The document describes the design of an autonomous bicycle capable of traveling at a constant speed on flat surfaces without human intervention. Key aspects include:
- The system requirements for the bicycle to operate at a constant speed, wirelessly, with a graphical user interface and safety devices.
- The system level design includes components like a standard mountain bike, 24V battery, steering and drive motors, sensors like a potentiometer and inclinometer, and an Arduino microcontroller.
- The control system design involves developing a state space model and using LQR control. Simulink is used to simulate the system response with disturbances.
- A timeline outlines tasks from research to the final report over 10 months.
Four steering system is about the maneuvering of the wheel using all four wheel. Which allows the vehicle to take sharp turn at slow speed and decrease the rollover accident danger at higher speed.
As Zambia's population grows and residential and industrial developments expand, the demand for efficient and effective transit services is increasing in developing areas including (Lusaka, Kitwe, Livingstone etc.)
SMARTbus system will provide customers with a variety of features including automated voice stop announcements, automated exterior route and destination announcements, automated passenger counter, and GPS location services. Meaning, SMARTbus riders can track their bus in real-time. No more standing at a bus stop wondering if a bus already came or is stuck somewhere in traffic. Smart bus technology delivers up-to-the-minute bus departure information for every bus stop in the city/route.
Q. Why are new smart bus transportation systems such as SMARTbus needed?
These systems are expected to enable bus operators to improve vehicle safety, and schedule reliability for the fixed-route services.
Additionally, providing enhanced service and service information to riders as they travel.
Automatically announce the next scheduled stop and display this information on a sign inside the bus in real time.
Automatically announce the bus destination and time estimate to waiting passengers at each scheduled bus stop.
Four steering system is about the maneuvering of the wheel using all four wheel. Which allows the vehicle to take sharp turn at slow speed and decrease the rollover accident danger at higher speed.
As Zambia's population grows and residential and industrial developments expand, the demand for efficient and effective transit services is increasing in developing areas including (Lusaka, Kitwe, Livingstone etc.)
SMARTbus system will provide customers with a variety of features including automated voice stop announcements, automated exterior route and destination announcements, automated passenger counter, and GPS location services. Meaning, SMARTbus riders can track their bus in real-time. No more standing at a bus stop wondering if a bus already came or is stuck somewhere in traffic. Smart bus technology delivers up-to-the-minute bus departure information for every bus stop in the city/route.
Q. Why are new smart bus transportation systems such as SMARTbus needed?
These systems are expected to enable bus operators to improve vehicle safety, and schedule reliability for the fixed-route services.
Additionally, providing enhanced service and service information to riders as they travel.
Automatically announce the next scheduled stop and display this information on a sign inside the bus in real time.
Automatically announce the bus destination and time estimate to waiting passengers at each scheduled bus stop.
A best and easy documentation about automatic braking system that may gives you a brief knowledge of Automatic Braking System related to Ultrasonic Sensor.
In the material handling industry safety has been a major consideration from the beginning and has only become more and more measured as liability and worker moral are taken into account. Ergonomics have also rewritten how employees are effected by the work they do. In current practice, the operators that works in a production line (especially in automotive plant) will have to give out their energy to manually push the trolley with an estimated weight that is nearly to 500kg. The trolley with the body frame needed to be deliver from one defined location to the next. It is believe that the current method applied is one of the effective way to bring the trolley to the next station. However, the push and pull forces that is applied to the skid or trolley with a heavy load may cause an ergonomics effects to the operators such as the Low – back Disorder (LBD). Manual material handling work has been reported contributing to a large percentage of MSDs annually. LBD is generally caused by cumulative effects of faulty body mechanics, poor posture, awkward movements and improper lifting techniques. The main objectives of this project is to fabricate an AGV by using appropriate material and process that is able to tow a trolley or skid with a load with an estimated weight of 500kg and accomplish a safe handling operations by replacing the operators with AGV. In this project, the AGV is fabricated accordingly through appropriate process such as welding, assembly and etc. This AGV responses and navigation is controlled by the microcontroller which is a device that act as the main brain. It has the ability to follow the black line as it guide path by using the IR line sensor and avoid the obstacles by using the ultrasonic sensor. The project implicates of fabrication of the hardware. AGV is, therefore, suitable for automating material handling in batch production and mixed model production,
Systems Engineering is a very broad , overarching, and generally applicable engineering discipline. Many types of systems are developed using SE. These include biomedical systems, space vehicle systems, weapon systems, transportation systems, and so on.
