The motorcycle is controlled by a computer operated by sensors and corrects itself according to the angle at which the motorcycle is tilted
Uri Naner, a master's degree student in the Faculty of Civil and Environmental Engineering at the Technion, succeeded in building a motorcycle that does not fall. The motorcycle is controlled by a computer operated by sensors. The project was carried out under the guidance of Dr. Rafi Lineker and Professor Olof Gutman.
"The motorcycle computer continuously receives readings from two sensors," he explains. "A tilt angle sensor (dynamic sensor that combines two accelerometers and a gyroscope) and a tilt speed sensor (gyroscope). In addition, the computer runs a control algorithm based on the motorcycle's equations of motion, and depending on the input from the sensors and the user, activates the motors that control the gas throttle and the brake, and also activates the motor that controls the steering, in order to perform what is known as counter steering.
Reverse steering, Uri Naner explains, is the only way to steer a two-wheeled vehicle or motorcycle. "Although most of us are not aware of it, we do it subconsciously when riding a bicycle," he elaborates. "Reverse steering means that the turning process in two-wheeled vehicles begins with turning the handlebars in the opposite direction. If I want to turn left, I have to turn the handlebars to the right first, briefly. This is due to the fact that in order to make a turn, a two-wheeled vehicle must be tilted, otherwise it will fall."
In the first stage, the student conducted a comprehensive literature survey regarding the dynamics and control of two-wheeled vehicles. Then he studied the required hardware and decided that the stabilization of the motorcycle would be done by steering torque (similar to the way a rider controls a motorcycle). "To decide how much torque to give to the handlebars and in which direction, a control algorithm based on the motorcycle's equations of motion and a suitable engine is needed," he explains. "I decided to use a dedicated microcontroller that would run the control algorithm, receive input from the sensors and the user and issue a voltage command to the steering motor. Accordingly - the necessary sensors, direct current motors for steering and operating the gas throttle and brake, and drivers to drive them were selected.
A 50 cc scooter was chosen as the base platform for the project, which was "thrown away" in the yard of the former Faculty of Agricultural Engineering. Uri Naner cut it into two parts. The rear part consisted of the chassis, the engine, the rear arm and the rear wheel. The front part included the steering shaft and the front wheel. The parts were measured and weighed, their centers of mass were found and a computer model was built by student Anton Zak. With the help of the computer model, the moments of inertia of the two parts and of the entire motorcycle were found. These parameters were entered into the motorcycle's equations of motion to obtain a dynamic model for the motorcycle. A robust control algorithm was designed on the basis of this model. After successful simulations, successful experiments were conducted, and indeed - the motorcycle "refused" to fall, even when it was traveling alone and pushed hard from its sides by people.
Apart from his technological achievement, which earned him the second degree, Uri Naner managed to build the motorcycle at a zero cost of 12 thousand shekels, in less than two years. The project may also have practical implications, such as a platform for motorcycle accident research (an extreme situation can be reached without endangering the rider), and even adding an emergency device for motorcycles that will intervene when there is a danger of overturning by giving a quick steering command.
38 תגובות
I am a student doing a small project in an entrepreneurship course regarding the patent presented here. I would be very happy if you could answer the following questionnaire which includes only 2 questions - for motorcyclists only! Thanks in advance. Link to the questionnaire:
https://docs.google.com/spreadsheet/viewform?formkey=dEt2UlFfTHk5eTNoaHAxUlR2S3VES1E6MQ
Do you think such an invention will enter the market?
I mean, will they try to market it?
I loved the idea! Well done!
Airplanes have been flying for years without human intervention and no pilot cries that he has no control over the plane.
Most accidents occur during takeoff/landing where the automatic system is disconnected.
How do you contact the guy?
The topic is very interesting for motorcycle racing
http://www.irt95.com
Michael,
I meant using it for a motorcycle..
It is clear to me that the idea itself will be used for different things =]
Good night.
Yanon:
We did not forget to ask.
We simply read the article to the end and there it is explained that in addition to the motorcycle being a second-order job - an important goal in itself, it may have practical uses such as... why should I quote - read the end of the article.
Good evening everyone:]
Well, I saw everything you wrote, but you forgot one question,
And that's it, why do we actually need the motorcycle?
1] Cheaper, and economical, than a car in terms of parts, the cost of a fuel car, etc.. there are people who find it financially suitable, but as I imagine if this two-wheeled vehicle is marketed, it will cost a fortune, and thus its consumption will be less or even zero compared to a normal motorcycle.
2] We multiply and the number of the population increases, the consumption of vehicles increases and there are traffic jams on the roads.
