {One objective of this study was to investigate whether neuromuscular | |
| quantities were associated with preferred pedaling rate selection | |
| during submaximal steady-state cycling from a theoretical perspective | |
| using a musculoskeletal model with an optimal control analysis. Specific | |
| neuromuscular quantities of interest were the individual muscle activation, | |
| force, stress and endurance. To achieve this objective, a forward | |
| dynamic model of cycling and optimization framework were used to | |
| simulate pedaling at three different rates of 75, 90 and 105Â rpm | |
| at 265Â W. The pedaling simulations were produced by optimizing the | |
| individual muscle excitation timing and magnitude to reproduce experimentally | |
| collected data. The results from these pedaling simulations indicated | |
| that all neuromuscular quantities were minimized at 90Â rpm when | |
| summed across muscles. In the context of endurance cycling, these | |
| results suggest that minimizing neuromuscular fatigue is an important | |
| mechanism in pedaling rate selection. A second objective was to determine | |
| whether any of these quantities could be used to predict the preferred | |
| pedaling rate. By using the quantities with the strongest quadratic | |
| trends as the performance criterion to be minimized in an optimal | |
| control analysis, these quantities were analyzed to assess whether | |
| they could be further minimized at 90Â rpm and produce normal pedaling | |
| mechanics. The results showed that both the integrated muscle activation | |
| and average endurance summed across all muscles could be further | |
| minimized at 90Â rpm indicating that these quantities cannot be used | |
| individually to predict preferred pedaling rates.}, | |
| bib = {bibtex-keys#Neptune1999}, | |
| bibpr = {private-bibtex-keys#Neptune1999}, | |
| doi = {DOI: 10.1016/S0021-9290(98)00182-1}, | |
| file = {Neptune1999.pdf:Neptune1999.pdf:PDF}, | |
| issn = {0021-9290}, | |
| keywords = {Muscle force}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-40CRN5R-8/2/8b2cec226ac4d3ed917a60208e7ac807}, | |
| webpdf = {references-folder/Neptune1999.pdf} | |
| } | |
| @ARTICLE{Neptune1998, | |
| author = {R. R. Neptune and M. L. Hull}, | |
| title = {Evaluation of Performance Criteria for Simulation of Submaximal Steady-State | |
| Cycling Using a Forward Dynamic Model}, | |
| journal = {Journal of Biomechanical Engineering}, | |
| year = {1998}, | |
| volume = {120}, | |
| pages = {334-341}, | |
| number = {3}, | |
| bib = {bibtex-keys#Neptune1998}, | |
| bibpr = {private-bibtex-keys#Neptune1998}, | |
| doi = {10.1115/1.2797999}, | |
| publisher = {ASME}, | |
| url = {http://link.aip.org/link/?JBY/120/334/1} | |
| } | |
| @ARTICLE{Neptune1995, | |
| author = {R. R. Neptune and M. L. Hull}, | |
| title = {Accuracy assessment of methods for determining hip movement in seated | |
| cycling}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1995}, | |
| volume = {28}, | |
| pages = {423 - 437}, | |
| number = {4}, | |
| abstract = {The goal of this research was to examine the accuracy of three methods | |
| used to indicate the hip joint center (HJC) in seated steady-state | |
| cycling. Two of the methods have been used in previous studies of | |
| cycling biomechanics and included tracking a marker placed over the | |
| superior aspect of the greater trochanter, a location that estimates | |
| the center of rotation of the hip joint, and assuming that the hip | |
| is fixed. The third method was new and utilized an anthropometric | |
| relationship to determine the hip joint location from a marker placed | |
| over the anterior-superior iliac spine. To perform a comparative | |
| analysis of errors inherent in the three methods, a standard method | |
| which located the true hip joint center was developed. The standard | |
| method involved establishing a pelvis-fixed coordinate system using | |
| a triad of video markers attached to an intracortical pin. Three-dimensional | |
| motion analysis quantified the true hip joint center position coordinates. | |
| To provide data for the comparative analysis, the intracortical pin | |
| was anchored to a single subject who pedaled at nine cadence-workrate | |
| combinations while data for all four methods were simultaneously | |
| recorded. At all cadence-workrate combinations the new method was | |
| more accurate than the trochanter method with movement errors lower | |
| by a factor of 2 in the vertical direction and a factor of 3 in the | |
| horizontal direction. Relative to the errors introduced by the fixed | |
| hip assumption, the new method was also generally more accurate by | |
| at least a factor of 2 in the horizontal direction and had comparable | |
| accuracy in the vertical direction. For computed kinetic quantities, | |
| the new method most accurately indicated hip joint force power but | |
| the fixed hip method most accurately indicated the work produced | |
| by the hip joint force over the crank cycle.}, | |
| bib = {bibtex-keys#Neptune1995}, | |
| bibpr = {private-bibtex-keys#Neptune1995}, | |
| doi = {DOI: 10.1016/0021-9290(94)00080-N}, | |
| file = {Neptune1995.pdf:Neptune1995.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-3YGTT1R-3R/2/a6b5bf404cc402fed5ad053540eea192}, | |
| webpdf = {references-folder/Neptune1995.pdf} | |
| } | |
| @ARTICLE{Neptune1997, | |
| author = {R. R. Neptune and S. A. Kautz and M. L. Hull}, | |
| title = {The effect of pedaling rate on coordination in cycling}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1997}, | |
| volume = {30}, | |
| pages = {1051 - 1058}, | |
| number = {10}, | |
| abstract = {To further understand lower extremity neuromuscular coordination in | |
| cycling, the objectives of this study were to examine the effect | |
| of pedaling rate on coordination strategies and interpret any apparent | |
| changes. These objectives were achieved by collecting electromyography | |
| (EMG) data of eight lower extremity muscles and crank angle data | |
| from ten subjects at 250 W across pedaling rates ranging from 45 | |
| to 120 RPM. To examine the effect of pedaling rate on coordination, | |
| EMG burst onset and offset and integrated EMG (iEMG) were computed. | |
| In addition, a phase-controlled functional group (PCFG) analysis | |
| was performed to interpret observed changes in the EMG patterns in | |
| the context of muscle function. Results showed that the EMG onset | |
| and offset systematically advanced as pedaling rate increased except | |
| for the soleus which shifted later in the crank cycle. The iEMG results | |
| revealed that muscles responded differently to increased pedaling | |
| rate. The gastrocnemius, hamstring muscles and vastus medialis systematically | |
| increased muscle activity as pedaling rate increased. The gluteus | |
| maximus and soleus had significant quadratic trends with minimum | |
| values at 90 RPM, while the tibialis anterior and rectus femoris | |
| showed no significant association with pedaling rate. The PCFG analysis | |
| showed that the primary function of each lower extremity muscle remained | |
| the same at all pedaling rates. The PCFG analysis, which accounts | |
| for muscle activation dynamics, revealed that the earlier onset of | |
| muscle excitation produced muscle activity in the same region of | |
| the crank cycle. Also, while most of the muscles were excited for | |
| a single functional phase, the soleus and rectus femoris were excited | |
| during two functional phases. The soleus was classified as an extensor-bottom | |
| transition muscle, while the rectus femoris was classified as a top | |
| transition-extensor muscle. Further, the relative emphasis of each | |
| function appeared to shift as pedaling rate was increased, although | |
| each muscle remained bifunctional.}, | |
| bib = {bibtex-keys#Neptune1997}, | |
| bibpr = {private-bibtex-keys#Neptune1997}, | |
| doi = {DOI: 10.1016/S0021-9290(97)00071-7}, | |
| file = {Neptune1997.pdf:Neptune1997.pdf:PDF}, | |
| issn = {0021-9290}, | |
| keywords = {Muscle coordination}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-3RKYTRX-6/2/5dfb414a7fd6a754458d761385a91050}, | |
| webpdf = {references-folder/Neptune1997.pdf} | |
| } | |
| @ARTICLE{Newmiller1988, | |
| author = {Jeff Newmiller and M.L. Hull and F.E. Zajac}, | |
| title = {A mechanically decoupled two force component bicycle pedal dynamometer}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1988}, | |
| volume = {21}, | |
| pages = {375 - 379, 381-386}, | |
| number = {5}, | |
| abstract = {A design is presented for a bicycle pedal dynamometer that measures | |
| both normal and tangential forces (i.e. driving forces). Mechanical | |
| decoupling is used to reduce the cross-sensitivity of the dynamometer | |
| to loads doing no work to propel the bicycle. This obviates the need | |
| to measure all six loads for accurate data reduction. A compact strain | |
| ring is the transducer element, and a monolithic design eliminates | |
| mechanical hysteresis between the strain ring and the dynamometer | |
| frame. The angular orientation of the dynamometer with respect to | |
| the crank arm is determined with a continuous-rotation potentiometer. | |
| Design criteria and design implementation are discussed, sample data | |
| are presented, and the performance of the dynamometer is evaluated.}, | |
| bib = {bibtex-keys#Newmiller1988}, | |
| bibpr = {private-bibtex-keys#Newmiller1988}, | |
| doi = {DOI: 10.1016/0021-9290(88)90144-3}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4C35SW6-4F/2/5e840160d48f1595a0e90ad1ee45f96d} | |
| } | |
| @INPROCEEDINGS{Niki2005, | |
| author = {Hiroshi Niki and Toshiyuki Murakami}, | |
| title = {An Approach to Stable Standing Motion of Electric Bicycle}, | |
| booktitle = {Proceedings of 2005 CACS Automatic Control Conference}, | |
| year = {2005}, | |
| address = {Tainan, Taiwan}, | |
| month = {November}, | |
| abstract = {Recently bicycles are widely used as a convenient transportation tool. | |
| A mechanical design of bicycle has improved well and it has ability | |
| to self-stabilize, but it is essentially unstable and a driving skill | |
| of bicycle users is required for a realization of its stable motion. | |
| From a viewpoint of wide use for the future aging society, the assist | |
| control of the bicycle that makes a bicycle motion more stable independently | |
| of the environment condition is expected. As well known, the power | |
| assistance bicycle has been developed. And stable running assistance | |
| bicycle has been reported. However, stable standing assistance bicycle | |
| has not been realized. On the other hand, bicycle accidents (falling | |
| down) in the act of stopping are reported a lot. Stable standing | |
| assistance bicycle is expected to prevent these accidents. So the | |
| purpose of this research is to develop a stable standing assistance | |
| bicycle. In this paper, stabilization control by steering angle and | |
| square of velocity is proposed. Steering angle and square of velocity | |
| are controlled to stabilize the standing bicycle. The feasibility | |
| of this method is verified by numerical result.}, | |
| bib = {bibtex-keys#Niki2005}, | |
| bibpr = {private-bibtex-keys#Niki2005}, | |
| file = {Niki2005.pdf:Niki2005.pdf:PDF}, | |
| review = {Similar models as Iuchi2005 and Tanaka2004. They stablize roll with | |
| PD on steer angle and roll angle error. They include the disturbane | |
| observer. The only difference in the previous work seems to be the | |
| velocity control: They also control the forward/backward velocity.}, | |
| timestamp = {2012.01.01}, | |
| webpdf = {references-folder/Niki2005.pdf} | |
| } | |
| @ARTICLE{Niki2005a, | |
| author = {H. Niki and T. Murakami}, | |
| title = {An Approach to Self Stabilization of Bicycle Motion by Handle Controller}, | |
| journal = {IEEJ Transactions on Industry Applications}, | |
| year = {2005}, | |
| volume = {125-D}, | |
| pages = {779--785}, | |
| number = {8}, | |
| abstract = {Recently bicycles are widely used as a convenient transportation tool. | |
| A mechanical design of bicycle has improved well and it has an ability | |
| to self-stabilize, but it is essentially unstable and a driving skill | |
| of bicycle users is required for a realization of its stable motion. | |
| From a view point of wide use for the future aging society, the assist | |
| control of the bicycle that makes a bicycle motion more stable independently | |
| of the environment condition is expected. As well known, the power | |
| assistance of a bicycle has been used, but a practical assistance | |
| of bicycle motion, in particular, the stable control of bicycle configuration | |
| has not been developed. In this paper, the two handle control algorithms | |
| for autonomous stable running are proposed with the aim of developing | |
| a stable human assistance bicycle. The proposed algorithms are verified | |
| by numerical and experimental results.}, | |
| bib = {bibtex-keys#Niki2005a}, | |
| bibpr = {private-bibtex-keys#Niki2005a}, | |
| keywords = {bicycle, stabilization, autonomous runnning, handle control}, | |
| timestamp = {2012.01.02} | |
| } | |
| @ARTICLE{Noguchi2004, | |
| author = {Akira Noguchi and Kosuke Yamawaki and Toshiro Yamamoto and Tomoaki | |
| Toratani}, | |
| title = {Development of a Steering Angle and Torque Sensor of Contact-type}, | |
| journal = {Furukawa Review}, | |
| year = {2004}, | |
| volume = {25}, | |
| pages = {36--41}, | |
| bib = {bibtex-keys#Noguchi2004}, | |
| bibpr = {private-bibtex-keys#Noguchi2004}, | |
| file = {Noguchi2004.pdf:Noguchi2004.pdf:PDF}, | |
| review = {The measure automobile steering torque by measuring the difference | |
| in twist angle at each end of a torsion bar. This would require a | |
| really flexible torsional bar and/or super accurate angle measurments. | |
| They got some fancy resistive plat sensor that maybe accurate. Didn't | |
| read much into it.}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Noguchi2004.pdf} | |
| } | |
| @ARTICLE{Nordquist2007, | |
| author = {Josh Nordquist and M. L. Hull}, | |
| title = {Design and Demonstration of a New Instrumented Spatial Linkage for | |
| Use in a Dynamic Environment: Application to Measurement of Ankle | |
| Rotations During Snowboarding}, | |
| journal = {Journal of Biomechanical Engineering}, | |
| year = {2007}, | |
| volume = {129}, | |
| pages = {231-239}, | |
| number = {2}, | |
| abstract = {Joint injuries during sporting activities might be reduced by understanding | |
| the extent of the dynamic motion of joints prone to injury during | |
| maneuvers performed in the field. Because instrumented spatial linkages | |
| (ISLs) have been widely used to measure joint motion, it would be | |
| useful to extend the functionality of an ISL to measure joint motion | |
| in a dynamic environment. The objectives of the work reported by | |
| this paper were to (i) design and construct an ISL that will measure | |
| dynamic joint motion in a field environment, (ii) calibrate the ISL | |
| and quantify its static measurement error, (iii) quantify dynamic | |
| measurement error due to external acceleration, and (iv) measure | |
| ankle joint complex rotation during snowboarding maneuvers performed | |
| on a snow slope. An ￜelbow-typeￜ ISL was designed to measure | |
| ankle joint complex rotation throughout its range (ￜ30 deg for | |
| flexion/extension, ￜ15 deg for internal/external rotation, and | |
| ￜ15 deg for inversion/eversion). The ISL was calibrated with a | |
| custom six degree-of-freedom calibration device generally useful | |
| for calibrating ISLs, and static measurement errors of the ISL also | |
| were evaluated. Root-mean-squared errors (RMSEs) were 0.59 deg for | |
| orientation (1.7\% full scale) and 1.00 mm for position (1.7\% full | |
| scale). A custom dynamic fixture allowed external accelerations (5 | |
| g, 0ￜ50 Hz) to be applied to the ISL in each of three linear directions. | |
| Maximum measurement deviations due to external acceleration were | |
| 0.05 deg in orientation and 0.10 mm in position, which were negligible | |
| in comparison to the static errors. The full functionality of the | |
| ISL for measuring joint motion in a field environment was demonstrated | |
| by measuring rotations of the ankle joint complex during snowboarding | |
| maneuvers performed on a snow slope.}, | |
| bib = {bibtex-keys#Nordquist2007}, | |
| bibpr = {private-bibtex-keys#Nordquist2007}, | |
| doi = {10.1115/1.2486107}, | |
| file = {Nordquist2007.pdf:Nordquist2007.pdf:PDF}, | |
| keywords = {sport; biomechanics; biomedical measurement; biomedical equipment; | |
| motion measurement; calibration; measurement errors}, | |
| publisher = {ASME}, | |
| url = {http://link.aip.org/link/?JBY/129/231/1}, | |
| webpdf = {references-folder/Nordquist2007.pdf} | |
| } | |
| @ARTICLE{Norgia2009, | |
| author = {M. Norgia and I. Boniolo and M. Tanelli and S.M. Savaresi and C. | |
| Svelto}, | |
| title = {Optical Sensors for Real-Time Measurement of Motorcycle Tilt Angle}, | |
| journal = {IEEE Transactions on Instrumentation and Measurement}, | |
| year = {2009}, | |
| volume = {58}, | |
| pages = {1640-1649}, | |
| number = {5}, | |
| month = {May}, | |
| abstract = {This paper addresses the analysis and design of an optical sensor | |
| for the real-time measurement of the tilt angle in hypersport motorcycles. | |
| The aim of this paper is to design a compact, reliable, and low-cost | |
| optical triangulator that is capable of accurate in-field measurements | |
| in the harsh environment of sport motorcycles. An analytical computation | |
| of the required system sensitivity and achievable accuracy is carried | |
| out. The detrimental effects of solar interference are also described | |
| and discussed. The proposed instrumentation, which is realized with | |
| ad hoc laser emitters, is shown to have superior performance with | |
| respect to a previous solution based on light-emitting diode (LED) | |
| emitters. Such novel triangulators are shown to provide good and | |
| reliable performances for the proposed application to maintain low | |
| costs and small sizes, overcoming the problem of solar interference. | |
| The performance of the proposed sensor is assessed by experiments | |
| on an instrumented motorbike in a racetrack.}, | |
| bib = {bibtex-keys#Norgia2009}, | |
| bibpr = {private-bibtex-keys#Norgia2009}, | |
| doi = {10.1109/TIM.2008.2009421}, | |
| file = {Norgia2009.pdf:Norgia2009.pdf:PDF}, | |
| issn = {0018-9456}, | |
| keywords = {angular measurement, measurement by laser beam, measurement uncertainty, | |
| motorcycles, optical design techniques, optical sensors, reliability, | |
| sport, vehicle dynamicsad hoc laser emitter, harsh environment, hypersport | |
| motorcycle, instrumented motorbike test, measurement uncertainity, | |
| optical sensor design, optical triangulator, racetrack, real-time | |
| tilt angle measurement, reliable performance, solar interference | |
| detrimental effects}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Norgia2009.pdf} | |
| } | |
| @INPROCEEDINGS{Oda2002, | |
| author = {Yusuke Oda and Masayuki Miyamoto and Kei Uchiyama and Gou Shimizu}, | |
| title = {Study on the autonomous run by integrated control of bicycle}, | |
| booktitle = {JSME 11th Conference of Transportation and Logistics Division No.02-50}, | |
| year = {2002}, | |
| month = {December}, | |
| bib = {bibtex-keys#Oda2002}, | |
| bibpr = {private-bibtex-keys#Oda2002}, | |
| timestamp = {2011.12.31} | |
| } | |
| @MISC{Ohya1960, | |
| author = {T. Ohya}, | |
| title = {The dynamics of the bicycle}, | |
| howpublished = {The bicycle technical report No.2 pp.1-8}, | |
| year = {1960}, | |
| note = {Iuchi2006 cites this, they say: In 1960’s Ohya[1] has ana- | |
| lyzed the stability of the bicycle from the viewpoints of fre- | |
| quency and transfer function}, | |
| bib = {bibtex-keys#Ohya1960}, | |
| bibpr = {private-bibtex-keys#Ohya1960}, | |
| timestamp = {2012.01.02} | |
| } | |
| @ARTICLE{Olsen1987, | |
| author = {John Olsen and Jim Papadopoulos}, | |
| title = {Bicycle Dynamics: The Meaning Behind the Math}, | |
| journal = {Bike Tech}, | |
| year = {1987}, | |
| pages = {13--15}, | |
| bib = {bibtex-keys#Olsen1987}, | |
| bibpr = {private-bibtex-keys#Olsen1987}, | |
| file = {Olsen1987.pdf:Olsen1987.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Olsen1987.pdf} | |
| } | |
| @MASTERSTHESIS{Ouden2011, | |
| author = {J. H. van den Ouden}, | |
| title = {Inventory of bicycle motion for the design of a bicycle simulator}, | |
| school = {Delft University of Technology}, | |
| year = {2011}, | |
| bib = {bibtex-keys#Ouden2011}, | |
| bibpr = {private-bibtex-keys#Ouden2011}, | |
| file = {Ouden2011.pdf:Ouden2011.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {Designed his torque sensor to have a range around -5 to 5 nm based | |
| on Cheng, Moore and some spring scale tests they did. He was aware | |
| of crosstalk: "The torque sensor should still measure the torque | |
| accurately within these bounds when a force of 40 N is exerted in | |
| the downward direction on the handle bar on one side." He made use | |
| of angular contact bearings to allow the handlebars to turn freely | |
| from the fork. He used dual cantilever type load cells mounted away | |
| from the steering axis to engage the handlebar to the fork. He built | |
| in overload protection similar to Biral2003 (stops). The range ended | |
| up being +/- 7.5 nm. He states that radial bearings are used later | |
| in the text. I'm not sure if it is radial or angular contact. He | |
| ended up having major crosstalk issues. He ended up removing the | |
| overload protection to solve some crosstalk issues. His torque measurement | |
| is nonlinear from -1 to 1 nm. | |
| He uses an xsense IMU. The pitch angles it produces are suspicious, | |
| but may be from riding on noraml streets with elevation changes. | |
| The roll angle output seems reasonable. | |
| He seems to calculate the steer torque using the whipple model and | |
| the kinematic measurements he made and then compares that result | |
| to the actual measured steering torque. They com out very similar. | |
| I didn't look at this hard, need to review it better.}, | |
| timestamp = {2011.09.27}, | |
| webpdf = {references-folder/Ouden2011.pdf} | |
| } | |
| @INPROCEEDINGS{Ovaska1998, | |
| author = {Ovaska, S. J. and Valiviita, S.}, | |
| title = {Angular acceleration measurement: {A} review}, | |
| booktitle = {Proc. IEEE IMTC/98 Instrumentation and Measurement Technology Conf}, | |
| year = {1998}, | |
| volume = {2}, | |
| pages = {875--880}, | |
| abstract = {This paper gives <span class='snippet'>a</span> <span class='snippet'>review</span> | |
| of sensors, methods, and algorithms available for the <span class='snippet'>measurement</span> | |
| of <span class='snippet'>angular</span> <span class='snippet'>acceleration</span>. | |
| The emphasis is in delay-sensitive, real-time applications. Although | |
| the <span class='snippet'>angular</span> <span class='snippet'>acceleration</span> | |
| can be measured indirectly using either <span class='snippet'>a</span> | |
| rotating angle sensor or <span class='snippet'>a</span> velocity | |
| sensor, the noise-amplification problem related to the differentiation | |
| process has motivated the efforts to develop transducers for direct | |
| sensing of <span class='snippet'>angular</span> <span class='snippet'>acceleration</span>. | |
| Direct measuring of linear <span class='snippet'>acceleration</span> | |
| is widely in everyday use, but the <span class='snippet'>angular</span> | |
| <span class='snippet'>acceleration</span> sensors, particularly those | |
| with unlimited rotation angle, can still be considered as emerging | |
| devices. Consequently, there exist two principal challenges for the | |
| research and development community: to develop economical and accurate | |
| <span class='snippet'>angular</span> accelerometers with unlimited | |
| rotation range, and to create wideband indirect techniques with small | |
| lag and high signal-to-error ratio}, | |
| bib = {bibtex-keys#Ovaska1998}, | |
| bibpr = {private-bibtex-keys#Ovaska1998}, | |
| doi = {10.1109/IMTC.1998.676850}, | |
| file = {Ovaska1998.pdf:Ovaska1998.pdf:PDF}, | |
| timestamp = {2012.02.02}, | |
| webpdf = {references-folder/Ovaska1998.pdf} | |
| } | |
| @INPROCEEDINGS{Owen2006, | |
| author = {Frank Owen and George Leone and Andrew Davol and Georg Fey}, | |
| title = {Cross-Cultural Bicycle Design at Cal Poly and the Munich University | |
| of Applied Sciences}, | |
| booktitle = {2006 International Mechanical Engineering Education Conference}, | |
| year = {2006}, | |
| address = {Beijing, China}, | |
| month = {March}, | |
| bib = {bibtex-keys#Owen2006}, | |
| bibpr = {private-bibtex-keys#Owen2006}, | |
| file = {Owen2006.pdf:Owen2006.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Owen2006.pdf} | |
| } | |
| @BOOK{Pacejka2006, | |
| title = {Tire and vehicle dynamics}, | |
| publisher = {SAE International}, | |
| year = {2006}, | |
| editor = {Society of Automotive Engineers}, | |
| author = {Pacejka, H.B.}, | |
| series = {SAE-R}, | |
| isbn = {9780768017021}, | |
| url = {http://books.google.com/books?id=ddQeAQAAIAAJ} | |
| } | |
| @ARTICLE{Pacejka1991, | |
| author = {Pacejka, Hans B and Sharp, Robin S.}, | |
| title = {SHEAR FORCE DEVELOPMENT BY PNEUMATIC TIRES IN STEADY-STATE CONDITIONS | |
| - A REVIEW OF MODELING ASPECTS}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {1991}, | |
| volume = {20}, | |
| pages = {121-175}, | |
| number = {3-4}, | |
| abstract = {Modelling of the generation of shear forces by pneumatic tyres under | |
| steady state conditions is reviewed. The review is placed in a practical | |
| context, through reference to the uses to which models may be put | |
| by the vehicle dynamicist and the tyre designer. It will be of interest | |
| also to the student of rolling contact problems. The subject is divided | |
| into sections, covering physically founded models which require computation | |
| for their solution, physically based models which are sufficiently | |
| simplified to allow analytical solutions and formula based, empirical | |
| models. The classes are more nearly continuous than this strict division | |
| would imply, since approximations in obtaining analytical solutions | |
| may be made, empirical correction factors may be applied to analytical | |
| results and formula based methods may take into account tyre mechanical | |
| principles. Such matters are discussed in the relevant sections. | |
| Attention is given to the important matter of choosing model parameters | |
| to best represent the behaviour of a particular tyre. Conclusions | |
| relate to the structural and frictional mechanisms present in the | |
| shear force generation process, the contributions of carcass and | |
| tread elastic properties and of geometrical and frictional factors | |
| to the determination of the distributions of force through the contact | |
| region, the relationship between accuracy and computational load | |
| and the selection of methods for modelling tyre forces in a road | |
| vehicle dynamics context. Reference to the most pertinent literature | |
| in the field is made and possibilities for the further development | |
| of the state of the art are mentioned.}, | |
| bib = {bibtex-keys#Pacejka1991}, | |
| bibpr = {private-bibtex-keys#Pacejka1991}, | |
| file = {Pacejka1991.pdf:Pacejka1991.pdf:PDF}, | |
| issn = {0042-3114}, | |
| owner = {Luke}, | |
| timestamp = {2009.03.06}, | |
| unique-id = {ISI:A1991GA72400001}, | |
| webpdf = {references-folder/Pacejka1991.pdf} | |
| } | |
| @ARTICLE{Paden2009, | |
| author = {Brad E. Paden and Nasim Mirnateghi and Luca Gentili and Lorenzo Marconi}, | |
| title = {Designing Nonlinear Zero Dynamics to Reject Periodic Waveforms}, | |
| journal = {Journal of Dynamic Systems, Measurement, and Control}, | |
| year = {2009}, | |
| volume = {131}, | |
| pages = {044504}, | |
| number = {4}, | |
| eid = {044504}, | |
| bib = {bibtex-keys#Paden2009}, | |
| bibpr = {private-bibtex-keys#Paden2009}, | |
| doi = {10.1115/1.3117187}, | |
| keywords = {linear systems; nonlinear control systems; poles and zeros}, | |
| numpages = {4}, | |
| owner = {moorepants}, | |
| publisher = {ASME}, | |
| timestamp = {2009.11.04}, | |
| url = {http://link.aip.org/link/?JDS/131/044504/1} | |
| } | |
| @UNPUBLISHED{Papadopoulos2009, | |
| author = {Jim Papadopoulos}, | |
| title = {Quantitative Conclusions in "Lords of the chainring"}, | |
| year = {2009}, | |
| bib = {bibtex-keys#Papadopoulos2009}, | |
| bibpr = {private-bibtex-keys#Papadopoulos2009}, | |
| file = {Papadopoulos2009.pdf:Papadopoulos2009.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Papadopoulos2009.pdf} | |
| } | |
| @UNPUBLISHED{Papadopoulos1987b, | |
| author = {Jim Papadopoulos and Andy Ruina}, | |
| title = {Discussion of {L}e {H}\'{e}naff's Paper}, | |
| note = {Short write up by Jim P.}, | |
| year = {1987}, | |
| bib = {bibtex-keys#Papadopoulos1987b}, | |
| bibpr = {private-bibtex-keys#Papadopoulos1987b}, | |
| file = {Papadopoulos1987b.pdf:Papadopoulos1987b.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Papadopoulos1987b.pdf} | |
| } | |
| @UNPUBLISHED{Papadopoulos1990a, | |
| author = {Jim M. Papadopoulos}, | |
| title = {Governing Equations}, | |
| note = {Lost text of Jim P.}, | |
| year = {1990}, | |
| bib = {bibtex-keys#Papadopoulos1990a}, | |
| bibpr = {private-bibtex-keys#Papadopoulos1990a}, | |
| file = {Papadopoulos1990a.pdf:Papadopoulos1990a.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Papadopoulos1990a.pdf} | |
| } | |
| @UNPUBLISHED{Papadopoulos1988, | |
| author = {Jim M. Papadopoulos}, | |
| title = {A Single-Step Method of Aligning a Bicycle Frame So No Handlebar | |
| Torque is Required For Straight-Line Riding}, | |
| note = {Method}, | |
| year = {1988}, | |
| bib = {bibtex-keys#Papadopoulos1988}, | |
| bibpr = {private-bibtex-keys#Papadopoulos1988}, | |
| file = {Papadopoulos1988.pdf:Papadopoulos1988.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Papadopoulos1988.pdf} | |
| } | |
| @UNPUBLISHED{Papadopoulos1988a, | |
| author = {Jim M. Papadopoulos}, | |
| title = {Explaining the Coefficients}, | |
| note = {NA}, | |
| year = {1988}, | |
| bib = {bibtex-keys#Papadopoulos1988a}, | |
| bibpr = {private-bibtex-keys#Papadopoulos1988a}, | |
| file = {Papadopoulos1988a.pdf:Papadopoulos1988a.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Papadopoulos1988a.pdf} | |
| } | |
| @UNPUBLISHED{Papadopoulos1987, | |
| author = {Jim M. Papadopoulos}, | |
| title = {Bicycle Handling Experiments You Can Do}, | |
| note = {NA}, | |
| month = {December}, | |
| year = {1987}, | |
| bib = {bibtex-keys#Papadopoulos1987}, | |
| bibpr = {private-bibtex-keys#Papadopoulos1987}, | |
| file = {Papadopoulos1987.pdf:Papadopoulos1987.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Papadopoulos1987.pdf} | |
| } | |
| @UNPUBLISHED{Papadopoulos1987a, | |
| author = {Jim M. Papadopoulos}, | |
| title = {Bicycle Steering Dynamics and Self-Stability: {A} Summary Report | |
| on Work in Progress}, | |
| note = {Cornell Report}, | |
| year = {1987}, | |
| bib = {bibtex-keys#Papadopoulos1987a}, | |
| bibpr = {private-bibtex-keys#Papadopoulos1987a}, | |
| file = {Papadopoulos1987a.pdf:Papadopoulos1987a.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Papadopoulos1987a.pdf} | |
| } | |
| @UNPUBLISHED{Papadopoulos1987c, | |
| author = {Jim M. Papadopoulos}, | |
| title = {Forces in Bicycle Pedaling}, | |
| note = {NA}, | |
| year = {1987}, | |
| bib = {bibtex-keys#Papadopoulos1987c}, | |
| bibpr = {private-bibtex-keys#Papadopoulos1987c}, | |
| file = {Papadopoulos1987c.pdf:Papadopoulos1987c.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Papadopoulos1987c.pdf} | |
| } | |
| @UNPUBLISHED{Papadopoulos1990, | |
| author = {Jim M. Papadopoulos and R. Scott Hand and Andy Ruina}, | |
| title = {Bicycle and Motorcycle Balance and Steer Dynamics}, | |
| note = {NA}, | |
| year = {1990}, | |
| bib = {bibtex-keys#Papadopoulos1990}, | |
| bibpr = {private-bibtex-keys#Papadopoulos1990}, | |
| file = {Papadopoulos1990.pdf:Papadopoulos1990.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Papadopoulos1990.pdf} | |
| } | |
| @INPROCEEDINGS{Park2001, | |
| author = {Ingyu Park and Sangchul Han and Woonchul Ham}, | |
| title = {Control algorithm for stabilization of attitute of unmanned electric | |
| bicycle}, | |
| booktitle = {The Proceedings of 2001 INCOM}, | |
| year = {2001}, | |
| address = {Wien, Austria}, | |
| bib = {bibtex-keys#Park2001}, | |
| bibpr = {private-bibtex-keys#Park2001}, | |
| timestamp = {2012.01.01} | |
| } | |
| @ARTICLE{Park1999, | |
| author = {Park, S. J and Kim, C.B. and Park, S. C.}, | |
| title = {Anthropometric and biomechanical characteristics on body segments | |
| of {K}oreans}, | |
| journal = {Applied Human Sciences}, | |
| year = {1999}, | |
| volume = {18}, | |
| pages = {91--9}, | |
| number = {3}, | |
| month = {May}, | |
| abstract = {This paper documents the physical measurements of the Korean population | |
| in order to construct a data base for ergonomic design. The dimension, | |
| volume, density, mass, and center of mass of Koreans whose ages range | |
| from 7 to 49 were investigated. Sixty-five male subjects and sixty-nine | |
| female subjects participated. Eight body segments (head with neck, | |
| trunk, thigh, shank, foot, upper arm, forearm and hand) were directly | |
| measured with a Martin-type anthropometer, and the immersion method | |
| was adopted to measure the volume of body segments. After this, densities | |
| were computed by the density equations in Drillis and Contini (1966). | |
| The reaction board method was employed for the measurement of the | |
| center of mass. Obtained data were compared with the results in the | |
| literature. The results in this paper showed different features on | |
| body segment parameters comparing with the results in the literature. | |
| The constructed data base can be applied to statistical guideline | |
| for product design, workspace design, design of clothing and tools, | |
| furniture design and construction of biomechanical models for Korean. | |
| Also, they can be extended to the application areas for Mongolian.}, | |
| bib = {bibtex-keys#Park1999}, | |
| bibpr = {private-bibtex-keys#Park1999}, | |
| file = {Park1999.pdf:Park1999.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.04.27}, | |
| webpdf = {references-folder/Park1999.pdf} | |
| } | |
| @BOOK{Paterek2004, | |
| title = {The Paterek Manual For Bicycle Frame Builders}, | |
| publisher = {Henry James Bicycles, Inc.}, | |
| year = {2004}, | |
| author = {Tim Paterek}, | |
| timestamp = {2012.08.08} | |
| } | |
| @UNPUBLISHED{PattersonXXXX, | |
| author = {Bill Patterson}, | |
| title = {Wave of the future}, | |
| year = {XXXX}, | |
| bib = {bibtex-keys#PattersonXXXX}, | |
| bibpr = {private-bibtex-keys#PattersonXXXX}, | |
| file = {PattersonXXXX.pdf:PattersonXXXX.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/PattersonXXXX.pdf} | |
| } | |
| @BOOK{Patterson2004, | |
| title = {The Lords of the Chainring}, | |
| publisher = {W. B. Patterson}, | |
| year = {2004}, | |
| editor = {W. B. Patterson}, | |
| author = {W. B. Patterson}, | |
| bib = {bibtex-keys#Patterson2004}, | |
| bibpr = {private-bibtex-keys#Patterson2004}, | |
| file = {Patterson2004.pdf:Patterson2004.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.12.10}, | |
| webpdf = {references-folder/Patterson2004.pdf} | |
| } | |
| @ARTICLE{Pearsall1922, | |
| author = {Pearsall, R. H.}, | |
| title = {The stability of a bicycle}, | |
| journal = {Proc. Inst. Automobile Engr.}, | |
| year = {1922}, | |
| volume = {17}, | |
| pages = {395--402}, | |
| bib = {bibtex-keys#Pearsall1922}, | |
| bibpr = {private-bibtex-keys#Pearsall1922}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30} | |
| } | |
| @MASTERSTHESIS{Pennings1981, | |
| author = {Timothy J Pennings}, | |
| title = {Mathematical modeling of bicycle dynamics with computer simulation}, | |
| school = {University of North Dakota}, | |
| year = {1981}, | |
| month = {December}, | |
| bib = {bibtex-keys#Pennings1981}, | |
| bibpr = {private-bibtex-keys#Pennings1981}, | |
| file = {Pennings1981.pdf:Pennings1981.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.12.08}, | |
| webpdf = {references-folder/Pennings1981.pdf} | |
| } | |
| @ARTICLE{Peterka2003, | |
| author = {Peterka, R.J.}, | |
| title = {Simplifying the complexities of maintaining balance}, | |
| journal = {Engineering in Medicine and Biology Magazine, IEEE}, | |
| year = {2003}, | |
| volume = {22}, | |
| pages = {63 -68}, | |
| number = {2}, | |
| month = {March}, | |
| abstract = {Insights are provided by simple closed-loop models of human postural | |
| control. In developing a quantitative model to help us understand | |
| the postural control system, one might be tempted to capture as much | |
| of the complexity as is known about each of the subsystems. However, | |
| this article will follow the approach of Occam's Razor. That is, | |
| we begin with the simplest possible representation of each of the | |
| subsystems and only add complexity as necessary to be consistent | |
| with experimental data. For example, a control model with PD control | |
| and a positive force feedback loop provides a better explanation | |
| of the low-frequency dynamic behavior than the PID control model. | |
| Since both models have the same number of parameters, Occam's Razor | |
| favors the positive force feedback model over the PID model or any | |
| variation on the PID model that includes additional parameters. While | |
| there is some experimental evidence that positive force feedback | |
| plays a role in some aspects of motor control its contribution to | |
| postural control is unknown. Our model that includes positive force | |
| feedback represents a quantitative hypothesis that motivates additional | |
| experiments to confirm, or refute the contribution of positive force | |
| feedback to human postural control and to investigate the dynamic | |
| properties of this feedback loop. An important feature clearly revealed | |
| by the model-based interpretation of experimental data is the ability | |
| of the human postural control system to alter its source of sensory | |
| orientation cues as environmental conditions change. Our relatively | |
| simple models allowed us to apply systems identification methods | |
| in order to estimate the relative contributions (sensory weights) | |
| of various sensory orientation cues in different environmental conditions | |
| However, our simple models do not predict how the sensory weights | |
| should change as a function of environmental conditions or provide | |
| insight into the neural mechanisms that cause these changes.}, | |
| bib = {bibtex-keys#Peterka2003}, | |
| bibpr = {private-bibtex-keys#Peterka2003}, | |
| doi = {10.1109/MEMB.2003.1195698}, | |
| file = {Peterka2003.pdf:Peterka2003.pdf:PDF}, | |
| issn = {0739-5175}, | |
| keywords = {Occam Razor;PD control;PID control model;control model;dynamic properties;environmental | |
| conditions;human postural control;low-frequency dynamic behavior;maintaining | |
| balance complexities;motor control;neural mechanisms;positive force | |
| feedback loop;postural control;postural control system;quantitative | |
| model;sensory orientation cues;sensory weights;simple closed-loop | |
| models;subsystems;systems identification methods;biocontrol;biomechanics;closed | |
| loop systems;control system analysis;force feedback;identification;mechanoception;muscle;neurophysiology;physiological | |
| models;three-term control;two-term control;Acceleration;Computer | |
| Simulation;Feedback;Homeostasis;Humans;Models, Biological;Models, | |
| Neurological;Muscle, Skeletal;Musculoskeletal Equilibrium;Orientation;Posture;Proprioception;Stress, | |
| Mechanical;Torque;Vestibular Diseases;Vestibule, Labyrinth;}, | |
| webpdf = {references-folder/Peterka2003.pdf} | |
| } | |
| @ARTICLE{Peterka2002, | |
| author = {Peterka, R. J.}, | |
| title = {Sensorimotor Integration in Human Postural Control}, | |
| journal = {Journal of Neurophysiology}, | |
| year = {2002}, | |
| volume = {88}, | |
| pages = {1097-1118}, | |
| number = {3}, | |
| abstract = {It is generally accepted that human bipedal upright stance is achieved | |
| by feedback mechanisms that generate an appropriate corrective torque | |
| based on body-sway motion detected primarily by visual, vestibular, | |
| and proprioceptive sensory systems. Because orientation information | |
| from the various senses is not always available (eyes closed) or | |
| accurate (compliant support surface), the postural control system | |
| must somehow adjust to maintain stance in a wide variety of environmental | |
| conditions. This is the sensorimotor integration problem that we | |
| investigated by evoking anterior-posterior (AP) body sway using pseudorandom | |
| rotation of the visual surround and/or support surface (amplitudes | |
| 0.5–8°) in both normal subjects and subjects with severe bilateral | |
| vestibular loss (VL). AP rotation of body center-of-mass (COM) was | |
| measured in response to six conditions offering different combinations | |
| of available sensory information. Stimulus-response data were analyzed | |
| using spectral analysis to compute transfer functions and coherence | |
| functions over a frequency range from 0.017 to 2.23 Hz. Stimulus-response | |
| data were quite linear for any given condition and amplitude. However, | |
| overall behavior in normal subjects was nonlinear because gain decreased | |
| and phase functions sometimes changed with increasing stimulus amplitude. | |
| “Sensory channel reweighting” could account for this nonlinear behavior | |
| with subjects showing increasing reliance on vestibular cues as stimulus | |
| amplitudes increased. VL subjects could not perform this reweighting, | |
| and their stimulus-response behavior remained quite linear. Transfer | |
| function curve fits based on a simple feedback control model provided | |
| estimates of postural stiffness, damping, and feedback time delay. | |
| There were only small changes in these parameters with increasing | |
| visual stimulus amplitude. However, stiffness increased as much as | |
| 60\% with increasing support surface amplitude. To maintain postural | |
| stability and avoid resonant behavior, an increase in stiffness should | |
| be accompanied by a corresponding increase in damping. Increased | |
| damping was achieved primarily by decreasing the apparent time delay | |
| of feedback control rather than by changing the damping coefficient | |
| (i.e., corrective torque related to body-sway velocity). In normal | |
| subjects, stiffness and damping were highly correlated with body | |
| mass and moment of inertia, with stiffness always about 1/3 larger | |
| than necessary to resist the destabilizing torque due to gravity. | |
| The stiffness parameter in some VL subjects was larger compared with | |
| normal subjects, suggesting that they may use increased stiffness | |
| to help compensate for their loss. Overall results show that the | |
| simple act of standing quietly depends on a remarkably complex sensorimotor | |
| control system.}, | |
| bib = {bibtex-keys#Peterka2002}, | |
| bibpr = {private-bibtex-keys#Peterka2002}, | |
| eprint = {http://jn.physiology.org/content/88/3/1097.full.pdf+html}, | |
| file = {Peterka2002.pdf:Peterka2002.pdf:PDF}, | |
| url = {http://jn.physiology.org/content/88/3/1097.abstract}, | |
| webpdf = {references-folder/Peterka2002.pdf} | |
| } | |
| @ARTICLE{Peterka2000, | |
| author = {Peterka, Robert J.}, | |
| title = {Postural control model interpretation of stabilogram diffusion analysis}, | |
| journal = {Biological Cybernetics}, | |
| year = {2000}, | |
| volume = {82}, | |
| pages = {335-343}, | |
| note = {10.1007/s004220050587}, | |
| abstract = {Collins and De Luca [Collins JJ, De Luca CJ (1993) Exp Brain Res 95: | |
| 308–318] introduced a new method known as stabilogram diffusion analysis | |
| that provides a quantitative statistical measure of the apparently | |
| random variations of center-of-pressure (COP) trajectories recorded | |
| during quiet upright stance in humans. This analysis generates a | |
| stabilogram diffusion function (SDF) that summarizes the mean square | |
| COP displacement as a function of the time interval between COP comparisons. | |
| SDFs have a characteristic two-part form that suggests the presence | |
| of two different control regimes: a short-term open-loop control | |
| behavior and a longer-term closed-loop behavior. This paper demonstrates | |
| that a very simple closed-loop control model of upright stance can | |
| generate realistic SDFs. The model consists of an inverted pendulum | |
| body with torque applied at the ankle joint. This torque includes | |
| a random disturbance torque and a control torque. The control torque | |
| is a function of the deviation (error signal) between the desired | |
| upright body position and the actual body position, and is generated | |
| in proportion to the error signal, the derivative of the error signal, | |
| and the integral of the error signal [i.e. a proportional, integral | |
| and derivative (PID) neural controller]. The control torque is applied | |
| with a time delay representing conduction, processing, and muscle | |
| activation delays. Variations in the PID parameters and the time | |
| delay generate variations in SDFs that mimic real experimental SDFs. | |
| This model analysis allows one to interpret experimentally observed | |
| changes in SDFs in terms of variations in neural controller and time | |
| delay parameters rather than in terms of open-loop versus closed-loop | |
| behavior.}, | |
| affiliation = {Neurological Sciences Institute, Oregon Health Sciences University, | |
| Portland, OR 97209, USA US US}, | |
| bib = {bibtex-keys#Peterka2000}, | |
| bibpr = {private-bibtex-keys#Peterka2000}, | |
| file = {Peterka2000.pdf:Peterka2000.pdf:PDF}, | |
| issn = {0340-1200}, | |
| issue = {4}, | |
| keyword = {Biomedical and Life Sciences}, | |
| publisher = {Springer Berlin / Heidelberg}, | |
| url = {http://dx.doi.org/10.1007/s004220050587}, | |
| webpdf = {references-folder/Peterka2000.pdf} | |
| } | |
| @ARTICLE{Peterka2004, | |
| author = {Peterka, Robert J. and Loughlin, Patrick J.}, | |
| title = {Dynamic Regulation of Sensorimotor Integration in Human Postural | |
| Control}, | |
| journal = {Journal of Neurophysiology}, | |
| year = {2004}, | |
| volume = {91}, | |
| pages = {410-423}, | |
| number = {1}, | |
| abstract = { Upright stance in humans is inherently unstable, requiring corrective | |
| action based on spatial-orientation information from sensory systems. | |
| One might logically predict that environments providing access to | |
| accurate orientation information from multiple sensory systems would | |
| facilitate postural stability. However, we show that, after a period | |
| in which access to accurate sensory information was reduced, the | |
| restoration of accurate information disrupted postural stability. | |
| In eyes-closed trials, proprioceptive information was altered by | |
| rotating the support surface in proportion to body sway (support | |
| surface "sway-referencing"). When the support surface returned to | |
| a level orientation, most subjects developed a transient 1-Hz body | |
| sway oscillation that differed significantly from the low-amplitude | |
| body sway typically observed during quiet stance. Additional experiments | |
| showed further enhancement of the 1-Hz oscillation when the surface | |
| transitioned from a sway-referenced to a reverse sway-referenced | |
| motion. Oscillatory behavior declined with repetition of trials, | |
| suggesting a learning effect. A simple negative feedback-control | |
| model of the postural control system predicted the occurrence of | |
| this 1-Hz oscillation in conditions where too much corrective torque | |
| is generated in proportion to body sway. Model simulations were used | |
| to distinguish between two alternative explanations for the excessive | |
| corrective torque generation. Simulation results favor an explanation | |
| based on the dynamic reweighting of sensory contributions to postural | |
| control rather than a load-compensation mechanism that scales torque | |
| in proportion to a fixed combination of sensory-orientation information. | |
| }, | |
| bib = {bibtex-keys#Peterka2004}, | |
| bibpr = {private-bibtex-keys#Peterka2004}, | |
| doi = {10.1152/jn.00516.2003}, | |
| eprint = {http://jn.physiology.org/content/91/1/410.full.pdf+html}, | |
| file = {Peterka2004.pdf:Peterka2004.pdf:PDF}, | |
| url = {http://jn.physiology.org/content/91/1/410.abstract}, | |
| webpdf = {references-folder/Peterka2004.pdf} | |
| } | |
| @INPROCEEDINGS{Peterson2009, | |
| author = {Dale L. Peterson and Mont Hubbard}, | |
| title = {General Steady Turning of a Benchmark Bicycle Model}, | |
| booktitle = {Proceedings of IDETC/MSNDC 2009 the ASME 2009 International Design | |
| Engineering Technical Conferences \& 7th International Conference | |