Systems Engineering involves the coordination of work performed by engineers from all other engineering disciplines (electrical, mechanical, computer, software, etc.) as required to complete the engineering work on the project/program.
The flywheelis located on one end of the crankshaft and serves two purposes. First, through its inertia, it reduces vibration
by smoothing out the power stroke as each cylinder fires. Second, it is the mounting surface used to bolt the engine
up to its load.
The aim of the project is to design a flywheel for a multi cylinder petrol engine flywheel using the empirical formulas. A
2D drawing is drafted using the calculations. A parametric model of the flywheel is designed using 3D modeling software
Pro/Engineer.
The forces acting on the flywheel are also calculated. The strength of the flywheel is validated by applying the forces on
the flywheel in analysis software ANSYS.
Structural analysis, modal analysis and fatigue analysis are done on the flywheel. Structural analysis is used to determine
whether flywheel withstands under working conditions. Fatigue analysis is done for finding the life of the component.
Modal analysis is done to determine the number of mode shapes for flywheel.
Automotive Systems course (Module 00) - automotive systems overviewMário Alves
This presentation provides an overview of the Automotive Systems course of the Master in Electrical and Computer Engineering program at the School of Engineering (ISEP) of Politécnico do Porto (IPP).
Adaptive Cruise Control, Electronic Brake Force Distribution,Traction Control...Shubham Thakur
In this PPT All the modern controls are explained like
Adaptive Cruise Control, Electronic Brake Force Distribution,Traction Control System, Electronic Stability Control, Common Rail Direct Fuel Distribution, Turbocharged Direct Injection, Airbag
A best and easy documentation about automatic braking system that may gives you a brief knowledge of Automatic Braking System related to Ultrasonic Sensor.
In the material handling industry safety has been a major consideration from the beginning and has only become more and more measured as liability and worker moral are taken into account. Ergonomics have also rewritten how employees are effected by the work they do. In current practice, the operators that works in a production line (especially in automotive plant) will have to give out their energy to manually push the trolley with an estimated weight that is nearly to 500kg. The trolley with the body frame needed to be deliver from one defined location to the next. It is believe that the current method applied is one of the effective way to bring the trolley to the next station. However, the push and pull forces that is applied to the skid or trolley with a heavy load may cause an ergonomics effects to the operators such as the Low – back Disorder (LBD). Manual material handling work has been reported contributing to a large percentage of MSDs annually. LBD is generally caused by cumulative effects of faulty body mechanics, poor posture, awkward movements and improper lifting techniques. The main objectives of this project is to fabricate an AGV by using appropriate material and process that is able to tow a trolley or skid with a load with an estimated weight of 500kg and accomplish a safe handling operations by replacing the operators with AGV. In this project, the AGV is fabricated accordingly through appropriate process such as welding, assembly and etc. This AGV responses and navigation is controlled by the microcontroller which is a device that act as the main brain. It has the ability to follow the black line as it guide path by using the IR line sensor and avoid the obstacles by using the ultrasonic sensor. The project implicates of fabrication of the hardware. AGV is, therefore, suitable for automating material handling in batch production and mixed model production,
Systems Engineering is a very broad , overarching, and generally applicable engineering discipline. Many types of systems are developed using SE. These include biomedical systems, space vehicle systems, weapon systems, transportation systems, and so on.
Systems Engineering involves the coordination of work performed by engineers from all other engineering disciplines (electrical, mechanical, computer, software, etc.) as required to complete the engineering work on the project/program.
The flywheelis located on one end of the crankshaft and serves two purposes. First, through its inertia, it reduces vibration
by smoothing out the power stroke as each cylinder fires. Second, it is the mounting surface used to bolt the engine
up to its load.
The aim of the project is to design a flywheel for a multi cylinder petrol engine flywheel using the empirical formulas. A
2D drawing is drafted using the calculations. A parametric model of the flywheel is designed using 3D modeling software
Pro/Engineer.
