• Journal of Institute of Control, Robotics and Systems
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• v.18 no.6
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• pp.532-539
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• 2012

This paper proposes a balancing and driving control system for a bicycle robot. A reaction wheel pendulum control method is adopted to maintain the balance while the bicycle robot is driving. For the driving control, PID control algorithm with a variable gain adjustment has been developed in this paper, where the gains are heuristically adjusted during the experiments. To measure the angles of the wheels the encoders are used. For the balancing control, a roll controller is designed with a non-model based algorithm to make the shortest cycle. The tilt angle is measured by the fusion of the acceleration and gyroscope sensors, which is used to generate the control input of the roll controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed bicycle robot.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.6
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• pp.3037-3054
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• 2019

Public bicycle system (PBS) is a new emerging and popular mode of public transportation. PBS data can be adopted to analyze human movement patterns. Previous work usually focused on specific scales, and the relationships between different levels of hierarchies are ignored. In this paper, we introduce a multi-scale and interactive visual analytics system to investigate human cycling movement and PBS usage condition. The system supports level-of-detail explorative analysis of spatio-temporal characteristics in PBS. Visual views are designed from global, regional and microcosmic scales. For the regional scale, a bicycle network is constructed to model PBS data, and an flow-based community detection algorithm is applied on the bicycle network to determine station clusters. In contrast to the previous used Louvain algorithm, our method avoids producing super-communities and generates better results. We provide two cases to demonstrate how our system can help analysts explore the overall cycling condition in the city and spatio-temporal aggregation of stations.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.2
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• pp.475-486
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• 2021

The purpose of this study was to propose a policy direction to improve the service of public bicycles in Seoul by identifying the physical characteristics that affect the satisfaction level in the Seoul Metropolitan Government's public bicycle use environment. To this end, a survey was conducted on users regarding their experiences using public bicycles in Seoul, and the responses of 567 people were analyzed. IPA analysis and ordinal logistic analysis were used. An analysis of the Seoul Metropolitan Government's public bicycle IPA showed that the satisfaction level was lower than that of importance in all categories. Among them, the most urgent need for improvement was the installation of bicycle roads, improved connectivity of bicycle roads, improved road management, classification of roads and bicycle roads, improved safety during night driving, and low satisfaction levels. Second, an analysis of the factors affecting the satisfaction in the public bicycle use environment showed that the model's explanatory power increased significantly from 0.062 to 0.437 after incorporating perceived variables, confirming that the perceived neighborhood environment characteristics are an important variable for determining the satisfaction level in the public bicycle use environment, among the perceived neighborhood environmental characteristics, accessibility, convenience, manageability.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.3
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• pp.28-37
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• 2020

This study developed a deep learning model that predicts rental demand for public bicycles. For this, public bicycle rental data, weather data, and subway usage data were collected. After building an exponential smoothing model, ARIMA model and LSTM-based deep learning model, forecasting errors were compared and evaluated using MSE and MAE evaluation indicators. Based on the analysis results, MSE 348.74 and MAE 14.15 were calculated using the exponential smoothing model. The ARIMA model produced MSE 170.10 and MAE 9.30 values. In addition, MSE 120.22 and MAE 6.76 values were calculated using the deep learning model. Compared to the value of the exponential smoothing model, the MSE of the ARIMA model decreased by 51% and the MAE by 34%. In addition, the MSE of the deep learning model decreased by 66% and the MAE by 52%, which was found to have the least error in the deep learning model. These results show that the prediction error in public bicycle rental demand forecasting can be greatly reduced by applying the deep learning model.

