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Each year, the average vehicle contributes 4.6 metric tons of carbon dioxide into the atmosphere [1]. These gases contribute to around 30,000 premature deaths each year [2] and are linked to in the increase in cases of Asthma. Human health is further impacted by the increase of greenhouse gasses in

Each year, the average vehicle contributes 4.6 metric tons of carbon dioxide into the atmosphere [1]. These gases contribute to around 30,000 premature deaths each year [2] and are linked to in the increase in cases of Asthma. Human health is further impacted by the increase of greenhouse gasses in the atmosphere. Rays from the sun travel to the Earth where they are absorbed. Absorbing the sun’s rays heats up the Earth which is then radiated into space. Greenhouse gasses inhibit this process much like the glass walls in a greenhouse. As a result, the temperature of the Earth steadily increases. The greenhouse effect is dangerous because it can be linked to natural disasters, rising ocean levels, and extinction of species. One of the biggest contributors to the greenhouse effect is burning fossil fuels. Powerplants, agriculture, and transportation are some of the largest contributors to the increase of atmospheric carbon dioxide. To mitigate the effects of transportation, car companies have invested into production of alternative and renewable fuels for their products. One of the sources which has gained popularity recently, is the use of electricity to power our vehicles. Tesla has spearheaded the electric car movement and is largely responsible for this beneficial shift. One issue with this approach is that a majority, around 76.3%, of Americans drive alone on their commute [13]. The market in its current state encourages inefficient transportation due to the lack of alternatives. While motorcycles may offer a more eco-friendly and economical approach to cars, many are afraid of potential hazards of using this mode of transportation. The introduction of electric bikes offers an interesting approach to improving this efficiency and safety issue. The wide availability to customers offers an alternative which pushes the traditional distance limits for commuting on a bicycle. Since the market is relatively new, several issues pose challenges to consumers. This research aims to clarify and analyze the electric bike market in order to supply a potential customer with the tools needed to acquire a high quality and reasonably price bike.
ContributorsFriedrich, Collin Anthony (Author) / Lee, Hyunglae (Thesis director) / Lacy, Gerald (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
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Description
Bicycles are already used for daily transportation by a large share of the world's population and provide a partial solution for many issues facing the world today. The low environmental impact of bicycling combined with the reduced requirement for road and parking spaces makes bicycles a good choice for transportation

Bicycles are already used for daily transportation by a large share of the world's population and provide a partial solution for many issues facing the world today. The low environmental impact of bicycling combined with the reduced requirement for road and parking spaces makes bicycles a good choice for transportation over short distances in urban areas. Bicycle riding has also been shown to improve overall health and increase life expectancy. However, riding a bicycle may be inconvenient or impossible for persons with disabilities due to the complex and coordinated nature of the task. Automated bicycles provide an interesting area of study for human-robot interaction, due to the number of contact points between the rider and the bicycle. The goal of the Smart Bike project is to provide a platform for future study of the physical interaction between a semi-autonomous bicycle robot and a human rider, with possible applications in rehabilitation and autonomous vehicle research.

This thesis presents the development of two balance control systems, which utilize actively controlled steering and a control moment gyroscope to stabilize the bicycle at high and low speeds. These systems may also be used to introduce disturbances, which can be useful for studying human reactions. The effectiveness of the steering balance control system is verified through testing with a PID controller in an outdoor environment. Also presented is the development of a force sensitive bicycle seat which provides feedback used to estimate the pose of the rider on the bicycle. The relationship between seat force distribution is demonstrated with a motion capture experiment. A corresponding software system is developed for balance control and sensor integration, with inputs from the rider, the internal balance and steering controller, and a remote operator.
ContributorsBush, Jonathan Ernest (Author) / Zhang, Wenlong (Thesis director) / Sandy, Douglas (Committee member) / Software Engineering (Contributor, Contributor) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
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Description
Riding a bicycle requires accurately performing several tasks, such as balancing and navigation, which may be difficult or even impossible for persons with disabilities. These difficulties may be partly alleviated by providing active balance and steering assistance to the rider. In order to provide this assistance while maintaining free maneuverability,

Riding a bicycle requires accurately performing several tasks, such as balancing and navigation, which may be difficult or even impossible for persons with disabilities. These difficulties may be partly alleviated by providing active balance and steering assistance to the rider. In order to provide this assistance while maintaining free maneuverability, it is necessary to measure the position of the rider on the bicycle and to understand the rider's intent. Applying autonomy to bicycles also has the potential to address some of the challenges posed by traditional automobiles, including CO2 emissions, land use for roads and parking, pedestrian safety, high ownership cost, and difficulty traversing narrow or partially obstructed paths.

The Smart Bike research platform provides a set of sensors and actuators designed to aid in understanding human-bicycle interaction and to provide active balance control to the bicycle. The platform consists of two specially outfitted bicycles, one with force and inertial measurement sensors and the other with robotic steering and a control moment gyroscope, along with the associated software for collecting useful data and running controlled experiments. Each bicycle operates as a self-contained embedded system, which can be used for untethered field testing or can be linked to a remote user interface for real-time monitoring and configuration. Testing with both systems reveals promising capability for applications in human-bicycle interaction and robotics research.
ContributorsBush, Jonathan Ernest (Author) / Zhang, Wenlong (Thesis advisor) / Heinrichs, Robert (Thesis advisor) / Sandy, Douglas (Committee member) / Arizona State University (Publisher)
Created2020