The forces acting on the flywheel are also calculated. The strength of the flywheel is validated by applying the forces on
the flywheel in analysis software ANSYS.
Structural analysis, modal analysis and fatigue analysis are done on the flywheel. Structural analysis is used to determine
whether flywheel withstands under working conditions. Fatigue analysis is done for finding the life of the component.
Modal analysis is done to determine the number of mode shapes for flywheel.
Automotive Systems course (Module 00) - automotive systems overviewMário Alves
This presentation provides an overview of the Automotive Systems course of the Master in Electrical and Computer Engineering program at the School of Engineering (ISEP) of Politécnico do Porto (IPP).
Adaptive Cruise Control, Electronic Brake Force Distribution,Traction Control...Shubham Thakur
In this PPT All the modern controls are explained like
Adaptive Cruise Control, Electronic Brake Force Distribution,Traction Control System, Electronic Stability Control, Common Rail Direct Fuel Distribution, Turbocharged Direct Injection, Airbag
IMPLEMENTATION OF DYNAMIC REMOTE OPERATED USING BAT ALGORITHMNAVIGATION EQUIP...AlameluPriyadharshini
To deliver the things without human requirement but with full safety and to detect the place path and persons using RF controller by implementing concept of drone for a smaller and to implement the same for a larger network by implementing the Bat Algorithm in Wireless Sensor Network.
Attitude Control of Satellite Test Setup Using Reaction WheelsA. Bilal Özcan
A reaction wheel is A type of flywheel used primarily by spacecraft for attitude control without using fuel for rockets or other reaction devices.It bases on the principle of angular momentum transfer. That is Newton’s third law of action-reaction.
1st paper: https://www.researchgate.net/publication/338119144_ATTITUDE_CONTROL_OF_SATELLITE_TEST_SETUP_USING_REACTION_WHEELS
Low cost Real Time Centralized Speed Control of DC Motor Using Lab View -NI U...IJPEDS-IAES
DC motors are an outstanding portion of apparatus used in automotive and automation industrial applications requiring variable speed and load characteristics, due to its ease of controllability. Creating an interface control system for multi DC motor drive operations with centralized speed control, from small-scale models to large industrial applications is in much demand. By using Lab VIEW (laboratory virtual instrument engineering workbench) as the motor controller, we can control a DC motor for multiple purposes using single software environment. The aim of this paper is to propose the centralized speed control of DC motor using Lab VIEW. Here, Lab VIEW is used for simulating the motor, whereas the input armature voltage of the DC motor is controlled using a virtual Knob in Lab VIEW software. The hardware part of the system (DC motor) and the software (in personal computer) are interfaced using a data acquisition card (DAQ) -Model PCI- 6024E. The voltage and Speed response is obtained using LABVIEW software. Using this software, the speed of a group of motors can be controlled from different locations using remote telemetry. The proposed work also focuses on controlling the speed of the individual DC motor using PWM scheme (Duty cycle based Square wave generation) and DAQ. With the help of the DAQ along with Lab VIEW front panel window, the DC motor speed and directions can be changed easily in remote way. In order to test the proposed system the laboratory model for an80W DC motor group (multi drive) is developed for different angular displacements and directions of the motor. The simulation model and experimental results conforms the advantages and robustness of the proposed centralized speed control.
Electrical and Instrumentation (E&I) Engineering for Oil and Gas FacilitiesLiving Online
There is a growing shortage, and hence opportunity, for Electrical and Instrumentation (E&I) technicians, technologists and engineers in the oil and gas industry. This is due to an increasing need for higher technology methods of obtaining and processing oil and gas as it is a finite declining resource. The price of oil is heading upwards steadily, thus making personnel and their associated oil and gas expertise in these industries even more valuable. The technical challenges of extracting oil and gas are becoming ever more demanding, with increasing emphasis on more marginal fields and previously inaccessible zones such as deep oceans, Polar regions, Falkland Islands and Greenland. The aim program is to provide you with core E&I engineering skills to enhance your career, and to benefit your firm.