• International Journal of Highway Engineering
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• v.9 no.2 s.32
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• pp.1-11
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• 2007

The rapid growths of economy and automobiles since the 1970's have caused serious traffic jams and environmental disruption in urban areas. To relieve these problems caused by urbanization, there should be considered alternative means of transportation modes. Many developed countries have accepted bicycles as a so called "Green Mode" for environmentally oriented strategies to increase the qualities of urban lives. Korea have also attempted various means to raise bicycle usages. In this research, significant factors affecting bicycle crashes at signalized intersections in urban areas were studied. The model results showed that Poisson regression is the best fit methodology for data modeling and revealed that traffic volume, a number of driveways, configuration of the ground, presence of bicycle path, school, and bus stop, residential area, size of intersection are significant factors affecting the bicycle crashes.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.32 no.5D
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• pp.429-435
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• 2012

A Development of the Evaluation Criteria on the User's Bicycle Environment for Work and School Trip Purpose: This study suggests future improvements and some current questions about the development of the evaluation criteria on the user's bicycle environment for Work and School Trip Purpose. The direction of development on Evaluation Criteria is all about on the side of necessity of bicycle users, the reflection of new policy, the construction of total evaluation criteria, and the examination of connecting study with current study. This study establishes a Development of the Evaluation Criteria on the User's Bicycle Environment for Work and School Trip Purpose. After that, this study examines previous evaluation criterias and researchers will select the primary provision of evaluation through FGI, and they derive the final evaluation criteria throughout the verification of suitability on Evaluation Criteria. The summery of this study is like this. First, suggestions of improvements of zones in bicycles users' evaluations, Second Suggestions of the current conditions by GIS and the result of model analysis, Third Clarify of major provisions in terms of zones by using Spider Map.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.292-304
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• 2005

In this paper we present the linearized equations of motion for a bicycle as a benchmark. The results obtained by pencil-and-paper and two programs are compared. The bicycle model we consider here consists of four rigid bodies, viz. a rear frame, a front frame being the front fork and handlebar assembly, a rear wheel and a front wheel, which are connected by revolute joints. The contact between the knife-edge wheels and the flat level surface is modelled by holonomic constraints in the normal direction and by non-holonomic constraints in the longitudinal and lateral direction. The rider is rigidly attached to the rear frame with hands free from the handlebar. This system has three degrees of freedom, the roll, the steer, and the forward speed. For the benchmark we consider the linearized equations for small perturbations of the upright steady forward motion. The entries of the matrices of these equations form the basis for comparison. Three diffrent kinds of methods to obtain the results are compared : pencil-and-paper, the numeric multibody dynamics program SPACAR, and the symbolic software system Auto Sim. Because the results of the three methods are the same within the machine round-off error, we assume that the results are correct and can be used as a bicycle dynamics benchmark.

• Journal of Biomedical Engineering Research
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• v.27 no.3
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• pp.89-93
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• 2006

A simple algorithm that can be used to estimate a healthy person's blood pressure using pulse transit time is proposed in this paper. Fifty healthy students participated in the experiment that was conducted in line with the study. The subjects were asked to exercise on several exercise levels using a bicycle ergometer. Their blood pressures during the succeeding rest period were measured. A simple method was proposed to illustrate the relationship between blood pressure and pulse transit time. The systolic blood pressures as well as the heights and weights of the subjects were regarded as the proper parameters, and a second-order regression curve was produced to estimate the subjects' blood pressures. The mean error of estimation was less than 10 mmHg, which was the mean error of manual measurement. Although our estimation model is so simple, it can be used to estimate continuous blood pressure measurement for bicycle ergometer exercise. The electrocardiograms, photoplethysmograms, and blood pressures, however, could not be measured simultaneously As such, their estimation may be slightly different from the results taken from simultaneous measurements.

• 한국ITS학회:학술대회논문집
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• 2008.11a
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• pp.193-198
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• 2008

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11a
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• pp.235-240
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• 2001

A four degrees of freedom (dof) motion platform for bicycle simulator is developed. The motion platform, capable of the vertical linear and three angular motions, is designed based on analysis of the typical motion characteristics revealed by the existing six dof bicycle simulator. The platform essentially consists of two parts： the three dof parallel manipulator, consisting of a moving platform, a fixed base and three actuators, and the turntable to generate the yaw motion. The nonlinear kinematics and dynamics of the three dof parallel manipulator with multiple closed loop chains are analyzed for tracking control of the motion platform. The tracking performances of the three control schemes are experimentally compared： the computed torque method (CTM), the sliding mode control (SMC) and the PD control. The CTM and SMC, incorporated with the system dynamics model, are found to be equally better in performance than the PD controller, irrespective of the presence of external disturbance.