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010   $a3-319-95384-2
024 7 $a10.1007/978-3-319-95384-7
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035   $a(DE-He213)978-3-319-95384-7
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035   $a(PPN)229503713
035   $a(EXLCZ)993850000000033773
100   $a20180702d2019      u|         0
101 0 $aeng
135   $aurnn|008mamaa
181   $ctxt$2rdacontent
182   $cc$2rdamedia
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200 10$aDynamics of the Unicycle $eModelling and Experimental Verification /$fby Micha? Nie?aczny, Barnat Wies?aw, Tomasz Kapitaniak
205   $a1st ed. 2019.
210  1$aCham :$cSpringer International Publishing :$cImprint: Springer,$d2019.
215   $a1 online resource (XI, 77 p. 39 illus., 34 illus. in color.) 
225 1 $aSpringerBriefs in Applied Sciences and Technology,$x2191-530X
311   $a3-319-95383-4 
330   $aThis book presents a three-dimensional model of the complete unicycle?unicyclist system. A unicycle with a unicyclist on it represents a very complex system. It combines Mechanics, Biomechanics and Control Theory into the system, and is impressive in both its simplicity and improbability. Even more amazing is the fact that most unicyclists don?t know that what they?re doing is, according to science, impossible ? just like bumblebees theoretically shouldn?t be able to fly. This book is devoted to the problem of modeling and controlling a 3D dynamical system consisting of a single-wheeled vehicle, namely a unicycle and the cyclist (unicyclist) riding it. The equations of motion are derived with the aid of the rarely used Boltzmann?Hamel Equations in Matrix Form, which are based on quasi-velocities. The Matrix Form allows Hamel coefficients to be automatically generated, and eliminates all the difficulties associated with determining these quantities. The equations of motion are solved by means of Wolfram Mathematica. To more faithfully represent the unicyclist as part of the model, the model is extended according to the main principles of biomechanics. The impact of the pneumatic tire is investigated using the Pacejka Magic Formula model including experimental determination of the stiffness coefficient. The aim of control is to maintain the unicycle?unicyclist system in an unstable equilibrium around a given angular position. The control system, based on LQ Regulator, is applied in Wolfram Mathematica. Lastly, experimental validation, 3D motion capture using software OptiTrack ? Motive:Body and high-speed cameras are employed to test the model?s legitimacy. The description of the unicycle?unicyclist system dynamical model, simulation results, and experimental validation are all presented in detail.
410  0$aSpringerBriefs in Applied Sciences and Technology,$x2191-530X
606   $aVibration
606   $aDynamical systems
606   $aDynamics
606   $aMechanics
606   $aStatistical physics
606   $aBiomechanics
606   $aVibration, Dynamical Systems, Control$3https://scigraph.springernature.com/ontologies/product-market-codes/T15036
606   $aClassical Mechanics$3https://scigraph.springernature.com/ontologies/product-market-codes/P21018
606   $aStatistical Physics and Dynamical Systems$3https://scigraph.springernature.com/ontologies/product-market-codes/P19090
606   $aBiomechanics$3https://scigraph.springernature.com/ontologies/product-market-codes/L29020
615  0$aVibration.
615  0$aDynamical systems.
615  0$aDynamics.
615  0$aMechanics.
615  0$aStatistical physics.
615  0$aBiomechanics.
615 14$aVibration, Dynamical Systems, Control.
615 24$aClassical Mechanics.
615 24$aStatistical Physics and Dynamical Systems.
615 24$aBiomechanics.
676   $a620
700   $aNie?aczny$b Micha?$4aut$4http://id.loc.gov/vocabulary/relators/aut$0969685
702   $aWies?aw$b Barnat$4aut$4http://id.loc.gov/vocabulary/relators/aut
702   $aKapitaniak$b Tomasz$4aut$4http://id.loc.gov/vocabulary/relators/aut
906   $aBOOK
912   $a9910337605903321
996   $aDynamics of the Unicycle$92203618
997   $aUNINA