The traffic jams are not a threat to the two-wheeled vehicles and thus they save fuel on avoiding the traffic jams due to the fact that they do not stay in this chain of vehicles,
If Uri's motorcycle is marketed as I imagine, he won't do this job =(
3] pleasure-
Many motorcycle consumers buy them for fun
I think this motorcycle will deprive him of that pleasure.
good evening,
Yinon.
Hello Uri,
As part of my studies, I intend to prepare a work that your project is consistent with the field in which we are engaged.
I would be happy to talk with you and explain more:
0548191031
gyefet@gmail.com
A motorcycle that doesn't fall is like chips without ketchup, or... Coke without gas. If it's a motorcycle, then you should be aware of the dangers of this tool. I don't believe that it is possible to enjoy the advantages of a motorcycle when it is connected to some kind of automatic control computer. It is better for motorcycles to remain motorcycles. What is important is that drivers are properly educated - motorcycle drivers and car drivers. Everything starts with education!
Is this a repeated attempt to enter a comment that for some reason did not appear when it was first entered?
Hugin:
When I said "impersonation" I knew I would hit a sensitive nerve with you. The hat is burning on the thief's head.
To Arya Seter, to Hugin and to everyone
I wonder if Arya Seter (or others - but who will only respond after Arya's response) knows what the explanation of the following sentence is:-
"There are those who claim that in general Falkor is something else, something that Michael created, a story about a dragon"
Second question:- Is there any truth in the words of Princess Hugin:-
"Yehuda, Michael is not able to create Falkor. My good and nice Falkor..
Yehuda honey..did you hear???"
This is a quiz I'm waiting for the answer to!, Come on Arya Seter, let's show your intuition.
Starting at 7 am, others will also be able to answer.
Good night
Sabdarmish Yehuda
Michael
The only one who is blind here on this site is you.
The very serious problem I discover with a shock indescribable, how much Judas was captive in the jaws of your mind without realizing that he was bound bound bound.
Now, that's it!! Go ahead..don't disturb our Judah anymore.
Hugin
Yehuda
Michael is unable to create Falkor. My own good and nice Falkor..
Yehuda honey..did you hear???
Hugin
Hugin:
When I said "impersonation" I knew I would hit a sensitive nerve with you.
On the thief's head the hat burns.
Hugin:
Bickering won't change anything.
Hugin:
Do you claim that you are capable of creating a dragon from a dark mass?
I agree with you that Judah is usually nice but to me telling the truth is more important.
The cases in which I behave unkindly are the cases in which I encounter lies, fraud or impersonation. These are cases where, in my opinion, every honest person must rise up.
By the way - you should look outside. Maybe the polite rapist is waiting there and you'd like to invite him for a cup of coffee.
Tell me Aria, are you giving me an exam?
That I won't know who Falkor the dragon is
Falcor or for short Pala Kor is a company that competes with Pelephone in making Pala cold phones that are suitable for tropical countries.
So you see I know?, it was really easy to guess!
Apart from that, there are those who claim that Pelkor is something else altogether, something that Michael created, a story about a dragon from a dark mass called Pelkor, but Yehuda stole it from him and he flew to Medina under the name Fantasia, in order to save Princess Hugin by changing her name. But no You have to believe such nonsense because it's really, really, a never-ending story.
So what do you say Arya Seter? , did I pass the exam?
Good night Hugin, good night Aryeh, good night Michael (Manda)
And of course good night to me too
Sabdarmish Yehuda
I wonder if Yehuda (or others - but they will only respond after Yehuda's response) knows who Falkor is (that Hugin mentioned) and where his character is taken from.
I wonder if this could be an interesting solution for the disabled as well.
Think of a disabled person loading his wheelchair onto a Harley...
is funny.
Yehuda
Your wife is indeed right.
And you will fly and hover on the whale of the waves of time and maybe you will be summoned from time to time by Falkor the dragon
The dreamer fulfills every visionary dream timed.
So don't lose heart to the dreamers..those who aspire both to live well and safely, and to fly...like aliens.
But, and it's not just a matter here.. you have to both see and believe.
Hugin: Straight from the mouth of science to scientists.
Finished a really good signature.
I understand that the idea of computerized control of a dynamic system, using dedicated sensors, is not new and exists in many motorized mechanical systems and all kinds of different dynamic systems.
It is worth noting that even in the project in question and certainly in more complex systems, collaboration is required between a number of disciplines such as mechanical, computer, electrical, etc.
In conclusion: a nice project, but it is doubtful whether it has a substantial innovation in relation to existing and known command and control systems
are common.
for a biker
We both know it's unusual fun to fly on a motorcycle and be connected to the nature flowing past you,
How fun it is to pass by an expensive and beautiful motorcycle, Harley, Indian and even the good old BSA,
But, on the other hand, when I see how the other passengers on the road ignore the motorcyclists, and you know what I'm talking about, then maybe my wife is right, therefore, there is no choice, we will continue to dream.
