• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.377-387
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• 2005

The equations of motion of two-wheeled vehicles, e.g. bicycles or motorcycles, are developed by using Lagrange's equations for quasi-coordinates. The pure rolling constraints between the ground and the two wheels are considered in the dynamical equations of the system. For each wheel, two nonholonomic and two holonomic constraints are introduced in a set of differential-algebraic equations (DAE). The constraint Jacobian matrix is obtained by collecting all the constraint equations and converting them into the velocity form. Equilibrium, an algorithm for searching for equilibrium points of two-wheeled vehicles and the associated problems are discussed. Formulae for calculating the radii of curvatures of ground-wheel contact paths and the reference point are also given.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.4
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• pp.332-340
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• 2013

This paper reports a programming toolkit for implementing localization and navigation of a mobile robot both in real world and simulation. Many of the previous function libraries are difficult to use because of their complexity or lack of usability. The proposed toolkit consist of functions for dead reckoning, motion model, measurement model, and operations on directions or heading angles. The dead reckoning and motion model deals with differential drive robot and bicycle type robot driven by front wheel or rear wheel. The functions can be used for navigation in both real environment and simulation. To prove the feasibility of the toolkit, simulation results are shown along with the results in real environment. It is expected the proposed toolkit is used for test of algorithms for mobile robot navigation such as localization, map building, and obstacle avoidance.

• Journal of the Korea Society of Computer and Information
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• v.19 no.3
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• pp.11-16
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• 2014

In this paper, the two-wheels robot using a predictive controller to maintain the balance of the posture control in real time have been examined. A reaction wheel pendulum control method is adopted to maintain the balance while the bicycle robot is driving. The objective of this research was to design and implement a self-balancing algorithm using the dsPIC30F4013 embedded processor. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers (x, y, z). In this study, the disturbance of the posture for the asymmetrical propose to overcome the predictive controller which was a problem in the control of a remote system by introducing the two wheels of the robot controller and the linear prediction of the system controller combines the simulation was performed. Also, the robust characteristic for realizing the goal of designing a loop filter too robust controller is designed so that satisfactory stability of the control system to improve stability of the system to minimize degradation of performance was confirmed.

• International Journal of Automotive Technology
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• v.7 no.7
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• pp.821-826
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• 2006

This paper describes a rollover index (RI)-based rollover mitigation control (RMC) system. A rollover index which indicates an impending rollover has been developed by a roll dynamics phase plane analysis. The rollover index is calculated using the roll angle, the roll rate, the lateral acceleration and time to wheel lift (TTWL). A differential braking control law based on a 2-D bicycle model has been designed using the direct yaw control (DYC) method. An RMC threshold has been determined from the rollover index. The performance of the RMC scheme and the effectiveness of the proposed rollover index are illustrated using a vehicle simulator.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2001.11a
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• pp.233-238
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• 2001

The mechanism design of the interactive emotional robot has been carried out. The two-wheeled inverted pendulum type mechanism was adopted to improve the mobility and make the innate clumsy monoaxial bicycle motion. Even though the system is unstable in itself, it is expected for the robot to move freely in a plane, keeping the upright position only with two wheels. Two motors attached on head can make 4 motion sets, and two motors on the wheels can make 8. Therefore, 32 independent motion sets can be achieved from the robot to communicate the emotions with humans. The motion's equation of the robot was derived based on nonholonomic dynamics, and the necessary power to the wheel's rotational axis was found by simulation.

• Korean Journal of Applied Biomechanics
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• v.18 no.4
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• pp.171-177
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• 2008