| on Multibody Systems, Nonlinear Dynamics, and Control}, | |
| year = {2009}, | |
| number = {DETC2009/MSNDC-86145}, | |
| abstract = {We analyze general steady turns of a benchmark bicycle model in the | |
| case of nonzero applied steer torque. In a general steady turn, the | |
| lean and steer angles are constant, the velocity of the bicycle must | |
| ensure moment balance about the contact line, and some torque must | |
| be applied to maintain the constant steer angle. We identify two | |
| boundaries in leanÂsteer plane: first, the region of kinematic feasibility, | |
| and second, the region where steady turns are feasible. In the region | |
| of feasible steady turns, we present level curves of these steady | |
| turning velocities and steer torques. Additionally, we present level | |
| curves of mechanical trail in the leanÂsteer plane.}, | |
| bib = {bibtex-keys#Peterson2009}, | |
| bibpr = {private-bibtex-keys#Peterson2009}, | |
| file = {Peterson2009.pdf:Peterson2009.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {JKM - Peterson and Hubbard show the steady turning required steering | |
| torques for the benchmark bicycle on page 7. The torques for lean | |
| angles from 0 to 10 degrees and steer from 0 to 45 degrees are under | |
| 3 Nm.}, | |
| tags = {sbl,bicycle}, | |
| timestamp = {2009.09.22}, | |
| webpdf = {references-folder/Peterson2009.pdf} | |
| } | |
| @INPROCEEDINGS{Peterson2008, | |
| author = {Peterson, Dale L. and Hubbard, Mont}, | |
| title = {Analysis of the Holonomic Constraint in the {W}hipple Bicycle Model, | |
| Paper 267}, | |
| booktitle = {The Engineering of Sport 7}, | |
| year = {2008}, | |
| volume = {2}, | |
| pages = {623--631}, | |
| address = {Biarritz, France}, | |
| month = {June}, | |
| organization = {ISEA}, | |
| publisher = {Springer}, | |
| bib = {bibtex-keys#Peterson2008}, | |
| bibpr = {private-bibtex-keys#Peterson2008}, | |
| file = {Peterson2008.pdf:Peterson2008.pdf:PDF}, | |
| owner = {moorepants}, | |
| tags = {sbl,bicycle}, | |
| timestamp = {2009.11.04}, | |
| webpdf = {references-folder/Peterson2008.pdf} | |
| } | |
| @INPROCEEDINGS{Peterson2008a, | |
| author = {Dale L. Peterson and Mont Hubbard}, | |
| title = {Yaw rate and velocity tracking control of a hands-free bicycle}, | |
| booktitle = {International Mechanical Engineering Congress and Exposition}, | |
| year = {2008}, | |
| address = {Boston}, | |
| month = {October}, | |
| organization = {ASME}, | |
| abstract = {The control of a bicycle has been well studied when a steer torque | |
| is used as the control input. Less has been done to investigate the | |
| control of a hands free bicycle through the riderÂs lean relative | |
| to the bicycle frame. In this work, we extend a verified benchmark | |
| bicycle model to include a rider with the ability to lean in and | |
| out of the plane of the bicycle frame. A multi-input multi-output | |
| LQR state feedback controller is designed with the control objective | |
| being the tracking of a reference yaw rate and rear wheel angular | |
| velocity through the use of rider lean torque and rear wheel (pedaling) | |
| torque. The LQR controller is tested on the nonlinear model and numerical | |
| simulation results are presented. Conclusions regarding the required | |
| lean angle of the rider relative to the bicycle frame necessary to | |
| execute a steady turn are made, as well as observations of the effects | |
| of right half plane zeros in the transfer function from rider lean | |
| torque to yaw rate.}, | |
| bib = {bibtex-keys#Peterson2008a}, | |
| bibpr = {private-bibtex-keys#Peterson2008a}, | |
| file = {Peterson2008a.pdf:Peterson2008a.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {Peterson designs a yaw rate and rear wheel speed tracking controller | |
| based on full state feedback and LQR control. He uses a non-linear | |
| Whipple like model with rider lean torque as the control input. His | |
| simulation required 30 Nm of rider lean torque for a 0.3 rad/sec | |
| and 1 rad/sec step in yaw rate and rear wheel rate respectively.}, | |
| tags = {sbl,bicycle}, | |
| timestamp = {2008.12.04}, | |
| webpdf = {references-folder/Peterson2008a.pdf} | |
| } | |
| @ARTICLE{Peterson2010, | |
| author = {Dale L. Peterson and Jason K. Moore and Danique Fintelman and Mont | |
| Hubbard}, | |
| title = {Low-power, modular, wireless dynamic measurement of bicycle motion}, | |
| journal = {Procedia Engineering}, | |
| year = {2010}, | |
| volume = {2}, | |
| pages = {2949--2954}, | |
| number = {2}, | |
| note = {The Engineering of Sport 8 - Engineering Emotion}, | |
| abstract = {A low power, light-weight, and modular system of sensors and data | |
| acquisition hardware was developed to measure the configuration, | |
| velocities, and accelerations of a bicycle. Measurement of angular | |
| velocity of the bicycle frame, acceleration of three points fixed | |
| to the frame, steer angle, and wheel spin rates is implemented. Measurements | |
| will be compared with dynamic models of the bicycle and human rider | |
| in order to assess model fidelity. In this way, we hope to (1) better | |
| understand how humans control bicycles, and (2) pave the way for | |
| bicycle design improvements based on quantitative and relevant dynamic | |
| measurements.}, | |
| bib = {bibtex-keys#Peterson2010}, | |
| bibpr = {private-bibtex-keys#Peterson2010}, | |
| doi = {DOI: 10.1016/j.proeng.2010.04.093}, | |
| file = {Peterson2010.pdf:Peterson2010.pdf:PDF}, | |
| issn = {1877-7058}, | |
| keywords = {Bicycle dynamics}, | |
| tags = {sbl,bicycle}, | |
| url = {http://www.sciencedirect.com/science/article/B9869-508WXJK-39/2/2a6855e265dc84c04b2e53af29169e26}, | |
| webpdf = {references-folder/Peterson2010.pdf} | |
| } | |
| @ARTICLE{Pick2008, | |
| author = {Pick, A.J. and Cole, D.J.}, | |
| title = {A mathematical model of driver steering control including neuromuscular | |
| dynamics}, | |
| journal = {Journal of Dynamic Systems, Measurement and Control}, | |
| year = {2008}, | |
| volume = {130}, | |
| pages = {1-9}, | |
| number = {3}, | |
| month = {May}, | |
| abstract = {A mathematical driver model is introduced in order to explain the | |
| driver steering behavior observed during successive double lane-change | |
| maneuvers. The model consists of a linear quadratic regulator path-following | |
| controller coupled to a neuromuscular system (NMS). The NMS generates | |
| the steering wheel angle demanded by the path-following controller. | |
| The model demonstrates that reflex action and muscle cocontraction | |
| improve the steer angle control and thus increase the path-following | |
| accuracy. Muscle cocontraction does not have the destabilizing effect | |
| of reflex action, but there is an energy cost. A cost function is | |
| used to calculate optimum values of cocontraction that are similar | |
| to those observed in the experiments. The observed reduction in cocontraction | |
| with experience of the vehicle is explained by the driver learning | |
| to predict the steering torque feedback. The observed robustness | |
| of the path-following control to unexpected changes in steering torque | |
| feedback arises from the reflex action and cocontraction stiffness | |
| of the NMS. The findings contribute to the understanding of driver-vehicle | |
| dynamic interaction. Further work is planned to improve the model; | |
| the aim is to enable the optimum design of steering feedback early | |
| in the vehicle development process.}, | |
| address = {USA}, | |
| affiliation = {Pick, A.J.; Cole, D.J.; Dept. of Eng., Cambridge Univ., Cambridge, | |
| UK.}, | |
| bib = {bibtex-keys#Pick2008}, | |
| bibpr = {private-bibtex-keys#Pick2008}, | |
| file = {Pick2008.pdf:Pick2008.pdf:PDF}, | |
| identifying-codes = {[10.1115/1.2837452]}, | |
| issn = {0022-0434}, | |
| keywords = {Practical, Theoretical or Mathematical/ biomechanics; closed loop | |
| systems; control system synthesis; driver information systems; feedback; | |
| linear quadratic control; neurophysiology; road vehicles; robust | |
| control; steering systems; torque control/ mathematical model; driver | |
| steering angle control; neuromuscular dynamics; double lane-change | |
| maneuver; linear quadratic regulator; reflex action; muscle cocontraction; | |
| destabilizing effect; cost function; road vehicle; torque feedback; | |
| driver-vehicle dynamic interaction; optimum design; path-following | |
| controller; closed loop system; robust control/ C3360B Road-traffic | |
| system control; C1330 Optimal control; C3120F Mechanical variables | |
| control; C1310 Control system analysis and synthesis methods; C1320 | |
| Stability in control theory}, | |
| language = {English}, | |
| number-of-references = {25}, | |
| publication-type = {J}, | |
| publisher = {ASME}, | |
| type = {Journal Paper}, | |
| unique-id = {INSPEC:9982342}, | |
| webpdf = {references-folder/Pick2008.pdf} | |
| } | |
| @INPROCEEDINGS{Piedboeuf1993, | |
| author = {Piedboeuf, J.-C.}, | |
| title = {Kane's equations or Jourdain's principle?}, | |
| year = {1993}, | |
| pages = {1471-1474 vol.2}, | |
| month = {August}, | |
| abstract = {This paper discusses the relationships between Kane's equations and | |
| Jourdain's principle. In 1961 Kane published a paper: ÂDynamics | |
| of Nonholonomic SystemsÂ. The method detailed in that paper, since | |
| named Kane's equations, has been popular in the modelling of mechanical | |
| systems especially in robotics. It was often stated that Kane's equations | |
| were a novel way of modelling. However, in 1909, Jourdain published | |
| a paper titled ÂNote on an analogue of Gauss' principle of least | |
| constraint where he established the principle of virtual power | |
| that is equivalent to Kane's equations}, | |
| bib = {bibtex-keys#Piedboeuf1993}, | |
| bibpr = {private-bibtex-keys#Piedboeuf1993}, | |
| doi = {10.1109/MWSCAS.1993.343389}, | |
| journal = {Circuits and Systems, 1993., Proceedings of the 36th Midwest Symposium | |
| on}, | |
| keywords = {modelling, robot dynamicsGauss' principle, Jourdain's principle, Kane's | |
| equations, least constraint, mechanical systems modelling, nonholonomic | |
| systems, robotics, virtual power}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.04} | |
| } | |
| @INPROCEEDINGS{Pierini2008, | |
| author = {M. Pierini and N. Baldanzini and C. Brenna and I. Symeonidis and | |
| E. Schuller and S. Peldschus}, | |
| title = {Development of a Virtual Rider}, | |
| booktitle = {Proceeding of ISMA2008}, | |
| year = {2008}, | |
| bib = {bibtex-keys#Pierini2008}, | |
| bibpr = {private-bibtex-keys#Pierini2008}, | |
| file = {Pierini2008.pdf:Pierini2008.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Pierini2008.pdf} | |
| } | |
| @ARTICLE{Plochl2012, | |
| author = {Plöchl, Manfred and Edelmann, Johannes and Angrosch, Bernhard and | |
| Ott, Christoph}, | |
| title = {On the wobble mode of a bicycle}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2012}, | |
| volume = {50}, | |
| pages = {415-429}, | |
| number = {3}, | |
| abstract = { Wheel shimmy and wobble are well-known dynamic phenomena at automobiles, | |
| aeroplanes and motorcycles. In particular, wobble at the motorcycle | |
| is an (unstable) eigenmode with oscillations of the wheel about the | |
| steering axis, and it is no surprise that unstable bicycle wobble | |
| is perceived unpleasant or may be dangerous, if not controlled by | |
| the rider in time. Basic research on wobble at motorcycles within | |
| the last decades has revealed a better understanding of the sudden | |
| onset of wobble, and the complex relations between parameters affecting | |
| wobble have been identified. These fundamental findings have been | |
| transferred to bicycles. As mass distribution and inertial properties, | |
| rider influence and lateral compliances of tyre and frame differ | |
| at bicycle and motorcycle, models to represent wobble at motorcycles | |
| have to prove themselves, when applied to bicycles. For that purpose | |
| numerical results are compared with measurements from test runs, | |
| and parametric influences on the stability of the wobble mode at | |
| bicycles have been evolved. All numerical analysis and measurements | |
| are based on a specific test bicycle equipped with steering angle | |
| sensor, wheel-speed sensor, global positioning system (GPS) 3-axis | |
| accelerometer, and 3-axis angular velocity gyroscopic sensor. }, | |
| bib = {bibtex-keys#Plochl2012}, | |
| bibpr = {private-bibtex-keys#Plochl2012}, | |
| doi = {10.1080/00423114.2011.594164}, | |
| eprint = {http://www.tandfonline.com/doi/pdf/10.1080/00423114.2011.594164}, | |
| file = {Plochl2012.pdf:Plochl2012.pdf:PDF}, | |
| url = {http://www.tandfonline.com/doi/abs/10.1080/00423114.2011.594164}, | |
| webpdf = {references-folder/Plochl2012.pdf} | |
| } | |
| @ARTICLE{Popov2010, | |
| author = {Popov, A. A. and Rowell, S. and Meijaard, J. P.}, | |
| title = {A review on motorcycle and rider modelling for steering control}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2010}, | |
| volume = {48}, | |
| pages = {775-792}, | |
| number = {6}, | |
| abstract = {The paper is a review of the state of knowledge and understanding | |
| of steering control in motorcycles and of the existing rider models. | |
| Motorcycles are well known to have specific instability characteristics, | |
| which can detrimentally affect the rider's control, and as such a | |
| suitable review of these characteristics is covered in the first | |
| instance. Next, early models which mostly treat riding as a regulatory | |
| task are considered. A rider applies control based on sensory information | |
| available to him/her, predominantly from visual perception of a target | |
| path. The review therefore extends to cover also the knowledge and | |
| research findings into aspects of road preview control. Here, some | |
| more emphasis is placed on recent applications of optimal control | |
| and model predictive control to the riding task and the motorcycle–rider | |
| interaction. The review concludes with some open questions which | |
| naturally present a scope for further study.}, | |
| bib = {bibtex-keys#Popov2010}, | |
| bibpr = {private-bibtex-keys#Popov2010}, | |
| doi = {10.1080/00423110903033393}, | |
| eprint = {http://www.tandfonline.com/doi/pdf/10.1080/00423110903033393}, | |
| file = {Popov2010.pdf:Popov2010.pdf:PDF}, | |
| url = {http://www.tandfonline.com/doi/abs/10.1080/00423110903033393}, | |
| webpdf = {references-folder/Popov2010.pdf} | |
| } | |
| @PHDTHESIS{Prem1983, | |
| author = {Hans Prem}, | |
| title = {Motorcycle Rider Skill Assessment}, | |
| school = {University of Melbourne}, | |
| year = {1983}, | |
| bib = {bibtex-keys#Prem1983}, | |
| bibpr = {private-bibtex-keys#Prem1983}, | |
| file = {Prem1983.pdf:Prem1983.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2011.08.05}, | |
| webpdf = {references-folder/Prem1983.pdf} | |
| } | |
| @ARTICLE{Prince2012, | |
| author = {Prince, P J and Al-Jumaily, Ahmed}, | |
| title = {Bicycle steering and roll responses}, | |
| journal = {Proceedings of the Institution of Mechanical Engineers, Part K: Journal | |
| of Multi-body Dynamics}, | |
| year = {2012}, | |
| abstract = {This article investigates the effects of different steering geometries | |
| on the steering response, system stability and frequency response | |
| of bicycles. A computer model was developed using Simulinkâ¢. The | |
| model simulates different bicycle designs allowing several different | |
| steering geometries to be quantified in terms of performance. It | |
| was validated by data available in literature and from an experimental | |
| investigation conducted with a bicycle fitted with steering and roll | |
| sensors. Three key variables were examined in detail: the head tube | |
| angle, front fork rake and bicycle speed. Their actual importance | |
| was determined by systematically changing each key variable one at | |
| a time while keeping all other terms constant. Large variations in | |
| roll and yaw responses show how sensitive bicycles are to small changes | |
| in head tube angles and rake dimensions. At higher speeds, the observed | |
| steering responses support the common observation that bicycles are | |
| more stable and easier to ride at higher speeds. These simulations | |
| show the importance of correctly designing a bicycleâs steering | |
| geometry in order to optimise steering performance and the sensitivity | |
| of bicycles to small changes in geometry.}, | |
| doi = {10.1177/1464419312440642}, | |
| eprint = {http://pik.sagepub.com/content/early/2012/03/07/1464419312440642.full.pdf+html}, | |
| timestamp = {2012.04.16}, | |
| url = {http://pik.sagepub.com/content/early/2012/03/07/1464419312440642.abstract} | |
| } | |
| @ARTICLE{Provost2008, | |
| author = {Meghan P. Provost and Nikolaus F. Troje and Vernon L. Quinsey}, | |
| title = {Short-term mating strategies and attraction to masculinity in point-light | |
| walkers}, | |
| journal = {Evolution and Human Behavior}, | |
| year = {2008}, | |
| volume = {29}, | |
| pages = {65 - 69}, | |
| number = {1}, | |
| abstract = {Strategic pluralism suggests that women engage in short-term sexual | |
| relationships when the benefits to doing so outweigh the costs. We | |
| investigated attraction to indicators of good genes (namely, masculinity | |
| as demonstrated by point-light walkers) in women varying in menstrual | |
| cycle status and sociosexual orientation. When women are fertile, | |
| they have the ability to gain genetic benefits from a male partner | |
| and should also be attracted to high levels of masculinity in men | |
| as a signal of genetic benefits. Sociosexual orientation is an individual | |
| difference that indicates openness to short-term mating and, thus, | |
| should influence aspects of mating strategy. Women with an unrestricted | |
| sociosexual orientation, as compared to women with a restricted sociosexual | |
| orientation, are more likely to engage in short-term relationships | |
| and obtain fewer nongenetic resources from their mates. Thus, they | |
| should place heavy emphasis on male masculinity as a sign of genetic | |
| benefits available from their mates. In this study, women indicated | |
| the walker most attractive to them on a constructed continuum of | |
| male and female point-light walkers. In Study 1, fertile women, as | |
| compared to nonfertile women, showed a greater attraction to masculinity. | |
| In Study 2, women demonstrated a strong positive relationship between | |
| sociosexuality and attraction to masculinity.}, | |
| bib = {bibtex-keys#Provost2008}, | |
| bibpr = {private-bibtex-keys#Provost2008}, | |
| doi = {DOI: 10.1016/j.evolhumbehav.2007.07.007}, | |
| file = {Provost2008.pdf:Provost2008.pdf:PDF}, | |
| issn = {1090-5138}, | |
| keywords = {Sociosexuality}, | |
| url = {http://www.sciencedirect.com/science/article/B6T6H-4R11KFM-2/2/a9eb4782cf01e0661476741d65375b42}, | |
| webpdf = {references-folder/Provost2008.pdf} | |
| } | |
| @MASTERSTHESIS{Psiaki1979, | |
| author = {Psiaki, Mark}, | |
| title = {Bicycle stability: A mathematical and numerical analysis}, | |
| school = {Princeton University}, | |
| year = {1979}, | |
| type = {BS Thesis}, | |
| address = {Princeton, {NJ}}, | |
| bib = {bibtex-keys#Psiaki1979}, | |
| bibpr = {private-bibtex-keys#Psiaki1979}, | |
| file = {Psiaki1979.pdf:Psiaki1979.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.01.31}, | |
| webpdf = {references-folder/Psiaki1979.pdf} | |
| } | |
| @ARTICLE{Pucher2008, | |
| author = {John Pucher and Ralph Buehler}, | |
| title = {Cycling for Everyone: Lessons from Europe}, | |
| journal = {Transportation Research Record: Journal of the Transportation Research | |
| Board}, | |
| year = {2008}, | |
| volume = {2074}, | |
| pages = {58-65}, | |
| month = {November}, | |
| abstract = {This paper investigates how bicycling can be promoted as a safe and | |
| feasible means of transport for everyone and for all trip purposes. | |
| The policies and programs needed to encourage a broad spectrum of | |
| social groups to cycle are the same policies and programs that encourage | |
| high overall levels of cycling: extensive systems of separate cycling | |
| facilities, intersection modifications and priority bicycle traffic | |
| signals, traffic calming of neighborhoods, safe and convenient bike | |
| parking, coordination and integration of cycling with public transport, | |
| traffic education and training for both cyclists and motorists, and | |
| traffic laws that favor cyclists and pedestrians. To show how this | |
| multifaceted, coordinated approach actually works, we focus in this | |
| paper on cycling trends and policies in the Netherlands, Denmark, | |
| and Germany. We supplement our national level comparative analysis | |
| with case studies of large and small cities in each country.}, | |
| bib = {bibtex-keys#Pucher2008}, | |
| bibpr = {private-bibtex-keys#Pucher2008}, | |
| file = {Pucher2008.pdf:Pucher2008.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.01.20}, | |
| webpdf = {references-folder/Pucher2008.pdf} | |
| } | |
| @ARTICLE{Pucher2008a, | |
| author = {Pucher, John and Buehler, Ralph}, | |
| title = {Making Cycling Irresistible: Lessons from The Netherlands, Denmark | |
| and Germany}, | |
| journal = {Transport Reviews}, | |
| year = {2008}, | |
| volume = {28}, | |
| pages = {495-528}, | |
| number = {4}, | |
| month = {July}, | |
| abstract = {This article shows how the Netherlands, Denmark and Germany have made | |
| bicycling a safe, convenient and practical way to get around their | |
| cities. The analysis relies on national aggregate data as well as | |
| case studies of large and small cities in each country. The key to | |
| achieving high levels of cycling appears to be the provision of separate | |
| cycling facilities along heavily travelled roads and at intersections, | |
| combined with traffic calming of most residential neighbourhoods. | |
| Extensive cycling rights of way in the Netherlands, Denmark and Germany | |
| are complemented by ample bike parking, full integration with public | |
| transport, comprehensive traffic education and training of both cyclists | |
| and motorists, and a wide range of promotional events intended to | |
| generate enthusiasm and wide public support for cycling. In addition | |
| to their many pro-bike policies and programmes, the Netherlands, | |
| Denmark and Germany make driving expensive as well as inconvenient | |
| in central cities through a host of taxes and restrictions on car | |
| ownership, use and parking. Moreover, strict land-use policies foster | |
| compact, mixed-use developments that generate shorter and thus more | |
| bikeable trips. It is the coordinated implementation of this multi-faceted, | |
| mutually reinforcing set of policies that best explains the success | |
| of these three countries in promoting cycling. For comparison, the | |
| article portrays the marginal status of cycling in the UK and the | |
| USA, where only about 1\% of trips are by bike.}, | |
| bib = {bibtex-keys#Pucher2008a}, | |
| bibpr = {private-bibtex-keys#Pucher2008a}, | |
| file = {Pucher2008a.pdf:Pucher2008a.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.01.20}, | |
| url = {http://www.informaworld.com/10.1080/01441640701806612}, | |
| webpdf = {references-folder/Pucher2008a.pdf} | |
| } | |
| @INPROCEEDINGS{Rankin2009, | |
| author = {James Rankin and Bernd Krauskopf and Mark Lowenberg and Etienne Coetzee}, | |
| title = {Operational Parameter Study of Aircraft Ground Dynamics}, | |
| booktitle = {Proceedings of the ASME 2009 International Design Engineering Technical | |
| Conferences \& Computers and Information in Engineering Conference}, | |
| year = {2009}, | |
| address = {San Diego, California, USA}, | |
| month = {August}, | |
| organization = {ASME}, | |
| abstract = {The dynamics of passenger aircraft on the ground are influenced by | |
| the nonlinear characteristics of several components, including geometric | |
| nonlinearities, the aerodynamics and interactions at the tyre-ground | |
| interface. We present a fully parametrised mathematical model of | |
| a typical passenger aircraft that includes all relevant nonlinear | |
| effects. The full equations of motion are derived from first principles | |
| in terms of forces and moments acting on a rigid airframe, and they | |
| include implementations of the local models of individual components. | |
| The overall model has been developed from and validated against an | |
| existing industry-tested SimMechanics model. The key advantage of | |
| the mathematical model is that it allows for comprehensive studies | |
| of solutions and their stability with methods from dynamical systems | |
| theory, in particular, the powerful tool of numerical continuation. | |
| As a concrete example, we present a bifurcation study of how fixed-radius | |
| turning solutions depend on the aircraftÂs steering angle and centre | |
| of gravity position. These results are represented in a compact form | |
| as surfaces of solutions, on which we identify regions of stable | |
| turning and regions of laterally unstable solutions. The boundaries | |
| between these regions are computed directly and they allow us to | |
| determine ranges of parameter values for safe operation. The robustness | |
| of these results under the variation of an additional parameter, | |
| specifically, the engine thrust is investigated. Qualitative changes | |
| in the structure of the solutions are identified and explained. Overall | |
| our results give new insight into the possible turning dynamics of | |
| the aircraft in dependence on three parameters of operational relevance.}, | |
| bib = {bibtex-keys#Rankin2009}, | |
| bibpr = {private-bibtex-keys#Rankin2009}, | |
| file = {Rankin2009.pdf:Rankin2009.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.16}, | |
| webpdf = {references-folder/Rankin2009.pdf} | |
| } | |
| @ARTICLE{Redfield2005, | |
| author = {Redfield, R}, | |
| title = {Large motion mountain biking dynamics}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2005}, | |
| volume = {43}, | |
| pages = {845-865}, | |
| number = {12}, | |
| month = {December}, | |
| abstract = {A bond graph model of a mountain bike and rider is created to develop | |
| baseline predictions for the performance of mountain bikes during | |
| large excursion maneuvers such as drops, jumps, crashes and rough | |
| terrain riding. The model assumes planar dynamics, a hard-tail (front | |
| suspension only) bicycle and a rider fixed to the bicycle. An algorithm | |
| is developed to allow tracking of a virtual tire-ground contact point | |
| for events that separate the wheels from the ground. This model would | |
| be most applicable to novice mountain bikers who maintain a nearly | |
| rigid relationship between their body and the bicycle as opposed | |
| to experienced riders who are versed in controlling the bicycle independent | |
| of the body. Simulations of a steep drop are performed for various | |
| initial conditions to qualitatively validate the predictions of the | |
| model. Results from this model are to be compared to experimental | |
| data and more complex models in later research, particularly models | |
| including a separate rider. ne overarching goals of the research | |
| are to examine and understand the dynamics and control of interactions | |
| between a cyclist and mountain bike. Specific goals are to understand | |
| the improvement in performance afforded by an experienced rider, | |
| to hypothesize human control algorithms that allow riders to perform | |
| manoeuvres well and safely, to predict structural bike and body forces | |
| from these maneuvers and to quantify performance differences between | |
| hard-tail and full suspension bicycles.}, | |
| address = {325 CHESTNUT ST, SUITE 800, PHILADELPHIA, PA 19106 USA}, | |
| affiliation = {Redfield, R (Reprint Author), USAF Acad, Dept Mech Engn, Colorado | |
| Springs, CO 80840 USA. USAF Acad, Dept Mech Engn, Colorado Springs, | |
| CO 80840 USA.}, | |
| author-email = {rob.redfield@usafa.af.mil}, | |
| bib = {bibtex-keys#Redfield2005}, | |
| bibpr = {private-bibtex-keys#Redfield2005}, | |
| doc-delivery-number = {992UN}, | |
| doi = {10.1080/00423110412331289844}, | |
| file = {Redfield2005.pdf:Redfield2005.pdf:PDF}, | |
| issn = {0042-3114}, | |
| journal-iso = {Veh. Syst. Dyn.}, | |
| keywords = {mountain biking; vehicle dynamics; suspension systems; bond graph | |
| modelling}, | |
| keywords-plus = {BICYCLE SUSPENSION SYSTEMS; MODEL}, | |
| language = {English}, | |
| number-of-cited-references = {11}, | |
| owner = {Luke}, | |
| publisher = {TAYLOR \& FRANCIS INC}, | |
| subject-category = {Engineering, Mechanical}, | |
| times-cited = {0}, | |
| timestamp = {2009.03.06}, | |
| webpdf = {references-folder/Redfield2005.pdf} | |
| } | |
| @ARTICLE{Redfield1986a, | |
| author = {Rob Redfield and M.L. Hull}, | |
| title = {Prediction of pedal forces in bicycling using optimization methods}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1986}, | |
| volume = {19}, | |
| pages = {523 - 540}, | |
| number = {7}, | |
| abstract = {The bicycle-rider system is modeled as a planar five-bar linkage with | |
| pedal forces and pedal dynamics as input. The pedal force profile | |
| input is varied, maintaining constant average bicycle power, in order | |
| to obtain the optimal pedal force profile that minimizes two cost | |
| functions. One cost function is based on joint moments and the other | |
| is based on muscle stresses. Predicted (optimal) pedal profiles as | |
| well as joint moment time histories are compared to representative | |
| real data to examine cost function appropriateness. Both cost functions | |
| offer reasonable predictions of pedal forces. The muscle stress cost | |
| function, however, better predicts joint moments. Predicted muscle | |
| activity also correlates well with myolectric data. The factors that | |
| lead to effective (i.e. low cost) pedalling are examined. Pedalling | |
| effectiveness is found to be a complex function of pedal force vector | |
| orientation and muscle mechanics.}, | |
| bib = {bibtex-keys#Redfield1986a}, | |
| bibpr = {private-bibtex-keys#Redfield1986a}, | |
| doi = {DOI: 10.1016/0021-9290(86)90126-0}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4C35T21-7Y/2/9fbfc74d828bc6642499b7370b29c4f3} | |
| } | |
| @ARTICLE{Redfield1986, | |
| author = {Rob Redfield and M. L. Hull}, | |
| title = {On the relation between joint moments and pedalling rates at constant | |
| power in bicycling}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1986}, | |
| volume = {19}, | |
| pages = {317 - 329}, | |
| number = {4}, | |
| abstract = {Joint moments are of interest because they bear some relation to muscular | |
| effort and hence rider performance. The general objective of this | |
| study is to explore the relation between joint moments and pedalling | |
| rate (i.e. cadence). Joint moments are computed by modelling the | |
| leg-bicycle system as a five-bar linkage constrained to plane motion. | |
| Using dynamometer pedal force data and potentiometer crank and pedal | |
| position data, system equations are solved on a computer to produce | |
| moments at the ankle, knee and hip joints. Cadence and pedal forces | |
| are varied inversely to maintain constant power. Results indicate | |
| that average joint moments vary considerably with changes in cadence. | |
| Both hip and knee joints show an average moment which is minimum | |
| near 105 rotations min-1 for cruising cycling. It appears that an | |
| optimum rotations min-1 can be determined from a mechanical approach | |
| for any given power level and bicycle-rider geometry.}, | |
| bib = {bibtex-keys#Redfield1986}, | |
| bibpr = {private-bibtex-keys#Redfield1986}, | |
| doi = {DOI: 10.1016/0021-9290(86)90008-4}, | |
| file = {Redfield1986.pdf:Redfield1986.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4BYSJ4S-136/2/1f07ff1595be0ba1cd90275a041f27a6}, | |
| webpdf = {references-folder/Redfield1986.pdf} | |
| } | |
| @ARTICLE{Reid1981, | |
| author = {Reid, L. and Solowka, E.}, | |
| title = {A systematic study of driver steering behaviour}, | |
| journal = {Ergonomics}, | |
| year = {1981}, | |
| volume = {24}, | |
| pages = {447-462}, | |
| number = {6}, | |
| abstract = {A sequence of driving tasks has been carried out in a driving simulator. | |
| The initial tests represented lane tracking along a serpentine roadway | |
| and were employed to verify the operation of the simulator and the | |
| ability of a computer algorithm to fit linear driver models to experimental | |
| data. A second series of tests involved an obstacle avoidance manoeuvre | |
| in both a car and a truck. These latter simulator runs were augmented | |
| by field trials in an automobile during which driver eye point-ofregard | |
| data were recorded. Eye point-of-regard results from both simulator | |
| and field trials were compared and employed in formulating a simple | |
| driver model for the obstacle avoidance manoeuvre. The results from | |
| a preliminary fitting of this model to the experimental data are | |
| reported. It was foundthat a single linear model of the driver's | |
| dynamic characteristics can be used to represent adequately all of | |
| the driver response data measured in the present study.}, | |
| bib = {bibtex-keys#Reid1981}, | |
| bibpr = {private-bibtex-keys#Reid1981}, | |
| file = {Reid1981.pdf:Reid1981.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2008.10.15}, | |
| webpdf = {references-folder/Reid1981.pdf} | |
| } | |
| @TECHREPORT{Reiss1968, | |
| author = {Reiss, M. L. and J. A. Haley}, | |
| title = {Motorcycle Saftey}, | |
| institution = {Airborne Instruments Lab, Final Report}, | |
| year = {1968}, | |
| month = {May}, | |
| note = {Contract FH-11-6543}, | |
| bib = {bibtex-keys#Reiss1968}, | |
| bibpr = {private-bibtex-keys#Reiss1968}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30} | |
| } | |
| @TECHREPORT{Rice1976a, | |
| author = {Roy S. Rice}, | |
| title = {Bicycle Dynamics - Simplified Dynamic Stability Analyses}, | |
| institution = {Calspan Corporation}, | |
| year = {1976}, | |
| number = {ZN-5921-V-2}, | |
| bib = {bibtex-keys#Rice1976a}, | |
| bibpr = {private-bibtex-keys#Rice1976a}, | |
| file = {Rice1976a.pdf:Rice1976a.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Rice1976a.pdf} | |
| } | |
| @TECHREPORT{Rice1975, | |
| author = {Rice, R. S.}, | |
| title = {Accident-Avoidance Capabilities of Motorcycles}, | |
| institution = {Calspan}, | |
| year = {1975}, | |
| number = {ZN-5571-V-1}, | |
| month = {June}, | |
| bib = {bibtex-keys#Rice1975}, | |
| bibpr = {private-bibtex-keys#Rice1975}, | |
| file = {Rice1975.pdf:Rice1975.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30}, | |
| webpdf = {references-folder/Rice1975.pdf} | |
| } | |
| @TECHREPORT{Rice1975a, | |
| author = {Roy S. Rice}, | |
| title = {Rake-Trail Offset}, | |
| institution = {Calspan Corporation}, | |
| year = {1975}, | |
| bib = {bibtex-keys#Rice1975a}, | |
| bibpr = {private-bibtex-keys#Rice1975a}, | |
| file = {Rice1975a.pdf:Rice1975a.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Rice1975a.pdf} | |
| } | |
| @TECHREPORT{Rice1974, | |
| author = {Roy S. Rice}, | |
| title = {A note on design criteria for bicycle stability in terms of front | |
| end geometry}, | |
| institution = {Calspan}, | |
| year = {1974}, | |
| month = {December}, | |
| bib = {bibtex-keys#Rice1974}, | |
| bibpr = {private-bibtex-keys#Rice1974}, | |
| file = {Rice1974.pdf:Rice1974.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Rice1974.pdf} | |
| } | |
| @TECHREPORT{Rice1974a, | |
| author = {R. S. Rice}, | |
| title = {Bicycle Dynamics - Simplified State Response Characteristics and | |
| Stability Indices}, | |
| institution = {Calspan Corporation}, | |
| year = {1974}, | |
| bib = {bibtex-keys#Rice1974a}, | |
| bibpr = {private-bibtex-keys#Rice1974a}, | |
| file = {Rice1974a.pdf:Rice1974a.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Rice1974a.pdf} | |
| } | |
| @ARTICLE{Rice1971, | |
| author = {Rice, R. S.}, | |
| title = {Are High-Rise Bikes Safe?}, | |
| journal = {Traffic Safety}, | |
| year = {1971}, | |
| volume = {71}, | |
| pages = {8-9}, | |
| number = {1}, | |
| month = {January}, | |
| bib = {bibtex-keys#Rice1971}, | |
| bibpr = {private-bibtex-keys#Rice1971}, | |
| file = {Rice1971.pdf:Rice1971.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30}, | |
| webpdf = {references-folder/Rice1971.pdf} | |
| } | |
| @TECHREPORT{Rice1975b, | |
| author = {Roy S. Rice and James A. Davis and Dennis T. Kunkel}, | |
| title = {Accident-Avoidance Capabilities of Motorcycles - Technical Report}, | |
| institution = {Calspan Corporation}, | |
| year = {1975}, | |
| number = {ZN-5571-V-1}, | |
| bib = {bibtex-keys#Rice1975b}, | |
| bibpr = {private-bibtex-keys#Rice1975b}, | |
| file = {Rice1975b.pdf:Rice1975b.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Rice1975b.pdf} | |
| } | |
| @TECHREPORT{Rice1975c, | |
| author = {Roy S. Rice and James A. Davis and Dennis T. Kunkel}, | |
| title = {Accident-Avoidance Capabilities of Motorcycles - Appendices}, | |
| institution = {Calspan Corporation}, | |
| year = {1975}, | |
| number = {ZN-5571-V-2}, | |
| bib = {bibtex-keys#Rice1975c}, | |
| bibpr = {private-bibtex-keys#Rice1975c}, | |
| file = {Rice1975c.pdf:Rice1975c.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Rice1975c.pdf} | |
| } | |
| @TECHREPORT{Rice1976, | |
| author = {Rice, R. S. and D. T. Kunkel}, | |
| title = {Accident-Avoidance Capabilities of Motorcycles: Lane Change Maneuver | |
| Simulation and Full Scale Tests}, | |
| institution = {Calspan}, | |
| year = {1976}, | |
| number = {ZN-5899-V-1}, | |
| bib = {bibtex-keys#Rice1976}, | |
| bibpr = {private-bibtex-keys#Rice1976}, | |
| file = {Rice1976.pdf:Rice1976.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30}, | |
| webpdf = {references-folder/Rice1976.pdf} | |
| } | |
| @TECHREPORT{Rice1970, | |
| author = {Roy S. Rice and R. Douglas Roland}, | |
| title = {An Evaluation of the Performance and Handling Qualities of Bicycles}, | |
| institution = {Cornell Aeronautical Laboratory}, | |
| year = {1970}, | |
| type = {Calspan Report}, | |
| number = {VJ-2888-K}, | |
| month = {April}, | |
| note = {prepared for the National Commission on Product Safety}, | |
| bib = {bibtex-keys#Rice1970}, | |
| bibpr = {private-bibtex-keys#Rice1970}, | |
| file = {Rice1970.pdf:Rice1970.pdf:PDF}, | |
| keywords = {bicycle}, | |
| review = {stability and control in braking, front wheel brake and short wheel | |
| base are no hazard. | |
| tests carried out with 2 bicycles : high riser and light weight conventional | |
| bicycle. | |
| brake test include: | |
| Stopping distance versus speed. | |
| coaster versus caliper brakes. | |
| affect of rider weight on stopping distance. | |
| lateral stability and control tests include: | |
| minimum speed for handsfree straight path following | |
| timed slalom test | |
| The report ends with a large appendix on the equations of motion for | |
| a computer model of the dynamics an uncontrolled bicycle. The model | |
| includes tire models. | |
| model is not used due to limmited time and funding. | |
| They show graphs of minimum speed for no hands riding.}, | |
| webpdf = {references-folder/Rice1970.pdf} | |
| } | |
| @TECHREPORT{Rice1972, | |
| author = {Rice, R. S. and {Roland Jr.}, R. D.}, | |
| title = {An Evaulation of the Safety Performance of Tricycles and Minibikes}, | |
| institution = {Calspan Corp.}, | |
| year = {1972}, | |
| number = {ZN-5144-K-1}, | |
| month = {November}, | |
| bib = {bibtex-keys#Rice1972}, | |
| bibpr = {private-bibtex-keys#Rice1972}, | |
| file = {Rice1972.pdf:Rice1972.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30}, | |
| webpdf = {references-folder/Rice1972.pdf} | |
| } | |
| @TECHREPORT{Rice1972a, | |
| author = {Rice, R. S. and {Roland Jr.}, R. D.}, | |
| title = {A Supplement To An Evaulation of the Safety Performance of Tricycles | |
| and Minibikes}, | |
| institution = {Calspan Corp.}, | |
| year = {1972}, | |
| number = {ZN-5144-K-1}, | |
| month = {November}, | |
| bib = {bibtex-keys#Rice1972a}, | |
| bibpr = {private-bibtex-keys#Rice1972a}, | |
| file = {Rice1972a.pdf:Rice1972a.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30}, | |
| webpdf = {references-folder/Rice1972a.pdf} | |
| } | |
| @INPROCEEDINGS{Roe1991, | |
| author = {Roe, G.E. and Thorpe, T.E.}, | |
| title = {Motorcycle instability on undulating road surfaces}, | |
| booktitle = {91 Small Engine Technol Conf Proc}, | |
| year = {1991}, | |
| pages = {685-693}, | |
| month = {October}, | |
| publisher = {Soc Of Automotive Engineers Of Japan}, | |
| bib = {bibtex-keys#Roe1991}, | |
| bibpr = {private-bibtex-keys#Roe1991}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Roland2005, | |
| author = {Elizabeth S. Roland and Maury L. Hull and Susan M. Stover}, | |
| title = {Design and demonstration of a dynamometric horseshoe for measuring | |
| ground reaction loads of horses during racing conditions}, | |
| journal = {Journal of Biomechanics}, | |
| year = {2005}, | |
| volume = {38}, | |
| pages = {2102 - 2112}, | |
| number = {10}, | |
| abstract = {Because musculoskeletal injuries to racehorses are common, instrumentation | |
| for the study of factors (e.g. track surface), which affect the ground | |
| reaction loads in horses during racing conditions, would be useful. | |
| The objectives of the work reported by this paper were to (1) design | |
| and construct a novel dynamometric horseshoe that is capable of measuring | |
| the complete ground reaction loading during racing conditions, (2) | |
| characterize static and dynamic measurement errors, and (3) demonstrate | |
| the usefulness of the instrument by collecting example data during | |
| the walk, trot, canter, and gallop for a single subject. Using electrical | |
| resistance strain gages, a dynamometric horseshoe was designed and | |
| constructed to measure the complete ground reaction force and moment | |
| vectors and the center of pressure. To mimic the load transfer surface | |
| of the hoof, the shape of the surface contacting the ground was similar | |
| to that of the solar surface of the hoof. Following static calibration, | |
| the measurement accuracy was determined. The root mean squared errors | |
| (RMSE) were 3\% of full scale for the force component normal to the | |
| hoof and 9\% for force components in the plane of the hoof. The dynamic | |
| calibration determined that the natural frequency with the full weight | |
| of a typical horse was 1744Â Hz. Example data were collected during | |
| walking on a ground surface and during trotting, cantering, and galloping | |
| on a treadmill. The instrument successfully measured the complete | |
| ground reaction load during all four gaits. Consequently the dynamometric | |
| horseshoe is useful for studying factors, which affect ground reaction | |
| loads during racing conditions.}, | |
| bib = {bibtex-keys#Roland2005}, | |
| bibpr = {private-bibtex-keys#Roland2005}, | |
| doi = {DOI: 10.1016/j.jbiomech.2004.08.024}, | |
| file = {Roland2005.pdf:Roland2005.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4DTKJMJ-1/2/e74316bf09a50941992131056e87684f}, | |
| webpdf = {references-folder/Roland2005.pdf} | |
| } | |
| @TECHREPORT{Roland1972, | |
| author = {R.D. Roland and J.P. Lynch}, | |
| title = {Bicycle Dynamics Tire Characteristics and Rider Modeling}, | |
| institution = {Cornell Aeronautical Labaratory, Inc.}, | |
| year = {1972}, | |
| type = {Calspan Report}, | |
| number = {YA-3063-K-2}, | |
| address = {Buffalo, NY, USA}, | |
| month = {March}, | |
| note = {prepared for the Schwinn Bicycle Company}, | |
| bib = {bibtex-keys#Roland1972}, | |
| bibpr = {private-bibtex-keys#Roland1972}, | |
| file = {Roland1972.pdf:Roland1972.pdf:PDF}, | |
| owner = {Jodi}, | |
| review = {JKM | |
| The control model has inner loop roll stablization which consists | |
| of gains acting on the roll angle error, roll rate and roll acceleration | |
| (PID on roll rate) with a time delay and an extra pole (not sure | |
| of the effect it is like half a lead or lag). This gives six gains, | |
| 2 time delays and two poles as the parameters for the roll stablization | |
| control. They have a simple gain on the path error to give a commanded | |
| roll angle (they sum back in the roll angle for some reason...). | |
| They also have some preview built in. They calculate the error in | |
| desired path to actual path out to several future time intervals | |
| and weight the results to with less weighting on further future errors. | |
| This sum of weighted errors is multiplied by a gain to compute the | |
| correction to the commanded roll angle. | |
| The also use a adhoc controller to make their slalom simulation match | |
| the video. | |
| Includes lots of tire data charts, all the time traces of their experimental | |
| runs, and details of drawing the bicycle and rider in computer animation. | |
| JDGK | |
| This report was carried out for the Schwinn Bicycle Company. This | |
| builds on the bicycle model by Roland and Massing 1971 and can be | |
| seen as the continuation of the work that was carried out in that | |
| report (also for Schwinn). | |
| The main objective of these reports is to study the effect of design | |
| parameters on bicycle stability and control. | |
| This report has 4 distinct parts: | |
| chapter 2 : a rider control model for stabilising and tracking. | |
| chapter 3 : bicycle tire testing | |
| chapter 4 : experimental testing of various bicycle configurations. | |
| chapter 5 : computer graphic animation of a bicycle simulation. | |
| Rider control model: | |
| The rider lean torque and steer torque are outputs and they control | |
| the lean angle with a delayed PID controler on the lean angle for | |
| both torques. The delayed PID controler is a simplification of a | |
| delayed lead-lag controler from literature: | |
| Elkind, J.I. 1956 "Characteristics of simple manual control systems" | |
| MIT, Lincoln laboratory Techinical Report No. 111. They are aware | |
| of the work of Stassen and van lunteren and clearly identify the | |
| difference in control strategy : steer agle versus steer torque. | |
| The tracking control is calculates from the states and the desired | |
| path a command rol angle. They tune the coeficients of the stabilising | |
| controler by looking at systems response driving straight ahead or | |
| applying a 20 degree comand roll angle like driving straight and | |
| getting into a curve. Even for the best controler we see an offset | |
| between the desired and obtained lean angle. The tracking controler | |
| makes a prediction of the path based on the state and compares this | |
| with the desired path and generates in adition to the desired lean | |
| angle a lean angle. | |
| To our knowledge this controller is never used. | |
| Bicycle Tire testing: | |
| 11 types of tires are tested. results are shown in graphs and shown | |
| in tables in the appendix. The general idea is that bicycle tires | |
| should have a camber thrust factor of about 1 or in other words: | |
| the tire force should always be aproximately in the plane of the | |
| wheel. The presented results are suspicious on this. | |
| Experimental testing of Bicycle: | |
| They use the instrumented bicycle of Rolland \& Massing 1971. They | |
| have 9 configurations by playing around with load on rear, rider | |
| and front, increasing the mass moment of inertia of the front wheel | |
| and underinflating the tires. | |
| the tests carried out are: | |
| lows peed stability: riding in a 3 feet wide lane at minimum speed | |
| obstical avoidance: at the end of the 3 feet lane a dustbin is placed | |
| (4 feet from the end), at maximum speed | |
| narrow slalom: inline 10 feet apart, maximum speed. | |
| wide slalom: 2 feet lateral separation, 10 feet apart, maximum speed. | |
| They conclude that the standard bicycle the best! the other general | |
| conclusions are that load in the rear basket (not on rear rack) is | |
| good for maneurverability and rider load is bad for maneurverability. | |
| Computer Graphics Animation of the Bicycle Simulation: | |
| A large part of the report is devoted to generating computer graphical | |
| animation of the biycle simulations. It was very state of the art! | |
| the climax is a camparison of an experimental and simulated bicycle | |
| slalom maneuver based on a strip chart of 6 images 0.2 seconds apart! | |
| the resemblance is striking! the simulated results were obtained | |
| by applying the following "bang - bang" control: the sign of the | |
| desired lean angle is opposite the sign of the current steer angle. | |
| lucky strike?? | |
| Impressive results. unfortunately they do not elaborate on the rider | |
| control and validation but this is probably due to a lack of time | |
| and funding.}, | |
| timestamp = {2008.05.26}, | |
| webpdf = {references-folder/Roland1972.pdf} | |
| } | |
| @ARTICLE{Roland1973a, | |
| author = {Roland, R. D.}, | |
| title = {Computer Simulation of Bicycle Dynamics}, | |