This course provides a whole spectrum of activities ranging from basic electrical and instrumentation engineering to advanced practice including hazardous areas, data communications along with a vast array of E&I equipment utilised in an oil and gas environment as well as practical treatment of electrical power systems and instrumentation within the oil, gas, petrochemical and offshore industries. Whilst there is some theory this is used in a practical context giving you the necessary tools to ensure that the E&I hardware is delivering the results intended. No matter whether you are a new electrical, instrumentation or control technician/technologist/graduate engineer or indeed, even a practising facilities engineer, you will find this course beneficial in improving your understanding, skills and knowledge.
MORE INFORMATION: http://www.idc-online.com/content/electrical-and-instrumentation-ei-engineering-oil-and-gas-facilities-5
3. CONTENTS
o BACKGROUND
o PROBLEM STATEMENT
o SYSTEM REQUIREMENTS
o SYSTEM LEVEL DESIGN
o ACCOMPLISHMENTS
o TIMELINE
o BUDGET
o REFERENCES
4. BACKGROUND
• The bicycle is to serve as a learning tool for students in the
controls class.
• The bicycle helps students understand dynamic systems and their
control.
• Some universities have successfully used similar bicycles for their
controls class.
5. PROBLEM STATEMENT
This apparatus is an autonomous bicycle capable of
traveling along a straight path at a constant speed on a level
surface with no human intervention.
6. SYSTEM REQUIREMENTS
The bicycle should meet the following requirements:
• Operate at a constant speed
• Run on a flat surface without extreme weather condition
• Operated Wirelessly
• Graphical user interface
• Collect real time data
• Come to rest at stand still position with no assistance
8. SYSTEM LEVEL DESIGN (CONTINUED)
• Bicycle
• Standard mountain bicycle
• Battery
• 24V battery
• Maximum discharge current ≥ 8A
• Maximum continuous current ≥ 4A
• Motors
• The steering motor is MMP TM40-285H-24V GP42-051 gear motor. Provides 18 in-lbs rated continuous torque, runs at
24V with rated continuous current 0.47A.
• The drive motor MMP D22-376D-24V GRA40-008 provides 12 in-lbs (0.9N-m), runs at 24V, with output speed of 575
rpm.
9. SYSTEM LEVEL DESIGN (CONTINUED)
• Sensors
• Potentiometer
• GL300
• Resolution of 0.10
• Inclinometer
• SCA121T-D07
• Dual axis sensor
• Operates on 15Vdc with an offset of 2.5V
• Microcontroller
• Arduino Yun which has an ATMEGA32U4 and Atheros AR9331 processors
• Safety Devices
• Retractable training wheels
• Remote emergency switch
11. STATE SPACE MODEL
CONTROL SYSTEM DESIGN
where A(t) is called the state matrix,
B(t) the input matrix,
C(t) the output matrix, and
D(t) the direct transmission matrix.
A linear fourth-order model first derived by Whipple[2]
17. POWER SYSTEM DESIGN
The data in the table is collected mostly from datasheets and derived from Ohm’s Law and P=V*I.
Parts Voltage (V) Current (A) Resistance (Ohm) Power (W)
Potentiometer 15 1.5m 10K 22.5m
Inclinometer 15 5m – 8m N/A 75m – 120m
DAC 15 10m N/A 150m
Microcontroller 5 240m for 6 pins N/A 1.2
Steer motor 24 0.47 N/A 11.28
Drive motor 24 4-8 N/A 96-192
18. POWER MANAGEMENT
• Total power consumed by the system is approximately 156.7725Watts.
• Total current consumed by the system is 6.77A.
• Rule of thumb here is power supplied>=power consumed to prevent devices from shutting
down.
• Choice is a 24V battery with a 10Ah capacity rate.
• For a full hour of operation it is expected to have 10A continuous supply and 240 Watts.
• With this battery rate we expect the bicycle to run without recharging it, for approx. hour and
a half.
19. Diagram of devices connected to their
appropriate voltages current distribution.
