|SAVARESI DARIO||Cycle: XXXIII |
Section: Systems and Control
Tutor: FAGIANO LORENZO MARIO
Advisor: FORMENTIN SIMONE Major Research topic
:Control Oriented Learning and Estimation in BicyclesAbstract:
Bicycles can be considered the primary mean of transport for the mobility of the future and nowadays they have been already increasing their popularity (e.g. with bike sharing). In medium-large cities, in fact, the great majority of all travels are over small distances and a bicycle can fit them perfectly, without the need for a traditional combustion-engine mean. Among all the possible reasons that call for an increasing number and usage of bicycles, we briefly recall: 1. the convenience inside congested areas, both considering the time spent during the transport phase and the easiness in finding parking; 2. the lack of noise and pollutants; 3. at least for electrically assisted bicycles, a more efficient use of energy sources. For these reasons, scientific and academic research is naturally prone to increase more and more riding quality and experience, as it has been in the recent past for cars. Unlike cars, however, in bicycles there exist three kind of constraints that cannot be neglected: on the space, on the weight, and on the cost. As a matter of fact, they can considerably limit the amount and the quality of the available sensors. For this reason, there are several estimation problems still open, that must be solved before acting on the variables of interest with a control loop. The problems faced
concerned three key components of a bicycle: the brakes, the gear shifting mechanism and the suspensions. As for cars, in fact, bicycles can be equipped with BBW (brake-by-wire) brakes (with possibly the presence of anti-blocking systems), automatic gear shifting and semi-active suspensions.