| Organizer |
Daniel Renjewski, Gereon Hinz |
| Module |
IN0013 |
| Type |
Proseminar |
| Semester |
WS 2015/16 |
| Language |
English |
| Room |
03.07.011 |
| Time |
|
| ECTS |
4.0 |
| SWS |
2 |
Dates
office hours
Daniel Renjewski, Tue & Thu 9-12 and by appointment (starting Oct. 27th),
Gereon Hinz by appointment
Submission deadline for papers: 6.12.2015, 23:59 CET
Presentations: 19.01.2016
Description
Controlling a bicycle seems straight-forward and easy to learn. But although the bicycle approaches its 200th anniversary, the unerlying self-stabilizing dynamics are subject of academic curiosity and debate. The recent trend towards flexible mobility and electrically driven bikes opened an entire new marked for assistive technologies in bike-riding.
In this seminar we want to assess the challenges of modelling and controlling bicycles and evaluate past approaches to robotic and autonomous bicycles. The course aims at developing a concept of sensors and actuators needed to autonomously drive a bicycle and assist bicycle riders.
Link: self-stabilization of a perturbed bicycle (Cornell University, USA)
Topic Assignment
| Topic |
Student |
| Market potential and customer demands |
Neil Neureither |
| Crowd science and crowd funding - introduction of new technologies |
Pierre Louis Bonvin |
| Simulators and bicycle dynamics |
Philipp Schmid |
| State estimation - specific challenges in bicycles |
Nitin Deshpande |
| "Related bikes" - 2 wheel, 3 wheel, 4 wheel solutions |
Felix Uhl |
Course Material / Resources
Literature:
[1] Meijaard, Jaap P., et al. "Linearized dynamics equations for the balance and steer of a bicycle: a benchmark and review." Proceedings of the Royal Society of London A: Mathematical, Physical and Engineering Sciences. Vol. 463. No. 2084. The Royal Society, 2007.
[2] Kooijman, J. D. G., et al. "A bicycle can be self-stable without gyroscopic or caster effects." Science 332.6027 (2011): 339-342.