26. USER INTERFACE DESIGN
• User device
• Android tablet (Samsung Tab4)
• Two Android applications are developed for the project
• The Professor Application (ProfApp)
• The Student Application (StudentApp)
• Application built using the Eclipse Android Development Tool (Eclipse ADT)
27. USER INTERFACE DESIGN
• WIFI Communication
• Yun is configured to use on-campus WIFI Network (scsugadgets)
• Access to Yun is protected by a password created by the user during configuration.
• For any device to communicate with the Yun:
• The device and the Yun must be connected and within the range of the WIFI to
which the Yun is configured
• The device must have the password to the Yun’s WIFI
• Scsugadgets vs HuskynetSecured
• WPA/WPA2 vs PEAP Authentications and Yun
28. TIMELINE
Original
Task Start Date End Date
Research 8/25/2014 9/8/2014
Proposal 9/9/2014 10/6/2014
Shopping 10/7/2014 11/4/2014
Design & Simulation 10/12/2014 11/2/2014
Parts Testing 11/6/2014 11/10/2014
Driver Motor Control Testing 11/12/2014 11/15/2014
Steering Motor Control Testing 11/20/2014 11/23/2014
Attitude Controller Building 11/25/2014 12/5/2014
Attitude Controller Testing 12/5/2014 12/7/2014
Hardware Demo 12/8/2014 12/12/2014
Bluetooth Communication 1/10/2015 1/17/2015
Landing Gear 1/18/2015 2/9/2015
Start on Progress Report 2/6/2015 2/16/2015
Assembling 2/18/2015 3/4/2015
Evaluation (Final test) 3/6/2015 3/13/2015
Improvements 3/15/2015 4/9/2015
Final Report 3/14/2015 4/14/2015
Task Start Date
Duration
(Days)
End Date
Research 8/25/2014 14 9/8/2014
Proposal 9/9/2014 27 10/6/2014
Shopping 10/7/2014 28 11/4/2014
Parts Testing 11/26/2014 40 1/4/2015
Build Bicycle (Assembling) 1/12/2015 21 2/2/2015
Test Bicycle 2/6/2015 30 3/9/2015
Take Data 3/10/2015 10 3/20/2015
Analyze Data 3/18/2015 10 3/28/2015
Improvements 3/30/2015 25 4/24/2015
Final Report 3/29/2015 31 5/1/2015
Revised
29. GANNT CHART
8/25/2014 10/14/2014 12/3/2014 1/22/2015 3/13/2015 5/2/2015 6/21/2015
Research
Proposal
Shopping
Parts Testing
Build Bicycle (Assembling)
Test Bicycle
Collect Data
Analyze Data
Improvements
Final Report
31. REFERENCES
• [1] Astrom, K.J.; Klein, Richard E.; Lennartsson, A, "Bicycle dynamics and control: adapted bicycles for education and
research," Control Systems, IEEE, vol.25, no.4, pp.26, 47, Aug. 2005
• [2] F. J. W. Whipple. The stability of the motion of a bicycle. Quart. J. Pure Appl. Math. 30:312–348, 1899.
• [3] F. Klein and A. Sommerfeld. Über die Theorie des Kreisels. Teubner, Leipzig, 1910. Ch IX §8, Stabilität des Fahrrads, by F.
Noether, pp. 863–884. (pdf+English translation).
• [4] J. P. Meijaard, Jim M. Papadopoulos, Andy Ruina, A. L. Schwab, 2007 ``Linearized dynamics equations for the balance and
steer of a bicycle: a benchmark and review,'' Proceedings of the Royal Society A 463:1955-
1982. doi:10.1098/rspa.2007.1857, or preprint+ESM pdf(578k).
• [5] D. E. H. Jones. The stability of the bicycle. Physics Today, 23(4):34–40,
1970. DOI:10.10631/1.3022064 (2006 DOI:10.1063/1.2364246)
• [6] “Bicycle Dynamics.” (2010, March 1). Retrieved July 9, 2014, from http://bicycle.tudelft.nl/schwab/Bicycle/index.htm
• [7] J. D. G. Kooijman, J. P. Meijaard, Jim M. Papadopoulos, Andy Ruina, and A. L. Schwab, "A bicycle can be self-stable without
gyroscopic or caster effects", Science 15 April 2011: 332(6027), 339-342. [DOI:10.1126/science.1201959]