| journal = {Mechanics and Sports}, | |
| year = {1973}, | |
| note = {ASME}, | |
| bib = {bibtex-keys#Roland1973a}, | |
| bibpr = {private-bibtex-keys#Roland1973a}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Roland1973b, | |
| author = {Roland, R. D.}, | |
| title = {Simulation Study of Motorcycle Stability at High Speed}, | |
| booktitle = {Second International Congress on Automotive Safety}, | |
| year = {1973}, | |
| address = {San Francisco}, | |
| month = {July}, | |
| bib = {bibtex-keys#Roland1973b}, | |
| bibpr = {private-bibtex-keys#Roland1973b}, | |
| file = {Roland1973b.pdf:Roland1973b.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {JKM-Roland extends the bicycle model with many new features that allow | |
| a more accurate model of a Harley Davidson motorcycle to be produced. | |
| He runs simulations with a rigid rider and hands free riding at about | |
| 80 mph where the motorcycle is perturbed with a lateral force at | |
| the saddle. The simulation results are evaluted on how well the weave | |
| motion behaves. These results were compared with experimental measurements | |
| of the motorcycle and rider. The primary goal of this report was | |
| to charaterize what and how various parameters affect the weave modes | |
| stability characteristics. | |
| - the model has eight degrees of freedom including rider lean, but | |
| they lock rider lean in these sims | |
| - a non-linear model is used with non-linear tire characteristics | |
| - the paper exams high speed weave instabilities (~80mph) | |
| - the model has capsize, weave and wobble modes (among others) | |
| - the wobble mode is speed independent | |
| - a bicycle model was extended to better represent the harley motorcycle | |
| - the model has three rigid bodies: upper body, frame and fork | |
| - model extensions beyond the whipple model: aero drag; aero lift; | |
| steer moment due to aero drag; driving thrust; tire forces that are | |
| functions of slip angle, inclination (camber) angle, and vertical | |
| load; gyro forces from engine; viscous steering damping | |
| - he claims to write the nonlinear equations in complete form but | |
| don't show them here | |
| - his model controls by steer and rider lean torques | |
| - these sims are done as rigid rider, hands free | |
| - claims that high speed weave can be studied independent of rider | |
| control since the freq is high | |
| - he measured the physical parameters of the motorcycle including | |
| determining moments of inertia using a torsional pendulum | |
| - there are three tire coefficients: slip angle-side force, slip angle | |
| cubed-side force and inclination angle-side force. I am not sure | |
| what the second is. | |
| - he choses 17 parameters to examine | |
| - he shows steer and roll angle plots for the simulations and experiments | |
| - he measured steer angle, roll angle, lateral accel and speed on | |
| the motorcycle | |
| - he tried to change the parameters independently | |
| - i am not sure how the complicated motorcycle model allows the weave | |
| mode to go unstable at high speeds, in the whipple model it gets | |
| more stable and speed increases | |
| - he compares the times required for the roll angle to half or double | |
| and the roll angle initial amplitude for $\pm$20\% change in each | |
| parameter | |
| - he classifies the parameters either as having an insignificant effect | |
| or significant | |
| - he discusses some consquences of not being able to realistically | |
| adjust parameters independently | |
| - says weight distribution is the most critical to weave stability | |
| with others that are important: wheelbase, rake, trail, fork inertia | |
| and CoM | |
| - used real tire data from Dunlop for his nonlinear tire model | |
| This seems like a decent study, but this paper lacks too many details | |
| to be of much use. The basic conclusion is still only that the bicycles | |
| parameters are very intertwined and it isn't very easy to pin down | |
| which parameters affect what dynamics. He says "Therefore, the most | |
| practical improved motorcycle design will consist of a coordinated | |
| set of modifications involving small changes in several critical | |
| parameters. Such a design can eliminate the weave oscillation from | |
| the operating speed range without increasing the tendency to wobble | |
| or adversely affecting handling performance". This alludes to the | |
| fact that each motorcycle has to be looked at individually and the | |
| critical parameters determined and adjusted and also that there may | |
| be some trade-offs between stable modes and handling. He finds that | |
| a high motorcycle cg is good for weave stability but bad for handling.}, | |
| timestamp = {2009.11.03}, | |
| webpdf = {references-folder/Roland1973b.pdf} | |
| } | |
| @INPROCEEDINGS{Roland1973d, | |
| author = {R. Douglas Roland}, | |
| title = {Motorcycle and Recreational Vehicle Safety}, | |
| booktitle = {Second International Congress on Automotive Safety}, | |
| year = {1973}, | |
| address = {San Francisco, California, USA}, | |
| month = {July}, | |
| abstract = {A comprehensive di.gital computer simulation of a two-wheel vehicle | |
| and rider has been developed and is being used to study motorcycle | |
| stability and handling. The simulation is based on a nonlinear mathematical | |
| model with eight degrees of freedom, including steer and rider lean. | |
| Tire side force and aligning torque as nonlinear functions of slip | |
| angle, camber angle and vertical load, aerodynamic drag, pitching | |
| moment and steering torque, steering damping, and gyroscopic effects | |
| of the engine and wheels are modeled as well as fork rake angle, | |
| steering trail, and the basic physical characteristics of the motorcycle | |
| frame, steering assembly, and rider. These parameters are input data | |
| to the computer simulation which produces output in the form of time | |
| histories of the motion variables of the vehicle. The two-wheel vehicle | |
| simulation has been validated by comparison with experimental tests | |
| using an instrumented vehicle. A combined analytical and experimental | |
| research program has been conducted as a coordinated effort by Calspan | |
| Corporation and the Harley-Davidson Motor Company, Inc. to study | |
| the weave instability phenomenon which can occur in motorcycles at | |
| high speed. "Speedman' s wobble", as it has been called, is characterized | |
| by coupled steer-roll-yaw motions of the vehicle and has long been | |
| recognized by theoretical dynamicists. The influence of several motorcycle | |
| characteristics on weave instability have been evaluated in the context | |
| of total system performance by simulating the disturbance-response | |
| behavior at high speed.}, | |
| bib = {bibtex-keys#Roland1973d}, | |
| bibpr = {private-bibtex-keys#Roland1973d}, | |
| file = {Roland1973d.pdf:Roland1973d.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2010.09.15}, | |
| webpdf = {references-folder/Roland1973d.pdf} | |
| } | |
| @TECHREPORT{Roland1973c, | |
| author = {R. D. Roland and D. T. Kunkel}, | |
| title = {Motorcycle Dynamics, The Effects of Design on High Speed Weave}, | |
| institution = {Cornell Aeronautical Laboratory}, | |
| year = {1973}, | |
| type = {Calspan Report}, | |
| number = {ZN-5259-K-1}, | |
| month = {May}, | |
| note = {prepared for the Harley-Davidson Motor Company, Inc.}, | |
| bib = {bibtex-keys#Roland1973c}, | |
| bibpr = {private-bibtex-keys#Roland1973c}, | |
| owner = {moorepants}, | |
| timestamp = {2009.12.10} | |
| } | |
| @TECHREPORT{Roland1973, | |
| author = {Roland, R. D. and R. S. Rice}, | |
| title = {Bicycle Dynamics, Ride Guidance Modeling and Disturbance Response}, | |
| institution = {Calspan Corporation}, | |
| year = {1973}, | |
| type = {Calspan Report}, | |
| number = {ZS-5157-K-1}, | |
| month = {April}, | |
| note = {prepared for the Schwinn Bicycle Company}, | |
| bib = {bibtex-keys#Roland1973}, | |
| bibpr = {private-bibtex-keys#Roland1973}, | |
| file = {Roland1973.pdf:Roland1973.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30}, | |
| webpdf = {references-folder/Roland1973.pdf} | |
| } | |
| @TECHREPORT{Roland1971, | |
| author = {{Roland Jr.}, R. Douglas and Massing, Daniel E.}, | |
| title = {A Digital Computer Simulation of Bicycle Dynamics}, | |
| institution = {Cornell Aeronautical Laboratory, Inc.}, | |
| year = {1971}, | |
| type = {Calspan Report}, | |
| number = {YA-3063-K-1}, | |
| address = {Buffalo, NY, 14221}, | |
| month = {June}, | |
| note = {Prepared for Schwinn Bicycle Company, Chicago, IL 60639}, | |
| bib = {bibtex-keys#Roland1971}, | |
| bibpr = {private-bibtex-keys#Roland1971}, | |
| file = {Roland1971.pdf:Roland1971.pdf:PDF}, | |
| owner = {luke}, | |
| review = {They have a cool tire tester that they drag behind a car. The measure | |
| the inertia of the bicycle with torsional springs. The have an instrumented | |
| bicycle with steer angle potentiometer, a potentiometric free gyroscope | |
| for roll angle, accelerometer for lateral accleration, DC tachometer | |
| for rear wheel rate. | |
| The did some riderless tests with the bicycle including firing a calibrated | |
| rocket attached to the handlebars for a torque impulse.}, | |
| timestamp = {2009.11.01}, | |
| webpdf = {references-folder/Roland1971.pdf} | |
| } | |
| @INPROCEEDINGS{Rosales2000, | |
| author = {Rosales, R. and Sclaroff, S.}, | |
| title = {Specialized mappings and the estimation of human body pose from a | |
| single image}, | |
| booktitle = {Proceedings of the Workshop on Human Motion (HUMO'00)}, | |
| year = {2000}, | |
| pages = {19-24}, | |
| bib = {bibtex-keys#Rosales2000}, | |
| bibpr = {private-bibtex-keys#Rosales2000}, | |
| doi = {10.1109/HUMO.2000.897366}, | |
| file = {Rosales2000.pdf:Rosales2000.pdf:PDF}, | |
| journal = {Human Motion, 2000. Proceedings. Workshop on}, | |
| keywords = {computer vision, image recognition, learning (artificial intelligence), | |
| maximum likelihood estimation, probabilitySpecialized Mappings Architecture, | |
| articulated body pose, expectation maximization, feedback matching | |
| function, forward mapping functions, human body pose esimation, maximum | |
| likelihood estimation, monocular images, nonlinear supervised learning | |
| architecture, probabilistic model}, | |
| webpdf = {references-folder/Rosales2000.pdf} | |
| } | |
| @ARTICLE{Routh1899, | |
| author = {Routh, G. R. R.}, | |
| title = {On the Motion of a Bicycle}, | |
| journal = {The Messenger of Mathematics}, | |
| year = {1899}, | |
| volume = {28}, | |
| pages = {151--169}, | |
| number = {4--5}, | |
| month = {April}, | |
| bib = {bibtex-keys#Routh1899}, | |
| bibpr = {private-bibtex-keys#Routh1899}, | |
| file = {Routh1899.pdf:Routh1899.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.01.31}, | |
| webpdf = {references-folder/Routh1899.pdf} | |
| } | |
| @ARTICLE{Rowe1998, | |
| author = {Rowe, T. and Hull, M.L. and Wang, E.L.}, | |
| title = {A pedal dynamometer for off-road bicycling}, | |
| journal = {Transactions of the ASME. Journal of Biomechanical Engineering}, | |
| year = {1998}, | |
| volume = {120}, | |
| pages = {160-4}, | |
| number = {1}, | |
| month = {February}, | |
| abstract = {Describes the design and accuracy evaluation of a dynamometric pedal, | |
| which measures the 2 pedal force components in the plane of the bicycle. | |
| To realize a design that could be used during actual off-road cycling, | |
| a popular clipless pedal available commercially was modified so that | |
| both the form and the function of the original design were maintained. | |
| To measure the load components of interest, the pedal spindle was | |
| replaced with a spindle fixed to the pedal body and instrumented | |
| with 8 strain gages connected into 2 Wheatstone bridge circuits. | |
| The new spindle is supported by bearings in the crank arm. Static | |
| calibration and a subsequent accuracy check revealed root mean square | |
| errors of less than 1 percent full scale (FS) when only the force | |
| components of interest were applied. Application of unmeasured load | |
| components created an error less than 2 percent FS. The natural frequency | |
| with half the weight of a 75 kgf person standing on the pedal was | |
| greater than 135 Hz. These performance capabilities make the dynamometer | |
| suitable for measuring either pedaling loads due to the rider's muscular | |
| action or inertial loads due to surface-induced acceleration. To | |
| demonstrate this suitability, sample pedal load data are presented | |
| both for steady-state ergometer cycling and coasting over a rough | |
| surface while standing.}, | |
| address = {USA}, | |
| affiliation = {Rowe, T.; Hull, M.L.; Dept. of Mech. Eng., California Univ., Davis, | |
| CA, USA.}, | |
| bib = {bibtex-keys#Rowe1998}, | |
| bibpr = {private-bibtex-keys#Rowe1998}, | |
| identifying-codes = {[A1998-10-8780-023; B1998-05-7510-044],[0148-0731/98/\$3.00],[0148-0731(199802)120:1L.160:PDRB;1-U]}, | |
| issn = {0148-0731}, | |
| keywords = {Practical, Experimental/ biological techniques; biomechanics; dynamometers; | |
| force measurement/ pedal dynamometer; off-road bicycling; dynamometric | |
| pedal; accuracy evaluation; force components; clipless pedal; load | |
| components measurement; unmeasured load components; natural frequency; | |
| steady-state ergometer cycling; coasting over rough surface; standing; | |
| Wheatstone bridge circuits; bearings; crank arm; static calibration; | |
| muscular action; inertial loads; surface-induced acceleration; 135 | |
| Hz/ A8780 Biophysical instrumentation and techniques; A8745D Physics | |
| of body movements; B7510 Biomedical measurement and imaging; B7320G | |
| Mechanical variables measurement/ frequency 1.35E+02 Hz}, | |
| language = {English}, | |
| number-of-references = {10}, | |
| owner = {moorepants}, | |
| publication-type = {J}, | |
| publisher = {ASME}, | |
| timestamp = {2009.12.04}, | |
| type = {Journal Paper}, | |
| unique-id = {INSPEC:5893487} | |
| } | |
| @INPROCEEDINGS{Rowell2007, | |
| author = {Stuart Rowell and Atanas A. Popov and Jacob P. Meijaard}, | |
| title = {Model predictive control techniques for motorcycle rider control}, | |
| booktitle = {Advances in Automotive Control}, | |
| year = {2007}, | |
| abstract = {Model Predictive Control techniques have been applied to the modelling | |
| of a motorcycle rider, believed to offer more realistic representation | |
| of the riding strategy compared with previous methods, notably Optimal | |
| Control. The results from the Model Predictive Control model have | |
| been compared with the Optimal Control results, showing good similarities | |
| and also some notable differences. The results of the application | |
| of Model Predictive Control techniques to the modelling of a motorcycle | |
| rider suggest that the approach has wider applicability to rider | |
| modelling, and allows greater scope for the definition of the rider's | |
| control approach. Notably, for limited rider preview, shortcomings | |
| using the Optimal Control approach are overcome using the Model Predictive | |
| Control method. Furthermore, the approach is believed to more accurately | |
| reflect the control actions taken by a human motorcycle rider.}, | |
| bib = {bibtex-keys#Rowell2007}, | |
| bibpr = {private-bibtex-keys#Rowell2007}, | |
| doi = {10.3182/20070820-3-US-2918.00077}, | |
| file = {Rowell2007.pdf:Rowell2007.pdf:PDF}, | |
| timestamp = {2012.03.01}, | |
| webpdf = {references-folder/Rowell2007.pdf} | |
| } | |
| @ARTICLE{Ruby1993, | |
| author = {Patricia Ruby and M.L Hull}, | |
| title = {Response of intersegmental knee loads to foot/pedal platform degrees | |
| of freedom in cycling}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1993}, | |
| volume = {26}, | |
| pages = {1327 - 1340}, | |
| number = {11}, | |
| abstract = {The hypothesis tested in this article was that the three-dimensional | |
| intersegmental knee loads would be reduced in cycling by foot/pedal | |
| platforms which permitted relative motion between the foot and pedal. | |
| To test this hypothesis, pedal load and lower limb kinematic data | |
| were collected from 11 subjects who pedaled with four foot/pedal | |
| platforms mounted on a six-load-component dynamometer. One of the | |
| four platforms did not allow any relative foot/pedal movement while | |
| the other three permitted either medial/lateral translation, adduction/abduction | |
| rotation or inversion/eversion rotation. Three-dimensional intersegmental | |
| knee loads were computed for each of the four platforms using a previously | |
| reported biomechanical model. A number of quantities describing each | |
| of the intersegmental knee load components was computed and compared | |
| using analysis of variance techniques. The key results were that | |
| the medial/lateral translation platform did not cause significant | |
| differences in intersegmental knee load quantities relative to those | |
| for the fixed platform. However, both of the platforms permitting | |
| rotations significantly reduced many but did not significantly increase | |
| any intersegmental knee load quantities. Of these two platforms, | |
| the adduction/abduction platform significantly reduced both the axial | |
| and varus/valgus knee moments while the inversion/eversion platform | |
| significantly reduced only varus/valgus moments. These results have | |
| application to bicycle pedal design where the goal is to reduce intersegmental | |
| knee loads, hence possibly alleviating overuse knee injuries.}, | |
| bib = {bibtex-keys#Ruby1993}, | |
| bibpr = {private-bibtex-keys#Ruby1993}, | |
| doi = {DOI: 10.1016/0021-9290(93)90356-J}, | |
| file = {Ruby1993.pdf:Ruby1993.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4C06GH8-Y/2/fd66005ce6c1b9c288b1fe932197b93c}, | |
| webpdf = {references-folder/Ruby1993.pdf} | |
| } | |
| @ARTICLE{Ruby1992a, | |
| author = {Patricia Ruby and M.L. Hull and David Hawkins}, | |
| title = {Three-dimensional knee joint loading during seated cycling}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1992}, | |
| volume = {25}, | |
| pages = {41 - 53}, | |
| number = {1}, | |
| abstract = {The hypothesis which motivated the work reported in this article was | |
| that neglecting pure moments developed between the foot and pedal | |
| during cycling leads to a substantial error in computing axial and | |
| varus/valgus moments at the knee. To test this hypothesis, a mathematical | |
| procedure was developed for computing the three-dimensional knee | |
| loads using three-dimensional pedal forces and moments. In addition | |
| to data from a six-load-component pedal dynamometer, the model used | |
| pedal position and orientation and knee position in the frontal plane | |
| to determine the knee joint loads. Experimental data were collected | |
| from the right leg of 11 male subjects during steady-state cycling | |
| at 90 rpm and 225 W. The mean peak varus knee moment calculated was | |
| 15.3 N m and the mean peak valgus knee moment was 11.2 N m. Neglecting | |
| the pedal moment about the anterior/posterior axis resulted in an | |
| average absolute error of 2.6 N m and a maximum absolute error of | |
| 4.0 N m in the varus/valgus knee moment. The mean peak internal and | |
| external axial knee moments were 2.8 N m and 2.3 N m, respectively. | |
| The average and maximum absolute errors in the axial knee moment | |
| for not including the moment about an axis normal to the pedal were | |
| found to be 2.6 N m and 5.0 N m, respectively. The results strongly | |
| support the use of three-dimensional pedal loads in the computation | |
| of knee joint moments out of the sagittal plane.}, | |
| bib = {bibtex-keys#Ruby1992a}, | |
| bibpr = {private-bibtex-keys#Ruby1992a}, | |
| doi = {DOI: 10.1016/0021-9290(92)90244-U}, | |
| file = {Ruby1992a.pdf:Ruby1992a.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4C35T0D-6S/2/d0127311958c71398c1f54690fa2e677}, | |
| webpdf = {references-folder/Ruby1992a.pdf} | |
| } | |
| @ARTICLE{Ruby1992, | |
| author = {Patricia Ruby and M.L. Hull and Kevin A. Kirby and David W. Jenkins}, | |
| title = {The effect of lower-limb anatomy on knee loads during seated cycling}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1992}, | |
| volume = {25}, | |
| pages = {1195 - 1207}, | |
| number = {10}, | |
| abstract = {Overuse knee joint injuries are the primary injuries to cyclists. | |
| Overuse injuries have been intuitively linked to the anatomic structure | |
| of the foot because external loads are applied to the foot in cycling. | |
| Thus, the structure and function of the foot should dictate in part | |
| how the loads are transmitted to the knee joint. Therefore, it was | |
| hypothesized that patterns in knee loads are related to the anatomic | |
| structure of the foot. To test this hypothesis, peak knee loads (dependent | |
| variables) were related to anatomical variables (independent variables) | |
| through statistical analyses. This required first the detailed evaluation | |
| (i.e. measurement) of the anatomical structure of the foot and leg | |
| for 23 subjects. Next, three-dimensional knee joint loads were determined | |
| for a standardized riding condition. The results of the statistical | |
| analyses indicated that a group of cyclists with the most extreme | |
| inversion of the forefoot relative to the transverse plane developed | |
| significantly greater average posterior knee force and extensive | |
| knee moment. In addition, a number of anatomical variables significantly | |
| accounted for the variability in peak values of the posterior force, | |
| the extensive moment, the varus/valgus moment and the external axial | |
| moment. Based on these results, the hypothesis is accepted.}, | |
| bib = {bibtex-keys#Ruby1992}, | |
| bibpr = {private-bibtex-keys#Ruby1992}, | |
| doi = {DOI: 10.1016/0021-9290(92)90075-C}, | |
| file = {Ruby1992.pdf:Ruby1992.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4C00GBV-DD/2/65f68c31ff65bd7937862ee0e08b7028}, | |
| webpdf = {references-folder/Ruby1992.pdf} | |
| } | |
| @ARTICLE{Ruijs1985, | |
| author = {Ruijs, P. A. and Pacejka, H. B.}, | |
| title = {Research in Lateral Dynamics of Motorcycles}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {1985}, | |
| volume = {14}, | |
| pages = {149--152}, | |
| number = {1--3}, | |
| bib = {bibtex-keys#Ruijs1985}, | |
| bibpr = {private-bibtex-keys#Ruijs1985}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Ruijs1986, | |
| author = {Ruijs, P.A.J. and Pacejka, H.B.}, | |
| title = {Recent Research in Lateral Dynamics of Motorcycles}, | |
| booktitle = {Procedings of 9th IAVSD Symposium on The Dynamics Of Vehicles on | |
| roads and on tracks, Sweden June 24-28 1985}, | |
| year = {1986}, | |
| volume = {supplement to Vehicle System Dynamics, Volume 15}, | |
| pages = {467--480}, | |
| bib = {bibtex-keys#RuijsPacejka1986}, | |
| bibpr = {private-bibtex-keys#RuijsPacejka1986} | |
| } | |
| @MASTERSTHESIS{Solvberg2007, | |
| author = {S{\o}lvberg, Audun}, | |
| title = {CyberBike}, | |
| school = {Norwegian University of Science and Technology}, | |
| year = {2007}, | |
| abstract = {The idea about the CyberBike came to Jens G. Balchen - the founder | |
| of the Department of Engineering Cybernetics (ITK) at NTNU - in the | |
| 1980's. He wanted to make an unmanned autonomus bicycle, i.e. a bike | |
| that could run by itself. The idea was picked up by Amund Skavhaug, | |
| who started the CyberBike project in the late 80's. After being deffered | |
| for some years, the CyberBike has again gained some attention. This | |
| master's thesis is based on Hans Olav Loftum's and Lasse Bjermeland's | |
| theses at the spring 2006 and the autumn project of John A. Fossum | |
| the same year. The goal of the CyberBike project is to make the bike | |
| work as intended, i.e. as an autonomous unmanned bicycle. This thesis | |
| naturally share this goal, although the bike did not become able | |
| to take its first autonomous trip within the thesis' time frame. | |
| At the start of the work, the bike were already equipped with a suitcase | |
| of computational hardware on its baggage rack, a small QNX Neutrino | |
| OS image was installed on the industrial PC mounted in the suitcase, | |
| and drivers for the installed motors, tachometers and potmeters were | |
| written. An Inertial Measurement Unit (IMU) was intended to supply | |
| the control system with the necessary information about rotation, | |
| acceleration and position, and the unit was purchased for the purpose. | |
| Also a driver was written, but not properly tested. The IMU had to | |
| be installed and connected to the control system. The bike's control | |
| theory was developed, but had never been put into action outside | |
| computer simulations (due to the lack of acceleration measurements). | |
| The various tasks that had to be addressed emerged as the development | |
| process advanced. First, the IMU had to be connected to the system, | |
| by making a signal tranceiver circuit. A small printed circuit board | |
| was designed and laid out, mainly to include a MAX233CPP iC. Then | |
| the DB-9 serial connector on the bikes single board computer (Wafer-9371A) | |
| could be used to read the UART signal from the IMU as RS-232. Then | |
| some testing had to be done, and drivers updated. A better and more | |
| advanced IMU (referred to as the "MTi") was added to the project. | |
| This unit needed no signal converting circuitry, but driver development | |
| and testing still had to be done. To enhance the CyberBike's navigation | |
| opportunities, a GPS module was purchased. A signal transceiving | |
| circuit, similar to the one for the IMU, was made for this unit, | |
| as well as software to read out the measurements from the device. | |
| By the end of this thesis, no navigational algorithms are made, hence | |
| the GPS is currently not used, but available for future efforts made | |
| on this area. Some hardware related tasks was carried out, as connecting | |
| and implementing functionality to the pendulum limit switches, installation | |
| of a emergency stop switch and a power switch, purchasing and installation | |
| of two 12V batteries and a cooling fan. An operating system upgrade | |
| resulted in replacing the CyberBikePC's storage device, a compact | |
| flash card, with a mobile hard disk drive. Installation of a motor, | |
| for supplying torque to the rear wheel, included setup and tuning | |
| of a hardware based velocity controller in a Baldor TFM 060-06-01-3 | |
| servo module. However; this task is not to be considered as accomplished, | |
| due to some unsolved problems on the system I/O-card's output channels | |
| giving the motor controller card its reference voltage. A bike model | |
| and controller realized in Simulink was made by Bjermeland. Hence | |
| communicaton between Simulink and the device drivers had to be established, | |
| and this was realized by using S-functions and Real-Time Workshop. | |
| Finally the controller could be connected to the actual bike, but | |
| there was too little time left to explore this thoroughly, and make | |
| the system work properly. However, a foundation is laid for further | |
| development of the control strategy, hopefully storing a bright future | |
| for the CyberBik}, | |
| bib = {bibtex-keys#Solvberg2007}, | |
| bibpr = {private-bibtex-keys#Solvberg2007}, | |
| file = {Solvberg2007.pdf:Solvberg2007.pdf:PDF}, | |
| institution = {Norwegian University of Science and Technology, Department of Engineering | |
| Cybernetics}, | |
| pages = {159}, | |
| publisher = {Institutt for teknisk kybernetikk}, | |
| webpdf = {references-folder/Solvberg2007.pdf} | |
| } | |
| @PHDTHESIS{Saccon2006, | |
| author = {Alessandro Saccon}, | |
| title = {Maneuver Regulation of Nonlinear Systems: The Challenge of Motorcycle | |
| Control}, | |
| school = {Universit\'{a} Delgi Studi Di Padova}, | |
| year = {2006}, | |
| bib = {bibtex-keys#Saccon2006}, | |
| bibpr = {private-bibtex-keys#Saccon2006}, | |
| file = {Saccon2006.pdf:Saccon2006.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Saccon2006.pdf} | |
| } | |
| @ARTICLE{Saccon2009, | |
| author = {Saccon, Alessandro and Hauser, John}, | |
| title = {An efficient Newton method for general motorcycle kinematics}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2009}, | |
| volume = {47}, | |
| pages = {221-241}, | |
| number = {2}, | |
| abstract = {This paper presents a detailed study of the kinematics of single-track | |
| vehicles, with a special emphasis on motorcycles. We consider a general | |
| class of tyre profiles as well as general vehicle geometry. We show | |
| that the kinematic problem may be reduced to the problem of finding | |
| the zero of a (single) nonlinear equation in the pitch angle which | |
| may then be solved using a safeguarded Newton method, providing rapid | |
| convergence. Special care, enabled by the systematic use of rotation | |
| matrices, is taken to understand the range of pitch angles for which | |
| all quantities in the equation are well defined. The paper provides | |
| a fast and numerically reliable algorithm that can be used within | |
| analysis tools such as those involving numerical integration of system | |
| dynamics.}, | |
| address = {325 CHESTNUT ST, SUITE 800, PHILADELPHIA, PA 19106 USA}, | |
| affiliation = {Saccon, A (Reprint Author), Univ Padua, Dipartimento Ingn Informaz, | |
| Padua, Italy. {[}Saccon, Alessandro] Univ Padua, Dipartimento Ingn | |
| Informaz, Padua, Italy. {[}Hauser, John] Univ Colorado, Dept Elect | |
| \& Comp Engn, Boulder, CO 80309 USA.}, | |
| author-email = {asaccon@dei.unipd.it}, | |
| bib = {bibtex-keys#Saccon2009}, | |
| bibpr = {private-bibtex-keys#Saccon2009}, | |
| doc-delivery-number = {400ZJ}, | |
| doi = {10.1080/00423110801966108}, | |
| file = {Saccon2009.pdf:Saccon2009.pdf:PDF}, | |
| funding-acknowledgement = {Ducati Corse ; MSC Software }, | |
| funding-text = {We thank Professor Ruggero Frezza for interesting discussions on motorcycle | |
| kinematics. This research was supported in part by Ducati Corse and | |
| MSC Software.}, | |
| issn = {0042-3114}, | |
| journal-iso = {Veh. Syst. Dyn.}, | |
| keywords = {kinematics; motorcycle; bicycle; single-track vehicles; Newton method}, | |
| keywords-plus = {VEHICLES; DYNAMICS; PROFILE}, | |
| language = {English}, | |
| number-of-cited-references = {10}, | |
| publisher = {TAYLOR \& FRANCIS INC}, | |
| subject-category = {Engineering, Mechanical}, | |
| times-cited = {0}, | |
| type = {Article}, | |
| unique-id = {ISI:000262907600005}, | |
| webpdf = {references-folder/Saccon2009.pdf} | |
| } | |
| @MISC{SAE1977, | |
| author = {SAE}, | |
| title = {A Bibliography on Motorcycle Dynamics and Handling}, | |
| year = {1977}, | |
| note = {Prepared by the SAE Motorcycle Dynamics Subcommittee}, | |
| bib = {bibtex-keys#SAE1977}, | |
| bibpr = {private-bibtex-keys#SAE1977}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Saguchi2009, | |
| author = {Saguchi, Taichi and Takahashi, Masaki and Yoshida, Kazuo}, | |
| title = {Stable Running Control of Autonomous Bicycle Robot for Trajectory | |
| Tracking Considering the Running Velocity(Mechanical Systems)}, | |
| journal = {Transactions of the Japan Society of Mechanical Engineers. C}, | |
| year = {2009}, | |
| volume = {75}, | |
| pages = {397-403}, | |
| number = {750}, | |
| abstract = {Many researchers have focused attention on a stability analysis and | |
| a stabilization control of a bicycle as one of controlled objects, | |
| because the bicycle is an unstable and nonlinear vehicle. A steering | |
| wheel control is needed to stabilize the bicycle. Moreover, a velocity | |
| of the bicycle can be controlled. Thereby, it is expected that the | |
| change of the running velocity affects the stability of the bicycle. | |
| In this study, the stabilization and trajectory tracking control | |
| of the bicycle considering the running velocity is proposed in order | |
| to improve the stability and the tracking performance. The simulations | |
| are carried out to verify the performance of the control system and | |
| the effectiveness of the change of the running velocity. From the | |
| simulation results, it was confirmed that the tracking performance | |
| and the stability against the disturbances are improved.}, | |
| bib = {bibtex-keys#Saguchi2009}, | |
| bibpr = {private-bibtex-keys#Saguchi2009}, | |
| file = {Saguchi2009.pdf:Saguchi2009.pdf:PDF}, | |
| issn = {03875024}, | |
| publisher = {The Japan Society of Mechanical Engineers}, | |
| url = {http://ci.nii.ac.jp/naid/110007113669/en/}, | |
| webpdf = {references-folder/Saguchi2009.pdf} | |
| } | |
| @ARTICLE{Sakai1967, | |
| author = {Sakai, H.}, | |
| title = {Cornering Properties of Motorcycle Tires}, | |
| journal = {Journal SAE Japan}, | |
| year = {1967}, | |
| volume = {21}, | |
| pages = {1115--1121}, | |
| number = {11}, | |
| bib = {bibtex-keys#Sakai1967}, | |
| bibpr = {private-bibtex-keys#Sakai1967}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Salvucci2001, | |
| author = {Dario D. Salvucci and Erwin R. Boer and Andrew Liu}, | |
| title = {Toward an Integrated Model of Driver Behavior in Cognitive Architecture}, | |
| journal = {Transportation Research Record: Journal of the Transportation Research | |
| Board}, | |
| year = {2001}, | |
| volume = {1779}, | |
| pages = {9--16}, | |
| abstract = {Driving is a multitasking activity that requires drivers to manage | |
| their attention among various driving- and non-driving-related tasks. | |
| When one models drivers as continuous controllers, the discrete nature | |
| of drivers' control actions is lost and with it an important component | |
| for characterizing behavioral variability. A proposal is made for | |
| the use of cognitive architectures for developing models of driver | |
| behavior that integrate cognitive and perceptual-motor processes | |
| in a serial model of task and attention management. A cognitive architecture | |
| is a computational framework that incorporates built-in, well-tested | |
| parameters and constraints on cognitive and perceptual-motor processes. | |
| All driver models implemented in a cognitive architecture necessarily | |
| inherit these parameters and constraints, resulting in more predictive | |
| and psychologically plausible models than those that do not characterize | |
| driving as a multitasking activity. These benefits are demonstrated | |
| with a driver model developed in the ACT-R cognitive architecture. | |
| The model is validated by comparing its behavior to that of human | |
| drivers navigating a four-lane highway with traffic in a fixed-based | |
| driving simulator. Results show that the model successfully predicts | |
| aspects of both lower-level control, such as steering and eye movements | |
| during lane changes, and higher-level cognitive tasks, such as task | |
| management and decision making. Many of these predictions are not | |
| explicitly built into the model but come from the cognitive architecture | |
| as a result of the model's implementation in the ACT-R architecture.}, | |
| bib = {bibtex-keys#Salvucci2001}, | |
| bibpr = {private-bibtex-keys#Salvucci2001}, | |
| file = {Salvucci2001.pdf:Salvucci2001.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Salvucci2001.pdf} | |
| } | |
| @ARTICLE{Savaresi2008, | |
| author = {Savaresi, S. M. and Tanelli, M. and Langthaler, P. and Del Re, L.}, | |
| title = {New Regressors for the Direct Identification of Tire Deformation | |
| in Road Vehicles Via "In-Tire" Accelerometers}, | |
| journal = {IEEE Trans. Control Syst. Dyn.}, | |
| year = {2008}, | |
| volume = {16}, | |
| pages = {769--780}, | |
| number = {4}, | |
| abstract = {The interaction between the tire and the road is crucial for determining | |
| the dynamic behavior of a road vehicle, and the road-tire contact | |
| forces are key variables in the design of traction, braking, and | |
| stability control systems. Traditionally, road-tire contact forces | |
| are indirectly estimated from vehicle-dynamics measurements (chassis | |
| accelerations, yaw-roll rates, suspension deflections, etc.). The | |
| emerging of the ldquosmart-tirerdquo concept (tire with embedded | |
| sensors and digital-computing capability) has made possible, in principle, | |
| a more direct estimation of contact forces. In this field - still | |
| in its infancy - the main open problems are the choice of the sensor(s) | |
| and the choice of the regressor(s) to be used for force estimation. | |
| The objective of this work is to present a new sensor-regressor choice, | |
| and to provide some preliminary experimental results, which confirm | |
| the validity of this choice. The idea is to use a wheel encoder and | |
| an accelerometer mounted directly in the tire. The measurement of | |
| the in-tire acceleration is transmitted through a wireless channel. | |
| The key innovative concept is to use the phase shift between the | |
| wheel encoder and the pulse-like signals provided by the accelerometer | |
| as the main regressor for force estimation.}, | |
| bib = {bibtex-keys#Savaresi2008}, | |
| bibpr = {private-bibtex-keys#Savaresi2008}, | |
| doi = {10.1109/TCST.2007.912245}, | |
| file = {Savaresi2008.pdf:Savaresi2008.pdf:PDF}, | |
| issn = {1063-6536}, | |
| keywords = {accelerometers, road traffic, road vehicles, tyres, force estimation, | |
| in-tire acceleration, in-tire accelerometers, phase shift, road vehicles, | |
| road-tire contact forces, sensor-regressor choice, stability control | |
| systems, tire deformation, vehicle-dynamics measurements, wireless | |
| channel, yaw-roll rates, Road vehicles, identification, road vehicle | |
| control, road vehicle identification, signal processing}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.18}, | |
| webpdf = {references-folder/Savaresi2008.pdf} | |
| } | |
| @ARTICLE{Sayers1991, | |
| author = {Michael W. Sayers}, | |
| title = {A Symoblic Computer Language For Multibody Systems}, | |
| journal = {Journal of Guidance, Control and Dynamics}, | |
| year = {1991}, | |
| volume = {14}, | |
| pages = {1153--1163}, | |
| number = {6}, | |
| month = {November}, | |
| bib = {bibtex-keys#Sayers1991}, | |
| bibpr = {private-bibtex-keys#Sayers1991}, | |
| file = {Sayers1991.pdf:Sayers1991.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Sayers1991.pdf} | |
| } | |
| @PHDTHESIS{Sayers1990, | |
| author = {Michael William Sayers}, | |
| title = {Symbolic Computer Methods to Automatically Formulate Vehicle Simulation | |
| Codes}, | |
| school = {The University of Michigan}, | |
| year = {1990}, | |
| bib = {bibtex-keys#Sayers1990}, | |
| bibpr = {private-bibtex-keys#Sayers1990}, | |
| file = {Sayers1990.pdf:Sayers1990.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2011.10.28}, | |
| webpdf = {references-folder/Sayers1990.pdf} | |
| } | |
| @ARTICLE{Schmid2007, | |
| author = {Schmid, Micaela and Nardone, Antonio and De Nunzio, Alessandro Marco | |
| and Schmid, Monica and Schieppati, Marco}, | |
| title = {Equilibrium during static and dynamic tasks in blind subjects: no | |
| evidence of cross-modal plasticity}, | |
| journal = {Brain}, | |
| year = {2007}, | |
| volume = {130}, | |
| pages = {2097-2107}, | |
| number = {8}, | |
| abstract = {Can visual information be replaced by other sensory information in | |
| the control of static and dynamic equilibrium? We investigated the | |
| balancing behaviour of acquired and congenitally blind subjects (25 | |
| severe visually impaired subjects—15 males and 10 females, mean age | |
| 36 ± 13.5 SD) and age and gender-matched normal subjects under static | |
| and dynamic conditions. During quiet stance, the centre of foot pressure | |
| displacement was recorded and body sway analysed. Under dynamic conditions, | |
| subjects rode a platform continuously moving in the antero-posterior | |
| direction, with eyes open (EO) and closed (EC). Balance was inferred | |
| by the movement of markers fixed on malleolus, hip and head. Amplitude | |
| of oscillation and cross-correlation between body segment movements | |
| were computed. During stance, in normal subjects body sway was larger | |
| EC than EO. In blind subjects, sway was similar under both visual | |
| conditions, in turn similar to normal subjects EC. Under dynamic | |
| conditions, in normal subjects head and hip were partially stabilized | |
| in space EO but translated as much as the platform EC. In blind subjects | |
| head and hip displacements were similar in the EO and the EC condition; | |
| with respect to normal subjects EC, body displacement was significantly | |
| larger with a stronger coupling between segments. Under both static | |
| and dynamic conditions, acquired and congenitally blind subjects | |
| had a similar behaviour. We conclude that long-term absence of visual | |
| information cannot be substituted by other sensory inputs. These | |
| results are at variance with the notion of compensatory cross-modal | |
| plasticity in blind subjects and strengthen the hypothesis that vision | |
| plays an obligatory role in the processing and integration of other | |
| sensory inputs for the selection of the balancing strategy in the | |
| control of equilibrium.}, | |
| bib = {bibtex-keys#Schmid2007}, | |
| bibpr = {private-bibtex-keys#Schmid2007}, | |
| doi = {10.1093/brain/awm157}, | |
| eprint = {http://brain.oxfordjournals.org/content/130/8/2097.full.pdf+html}, | |
| file = {Schmid2007.pdf:Schmid2007.pdf:PDF}, | |
| url = {http://brain.oxfordjournals.org/content/130/8/2097.abstract}, | |
| webpdf = {references-folder/Schmid2007.pdf} | |
| } | |
| @ARTICLE{Schneider2002, | |
| author = {Schneider, Stephen and Holdren, John P. and Bongaarts, John and Lovejoy, | |
| Thomas and Rennie, John}, | |
| title = {Misleading Math about the Earth.}, | |
| journal = {Scientific American}, | |
| year = {2002}, | |
| volume = {286}, | |
| pages = {61--71}, | |
| number = {1}, | |
| month = {January}, | |
| abstract = {Science defends itself against The Skeptical Environmentalist}, | |
| bib = {bibtex-keys#Schneider2002}, | |
| bibpr = {private-bibtex-keys#Schneider2002}, | |
| issn = {00368733}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.04} | |
| } | |
| @INPROCEEDINGS{Schwab2010, | |
| author = {A. L. Schwab and J. D. G. Kooijman}, | |
| title = {Lateral dynamics of a bicycle with passive rider model}, | |
| booktitle = {The 1st Joint International Conference on Multibody System Dynamics}, | |
| year = {2010}, | |
| address = {Lappeenranta, Finland}, | |
| month = {May}, | |
| bib = {bibtex-keys#Schwab2010}, | |
| bibpr = {private-bibtex-keys#Schwab2010}, | |
| file = {Schwab2010.pdf:Schwab2010.pdf:PDF}, | |
| review = {This is the work that Arend presented at the Delft conference in Oct | |
| 2010, but didn't write a paper on it. He creates two rider models | |
| that do not add additional degrees of freedom to the system. The | |
| mountain bike style model doesn't alter the open loop dynamics too | |
| much, but the upright arm model does. This model is reflects the | |
| kind of degrees of freedom we allows in our lateral perturbation | |
| tests with the rider in a body cast. Arend's model is only valid | |
| in the linear case. For some reason he designed it to have a locking | |
| configuration in the nonlinear formulation.}, | |
| timestamp = {2011.12.12}, | |
| webpdf = {references-folder/Schwab2010.pdf} | |
| } | |
| @INPROCEEDINGS{Schwab2010a, | |
| author = {A. L. Schwab and J. D. G. Kooijman}, | |
| title = {Controllability of a bicycle}, | |
| booktitle = {5th Asian Conference on Multibody Dynamics 2010}, | |
| year = {2010}, | |
| address = {Kyoto, Japan}, | |
| month = {August}, | |
| bib = {bibtex-keys#Schwab2010a}, | |
| bibpr = {private-bibtex-keys#Schwab2010a}, | |
| file = {Schwab2010a.pdf:Schwab2010a.pdf:PDF}, | |
| review = {Arend adds leaning degrees of freedom to his arm models and then asesses | |
| them for controlability with respect to speed.}, | |
| timestamp = {2011.12.12}, | |
| webpdf = {references-folder/Schwab2010a.pdf} | |
| } | |
| @INPROCEEDINGS{Schwab2008, | |
| author = {A. L. Schwab and J. D. G. Kooijman and J. P. Meijaard}, | |
| title = {Some recent developments in bicycle dynamics and control}, | |
| booktitle = {Fourth European Conference on Structural Control (4ECSC)}, | |
| year = {2008}, | |
| editor = {A. K. Belyaev and D. A. Indeitsev}, | |
| pages = {695-702}, | |
| publisher = {Institute of Problems in Mechanical Engineering, Russian Academy | |
| of Sciences}, | |
| bib = {bibtex-keys#Schwab2008}, | |
| bibpr = {private-bibtex-keys#Schwab2008}, | |
| file = {Schwab2008.pdf:Schwab2008.pdf:PDF}, | |
| owner = {schwab}, | |
| timestamp = {2008.12.01}, | |
| webpdf = {references-folder/Schwab2008.pdf} | |
| } | |
| @ARTICLE{Schwab2012, | |
| author = {Schwab, A. L. and Meijaard, J. P. and Kooijman, J. D.G.}, | |
| title = {Lateral dynamics of a bicycle with a passive rider model: stability | |
| and controllability}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2012}, | |
| abstract = { This paper addresses the influence of a passive rider on the lateral | |
| dynamics of a bicycle model and the controllability of the bicycle | |
| by steer or upper body sideway lean control. In the uncontrolled | |
| model proposed by Whipple in 1899, the rider is assumed to be rigidly | |
| connected to the rear frame of the bicycle and there are no hands | |
| on the handlebar. Contrarily, in normal bicycling the arms of a rider | |
| are connected to the handlebar and both steering and upper body rotations | |
| can be used for control. From observations, two distinct rider postures | |
| can be identified. In the first posture, the upper body leans forward | |
| with the arms stretched to the handlebar and the upper body twists | |
| while steering. In the second rider posture, the upper body is upright | |
| and stays fixed with respect to the rear frame and the arms, hinged | |
| at the shoulders and the elbows, exert the control force on the handlebar. | |
| Models can be made where neither posture adds any degrees of freedom | |
| to the original bicycle model. For both postures, the open loop, | |
| or uncontrolled, dynamics of the bicycle–rider system is investigated | |
| and compared with the dynamics of the rigid-rider model by examining | |
| the eigenvalues and eigenmotions in the forward speed range 0–10 m/s. | |
| The addition of the passive rider can dramatically change the eigenvalues | |
| and their structure. The controllability of the bicycles with passive | |
| rider models is investigated with either steer torque or upper body | |
| lean torque as a control input. Although some forward speeds exist | |
| for which the bicycle is uncontrollable, these are either considered | |
| stable modes or are at very low speeds. From a practical point of | |
| view, the bicycle is fully controllable either by steer torque or | |
| by upper body lean, where steer torque control seems much easier | |
| than upper body lean. }, | |
| bib = {bibtex-keys#Schwab2012}, | |
| bibpr = {private-bibtex-keys#Schwab2012}, | |
| doi = {10.1080/00423114.2011.610898}, | |
| eprint = {http://www.tandfonline.com/doi/pdf/10.1080/00423114.2011.610898}, | |
| file = {Schwab2012.pdf:Schwab2012.pdf:PDF}, | |
| url = {http://www.tandfonline.com/doi/abs/10.1080/00423114.2011.610898}, | |
| webpdf = {references-folder/Schwab2012.pdf} | |
| } | |
| @INPROCEEDINGS{Schwab2005, | |
| author = {A. L. Schwab and J. P. Meijaard and J. M. Papadopoulos}, | |
| title = {A MULTIBODY DYNAMICS BENCHMARK ON THE EQUATIONS OF MOTION OF AN UNCONTROLLED | |
| BICYCLE}, | |
| booktitle = {ENOC}, | |
| year = {2005}, | |
| address = {Eindhoven, Netherlands}, | |
| month = {August}, | |
| bib = {bibtex-keys#Schwab2005}, | |
| bibpr = {private-bibtex-keys#Schwab2005}, | |
| file = {Schwab2005.pdf:Schwab2005.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Schwab2005.pdf} | |
| } | |
| @ARTICLE{Schwab2005a, | |
| author = {A. L. Schwab and J. P. Meijaard and J. M. Papadopoulos}, | |
| title = {Benchmark Results on the Linearized Equations of Motion of an Uncontrolled | |
| Bicycle}, | |
| journal = {KSME International Journal of Mechanical Science and Technology}, | |
| year = {2005}, | |
| volume = {19}, | |
| pages = {292--304}, | |
| number = {1}, | |
| bib = {bibtex-keys#Schwab2005a}, | |
| bibpr = {private-bibtex-keys#Schwab2005a}, | |
| file = {Schwab2005a.pdf:Schwab2005a.pdf:PDF}, | |
| timestamp = {2012.01.04}, | |
| webpdf = {references-folder/Schwab2005a.pdf} | |
| } | |
| @INPROCEEDINGS{Schwab2004, | |
| author = {A. L. Schwab and J. P. Meijaard and J. M. Papadopoulos}, | |
| title = {Benchmark Results on the Linearized Equations of Motion of an Uncontrolled | |
| Bicycle}, | |
| booktitle = {Proceedings of The Second Asian Conference on Multibody Dynamics}, | |
| year = {2004}, | |
| month = {August}, | |
| bib = {bibtex-keys#Schwab2004}, | |
| bibpr = {private-bibtex-keys#Schwab2004}, | |
| file = {Schwab2004.pdf:Schwab2004.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Schwab2004.pdf} | |
| } | |
| @ARTICLE{Schwarz1979, | |
| author = {Robert Schwarz}, | |
