000 04181nam a22005895i 4500
001 978-3-319-95384-7
003 DE-He213
005 20220801221343.0
007 cr nn 008mamaa
008 180702s2019 sz | s |||| 0|eng d
020 _a9783319953847
_9978-3-319-95384-7
024 7 _a10.1007/978-3-319-95384-7
_2doi
050 4 _aTA352-356
072 7 _aTGMD4
_2bicssc
072 7 _aTEC009070
_2bisacsh
072 7 _aTGMD
_2thema
082 0 4 _a620.3
_223
100 1 _aNiełaczny, Michał.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_955553
245 1 0 _aDynamics of the Unicycle
_h[electronic resource] :
_bModelling and Experimental Verification /
_cby Michał Niełaczny, Barnat Wiesław, Tomasz Kapitaniak.
250 _a1st ed. 2019.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2019.
300 _aXI, 77 p. 39 illus., 34 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringerBriefs in Applied Sciences and Technology,
_x2191-5318
520 _aThis book presents a three-dimensional model of the complete unicycle–unicyclist system. A unicycle with a unicyclist on it represents a very complex system. It combines Mechanics, Biomechanics and Control Theory into the system, and is impressive in both its simplicity and improbability. Even more amazing is the fact that most unicyclists don’t know that what they’re doing is, according to science, impossible – just like bumblebees theoretically shouldn’t be able to fly. This book is devoted to the problem of modeling and controlling a 3D dynamical system consisting of a single-wheeled vehicle, namely a unicycle and the cyclist (unicyclist) riding it. The equations of motion are derived with the aid of the rarely used Boltzmann–Hamel Equations in Matrix Form, which are based on quasi-velocities. The Matrix Form allows Hamel coefficients to be automatically generated, and eliminates all the difficulties associated with determining these quantities. The equations of motion are solved by means of Wolfram Mathematica. To more faithfully represent the unicyclist as part of the model, the model is extended according to the main principles of biomechanics. The impact of the pneumatic tire is investigated using the Pacejka Magic Formula model including experimental determination of the stiffness coefficient. The aim of control is to maintain the unicycle–unicyclist system in an unstable equilibrium around a given angular position. The control system, based on LQ Regulator, is applied in Wolfram Mathematica. Lastly, experimental validation, 3D motion capture using software OptiTrack – Motive:Body and high-speed cameras are employed to test the model’s legitimacy. The description of the unicycle–unicyclist system dynamical model, simulation results, and experimental validation are all presented in detail.
650 0 _aMultibody systems.
_96018
650 0 _aVibration.
_96645
650 0 _aMechanics, Applied.
_93253
650 0 _aMechanics.
_98758
650 0 _aMathematical physics.
_911013
650 0 _aBiomechanics.
_96506
650 1 4 _aMultibody Systems and Mechanical Vibrations.
_932157
650 2 4 _aClassical Mechanics.
_931661
650 2 4 _aTheoretical, Mathematical and Computational Physics.
_931560
650 2 4 _aBiomechanics.
_96506
700 1 _aWiesław, Barnat.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_955554
700 1 _aKapitaniak, Tomasz.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_955555
710 2 _aSpringerLink (Online service)
_955556
773 0 _tSpringer Nature eBook
776 0 8 _iPrinted edition:
_z9783319953830
776 0 8 _iPrinted edition:
_z9783319953854
830 0 _aSpringerBriefs in Applied Sciences and Technology,
_x2191-5318
_955557
856 4 0 _uhttps://doi.org/10.1007/978-3-319-95384-7
912 _aZDB-2-ENG
912 _aZDB-2-SXE
942 _cEBK
999 _c79578
_d79578