LEADER 00000nam a2200505 i 4500 
001    978-3-319-95384-7 
003    DE-He213 
005    20180702201354.0 
006    m     o  d         
007    cr nn 008maaau 
008    180702s2019    gw      s         0 eng d 
020    9783319953847|q(electronic bk.) 
020    9783319953830|q(paper) 
024 7  10.1007/978-3-319-95384-7|2doi 
040    GP|cGP|erda 
041 0  eng 
050  4 TL400|b.N545 2019 
082 04 629.2271|223 
100 1  Nielaczny, Michal,|eauthor 
245 10 Dynamics of the unicycle :|bmodelling and experimental 
       verification /|cby Michal Nielaczny, Barnat Wieslaw, 
       Tomasz Kapitaniak 
264  1 Cham :|bSpringer International Publishing :|bImprint: 
300    1 online resource (xi, 77 pages) :|billustrations (some 
       color), digital ;|c24 cm 
336    text|btxt|2rdacontent 
337    computer|bc|2rdamedia 
338    online resource|bcr|2rdacarrier 
347    text file|bPDF|2rda 
490 1  SpringerBriefs in applied sciences and technology,|x2191-
520    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 
650  0 Unicycles|xDynamics 
650 14 Engineering 
650 24 Vibration, Dynamical Systems, Control 
650 24 Classical Mechanics 
650 24 Statistical Physics and Dynamical Systems 
650 24 Biomechanics 
700 1  Wieslaw, Barnat,|eauthor 
700 1  Kapitaniak, Tomasz,|eauthor 
710 2  SpringerLink (Online service) 
773 0  |tSpringer eBooks 
830  0 SpringerBriefs in applied sciences and technology 
856 40 |uhttp://dx.doi.org/10.1007/978-3-319-95384-7