| title = {Accident Avoidance Characteristics of Unconventional Motorcycle Configurations}, | |
| journal = {Society of Automotive Engineers}, | |
| year = {1979}, | |
| note = {SAE Paper 790258}, | |
| abstract = {This paper presents the results of a program investigating the potential | |
| of unconventional motorcycle configurations for improved accident | |
| avoidance performance. Stability and obstacle avoidance characteristics | |
| were investigated analytically using mathematical models of both | |
| the uncontrolled and rider-controlled motorcycle. An analysis was | |
| also performed of the sensitivity of the optimum front-rear brake | |
| proportioning to road surface conditions and lateral acceleration. | |
| The results indicate that a low center of gravity, long wheelbase | |
| configuration has advantages in the moderate-to-high speed regime | |
| in terms of the margin of safety in performing an obstacle avoidance | |
| maneuver, and rider skill level required in braking. These advantages | |
| accrue at the expense of low speed maneuverability and controllability, | |
| and weight and overall complexity of the machine.}, | |
| bib = {bibtex-keys#Schwarz1979}, | |
| bibpr = {private-bibtex-keys#Schwarz1979}, | |
| file = {Schwarz1979.pdf:Schwarz1979.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2010.09.10}, | |
| webpdf = {references-folder/Schwarz1979.pdf} | |
| } | |
| @TECHREPORT{Schwarz1979a, | |
| author = {R. Schwarz}, | |
| title = {Advanced motorcycle handling and dynamics}, | |
| institution = {U.S. Department of Transportation, National Highway Traffic Safety | |
| Administration}, | |
| year = {1979}, | |
| number = {DOT HS-804 910.}, | |
| note = {South Coast Technology, Incorporated}, | |
| bib = {bibtex-keys#Schwarz1979a}, | |
| bibpr = {private-bibtex-keys#Schwarz1979a}, | |
| review = {They have this on micro film at the UCD library.}, | |
| timestamp = {2012.02.06} | |
| } | |
| @TECHREPORT{Schweers1990, | |
| author = {T. F. Schweers and D. Remde}, | |
| title = {Objective Assessment of Motorcycle Manoeuvrability}, | |
| institution = {Institute for Automotive Engineering}, | |
| year = {1990}, | |
| number = {93-1551}, | |
| address = {Technical University Aachen}, | |
| bib = {bibtex-keys#Schweers1990}, | |
| bibpr = {private-bibtex-keys#Schweers1990}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Seffen2001, | |
| author = {K. A. Seffen and G. T. Parks and P. J. Clarkson}, | |
| title = {Observations on the controllability of motion of two-wheelers}, | |
| booktitle = {Proceedings of the Institute of Mechincal Engineers}, | |
| year = {2001}, | |
| volume = {215}, | |
| bib = {bibtex-keys#Seffen2001}, | |
| bibpr = {private-bibtex-keys#Seffen2001}, | |
| file = {Seffen2001.pdf:Seffen2001.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {Does some parameter studies with Sharps model with respect to controllability | |
| of the system. | |
| Comes up with a controlability index for level of rideability. | |
| Varies trail and spin moment of inertia. | |
| Claims gyroscopic effects do not effect controlability}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Seffen2001.pdf} | |
| } | |
| @INPROCEEDINGS{Segel1975, | |
| author = {Segel, L.}, | |
| title = {Requirements for Describing the Mechanics of Tires Used on Single-Track | |
| Vehicles}, | |
| booktitle = {IUTAM Symposium on Dynamics of Vehicles on Roads and Railway Tracks}, | |
| year = {1975}, | |
| address = {Delft}, | |
| month = {August}, | |
| bib = {bibtex-keys#Segel1975}, | |
| bibpr = {private-bibtex-keys#Segel1975}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Shaeri2004, | |
| author = {Shaeri, A. and Limebeer, D.J.N. and Sharp, R.S.}, | |
| title = {Nonlinear steering oscillations of motorcycles}, | |
| booktitle = {Decision and Control, 2004. CDC. 43rd IEEE Conference on}, | |
| year = {2004}, | |
| volume = {1}, | |
| pages = {773-778 Vol.1}, | |
| month = {December}, | |
| abstract = {Extensive prior modelling of the three dimensional motions of motorcycles, | |
| which has depended heavily on linearization for small perturbations | |
| from equilibrium "trim" states, is extended to cover large amplitude, | |
| nonlinear operating regimes. For a cornering machine, road undulation | |
| displacement forcing is shown to be capable of exciting subharmonic | |
| and superharmonic responses. A procedure for identifying particular | |
| operating conditions that may be expected to yield internal or combination | |
| resonances for a baseline modern machine/rider combination is devised. | |
| Interesting cases are examined by simulation and the results analysed | |
| using short time Fourier transform processing of the output signals. | |
| Internal and combination resonances are shown to occur under specially | |
| chosen circumstances. A procedure for choosing these special circumstances | |
| is described. Some practical implications are also considered.}, | |
| bib = {bibtex-keys#Shaeri2004}, | |
| bibpr = {private-bibtex-keys#Shaeri2004}, | |
| doi = {10.1109/CDC.2004.1428756}, | |
| file = {Shaeri2004.pdf:Shaeri2004.pdf:PDF}, | |
| issn = {0191-2216}, | |
| keywords = {Fourier transforms, motorcycles, nonlinear control systems, position | |
| controlFourier transform processing, motorcycle, nonlinear steering | |
| oscillation, road undulation displacement, superharmonic response}, | |
| webpdf = {references-folder/Shaeri2004.pdf} | |
| } | |
| @INPROCEEDINGS{Sharma2005, | |
| author = {Sharma, H.D. and Kale, S.M. and UmaShankar, N.}, | |
| title = {Simulation model for studying inherent stability characteristics | |
| of autonomous bicycle}, | |
| booktitle = {Mechatronics and Automation, 2005 IEEE International Conference}, | |
| year = {2005}, | |
| volume = {1}, | |
| pages = { 193-198 Vol. 1}, | |
| month = {July-1 Aug.}, | |
| abstract = { An autonomous bicycle system modeled with a passive rider is simulated | |
| in MATLAB-SIMULINK and the stabilizing phenomenon is studied using | |
| simulation experiments. The model uses a practical bicycle's data | |
| set, being used for the experiment. It has been verified, using variety | |
| of constraints on lean & steer that the inherent stability is better | |
| at high-speeds w.r.t. steering oscillations, and at low speeds the | |
| high steering oscillations add to stabilize it. Also a range of velocities | |
| is found for which the bicycle remains self-stable. The intrinsic | |
| stability property of the bicycle is revealed effectively in this | |
| model.}, | |
| bib = {bibtex-keys#Sharma2005}, | |
| bibpr = {private-bibtex-keys#Sharma2005}, | |
| file = {Sharma2005.pdf:Sharma2005.pdf:PDF}, | |
| keywords = { bicycles, mathematics computing, mobile robots, stability, steering | |
| systems MATLAB-SIMULINK, autonomous bicycle, inherent stability characteristics, | |
| lean, steering oscillations}, | |
| webpdf = {references-folder/Sharma2005.pdf} | |
| } | |
| @INPROCEEDINGS{Sharma2006, | |
| author = {Sharma, Himanshu Dutt and N, UmaShankar}, | |
| title = {A Fuzzy Controller Design for an Autonomous Bicycle System}, | |
| booktitle = {Engineering of Intelligent Systems, 2006 IEEE International Conference | |
| on}, | |
| year = {2006}, | |
| pages = {1-6}, | |
| address = {Islamabad}, | |
| month = {April}, | |
| abstract = {An intelligent controller is developed for stabilizing an autonomous | |
| bicycle system. The autonomous bicycle is stabilized by controlling | |
| its lean alone. The controller is developed using fuzzy logic approach | |
| wherein the rule set is designed using the inherent-characteristic | |
| relationship of lean and steer present in a bicycle. The Newtonian | |
| mechanics based bicycle model along with the controller is simulated | |
| in Matlab. The controller is simulated to actuate at constant time | |
| intervals and the simulation results confirm that the controller | |
| effort successfully stabilizes the bicycle in unstable velocity regions}, | |
| bib = {bibtex-keys#Sharma2006}, | |
| bibpr = {private-bibtex-keys#Sharma2006}, | |
| doi = {10.1109/ICEIS.2006.1703218}, | |
| file = {Sharma2006.pdf:Sharma2006.pdf:PDF}, | |
| keywords = {Newton method, bicycles, control system synthesis, fuzzy control, | |
| fuzzy logic, intelligent control, mobile robots, stabilityMatlab, | |
| Newtonian mechanics, autonomous bicycle system, fuzzy controller | |
| design, fuzzy logic, inherent-characteristic relationship, intelligent | |
| controller, stability}, | |
| owner = {luke}, | |
| review = {They use fuzzy logic baed on the steer/roll relationship in a bicycle | |
| to stabilize the roll angel of the bicycle. Their bicycle model is | |
| a second order system only in lean (they assume steer is propotional | |
| to lean to reduce it to one variable). They feedback lean angle and | |
| steer angle and develop fuzzy rules to pick a lean correction based | |
| on those rules. They show simulations of the controller stablizing | |
| the lean angle at various speeds, but the outputs are very erractic | |
| with sharp peaks that don't seem like it would be a good "real" controller.}, | |
| timestamp = {2009.11.01}, | |
| webpdf = {references-folder/Sharma2006.pdf} | |
| } | |
| @ARTICLE{Sharp2006, | |
| author = {Robin Sharp}, | |
| title = {Slip and Pitch}, | |
| journal = {IEEE Control Systems Magazine}, | |
| year = {2006}, | |
| pages = {111--115}, | |
| bib = {bibtex-keys#Sharp2006}, | |
| bibpr = {private-bibtex-keys#Sharp2006}, | |
| file = {Sharp2006.pdf:Sharp2006.pdf:PDF}, | |
| review = {A review of Dean Karnopp's Vehicle Stability book.}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Sharp2006.pdf} | |
| } | |
| @INPROCEEDINGS{Sharp1997, | |
| author = {R.S. Sharp}, | |
| title = {Design for good motorcycle handling qualities}, | |
| booktitle = {Proc. SETC 1997}, | |
| year = {1997}, | |
| pages = {359--366}, | |
| address = {Yokohama}, | |
| organization = {SAE of Japan}, | |
| note = {paper invited by Japan Society of Automotive Engineers}, | |
| abstract = {An overview of the handling qualities of motorcycles is given. Firstly, | |
| the problems are discussed from a practical standpoint with reference | |
| to responses to steering control inputs, to self-excited oscillations | |
| arising from instabilities and to motions caused by road irregularities. | |
| The theoretical basis for understanding the behaviour is then outlined, | |
| with sections on the analysis problem itself, on small perturbations | |
| from straight running, on small perturbations from steady turning | |
| and on general motions. The need for advanced, automated approaches | |
| to modelling is stressed and relationships between design and operating | |
| conditions and steering behaviour are described. A brief account | |
| of experimental work on motorcycle steering responses is included | |
| and conclusions are drawn relating to motorcycle design issues.}, | |
| bib = {bibtex-keys#Sharp1997}, | |
| bibpr = {private-bibtex-keys#Sharp1997}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Sharp1997b, | |
| author = {R.S. Sharp}, | |
| title = {The measurement of mass and inertial properties of vehicles and components}, | |
| booktitle = {Automotive Vehicle Technologies, Autotech 1997, Mech. Eng. Publ.}, | |
| year = {1997}, | |
| pages = {209--217}, | |
| address = {Bury St Edmunds}, | |
| abstract = {A special facility for the measurement of the mass centre location | |
| and the inertial properties of general rigid bodies ranging in mass | |
| from about 100 kg to 2500 kg is described. It is based on a large | |
| hemispherical air bearing mounted on a garage hydraulic lift, together | |
| with a selection of purpose built components, which allow the rig | |
| to be reconfigured quite quickly. | |
| Data acquisition and computations are automated in a PC based system. | |
| A long established test procedure, based on the assumption that the | |
| test body has a plane of symmetry, has been extended recently to | |
| generalise the period measurement process. In the new procedure, | |
| a set of different reference directions is used for data acquisition, | |
| following which computer analysis involving eigenvalue determination | |
| can be employed to find principal axes and principal inertias for | |
| objects without symmetry. The paper describes the facility and its | |
| use and includes the theory of the general body problem. Examples | |
| of results obtained are given. }, | |
| bib = {bibtex-keys#Sharp1997b}, | |
| bibpr = {private-bibtex-keys#Sharp1997b}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INBOOK{Sharp1999a, | |
| chapter = {Vehicle dynamics and the judgement of quality}, | |
| pages = {87-96}, | |
| title = {Vehicle Performance: Understanding Human Monitoring and Assessment}, | |
| publisher = {Swets and Zeitlinger B. V.}, | |
| year = {1999}, | |
| editor = {J. P. Pauwelussen}, | |
| author = {R. S. Sharp}, | |
| address = {Lisse}, | |
| abstract = {The paper is concerned with the objective specification of required | |
| vehicle dynamics qualities, in such a way that meeting the objectives | |
| specified will guarantee good subjective reaction to those aspects | |
| of the vehicle behaviour which are within the envelope of concern. | |
| Two basic types of vehicle dynamics problems are distinguished, one | |
| being essentially a machine problem while the other is distinctly | |
| a man-machine problem. The current status of quality judging is outlined | |
| and its shortcomings are exposed. The basic nature of the driving | |
| activity is discussed and a framework for the specification of what | |
| is required of the vehicle to be most amenable to the needs of the | |
| man is put forward. This leads to some ideas about research directions | |
| and improved industrial practices for the future. }, | |
| bib = {bibtex-keys#Sharp1999a}, | |
| bibpr = {private-bibtex-keys#Sharp1999a}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Sharp2012, | |
| author = {Sharp, R. S.}, | |
| title = {Rider control of a motorcycle near to its cornering limits}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2012}, | |
| volume = {0}, | |
| pages = {1-16}, | |
| number = {0}, | |
| abstract = { Optimal linear quadratic control theory is applied to longitudinal | |
| and lateral control of a high-performance motorcycle. Central to | |
| the story is the use of sufficient preview of the road to obtain | |
| the full benefit available from it. The focus is on effective control | |
| near to the cornering limits of the machine, and gain scheduling | |
| according to speed and lateral acceleration is employed to ensure | |
| that the linear controller used at any time is the most appropriate | |
| to the running conditions. The motorcycle model employed and the | |
| control theory background are described briefly. Selected optimal | |
| controls and closed-loop system frequency responses are illustrated. | |
| Path-tracking simulations are discussed and results are shown. Excellent | |
| machine control near to the feasible cornering limit is demonstrated. | |
| Further work is needed to provide similarly excellent control under | |
| limit braking. }, | |
| bib = {bibtex-keys#Sharp2012}, | |
| bibpr = {private-bibtex-keys#Sharp2012}, | |
| doi = {10.1080/00423114.2011.607899}, | |
| eprint = {http://www.tandfonline.com/doi/pdf/10.1080/00423114.2011.607899}, | |
| file = {Sharp2012.pdf:Sharp2012.pdf:PDF}, | |
| url = {http://www.tandfonline.com/doi/abs/10.1080/00423114.2011.607899}, | |
| webpdf = {references-folder/Sharp2012.pdf} | |
| } | |
| @INBOOK{Sharp2008, | |
| chapter = {Dynamics of Motorcycles: Stability and Control}, | |
| pages = {183-230}, | |
| title = {Dynamical Analysis of Vehicle Systems}, | |
| publisher = {Springer Vienna}, | |
| year = {2008}, | |
| author = {Robin S. Sharp}, | |
| volume = {497}, | |
| series = {CISM International Centre for Mechanical Sciences}, | |
| bib = {bibtex-keys#Sharp2008}, | |
| bibpr = {private-bibtex-keys#Sharp2008}, | |
| doi = {10.1007/978-3-211-76666-8}, | |
| file = {Sharp2008.pdf:Sharp2008.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.25}, | |
| webpdf = {references-folder/Sharp2008.pdf} | |
| } | |
| @ARTICLE{Sharp2008a, | |
| author = {Robin S. Sharp}, | |
| title = {On the Stability and Control of the Bicycle}, | |
| journal = {Applied Mechanics Reviews}, | |
| year = {2008}, | |
| volume = {61}, | |
| pages = {24}, | |
| number = {6}, | |
| month = {November}, | |
| abstract = {After some brief history, a mathematical model of a bicycle that has | |
| become a benchmark is described. The symbolic equations of motion | |
| of the bicycle are given in two forms and the equations are interpreted, | |
| with special reference to stability. The mechanics of autostabilization | |
| are discussed in detail. The relationship between design and behavior | |
| is shown to be heavily speed-dependent and complex. Using optimal | |
| linear preview control theory, rider control of the bicycle is studied. | |
| It is shown that steering control by an optimal rider, especially | |
| at low speeds, is powerful in comparison with a bicycleÂs selfsteering. | |
| This observation leads to the expectation that riders will be insensitive | |
| to variations in design, as has been observed in practice. Optimal | |
| preview speed control is also demonstrated. Extensions to the basic | |
| treatment of bicycle dynamics in the benchmark case are considered | |
| so that the modeling includes more realistic representations of tires, | |
| frames, and riders. The implications for stability predictions are | |
| discussed and it is shown that the moderate-speed behavior is altered | |
| little by the elaborations. Rider control theory is applied to the | |
| most realistic of the models considered and the results indicate | |
| a strong similarity between the benchmark case and the complex one, | |
| where they are directly comparable. In the complex case, steering | |
| control by rider-lean-torque is feasible and the results indicate | |
| that, when this is combined with steer-torque control, it is completely | |
| secondary. When only rider-lean-torque control is possible, extended | |
| preview is necessary, high-gain control is required, and the controls | |
| are relatively complex. Much that is known about the stability and | |
| control of bicycles is collected and explained, together with new | |
| material relating to modeling accuracy, bicycle design, and rider | |
| control.}, | |
| bib = {bibtex-keys#Sharp2008a}, | |
| bibpr = {private-bibtex-keys#Sharp2008a}, | |
| doi = {10.1115/1.2983014}, | |
| file = {Sharp2008a.pdf:Sharp2008a.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {JKM - Robin Sharp used the benchmark bicycle model and an LQR controller | |
| with preview to make a bicycle track a 4 meter lane change at 6 m/s. | |
| During this manuever, the steer toque ranged from about -1 to 1 Nm. | |
| He also showed a very fine steer torque variation in the range of | |
| 0 to 0.0025 Nm about 10 meters before the start of the lane change. | |
| Interesting to note that the steer rate gain is relatively very small | |
| compared to the steer angle, roll angle and roll rate gains, for | |
| pretty much all speeds. Seems to be true for tight, medium and loose | |
| control. | |
| He writes the characteristic equation of the Whipple model as an analytic | |
| quartic polynomial. Where he's reduced the number of parameters with | |
| a gyrostat formulation and even talks about reduced parameter space | |
| using Buckingham's pi theorem. | |
| Why doesn't he calculate the eigenvalues at zero speed? | |
| He points out that there is a proper distinction between steer angle | |
| and steer torque when talking about countersteering. In Limebeer2006, | |
| he talks about the two steer torque interpretations: the first being | |
| the initially opposite steer torque application and the secon is | |
| a high speed phenomna were you have to reverse the initial torque | |
| to maintain a steady turn. I'm not sure what happens with the steer | |
| angle in these two cases. | |
| He says that rider control of a fixed steering bicycle is not theorectically | |
| impossible. | |
| Bicycle design has little influence over controllability. He claims | |
| this because at slow speeds the control action of the rider is much | |
| stronger that the auto control provided by the bicycle. | |
| Fig 16 shows steer angle as the small magnitude. Here he shows a tiny | |
| counter steer torque in the lane change. | |
| He shows that acceleration/deceleration and tire crown radius after | |
| the open loop poles a lot. Sometimes removing the autostable region. | |
| He adds a tire model with tire width, side slip and relaxation. The | |
| tire width doesn't seem to change things much but the side slip affects | |
| the higher speed weave mode. | |
| Rider compliance with stiffness and damping on a leaning rider affect | |
| the higher speed weave mode, but don't affect the low speed weave | |
| mode much. | |
| Gains for steer torque control are much the same regardless if there | |
| is rider lean control involved too. The rider lean torque gains are | |
| relatively small when both controls are allowed. High gains are needed | |
| for low speed rider lean torque only control. | |
| The gain magintudes are basically ordered as follows with the first | |
| having the highest magnitudes for the loose control: | |
| roll angle and roll rate | |
| rider lean angle and lean rate, frame twist angle | |
| steer angle | |
| steer rate and frame twist rate | |
| Figures 27-30 might be labled wrong as they should related to different | |
| q1 values and control authority. | |
| Rider lean torque control requires three times the preview for equal | |
| control weighting. | |
| His cost function is based on minimizing the error in the path for | |
| a finite amount of preview times and minimizing the control power.}, | |
| timestamp = {2008.10.28}, | |
| webpdf = {references-folder/Sharp2008a.pdf} | |
| } | |
| @ARTICLE{Sharp2007, | |
| author = {Sharp, Robin S.}, | |
| title = {Motorcycle Steering Control by Road Preview}, | |
| journal = { Journal of Dynamic Systems, Measurement, and Control}, | |
| year = {2007}, | |
| volume = {129}, | |
| pages = {373-382}, | |
| number = {4}, | |
| bib = {bibtex-keys#Sharp2007}, | |
| bibpr = {private-bibtex-keys#Sharp2007}, | |
| file = {Sharp2007.pdf:Sharp2007.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {JKM - The objective of this work was to derive and control scheme | |
| that somewhat represents what a motorcycle rider does which is both | |
| simple and effective. SImplicity for computation's sake and effectiveness | |
| concerning how well the controller does what it is told to do. He | |
| uses steer torque and rider lean torque to control their pretty complicated | |
| multi-DoF motorcyle model by means of a LQR regulator with the addition | |
| of preview. He primarily looks into the preview aspect of the controller | |
| and determines optimal preview distances for various weigthings in | |
| the LQR. | |
| - his LQR is set up to minimize a weighted sum of tracking errors, | |
| rider lean angle and control power | |
| - the inputs are rider lean torque and steer torque | |
| - the control model is based of of muti-point preview car control | |
| models | |
| - without preview the controllers seem to require unrealistically | |
| high bandwidth | |
| - he cites Frezza on pg 374 as making an effective motorcycle controller | |
| - the commercial product BikeSim includes a gain scheduled PID controller | |
| with single point preview | |
| - the standard LQR formulation is used along with a body fixed coordinate | |
| system that works well with path tracking (even complex paths) and | |
| small angle linearization | |
| - the preview is setup to view as if you are the motorcyle | |
| - the MATLAB DLSIM function is used with a discrete model | |
| - he uses a Magic Forumula for the tire models based on Pacjecka that | |
| must be adopted to motorcycle tires | |
| - the controller includes a PI controller to maintain constant speed | |
| - claims to symboliccaly linearize a nonlinear model | |
| - the control weightings are for steer torque and lean torque. the | |
| state weightings are for absolute lean angle, relative lean angle, | |
| and the tracking error | |
| - zero preview gains show that no preview is needed for optimal control | |
| - he says he uses the appropriate linear trim state based on nonlin | |
| simulations for the linear model and uses these sims to make decisions | |
| about LQR weightings | |
| - he doesn't show an about the LQR gains, but says that roll angle | |
| and frame twist angle gains are the highest | |
| - he setups up models with tight and loose control with steer torque | |
| alone and steer torque plus rider lean torque. | |
| - he plots the preview gains versus preview distance for various speeds | |
| and control weightings | |
| - he shows that the necessary preview distance increases significantly | |
| with speed and that more preview is needed than with an automobile | |
| - the max preview gains shows which preview distance provides the | |
| most useful info...these change depending on tight or loose control | |
| - he claims that we control the motorcycle at the weave freq at high | |
| speeds...but we haven't necessarily seen this with bicycles | |
| - even when rider lean torque is added and even weighted more, the | |
| model doesn't change the steer torque behavior. i would intuitively | |
| think that if you had rider lean torque available to use, then you | |
| would reduce the control by steer, but this doesn't seem to be the | |
| case | |
| - he shows in Figs 7,8 that require preview distance only changes | |
| at high speeds for tight controls, not loose controls | |
| - the final section simulates a lane change and S-turn manuevers for | |
| various control weightings | |
| - he finds that trackin performance is not imporved by adding lean | |
| torque control and even when wieghting it higher | |
| - there are some nice input and state plots for the manuevers that | |
| can be compared qualitatively to measurements | |
| - he says that body lean torque as control is ineffective pg 379 | |
| - the S-turn manuever really pushed the tight controller and cause | |
| 50 deg roll angles, but Sharp claims the linear tire models were | |
| still valid in this non-linear region | |
| - his tight contoller show steer torques up to 60 N-m, lean torques | |
| up to 100 N-m, roll angles up to 20 degs, and steer angles up to | |
| 10 degs | |
| - he gets identical path tracking with only steer torque input compared | |
| to steer and lean | |
| - says rider's no-steering movements contribute only in a passive | |
| manner | |
| - i wonder how he define's control power? he minimizes over this | |
| Robin Sharp uses a multi-degree of freedom motorcycle model and an | |
| LQR controller with preview to control a motorcycle moving at 30 | |
| m/s through a 4 meter lane change and a 250 meter S-turn. For the | |
| lane change he gets torques ranging from about -20 Nm to 55 Nm for | |
| a more aggressive control and -4 to 6 Nm for less aggressive control. | |
| The S-turn gives torques from -40 Nm to 70 Nm with a sharp peak in | |
| torque in the middle of the S-turn.}, | |
| timestamp = {2009.02.07}, | |
| webpdf = {references-folder/Sharp2007.pdf} | |
| } | |
| @ARTICLE{Sharp2007a, | |
| author = {Sharp, Robin S.}, | |
| title = {Optimal stabilization and path-following controls for a bicycle.}, | |
| journal = {Proceedings of the Institution of Mechanical Engineers -- Part C | |
| -- Journal of Mechanical Engineering Science}, | |
| year = {2007}, | |
| volume = {221}, | |
| pages = {415--427}, | |
| number = {4}, | |
| month = {April}, | |
| abstract = {The article is about stabilizing and path-tracking control of a bicycle | |
| by a rider. It is based on previously published work, in which it | |
| has been shown how a driver's or rider's preview of the roadway can | |
| be combined with the linear dynamics of an appropriate vehicle to | |
| yield a problem of discrete-time optimal-linear-control-theory form. | |
| In the previous work, it was shown how an optimal 'driver' converts | |
| path preview sample values, modelled as deriving from a Gaussian | |
| white-noise process, into steering control inputs to cause the vehicle | |
| to follow the previewed path. The control compromises between precision | |
| and ease, to an extent that is controllable through choice of weights | |
| in the optimal control calculations.\\Research into the dynamics | |
| of bicycles has yielded a benchmark model, with equations of motion | |
| firmly established by extensive cross-checking. Model predictions | |
| have been verified for modest speeds by experimental testing. The | |
| established optimal linear preview stabilizing and tracking control | |
| theory is now brought together with the benchmark bicycle description | |
| to yield optimal controls for the bicycle for variations in speed | |
| and performance objectives. The resulting controls are installed | |
| in the bicycle, giving a virtual rider-controlled system, and frequency | |
| responses of the rider-controlled system are calculated to demonstrate | |
| tracking capability. Then path-tracking simulations are used to illustrate | |
| the behaviour of the controlled system. Tight and loose controls, | |
| representing different balances between tracking accuracy and control | |
| effort, are calculated and illustrated through the simulations.}, | |
| bib = {bibtex-keys#Sharp2007a}, | |
| bibpr = {private-bibtex-keys#Sharp2007a}, | |
| file = {Sharp2007a.pdf:Sharp2007a.pdf:PDF}, | |
| issn = {09544062}, | |
| keywords = {bicycles, stability, linear control systems, mechanical engineering, | |
| engineering, bicycle, optimal control, preview, riding, stability, | |
| tracking}, | |
| owner = {Luke}, | |
| review = {JKM - Robin Sharp uses the benchmark bicycle model and an LQR controller | |
| with preview to follow a randomly generated path that has about 2 | |
| meter lateral deviations. The bicycle is traveling at 10 m/s on a | |
| randomly generated path that varies laterally +/- 2 m and the steer | |
| torque ranges from about -15 to 15 Nm. Medium control reduces the | |
| torques to under +/- 10 Nm. Straight line to circle path maneuvers | |
| show torques ranging from -0.5 to 0.5 Nm for loose controls and -2.5 | |
| to 2.5 for medium controls. | |
| He made 20\% changes in each of the benchmark bicycle parameters and | |
| calculated the gains for the model. It turned out that little change | |
| in gains occured for variation in design parameters. He says that | |
| corresponds to the idea that most all bicycles are rideable regardless | |
| of their parameters. | |
| Fig 16 shows that the roll angle is at least 3 * the steer angle. | |
| That seems opposite than what it should be.}, | |
| timestamp = {2009.03.01}, | |
| url = {http://search.ebscohost.com/login.aspx?direct=true&db=a9h&AN=25149652&loginpage=Login.asp&site=ehost-live}, | |
| webpdf = {references-folder/Sharp2007a.pdf} | |
| } | |
| @ARTICLE{Sharp2001a, | |
| author = {Sharp, Robin S.}, | |
| title = {Stability, Control and Steering Responses of Motorcycles}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2001}, | |
| volume = {35}, | |
| pages = {291--318}, | |
| number = {4--5}, | |
| month = {March}, | |
| bib = {bibtex-keys#Sharp2001a}, | |
| bibpr = {private-bibtex-keys#Sharp2001a}, | |
| doi = {10.1076/vesd.35.4.291.2042}, | |
| file = {Sharp2001a.pdf:Sharp2001a.pdf:PDF}, | |
| owner = {moorepants}, | |
| publisher = {Taylor \& Francis Ltd.}, | |
| review = {Forward speed control with PI on the speed error to control rear wheel | |
| torque. Gains chosen by trial and error. The roll angle is stablized | |
| with a PID on the roll angle error with respect to a reference which | |
| controls steering torque. Also tuned by trial and error. High roll | |
| angles at low speeds making the manual tuning difficult to get a | |
| stable model.}, | |
| timestamp = {2009.01.31}, | |
| webpdf = {references-folder/Sharp2001a.pdf} | |
| } | |
| @INPROCEEDINGS{Sharp1998, | |
| author = {R. S. Sharp}, | |
| title = {Multibody dynamics applications in vehicle engineering}, | |
| booktitle = {I. Mech. E. Conference Transactions}, | |
| year = {1998}, | |
| pages = {215-228}, | |
| address = {London}, | |
| publisher = {Professional Engineering Publishers}, | |
| note = {invited keynote paper for Multibody Dynamics: New Techniques and | |
| Applications}, | |
| abstract = {The paper includes discussion of the implications of modern multibody | |
| systems analysis methods and computer software for vehicle dynamics. | |
| The different points of view and interests of users are considered, | |
| together with appropriate strategies for organising relevant activities. | |
| The main dynamical foundations for commercially available software | |
| systems are explained briefly and their implications are mentioned. | |
| The immense differences in speed of simulation between systems with | |
| different fundamental multibody strategies are exposed. Other customer | |
| requirements from software suppliers are noted. }, | |
| bib = {bibtex-keys#Sharp1998}, | |
| bibpr = {private-bibtex-keys#Sharp1998}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Sharp1997a, | |
| author = {R. S. Sharp}, | |
| title = {Motorcycle wobble and weave}, | |
| booktitle = {ITAI Conference}, | |
| year = {1997}, | |
| address = {Telford}, | |
| note = {paper invited by Institute of Traffic Accident Investigators}, | |
| abstract = {Motorcycle and rider are considered as a man-machine system and the | |
| skills needed to control a motorcycle successfully are discussed. | |
| The vibration problems wobble and weave are described and they are | |
| placed in the context of system dynamics through considerations of | |
| resonance and damping factors of natural modes of motion. How the | |
| rider may interact with the vibrations is discussed and machine design | |
| parameters which are influential on the stability are highlighted. | |
| How to investigate an accident, after the event, is considered also.}, | |
| bib = {bibtex-keys#Sharp1997a}, | |
| bibpr = {private-bibtex-keys#Sharp1997a}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Sharp1997c, | |
| author = {R. S. Sharp}, | |
| title = {Use of the symbolic multibody modelling code AUTOSIM for vehicle | |
| dynamics}, | |
| booktitle = {AUTOMOTIVE VEHICLE TECHNOLOGIES, AUTOTECH 1997, Mech. Eng. Publ.}, | |
| year = {1997}, | |
| pages = {189--197}, | |
| address = {Bury St Edmunds}, | |
| abstract = {Large three dimensional multibody model building and simulation systems | |
| have become commonplace in the automotive industry but there are | |
| small, modular alternatives to the market dominant systems, having | |
| a substantially different philosophy. AUTOSIM is a module in such | |
| an alternative arrangement, forming only a part of a fully functioning | |
| simulation system, which Âwrites simulation code for C or FORTRAN | |
| compilation or linearises system equations and Âwrites MATLAB.M | |
| code. These outputs are fully documented and ready to use, as if | |
| they had been written by hand with great skill and diligence. Thus, | |
| FORTRAN code needs compiling, linking to appropriate libraries, running | |
| and post-processing (graphics, animation etc.). MATLAB.M files need | |
| loading and processing through MATLAB functions (eigenvalues, frequency | |
| responses, optimisation etc.). It follows that, once the software | |
| has been used to build a model, the model becomes independent of | |
| AUTOSIM and is completely accessible, as if it were hand-written. | |
| One installation can serve many users. | |
| The paper describes what AUTOSIM is, what it is like to use and what | |
| skills are needed to use it and it demonstrates the forms in which | |
| results can be obtained. Model building in a vehicle dynamics context | |
| is illustrated by a detailed account of a three dimensional suspension | |
| kinematics analysis. Significant sections of the code and of the | |
| FORTRAN program written automatically are described. }, | |
| bib = {bibtex-keys#Sharp1997c}, | |
| bibpr = {private-bibtex-keys#Sharp1997c}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Sharp1994, | |
| author = {Robin S. Sharp}, | |
| title = {Vibrational modes of motorcycles and their design parameter sensitivities}, | |
| booktitle = {Proc. Int Conf. Vehicle NVH Refinement}, | |
| year = {1994}, | |
| pages = {3--5}, | |
| address = {Birmingham}, | |
| month = {May}, | |
| bib = {bibtex-keys#Sharp1994}, | |
| bibpr = {private-bibtex-keys#Sharp1994}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.25} | |
| } | |
| @ARTICLE{Sharp1992, | |
| author = {Sharp, R. S.}, | |
| title = {Motorcycle Stability}, | |
| journal = {Automotive Engineer}, | |
| year = {1992}, | |
| volume = {17}, | |
| pages = {25}, | |
| number = {6}, | |
| month = {December}, | |
| bib = {bibtex-keys#Sharp1992}, | |
| bibpr = {private-bibtex-keys#Sharp1992}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Sharp1985, | |
| author = {Robin S. Sharp}, | |
| title = {The lateral dynamics of motorcycles and bicycles}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {1985}, | |
| volume = {14}, | |
| pages = {265Â283}, | |
| number = {6}, | |
| bib = {bibtex-keys#Sharp1985}, | |
| bibpr = {private-bibtex-keys#Sharp1985}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.25} | |
| } | |
| @ARTICLE{Sharp1976, | |
| author = {Robin S. Sharp}, | |
| title = {The influence of the suspension system on motorcycle weave-mode oscillations}, | |
| journal = {Vehicle Syst. Dyn.}, | |
| year = {1976}, | |
| volume = {5}, | |
| pages = {147Â154}, | |
| number = {3}, | |
| bib = {bibtex-keys#Sharp1976}, | |
| bibpr = {private-bibtex-keys#Sharp1976}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.25} | |
| } | |
| @INPROCEEDINGS{Sharp1976a, | |
| author = {Robin S. Sharp}, | |
| title = {The stability of motorcycles in acceleration and deceleration}, | |
| booktitle = {Proc. Inst. Mech. Eng. Conf. Braking Road Vehicles}, | |
| year = {1976}, | |
| pages = {45Â50}, | |
| address = {London}, | |
| bib = {bibtex-keys#Sharp1976a}, | |
| bibpr = {private-bibtex-keys#Sharp1976a}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.25} | |
| } | |
| @ARTICLE{Sharp1975, | |
| author = {Sharp, Robin S.}, | |
| title = {The Dynamics of Single Track Vehicles}, | |
| journal = {Vehicle System Dynamics: International Journal of Vehicle Mechanics | |
| and Mobility}, | |
| year = {1975}, | |
| volume = {5}, | |
| pages = {67--77}, | |
| number = {1}, | |
| abstract = {The paper contains a brief review of the more subjective aspects of | |
| the steering behaviour of single track vehicles, a review of the | |
| more significant published work in the field, and an assessment of | |
| the current state of understanding and likely ways in which further | |
| progress can be made | |
| Attention is drawn to the many areas of agreement between theory and | |
| practice and to some areas of disagreement. The greatest need now | |
| seems to be for the incorporation of more complex tyre models into | |
| vehicle handling models.}, | |
| bib = {bibtex-keys#Sharp1975}, | |
| bibpr = {private-bibtex-keys#Sharp1975}, | |
| file = {Sharp1975.pdf:Sharp1975.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {Detailed description of the classic weave, wobble, and capsize modes.}, | |
| timestamp = {2009.09.17}, | |
| url = {http://www.informaworld.com/10.1080/00423117508968406}, | |
| webpdf = {references-folder/Sharp1975.pdf} | |
| } | |
| @ARTICLE{Sharp1974, | |
| author = {Robin S. Sharp}, | |
| title = {The influence of frame flexibility on the lateral stability of motorcycles}, | |
| journal = {J. Mech. Eng. Sci.}, | |
| year = {1974}, | |
| volume = {16}, | |
| pages = {117Â120}, | |
| number = {2}, | |
| bib = {bibtex-keys#Sharp1974}, | |
| bibpr = {private-bibtex-keys#Sharp1974}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.25} | |
| } | |
| @ARTICLE{Sharp1971, | |
| author = {Sharp, Robin S.}, | |
| title = {Stability and Control of Motorcycles}, | |
| journal = {Journal of Mechanical Engineering Science}, | |
| year = {1971}, | |
| volume = {13}, | |
| pages = {316--329}, | |
| number = {5}, | |
| address = {Northgate Avenue, Bury St. Edmunds IP32 6BW, Suffolk, England}, | |
| bib = {bibtex-keys#Sharp1971}, | |
| bibpr = {private-bibtex-keys#Sharp1971}, | |
| doc-delivery-number = {K5001}, | |
| file = {Sharp1971.pdf:Sharp1971.pdf:PDF}, | |
| issn = {0022-2542}, | |
| language = {English}, | |
| number-of-cited-references = {14}, | |
| owner = {Luke}, | |
| publisher = {PROFESSIONAL ENGINEERING PUBLISHING LTD}, | |
| review = {JKM | |
| Shows the classic eigenvalue plot, probably one of the earlier ones. | |
| He reports steady turn steering torques from -25 n-m to 2.35 n-m. | |
| These are all for the either 10 deg of roll angle or 10 deg of steer | |
| angle and 30 different parameter sets for speeds of 10 ft/s to 160 | |
| ft/s. | |
| DLP -- Sharp presents numerical results for 30 different variations | |
| of his standard motorcycle model. His model is similar to the Meijaard | |
| model in that it includes knife-edged wheels and a rigidly attached | |
| rider, but it differs by including a tire model which allows for | |
| lateral side-slip (and also encompasses the relaxation length of | |
| the tire), a rotating engine flywheel, and a steering damper. He | |
| also presents steady turning steer torques for some of the 30 variations | |
| of the standard model, for various speeds, at what he calls Q=10 | |
| degrees, presumable this refers to the steer angle, but I'm not completely | |
| sure on this because Q isn't the symbol he uses for steer angle, | |
| roll angle, and it isn't mentioned in the discussion or in the list | |
| of notation.\\ | |
| He refers to two different types of control: fixed and free. By free | |
| control, I presume what he means is uncontrolled, and he makes the | |
| statement that "In the case of the motorcycle, the free control behaviour | |
| would appear to be relatively much more important, since the very | |
| small steer angles normally employed would make fixed control difficult, | |
| ...". I'm not clear on what he means by fixed control, but from Figure | |
| 8 and his discussion of it on page 324, it would seem that he is | |
| fixing the steer angle at zero and looking at the stability of the | |
| system under this condition.\\ | |
| Table 1 presents the capsize mode damping coefficients, Tables 2 and | |
| 3 presents the weave and wobble mode damping coefficients and circular | |
| frequencies. I'm a bit confused about presenting damping coefficient | |
| instead of damping ratio. It seems like he would also need to mention | |
| the mass term or the stiffness term in order to be able to calculate | |
| the damping ratio, further, I'm not exactly clear on exactly which | |
| equations this damping coefficient would be arising from, he doesn't | |
| state this information explicitly. It is also a bit confusing because | |
| a number of these damping coeffiencients in his tables are negative, | |
| not sure what this means, since typically the damping coefficient | |
| is positive. | |
| One interesting thing he points out that the wobble mode is 'almost | |
| independent of forward speed', which is in sharp contrast with the | |
| other modes. | |
| His tire model includes a relaxation length of 0.8ft, and this figure | |
| was obtained from the work of Labarre and Mills experimentally measurement | |
| of a 2.25" section, 12.5" diameter tire. This model of a the tire | |
| side forces essentially assumes that the tire side forces lag the | |
| steady state force predicted by a the sideslip model through a first | |
| order delay. We should read the 1991 paper by Sharp and Pacejka to | |
| further understand what sort of tire model we may want to include | |
| in our bike models.}, | |
| subject-category = {Engineering, Mechanical}, | |
| times-cited = {85}, | |
| timestamp = {2009.03.01}, | |
| type = {Article}, | |
| webpdf = {references-folder/Sharp1971.pdf} | |
| } | |
| @ARTICLE{Sharp1980, | |
| author = {Sharp, R. S. and Alstead, C. J.}, | |
| title = {The influence of structural flexibilities on the straight-running | |
| stability of motorcycles}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {1980}, | |
| volume = {9}, | |
| pages = {327--357}, | |
| number = {6}, | |
| month = {December}, | |
| bib = {bibtex-keys#Sharp1980}, | |
| bibpr = {private-bibtex-keys#Sharp1980}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Sharp2004, | |
| author = {R. S. Sharp and Simos Evangelou and David J. N. Limebeer}, | |
| title = {Advances in the modelling of motorcycle dynamics}, | |
| journal = {Multibody Sytem Dynamics}, | |
| year = {2004}, | |
| volume = {12}, | |
| pages = {251--283}, | |
| number = {3}, | |
| bib = {bibtex-keys#Sharp2004}, | |
| bibpr = {private-bibtex-keys#Sharp2004}, | |
| file = {Sharp2004.pdf:Sharp2004.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.25}, | |
| webpdf = {references-folder/Sharp2004.pdf} | |
| } | |
| @ARTICLE{Sharp2004a, | |
| author = {Robin S. Sharp and David J. N. Limebeer}, | |
| title = {On steering wobble oscillations of motorcycles}, | |
| journal = {Journal Mechanical Engineer Science}, | |
| year = {2004}, | |
| volume = {218}, | |
| pages = {1449-Â1456}, | |
| number = {12}, | |
| bib = {bibtex-keys#Sharp2004a}, | |
| bibpr = {private-bibtex-keys#Sharp2004a}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.25} | |
| } | |
| @ARTICLE{Sharp2001, | |
| author = {Robin S. Sharp and David J. N. Limebeer}, | |
| title = {A motorcycle model for stability and control analysis}, | |
| journal = {Multibody Syst. Dyn.}, | |
| year = {2001}, | |
| volume = {6}, | |
| pages = {123--142}, | |
| number = {2}, | |
| bib = {bibtex-keys#Sharp2001}, | |
| bibpr = {private-bibtex-keys#Sharp2001}, | |
| file = {Sharp2001.pdf:Sharp2001.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {They claim to symbolically linearize from fully non-linear equations: | |
| pg 125 ". It should be noted that AutoSim’s linearisation of the | |
| non-linear equations of | |
| motion is symbolic and completely general. It is possible to determine | |
| the nonlinear steady turning equilibrium state and all the parameters | |
| required to describe fully a small perturbation dynamics problem." | |
| This comes vebatim from Sharp1999 (Self plagarism and copyright infringement!!)}, | |
| timestamp = {2009.09.25}, | |
| webpdf = {references-folder/Sharp2001.pdf} | |
| } | |
| @INPROCEEDINGS{Sharp1999, | |
| author = {Robin S. Sharp and David J. N. Limebeer and M. Gani}, | |
| title = {A motorcycle model for stability and control analysis}, | |
| booktitle = {Proc. Euromech Colloquium 404, Advances Computational Multibody Dynamics}, | |
| year = {1999}, | |
| pages = {287--312}, | |
| bib = {bibtex-keys#Sharp1999}, | |
| bibpr = {private-bibtex-keys#Sharp1999}, | |
| file = {Sharp1999.pdf:Sharp1999.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {"It should be noted that AutoSim’s linearisation of the non-linear | |
| equations of motion is symbolic and completely general." | |
| He details the developement of the motorcycle model using AutoSim.}, | |
| timestamp = {2009.09.25}, | |
| webpdf = {references-folder/Sharp1999.pdf} | |
| } | |
| @ARTICLE{Sheets2008, | |
| author = {Sheets, A. L. and M. Hubbard}, | |
| title = {Evaluation of a subject specific female gymnast model and simulation | |
| of an uneven parallel bar swing}, | |
| journal = {Journal of Biomechanics}, | |
| year = {2008}, | |
| volume = {41}, | |
| pages = {3139-3144}, | |
| number = {15}, | |
| bib = {bibtex-keys#Sheets2008}, | |
| bibpr = {private-bibtex-keys#Sheets2008}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @BOOK{Sheridan1974, | |
| title = {Man-Machine Systems}, | |
| publisher = {MIT Press}, | |
| year = {1974}, | |
| author = {Thomas B. Sheridan and William R. Ferrell}, | |
| bib = {bibtex-keys#Sheridan1974}, | |
| bibpr = {private-bibtex-keys#Sheridan1974}, | |
| chapter = {8}, | |
| file = {Sheridan1974.pdf:Sheridan1974.pdf:PDF}, | |
| review = {This has some manual control stuff and he talks about van Lunteren | |
| and Stassen's work and goes over it in detail on the parameter estimation.}, | |
| timestamp = {2012.01.04}, | |
| webpdf = {references-folder/Sheridan1974.pdf} | |
| } | |
| @TECHREPORT{Shlens2005, | |
| author = {Jonathon Shlens}, | |
| title = {A Tutorial on Principal Component Analysis}, | |
| institution = {University of California, San Diego}, | |
| year = {2005}, | |
| bib = {bibtex-keys#Shlens2005}, | |
| bibpr = {private-bibtex-keys#Shlens2005}, | |
| file = {Shlens2005.pdf:Shlens2005.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Shlens2005.pdf} | |
| } | |
| @ARTICLE{Sickle2007, | |
| author = {J. R. van Sickle Jr. and M.L. Hull}, | |
| title = {Is economy of competitive cyclists affected by the anterior-posterior | |
| foot position on the pedal?}, | |
| journal = {Journal of Biomechanics}, | |
| year = {2007}, | |
| volume = {40}, | |
| pages = {1262 - 1267}, | |
| number = {6}, | |
