Dynamics of the Unicycle (Record no. 79578)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 04181nam a22005895i 4500 |
| 001 - CONTROL NUMBER | |
| control field | 978-3-319-95384-7 |
| 005 - DATE AND TIME OF LATEST TRANSACTION | |
| control field | 20220801221343.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 180702s2019 sz | s |||| 0|eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER | |
| ISBN | 9783319953847 |
| -- | 978-3-319-95384-7 |
| 082 04 - CLASSIFICATION NUMBER | |
| Call Number | 620.3 |
| 100 1# - AUTHOR NAME | |
| Author | Niełaczny, Michał. |
| 245 10 - TITLE STATEMENT | |
| Title | Dynamics of the Unicycle |
| Sub Title | Modelling and Experimental Verification / |
| 250 ## - EDITION STATEMENT | |
| Edition statement | 1st ed. 2019. |
| 300 ## - PHYSICAL DESCRIPTION | |
| Number of Pages | XI, 77 p. 39 illus., 34 illus. in color. |
| 490 1# - SERIES STATEMENT | |
| Series statement | SpringerBriefs in Applied Sciences and Technology, |
| 520 ## - SUMMARY, ETC. | |
| Summary, etc | This book presents a three-dimensional model of the complete unicycle–unicyclist system. A unicycle with a unicyclist on it represents a very complex system. It combines Mechanics, Biomechanics and Control Theory into the system, and is impressive in both its simplicity and improbability. Even more amazing is the fact that most unicyclists don’t know that what they’re doing is, according to science, impossible – just like bumblebees theoretically shouldn’t be able to fly. This book is devoted to the problem of modeling and controlling a 3D dynamical system consisting of a single-wheeled vehicle, namely a unicycle and the cyclist (unicyclist) riding it. The equations of motion are derived with the aid of the rarely used Boltzmann–Hamel Equations in Matrix Form, which are based on quasi-velocities. The Matrix Form allows Hamel coefficients to be automatically generated, and eliminates all the difficulties associated with determining these quantities. The equations of motion are solved by means of Wolfram Mathematica. To more faithfully represent the unicyclist as part of the model, the model is extended according to the main principles of biomechanics. The impact of the pneumatic tire is investigated using the Pacejka Magic Formula model including experimental determination of the stiffness coefficient. The aim of control is to maintain the unicycle–unicyclist system in an unstable equilibrium around a given angular position. The control system, based on LQ Regulator, is applied in Wolfram Mathematica. Lastly, experimental validation, 3D motion capture using software OptiTrack – Motive:Body and high-speed cameras are employed to test the model’s legitimacy. The description of the unicycle–unicyclist system dynamical model, simulation results, and experimental validation are all presented in detail. |
| 700 1# - AUTHOR 2 | |
| Author 2 | Wiesław, Barnat. |
| 700 1# - AUTHOR 2 | |
| Author 2 | Kapitaniak, Tomasz. |
| 856 40 - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | https://doi.org/10.1007/978-3-319-95384-7 |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Koha item type | eBooks |
| 264 #1 - | |
| -- | Cham : |
| -- | Springer International Publishing : |
| -- | Imprint: Springer, |
| -- | 2019. |
| 336 ## - | |
| -- | text |
| -- | txt |
| -- | rdacontent |
| 337 ## - | |
| -- | computer |
| -- | c |
| -- | rdamedia |
| 338 ## - | |
| -- | online resource |
| -- | cr |
| -- | rdacarrier |
| 347 ## - | |
| -- | text file |
| -- | |
| -- | rda |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Multibody systems. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Vibration. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Mechanics, Applied. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Mechanics. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Mathematical physics. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Biomechanics. |
| 650 14 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Multibody Systems and Mechanical Vibrations. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Classical Mechanics. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Theoretical, Mathematical and Computational Physics. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Biomechanics. |
| 830 #0 - SERIES ADDED ENTRY--UNIFORM TITLE | |
| -- | 2191-5318 |
| 912 ## - | |
| -- | ZDB-2-ENG |
| 912 ## - | |
| -- | ZDB-2-SXE |
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