This work intends to investigate the effects of pedaling directions on the muscle actions during the bicycle's uphill propulsion. A test rig was developed that consists of a bicyle with a special planetary geartrain, a height-adjustable treadmill, a rear-wheel support and a magnetic brake. A three-dimensional motion analysis was performed for measuring kinematic characteristics of the forward backward pedaling and the electromygraphy(EMG) measurements were simultaneously performed for estimating the muscle actions of the leg. In this work, four muscles are considered including Gastrocnemius muscle(GM), Vastus lateralis(VL), Tibialis anterior(TA) and Soleus(SOL) while the uphill slope is varied from $0^{\circ}$ to $6^{\circ}$. Raw EMG signals were first processed through the root-mean-square(RMS) averaging and then ensemble curves were derived by averaging the EMG RMS envelopes over 50 consecutive cycles. Results show that both the kinemactic characteristics and the muscle actions are significantly affected by the pedaling direction. The crank speed of the forward pedaling is higher but the difference in speed is reduced as the slope is increased. The ensemble curves of the :ac signals clearly exhibit some differences in their patterns, peak values and the corresponding locations with respect to the crank angle. The peak values of most EMG signals are higher for the forward pedaling regardless of the slope magnitude. However, the averages of the EMG signals are not observed to have a similar relationship with the pedaling direction, which seems to be affected by several factors such as less experience of the participants' backward pedaling. inappropriate bicycle design for the backward pedaling. These limitations will be further considered in future work.

• Proceedings of the Korean Vacuum Society Conference
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• 2016.02a
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• pp.397-397
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• 2016

Triboelectric nanogenerators (TENG) can produce power from ambient mechanical sources and have strong points of high output performance, light weight, low cost, and easy manufacturing process. It is expected that TENG can be utilized in the fields of wireless electronics and self-powered devices in the world which pays attention to healthcare and the IoT. In this work, we focus on scavenging ambient rotational energy by using a durably designed TENG. In previous studies regarding harvesting rotation mode energy, the devices were based on sliding mechanism and durability was not considered as a major issue. However friction by rotation causes reliability problems due to wear and tear. Therefore, in this study, we convert rotary motion to linear motion utilizing a cam by which we can then utilize contact-mode TENG and improve device reliability. In order to increase output performance, bumper springs were used below the TENG and the optimum value for the bumper spring constant was analyzed theoretically. Furthermore, the inserting a soft substrate was proposed and its effect on high output was determined to be due to an increase in the contact area. By increasing the number of cam noses, the output frequency was shown to increase linearly. For the purpose of maximum power transfer, the input impedance of the device was determined. Finally, to demonstrate the use of the C-TENG as a direct power source, it was installed on a commercial bicycle wheel and connected to 180 LEDs. In conclusion we present a rotational motion TENG energy scavenger system designed for enhanced durability and optimized output by appropriate choice of spring constants and substrate.

• The Journal of the Convergence on Culture Technology
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• v.7 no.3
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• pp.215-222
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• 2021

Duchamp chose readymades mainly for his denial of retinal painting and his desire and fluid thinking for changes inside him. His thinking is well presented in his readymade works. One of his early readymades, Bicycle Wheel, expresses correlations between beings and capital. Its essence is capital and the desire of beings. It is connected to Desire or Desire-Machine proposed as a social reform and creation model by Gilles Deleuze and Félix Guattari. Bicycle Wheel does not simply end in desire relations between capital and beings, though. When the desire of beings is converted into positive desire, it can keep inventing and creating something that is repetitive, fluid, and new. Duchamp tried to convey this positive desire through his readymade Fountain. Duchamp created a ready-made article toilet into a work of art in Fountain, being driven by desire flowing inside him. This is connected to the attributes of nomads that refused to settle down and continue to flow in search of new landscapes. This way of his thinking is clearly reflected in his Box in a Valise. He was motivated to create this work by his fluid thinking. In this work, various situations can unfold often according to the directions of two elements, place and arrangement. Here, place guarantees fluidity, and arrangement variability or desire. According to Gilles Deleuze and Félix Guattari, fluidity represents nomads with the characteristics of flow and variation, and desire represents productivity or production or creation. Box in a Valise represents nomads themselves. The nomads defined by Gilles Deleuze and Félix Guattari keep flowing and create a new world. They are in line with the thinking of Duchamp that refused to settle down at one place and escape from the old order to create a new artistic world. This type of nomads can be called revolutionists or creators that acknowledge differences and create. Nomads also contain the concept of resistance to the old order. Deleuze and Guattari proposed a war machine as a model of this resistance. Duchamp and his readymades can thus be called war machines.