| abstract = {The primary purpose of this investigation was to test the hypothesis | |
| that cycling economy, as measured by rate of oxygen consumption in | |
| healthy, young, competitive cyclists pedaling at a constant workrate, | |
| increases (i.e. decreases) when the attachment point of the foot | |
| to the pedal is moved posteriorly on the foot. The of 11 competitive | |
| cyclists (age 26.8±8.9 years) was evaluated on three separate days | |
| with three anterior-posterior attachment points of the foot to the | |
| pedal (forward=traditional; rear=cleat halfway between the head of | |
| the first metatarsal and the posterior end of the calcaneous; and | |
| mid=halfway between the rear and forward positions) on each day. | |
| With a randomly selected foot position, was measured as each cyclist | |
| pedaled at steady state with a cadence of 90Â rpm and with a power | |
| output corresponding to approximately 90\% of their ventilatory threshold | |
| (VT) (mean power output 203.3±20.8 W). After heart rate returned | |
| to baseline, was measured again as the subject pedaled with a different | |
| anterior-posterior foot position, followed by another rest period | |
| and then was measured at the final foot position. The key finding | |
| of this investigation was that was not affected by the anterior-posterior | |
| foot position either for the group (p=0.311) or for any individual | |
| subject (p[greater-or-equal, slanted]0.156). The for the group was | |
| 2705±324, 2696±337, and 2747±297 ml/min for the forward, mid, | |
| and rear foot positions, respectively. The practical implication | |
| of these findings is that adjusting the anterior-posterior foot position | |
| on the pedal does not affect cycling economy in competitive cyclists | |
| pedaling at a steady-state power output eliciting approximately 90\% | |
| of VT.}, | |
| bib = {bibtex-keys#Sickle2007}, | |
| bibpr = {private-bibtex-keys#Sickle2007}, | |
| doi = {DOI: 10.1016/j.jbiomech.2006.05.026}, | |
| file = {Sickle2007.pdf:Sickle2007.pdf:PDF}, | |
| issn = {0021-9290}, | |
| keywords = {Economy}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4KKWVYX-1/2/d4c71a9635ce8d8924b7b657510683f8}, | |
| webpdf = {references-folder/Sickle2007.pdf} | |
| } | |
| @PHDTHESIS{Singh1964, | |
| author = {Digvijai Singh}, | |
| title = {Advanced Concepts of the Stability of Two-Wheeled Vehicles: Application | |
| of Mathematical Analysis to Actual Vehicles}, | |
| school = {University of Wisconsin}, | |
| year = {1964}, | |
| month = {June}, | |
| bib = {bibtex-keys#Singh1964}, | |
| bibpr = {private-bibtex-keys#Singh1964}, | |
| file = {Singh1964.pdf:Singh1964.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {Instruments a motorcycle. The motorcycle had variable front end geometry. | |
| Varialble head angle. They measured steer angle with a potentiometer | |
| that worked with the adjustable front end geometry. They attempted | |
| to measure roll angle with an accelerometer, but it didn't work because | |
| of the other accelarations. Then they tried a gyroscope, but had | |
| problems with it retaining it's orientation. They finally made use | |
| of a third wheel with a potentiometer to measure roll angle. A soft | |
| tire was required to dampend the bouncing for the third wheel. They | |
| abandoned the third wheel due to its affects on the dynamics and | |
| it was dangerous. They rode behind a slave car.}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Singh1964.pdf} | |
| } | |
| @INPROCEEDINGS{Singh1975, | |
| author = {Singh, D. V.}, | |
| title = {Stability of Single Track Vehicles}, | |
| booktitle = {IUTAM Symposium on Dynamics of Vehicles on Roads and Railway Tracks}, | |
| year = {1975}, | |
| address = {Delft}, | |
| month = {August}, | |
| bib = {bibtex-keys#Singh1975}, | |
| bibpr = {private-bibtex-keys#Singh1975}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @TECHREPORT{Singh1971, | |
| author = {Singh, D. V. and V. K. Goel}, | |
| title = {Stability of {R}ajdoot Scooter}, | |
| institution = {SAE}, | |
| year = {1971}, | |
| note = {SAE Paper 710273}, | |
| bib = {bibtex-keys#Singh1971}, | |
| bibpr = {private-bibtex-keys#Singh1971}, | |
| file = {Singh1971.pdf:Singh1971.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {Compared the Indian scooter to the italian Vespa that was previously | |
| analyzed by Dohring.}, | |
| timestamp = {2009.11.03}, | |
| webpdf = {references-folder/Singh1971.pdf} | |
| } | |
| @ARTICLE{Siwakosit2000, | |
| author = {Siwakosit, W. and Snell, S.A. and Hess, R.A.}, | |
| title = {Robust flight control design with handling qualities constraints | |
| using scheduled linear dynamic inversion and loop-shaping}, | |
| journal = {Control Systems Technology, IEEE Transactions on}, | |
| year = {2000}, | |
| volume = {8}, | |
| pages = {483-494}, | |
| number = {3}, | |
| month = {May}, | |
| abstract = {A technique for obtaining a full-envelope decoupled linear flight | |
| control design is presented. The methodology begins with a reduced-order | |
| linear dynamic-inversion technique that is scheduled over the flight | |
| envelope. The reduced order dynamic inverter can offer a significant | |
| reduction in the number of state variables to be sensed or estimated | |
| as compared to typical applications of inverse dynamic control. The | |
| technique can provide desired input-output characteristics including | |
| control decoupling. The required gain scheduling of the reduced order | |
| dynamic inversion is straightforward. Uncertainty is introduced by | |
| perturbing the stability derivatives in the vehicle model at each | |
| of the flight conditions considered. The effects of uncertainty are | |
| then reduced by additional feedback loops involving a diagonal compensation | |
| matrix obtained through application of a loop shaping procedure based | |
| upon a quantitative feedback theory predesign technique. The tendency | |
| of quantitative feedback theory to produce high-bandwidth conservative | |
| designs is mitigated by the scheduling and decoupling associated | |
| with the dynamic inversion. Finally, handling qualities and pilot-induced | |
| oscillation tendencies are evaluated using a structural model of | |
| the human pilot implemented in an interactive computer program that | |
| can include the effects of nuisance nonlinearities such as actuator | |
| saturation. The proposed methodology is applied to the design of | |
| a lateral-directional flight control system for a piloted supermaneuvarable | |
| fighter aircraft}, | |
| bib = {bibtex-keys#Siwakosit2000}, | |
| bibpr = {private-bibtex-keys#Siwakosit2000}, | |
| doi = {10.1109/87.845879}, | |
| file = {Siwakosit2000.pdf:Siwakosit2000.pdf:PDF}, | |
| issn = {1063-6536}, | |
| keywords = {aircraft control, compensation, control nonlinearities, control system | |
| synthesis, feedback, interactive systems, man-machine systems, matrix | |
| algebra, robust controlI/O characteristics, actuator saturation, | |
| diagonal compensation matrix, dynamic inversion, feedback loops, | |
| full-envelope decoupled linear flight control design, gain scheduling, | |
| handling qualities, handling qualities constraints, high-bandwidth | |
| conservative designs, input-output characteristics, interactive computer | |
| program, inverse dynamic control, lateral-directional flight control | |
| system design, loop-shaping, nuisance nonlinearities, pilot-induced | |
| oscillation tendencies, piloted supermaneuvarable fighter aircraft, | |
| quantitative feedback theory predesign technique, reduced-order linear | |
| dynamic-inversion technique, robust flight control design, uncertainty}, | |
| webpdf = {references-folder/Siwakosit2000.pdf} | |
| } | |
| @ARTICLE{Smak1999, | |
| author = {W. Smak and R. R. Neptune and M. L. Hull}, | |
| title = {The influence of pedaling rate on bilateral asymmetry in cycling}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1999}, | |
| volume = {32}, | |
| pages = {899 - 906}, | |
| number = {9}, | |
| abstract = {The objectives of this study were to (1) determine whether bilateral | |
| asymmetry in cycling changed systematically with pedaling rate, (2) | |
| determine whether the dominant leg as identified by kicking contributed | |
| more to average power over a crank cycle than the other leg, and | |
| (3) determine whether the dominant leg asymmetry changed systematically | |
| with pedaling rate. To achieve these objectives, data were collected | |
| from 11 subjects who pedaled at five different pedaling rates ranging | |
| from 60 to 120Â rpm at a constant workrate of 260Â W. Bilateral pedal | |
| dynamometers measured two orthogonal force components in the plane | |
| of the bicycle. From these measurements, asymmetry was quantified | |
| by three dependent variables, the percent differences in average | |
| positive power (\%AP), average negative power (\%AN), and average | |
| crank power (\%AC). Differences were taken for two cases -- with | |
| respect to the leg generating the greater total average for each | |
| power quantity at 60Â rpm disregarding the measure of dominance, | |
| and with respect to the dominant leg as determined by kicking. Simple | |
| linear regression analyses were performed on these quantities both | |
| for the subject sample and for individual subjects. For the subject | |
| sample, only the percent difference in average negative power exhibited | |
| a significant linear relationship with pedaling rate; as pedaling | |
| rate increased, the asymmetry decreased. Although the kicking dominant | |
| leg contributed significantly greater average crank power than the | |
| non-dominant leg for the subject sample, the non-dominant leg contributed | |
| significantly greater average positive power and average negative | |
| power than the dominant leg. However, no significant linear relationships | |
| for any of these three quantities with pedaling rate were evident | |
| for the subject sample because of high variability in asymmetry among | |
| the subjects. For example, significant linear relationships existed | |
| between pedaling rates and percent difference in total average power | |
| per leg for only four of the 11 subjects and the nature of these | |
| relationships was different (e.g. positive versus negative slopes). | |
| It was concluded that pedaling asymmetry is highly variable among | |
| subjects and that individual subjects may exhibit different systematic | |
| changes in asymmetry with pedaling rate depending on the quantity | |
| of interest.}, | |
| bib = {bibtex-keys#Smak1999}, | |
| bibpr = {private-bibtex-keys#Smak1999}, | |
| doi = {DOI: 10.1016/S0021-9290(99)00090-1}, | |
| file = {Smak1999.pdf:Smak1999.pdf:PDF}, | |
| issn = {0021-9290}, | |
| keywords = {Asymmetry}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-3X3TJ0S-3/2/43a12b5a25925bc7bb3db04fd846e6f4}, | |
| webpdf = {references-folder/Smak1999.pdf} | |
| } | |
| @TECHREPORT{Smith1976, | |
| author = {R. H. Smith}, | |
| title = {A Theory for Handling Qualities With Applications to MIL-F- 8785B}, | |
| institution = {Air Force Flight Dynamics Laboratory, WPAFB, OH}, | |
| year = {1976}, | |
| number = {AFFDL-TR-75-119}, | |
| bib = {bibtex-keys#Smith1976}, | |
| bibpr = {private-bibtex-keys#Smith1976}, | |
| owner = {moorepants}, | |
| timestamp = {2011.02.17} | |
| } | |
| @ARTICLE{Snell1998, | |
| author = {Snell, A.}, | |
| title = {An active roll-moment control strategy for narrow tilting commuter | |
| vehicles}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {1998}, | |
| volume = {29}, | |
| pages = {277--307}, | |
| number = {5}, | |
| bib = {bibtex-keys#Snell1998}, | |
| bibpr = {private-bibtex-keys#Snell1998}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{So1997, | |
| author = {Sang Gyun So and Karnopp, Dean}, | |
| title = {Active dual mode tilt control for narrow ground vehicles}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {1997}, | |
| volume = {27}, | |
| pages = {19--36}, | |
| bib = {bibtex-keys#So1997}, | |
| bibpr = {private-bibtex-keys#So1997}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @BOOK{Soederstroem1989, | |
| title = {System Identification}, | |
| publisher = {Prentice Hall}, | |
| year = {1989}, | |
| editor = {M. J. Grimble}, | |
| author = {Torsten Söderström and Petre Stoica}, | |
| file = {Soederstroem1989.pdf:Soederstroem1989.pdf:PDF}, | |
| timestamp = {2012.08.08} | |
| } | |
| @TECHREPORT{SonDaoXXXX, | |
| author = {Son Dao, Thanh}, | |
| title = {Autonomous Bicycle: Dynamics and Control. System Dynamics}, | |
| institution = {Simulation \& Control Lab., Department of Automation \& Mechanical | |
| Engineering, Da-Yeh University.}, | |
| bib = {bibtex-keys#SonDaoXXXX}, | |
| bibpr = {private-bibtex-keys#SonDaoXXXX}, | |
| timestamp = {2012.01.03} | |
| } | |
| @INPROCEEDINGS{Sooraksa2000, | |
| author = {Pitikhate Sooraksa and U. Sritheerawirojana}, | |
| title = {A bicycle robot: part 1 modeling and control}, | |
| booktitle = {Proceedings of the 17th ISARC}, | |
| year = {2000}, | |
| pages = {1--5}, | |
| address = {Taipei, Taiwan}, | |
| abstract = {In this paper, a simple fuzzy logic based intelligent architecture | |
| is developed for controlling a bicycle robot. The approximated model | |
| for membership functions and control gains can be obtained by simply | |
| considering the robot as an inverted pendulum in 3-dimensional space. | |
| The obtained model is merely a conceptually estimating one because | |
| the mismatch modeling and the uncertainty will be taken care by the | |
| intelligent controller. Simulation results are carried out. The hardware | |
| realization and implementation will be shown in Part 2.}, | |
| bib = {bibtex-keys#Sooraksa2000}, | |
| bibpr = {private-bibtex-keys#Sooraksa2000}, | |
| file = {Sooraksa2000.pdf:Sooraksa2000.pdf:PDF}, | |
| keywords = {bicycle robot, fuzzy logic control, modeling, intelligent control, | |
| two wheeled robot}, | |
| timestamp = {2012.01.02}, | |
| webpdf = {references-folder/Sooraksa2000.pdf} | |
| } | |
| @INPROCEEDINGS{Sooraksa2000a, | |
| author = {Pitikhate Sooraksa and T. Uthairat and S. Kaopratum and U. Sritheerawirojana | |
| and V. Monyakul}, | |
| title = {A bicycle robot: part 2 system implementation}, | |
| booktitle = {Proceedings of the 17th ISARC, Taipei, Taiwan}, | |
| year = {2000}, | |
| abstract = {This paper presents the realization and implementation of a bicycle | |
| robot using the control scheme designed in Part 1. The control hardware | |
| architecture of the robot consists of tilt sensors, a turning control | |
| unit, a driving unit and a microcontroller. In a control cycle, the | |
| functional mechanism can be described as follows: First, the tilt | |
| sensors sense the state of the robot?s balance position and then | |
| send the signal to the microcontroller for generating a control decision | |
| based on the control law. After the final fuzzy control decision | |
| has been made, the output signal will be sent to the turning and | |
| the driving control units to track the desired path while retaining | |
| the robot in balance.}, | |
| bib = {bibtex-keys#Sooraksa2000a}, | |
| bibpr = {private-bibtex-keys#Sooraksa2000a}, | |
| file = {Sooraksa2000a.pdf:Sooraksa2000a.pdf:PDF}, | |
| keywords = {bicycle robot, fuzzy logic control, modeling, intelligent control, | |
| two wheeled robot}, | |
| timestamp = {2012.01.02}, | |
| webpdf = {references-folder/Sooraksa2000a.pdf} | |
| } | |
| @TECHREPORT{Spry2008, | |
| author = {Stephen C. Spry and Anouck R. Girard}, | |
| title = {Gyroscopic Stabilization of Unstable Vehicles: Configurations, Dynamics, | |
| and Control}, | |
| institution = {University of Michigan, Ann Arbor}, | |
| year = {2008}, | |
| abstract = {We consider active gyroscopic stabilization of unstable bodies such | |
| as two-wheeled monorails, twowheeled cars, or unmanned bicycles. | |
| It has been speculated that gyroscopically stabilized monorail cars | |
| would have economic advantages with respect to birail cars, enabling | |
| the cars to take sharper curves and | |
| traverse steeper terrain, with lower installation and maintenance | |
| costs. A two-wheeled, gyro-stabilized | |
| car was actually constructed in 1913. | |
| The dynamic stabilization of a monorail car or two-wheeled automobile | |
| requires that a torque acting | |
| on the car from the outside be neutralized by a torque produced within | |
| the car by a gyroscope. The | |
| gyroscope here is used as an actuator, not a sensor, by using precession | |
| forces generated by the gyroscope. | |
| When torque is applied to an axis normal to the spin axis, causing | |
| the gyroscope to precess, a moment | |
| is produced about a third axis, orthogonal to both the torque and | |
| spin axes. As the vehicle tilts from | |
| vertical, a precession-inducing torque is applied to the gyroscope | |
| cage such that the resulting gyroscopic | |
| reaction moment will tend to right the vehicle. The key idea is that | |
| motion of the gyroscope relative to | |
| the body is actively controlled in order to generate a stabilizing | |
| moment. | |
| This problem was considered in 1905 by Louis Brennan [1]. Many extensions | |
| were later developed, | |
| including the work by Shilovskii [2], and several prototypes were | |
| built. The di!erences in the various | |
| schemes lie in the number of gyroscopes employed, the direction of | |
| the spin axes relative to the rail, and | |
| in the method used to produce precession of the spin axes. | |
| We start by deriving the equations of motion for a case where the | |
| system is formed of a vehicle, a | |
| load placed on the vehicle, the gyroscope wheel, and a gyroscope cage. | |
| We allow for track curvature | |
| and vehicle speed. We then derive the equations for a similar system | |
| with two gyroscopes, spinning in | |
| opposite directions and such that the precession angles are opposite. | |
| We linearize the dynamics about a | |
| set of equilibrium points and develop a linearized model. We study | |
| the stability of the linearized systems | |
| and show simulation results. Finally, we discuss a scaled gyrovehicle | |
| model and testing.}, | |
| bib = {bibtex-keys#Spry2008}, | |
| bibpr = {private-bibtex-keys#Spry2008}, | |
| file = {Spry2008.pdf:Spry2008.pdf:PDF}, | |
| keywords = {Gyroscopic stabilization, monorail}, | |
| timestamp = {2012.01.02}, | |
| webpdf = {references-folder/Spry2008.pdf} | |
| } | |
| @MANUAL{SRM2003, | |
| title = {SRM Training System Technical Manual}, | |
| author = {SRM}, | |
| year = {2003}, | |
| bib = {bibtex-keys#SRM2003}, | |
| bibpr = {private-bibtex-keys#SRM2003}, | |
| file = {SRM2003.pdf:SRM2003.pdf:PDF}, | |
| owner = {luke}, | |
| timestamp = {2009.10.29}, | |
| webpdf = {references-folder/SRM2003.pdf} | |
| } | |
| @ARTICLE{Stassen1969, | |
| author = {Stassen, H.G.}, | |
| title = {The Polarity Coincidence Correlation Technique - A Useful Tool in | |
| the Analysis of Human-Operator Dynamics}, | |
| journal = {Man-Machine Systems, IEEE Transactions on}, | |
| year = {1969}, | |
| volume = {10}, | |
| pages = {34-39}, | |
| number = {1}, | |
| month = {March}, | |
| abstract = {The paper describes a special correlation technique. It is shown that | |
| a two-state characterization of a random process leads to a simple | |
| correlation procedure, called the "polarity coincidence correlation | |
| method." The utility of the method in dynamics studies of man-machine | |
| systems, its limitations, its assumptions, and, finally, the accuracy | |
| due to a finite time of observation are discussed.}, | |
| bib = {bibtex-keys#Stassen1969}, | |
| bibpr = {private-bibtex-keys#Stassen1969}, | |
| doi = {10.1109/TMMS.1969.299878}, | |
| file = {Stassen1969.pdf:Stassen1969.pdf:PDF}, | |
| issn = {0536-1540}, | |
| review = {Best photo of the simulator.}, | |
| webpdf = {references-folder/Stassen1969.pdf} | |
| } | |
| @TECHREPORT{Stassen1973, | |
| author = {H. G. Stassen and A. van Lunteren and P.L. Brinkman and W.C.J. Moolenaar | |
| and van Dieten, J.S.M.J. and de Ron, A. J. and M. F. W. Dubois and | |
| H. A. Udo de Haes and J. J. Kok and W. Veldhuyzen}, | |
| title = {Progress Report {J}anuary 1970 until {J}anuary 1973 of the {M}an-{M}achine | |
| {S}ystems {G}roup}, | |
| institution = {Delft University of Technology}, | |
| year = {1973}, | |
| bib = {bibtex-keys#Stassen1973}, | |
| bibpr = {private-bibtex-keys#Stassen1973}, | |
| file = {Stassen1973.pdf:Stassen1973.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {Chapter 4 is about the work with the bicycle simulator. | |
| 4.1 | |
| Brief general description of the bicycle simulator. | |
| 4.2 | |
| Shows an added feature to the system which projects a moving vertical | |
| line on the wall in front of the simulator. The rider's control actions | |
| allow the line to be tracked, adding a basic tracking task to the | |
| roll stablizatoin task. He shows the formula for calculating the | |
| 4 rider transfer functions from cross spectral densities of the measured | |
| quantities. "Variations in frequency range from 0.5 to 3 hz will | |
| be classified as remnant by the identification methods applied here". | |
| He felt like the error in the tracking transfer functions were probably | |
| high, but they didn't calculated them. There seems to be a peak at | |
| about 12.5 rad/s for the roll angle feedback transfer functions. | |
| These new experiments were done for 35 minute lengths instead of | |
| 5 minutes as previous experiments were due to the new calculation | |
| methods of the transfer functions of the more complicated system. | |
| These estimated transfer functions for the roll angle feedback were | |
| much smoother for the previous shorter roll stablization tasks. The | |
| tracking error feedback TF estimates seemed to be poorer. He mentions | |
| that future plans are to send in a sum of sines as a forcing function | |
| to the system. | |
| 4.3 | |
| The do similar experiments as were reported in the early Lunterer/Stassen | |
| work except now with and without an upper body brace. They were trying | |
| to confirm the realism of the double pendulum model for part of it. | |
| They found descrepencies in the computed time delays from their new | |
| estimation methods as compared to their worked from 1969. The time | |
| delays were smaller! The steer angle time delay for the free upper | |
| body motion was about half what it was in earlier methods (0.074 | |
| s). They attribute this to the earlier method having a bias due to | |
| the remnant. The Bode plots from this study and the previous study | |
| didn't differ much. The fixed upper body time delay was around 0.2 | |
| seconds (similar to eariler results) and the subjects reported that | |
| the control of the simulator required more conscious effort when | |
| in the back brace. The conclude that the upper body motions are probably | |
| important in nomral bicycle riding, maybe for controlling the rider's | |
| head position in space. | |
| Nice photo of a rider lean brace.}, | |
| timestamp = {2011.06.03}, | |
| webpdf = {references-folder/Stassen1973.pdf} | |
| } | |
| @ARTICLE{Stedmon2011, | |
| author = {Stedmon, Alex W. and Hasseldine, Benjamin and Rice, David and Young, | |
| Mark and Markham, Steve and Hancox, Michael and Brickell, Edward | |
| and Noble, Joanna}, | |
| title = {‘MotorcycleSim’: An Evaluation of Rider Interaction with an Innovative | |
| Motorcycle Simulator}, | |
| journal = {The Computer Journal}, | |
| year = {2009}, | |
| abstract = {This paper describes a user-centred design process that has been used | |
| to develop an innovative simulator for research into motorcycle ergonomics | |
| and rider human factors. Building on initial user requirements and | |
| user experience elicitation exercises, an evaluation was conducted | |
| to investigate specific issues associated with simulator fidelity. | |
| An experimental approach was employed to examine the physical and | |
| functional fidelity of the simulator. Using different steering and | |
| visual feedback configurations, a battery of objective and subjective | |
| dependent variables were analysed including: user perceptions and | |
| preferences, rider performance data, rider workload, rider comfort | |
| issues and the first evaluation of simulator sickness for a motorcycle | |
| simulator. The results indicated that across a number of measures, | |
| aspects of functional fidelity were considered more important than | |
| the physical fidelity of the simulator. This evaluation takes the | |
| development of the simulator a stage further and the paper provides | |
| recommendations for future improvements.}, | |
| doi = {10.1093/comjnl/bxp071}, | |
| eprint = {http://comjnl.oxfordjournals.org/content/early/2009/08/07/comjnl.bxp071.full.pdf+html}, | |
| file = {Stedmon2011.pdf:Stedmon2011.pdf:PDF}, | |
| url = {http://comjnl.oxfordjournals.org/content/early/2009/08/07/comjnl.bxp071.abstract} | |
| } | |
| @BOOK{Stevens1992, | |
| title = {Aircraft Control and Simulation}, | |
| publisher = {John Wiley \& Sons}, | |
| year = {1992}, | |
| author = {Brian L. Stevens and Frank L. Lewis}, | |
| bib = {bibtex-keys#Stevens1992}, | |
| bibpr = {private-bibtex-keys#Stevens1992}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.06} | |
| } | |
| @MASTERSTHESIS{Stevens2009, | |
| author = {David Stevens}, | |
| title = {The Stability and Handling Characteristics of Bicycles}, | |
| school = {The University of New South Wales}, | |
| year = {2009}, | |
| type = {Bachelor's Thesis}, | |
| bib = {bibtex-keys#Stevens2009}, | |
| bibpr = {private-bibtex-keys#Stevens2009}, | |
| file = {Stevens2009.pdf:Stevens2009.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2011.08.28}, | |
| webpdf = {references-folder/Stevens2009.pdf} | |
| } | |
| @MASTERSTHESIS{Stevens2002, | |
| author = {Daniel M. Stevens}, | |
| title = {The Influence of Roll Dynamics on Motorcycle Navigation Systems}, | |
| school = {UNIVERSITY OF CALIFORNIA, BERKELEY}, | |
| year = {2002}, | |
| bib = {bibtex-keys#Stevens2002}, | |
| bibpr = {private-bibtex-keys#Stevens2002}, | |
| file = {Stevens2002.pdf:Stevens2002.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Stevens2002.pdf} | |
| } | |
| @ARTICLE{Stone1993, | |
| author = {Cal Stone and Maury Hull}, | |
| title = {Rider/Bicycle Interaction Loads During Standing Treadmill Cycling}, | |
| journal = {Journal of Applied Biomechanics}, | |
| year = {1993}, | |
| volume = {9}, | |
| number = {3}, | |
| abstract = {This paper provides measurements of rider-induced loads during standing | |
| cycling. Two strain gauge dynamometers were used to measure these | |
| loads while three subjects rode bicycles on a large motorized treadmill; | |
| the cycling situation simulated hill climbing while standing. Comparing | |
| the results to those previously published for seated cycling revealed | |
| that the loading for standing cycling differed fundamentally from | |
| that for seated cycling in certain key respects. One respect was | |
| that the maximum magnitude normal pedal force reached substantially | |
| higher values, exceeding the weight of the subject, and the phase | |
| occurred later in the crank cycle. Another respect was that the direction | |
| of the handlebar forces alternated indicating that the arms pulled | |
| up and back during the power stroke of the corresponding leg and | |
| pushed down and forward during the upstroke. Inasmuch as these forces | |
| were coordinated (i.e., in phase) with the leaning of the bicycle, | |
| the arms developed positive power.}, | |
| bib = {bibtex-keys#Stone1993}, | |
| bibpr = {private-bibtex-keys#Stone1993}, | |
| file = {Stone1993.pdf:Stone1993.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2010.03.30}, | |
| webpdf = {references-folder/Stone1993.pdf} | |
| } | |
| @ARTICLE{Stone1995, | |
| author = {Cal Stone and M. L. Hull}, | |
| title = {The effect of rider weight on rider-induced loads during common cycling | |
| situations}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1995}, | |
| volume = {28}, | |
| pages = {365 - 375}, | |
| number = {4}, | |
| abstract = {Motivated by the desire to provide information useful in the design | |
| analysis of bicycle frames, the hypothesis tested was that a simple | |
| linear model would relate the maximum magnitudes of rider-induced | |
| loads to rider weight. Rider-induced loads are loads developed as | |
| a result of weight and muscular actions during pedalling. To test | |
| this hypothesis, five riders spanning a wide weight range rode a | |
| bicycle unrestrained on a treadmill. Dynamometers measured six components | |
| of pedal loads and five components of both seat and handlebar loads | |
| while riders rode three common cycling situations -- seated cruising, | |
| seated climbing, and standing climbing. Average, average maximum, | |
| and average minimum values were computed for all load components | |
| and each was analyzed statistically. For all three test cases, the | |
| regression slope was significant for the force component normal to | |
| the pedal surface. Because the normal pedal force component has been | |
| shown previously to dominate frame stress at the point most likely | |
| to fatigue (Hull and Bolourchi, 1988, J. Strain. Anal. 23, 105-114), | |
| the results of this study should be useful in designing frames optimized | |
| for minimum weight and acceptable structural reliability.}, | |
| bib = {bibtex-keys#Stone1995}, | |
| bibpr = {private-bibtex-keys#Stone1995}, | |
| doi = {DOI: 10.1016/0021-9290(94)00102-A}, | |
| file = {Stone1995.pdf:Stone1995.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-3YGTT1R-3J/2/d9261e1dc228aae8f1a2480c15b78350}, | |
| webpdf = {references-folder/Stone1995.pdf} | |
| } | |
| @MASTERSTHESIS{Stone1990, | |
| author = {Cal Kent Stone}, | |
| title = {Rider/Bicycle Interaction Loads During Seated and Standing Treadmill | |
| Cycling}, | |
| school = {University of California, Davis}, | |
| year = {1990}, | |
| bib = {bibtex-keys#Stone1990}, | |
| bibpr = {private-bibtex-keys#Stone1990}, | |
| file = {Stone1990.pdf:Stone1990.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {Each device uses 1 full-bridge setup for 1 direction, and 4 half-bridge | |
| setups for the other 4 directions. Figures 6 & 7 from the NI tutorial | |
| show these configurations: | |
| http://zone.ni.com/devzone/cda/tut/p/id/3642 | |
| This is how the setup is reduced to having 1 +/- power channel and | |
| 5 +/- signal channels (for a total of 12 pins). | |
| The handlebars cannot measure force in the "axial" direction, which | |
| here is Fy (lateral force) but it can measure all of the other forces. | |
| The seatpost can measure all forces except for axial torsion. | |
| For each device Stone writes that 4 independent half-bridges are used | |
| for for the 4 forces, and the one full-bridge for either axial force | |
| or torsion (pp 7-8, Stone). I think this would indicate that applying | |
| another full bridge to each device would allow us to also measure | |
| the "missing" load, as a full-bridge setup seems capable of measuring | |
| either axial load or axial torsion. | |
| I am not sure why this was not done originally? | |
| Page 81 in Stone shows the coordinate system for the seatpost (note | |
| that the axial direction is the "z" direction). Page 80 shows the | |
| coordinate system for the handlebar and page 105 shows how the bending | |
| moments were estimated. | |
| Calibration of the setups takes care of resolving these forces; the | |
| attached page is missing from the Stone Thesis scan and shows the | |
| conversion matrices from voltages to forces/moments. This works due | |
| to assuming superposition is valid with the beams involved. | |
| I don't think measuring the extra degree of freedom would interfere | |
| with the process in any sort of way. | |
| Knowing the force and moment on the seatpost (and assuming the rider | |
| is stationary, I think) would allow you to calculate where the rider | |
| has moved to (the location of their force application will move, | |
| creating a bending moment, but the forces should not change). This | |
| might imply we want a really stiff seat (and not very squishy)? With | |
| significant deflections linear assumptions are no longer valid, and | |
| I think looking at the scale of the forces involved might indicate | |
| that we want to enforce this. | |
| Also, as page 105 showed, moment estimation requires knowledge of | |
| where the hands are placed. It might be more beneficial, especially | |
| if we can get free strain gauges, to make our own instrumented handlebar | |
| (especially if we want to measure both sides to avoid having to record | |
| both and left and right handed runs), where we specify the hand locations. | |
| I think measuring all 6 degrees of freedom will be a good idea, as | |
| the only downside is finding the strain gauge amplifiers and having | |
| channels to record them. This might suggest that buying two of the | |
| cheapest 16-channel DAQ boxes will allow us to measure everything. | |
| Assuming we can deal with the amplifier/acquisition issue, having | |
| all the data available to us, so we don't have to screw around with | |
| doing left- and right- handed turns and averaging the two, will be | |
| worth the additional calibration time (and any future uses of the | |
| system). | |
| To get an idea of the accuracy of the system, read Stone pp 109-10. | |
| This shows the accuracy they achieved when testing the calibration. | |
| The seatpost seems to have good accuracy when measuring moments, | |
| so maybe the idea of locating the rider with this could work (we | |
| could also test that before attaching something to the rider). We | |
| also will be measuring with a 16-bit ADC instead of the 12-bit ADC | |
| used in the paper. I'm not sure if this will give more accuracy or | |
| not to be honest, Luke would probably know though. | |
| I guess in conclusion, we should buy two DAQ boxes if we want to measure | |
| both handlebars, and then measure all 6 d.o.f. on both sides of the | |
| handlebar and the seatpost. if you want to record a reduced set of | |
| data, a single DAQ box could be made to work, but I think the time | |
| saved by collecting all the force/moment data always from the start | |
| instead of discovering we need to have it later (like, after we have | |
| wired everything and calibrated the reduced set of measurements we | |
| want to use) will far outweigh the additional time/cost incurred | |
| by setting up everything at the beginning. I also think that it should | |
| be possible to add the strain gauges to measure the missing data | |
| from the seatpost, and it should be easy to setup strain gauges on | |
| our own handlebars (assuming we can get help from Hill and Hull).}, | |
| timestamp = {2010.04.13}, | |
| webpdf = {references-folder/Stone1990.pdf} | |
| } | |
| @ARTICLE{Stone2009, | |
| author = {John Stone}, | |
| title = {The is a test article}, | |
| journal = {The Journal of Hamster Linguistics}, | |
| year = {2009}, | |
| volume = {12}, | |
| pages = {230-450}, | |
| number = {2}, | |
| month = {December}, | |
| note = {This is a note about the article.}, | |
| abstract = {This is the abstract about hamsters.}, | |
| bib = {bibtex-keys#Stone2009}, | |
| bibpr = {private-bibtex-keys#Stone2009}, | |
| comment = {This is a comment.}, | |
| doi = {123456789DOI}, | |
| keywords = {hamster, bugs, cedar}, | |
| owner = {moorepants}, | |
| review = {JKM - My review is that this rules.\\DLP - My review is that this | |
| sucks.}, | |
| timestamp = {2009.11.11}, | |
| url = {http://www.url.com} | |
| } | |
| @ARTICLE{Sugizaki1988, | |
| author = {Masamori Sugizaki and Akira Hasegawa}, | |
| title = {Experimental Analysis of Transient Response in Motorcycle-Rider Systems}, | |
| journal = {Society of Automotive Engineers}, | |
| year = {1988}, | |
| month = {November}, | |
| note = {SAE Paper 881783}, | |
| abstract = {An experimental analysis has been made concerning rider sensation | |
| using several motorcycles. More specifically, the sensations evaluated | |
| are those which are related to the transient motions which are generated | |
| by a rider in an attempt to make two transient running patterns, | |
| one is to avoid obstacles and the other is lane change. Measurements | |
| were made of the steering torque, the accelerations of the major | |
| portions of the motorcycle, and the yaw and roll rates.}, | |
| bib = {bibtex-keys#Sugizaki1988}, | |
| bibpr = {private-bibtex-keys#Sugizaki1988}, | |
| file = {Sugizaki1988.pdf:Sugizaki1988.pdf:PDF}, | |
| keywords = {motorcycle, handling, steer torque}, | |
| owner = {moorepants}, | |
| review = {They measure steering torque, yaw rate, roll rate, lateral acceleration | |
| of the front and rear frame for 4 motorcycles in lane change type | |
| maneuvers. The lane changes are 3.6 meters. They ran at speeds of | |
| 60, 80 and 100 km/h. The measured steering torques shown are between | |
| -2 and 2 kgf-m (-19.6 tp 19.6 n-m). The time traces of steer torque, | |
| yaw rate and roll rate have little noise, which makes it hard to | |
| believe that it is raw data without a lot of filtering, but maybe | |
| that is what motorcycle data looks like compared to a bicycles (due | |
| to the weight?).}, | |
| timestamp = {2010.09.10}, | |
| webpdf = {references-folder/Sugizaki1988.pdf} | |
| } | |
| @INPROCEEDINGS{Suntharasantic2011, | |
| author = {Suntharasantic, S. and Wongsaisuwan, M.}, | |
| title = {Piecewise affine model and control of bicycle by gyroscopic stabilization}, | |
| booktitle = {Electrical Engineering/Electronics, Computer, Telecommunications | |
| and Information Technology (ECTI-CON), 2011 8th International Conference | |
| on}, | |
| year = {2011}, | |
| pages = {549 -552}, | |
| month = {May}, | |
| abstract = {This paper considers the naturally unstable unmanned bicycle system | |
| at constant forward and rotational speeds. The bicycle is attached | |
| with a gyroscopic flywheel acting as an actuator for roll angle stabilization. | |
| The nonlinear model of the system is approximated by piecewise affine | |
| functions which minimizes the model error even outside the operating | |
| regions. The controller synthesis problem is cast as Linear Matrix | |
| Inequalities problem. The feasible control law is derived based on | |
| quadratic Lyapunov function to guarantee the system stability for | |
| all regions. The simulation confirms the effectiveness of this approach.}, | |
| bib = {bibtex-keys#Suntharasantic2011}, | |
| bibpr = {private-bibtex-keys#Suntharasantic2011}, | |
| doi = {10.1109/ECTICON.2011.5947897}, | |
| keywords = {LMI;actuator;bicycle control;constant forward speeds;controller synthesis | |
| problem;gyroscopic flywheel;gyroscopic stabilization;linear matrix | |
| inequalities problem;piecewise affine model;quadratic Lyapunov function;roll | |
| angle stabilization;rotational speeds;unmanned bicycle system;Lyapunov | |
| methods;actuators;affine transforms;bicycles;control system synthesis;linear | |
| matrix inequalities;remotely operated vehicles;stability;} | |
| } | |
| @MASTERSTHESIS{Suprapto2006, | |
| author = {Suprapto, S.}, | |
| title = {Development of a gyroscopic unmanned bicycle}, | |
| school = {AIT, Thailand}, | |
| year = {2006}, | |
| abstract = {Balancing an unstable system is a difficult task to be done. Bicycle | |
| is a model of | |
| an unstable system, it is impossible to make the bicycle standstill | |
| without giving any | |
| effort to balance. A gyroscope, a spinning wheel mechanism that tries | |
| to prevent its | |
| direction when a force is applied at that mechanism is used for torque | |
| source to balance | |
| the bicycle. By spins gyroscope on the vertical axis, embed the other | |
| axis on the bicycle, | |
| and control the third axis of the gyroscope, balancing of a bicycle | |
| can be done. | |
| A PD controller that is implemented using 8 bit microcontroller 68HC11 | |
| is used | |
| for controlling the gyroscope, an algorithm to shift the center of | |
| gravity along control | |
| axis of gyroscope is implemented together, resulting a bond control | |
| algorithm that | |
| balance the bicycle while preventing the gyroscope from saturation. | |
| Rear wheel system is used to actuate the bicycle for forward movement. | |
| A simple | |
| closed loop PD controller is used, and resulting a stable constant | |
| speed. | |
| Steering system is used to make the bicycle have turning capability. | |
| A PD | |
| controller is used for position controller, even producing a small | |
| steady state error, the | |
| performance still acceptable. | |
| A mathematical model was developed to be conformed to the real experiment | |
| result, simulation is run on Simulink software. Data was taken from | |
| the experiment and | |
| shows that the system is stable.}, | |
| bib = {bibtex-keys#Suprapto2006}, | |
| bibpr = {private-bibtex-keys#Suprapto2006}, | |
| timestamp = {2012.01.02} | |
| } | |
| @INPROCEEDINGS{Suryanarayanan2002, | |
| author = {Suryanarayanan, Shashikanth and Tomizuka, Masayoshi and Weaver, Matt}, | |
| title = {System dynamics and control of bicycles at high speeds}, | |
| booktitle = {Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)}, | |
| year = {2002}, | |
| volume = {2}, | |
| pages = {845-850}, | |
| address = {Danvers, MA, USA}, | |
| month = {May}, | |
| organization = {American Autom. Control Council; IFAC; SICE}, | |
| publisher = {American Automatic Control Council}, | |
| abstract = {This paper presents the system dynamics and automated roll-rate control | |
| of front and rear-wheel steered bicycles. Automated steering control | |
| of bicycles gains importance in the context of a recent effort, initiated | |
| by bicycle designer Matt Weaver, to develop controllers to steer | |
| bicycles at very high speeds (70-100 mph). This paper extends earlier | |
| work on rear-wheel steered bikes, importantly Klein's unridable bicycle. | |
| Controllers for both front and rear-wheel steered bicycles are designed | |
| based on classical control techniques. Simulation results demonstrate | |
| good robustness and disturbance rejection properties. Implementation | |
| is currently underway.}, | |
| affiliation = {Suryanarayanan, S.; Tomizuka, M.; Weaver, M.; Dept. of Mech. Eng., | |
| California Univ., Berkeley, CA, USA.}, | |
| bib = {bibtex-keys#Suryanarayanan2002}, | |
| bibpr = {private-bibtex-keys#Suryanarayanan2002}, | |
| file = {Suryanarayanan2002.pdf:Suryanarayanan2002.pdf:PDF}, | |
| identifying-codes = {[C2002-11-3220-004],[0-7803-7298-0/02/\$17.00],[10.1109/ACC.2002.1023121]}, | |
| isbn = {0 7803 7298 0}, | |
| keywords = {Practical, Theoretical or Mathematical/ control system analysis; controllers; | |
| feedback/ system dynamics; automated roll-rate control; rear-wheel | |
| steered bicycles; automated steering control; Klein unridable bicycle; | |
| simulation results; robustness/ C3220 Controllers; C1310 Control | |
| system analysis and synthesis methods}, | |
| language = {English}, | |
| number-of-references = {4}, | |
| owner = {luke}, | |
| publication-type = {C}, | |
| review = {Super simple bicycle model. Proportional feedback from roll rate to | |
| steer angle. Simulates high speeds. Also looks at a rear steered | |
| bicycle. Matt Weaver is one of the top contenders for the bicycle | |
| speed championships.}, | |
| timestamp = {2009.11.01}, | |
| type = {Conference Paper}, | |
| webpdf = {references-folder/Suryanarayanan2002.pdf} | |
| } | |
| @ARTICLE{Suzuki2007, | |
| author = {Suzuki, Yoshitada and Kageyama, Ichiro and Kuriyagawa, Yukiyo and | |
| Baba, Masayuki and Miyagishi, Shunichi}, | |
| title = {4311 Study on Construction of Rider Robot for Two-wheel Vehicle}, | |
| journal = {JSME Annual Meeting}, | |
| year = {2007}, | |
| volume = {2007}, | |
| pages = {357--358}, | |
| number = {7}, | |
| note = {in Japanese}, | |
| abstract = {This paper deals with the construction of a rider robot for motorcycle. | |
| The robot which controls a vertical stability and a direction control | |
| of the motorcycle is constructed as a tool for evaluation of two-wheeled | |
| vehicle behavior. The control algorithm of the system is constructed | |
| based on control action of the human rider. For the lateral control, | |
| the system identifies using electric compass. Sub-handle system which | |
| simulates the rider arms is adopted with damper and spring, and it | |
| is controlled by servo-motor. As a result, it is shown that the rider | |
| robot follows the lateral displacement calculated using the directional | |
| angle and vehicle speed.}, | |
| bib = {bibtex-keys#Suzuki2007}, | |
| bibpr = {private-bibtex-keys#Suzuki2007}, | |
| comment = {年次大会講演論文集}, | |
| file = {Suzuki2007.pdf:Suzuki2007.pdf:PDF}, | |
| publisher = {The Japan Society of Mechanical Engineers}, | |
| url = {http://ci.nii.ac.jp/naid/110007084530/en/}, | |
| webpdf = {references-folder/Suzuki2007.pdf} | |
| } | |
| @INPROCEEDINGS{Taguchi1975, | |
| author = {Taguchi, M.}, | |
| title = {A Preliminary Test Report on the Controllability and Stability of | |
| Experimental Safety Motorcycle}, | |
| booktitle = {Second International Motorcycle Safety Conference}, | |
| year = {1975}, | |
| address = {Washington, D. C., USA}, | |
| month = {December}, | |
| bib = {bibtex-keys#Taguchi1975}, | |
| bibpr = {private-bibtex-keys#Taguchi1975}, | |
| owner = {moorepants}, | |
| review = {Cited in Weir1979a as a influence on the work presented there.}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INPROCEEDINGS{Tak2010, | |
| author = {Tae-Oh Tak and Jong-Sung Won and Gwang-Yeol Baek}, | |
| title = {Design Sensitivity Analysis of Bicycle Stability and Experimental | |
| Validation}, | |
| booktitle = {Proceedings of Bicycle and Motorcycle Dynamics 2010: Symposium on | |
| the Dynamics and Control of Single Track Vehicles}, | |
| year = {2010}, | |
| file = {Tak2010.pdf:Tak2010.pdf:PDF}, | |
| timestamp = {2012.08.08} | |
| } | |
| @INPROCEEDINGS{Takagi1983, | |
| author = {T. Takagi and M. Sugeno}, | |
| title = {Derivation of fuzzy control rules from human operator’s control actions}, | |
| booktitle = {IFAC Symposium on Fuzzy Information, Knowledge Representation and | |
| Decision Analysis}, | |
| year = {1983}, | |
| pages = {55--60}, | |
| address = {Marseilles, France}, | |
| month = {July}, | |
| bib = {bibtex-keys#Takagi1983}, | |
| bibpr = {private-bibtex-keys#Takagi1983}, | |
| timestamp = {2012.01.01} | |
| } | |
| @ARTICLE{Takahashi1984, | |
| author = {Toshimichi Takahashi and Tatsuo Yamada and Tsutomu Nakamura}, | |
| title = {Experimental and Theoretical Study of the Influence of Tires on Straight-Running | |
| Motorcycle Weave Response}, | |
| journal = {Society of Automotive Engineers}, | |
| year = {1984}, | |
| month = {February}, | |
| note = {SAE Paper 840248}, | |
| abstract = {The influence of tires on straight-running motorcycle weave oscillation | |
| has been studied both experimentally and theoretically. Three sets | |
| of front and rear tires were used. The weave oscillation was excited | |
| by âNitrogen gas-jet disturbance systemâ fitted to the instrumented | |
| test vehicle.}, | |
| bib = {bibtex-keys#Takahashi1984}, | |
| bibpr = {private-bibtex-keys#Takahashi1984}, | |
| file = {Takahashi1984.pdf:Takahashi1984.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {Fired a gas jet for lateral excitation.}, | |
| timestamp = {2010.09.10}, | |
| webpdf = {references-folder/Takahashi1984.pdf} | |
| } | |
| @ARTICLE{Takama2002a, | |
| author = {Takama, Kouhei and Kageyama, Ichiro and Miyagishi, Shunichi and Baba, | |
| Masayuki and Uchiyama, Hajime}, | |
| title = {Study on Construction of a Rider Robot for Two Wheeled Vehicle}, | |
| journal = {日本機械学会関東支部総会講演会講演論文集}, | |
| year = {2002}, | |
| volume = {8}, | |
| pages = {155--156}, | |
| bib = {bibtex-keys#Takama2002a}, | |
| bibpr = {private-bibtex-keys#Takama2002a}, | |
| file = {Takama2002a.pdf:Takama2002a.pdf:PDF}, | |
| publisher = {The Japan Society of Mechanical Engineers}, | |
| url = {http://ci.nii.ac.jp/naid/110002496526/en/}, | |
| webpdf = {references-folder/Takama2002a.pdf} | |
| } | |
| @ARTICLE{Takama2002, | |
| author = {Takama, Kouhei and Miyagishi, Shunichi and Kageyama, Ichiro and Kuriyagawa, | |
| Yukiyo and Baba, Masayuki and Uchiyama, Hajime}, | |
| title = {Construction of autonomous system for two wheeled vehicle}, | |
| journal = {The Transportation and Logistics Conference}, | |
| year = {2002}, | |
| volume = {11}, | |
| pages = {113--116}, | |
| abstract = {In this study, we construct autonomous two wheeled vehicle (the Rider | |
| Robot) which uses for evaluation of two wheeled vehicle dynamics. | |
| The Rider Robot consists of electromechanical device and is operated | |
| by the control algorithm without a human rider. We consider the control | |
| algorithm which is separated into two parts, directional and standing | |
| control. The algorithm of standing stability is constructed for the | |
| model using the data based on maneuver of the rider using multiple | |
| regression analysis. The desired roll angle is adopted for the directional | |
| control by using of image processing and second order prediction | |
