rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Dynamics of the Unicycle
    sub title: Modelling and Experimental Verification
  name:
    name part: Niełaczny, Michał.
    role:
      role term: creator
    role:
      role term: author.
    role:
      role term: aut
    role:
      role term: http://id.loc.gov/vocabulary/relators/aut
  name:
    name part: Wiesław, Barnat.
    role:
      role term: author.
    role:
      role term: aut
    role:
      role term: http://id.loc.gov/vocabulary/relators/aut
  name:
    name part: Kapitaniak, Tomasz.
    role:
      role term: author.
    role:
      role term: aut
    role:
      role term: http://id.loc.gov/vocabulary/relators/aut
  name:
    name part: SpringerLink (Online service)
  type of resource: text
  origin info:
    place:
      place term: gw
    date issued: 2019
    edition: 1st ed. 2019.
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: electronic
    form: electronic resource
    reformatting quality: access
    form: remote
    extent: XI, 77 p. 39 illus., 34 illus. in color. online resource.
  abstract: 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.
  note: by Michał Niełaczny, Barnat Wiesław, Tomasz Kapitaniak.
  subject:
    topic: Vibration
  subject:
    topic: Dynamical systems
  subject:
    topic: Dynamics
  subject:
    topic: Mechanics
  subject:
    topic: Statistical physics
  subject:
    topic: Biomechanics
  subject:
    topic: Vibration, Dynamical Systems, Control
  subject:
    topic: Classical Mechanics
  subject:
    topic: Statistical Physics and Dynamical Systems
  subject:
    topic: Biomechanics
  classification: TA355
  classification: TA352-356
  classification: 620
  related item:
    title info:
      title: Springer eBooks
  related item:
    title info:
      title: SpringerBriefs in Applied Sciences and Technology
  identifier: 9783319953847
  identifier: https://doi.org/10.1007/978-3-319-95384-7
  record info:
    record creation date: 180702
    record change date: 20191220130057.0
    record identifier: 978-3-319-95384-7