| model.}, | |
| bib = {bibtex-keys#Takama2002}, | |
| bibpr = {private-bibtex-keys#Takama2002}, | |
| file = {Takama2002.pdf:Takama2002.pdf:PDF}, | |
| publisher = {The Japan Society of Mechanical Engineers}, | |
| url = {http://ci.nii.ac.jp/naid/110002490912/en/}, | |
| webpdf = {references-folder/Takama2002.pdf} | |
| } | |
| @INPROCEEDINGS{Talaia2008, | |
| author = {P Talaia and D. Moreno and M. Haj\v{z}man and L. Hyn\v{c}\'{i}k}, | |
| title = {A 3D model of a human for powered two-wheeler vehicles}, | |
| booktitle = {Proceedings of ISMA 2008}, | |
| year = {2008}, | |
| bib = {bibtex-keys#Talaia2008}, | |
| bibpr = {private-bibtex-keys#Talaia2008}, | |
| file = {Talaia2008.pdf:Talaia2008.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Talaia2008.pdf} | |
| } | |
| @ARTICLE{Tanaka2009, | |
| author = {Tanaka, Y. and Murakami, T.}, | |
| title = {A Study on Straight-Line Tracking and Posture Control in Electric | |
| Bicycle}, | |
| journal = {Industrial Electronics, IEEE Transactions on}, | |
| year = {2009}, | |
| volume = {56}, | |
| pages = {159-168}, | |
| number = {1}, | |
| month = {January}, | |
| abstract = {The development of automatic control for driving a bicycle is a challenging | |
| theme and is expected to be a human assist system. Previously, an | |
| acceleration-based method for stabilizing bicycle posture was proposed | |
| by the authors. In the experiments with this controller, the posture | |
| of the bicycle might be stabilized, but it is impossible to run on | |
| the desired trajectory, because there is no consideration with respect | |
| to a trajectory control. For the sake of expanding this system into | |
| more sophisticated equipment, a realization of the trajectory control | |
| for the bicycle is important. From the viewpoint of an assist system | |
| for human motion, a unified control of posture and trajectory brings | |
| a sophisticated function to a bicycle, and a high-performance bicycle | |
| is expected to be a convenient vehicle, similar to a small car. This | |
| paper proposes two strategies to stabilize bicycle posture and trajectory | |
| control that realizes a straight-line tracking: one is a lateral | |
| velocity controller, and the other is a steering function controller. | |
| The validity of the proposed approaches is evaluated by simulations | |
| and experiments.}, | |
| bib = {bibtex-keys#Tanaka2009}, | |
| bibpr = {private-bibtex-keys#Tanaka2009}, | |
| doi = {10.1109/TIE.2008.927406}, | |
| file = {Tanaka2009.pdf:Tanaka2009.pdf:PDF}, | |
| issn = {0278-0046}, | |
| keywords = {bicycles, electric vehicles, motion control, nonlinear control systems, | |
| position control, velocity controlelectric bicycle, human assist | |
| system, lateral velocity controller, posture control, steering function | |
| controller, straight-line tracking, trajectory control}, | |
| webpdf = {references-folder/Tanaka2009.pdf} | |
| } | |
| @INPROCEEDINGS{Tanaka2004, | |
| author = {Tanaka, Y. and Murakami, T.}, | |
| title = {Self sustaining bicycle robot with steering controller}, | |
| booktitle = {The 8th IEEE International Workshop on Advanced Motion Control, 2004. | |
| AMC '04}, | |
| year = {2004}, | |
| pages = { 193-197}, | |
| month = {March}, | |
| abstract = {Bicycle is a transportation device without any environmental burden. | |
| However, bicycle is unstable in itself and it is fall down without | |
| human assistance like steering handle or moving upper body. In these | |
| days, electric power assistance bicycles are used practically, but | |
| all of those bicycles merely assist human with pedal driving and | |
| there are no bicycles that help to stabilize its position. Hence, | |
| stabilizing the posture and realizing stable driving of a bicycle | |
| have been researched. Dynamic model of running bicycle is complicated | |
| and it's hard to recognize completely. However, assuming that the | |
| rider doesn't move upper body, dynamics of bicycle is represented | |
| in equilibrium of gravity and centrifugal force. Centrifugal force | |
| is risen out from the running velocity and turning radius determined | |
| by steering angle. Under these conditions, it is possible to stabilize | |
| bicycle posture by controlling its steering. In this paper, the dynamic | |
| model derived from equilibrium of gravity and centrifugal force is | |
| proposed. Then the control method for bicycle steering based on acceleration | |
| control is proposed. Finally, the validity of this method is proved | |
| by the simulations and experimental results.}, | |
| bib = {bibtex-keys#Tanaka2004}, | |
| bibpr = {private-bibtex-keys#Tanaka2004}, | |
| doi = {10.1109/AMC.2004.1297665}, | |
| file = {Tanaka2004.pdf:Tanaka2004.pdf:PDF}, | |
| issn = { }, | |
| keywords = { acceleration control, electric drives, mobile robots, position control, | |
| stability, vehicle dynamics acceleration control, bicycle dynamics, | |
| bicycle posture, bicycle steering controller, centrifugal force, | |
| electric power assistance bicycles, pedal driving, self sustaining | |
| bicycle robot, transportation device}, | |
| review = {They have a very simplified bicycle model. They make a controller | |
| which feeds back roll angel and roll rate with proportional gains | |
| to create a steer angle. (PD on roll angle). The also add what is | |
| called a "distrubance observer" to diminish the position error between | |
| the desired steer angle and the actual steer angle. I'm not sure | |
| how it works but it seems to only operate on the steer angle produced | |
| from the PD control. They then set up a bicycle robot on some rollers | |
| and measure roll angle and roll rate and implement the controller, | |
| showning that it stablizes the bicycle.}, | |
| webpdf = {references-folder/Tanaka2004.pdf} | |
| } | |
| @INPROCEEDINGS{Tanaka2004a, | |
| author = {Y. Tanaka and T. Murakami}, | |
| title = {The Bicycle Robot Driving on an Optimal Trajectory}, | |
| booktitle = {IEEE Conf. Mechatronics \&Robotics}, | |
| year = {2004}, | |
| pages = {235--240}, | |
| bib = {bibtex-keys#Tanaka2004a}, | |
| bibpr = {private-bibtex-keys#Tanaka2004a}, | |
| timestamp = {2011.12.31} | |
| } | |
| @INPROCEEDINGS{Tanelli2009, | |
| author = {M. Tanelli and M. Corno and P. De Filippi and S. Rossi and S. M. | |
| Savaresi and L. Fabbri}, | |
| title = {Control-oriented steering dynamics analysis in sport motorcycles: | |
| modeling, identification and experiments}, | |
| booktitle = {Proceedings of the 15th IFAC Symposium on System Identification}, | |
| year = {2009}, | |
| address = {Saint-Malo, France}, | |
| month = {July}, | |
| bib = {bibtex-keys#Tanelli2009}, | |
| bibpr = {private-bibtex-keys#Tanelli2009}, | |
| file = {Tanelli2009.pdf:Tanelli2009.pdf:PDF}, | |
| timestamp = {2012.03.01}, | |
| webpdf = {references-folder/Tanelli2009.pdf} | |
| } | |
| @INPROCEEDINGS{Tanelli2006, | |
| author = {Tanelli, Mara and Schiavo, Francesco and Savaresi, Sergio M. and | |
| Ferretti, Gianni}, | |
| title = {Object-oriented multibody motorcycle modelling for control systems | |
| prototyping}, | |
| booktitle = {Proc. IEEE Computer Aided Control System Design IEEE International | |
| Conference on Control Applications IEEE International Symposium on | |
| Intelligent Control}, | |
| year = {2006}, | |
| pages = {2695--2700}, | |
| abstract = {This paper presents a simulation model for the dynamic behavior of | |
| a motorcycle developed in Modelica, within the Dymola environment, | |
| tailored to be employed for test and validation of active control | |
| systems for motorcycle dynamics. Specifically, we illustrate the | |
| modular approach to motorcycle modeling and discuss the tire-road | |
| interaction model, which is the crucial part of the simulator. Moreover, | |
| we propose a virtual driver model which allows to track a predefined | |
| trajectory and keep a target speed during different maneuvers. Finally, | |
| we investigate the problem of active braking control system design | |
| for motorcycles, proposing a braking control logic which can handle | |
| panic brakes on a curve. This analysis assesses the effectiveness | |
| of the proposed model for control systems prototyping.}, | |
| bib = {bibtex-keys#Tanelli2006}, | |
| bibpr = {private-bibtex-keys#Tanelli2006}, | |
| doi = {10.1109/CACSD-CCA-ISIC.2006.4777065}, | |
| file = {Tanelli2006.pdf:Tanelli2006.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {Video game like simulator with a steer torque augmentation controller | |
| for a user's applied joystick steer torque. | |
| Figure 6: The joystick applies commanded step like torques from -5 | |
| nm to 2.5 nm, which the steer torque filter outputs a ranges of -5 | |
| nm to 7.5 nm to stabilize the roll angle in a range of angle up to | |
| 30 degrees.}, | |
| timestamp = {2009.11.18}, | |
| webpdf = {references-folder/Tanelli2006.pdf} | |
| } | |
| @INPROCEEDINGS{Taro2000, | |
| author = {Sekine Taro and Okano Michiharu and Nagae Hiroyasu}, | |
| title = {Analysis of Motorcycle's Behavior in the Pylon Course Slalom. {E}xperimental | |
| Study on the Pylon Course Slalom of Motorcycles}, | |
| booktitle = {JSAE Annual Congress}, | |
| year = {2000}, | |
| volume = {58-00}, | |
| abstract = {The pylon slalom by motorcycle is different from the four-wheeled | |
| vehicle in the driving control; because of a motorcycle doesn't need | |
| only the required steer angle, but also the large roll angle that | |
| is necessary in a cornering. This paper shows above differences by | |
| the experimental study. To sum up the major characteristics of the | |
| motorcycle behaviors, the shape of steer torque isn't the sine curve | |
| when the running path expresses the sine curve and the various displacement | |
| motorcycles occur the maximum steering torque at the same velocity. | |
| The results will be useful to the construction of the rider model.}, | |
| bib = {bibtex-keys#Taro2000}, | |
| bibpr = {private-bibtex-keys#Taro2000}, | |
| owner = {moorepants}, | |
| timestamp = {2010.03.30} | |
| } | |
| @MASTERSTHESIS{Taura2007, | |
| author = {A. Taura}, | |
| title = {Realization of Acrobatic Motions by Bike Robot with Balancer}, | |
| school = {Tokyo Institute of Techinology}, | |
| year = {2007}, | |
| bib = {bibtex-keys#Taura2007}, | |
| bibpr = {private-bibtex-keys#Taura2007}, | |
| timestamp = {2011.12.31} | |
| } | |
| @MANUAL{SymPy2012, | |
| title = {SymPy: Python library for symbolic mathematics}, | |
| author = {SymPy Development Team}, | |
| year = {2012}, | |
| url = {http://www.sympy.org} | |
| } | |
| @INPROCEEDINGS{Teerhuis2010, | |
| author = {Teerhuis, A. P. and Jansen, S. T. H.}, | |
| title = {Motorcycle State Estimation for Lateral Dynamics}, | |
| booktitle = {Bicycle and Motorcycle Dynamics 2010, Symposium on the Dynamics and | |
| Control of Single Track Vehicles}, | |
| year = {2010}, | |
| abstract = {The motorcycle lean (or roll) angle development is one of the main | |
| characteristics of motorcycle lateral dynamics. Control of motorcycle | |
| motions requires an accurate assessment of this quantity and for | |
| safety applications also the risk of sliding needs to be considered. | |
| Direct measurement of the roll angle and tyre slip is not available; | |
| therefore a method of model-based estimation is developed to estimate | |
| the state of a motorcycle. This paper investigates the feasibility | |
| of such a Motorcycle State Estimator (MCSE). A simplified analytic | |
| dynamic model of a motorcycle is developed by comparison to an extended | |
| multi-body model of the motorcycle, designed in Matlab/SimMechanics. | |
| The analytic model is used inside an Extended Kalman Filter (EKF). | |
| Experimental results of an instrumented Yamaha FJR1300 motorcycle | |
| show that the MCSE is a feasible concept for obtaining signals related | |
| to the lateral dynamics of the motorcycle.}, | |
| bib = {bibtex-keys#Teerhuis2010}, | |
| bibpr = {private-bibtex-keys#Teerhuis2010}, | |
| file = {Teerhuis2010.pdf:Teerhuis2010.pdf:PDF}, | |
| review = {They instrument a motorcycle and measure the wheel speeds, steering | |
| angle, steering torque with separate sensors. They use two inertial | |
| measurment units on the main frame to measure the orientations, rates, | |
| and accelerations. The first inertial measurement unit is the OXTS | |
| RT3100 which is an attitude heading reference system that uses the | |
| rate gyro, accelerometer and GPS along with a generic Kalman filter | |
| to provide estimates of the states/outputs. They consider this one | |
| the "reference" system and assume that it gives accurate estimates. | |
| The second is a simpler inertial measurment unit with only rates | |
| and acceleration output. They use the roll rate, yaw rate, and lateral | |
| and longitudnal accelerations along with their custom Kalman filter | |
| to estimate the states of the system. | |
| They measure the motorcycle inertial properties somehow, but don't | |
| tell how or give the numerical values. They measure the tire properties | |
| with some kind of truck that pulls a tire behind it but give no details | |
| or numerical values. He uses MADYMO software to estimate the inertial | |
| parameters of the rider. | |
| They design a complex mutlibody model using Matlab/Simmechanics. This | |
| model includes the magic formula tire model. It has 6 rigid bodies. | |
| The rider is assumed to be fixed to the main frame and rigid. | |
| He integrates his complex motorcycle model with a measured steer torque | |
| input as feedforward (open loop sim). He has "light" PID feedback | |
| controllers on steer torque and velocity to follow measured roll | |
| angle and measured speed, respectively. I'm not sure how his simulations | |
| don't blow up with the feedforward approach. Maybe the steer torque | |
| feedback keeps it in check, although he mentions that his steer torque | |
| feedback does little to nothing. He then compares the outputs of | |
| the model simulation with the measured data from the RT3100 and other | |
| sensors and shows very good agreement for two maneuvers: steady turn | |
| and slalom. | |
| They then develop a simplified motorcycle model with a modified Lagrange | |
| method to be used in their extended Kalman filter design. The description | |
| of the modeling on developing the model is poor and hard to understand. | |
| The aim of this is to design a simple filter based on minimal measurements | |
| that can accurately predict the states. They compare the results | |
| of their filter with the RT3100 output. | |
| Steady state turn shows less than 15 Nm steer torques. Slalom shows | |
| max 20 Nm.}, | |
| timestamp = {2012.01.24}, | |
| webpdf = {references-folder/Teerhuis2010.pdf} | |
| } | |
| @ARTICLE{Tezuka2001, | |
| author = {Yoshitaka Tezuka and Hidefumi Ishii and Satoru Kiyota}, | |
| title = {Application of the magic formula tire model to motorcycle maneuverability | |
| analysis}, | |
| journal = {JSAE Review}, | |
| year = {2001}, | |
| volume = {22}, | |
| pages = {305 - 310}, | |
| number = {3}, | |
| abstract = {The Magic Formula Tire Model, recently utilized in maneuverability | |
| analysis for automobiles, was applied to a motorcycle simulation | |
| model. The correlation between the simulated and measured characteristics | |
| for straight running stability and turning performance was compared | |
| with those of the current Carpet Plotted Tire Model. Further, the | |
| ease of use of the Magic Formula was investigated. The results show | |
| that correlation with actual tire characteristics is high for the | |
| Magic Formula Tire Model and that the changing of tire properties | |
| can be easily accomplished with this model.}, | |
| bib = {bibtex-keys#Tezuka2001}, | |
| bibpr = {private-bibtex-keys#Tezuka2001}, | |
| doi = {DOI: 10.1016/S0389-4304(01)00113-8}, | |
| file = {Tezuka2001.pdf:Tezuka2001.pdf:PDF}, | |
| issn = {0389-4304}, | |
| owner = {moorepants}, | |
| timestamp = {2009.12.10}, | |
| url = {http://www.sciencedirect.com/science/article/B6V3Y-43F9CC2-9/2/d4e208c552f52dc67b5e79fc905cd12a}, | |
| webpdf = {references-folder/Tezuka2001.pdf} | |
| } | |
| @ARTICLE{Thanh2008, | |
| author = {Bui Trung Thanh and Manukid Parnichkun}, | |
| title = {Balancing Control of Bicyrobo by Particle Swarm Optimization-Based | |
| Structure-Specified Mixed $H_2/H_\infty$}, | |
| journal = {International Journal of Advanced Robotic Systems}, | |
| year = {2008}, | |
| volume = {5}, | |
| pages = {187--195}, | |
| number = {4}, | |
| bib = {bibtex-keys#Thanh2008}, | |
| bibpr = {private-bibtex-keys#Thanh2008}, | |
| file = {Thanh2008.pdf:Thanh2008.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {Uses H_2/H_inf controller design with particle swarm optimization | |
| and compares it to PD and and genetic algorithm. The H_2/H_inf generates | |
| high order compensators. The solution of the compensator values is | |
| typically a hard optimization problem to solve. Some people use a | |
| genetic algorithm for the optimization part. He claims these controllers | |
| are typically more robust than their PID and lead/lag counter parts. | |
| He designs the controller and applies it to a bicycle robot which | |
| is stabilized by a flywheel.}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Thanh2008.pdf} | |
| } | |
| @BOOK{Timoshenko1948, | |
| title = {Advanced dynamics}, | |
| publisher = {McGraw-Hill}, | |
| year = {1948}, | |
| author = {Timoshenko, S. and Young, D. H}, | |
| address = {New York}, | |
| bib = {bibtex-keys#Timoshenko1948}, | |
| bibpr = {private-bibtex-keys#Timoshenko1948}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.23} | |
| } | |
| @ARTICLE{Titlestad2006, | |
| author = {J. Titlestad and T. Fairlie-Clarke and A.R. Whittaker and M. Davie | |
| and I. Watt and S. Grant}, | |
| title = {Effect of suspension systems on the physiological and psychological | |
| responses to sub-maximal biking on simulated smooth and bumpy tracks | |
| }, | |
| journal = {Journal of Sports Sciences}, | |
| year = {2006}, | |
| volume = {24}, | |
| pages = {125--135}, | |
| number = {2}, | |
| month = {February}, | |
| bib = {bibtex-keys#Titlestad2006}, | |
| bibpr = {private-bibtex-keys#Titlestad2006}, | |
| file = {Titlestad2006.pdf:Titlestad2006.pdf:PDF}, | |
| publisher = {Taylor and Francis}, | |
| url = {http://eprints.gla.ac.uk/2779/}, | |
| webpdf = {references-folder/Titlestad2006.pdf} | |
| } | |
| @INPROCEEDINGS{Troje2002a, | |
| author = {Nikolaus Troje}, | |
| title = {The little difference: Fourier based synthesis of genderspecific | |
| biological motion}, | |
| booktitle = {Dynamic Perception}, | |
| year = {2002}, | |
| editor = {Rolf P. W\"{u}rtz and Markus Lappe}, | |
| pages = {115--120}, | |
| address = {Berlin}, | |
| publisher = {AKA Press}, | |
| bib = {bibtex-keys#Troje2002a}, | |
| bibpr = {private-bibtex-keys#Troje2002a}, | |
| file = {Troje2002a.pdf:Troje2002a.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Troje2002a.pdf} | |
| } | |
| @ARTICLE{Troje2002, | |
| author = {N. F. Troje}, | |
| title = {Decomposing biological motion: {A} framework for analysis and synthesis | |
| of human gait patterns}, | |
| journal = {Journal of Vision}, | |
| year = {2002}, | |
| volume = {2}, | |
| pages = {371-387}, | |
| number = {5}, | |
| month = {September}, | |
| abstract = {Biological motion contains information about the identity of an agent | |
| as well as about his or her actions, intentions, and emotions. The | |
| human visual system is highly sensitive to biological motion and | |
| capable of extracting socially relevant information from it. Here | |
| we investigate the question of how such information is encoded in | |
| biological motion patterns and how such information can be retrieved. | |
| A framework is developed that transforms biological motion into a | |
| representation allowing for analysis using linear methods from statistics | |
| and pattern recognition. Using gender classification as an example, | |
| simple classifiers are constructed and compared to psychophysical | |
| data from human observers. The analysis reveals that the dynamic | |
| part of the motion contains more information about gender than motion-mediated | |
| structural cues. The proposed framework can be used not only for | |
| analysis of biological motion but also to synthesize new motion patterns. | |
| A simple motion modeler is presented that can be used to visualize | |
| and exaggerate the differences in male and female walking patterns.}, | |
| bib = {bibtex-keys#Troje2002}, | |
| bibpr = {private-bibtex-keys#Troje2002}, | |
| doi = {10.1167/2.5.2}, | |
| file = {Troje2002.pdf:Troje2002.pdf:PDF}, | |
| keywords = {gender classification, recognition, social recognition, animate motion}, | |
| owner = {moorepants}, | |
| timestamp = {2008.11.25}, | |
| url = {http://journalofvision.org/2/5/2/}, | |
| webpdf = {references-folder/Troje2002.pdf} | |
| } | |
| @ARTICLE{Troje2006, | |
| author = {Troje, Nikolaus F. and Sadr, Javid and Geyer, Henning and Nakayama, | |
| Ken}, | |
| title = {Adaptation aftereffects in the perception of gender from biological | |
| motion}, | |
| journal = {Journal of Vision}, | |
| year = {2006}, | |
| volume = {6}, | |
| pages = {850-857}, | |
| number = {8}, | |
| month = {July}, | |
| abstract = {Human visual perception is highly adaptive. While this has been known | |
| and studied for a long time in domains such as color vision, motion | |
| perception, or the processing of spatial frequency, a number of more | |
| recent studies have shown that adaptation and adaptation aftereffects | |
| also occur in high-level visual domains like shape perception and | |
| face recognition. Here, we present data that demonstrate a pronounced | |
| aftereffect in response to adaptation to the perceived gender of | |
| biological motion point-light walkers. A walker that is perceived | |
| to be ambiguous in gender under neutral adaptation appears to be | |
| male after adaptation with an exaggerated female walker and female | |
| after adaptation with an exaggerated male walker. We discuss this | |
| adaptation aftereffect as a tool to characterize and probe the mechanisms | |
| underlying biological motion perception.}, | |
| bib = {bibtex-keys#Troje2006}, | |
| bibpr = {private-bibtex-keys#Troje2006}, | |
| file = {Troje2006.pdf:Troje2006.pdf:PDF}, | |
| keywords = {biological motion, adaptation, aftereffect, sex classification}, | |
| owner = {Jason}, | |
| timestamp = {2009.01.09}, | |
| url = {http://journalofvision.org/6/8/7/}, | |
| webpdf = {references-folder/Troje2006.pdf} | |
| } | |
| @ARTICLE{Troje2005, | |
| author = {Nikolaus F. Troje and Cord Westhoff and Mikhail Lavrov}, | |
| title = {Person identification from biological motion: Effects of structural | |
| and kinematic cues}, | |
| journal = {Perception \& Psychophysics}, | |
| year = {2005}, | |
| volume = {67}, | |
| pages = {667--675}, | |
| number = {4}, | |
| bib = {bibtex-keys#Troje2005}, | |
| bibpr = {private-bibtex-keys#Troje2005}, | |
| file = {Troje2005.pdf:Troje2005.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Troje2005.pdf} | |
| } | |
| @ARTICLE{Tustin1947, | |
| author = {Tustin, A.}, | |
| title = {The Nature of the Operator's Response in Manual Control and Its Implications | |
| for Controller Design}, | |
| journal = {Journal of the Institution of Electrical Engineers - Part IIA: Automatic | |
| Regulators and Servo Mechanisms}, | |
| year = {1947}, | |
| volume = {94}, | |
| pages = {190--206}, | |
| abstract = {This paper gives a brief account of a series of measurements of the | |
| movement of the controller handle and of the error of aim under conditions | |
| simulating the laying of a gun on a moving target by manually-controlled | |
| power operation. The results are analysed with the object of obtaining | |
| the ¿ operator's response, ¿ i.e. the relationship between the | |
| movement made by the operator's hand and the error and its variations | |
| as seen by the eye. It is found that the response relationship is | |
| non-linear, but the relationship may to a useful extent be approximated | |
| by a ¿ nearest linear law, ¿ namely that the speed of handle movement | |
| is dependent upon both the error and the rate of change of error, | |
| subject to a time delay which corresponds to that known to be involved | |
| in nerve transmission. The actual movement is found to differ from | |
| this relationship, both in being intermittent or jerky and also in | |
| being subject to apparently haphazard variations. A project for further | |
| investigation is outlined by which the difficulties in more detailed | |
| analysis may be overcome. On the basis of the results so far obtained | |
| it is shown that an explanation is provided for some of the outstanding | |
| phenomena observed in the laying of guns and in other cases of manual | |
| control of power-driven apparatus, and it is shown that there is | |
| an upper limit to the accuracy of control obtainable. Finally, the | |
| paper shows how the error incurred in tracking a target is fundamentally | |
| related to and depends upon the time delay which occurs between the | |
| stimulus received by the eye and the resulting muscular response, | |
| and gives comparative values for the theoretical limit of accuracy | |
| obtainable with controllers having various types of response characteristics, | |
| as a function of this delay time, for an otherwise ideal operation. | |
| The lines along which an improvement of performance may be sought | |
| are discussed in the light of these limits and the other phenomena | |
| observed.}, | |
| doi = {10.1049/ji-2a.1947.0025}, | |
| timestamp = {2012.08.17} | |
| } | |
| @ARTICLE{Udwadia2002, | |
| author = {F. E. Udwadia and R. E. Kalaba}, | |
| title = {What is the General Form of the Explicit Equations of Motion for | |
| Constrained Mechanical Systems?}, | |
| journal = {Journal of Applied Mechanics}, | |
| year = {2002}, | |
| volume = {69}, | |
| pages = {335-339}, | |
| number = {3}, | |
| bib = {bibtex-keys#Udwadia2002}, | |
| bibpr = {private-bibtex-keys#Udwadia2002}, | |
| doi = {10.1115/1.1459071}, | |
| keywords = {classical mechanics; dynamics; kinematics}, | |
| owner = {moorepants}, | |
| publisher = {ASME}, | |
| timestamp = {2009.11.04}, | |
| url = {http://link.aip.org/link/?AMJ/69/335/1} | |
| } | |
| @TECHREPORT{Unkown1976, | |
| author = {Unkown}, | |
| title = {Motorcycle Handling}, | |
| institution = {NHTSA}, | |
| year = {1976}, | |
| number = {DOT-HS-6-01381}, | |
| month = {July}, | |
| note = {This is the first volume to the Weir study of 1979}, | |
| bib = {bibtex-keys#Unkown1976}, | |
| bibpr = {private-bibtex-keys#Unkown1976}, | |
| timestamp = {2012.02.06} | |
| } | |
| @ARTICLE{Verlinden2012, | |
| author = {Verlinden, O. and Kabeya, P.}, | |
| title = {Presentation and assessment of rideability of a novel single-track | |
| vehicle: the Anaconda}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2012}, | |
| volume = {0}, | |
| pages = {1-21}, | |
| number = {0}, | |
| abstract = { In this paper, a new single-track vehicle, the Anaconda, is presented | |
| and modelled according to a multibody theory. This articulated vehicle | |
| begins with a traditional bicycle, called the head module, followed | |
| by a succession of so-called pedal modules (PMs) equipped with one | |
| rear-steered wheel. Each module is connected to the preceding one | |
| by a spherical joint. To assess its dynamic behaviour, the model | |
| of an Anaconda with two PMs is simulated under the EasyDyn framework, | |
| a multibody library based on the minimal coordinates approach. The | |
| simulation of such a vehicle cannot be performed without the riders’ | |
| action, consisting of the torques applied on the handlebars. The | |
| latter is implemented through controllers designed by optimal control, | |
| from the out-of-plane dynamics of the vehicle going straight ahead | |
| at 20 km/h. First, two optimal controllers are determined separately | |
| for the Head Module alone on one hand and for the Pedal Module alone | |
| on the other hand. They are then implemented on the Anaconda and | |
| it appears that the vehicle is close to instability and that the | |
| handling of the pedal modules is delicate but humanly possible. Finally, | |
| the difficulty in riding the Anaconda is evaluated through the so-called | |
| rideability index, which increases, as expected, with the amount | |
| of PMs, and shows that good psycho-motor skills will be needed to | |
| drive the Anaconda. }, | |
| bib = {bibtex-keys#Verlinden2012}, | |
| bibpr = {private-bibtex-keys#Verlinden2012}, | |
| doi = {10.1080/00423114.2011.609282}, | |
| eprint = {http://www.tandfonline.com/doi/pdf/10.1080/00423114.2011.609282}, | |
| file = {Verlinden2012.pdf:Verlinden2012.pdf:PDF}, | |
| url = {http://www.tandfonline.com/doi/abs/10.1080/00423114.2011.609282}, | |
| webpdf = {references-folder/Verlinden2012.pdf} | |
| } | |
| @ARTICLE{Vinjamuri2010, | |
| author = {Vinjamuri, R. and Mingui Sun and Cheng-Chun Chang and Heung-No Lee | |
| and Sclabassi, R.J. and Zhi-Hong Mao}, | |
| title = {Dimensionality Reduction in Control and Coordination of the Human | |
| Hand}, | |
| journal = {Biomedical Engineering, IEEE Transactions on}, | |
| year = {2010}, | |
| volume = {57}, | |
| pages = {284 -295}, | |
| number = {2}, | |
| month = {February}, | |
| abstract = {The concept of kinematic synergies is proposed to address the dimensionality | |
| reduction problem in control and coordination of the human hand. | |
| This paper develops a method for extracting kinematic synergies from | |
| joint-angular-velocity profiles of hand movements. Decomposition | |
| of a limited set of synergies from numerous movements is a complex | |
| optimization problem. This paper splits the decomposition process | |
| into two stages. The first stage is to extract synergies from rapid | |
| movement tasks using singular value decomposition (SVD). A bank of | |
| template functions is then created from shifted versions of the extracted | |
| synergies. The second stage is to find weights and onset times of | |
| the synergies based on l 1 -minimization, whose solutions provide | |
| sparse representations of hand movements using synergies.}, | |
| bib = {bibtex-keys#Vinjamuri2010}, | |
| bibpr = {private-bibtex-keys#Vinjamuri2010}, | |
| doi = {10.1109/TBME.2009.2032532}, | |
| file = {Vinjamuri2010.pdf:Vinjamuri2010.pdf:PDF}, | |
| issn = {0018-9294}, | |
| keywords = {complex optimization problem;decomposition process;dimensionality | |
| reduction;hand movements;human hand control;human hand coordination;joint-angular-velocity | |
| profiles;kinematic synergy;minimization;singular value decomposition;sparse | |
| representations;template functions;biomechanics;kinematics;minimisation;optimisation;singular | |
| value decomposition;sparse matrices;Algorithms;Biomechanics;Hand;Hand | |
| Joints;Hand Strength;Humans;Models, Biological;Range of Motion, Articular;Signal | |
| Processing, Computer-Assisted;}, | |
| webpdf = {references-folder/Vinjamuri2010.pdf} | |
| } | |
| @INPROCEEDINGS{Vrajitoru2005, | |
| author = {Dana Vrajitoru}, | |
| title = {Multi-agent autonomous pilot for single-track vehicles}, | |
| booktitle = {In Proceedings of the IASTED Conference on Modeling and Simulation}, | |
| year = {2005}, | |
| bib = {bibtex-keys#Vrajitoru2005}, | |
| bibpr = {private-bibtex-keys#Vrajitoru2005}, | |
| file = {Vrajitoru2005.pdf:Vrajitoru2005.pdf:PDF}, | |
| webpdf = {references-folder/Vrajitoru2005.pdf} | |
| } | |
| @INPROCEEDINGS{Vries2010, | |
| author = {E.J.H. de Vries and J.F.A. den Brok}, | |
| title = {Assessing slip of a rolling disc and the implementation of a tyre | |
| model in the benchmark bicycle}, | |
| booktitle = {Proceedings, Bicycle and Motorcycle Dynamics 2010 | |
| Symposium on the Dynamics and Control of Single Track Vehicles,}, | |
| year = {2010}, | |
| month = {October}, | |
| bib = {bibtex-keys#Vries2010}, | |
| bibpr = {private-bibtex-keys#Vries2010}, | |
| file = {Vries2010.pdf:Vries2010.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2011.10.28}, | |
| webpdf = {references-folder/Vries2010.pdf} | |
| } | |
| @MISC{Vroomen, | |
| author = {Hubert Gerard Jean Joseph Amaury Vroomen and Felix Godfried Peter | |
| Peeters and Hendrikus Martinus Wilhelmus Goossens}, | |
| title = {Apparatus and method for determining roll angle of a motorcycle}, | |
| note = {IPC8 Class: AB60Q104FI | |
| USPC Class: 362465 | |
| United States Patent Application 20090222164}, | |
| abstract = {An apparatus for determining roll angle of a motorcycle (1) as when | |
| taking a curve or bend in a road. The apparatus includes a first | |
| gyro sensor (11) that provides a roll rate signal, a second gyro | |
| sensor (12) that provides a yaw rate signal, and a velocity sensor | |
| (36). The apparatus is configured to integrate the roll rate signal | |
| to obtain a first intermediate roll angle value and to determine | |
| a second intermediate roll angle value from the yaw rate and the | |
| vehicle velocity. The apparatus combines the two intermediate roll | |
| angle values into an output value for the roll angle that can be | |
| used by a servo (50) to adjust the orientation of the headlamp so | |
| that the beam pattern remains leveled with the horizon when the motorcycle | |
| (1) rolls when taking a curve.}, | |
| bib = {bibtex-keys#Vroomen}, | |
| bibpr = {private-bibtex-keys#Vroomen}, | |
| owner = {moorepants}, | |
| timestamp = {2010.03.30} | |
| } | |
| @ARTICLE{Waechter2002, | |
| author = {Waechter, M and Riess, F. and Zacharias, N.}, | |
| title = {A multibody model for the simulation of bicycle suspension systems}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {2002}, | |
| volume = {37}, | |
| pages = {3--28}, | |
| number = {1}, | |
| month = {January}, | |
| bib = {bibtex-keys#Waechter2002}, | |
| bibpr = {private-bibtex-keys#Waechter2002}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Wallis2007, | |
| author = {Wallis, G. and Chatziastros, A. and Tresilian, J. and Tomasevic, | |
| N.}, | |
| title = {The role of visual and nonvisual feedback in a vehicle steering task}, | |
| journal = {Journal of Experimental Psychological Human Perception and Performance}, | |
| year = {2007}, | |
| volume = {33}, | |
| pages = {1127--44}, | |
| number = {5}, | |
| month = {October}, | |
| abstract = {This article investigates vehicle steering control, focusing on the | |
| task of lane changing and the role of different sources of sensory | |
| feedback. Participants carried out 2 experiments in a fully instrumented, | |
| motion-based simulator. Despite the high level of realism afforded | |
| by the simulator, participants were unable to complete a lane change | |
| in the absence of visual feedback. When asked to produce the steering | |
| movements required to change lanes and turn a corner, participants | |
| produced remarkably similar behavior in each case, revealing a misconception | |
| of how a lane-change maneuver is normally executed. Finally, participants | |
| were asked to change lanes in a fixed-based simulator, in the presence | |
| of intermittent visual information. Normal steering behavior could | |
| be restored using brief but suitably timed exposure to visual information. | |
| The data suggest that vehicle steering control can be characterized | |
| as a series of unidirectional, open-loop steering movements, each | |
| punctuated by a brief visual update.}, | |
| bib = {bibtex-keys#Wallis2007}, | |
| bibpr = {private-bibtex-keys#Wallis2007}, | |
| file = {Wallis2007.pdf:Wallis2007.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Wallis2007.pdf} | |
| } | |
| @TECHREPORT{Walton2005, | |
| author = {D. Walton and V. K. Dravitzki and B. S. Cleland and J. A. Thomas | |
| and R. Jackett}, | |
| title = {Balancing the needs of cyclists and motorists}, | |
| institution = {Land Transport New Zealand}, | |
| year = {2005}, | |
| number = {273}, | |
| bib = {bibtex-keys#Walton2005}, | |
| bibpr = {private-bibtex-keys#Walton2005}, | |
| file = {Walton2005.pdf:Walton2005.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Walton2005.pdf} | |
| } | |
| @ARTICLE{Wang1997, | |
| author = {Wang, E.L. and Hull, M.L.}, | |
| title = {A dynamic system model of an off-road cyclist}, | |
| journal = {Transactions of the ASME. Journal of Biomechanical Engineering}, | |
| year = {1997}, | |
| volume = {119}, | |
| pages = {248-53}, | |
| number = {3}, | |
| month = {August}, | |
| abstract = {To optimize the performance of off-road bicycle suspension systems, | |
| a dynamic model of the bicycle/rider system would be useful. This | |
| paper takes a major step toward this goal by developing a dynamic | |
| system model of the cyclist. To develop the cyclist model, a series | |
| of four vibrational tests utilizing random inputs was conducted on | |
| seven experienced off-road cyclists. This allowed the transfer functions | |
| for the arms and legs to be determined. To reproduce the essential | |
| features (i.e., resonance peaks) of the experimental transfer functions, | |
| the system model included elements representing the visceral mass | |
| along with the arms and legs. Through simulations, frequency responses | |
| of the system model of the rider in each of the four tests were computed. | |
| Optimal stiffness and damping parameter values for each subject were | |
| determined by minimizing the difference between the experimental | |
| and simulation results. Good agreement between experimental and simulation | |
| results indicates that modeling the rider as a lumped parameter system | |
| with linear springs and dampers is possible.}, | |
| address = {USA}, | |
| affiliation = {Wang, E.L.; Dept. of Mech. Eng., Nevada Univ., Reno, NV, USA.}, | |
| bib = {bibtex-keys#Wang1997}, | |
| bibpr = {private-bibtex-keys#Wang1997}, | |
| identifying-codes = {[A1997-21-8745-013],[0148-0731/97/\$3.00],[0148-0731(199708)119:3L.248:DSMR;1-C]}, | |
| issn = {0148-0731}, | |
| keywords = {Theoretical or Mathematical/ biomechanics; damping; physiological | |
| models; vibrations/ dynamic system model; transfer functions; off-road | |
| bicycle suspension systems; bicycle/rider system; vibrational tests; | |
| random inputs; experienced off-road cyclists; arms; legs; resonance | |
| peaks; visceral mass; frequency responses; optimal stiffness parameter | |
| value; optimal damping parameter values; rider; lumped parameter | |
| system; linear springs/ A8745 Biomechanics, biorheology, biological | |
| fluid dynamics; A8710 General, theoretical, and mathematical biophysics}, | |
| language = {English}, | |
| number-of-references = {25}, | |
| owner = {moorepants}, | |
| publication-type = {J}, | |
| publisher = {ASME}, | |
| timestamp = {2009.12.04}, | |
| type = {Journal Paper}, | |
| unique-id = {INSPEC:5703101} | |
| } | |
| @ARTICLE{Wang1997a, | |
| author = {Eric L. Wang and Maury Hull}, | |
| title = {Minimization of Pedaling Induced Energy Losses in Off-road Bicycle | |
| Rear Suspension Systems}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {1997}, | |
| volume = {28}, | |
| pages = {291--306}, | |
| number = {4}, | |
| abstract = {This paper presents the results of an optimization analysis performed | |
| on off-road bicycles in which the energy loss induced as a result | |
| of pedaling action was minimized. A previously developed computer-based | |
| dynamic system model (Wang and Hull, Vehicle System Dynamics, 25:3, | |
| 1996) was used to evaluate the power dissipated by a single pivot | |
| point rear suspension while pedalling uphill on a smooth surface. | |
| By systematically varying the location of the pivot point, the relationship | |
| between power dissipated and pivot location was determined. The optimal | |
| location was defined as the location which resulted in the least | |
| power dissipated. The simulation results show that the power dissipated | |
| was very dependent on the height above the bottom bracket but not | |
| the fore-aft location of the pivot point. If the pivot point is constrained | |
| to the seat tube, then the optimal pivot point was found to be 11 | |
| cm above the bottom bracket. Compared to a commercially available | |
| design, the optimal pivot point reduced the power dissipated from | |
| 6.9 to 1.2 Watts. Furthermore, the optimal pivot point was found | |
| to be very insensitive to pedaling mechanics, and both the spring | |
| and damping parameter values. The optimal pivot point did, however, | |
| have a linear dependence on the height of the chainline; as the chainline | |
| height increased so too did the optimal pivot point height.}, | |
| bib = {bibtex-keys#Wang1997a}, | |
| bibpr = {private-bibtex-keys#Wang1997a}, | |
| file = {Wang1997a.pdf:Wang1997a.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2010.03.30}, | |
| webpdf = {references-folder/Wang1997a.pdf} | |
| } | |
| @ARTICLE{Wang1987, | |
| author = {J. T. Wang and R. L. Huston}, | |
| title = {Kane's Equations With Undetermined Multipliers---Application to Constrained | |
| Multibody Systems}, | |
| journal = {Journal of Applied Mechanics}, | |
| year = {1987}, | |
| volume = {54}, | |
| pages = {424-429}, | |
| number = {2}, | |
| bib = {bibtex-keys#Wang1987}, | |
| bibpr = {private-bibtex-keys#Wang1987}, | |
| doi = {10.1115/1.3173031}, | |
| owner = {moorepants}, | |
| publisher = {ASME}, | |
| timestamp = {2009.11.04}, | |
| url = {http://link.aip.org/link/?AMJ/54/424/1} | |
| } | |
| @MASTERSTHESIS{Wang2011, | |
| author = {Xinqi Wang}, | |
| title = {Test platform design and control of a bicycle-type two-wheeled autonomous | |
| vehicle}, | |
| school = {University of Ontario Institute Of Technology}, | |
| year = {2011}, | |
| abstract = {Bicycle dynamics and behaviors have been vastly studied through modeling | |
| and | |
| simulation. Due to the complexity, software models are often assumed | |
| subjecting | |
| to di erent nonholonomic constraints in order to simplify the models | |
| and control | |
| algorithms. A real life autonomous bicycle faces perturbances from | |
| the road, wind, | |
| tire deformation, slipping among other external forces. Limitations | |
| of simulations | |
| will not always allow these to apply. All these issues make the autonomous | |
| bicycle | |
| research very challenging. | |
| To study the bicycle control problems a few research results from | |
| the literature | |
| are reviewed. A nonlinear bicycle model was used to conduct control | |
| simulations. | |
| Model based nonlinear controllers were applied to simulate the balance | |
| and path | |
| tracking control. A PID controller is more practical to replace the | |
| non-linear con- | |
| troller for the balance control. Simulation results of the di erent | |
| controllers are | |
| compared in order to decide the proper control strategies on the hardware | |
| platform. | |
| The controller design of the platform complies with practicality based | |
| on the hard- | |
| ware con guration. Two control schemes are implemented on the test | |
| platform; | |
| both are developed with PID algorithms. The rst scheme is a single | |
| PID control | |
| loop in which the controller takes the roll angle feedback and balances | |
| the running | |
| platform by means of steering. If the desired roll angle is zero the | |
| controller will try | |
| to hold the platform at the upright position. If the desired roll | |
| angle is non-zero | |
| the platform will be balanced at an equilibrium roll angle. A xed | |
| roll angle will | |
| lead to a xed steering angle as the result of balance control. The | |
| second scheme | |
| is directional control with balance consisting of two cascaded PID | |
| loops. Steering | |
| is the only means to control balance and direction. To do so the desired | |
| roll an- | |
| gle must be controlled to achieve the desired steering angle. The | |
| platform tilts to | |
| the desired side and steering follows to the same side of the tilt; | |
| the platform can | |
| then be lifted up by the centrifugal force and eventually balanced | |
| at an equilibrium | |
| roll angle. The direction can be controlled using a controlled roll | |
| angle. Many im- | |
| plementation issues have to be dealt with in order for the control | |
| algorithm to be | |
| functional. Dynamic roll angle measurement is implemented with complementary | |
| internal sensors (accelerometer and gyroscope). Directional information | |
| is obtained | |
| through a yaw rate gyroscope which operates on the principle of resonance. | |
| To mon- | |
| itor the speed of the platform, a rotational sensor was formed by | |
| using a hard drive | |
| stepper motor attached to the axis of the vehicle's driving motor. | |
| The optoelec- | |
| tronic circuit plays the vital role to ensure the system functionality | |
| by isolating the | |
| electromagnetic noise from the motors. Finally, in order to collect | |
| runtime data, the | |
| wireless communication is implemented through Bluetooth/RS232 serial | |
| interface. | |
| The data is then plotted and analyzed with Matlab. Controller gains | |
| are tuned | |
| through numerous road tests. | |
| Field test results show that the research has successfully achieved | |
| the goal of | |
| testing the low level control of autonomous bicycle. The developed | |
| algorithms are | |
| able to balance the platform on semi-smooth surfaces}, | |
| bib = {bibtex-keys#Wang2011}, | |
| bibpr = {private-bibtex-keys#Wang2011}, | |
| file = {Wang2011.pdf:Wang2011.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Wang2011.pdf} | |
| } | |
| @ARTICLE{Ward2006, | |
| author = {Ward, L.}, | |
| title = {Gyrobike: {P}reventing Scraped Knees}, | |
| journal = {Popular Mechanics}, | |
| year = {2006}, | |
| month = {November}, | |
| bib = {bibtex-keys#Ward2006}, | |
| bibpr = {private-bibtex-keys#Ward2006}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Warner2011, | |
| author = {Mark Warner and Daniel Corbett}, | |
| title = {The self-stabilising dynamics of bicycles}, | |
| year = {2011}, | |
| note = {arxiv preprint}, | |
| abstract = {We analyse the classical problem of the stability of bicycles when | |
| moving quickly and upright. Developing a lean causes the front wheel | |
| to turn thereby setting the bicycle instantaneously into circular | |
| motion. The centripetal force associated with the lean-dependent | |
| turning circle gives a restoring torque which corrects the lean. | |
| The force also helps self-steer the front wheel, ensuring the bicycle | |
| continues in an essentially straight path. We give the frequency | |
| of lean oscillations about the vertical executed during riding. As | |
| in the literature, we discuss the neglect of gyroscopic effects, | |
| which experiment suggests are negligible.}, | |
| file = {Warner2011.pdf:Warner2011.pdf:PDF}, | |
| timestamp = {2012.05.07}, | |
| url = {http://arxiv.org/abs/1009.5574v1} | |
| } | |
| @INPROCEEDINGS{Watanabe1973, | |
| author = {Watanabe, Y. and K. Yoshida}, | |
| title = {Motorcycle Handling Performance for Obstacle Avoidance}, | |
| booktitle = {Second International Congress on Automotive Safety}, | |
| year = {1973}, | |
| address = {San Francisco}, | |
| month = {July}, | |
| bib = {bibtex-keys#Watanabe1973}, | |
| bibpr = {private-bibtex-keys#Watanabe1973}, | |
| file = {Watanabe1973.pdf:Watanabe1973.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {They measure the motorcycle path, steering torque, steering angle | |
| and roll angle but don't seem to give any detail how. | |
| They compare obstacle avoidance between a low skill and high skill | |
| rider. The high skill rider seems to use high and shorter amplitude | |
| control actions. | |
| They compare a model simulation with experimental data.}, | |
| timestamp = {2009.11.03}, | |
| webpdf = {references-folder/Watanabe1973.pdf} | |
| } | |
| @PHDTHESIS{Watkins2002, | |
| author = {Gregory Kendall Watkins}, | |
| title = {The dynamic stability of a fully faired single track human powered | |
| vehicle}, | |
| school = {University of North Carolina, Charlotte}, | |
| year = {2002}, | |
| bib = {bibtex-keys#Watkins2002}, | |
| bibpr = {private-bibtex-keys#Watkins2002}, | |
| owner = {moorepants}, | |
| timestamp = {2011.10.07} | |
| } | |
| @ARTICLE{Weir1970, | |
| author = {D.H. Weir and D.T. McRuer}, | |
| title = {Dynamics of driver vehicle steering control}, | |
| journal = {Automatica}, | |
| year = {1970}, | |
| volume = {6}, | |
| pages = {87 - 98}, | |
| number = {1}, | |
| abstract = {The view point and principles of guidance and control theory provide | |
| the basis for analyzing the dynamics of driver steering control of | |
| motor vehicles. The resultant driver/vehicle system has as its elements | |
| the vehicle equations of motion, experimentally derived models for | |
| the human operator's dynamic response characteristics, and descriptions | |
| of the roadway environment. A variety of single-loop and multiloop | |
| systems are synthesized and examined to select several good, simple, | |
| and likely alternative configurations: time-advanced lateral deviation, | |
| path angle (or rate) plus inertial lateral deviation, and heading | |
| angle (or rate) plus inertial lateral deviation. These do not included | |
| all the possible multiloop driver/vehicle structures potentially | |
| capable of satisfying guidance and control requirements, but they | |
| do provide good performance in command-following and disturbance | |
| regulation, insensitivity to variations in the driver's dynamic adaptation, | |
| and good predicted subjective opinion from the driver. They are not | |
| inconsistent with perceptual data from recent driver experiments. | |
| The resultant models provide a new framework for devising future | |
| experiments, and can aid the vehicle and highway design process.}, | |
| bib = {bibtex-keys#Weir1970}, | |
| bibpr = {private-bibtex-keys#Weir1970}, | |
| doi = {DOI: 10.1016/0005-1098(70)90077-4}, | |
| file = {Weir1970.pdf:Weir1970.pdf:PDF}, | |
| issn = {0005-1098}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.24}, | |
| url = {http://www.sciencedirect.com/science/article/B6V21-47TFYBH-R/2/2d66a43685765e23112c74eb3bafd148}, | |
| webpdf = {references-folder/Weir1970.pdf} | |
| } | |
| @INPROCEEDINGS{Weir1979, | |
| author = {D.H. Weir and J. W. Zellner}, | |
| title = {Experimental investigation of the transient behavior of motorcycles}, | |
| booktitle = {SAE Technical Paper Series}, | |
| year = {1979}, | |
| note = {SAE Paper 790266}, | |
| abstract = {Analytical and experimental studies of the transient and oscillatory | |
| behavior of motorcycles are reported. Three example vehicles were | |
| used. The effects of adding load, changing operating conditions, | |
| and modifying the vehicle configuration are shown. The phenomenon | |
| known as cornering weave is illustrated and interpreted.}, | |
| bib = {bibtex-keys#Weir1979}, | |
| bibpr = {private-bibtex-keys#Weir1979}, | |
| doi = {10.4271/790266}, | |
| file = {Weir1979.pdf:Weir1979.pdf:PDF}, | |
| webpdf = {references-folder/Weir1979.pdf} | |
| } | |
| @INPROCEEDINGS{Weir1973, | |
| author = {D. H. Weir}, | |
| title = {A Manual Control View of Motorcycle Handling}, | |
| booktitle = {Second International Congress of Automotive Safety}, | |
| year = {1973}, | |
| number = {73018}, | |
| address = {San Francisco}, | |
| month = {July 16-18}, | |
| abstract = {Motorcycle handling dynamics and rider control processes are investigated. | |
| Lateral-directional control by means of upper body lean and steer | |
| torque is analyzed. Rider dynamic response properties, alternative | |
| perceptual cues, and motorcycle equations of motion are summarized. | |
| The motorcycle degrees of freedom included are lateral velocity, | |
| roll angle, heading rate, and front fork steer angle. The resulting | |
| motorcycle motions are characterized by a low frequency capisize | |
| mode, and two high frequency modes involving weaving and front fork | |
| assembly wobble. A number of rider feedback loops (control response | |
| to perceptual cues) are reviewed to determine those which satisfy | |
| both rider-centered and guidance and control requirements. A representative | |
| multiple-loop rider/cycle system control structure is shown, which | |
| serves to quantify rider/cycle response and performance, and provide | |
| a basis for determining the effect on handling performance of changes | |
| in cycle design configuration.}, | |
| bib = {bibtex-keys#Weir1973}, | |
| bibpr = {private-bibtex-keys#Weir1973}, | |
| file = {Weir1973.pdf:Weir1973.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {JKM - Looks at the lateral dynamics of a motorcycle and rider control | |
| actions for keeping the bike upright and following a path at constant | |
| speed. Uses a model similar to Sharp's 1971 model. He uses the linear | |
| upright constant forward speed equations. The model has four degrees | |
| of freedom: lateral velocity, roll angle, heading rate, and steer | |
| angle. The inputs can be: steer angle, steer torque, and rider upper | |
| body lean angle. The model includes neuromuscular delays for the | |
| arm/hand lag and the upper body lag where the later is 3 times the | |
| former. The model has 7 rigid bodies: front wheel, rear wheel, engine | |
| rotor, fork/handlebar, rear frame, rider upper body and rider lower | |
| body. Linearizing decouples the longitudinal (pitch and heave) motions | |
| from the lateral motions. The control model wasn't considered unique, | |
| as it will vary with rider, vehicle and task. Quasi-linear model | |
| of the operator based on the crossover model is used. He neglects | |
| the remnant based on some assumptions (p 255). He set up various | |
| combinations of inputs and outputs for SISO human operator model | |
| to grade the quality of the controllers. Grading was based on stability | |
| margins, bandwidth, low freq properties, the presence of nuisance | |
| modes, etc. Table I (p257) shows these grades. It is only done for | |
| a single speed which is not reported. The steer torque to roll angle | |
| was by far the best. The rider lean to roll angle and to heading | |
| rate were the next best but may require large rider lean angles. | |
| It was interesting to note that steer angle to roll angle was ranked | |
| poor, he even says it has an adverse effect. This should be done | |
| for the bicycle case and various speed regimes and including some | |
| other possible rider inputs. We could grade these using some sort | |
| of control "effort" too. Would be interesting to set up experiments | |
| that only allowed this SISO control and see what the human percieves | |
| as best and what they perform the best with. He then setup a multi-loop | |
| model with steer torque to roll angle as the inner loop. The outer | |
| loops were closed by using rider lean to heading rate and lateral | |
| position deviation. The inner loop stablizes the capsize mode (why | |
| is the best controller used to stabilize the easiest to control instability?) | |
| and equalizes the system. The system uses gain only equalization | |
| and has good performance. He claims the high freq weave and wobble | |
| modes are byond the rider's control ability. Also, that the capsize | |
| mode should be stable without a rider for minimum rider workload. | |
| He mentions speed should be taken into consideration because the | |
| dynamics change. He derives an analytical solution to for the trail | |
| that would make the capsize mode small.\\ | |
| Page 249\\ | |
| - says the capsize mode is low frequency...does this happen because | |
| of the extra DoF's | |
| - says weave and wobble modes are high frequency...weave in our models | |
| isn't typically high freq | |
| Other notes\\ | |
| - ``Note that the high speed `wobble' problem occasionally experienced | |
| may actually reflect a weave mode instability'' (p261) | |
| - Lateral acceleration is a poor sensory feedback because of lag | |
| This is the closest work that I have seen to what we want to do with | |
| the bicycle rider system. We should find all his papers and study | |
| the thesis in detail, using this work as a basis for our own. | |
| DLP - A summary work of his thesis. The modeling details are not included | |
| in this paper, for this (and other things) see his thesis. His model | |
| includes 4 degrees of freedom: lateral velocity, roll angle, heading | |
| rate, front fork steer angle. I'm not clear on what he means by these | |
| 'degrees of freedom' since they are different types of variables | |
| (two are rates, two are angles). He considers three types of rider | |
| input: front fork angle, steer torque, and upper body lean angle. | |
| He then goes on to consider SISO transfer functions from those three | |
| inputs to the outputs roll angle, steer angle, heading angle, lateral | |
| position, heading rate, lateral velocity, and lateral acceleration. | |
| He finds that controlling roll angle with steer torque is the best | |
| choice, with controlling heading rate and roll angle via rider lean | |
| being good alternatives (or to be used in addition to roll angle | |
| control via steer torque), with all the other choices being very | |
| poor. He doesn't examine rider lean torque as a means to control | |
| the bicycle but for the autonomous bicycle, this should be investigated. | |
| For both my experiments and Jason's we need to figure out how to | |
| measure and command torque. In Jason's case, measuring the torqe | |
| applied by the rider, in my case, being able to command a motor torque. | |
| This is the control input I used for my ASME2008 paper where I extended | |
| the benchmark model to include a leaning rider}, | |
| timestamp = {2009.02.19}, | |
| webpdf = {references-folder/Weir1973.pdf} | |
| } | |
| @PHDTHESIS{Weir1972, | |
| author = {Weir, David H.}, | |
| title = {Motorcycle Handling Dynamics and Rider Control and the Effect of | |
| Design Configuration on Response and Performance}, | |
| school = {University of California Los Angeles}, | |
| year = {1972}, | |
| type = {Ph{D} {D}issertation}, | |
| address = {Los Angeles, {CA}}, | |
| bib = {bibtex-keys#Weir1972}, | |
| bibpr = {private-bibtex-keys#Weir1972}, | |
| file = {Weir1972.pdf:Weir1972.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {JKM- This thesis has three four chapters. The first is the intro. | |
| The second describes human operator control models and how they relate | |
| to a motorcycle's dynamics and handling characterisitics. The third | |
| looks a specific motorcycle case, a chopper, and how changing its | |
| design affects the dynamics and handling. The 4th is the conclusion. | |
| There are two appendices: deviration of the linear equations of motion | |
| and the details of the numerical example used in the text. The basic | |
| theme is that you can use the basic crossover model to build a good | |
| multi-loop model that represents the motorcycle/rider system and | |
| use this info to develop design criteria. | |
| Chapter 2: | |
| - He looks at a unique model (i.e. specific motorcycle and human parameters) | |
| not a broad range | |
| - He assumes that you can model the rider control system with the | |
| crossover model and neglect the remnant so you are dealing with a | |
| completely linear operator model | |
| - In general strictly gain equalization is used, but he also talks | |
| about lead and lag equalization | |
| - His primary inputs are rider lean angle and steer torque for the | |
| dynamic model construction | |
| - He includes linear tire dynamics (based on slip angle) which add | |
| two degrees of freedom (later velocity and heading rate) to the whipple-like | |
| model. He adds a rider lean but without adding a new body...so the | |
| MoI's and CoM's don't change with rider lean angle | |
| - The time lag for the rider lean is 3 times the one for steer torque | |
| (basically neuromuscular models) | |
| - He didn't find any reliable data on the neuromuscular system for | |
| the rider torso. | |
| - He uses a motorcycle model that is in good agreement with Sharp's | |
| 1971 model and linearizes about the upright constant speed configuration | |
| - He picks a specfic numerical case to work with the motorcycle traveling | |
| at about 50 mph | |
| - He sets up various SISO system models using the transfer functions | |
| from the motorcycle model and the basic crossover model and evaluates | |
| them on the basis of whether they are good manual control systems | |
| - He finds that using steer angle instead of steer torque as a feedback | |
| cue is bad. Steer angle feedback has very poor gain and phase margins. | |
| The capsize mode is mostly unstable. | |
| - He finds that the rider lean angle control in the SISO systems requires | |
| large lean angles | |
| - he found lateral acceleration feedback to make a poor control system | |
| and says that for this example it would be difficult to ride the | |
| motorcycle with eyes closed. | |
| - He finds that lateral ground contact deviation as feedback is poor | |
| (corresponds to our line tracking experiments) | |
| - The determines that steer torque to roll angle is the best SISO | |
| control system and that rider lean to heading rate and rider lean | |
| to roll angle are the next best systems (this is only for one speed: | |
| 50mph) | |
| - He then models various mutli-loop systems and compares them for | |
| quality | |
| - He finds that the best mult-loop system feeds back roll angle to | |
| control steer torque, heading angle and lateral position to control | |
| rider lean angle, he only uses gain equalization | |
| - He concludes that rider is most needed to stabilize the capsize | |
| mode and that at this speed, weave and wobble can be anaylzed with | |
| open loop methods for a good model. | |
| Chapter 3:\\ | |
| - This chapter goes over how the models are affected by speed variations | |
| and changing the design parameters of the motorcycle (changes it | |
| to a chopper style motorcycle) | |
| - He repeats that the capsize mode is the dominant parameter for roll | |
| control | |
| - He states some design criteria for good handling on page 64: capsize | |
| mode should have small inverse time constant, capsize mode should | |
| be stable open loop, weave and wobble should be well damped and higher | |
| frequencies than rider control, no adverse heading numerators that | |
| reduce gain margin or increase phase lag, the loops should provide | |
| desired crossover freq | |
| - the movement of the frame CoM affects capsize, rake an trail have | |
| mixe effects | |
| - table II charaterizes how various design parameters and speed qualitatively | |
| affect the open loop dynamics | |
| - All he says about speed is that it has an effect and the rider must | |
| adopt, he doesn't look at really low speeds | |
| - He changed the geometry and com's to make a `chopper' bike (didn't | |
| change MoIs) | |
| - He describes trail in detail and how it effects the capsize and | |
| weave modes (more negative trail can help, large positive trail is | |
| bad) | |
| - He develops an analytical expression for trail that makes the capsize | |
| inverse time constant go to zero (an analytical handling quality | |
| type equation), page 87, eq 34 | |
| - Says increasing speed, increasing rake angle (not sure if this is | |
| frame or fork rake angle), and increasing front wheel polar inertia | |
| makes the capsize mode less stable. | |
| Chapter 4:\\ | |
| - These are his conclusions | |
| - Capsize mode dominants the control loop | |
| - Finds the best SISO systems (as said already) but says high rider | |
| lean angles are need for the second two | |
| - Acceleration sensing probably isn't utilized | |
| - The steer torque to roll plus heading angle and lateral position | |
| to rider lean is his preferred multi-loop model | |
| - Develop some handling quality criteria including and analytical | |
| calculation for good trail selection | |
| - Steer angle feedback is bad, don't grip handlebars tightly and try | |
| to set the angle | |
| - Higher speeds require higher steer torque gains | |
| - He was able to design an unusual motorcycle and make it have similar | |
| handling qualities and control charateristics | |
| - Trail is an important parameter | |
| Bibliography: He seemed to have most of the references from before | |
| his time. He was aware of the good work. There are a bunch of manual | |
| control papers we might want to get. | |
| Appendix A: He derives the linear equations of motion of a motorcycle | |
| similar to Sharps1971 model (derivation is supposedly similar to | |
| Sharps) and he claims that the linear model is an adequate description. | |
| He doesn't model the rider's upper body as a rigid body, he only | |
| uses lean angle to exert a gravitaional lean control torque to the | |
| vehicle. This is expalined some on pages 102-103. This tire model | |
| seems to be the basic force proportional to the slip angle. | |
| Overall, this work is highly relevant to what we are doing with the | |
| bicycle. I think following his examples we could do similar anaylses | |
| of the SISO and MIMO systems maybe adding more speeds, more complex | |
| human operator models, looking at more inputs and outputs, etc. | |
| It is funny that he identifies steer torque to be the primary control | |
| input by comparing steer torque to steer angle input, but he only | |
| tries an effective rider lean angle input and doesn't look at an | |
| actual rider lean torque (maybe he didn't have a rider lean torque | |
| model). | |
| DLP - Weir uses a model of the motorcycle with four degrees of freedom. | |
| Two of the degrees of freedom are lean and steer, analogous to the | |
| benchmark model, the other two come from tire slip model which allows | |
| for lateral slip, and uses a lateral tire force model which is linear | |
| in the slip angle and the camber angle of each of the wheels. His | |
| model also includes a rider, but in his formulation this doesn't | |
| add a degree of freedom. The way he seems to do it is to keep the | |
| inertial properties constant even as the rider leans, but to consider | |
| the roll torque applied to the frame due to the gravitational force. | |
| In general terms, his formulation of the equations of motion seems | |
| excessively long, taking the better part of 30 pages and using a | |
| non minimal set of geometric parameters. His model has a total of | |
| 26 inertial and geometric parameters and 4 more for the tire model. | |
| The most useful thing that he does in this paper is to consider a | |
| myriad of possible control strategies, and looking at the transfer | |
| functions from from several different inputs to several different | |
| outputs. In particular he notes what the steady state gain is for | |
| each approach, which provides a useful metric for comparing the effectiveness | |
| of each control input. He finds that rider lean to roll angle as | |
| an inner loop has a gain of 5-10 deg rider lean / degree of roll | |
| angle error, which he correctly states is way too much to be effective | |
| on this particular model. We should analyze how effective it is in | |
| the case of the bicycle parameters we measure, and we probably want | |
| to consider rider lean torque rather than rider lean angle. We will | |
| likely need to do some research on what the describing function for | |
| the rider will be for this input mode, but it seems like an important | |
| control technique that we should analyze. | |
| page 27 -- Wier states that in order to turn right, the rider needs | |
| to lean right. In my hands free yaw rate controller, I found that | |
| this was true initially, but that the steady state rider lean angle | |
| was dependent upon the velocity, so for some speeds the rider would | |
| end up leaning into the turn, while in others, they would be leaning | |
| out of the turn. Seems like this would be parameter dependent behavior. | |
| page 40 -- we should determine for the benchmark parameters what the | |
| rider lean torque per degree of roll angle/heading angle/heading | |
| rate error. This would help identify the effectiveness of the rider | |
| lean control on a bicycle. Also, a more physiologically justified | |
| choice of the mass distribution and hinge axis should be used for | |
| the leaning rider benchmark parameters. | |
| page 43 -- He mentions how pushing down on the handle bar grips corresponds | |
| to rider lean, this made me realize that the cause of the upper body | |
| lean may very well not be coming from a torque at the hips but instead | |
| from forces transmitted from the handlebar, through the arms, and | |
| to the torso. We should ask Ron how we could find what the describing | |
| function for this part of the human body. | |
| page 44 -- The choice of feedback loops is restricted here to ones | |
| that Weir feels are physically occuring when a human rides. We should | |
| compare what an LQR controller gain matrix ends up being and how | |
| similar the resulting transfer functions are. I seem to remember | |
| a fair number of 0 entries in my gain matrix when I did the yaw rate | |
| controller, and it seems like the LQR formulation may have some similarities | |
| with a controller obtained by a hand selected set of sequential loops | |
| closures would be. | |
| page 51 -- Mentions that the heading angle to steer torque has a nonminimum | |
| phase zero and so for this reason, lean angle is a much better way | |
| to control the heading angle since apparently it doesn't have this | |
| issue. | |
| page 54 -- Figure 19 has a commanded roll angle of 0, which doesn't | |
| seem like it is the right thing to do if you are trying to turn. | |
| By doing it this way it seems as though your controller is fighting | |
| itself -- a lateral path deviation error will create a non-zero commanded | |
| heading angle, which will in turn create a non zero rider lean angle | |
| command to the system -- which will induce a non-zero roll angle, | |
| but then the roll angle controller is acting to counteract this by | |
| trying to drive it to zero. Furthermore, from a more physical point | |
| of view, when I am trying to turn my bike, or perform a lane change, | |
| I don't get the sense that I am trying to keep a zero roll angle | |
| during that manuever, so commanding a zero roll angle seems wrong. | |
| page 57 -- He states that figure 19 is 'more satisfying conceptually, | |
| and more convenient analytically,' but doesn't state why. | |
| page 65 -- lots of qualitative words (' helpful', 'beneficial', 'too | |
| much', 'steering feel characteristics') about how changes in parameters | |
| affect the handling qualities. | |
| page 66 -- Table II, 5 eigenvales shown (distinct real), capsize, | |
| weave (complex pair), wobble (complex pair). Presumably caster (real | |
| distinct) mode is not shown, and the other two are zero. | |
| page 81 -- He mentions that the quadratic pair of zeros at 41 rad/sec | |
| are of no consequence, but I am not sure why this is the case exactly.}, | |
| timestamp = {2009.01.31}, | |
| webpdf = {references-folder/Weir1972.pdf} | |
| } | |
| @ARTICLE{Weir1983, | |
| author = {David H. Weir and John W. Zellner}, | |
| title = {The Performance and Handling of a Top Fuel Drag Motorcycle}, | |
| journal = {Society of Automotive Engineers}, | |
| year = {1983}, | |
| month = {February}, | |
| note = {SAE Paper 830157}, | |
| abstract = {The design and development of a top fuel drag motorcycle are reviewed | |
| from the standpoints of performance, stability and handling, and | |
| rider safety. The paper begins with a summary of design requirements | |
| related to longitudinal performance, lateral/directional stability | |
| and control, structural properties, rider factors, organizational | |
| rules, and the fact that drag racing is a spectator sport. A contemporary | |
| top fuel dragster design is used as an example case study. Analytical | |
| results illustrate the effects of aerodynamics, and varying other | |
| design parameters, on performance and stability. A principal result | |
| is that adequate down load must be maintained on the front tire. | |
| The results suggest that safety and good handling need not compromise | |
| ultimate performance, and that the required tradeoffs can be guided | |
| by analysis at the design stage.}, | |
| bib = {bibtex-keys#Weir1983}, | |
| bibpr = {private-bibtex-keys#Weir1983}, | |
| file = {Weir1983.pdf:Weir1983.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2010.09.10}, | |
| webpdf = {references-folder/Weir1983.pdf} | |
| } | |
| @TECHREPORT{Weir1978, | |
| author = {David H. Weir and John W. Zellner}, | |
| title = {Lateral-Directional Motorcycle Dynamics and Rider Control}, | |
| institution = {SAE}, | |
| year = {1978}, | |
| number = {780304}, | |
| bib = {bibtex-keys#Weir1978}, | |
| bibpr = {private-bibtex-keys#Weir1978}, | |
| file = {Weir1978.pdf:Weir1978.pdf:PDF}, | |
| journal = {SAE}, | |
| owner = {moorepants}, | |
| review = {Supposedly they put a brace on the rider to prevent lean, but I haven't | |
| found it yet. Doyle1988 mentions it.}, | |
| timestamp = {2009.09.17}, | |
| webpdf = {references-folder/Weir1978.pdf} | |
| } | |
| @TECHREPORT{Weir1979a, | |
| author = {Weir, David H. and Zellner, John W. and Teper, Gar}, | |
| title = {Motorcycle Handling}, | |
| institution = {U.S. Department of Transportation National Highway Traffic Safety | |
| Administration and Systems Technology, Inc.}, | |
| year = {1979}, | |
| type = {Technical Report}, | |
| number = {Volume II}, | |
| address = {Washington, D.C.}, | |
| month = {May}, | |
| abstract = {Analytical and experimental studies of the handling response and performance | |
| of motorcycles are reported. Five instrumented example vehicles were | |
| used. Steady turn, single lane change, cornering and braking, and | |
| cornering and accelearting tests were accomplished. Test procedures | |
| and measures are presented, together with subjective evaluations. | |
| Oscillatory behavior involving weave and wobble motions was investigated. | |
| The effects of adding load, changing operating conditions, and modifying | |
| vehicle configuration are shown. Braking tests were made with a motorcycle | |
| fitted with a prototype antilock brake system, and the results showed | |
| markedly superior performance on wet (low SN) surfaces. Linear and | |
| nonlinear digital computer simulations of motorcycle response and | |
| performance are described and demonstrated.}, | |
| bib = {bibtex-keys#Weir1979a}, | |
| bibpr = {private-bibtex-keys#Weir1979a}, | |
| owner = {moorepants}, | |
| review = {This is part two of a research study about the precrash safety of | |
| motorcycles. The used 5 types of motorcycles and expert to novice | |
| riders. The expert rider did all the experiments and showed good | |
| repeatability. | |
| He used five different motorcycles (two touring, two street and one | |
| off-road/street) and one fitted with antilock brakes for a braking | |
| study. They used riders with a wide range of ability, although most | |
| of the experiments were done with an expert rider to reduce variability. | |
| The expert rider was trained at giving subjective handling ratings. | |
| pg 11 Wobble mode frequency is fairly independent of speed. The damping | |
| is not and the damping is also a strong function of front frame geometry | |
| and properties. The frequency is well beyond the ability for the | |
| rider to control. | |
| pg 11 "The capsize is fundamental to rider control, ..," | |
| pg 13 Good handling: | |
| - Capsize mode should have a very small inverse time constant for | |
| good low frequency properties and mid freq path damping. | |
| - Ideally the capsize should be open loop stable for minimal rider | |
| work load. | |
| - The weave and wobble modes should be well damped and have high freq | |
| relative to rider control freq. | |
| - Should be no adverse effects which reduce bandwidth and damping | |
| for heading control. | |
| - The effective controlled element for steer torque and rider lean | |
| control should be such that rider control actions of nominal amplitude | |
| provide the desired crossover freq. | |
| pg 44 The small control actions needed to balance the capsize mode | |
| beyond the critical speed do not appreciably distort the measure | |
| vehicle response as compared to open loop tests when the motorcycle | |
| is stable. | |
| pg 44 Below transition speed: steady state steer torque is opposite | |
| the direction of the turn. Maybe one of the earlier notes of this | |
| fact. | |
| Page 45-48 Compares emprical steer torque to roll angle magnitudes | |
| in steady turning to the ones predicted by their model for pretty | |
| good visual matches although he notes they are better for some bikes | |
| than others. The Honda 1200 analtycal results show no critical speed | |
| under 70 mph, but the data shows it for 40 mph. He says it was outside | |
| the scope of the study to adjust the analytical parameters of the | |
| models to better predict the measured data. | |
| He compares the ratios of steady state torque to various kinematic | |
| measurements (roll, steer, yaw) to predictions by the model. (also | |
| compares ratios of kinematic measurements too). He attributes the | |
| variance in the data to the noise in the steer torque and the very | |
| low magnitudes of steer torque. There are plots showing the differences | |
| in these values when adding a fairing, rear load and passenger. The | |
| number of data points are low for these and it is hard to see much | |
| difference. | |
| "Considerable past analytical and experimental evidence indicates | |
| that rider conrol of roll angle via steer torque is the primary inner | |
| loop for motorcycles. | |
| He developed subjective evaluations for handling. | |
| Measured roll angle with a free gyro. The rider was required to uncage | |
| and cage the roll angle gyro at the beginning and end of each run | |
| to minimize drift. Yaw rate with rate gyro. Steer torque with of | |
| the shelf transducer mounted in special design. Steer angle with | |
| rotary potentiometer. Forward velocity with DC tach. Rider lean angle | |
| and rider pitch angle with rotary pot. Lateral position with movie | |
| camera. Lateral accerleration with accelerometer. | |
| Steady turning experiments: lots of plots steer torque to something | |
| ratios for forward speeds and with added loads (passenger) and farings. | |
| Handling difficulty generally increased with speed. Also measure | |
| path deviation to get and idea of how good the task objective was | |
| maintained. | |
| Does a lange change with no hands. The rider is supposed to just use | |
| his body. He notes that after the manuever the motorcycle rolls back | |
| and forth under the rider because the rider lean angle is equal and | |
| opposite the motorcycle roll angle. He says the rider lean alone | |
| is rather ineffective at making the lane change while steer torque | |
| is precise and efficeint. He says (pg 170) that novice riders let | |
| the motorcycle roll underneath them more than the experienced riders. | |
| Weir et al. designed an instrumented motorcycle with a torque sensor. | |
| The range was +/- 70 Nm with 1\% accuracy and >10 Hz dynamic range. | |
| The crosstalk due to the other moments on the steer were removed | |
| with by utilizing two thrust bearings. It included stops to prevent | |
| sensor overload protection and weighed 14 Newtons. They comment that | |
| the handlebars are significantly rigid for their purposes. It was | |
| a modular design set up for multiple motorcycles. They comment on | |
| the range being too large for small amplitude inputs used in steady | |
| turning and straight running and that more sensitivity would be needed | |
| to measure these accurately. Weir used this to measure steer torques | |
| for two motorcycles at various speeds (>10 m/s) for steady turning | |
| and lane change maneuvers. The steady turning produced torques in | |
| the range of -10 to 30 Nm and the lane change produced -20 to 55 | |
| Nm. | |
| Experiments: steady turning, single lane change, cornering and braking, | |
| cornering and accelerating}, | |
| timestamp = {2009.11.30} | |
| } | |
| @ARTICLE{Westhoff2007, | |
| author = {Westhoff, C. and Troje, N. F.}, | |
| title = {Kinematic cues for person identification from biological motion}, | |
| journal = {Perception Psychophysics}, | |
| year = {2007}, | |
| volume = {69}, | |
| pages = {241-53}, | |
| number = {2}, | |
| month = {February}, | |
| abstract = { We examined the role of kinematic information for person identification. | |
| Observers learned to name seven walkers shown as point-light displays | |
| that were normalized by their size, shape, and gait frequency under | |
| a frontal, half-profile, or profile view. In two experiments, we | |
| analyzed the impact of individual harmonics as created by a Fourier | |
| analysis of a walking pattern, as well as the relative importance | |
| of the amplitude and the phase spectra in walkers shown from different | |
| viewpoints. The first harmonic contained most of the individual information, | |
| but performance was also above chance level when only the second | |
| harmonic was available. Normalization of the amplitude of a walking | |
| pattern resulted in a severe deterioration of performance, whereas | |
| the relative phase of the point lights was only used from a frontal | |
| viewpoint. No overall advantage for a single learning viewpoint was | |
| found, and there is considerable generalization to novel testing | |
| viewpoints.}, | |
| bib = {bibtex-keys#Westhoff2007}, | |
| bibpr = {private-bibtex-keys#Westhoff2007}, | |
| file = {Westhoff2007.pdf:Westhoff2007.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.09.18}, | |
| webpdf = {references-folder/Westhoff2007.pdf} | |
| } | |
| @ARTICLE{Whipple1899, | |
| author = {Whipple, Francis J. W.}, | |
| title = {The stability of the motion of a bicycle}, | |
| journal = {Quarterly Journal of Pure and Applied Mathematics}, | |
| year = {1899}, | |
| volume = {30}, | |
| pages = {312--348}, | |
| bib = {bibtex-keys#Whipple1899}, | |
| bibpr = {private-bibtex-keys#Whipple1899}, | |
| file = {Whipple1899.pdf:Whipple1899.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.01.31}, | |
| webpdf = {references-folder/Whipple1899.pdf} | |
| } | |
| @BOOK{Whitt1982, | |
| title = {Bicycling Science}, | |
| publisher = {MIT Press}, | |
| year = {1982}, | |
| editor = {2nd}, | |
| author = {Frank Rowland Whitt and David Gordon Wilson}, | |
| timestamp = {2012.08.07} | |
| } | |
| @BOOK{Wierda1988, | |
| title = {Gangbare kinderfietsen op comfort, manoeuvreerbaarheid en remweg | |
| vergeleken}, | |
| publisher = {Haren: Verkeerskundig Studiecentrum, Rijksuniversiteit Groningen}, | |
| year = {1988}, | |
| author = {M. Wierda and E. Roos}, | |
| bib = {bibtex-keys#Wierda1988}, | |
| bibpr = {private-bibtex-keys#Wierda1988}, | |
| file = {Wierda1988.pdf:Wierda1988.pdf:PDF}, | |
| institution = {Rijksuniversiteit Groningen}, | |
| keywords = {bicycle, experimental, maneuvrability, stability, braking, comfort, | |
| traffic situation}, | |
| owner = {kooijman}, | |
| review = {Experimental study of the (child)controller on a bicycle. | |
| bicycle safety experiments based on trafic situations and carried | |
| out on at the time currently available childerens bicycles. different | |
| bicycles for boys and girls are used. | |
| children between the ages of 8 and 12 were tested on different bicycles | |
| at normal cycling speeds. tests included different types of straight | |
| ahead cycling and braking with and without extra added mass. all | |
| bicycles were fitted with a reverse pedel brake. | |
| First three experiments were carried out inside in a heated hall. | |
| riders had to try to stay in the 40cm wide 17m long straight track. | |
| the experiments were carried out 3 times tests were: | |
| A: riding in a straight line with right hand on steeringwheel and | |
| left hand pointing outwards (to indicate going left) | |
| B: same as A, but also looking rearwards over left shoulder. where | |
| the child had to count the number of fingures that the examiner held | |
| up and shout this out loud. | |
| C. Braking in a straight line. a horn sounded when the cyclist had | |
| his/her feet in the horizontal position. from that moment on they | |
| had to stop as quickly as possible, but with 1 or 2 feet touching | |
| the ground when they had no speed anymore, and on top of this the | |
| feet had to be in the 40cm wide track. (simulate stopping in traffic | |
| between cars). | |
| There are substantial differences between the different bicycle styles | |
| and also between the boys and girls bicycles. some of the boys bicycles | |
| are much less "safe" than the girls. | |
| D: brake test outside: ride 13kph, stop as quickly as possible, no | |
| instructions on the placement of feet. sometimes the bicycle has | |
| been fitted with extra mass to represent school usage. each child | |
| rode 3 different types of bicycle, and carried out the experiment | |
| 3 times with each bicycle. for the bicycles with added weight the | |
| another 9 tests were carried out. all bicycles give similar results | |
| for no extra added weight. There is one bicycle that stops much better | |
| than all the rest: this is a boys bike that is fitted with front | |
| and rear hand brakes (no rear pedel brake). | |
| For the experiments carried out with extra weight (35kg for rider | |
| plus weight for bicycle sizes upto 46cm and 45kg for rider plus weight | |
| for bicycle sizes larger than 46cm). no real conclusions could be | |
| made as a the added weight was to much for the children and they | |
| became far more cautious!}, | |
| timestamp = {2008.04.03}, | |
| webpdf = {references-folder/Wierda1988.pdf} | |
| } | |
| @BOOK{Wierda1989, | |
| title = {Drie typen kinderfietsen op manoeuvreerbaarheid en remweg vergeleken}, | |
| publisher = {Haren}, | |
| year = {1989}, | |
| author = {M. Wierda and J. Wolf}, | |
| bib = {bibtex-keys#Wierda1989}, | |
| bibpr = {private-bibtex-keys#Wierda1989}, | |
| file = {Wierda1989.pdf:Wierda1989.pdf:PDF}, | |
| keywords = {braking, bicycle, maneuvrability, experimental, traffic situation}, | |
| owner = {kooijman}, | |
| review = {3 types of childerens bicycles (for girls standard, MTB and opoe, | |
| for boys: standard, semi-race and mtb) tested in straight ahead riding, | |
| breaking and maneuvring and breaking. | |
| Chapter 1 | |
| introduction | |
| Chapter 2. | |
| discussion of the main charachteristics of the 6 different bicycles | |
| (3 for boys, 3 for girls) and a discussion on the chosen test group. | |
| (group ages range from 9 to 13. | |
| chapter 3. | |
| emperical research to types of bicycles | |
| first the ergonomics of bicycles is investigated and it is concluded | |
| that anthrapometric tables are of no use for kids in this age group | |
| as there is no correlation between body lengths and wieghts etc. | |
| therefore kids should try a number of bicycles and sizes before buying | |
| a bicycle. | |
| 16 boys and 16 girls are used as test persons. | |
| Experiments: experiments were carried out 4 times by each test guinnypig. | |
| a: riding in a straight line, right hand on handlebars, left hand | |
| extended to the left (to indicate going left) and looking over left | |
| shoulder and upon request recount the number of fingers shown by | |
| the experimenter. it is concluded that kids of this age are not very | |
| profficient in safely opperating in traffic in this manner. (they | |
| do not keep to the lane enough) | |
| b: evasive maneuver and emergency stop. the riders ride at normal | |
| cruizing speed in a central lane (40cm wide). when the cyclist has | |
| his feet horzontal, a horn is sounded and a traffic light on one | |
| of either side of the lane is lit. the rider then makes an evasive | |
| maneuver to this lane (also 40cm wide) and stops as quickly as possible | |
| - and places at least 1 foot on the ground (preferebly in the lane). | |
| no significant differences are noted between the different types | |
| of bicycle. | |
| c: outside brake test. riding 13kph the child has to stop in a 50cm | |
| wide lane as quickly as possible. and put at least 1 foot on the | |
| ground (in the lane) main difference between girls and boys appear | |
| to be a much slower reaction time for girls using a revers pedel | |
| brake. double brake bikes stop quicker than singel (rear) brake bikes.}, | |
| timestamp = {2008.04.03}, | |
| webpdf = {references-folder/Wierda1989.pdf} | |
| } | |
| @MISC{WikipediaGyroCar2012, | |
| author = {Wikipedia}, | |
| title = {Gyrocar --- {W}ikipedia{,} The Free Encyclopedia}, | |
| year = {2012}, | |
| note = {[Online; accessed 25-May-2012]}, | |
| timestamp = {2012.05.25}, | |
| url = {http://en.wikipedia.org/wiki/Gyrocar} | |
| } | |
| @MISC{WikipediaGyromonorail2012, | |
| author = {Wikipedia}, | |
| title = {Gyro monrail --- {W}ikipedia{,} The Free Encyclopedia}, | |
| year = {2012}, | |
| note = {[Online; accessed 25-May-2012]}, | |
| timestamp = {2012.05.25}, | |
| url = {http://en.wikipedia.org/wiki/Gyro_monorail} | |
| } | |
| @MISC{WikipediaPIDController2012, | |
| author = {Wikipedia}, | |
| title = {{PID} Controller --- {W}ikipedia{,} The Free Encyclopedia}, | |
| year = {2012}, | |
| note = {[Online; accessed 7-June-2012]}, | |
| url = {http://en.wikipedia.org/wiki/PID_controller} | |
| } | |
| @TECHREPORT{Williams2009, | |
| author = {Blair R. Williams}, | |
| title = {Autonomous Bicycle Roll Angle Control System}, | |
| institution = {Hope College Department of Engineering}, | |
| year = {2009}, | |
| abstract = {The goal of this project was to design an autonomous bicycle roll | |
| angle control system. | |
| By controlling the roll angle of a moving bicycle, stability can be | |
| obtained for autonomous | |
| operation. Such a device can be used as the basis for developing more | |
| advanced types of | |
| automatically-driven two-wheeled robotic vehicles which are important | |
| for military | |
| reconnaissance or space exploration applications. A functional bicycle | |
| stability control system | |
| may also aid in the design of stability-assistive mechanisms in future | |
| human operated two- | |
| wheeled vehicles for safer operation. Additionally, such a device | |
| can be used to explore | |
| research-related questions as pertaining to inverted-pendulum-like | |
| control or made use of | |
| pedagogically for engineering control system classes at Hope College. | |
| Several design requirements were evaluated to develop this bicycle | |
| roll angle control | |
| system. For the control system to function autonomously, all system | |
| components were required | |
| to be mounted onboard the bicycle, including power sources. An accurate | |
| means of measuring | |
| roll angular states was required, as well as an easily reprogrammable | |
| interface for implementing | |
| various control methods. The design also called for a low cost design, | |
| as the project budget was | |
| limited to $800. Safety was also a vitally important factor in determining | |
| the product’s design. | |
| Additionally, little modifications to the original bicycle and low-maintenance | |
| system | |
| components were also desired of the developed device. | |
| To formulate a feasible design for a bicycle roll angle control system, | |
| several concepts | |
| were considered. For programming control methods and acquiring system | |
| data, a laptop- | |
| LabVIEW setup, FIRST Robotics controller, and I/O microprocessor board | |
| were all considered. | |
| To measure the bicycle’s system states, the various conceptual designs | |
| included use of a rear- | |
| wheel cart with an attached potentiometer, an accelerometer and rate | |
| gyro combination, | |
| ultrasonic sensors, a hanging mass with attached optical counter, | |
| and a motion-tracking camera. | |
| As the proposed control system required actuating both the bicycle’s | |
| rear wheel and handle bar | |
| steering angle, various configurations of stepper, DC, and servo motors | |
| were considered for | |
| driving these control system features. The concepts also evaluated | |
| several means of transmitting | |
| torque from these motors. Other unique features considered with the | |
| conceptual designs included | |
| use of an existing electric-powered bike or running the device stationary | |
| on a powered treadmill. | |
| The final roll angle control system design makes use of an onboard | |
| laptop equipped with | |
| LabVIEW for data acquisition and control implementation. A weighted | |
| average of sensor | |
| readings from an accelerometer configured as an inclinometer and the | |
| discrete integration of a | |
| rate gyro is used to obtain roll angle measurements. The developed | |
| prototype utilizes a stepper | |
| motor to actuate the required steering angle and a DC window motor | |
| to drive the bicycle. | |
| Batteries are mounted onboard the bicycle to power all the devices. | |
| Circuits were developed to | |
| configure all the electrical components, and both digital and physical | |
| filtering methods were | |
| applied across the measurement sensors’ output signals. A least-mean-squares | |
| fitting algorithm | |
| was used to identify physical parameters of the bicycle system for | |
| control implementation. The | |
| control system components are all interfaced with a LabVIEW program, | |
| and a control method is | |
| implemented. Thus far, the control system has succeeded in stabilizing | |
| the bicycle for brief runs. | |
| As improved control methods are developed and implemented from root | |
| locus analysis and | |
| model simulations, the finished prototype device is fully equipped | |
| with all of the necessary | |
| hardware specifications for realizing effective roll angle control.}, | |
| bib = {bibtex-keys#Williams2009}, | |
| bibpr = {private-bibtex-keys#Williams2009}, | |
| file = {Williams2009.pdf:Williams2009.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Williams2009.pdf} | |
| } | |
| @TECHREPORT{Wilson1986, | |
| author = {David Gordon Wilson}, | |
| title = {Understanding Pedal Power}, | |
| institution = {Volunteers in Technical Assistance}, | |
| year = {1986}, | |
| abstract = {This paper is one of a series published by Volunteers in Technical | |
| Assistance to provide an introduction to specific state-of-the-art | |
| technologies of interest to people in developing countries. | |
| The papers are intended to be used as guidelines to help | |
| people choose technologies that are suitable to their situations. | |
| They are not intended to provide construction or implementation | |
| details. People are urged to contact VITA or a similar organization | |
| for further information and technical assistance if they | |
| find that a particular technology seems to meet their needs. | |
| The papers in the series were written, reviewed, and illustrated | |
| almost entirely by VITA Volunteer technical experts on a purely | |
| voluntary basis. Some 500 volunteers were involved in the production | |
| of the first 100 titles issued, contributing approximately | |
| 5,000 hours of their time. VITA staff included Betsy Eisendrath | |
| as editor, Suzanne Brooks handling typesetting and layout, and | |
| Margaret Crouch as project manager. | |
| The author of this paper, VITA Volunteer David Gordon Wilson, is | |
| a mechanical engineer at Massachusetts Institute of Technology. | |
| The reviewers are also VITA Volunteers. John Furber is a consultant | |
| in the fields of renewable energy, computers, and business | |
| development. His company, Starlight Energy Technology, is based | |
| in California. Lawrence M. Halls is a retired mechanical engineer | |
| who designed farm machinery for Sperry-New Holland for 23 | |
| years. Lauren Howard is a thinker, inventor, and bicycling advocate. | |
| She lives in Charlottesville, Virginia. | |
| VITA is a private, nonprofit organization that supports people | |
| working on technical problems in developing countries. VITA offers | |
| information and assistance aimed at helping individuals and | |
| groups to select and implement technologies appropriate to their | |
| situations. VITA maintains an international Inquiry Service, a | |
| specialized documentation center, and a computerized roster of | |
| volunteer technical consultants; manages long-term field projects; | |
| and publishes a variety of technical manuals and papers.}, | |
| bib = {bibtex-keys#Wilson1986}, | |
| bibpr = {private-bibtex-keys#Wilson1986}, | |
| file = {Wilson1986.pdf:Wilson1986.pdf:PDF}, | |
| timestamp = {2012.01.09}, | |
| webpdf = {references-folder/Wilson1986.pdf} | |
| } | |
| @BOOK{Wilson2004, | |
| title = {Bicycling Science}, | |
| publisher = {MIT Press}, | |
| year = {2004}, | |
| author = {Wilson, D. G. and Jim Papadopoulos}, | |
| edition = {3rd}, | |
| bib = {bibtex-keys#Wilson2004}, | |
| bibpr = {private-bibtex-keys#Wilson2004}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Wilson1973, | |
| author = {S. S. Wilson}, | |
| title = {Bicycle Technology}, | |
| journal = {Scientific American}, | |
| year = {1973}, | |
| pages = {81--92}, | |
| bib = {bibtex-keys#Wilson1973}, | |
| bibpr = {private-bibtex-keys#Wilson1973}, | |
| file = {Wilson1973.pdf:Wilson1973.pdf:PDF}, | |
| timestamp = {2012.01.04}, | |
| webpdf = {references-folder/Wilson1973.pdf} | |
| } | |
| @INPROCEEDINGS{Wilson-Jones1951, | |
| author = {Wilson-Jones, R. A.}, | |
| title = {Steering and Stability of Single-Track Vehicles}, | |
| booktitle = {Proceedings of the Institute of Mechanical Engineers (Auto Div)}, | |
| year = {1951}, | |
| pages = {191--199}, | |
| note = {Part 4}, | |
| bib = {bibtex-keys#Wilson-Jones1951}, | |
| bibpr = {private-bibtex-keys#Wilson-Jones1951}, | |
| file = {Wilson-Jones1951.pdf:Wilson-Jones1951.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {Supposedly measured handlebar torques. Has a really cool analog style | |
| of measuring steer torque.}, | |
| timestamp = {2009.11.03}, | |
| webpdf = {references-folder/Wilson-Jones1951.pdf} | |
| } | |
| @BOOK{Wingrove1971, | |
| title = {Comparison of methods for identifying pilot describing functions | |
| from closed-loop operating records}, | |
| publisher = {National Aeronautics and Space Administration}, | |
| year = {1971}, | |
| author = {Wingrove, R.C.}, | |
| series = {NASA technical note}, | |
| bib = {bibtex-keys#Wingrove1971}, | |
| bibpr = {private-bibtex-keys#Wingrove1971}, | |
| file = {Wingrove1971.pdf:Wingrove1971.pdf:PDF}, | |
| url = {http://books.google.com/books?id=Nf3MmdHbC8IC}, | |
| webpdf = {references-folder/Wingrove1971.pdf} | |
| } | |
| @ARTICLE{Wingrove1968, | |
| author = {Wingrove, R.C. and Edwards, F.G.}, | |
| title = {Measurement of Pilot Describing Functions from Flight Test Data with | |
| an Example from Gemini X}, | |
| journal = {Man-Machine Systems, IEEE Transactions on}, | |
| year = {1968}, | |
| volume = {9}, | |
| pages = {49 -55}, | |
| number = {3}, | |
| month = {sept. }, | |
| abstract = {It is well known that there is an error in identifying the pilot describing | |
| function from routine flight test records because the pilot's output | |
| noise is correlated with the input error signal. This paper shows | |
| that this identification error can be reduced in the computer processing | |
| by shifting the input signal an amount equivalent to the pilot's | |
| time delay. This technique for reducing the identification error | |
| is analyzed with theory and is demonstrated with the identification | |
| of a simulated pilot model. This technique is also applied to flight | |
| test records obtained from the retrofire phase of the Gemini X mission.}, | |
| bib = {bibtex-keys#Wingrove1968}, | |
| bibpr = {private-bibtex-keys#Wingrove1968}, | |
| doi = {10.1109/TMMS.1968.300037}, | |
| file = {Wingrove1968.pdf:Wingrove1968.pdf:PDF}, | |
| issn = {0536-1540}, | |
| webpdf = {references-folder/Wingrove1968.pdf} | |
| } | |
| @BOOK{Wingrove1969, | |
| title = {A technique for identifying pilot describing functions from routine | |
| flight-test records}, | |
| publisher = {National Aeronautics and Space Administration}, | |
| year = {1969}, | |
| author = {Wingrove, R.C. and Edwards, F.G. and Ames Research Center}, | |
| series = {NASA technical note}, | |
| bib = {bibtex-keys#Wingrove1969}, | |
| bibpr = {private-bibtex-keys#Wingrove1969}, | |
| url = {http://books.google.com/books?id=7orOCGxqE1AC} | |
| } | |
| @ARTICLE{Winkler1983, | |
| author = {Christopher B. Winkler and Michael R. Hagan}, | |
| title = {A New Facility for Testing Motorcycle Tires}, | |
| journal = {Society of Automotive Engineers}, | |
| year = {1983}, | |
| month = {February}, | |
| note = {SAE Paper 830154}, | |
| abstract = {Analysis of the dynamic modes of the single-track vehicle has been | |
| hampered by the general lack of facilities for gathering force and | |
| moment data on motorcycle tires under dynamic test conditions. The | |
| facility described was designed and constructed by UMTRI under the | |
| sponsorship of the HONDA Research and Development Company in order | |
| to alleviate this problem. Unlike conventional tire dynamometers, | |
| this new facility allows for testing under dynamic conditions and | |
| provides for non-zero path curvature. These particular capabilities | |
| hold promise for advancement in the state-of-the-art understanding | |
| of the dynamic operating modes of the single-track, pneumatic-tired | |
| vehicle.}, | |
| bib = {bibtex-keys#Winkler1983}, | |
| bibpr = {private-bibtex-keys#Winkler1983}, | |
| file = {Winkler1983.pdf:Winkler1983.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2010.09.10}, | |
| webpdf = {references-folder/Winkler1983.pdf} | |
| } | |
| @ARTICLE{Winter1995, | |
| author = {D. A. Winter}, | |
| title = {Human balance and posture control during standing and walking}, | |
| journal = {Gait \& Posture}, | |
| year = {1995}, | |
| volume = {3}, | |
| pages = {193--214}, | |
| month = {December}, | |
| bib = {bibtex-keys#Winter1995}, | |
| bibpr = {private-bibtex-keys#Winter1995}, | |
| file = {Winter1995.pdf:Winter1995.pdf:PDF}, | |
| timestamp = {2011.12.16}, | |
| webpdf = {references-folder/Winter1995.pdf} | |
| } | |
| @BOOK{Wittenburg1977, | |
| title = {Dynamics of Systems of Rigid Bodies}, | |
| publisher = {B.G. Teubner Stuttgart}, | |
| year = {1977}, | |
| author = {Wittenburg, Jens}, | |
| pages = {224}, | |
| bib = {bibtex-keys#Wittenburg1977}, | |
| bibpr = {private-bibtex-keys#Wittenburg1977}, | |
| owner = {luke}, | |
| timestamp = {2009.10.09} | |
| } | |
| @ARTICLE{Wolchok1998, | |
| author = {Jeffrey C. Wolchok and M. L. Hull and Stephen M. Howell}, | |
| title = {The effect of intersegmental knee moments on patellofemoral contact | |
| mechanics in cycling}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1998}, | |
| volume = {31}, | |
| pages = {677 - 683}, | |
| number = {8}, | |
| abstract = {The aim of this study was to evaluate the effect of bicycle pedal | |
| design on the mechanics of the patellofemoral joint. Previous research | |
| determined that for certain riders the non-driving varus and internal | |
| knee moments could be reduced by switching from fixed to free floating | |
| pedals (Ruby and Hull, 1993). It was postulated that the presence | |
| of varus and internal knee moments during fixed pedal cycling may | |
| adversely affect patellofemoral joint contact mechanics which could | |
| lead to the development of anterior knee pain. To investigate the | |
| effect of pedal design the hypothesis that varus and internal intersegmental | |
| knee moments significantly increase patellofemoral contact pressure, | |
| contact area and contact force was tested. To test this hypothesis | |
| cycling loads were simulated in vitro using a six-degree-of-freedom | |
| load application system (LAS). Using the LAS, varus moments ranging | |
| from 0-20Â Nm and internal knee moments ranging from 0-10Â Nm were | |
| applied simultaneously with quadriceps force at knee flexion angles | |
| of 60 and 90 degrees. Patellofemoral contact patterns were measured | |
| using pressure sensitive film. An applied 10Â Nm internal moment | |
| significantly increased both contact area by 16\% and contact force | |
| by 22\% at 90° of flexion. The application of a 20 Nm varus moment | |
| modestly yet significantly increased contact area by 6\% and contact | |
| force by 5\%. When applied in combination, varus and internal knee | |
| moments increased contact area and force by as much as 29\% and 28\% | |
| respectively. The mean contact pressure was not significantly increased | |
| by either of the two moments. The results suggest that non-driving | |
| intersegmental knee moments subject the patellofemoral joint to loads | |
| and contact patterns which may accelerate the development of chondromalacia.}, | |
| bib = {bibtex-keys#Wolchok1998}, | |
| bibpr = {private-bibtex-keys#Wolchok1998}, | |
| doi = {DOI: 10.1016/S0021-9290(98)00075-X}, | |
| file = {Wolchok1998.pdf:Wolchok1998.pdf:PDF}, | |
| issn = {0021-9290}, | |
| keywords = {Cycling}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-3VN1VM5-1/2/ad16c686854a5257aab7f5aa91b04f9b}, | |
| webpdf = {references-folder/Wolchok1998.pdf} | |
| } | |
| @INPROCEEDINGS{Wu1991, | |
| author = {Wu, H. and Najafi, S. M. and Hagglund, R. R.}, | |
| title = {Effect of a luggage carrier and weight distribution on motorcycle | |
| stability}, | |
| booktitle = {American Society of Mechanical Engineers, Design Engineering Division | |
| (Publication) DE}, | |
| year = {1991}, | |
| volume = {40}, | |
| address = {Atlanta, GA, USA}, | |
| organization = {ASME}, | |
| bib = {bibtex-keys#Wu1991}, | |
| bibpr = {private-bibtex-keys#Wu1991}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Wu1996a, | |
| author = {J.C. Wu and T.S. Liu}, | |
| title = {Fuzzy Control Stabilization with Applications to Motorcycle Control}, | |
| journal = {IEEE Trans. Syst., Man, Cybern.}, | |
| year = {1996}, | |
| volume = {26}, | |
| pages = {836-847}, | |
| number = {6}, | |
| bib = {bibtex-keys#Wu1996a}, | |
| bibpr = {private-bibtex-keys#Wu1996a}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30} | |
| } | |
| @ARTICLE{Wu1996, | |
| author = {Wu, J. C. and Liu, T. S.}, | |
| title = {A sliding-mode approach to fuzzy control design}, | |
| journal = {IEEE Transactions on Control Systems Technology}, | |
| year = {1996}, | |
| volume = {4}, | |
| pages = {141--151}, | |
| number = {2}, | |
| bib = {bibtex-keys#Wu1996}, | |
| bibpr = {private-bibtex-keys#Wu1996}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Wu1996b, | |
| author = {Wu, J. C. and Liu, T. S.}, | |
| title = {Stabilization control for rider-motorcycle model in {H}amiltonian | |
| form}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {1996}, | |
| volume = {26}, | |
| pages = {431--448}, | |
| number = {6}, | |
| month = {December}, | |
| bib = {bibtex-keys#Wu1996b}, | |
| bibpr = {private-bibtex-keys#Wu1996b}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Wu1996c, | |
| author = {Wu, J. C. and Liu, T. S.}, | |
| title = {Stabilization control of non-holonomic systems with application to | |
| rider-motorcycle systems}, | |
| journal = {International Journal of Systems Science}, | |
| year = {1996}, | |
| volume = {27}, | |
| pages = {1165--1175}, | |
| number = {11}, | |
| bib = {bibtex-keys#Wu1996c}, | |
| bibpr = {private-bibtex-keys#Wu1996c}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Wu1995, | |
| author = {Wu, J. C. and Liu, T. S.}, | |
| title = {Fuzzy control of rider-motorcycle system using genetic algorithm | |
| and auto-tuning}, | |
| journal = {Mechatronics}, | |
| year = {1995}, | |
| volume = {5}, | |
| pages = {441--455}, | |
| number = {4}, | |
| month = {June}, | |
| bib = {bibtex-keys#Wu1995}, | |
| bibpr = {private-bibtex-keys#Wu1995}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Wu1994, | |
| author = {Wu, J. C. and Liu, T. S.}, | |
| title = {Fuzzy model of rider control for a motorcycle undergoing lane change}, | |
| journal = {International Journal of Vehicle Design}, | |
| year = {1994}, | |
| volume = {15}, | |
| pages = {27--44}, | |
| number = {1--2}, | |
| bib = {bibtex-keys#Wu1994}, | |
| bibpr = {private-bibtex-keys#Wu1994}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @MISC{Yamaguchi2011, | |
| author = {Yamaguchi}, | |
| title = {Biped robot riding a bicycle}, | |
| howpublished = {World Wide Web}, | |
| month = {November}, | |
| year = {2011}, | |
| note = {http://ai2001.ifdef.jp/}, | |
| timestamp = {2012.08.08}, | |
| url = {http://ai2001.ifdef.jp/} | |
| } | |
| @INPROCEEDINGS{Yamaguchi2007, | |
| author = {Yamaguchi, T. and Shibata, T. and Murakami, T.}, | |
| title = {Self-Sustaining Approach of Electric Bicycle by Acceleration Control | |
| Based Backstepping}, | |
| booktitle = {Industrial Electronics Society, 2007. IECON 2007. 33rd Annual Conference | |
| of the IEEE}, | |
| year = {2007}, | |
| pages = {2610--2614}, | |
| month = {November}, | |
| abstract = {Bicycle is high efficiency vehicle and suitable for an improvement | |
| of environmental problems from society's perspective. In the practical | |
| use, however, it has some demerits. For example it is not always | |
| stable. Therefore the motion stabilization is required for widespread | |
| applications. This paper focuses on the instability of bicycle running. | |
| In particular, a self-sustaining control strategy of electric bicycle | |
| motion using acceleration control based on backstepping is proposed. | |
| The proposed method makes it possible to improve running stability | |
| in low-speed range. The validity of the proposed algorithm is confirmed | |
| by numerical and experimental results.}, | |
| bib = {bibtex-keys#Yamaguchi2007}, | |
| bibpr = {private-bibtex-keys#Yamaguchi2007}, | |
| doi = {10.1109/IECON.2007.4460089}, | |
| file = {Yamaguchi2007.pdf:Yamaguchi2007.pdf:PDF}, | |
| issn = {1553-572X}, | |
| keywords = {acceleration control;backstepping;electric bicycle;motion stabilization;self-sustaining | |
| control strategy;acceleration control;bicycles;self-adjusting systems;}, | |
| webpdf = {references-folder/Yamaguchi2007.pdf} | |
| } | |
| @INPROCEEDINGS{Yamakita2005, | |
| author = {Yamakita, Masaki and Utano, Atsuo}, | |
| title = {Automatic control of bicycles with a balancer, Paper 1511181}, | |
| booktitle = {International Conference on Advanced Intelligent Mechatronics}, | |
| year = {2005}, | |
| pages = {1245-1250}, | |
| address = {Monterey, {CA}}, | |
| month = {July}, | |
| organization = {IEEE/ASME}, | |
| abstract = {In this paper, trajectory tracking and balancing control for autonomous | |
| bicycles with a balancer are discussed. In the proposed control method, | |
| an input-output linearization is applied for trajectory tracking | |
| control and a nonlinear stabilizing control is used for the balancing | |
| control. The control methods are designed independently first and | |
| their interference is compensated for later. The stability of the | |
| bicycles is ensured with the method even when the desired speed is | |
| zero. The effectiveness of the proposed method is shown by several | |
| numerical simulations using a detail model of a bicycle}, | |
| bib = {bibtex-keys#Yamakita2005}, | |
| bibpr = {private-bibtex-keys#Yamakita2005}, | |
| doi = {10.1109/AIM.2005.1511181}, | |
| file = {Yamakita2005.pdf:Yamakita2005.pdf:PDF}, | |
| keywords = {bicycles, control system synthesis, nonlinear control systems, position | |
| control, remotely operated vehicles, stabilityautomatic control, | |
| autonomous bicycles, balancing control, input-output linearization, | |
| trajectory tracking control}, | |
| owner = {moorepants}, | |
| review = {He opens it up with his broader implications saying bicycles are narrow | |
| and great for rescue operations and riding in the forest :) Shows | |
| that the bicycle can be controlled even at zero speed. Trajectory | |
| tracking control and nonlinear roll stabilization. The apply control | |
| torques to the steering, leaning "rider", and rear wheel. I'm not | |
| sure if they really get complete Whipple like equations but they | |
| seem to include the relavent degrees of freedom and the nonholonomic | |
| constraints. They show a simulation and animation screenshot of the | |
| stablization of the bicycle in jump.}, | |
| timestamp = {2009.01.31}, | |
| webpdf = {references-folder/Yamakita2005.pdf} | |
| } | |
| @INPROCEEDINGS{Yamakita2006, | |
| author = {Yamakita, M. and Utano, A. and Sekiguchi, K.}, | |
| title = {Experimental Study of Automatic Control of Bicycle with Balancer}, | |
| booktitle = {Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference | |
| on}, | |
| year = {2006}, | |
| pages = {5606-5611}, | |
| month = {October}, | |
| abstract = {In this paper, trajectory tracking and balancing control for autonomous | |
| bicycles with a balancer are discussed. In the proposed control method, | |
| an input-output linearization is applied for trajectory tracking | |
| control and a nonlinear stabilizing control is used for the balancing | |
| control. Even though control methods are designed independently, | |
| it is shown by several numerical simulations and experiments using | |
| a detail model and a real electric motor bike that the stability | |
| of the bicycles is ensured with the method even when the desired | |
| speed is zero and trajectory tracking to desired ones are achieved}, | |
| bib = {bibtex-keys#Yamakita2006}, | |
| bibpr = {private-bibtex-keys#Yamakita2006}, | |
| doi = {10.1109/IROS.2006.282281}, | |
| file = {Yamakita2006.pdf:Yamakita2006.pdf:PDF}, | |
| keywords = {bicycles, electric vehicles, mobile robots, nonlinear control systems, | |
| position control, stabilityautomatic bicycle control, autonomous | |
| bicycles, balancing control, electric motor bike, input-output linearization, | |
| nonlinear stabilizing control, trajectory tracking control}, | |
| review = {They show the same controller as Yamakita2005 but add some H infinity | |
| stuff. They show some plots at the end that are of a self balancing | |
| moped where they only implement their roll stabilization alogorithm.}, | |
| webpdf = {references-folder/Yamakita2006.pdf} | |
| } | |
| @INPROCEEDINGS{Yang2011, | |
| author = {Ji-Hyuk Yang and Sang-Yong Lee and Seuk-Yun Kim and Young-Sam Lee | |
| and Oh-Kyu Kwon}, | |
| title = {Linear controller design for circular motion of unmanned bicycle}, | |
| booktitle = {Control, Automation and Systems (ICCAS), 2011 11th International | |
| Conference on}, | |
| year = {2011}, | |
| pages = {893 -897}, | |
| month = {oct.}, | |
| abstract = {This paper deals with a dynamic modeling and linear control problem | |
| for the circular motion of an unmanned bicycle. It is well known | |
| that the bicycle control problem is quite complicated and challenging | |
| due to its nonlinearities, unstability and nonminimum phase steering | |
| behavior. In order to design a linear controller for the bicycle | |
| circular motion, a linear bicycle model of circular motion is derived | |
| from fully nonlinear differential equations. The first step is to | |
| find an equilibrium roll angle and steering angle given the under | |
| turning radius and an angular speed of rear wheel relative to a rear | |
| frame. Then at the second step, roll and steering control inputs | |
| which maintain equilibrium are calculated. Finally the linearized | |
| equations of the circular motion are derived from Lagrange's equations. | |
| Some simulation results on the LQ linear control for the circular | |
| motion are demonstrated to show the validity of the proposed approach.}, | |
| file = {Yang2011.pdf:Yang2011.pdf:PDF}, | |
| issn = {2093-7121}, | |
| keywords = {LQ linear control;angular speed;bicycle circular motion;bicycle control | |
| problem;dynamic modeling;equilibrium roll angle;linear bicycle model;linear | |
| control problem;linear controller design;nonlinear differential equations;phase | |
| steering behavior;rear frame;rear wheel;steering angle;turning radius;unmanned | |
| bicycle;bicycles;linear quadratic control;motion control;remotely | |
| operated vehicles;} | |
| } | |
| @ARTICLE{Yavin1998, | |
| author = {Y. Yavin}, | |
| title = {Navigation and control of the motion of a riderless bicycle}, | |
| journal = {Computer Methods in Applied Mechanics and Engineering}, | |
| year = {1998}, | |
| volume = {160}, | |
| pages = {193--202}, | |
| bib = {bibtex-keys#Yavin1998}, | |
| bibpr = {private-bibtex-keys#Yavin1998}, | |
| file = {Yavin1998.pdf:Yavin1998.pdf:PDF}, | |
| review = {Bases his bicycle model off of Neumarka and Fuafev and then Getz. | |
| No trail, vertical head tube. | |
| He shows that the system is controllable. | |
| He develops some kind of controller for the nonlinear model, but I | |
| don't get it.}, | |
| timestamp = {2012.01.01}, | |
| webpdf = {references-folder/Yavin1998.pdf} | |
| } | |
| @ARTICLE{Yavin1997, | |
| author = {Yavin, Y.}, | |
| title = {Navigation and Control of the Motion of a Riderless Bicycle by Using | |
| a Simplified Dynamic Model}, | |
| journal = {Mathematical and Computer Modeling}, | |
| year = {1997}, | |
| volume = {25}, | |
| pages = {67--74}, | |
| bib = {bibtex-keys#Yavin1997}, | |
| bibpr = {private-bibtex-keys#Yavin1997}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Yeadon1990, | |
| author = {M. R. Yeadon}, | |
| title = {The simulation of aerial movement--I. The determination of orientation | |
| angles from film data}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1990}, | |
| volume = {23}, | |
| pages = {59 - 66}, | |
| number = {1}, | |
| abstract = {Quantitative mechanical analyses of human movement require the time | |
| histories of the angles which specify body configuration and orientation. | |
| When these angles are obtained from a filmed performance they may | |
| be used to evaluate the accuracy of a simulation model. This paper | |
| presents a method of determining orientation angles and their rates | |
| of change from film data. The stages used comprise the synchronization | |
| of data obtained from two camera views, the determination of three-dimensional | |
| coordinates of joint centres, the calculation of an angle from a | |
| sequence of sine and cosine values and the curve fitting of angles | |
| using quintic splines. For each state, other possible approaches | |
| are discussed. Original procedures are presented for obtaining individual | |
| error estimates of both the film data and the calculated angles to | |
| permit the automatic fitting of quintic splines for interpolation | |
| and differentiation and for deriving the time history of an angle | |
| as a continuous function from a sequence of sine and cosine values. | |
| The method is applied to a forward somersault with twists and the | |
| average error estimate of 17 orientation angles is obtained as 2.1 | |
| degrees.}, | |
| bib = {bibtex-keys#Yeadon1990}, | |
| bibpr = {private-bibtex-keys#Yeadon1990}, | |
| doi = {DOI: 10.1016/0021-9290(90)90369-E}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4C0CT7F-7C/2/eec3f6f17db4bb2c66ae5b6711e91b5a} | |
| } | |
| @ARTICLE{Yeadon1990a, | |
| author = {Yeadon, M. R.}, | |
| title = {The Simulation of Aerial Movement-II. {A} Mathematical Inertia Model | |
| of the Human Body}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1990}, | |
| volume = {23}, | |
| pages = {67-74}, | |
| abstract = {A mathematical inertia model which permits the determination of personalized | |
| segmental inertia parameter values from anthropometric measurements | |
| is described. The human body is modelled using 40 geometric solids | |
| which are specitkd by 95 anthropometric measurements. A Âstadium | |
| solid is introduced for modelling the torso segments using perimeter | |
| and width measurements. This procedure is more accurate than the | |
| use of elliptical dixs of given width and depth and permits a smaller | |
| number of such solids to be used. Inertia parameter values may be | |
| obtained for body models of up to 20 segments. Errors in total body | |
| mass estimates from this and other models are discussed with reference | |
| to the unknown lung volumes.}, | |
| bib = {bibtex-keys#Yeadon1990a}, | |
| bibpr = {private-bibtex-keys#Yeadon1990a}, | |
| file = {Yeadon1990a.pdf:Yeadon1990a.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2008.10.21}, | |
| webpdf = {references-folder/Yeadon1990a.pdf} | |
| } | |
| @ARTICLE{Yeadon1990b, | |
| author = {M. R. Yeadon}, | |
| title = {The simulation of aerial movement--III. The determination of the | |
| angular momentum of the human body}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1990}, | |
| volume = {23}, | |
| pages = {75 - 83}, | |
| number = {1}, | |
| abstract = {A method is presented for determining the angular momentum of the | |
| human body about its mass centre for general three-dimensional movements. | |
| The body is modelled as an 11 segment link system with 17 rotational | |
| degrees of freedom and the angular momentum of the body is derived | |
| as a sum of 12 terms, each of which is a vector function of just | |
| one angular velocity. This partitioning of the angular momentum vector | |
| gives the contribution due to the relative segmental movement at | |
| each joint rather than the usual contribution of each segment. A | |
| method of normalizing the angular momentum is introduced to enable | |
| the comparison of rotational movements which have different flight | |
| times and are performed by athletes with differing inertia parameters. | |
| Angular momentum estimates were calculated during the flight phases | |
| of nine twisting somersaults performed on trampoline. Errors in film | |
| digitization made large contributions to the angular momentum error | |
| estimates. For individual angular momentum estimates the relative | |
| error is estimated to be about 10\% whereas for mean angular momentum | |
| estimates the relative error is estimated to be about 1\%.}, | |
| bib = {bibtex-keys#Yeadon1990b}, | |
| bibpr = {private-bibtex-keys#Yeadon1990b}, | |
| doi = {DOI: 10.1016/0021-9290(90)90371-9}, | |
| file = {Yeadon1990b.pdf:Yeadon1990b.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4C0CT7F-7F/2/c20b7cdd690bf293714f3f86bbf74b88}, | |
| webpdf = {references-folder/Yeadon1990b.pdf} | |
| } | |
| @ARTICLE{Yeadon1990c, | |
| author = {M. R. Yeadon and J. Atha and F. D. Hales}, | |
| title = {The simulation of aerial movement--IV. A computer simulation model}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1990}, | |
| volume = {23}, | |
| pages = {85 - 89}, | |
| number = {1}, | |
| abstract = {A computer simulation model of human airborne movement is described. | |
| The body is modelled as 11 rigid linked segments with 17 degrees | |
| of freedom which are chosen with a view to modelling twisting somersaults. | |
| The accuracy of the model is evaluated by comparing the simulation | |
| values of the angles describing somersault, tilt and twist with the | |
| corresponding values obtained from film data of nine twisting somersaults. | |
| The maximum deviations between simulation and film are found to be | |
| 0.04 revolutions for somersault, seven degrees for tilt and 0.12 | |
| revolutions for twist. It is shown that anthropometric measurement | |
| errors, from which segmental inertia parameters are calculated, have | |
| a small effect on a simulation, whereas film digitization errors | |
| can account for a substantial part of the deviation between simulation | |
| and film values.}, | |
| bib = {bibtex-keys#Yeadon1990c}, | |
| bibpr = {private-bibtex-keys#Yeadon1990c}, | |
| doi = {DOI: 10.1016/0021-9290(90)90372-A}, | |
| file = {Yeadon1990c.pdf:Yeadon1990c.pdf:PDF}, | |
| issn = {0021-9290}, | |
| url = {http://www.sciencedirect.com/science/article/B6T82-4C0CT7F-7G/2/a14fa236ea28e727ea1407fefa2e65ae}, | |
| webpdf = {references-folder/Yeadon1990c.pdf} | |
| } | |
| @ARTICLE{Yeadon1989, | |
| author = {Yeadon, M. R. and Morlock, M.}, | |
| title = {The Appropriate Use of Regression Equations for the Estimation of | |
| Segmental Inertial Properties}, | |
| journal = {Journal of Biomechanics}, | |
| year = {1989}, | |
| volume = {22}, | |
| pages = {683-689}, | |
| bib = {bibtex-keys#Yeadon1989}, | |
| bibpr = {private-bibtex-keys#Yeadon1989}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Yeh1990, | |
| author = {Edge C. Yeh and Ying-Liang Chen}, | |
| title = {Handling Analysis of a Motorcycle with Added Cambering of the Front | |
| Frame}, | |
| journal = {Vehicle System Dynamics}, | |
| year = {1990}, | |
| volume = {19}, | |
| pages = {49-70}, | |
| abstract = {Through linear analysis, the handling characteristics of the motorcycle | |
| with fixed control of added cambering of front frame are invesitgated | |
| under the variation of fixed and free controls of steering axis. | |
| The cornering responses and stability characteristics of the motorcycle | |
| are presented with the aid of the handling diagram. From numerical | |
| results for a typical motorcycle, it is found that the influence | |
| of the cambering of front frame on the cornering response of fixed | |
| steering control is opposite to that of free steering control. Moreover, | |
| the design philosophy of a so-called semi-direct steering mechanism, | |
| which cambers the front frame for cornering, is studied.}, | |
| bib = {bibtex-keys#Yeh1990}, | |
| bibpr = {private-bibtex-keys#Yeh1990}, | |
| file = {Yeh1990.pdf:Yeh1990.pdf:PDF}, | |
| owner = {moorepants}, | |
| timestamp = {2009.10.30}, | |
| webpdf = {references-folder/Yeh1990.pdf} | |
| } | |
| @INPROCEEDINGS{Yi2006, | |
| author = {Jingang Yi and Dezhen Song and Levandowski, A. and Jayasuriya, S.}, | |
| title = {Trajectory tracking and balance stabilization control of autonomous | |
| motorcycles}, | |
| booktitle = {Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International | |
| Conference on}, | |
| year = {2006}, | |
| pages = {2583 -2589}, | |
| month = {May}, | |
| abstract = {We report a new trajectory tracking and balancing control algorithm | |
| for an autonomous motorcycle. Building on the existing modeling work | |
| of a bicycle, the new dynamic model of the autonomous motorcycle | |
| considers the bicycle caster angle and captures the steering effect | |
| on the vehicle tracking and balancing. The trajectory tracking control | |
| takes an external/internal model decomposition approach. A nonlinear | |
| controller is designed to handle the vehicle balancing. The motorcycle | |
| balancing is guaranteed by the system internal equilibria calculation | |
| and by the trajectory and system dynamics requirements. The proposed | |
| control system is validated by numerical simulations, and is based | |
| on a real prototype motorcycle system}, | |
| bib = {bibtex-keys#Yi2006}, | |
| bibpr = {private-bibtex-keys#Yi2006}, | |
| doi = {10.1109/ROBOT.2006.1642091}, | |
| file = {Yi2006.pdf:Yi2006.pdf:PDF}, | |
| issn = {1050-4729}, | |
| keywords = {autonomous motorcycles;balance stabilization control;bicycle caster | |
| angle;nonlinear control;steering effect;trajectory tracking control;motorcycles;nonlinear | |
| control systems;position control;stability;steering systems;vehicle | |
| dynamics;}, | |
| webpdf = {references-folder/Yi2006.pdf} | |
| } | |
| @ARTICLE{Yin2007, | |
| author = {Song Yin and Yuehong Yin}, | |
| title = {Implementation of the Interactive Bicycle Simulator with Its Functional | |
| Subsystems}, | |
| journal = {Journal of Computing Information Science and Engineering}, | |
| year = {2007}, | |
| volume = {7}, | |
| pages = {160-166}, | |
| abstract = {When equipped with a handlebar and pedal force display subsystem, | |
| motion-generating subsystem, and visual subsystem, the interactive | |
| bicycle simulator can bring riders a realistic cycling feeling. In | |
| the interactive bicycle simulator, the most important component is | |
| the rider-bicycle dynamic model. The Newton-Euler method is adopted | |
| to formulate this model. Real-time data gathered by sensors and identified | |
| from a terrain database system are used for calculation of the rider-bicycle | |
| dynamics. Simple and effective devices are constructed and driven | |
| by the outputs of the rider-bicycle dynamic model. These devices | |
| are successfully applied to the interactive bicycle simulator.}, | |
| bib = {bibtex-keys#Yin2007}, | |
| bibpr = {private-bibtex-keys#Yin2007}, | |
| file = {Yin2007.pdf:Yin2007.pdf:PDF}, | |
| keywords = {interactive bicycle simulator, rider-bicycle dynamics, force display | |
| device,Stewart platform}, | |
| owner = {moorepants}, | |
| timestamp = {2008.10.16}, | |
| webpdf = {references-folder/Yin2007.pdf} | |
| } | |
| @ARTICLE{Yokomori1992, | |
| author = {Yokomori, Motomu and Higuchi, Kenji and Ooya, Takio}, | |
| title = {RIDER'S OPERATION OF A MOTORCYCLE RUNNING STRAIGHT AT LOW SPEED}, | |
| journal = {JSME International Journal, Series 3: Vibration, Control Engineering, | |
| Engineering For Industry}, | |
| year = {1992}, | |
| volume = {35}, | |
| pages = {553-559}, | |
| number = {4}, | |
| month = {December}, | |
| bib = {bibtex-keys#Yokomori1992}, | |
| bibpr = {private-bibtex-keys#Yokomori1992}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @ARTICLE{Yokomori1991, | |
| author = {Yokomori, Motomu; and Higuchi, Kenji and Ooya, Takio}, | |
| title = {RIDER'S OPERATION ON THE MOTORCYCLE IN STRAIGHT RUNNING AT LOW SPEED}, | |
| journal = {Kikai Gakkai Ronbunshu, C Hen/Transactions Of The Japan Society Of | |
| Mechanical Engineers, Part C}, | |
| year = {1991}, | |
| volume = {57}, | |
| pages = {2621--2626}, | |
| number = {540}, | |
| month = {August}, | |
| note = {2621-2626 0387-5024}, | |
| bib = {bibtex-keys#Yokomori1991}, | |
| bibpr = {private-bibtex-keys#Yokomori1991}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.03} | |
| } | |
| @INBOOK{Young2003, | |
| chapter = {Spatial Orientation}, | |
| title = {Principles and Practice of Aviation Psychology}, | |
| publisher = {Erlbaum}, | |
| year = {2003}, | |
| editor = {P. S. Tang and M. A.Vidulich}, | |
| author = {Young, L. R.}, | |
| number = {3}, | |
| address = {Mahwah, NJ}, | |
| bib = {bibtex-keys#Young2003}, | |
| bibpr = {private-bibtex-keys#Young2003}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Zappa2001, | |
| author = {Bruno Zappa and Giovanni Legnani and Anton J. van den Bogert and | |
| Riccardo Adamini}, | |
| title = {On the Number and Placement of Accelerometers for Angular Velocity | |
| and Acceleration Determination}, | |
| journal = {Journal of Dynamic Systems, Measurement, and Control}, | |
| year = {2001}, | |
| volume = {123}, | |
| pages = {552-554}, | |
| number = {3}, | |
| bib = {bibtex-keys#Zappa2001}, | |
| bibpr = {private-bibtex-keys#Zappa2001}, | |
| doi = {10.1115/1.1386649}, | |
| keywords = {accelerometers; angular velocity measurement; acceleration measurement}, | |
| owner = {moorepants}, | |
| publisher = {ASME}, | |
| timestamp = {2009.11.04}, | |
| url = {http://link.aip.org/link/?JDS/123/552/1} | |
| } | |
| @INPROCEEDINGS{Zatsiorsky1983, | |
| author = {Zatsiorsky, V. and Seluyanov, V.}, | |
| title = {The mass and inertia characteristics of the main segments of the | |
| human body}, | |
| booktitle = {Biomechanics VIII-B}, | |
| year = {1983}, | |
| editor = {Matsui, H. and Kobayashi, K.}, | |
| pages = {1152-l 159}, | |
| address = {Illinois}, | |
| organization = {Human Kinetic}, | |
| bib = {bibtex-keys#Zatsiorsky1983}, | |
| bibpr = {private-bibtex-keys#Zatsiorsky1983}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.26} | |
| } | |
| @INPROCEEDINGS{Zatsiorsky1990, | |
| author = {Zatsiorsky, V. and Seluyanov, V. and Chugunova, L.}, | |
| title = {In vivo body segment inertial parameters determination using a gamma-scanner | |
| method}, | |
| booktitle = {Biomechanics of Human Movement: Applications in Rehabilitation, Sports | |
| and Ergonomics}, | |
| year = {1990}, | |
| editor = {Berme, N. and Cappozzo, A.}, | |
| pages = {186-202}, | |
| address = {Ohio}, | |
| publisher = {Bertec}, | |
| bib = {bibtex-keys#Zatsiorsky1990}, | |
| bibpr = {private-bibtex-keys#Zatsiorsky1990}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.26} | |
| } | |
| @INPROCEEDINGS{Zatsiorsky1993, | |
| author = {Zatsiorsky, V. M. and Raitsin, L. M. and Seluyanov, V. N. and Aruin, | |
| A. S. and Prilutzky, B. J.}, | |
| title = {Biomechanical characteristics of the human body}, | |
| booktitle = {Biomechanics and Performance in Sport}, | |
| year = {1993}, | |
| editor = {Baumann, W.}, | |
| pages = {71-83}, | |
| address = {Germany}, | |
| organization = {Bundeninstitut f\"ur Sportwissenschaft}, | |
| bib = {bibtex-keys#Zatsiorsky1993}, | |
| bibpr = {private-bibtex-keys#Zatsiorsky1993}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.26} | |
| } | |
| @INPROCEEDINGS{Zatsiorsky1990a, | |
| author = {Zatsiorsky, V. M. and Seluyanov, V. N. and Chugunova, L. G.}, | |
| title = {Methods of determining mass-inertial characteristics of human body | |
| segments}, | |
| booktitle = {Contemporary Problems of Biomechanics}, | |
| year = {1990}, | |
| editor = {Chemyi G. G. and Regirer, S. A.}, | |
| pages = {272-291}, | |
| address = {Massachusetts}, | |
| publisher = {CRC Press}, | |
| bib = {bibtex-keys#Zatsiorsky1990a}, | |
| bibpr = {private-bibtex-keys#Zatsiorsky1990a}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.26} | |
| } | |
| @TECHREPORT{Zellner1979, | |
| author = {Zellner, J. W. and Weir, D. H.}, | |
| title = {Moped Directional Dynamics and Handling Qualities}, | |
| year = {1979}, | |
| number = {790260}, | |
| bib = {bibtex-keys#Zellner1979}, | |
| bibpr = {private-bibtex-keys#Zellner1979}, | |
| file = {Zellner1979.pdf:Zellner1979.pdf:PDF}, | |
| webpdf = {references-folder/Zellner1979.pdf} | |
| } | |
| @TECHREPORT{Zellner1978, | |
| author = {Zellner, J. W. and Weir, D. H.}, | |
| title = {Development of Handling Test Procedures for Motorcycles}, | |
| year = {1978}, | |
| number = {780313}, | |
| bib = {bibtex-keys#Zellner1978}, | |
| bibpr = {private-bibtex-keys#Zellner1978}, | |
| file = {Zellner1978.pdf:Zellner1978.pdf:PDF}, | |
| webpdf = {references-folder/Zellner1978.pdf} | |
| } | |
| @MISC{Zenkov1997, | |
| author = {Dmitry V. Zenkov and Anthony M. Bloch and Jerrold E. Marsden}, | |
| title = {The Energy-Momentum Method for the Stability of Nonholonomic Systems}, | |
| howpublished = {Technical Report}, | |
| year = {1997}, | |
| abstract = {In this paper we analyze the stability of relative equilibria of nonholonomic | |
| systems (that is, mechanical systems with nonintegrable constraints | |
| such as rolling constraints). In the absence of external dissipation, | |
| such systems conserve energy, but nonetheless can exhibit both neutrally | |
| stable and asymptotically stable, as well as linearly unstable relative | |
| equilibria. To carry out the stability analysis, we use a generalization | |
| of the energy-momentum method combined with the Lyapunov-Malkin Theorem | |
| and the center manifold theorem. While this approach is consistent | |
| with the energy-momentum method for holonomic systems, it extends | |
| it in substantial ways. The theory is illustrated with several examples, | |
| including the the rolling disk, the roller racer, and the rattleback | |
| top.}, | |
| bib = {bibtex-keys#Zenkov1997}, | |
| bibpr = {private-bibtex-keys#Zenkov1997}, | |
| owner = {moorepants}, | |
| timestamp = {2009.01.31} | |
| } | |
| @ARTICLE{Zeyada2000, | |
| author = {Zeyada, Y. and Hess, R. A.}, | |
| title = {Modeling Human Pilot Cue Utilization with Applications to Simulator | |
| Fidelity Assessment}, | |
| journal = {Journal of Aircraft}, | |
| year = {2000}, | |
| volume = {37}, | |
| pages = {588-598}, | |
| number = {4}, | |
| month = {July-Aug.}, | |
| bib = {bibtex-keys#Zeyada2000}, | |
| bibpr = {private-bibtex-keys#Zeyada2000}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @ARTICLE{Zhang1995, | |
| author = {Zhang, Y. and M. Hubbard and K. Huffman}, | |
| title = {Optimum Control of Bobsled Steering}, | |
| journal = {Journal of Optimization Theory and Applications}, | |
| year = {1995}, | |
| volume = {85}, | |
| pages = {1--19}, | |
| number = {1}, | |
| bib = {bibtex-keys#Zhang1995}, | |
| bibpr = {private-bibtex-keys#Zhang1995}, | |
| owner = {moorepants}, | |
| timestamp = {2009.02.07} | |
| } | |
| @INPROCEEDINGS{Zhang2011, | |
| author = {Yizhai Zhang and Jingliang Li and Jingang Yi and Dezhen Song}, | |
| title = {Balance control and analysis of stationary riderless motorcycles}, | |
| booktitle = {Robotics and Automation (ICRA), 2011 IEEE International Conference | |
| on}, | |
| year = {2011}, | |
| pages = {3018 -3023}, | |
| month = {may}, | |
| abstract = {We present balancing control analysis of a stationary riderless motorcycle. | |
| We first present the motorcycle dynamics with an accurate steering | |
| mechanism model with consideration of lateral movement of the tire/ground | |
| contact point. A nonlinear balance controller is then designed. We | |
| estimate the domain of attraction (DOA) of motorcycle dynamics under | |
| which the stationary motorcycle can be stabilized by steering. For | |
| a typical motorcycle/bicycle configuration, we find that the DOA | |
| is relatively small and thus balancing control by only steering at | |
| stationary is challenging. The balance control and DOA estimation | |
| schemes are validated by experiments conducted on the Rutgers autonomous | |
| motorcycle. The attitudes of the motorcycle platform are obtained | |
| by a novel estimation scheme that fuses measurements from global | |
| positioning systems (GPS) and inertial measurement units (IMU). We | |
| also present the experiments of the GPS/IMU-based attitude estimation | |
| scheme in the paper.}, | |
| doi = {10.1109/ICRA.2011.5979841}, | |
| file = {Zhang2011.pdf:Zhang2011.pdf:PDF}, | |
| issn = {1050-4729}, | |
| keywords = {DOA estimation scheme;GPS-IMU-based attitude estimation scheme;Rutgers | |
| autonomous motorcycle;accurate steering mechanism model;balancing | |
| control analysis;domain of attraction;global positioning system;inertial | |
| measurement unit;lateral movement;motorcycle-bicycle configuration;nonlinear | |
| balance controller;stationary riderless motorcycle dynamics;tire-ground | |
| contact point;Global Positioning System;attitude measurement;bicycles;control | |
| system synthesis;mobile robots;motorcycles;nonlinear control systems;robot | |
| dynamics;steering systems;tyres;} | |
| } | |
| @INPROCEEDINGS{Zhang2010, | |
| author = {Yizhai Zhang and Jingang Yi}, | |
| title = {Velocity Field-based Maneuver Regulation of Autonomous Motorcycles}, | |
| booktitle = {5th IFAC Symposium on Mechatronic Systems}, | |
| year = {2010}, | |
| address = {Cambridge, MA, USA}, | |
| month = {September}, | |
| bib = {bibtex-keys#Zhang2010}, | |
| bibpr = {private-bibtex-keys#Zhang2010}, | |
| file = {Zhang2010.pdf:Zhang2010.pdf:PDF}, | |
| timestamp = {2012.03.01}, | |
| webpdf = {references-folder/Zhang2010.pdf} | |
| } | |
| @ARTICLE{Zupan2000, | |
| author = {Zupan, L. H. and Peterka, R. J. and Merfeld, D. M.}, | |
| title = {Neural Processing of Gravito-Inertial Cues in Humans. I. Influence | |
| of the Semicircular Canals Following Post-Rotatory Tilt}, | |
| journal = {Journal of Neurophysiology}, | |
| year = {2000}, | |
| volume = {84}, | |
| pages = {2001-2015}, | |
| number = {4}, | |
| abstract = {Sensory systems often provide ambiguous information. Integration of | |
| various sensory cues is required for the CNS to resolve sensory ambiguity | |
| and elicit appropriate responses. The vestibular system includes | |
| two types of sensors: the semicircular canals, which measure head | |
| rotation, and the otolith organs, which measure gravito-inertial | |
| force (GIF), the sum of gravitational force and inertial force due | |
| to linear acceleration. According to Einstein's equivalence principle, | |
| gravitational force is indistinguishable from inertial force due | |
| to linear acceleration. As a consequence, otolith measurements must | |
| be supplemented with other sensory information for the CNS to distinguish | |
| tilt from translation. The GIF resolution hypothesis states that | |
| the CNS estimates gravity and linear acceleration, so that the difference | |
| between estimates of gravity and linear acceleration matches the | |
| measured GIF. Both otolith and semicircular canal cues influence | |
| this estimation of gravity and linear acceleration. The GIF resolution | |
| hypothesis predicts that inaccurate estimates of both gravity and | |
| linear acceleration can occur due to central interactions of sensory | |
| cues. The existence of specific patterns of vestibuloocular reflexes | |
| (VOR) related to these inaccurate estimates can be used to test the | |
| GIF resolution hypothesis. To investigate this hypothesis, we measured | |
| eye movements during two different protocols. In one experiment, | |
| eight subjects were rotated at a constant velocity about an earth-vertical | |
| axis and then tilted 90° in darkness to one of eight different evenly | |
| spaced final orientations, a so-called “dumping” protocol. Three | |
| speeds (200, 100, and 50°/s) and two directions, clockwise (CW) and | |
| counterclockwise (CCW), of rotation were tested. In another experiment, | |
| four subjects were rotated at a constant velocity (200°/s, CW and | |
| CCW) about an earth-horizontal axis and stopped in two different | |
| final orientations (nose-up and nose-down), a so-called “barbecue” | |
| protocol. The GIF resolution hypothesis predicts that post-rotatory | |
| horizontal VOR eye movements for both protocols should include an | |
| “induced” VOR component, compensatory to an interaural estimate of | |
| linear acceleration, even though no true interaural linear acceleration | |
| is present. The GIF resolution hypothesis accurately predicted VOR | |
| and induced VOR dependence on rotation direction, rotation speed, | |
| and head orientation. Alternative hypotheses stating that frequency | |
| segregation may discriminate tilt from translation or that the post-rotatory | |
| VOR time constant is dependent on head orientation with respect to | |
| the GIF direction did not predict the observed VOR for either experimental | |
| protocol.}, | |
| bib = {bibtex-keys#Zupan2000}, | |
| bibpr = {private-bibtex-keys#Zupan2000}, | |
| eprint = {http://jn.physiology.org/content/84/4/2001.full.pdf+html}, | |
| file = {Zupan2000.pdf:Zupan2000.pdf:PDF}, | |
| url = {http://jn.physiology.org/content/84/4/2001.abstract}, | |
| webpdf = {references-folder/Zupan2000.pdf} | |
| } | |
| @PHDTHESIS{Zytveld1975, | |
| author = {van Zytveld, P.}, | |
| title = {A Method for the Automatic Stabilization of an Unmanned Bicycle}, | |
| school = {Stanford University}, | |
| year = {1975}, | |
| bib = {bibtex-keys#Zytveld1975}, | |
| bibpr = {private-bibtex-keys#Zytveld1975}, | |
| file = {Zytveld1975.pdf:Zytveld1975.pdf:PDF}, | |
| owner = {moorepants}, | |
| review = {He derived a bicycle equations with leaning rider which were based | |
| off of John Breakwell's derviation. He did parameter studies with | |
| respect to uncontrolled stability using root locus and Routh's criteria. | |
| Found that caster and front wheel moment of inertia have great affect | |
| on stability, while rider position doesn't. Stabilized the model | |
| with rider lean as the input and feedback of parameters that would | |
| actually be used by a human rider. He built a robot bicylce but couldn't | |
| get it to stablize. He only derives the linear equation of motion, | |
| using Kane's method. Once he finds the velocities he linearizes and | |
| then computes accelerations and Kane's equations. He did a basic | |
| sensitivty study on the parameters for stability. The control law | |
| was not necessarily optimum, but attempted to gain stability of the | |
| greatest range of speeds. Lean torque is the output from the controller. | |
| He used rider lean angle and bicycle roll angle feedback. He tried | |
| proportional control for both and PD for both. He measured the inerital | |
| parameters of the robot bicycle with a swing/pendulum and a stop | |
| watch. He measured steer angle and roll angle with potentiometers. | |
| The roll angle was measured by pulling a small two wheel trailer | |
| behind the bicycle and measuring the relative angle of it and the | |
| frame. He decided not to use rate gyro's due to alignment worries | |
| and poor results from integrating the signals.}, | |
| timestamp = {2008.10.08}, | |
| webpdf = {references-folder/Zytveld1975.pdf} | |
| } | |
| @PROCEEDINGS{SAE1973, | |
| title = {Proceedings of the Second International Congress on Automotive Safety}, | |
| year = {1973}, | |
| editor = {SAE}, | |
| address = {San Francisco, CA, USA}, | |
| month = {July}, | |
| organization = {Society of Automotive Engineers}, | |
| bib = {bibtex-keys#SAE1973}, | |
| bibpr = {private-bibtex-keys#SAE1973}, | |
| owner = {moorepants}, | |
| timestamp = {2009.11.30} | |
| } | |
| @ELECTRONIC{Arduino, | |
| month = {January}, | |
| year = {2010}, | |
| title = {Arduino electronics prototyping platform}, | |
| organization = {Arduino}, | |
| url = {http://www.arduino.cc/}, | |
| bib = {bibtex-keys#Arduino}, | |
| bibpr = {private-bibtex-keys#Arduino}, | |
| owner = {luke}, | |
| timestamp = {2010.02.07} | |
| } | |
| @ELECTRONIC{ATmega328P, | |
| month = {January}, | |
| year = {2010}, | |
| title = {Atmel 8-bit AVR RISC ATmega328P}, | |
| organization = {Atmel}, | |
| url = {http://www.atmel.com/dyn/products/product\_card.asp?PN=ATmega328P}, | |
| bib = {bibtex-keys#ATmega328P}, | |
| bibpr = {private-bibtex-keys#ATmega328P}, | |
| owner = {luke}, | |
| timestamp = {2010.02.07} | |
| } | |
| @PROCEEDINGS{Manual1974, | |
| title = {Proceedings of the 10th Annual Congference on Manual Control}, | |
| year = {1974}, | |
| address = {Wright-Patterson AFB, Ohio, USA}, | |
| bib = {bibtex-keys#Manual1974}, | |
| bibpr = {private-bibtex-keys#Manual1974}, | |
| file = {Manual1974.pdf:Manual1974.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Manual1974.pdf} | |
| } | |
| @PROCEEDINGS{AutoSafety1973, | |
| title = {Proceedings of the Second International Congress on Automotive Safety | |
| -- Volume I, Part One: Motorcycle Safety}, | |
| year = {1973}, | |
| bib = {bibtex-keys#AutoSafety1973}, | |
| bibpr = {private-bibtex-keys#AutoSafety1973}, | |
| file = {AutoSafety1973.pdf:AutoSafety1973.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/AutoSafety1973.pdf} | |
| } | |
| @PROCEEDINGS{AutoSafety1973a, | |
| title = {Proceedings of the second international congress on automotive safety | |
| -- Volume I, Part Two: Motorcycle Safety}, | |
| year = {1973}, | |
| bib = {bibtex-keys#AutoSafety1973a}, | |
| bibpr = {private-bibtex-keys#AutoSafety1973a}, | |
| file = {AutoSafety1973a.pdf:AutoSafety1973a.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/AutoSafety1973a.pdf} | |
| } | |
| @PROCEEDINGS{Manual1973, | |
| title = {Proceedings of the Ninth Annual Conference on Manual Control}, | |
| year = {1973}, | |
| bib = {bibtex-keys#Manual1973}, | |
| bibpr = {private-bibtex-keys#Manual1973}, | |
| file = {Manual1973.pdf:Manual1973.pdf:PDF}, | |
| timestamp = {2012.01.03}, | |
| webpdf = {references-folder/Manual1973.pdf} | |
| } | |
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| } |
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