Good signature
And drive carefully
Sabdarmish Yehuda
Yehuda, dreams are meant to come true...
Yehuda
The idea is taken from Rakhineo (Language Academy) and was invented in 2001 by Mr. Cayman who called Segway.
I heard that they have already fixed all the bugs, you can stand on it with (relative) confidence
Regarding the motorcycle, I agree with your opinion, it's worth waiting for a bug-free version.
For those whose problem is stability, sixty spare wheels are much cheaper
in my mother,
How many Khazars, what a Khazar invention,
And what a place of study
I call on all the Khazars to return to where they came from (they call it in Khazarian "Kur from their quarry") and raise a patronage in the Khazar kingdom
Enough of you taking over the academy for us, now take over the 50 cc scooter for us?!
Happy New Year and good night
Well, now I can only dream that I ride a motorcycle
So good night and happy new year
Sabdarmish Yehuda
Yehuda:
Your wife is right, as far as she is concerned.
It is important to her that you return home in one piece because she does not need information about the weight of each part of your body separately.
Regarding the quote - this is the reason why I said that the system still needs to be completed.
Another thing - when the matter is settled, the data will come from the motorcycle manufacturer and there will be no need to cut anything.
To Michael
two parts:-
"As a base platform for the project, a 50 cc scooter was chosen, which was "thrown away" in the yard of the former Faculty of Agricultural Engineering. Uri Naner cut it into two parts. The rear part consisted of the chassis, the engine, the rear arm and the rear wheel. The front part included the steering shaft and the front wheel. The parts were measured and weighed, their centers of mass were found and a computer model was built by the student Anton Zak." End quote.
It doesn't matter, you're for it, I'm against it, and what's most important is that my wife doesn't allow me to buy a motorcycle in any case.
So let's all have a good year
Sabdarmish Yehuda
Yehuda:
Stability control of a four-wheeled vehicle also changes the direction compared to the one that would have been obtained without it (acceleration and deceleration of certain wheels relative to others causes this).
Your concern is just a result of habit, on the one hand, and of the fact that the system is certainly not yet developed enough to detect situations requiring intervention with a high probability, but these two things can change.
Regarding the need to cut the motorcycle in order to install the test system - I don't know how you came to this conclusion.
As I mentioned, this is a replacement for the motorcyclist and just as the human motorcyclist can be replaced without cutting the motorcycle, so it will be possible to replace the mechanized rider (again - after its development as a product designed for this purpose is completed) without cutting the motorcycle.
It is interesting to know what the minimum speed should be so that the scooter does not fall.
To Michael
I don't like any vehicle that decides to arbitrarily take away my self-driving. This is especially dangerous in a two-wheeled vehicle. I'm not talking about anti-skid devices or various weird alarms that will leave it up to me to decide what to do. I'm talking about those who take the decision from me and leave me embarrassed.
I also do not accept your opinion that the facility will be suitable for testing motorcycles because for the purpose of testing we will have to cut the motorcycle and attach a cumbersome part to it and then it will already be a motorcycle with new features and not the original motorcycle.
But as we both agree, it was a great job for a master's degree.
Well done
Happy New Year
Sabdarmish Yehuda
Simply genius, well done..
Note to the article:
Reverse steering is a practice that is suitable for motorcycles, and especially for motorcycles without a rider.
This type of steering is based on the fact that the motorcycle wheel has a high moment of inertia that causes it to tilt in the opposite direction to that in which it is turned (gyroscope effect).
This type of steering is not necessarily relevant for a cyclist because the bicycle wheel has a much lower moment of inertia and the rider tilting his body may provide the motorcycle with the necessary tilt without using the front wheel's moment of inertia (and in fact, despite its resistance).
Yehuda:
This is not about trying to create a means of transportation, but only about trying to get a master's degree.
Note the practical implications mentioned at the end of the article: none of them are the ones you fear.
By the way, stability control systems have been integrated into four-wheeled vehicles for several years and contribute a lot to driving safety. Will you hesitate to drive even in a car with stability control? (By the way - I drive a Prius that has such a system and I must say that it is really convenient).
The developed system is not a motorcycle but a "mechanized rider" and therefore, contrary to your claim, it may be suitable (after becoming a product) for testing many motorcycles
In my opinion, the biggest tangible benefit, can
To come from this plot in the near term, is not exactly
Used by motorcyclists - except in robotics
of any vehicle intended for offenses in difficult areas
and dangerous.
Donald Norman recently published an entire book that deals with the interrelationships between users and smart products while referring at length to the subject of safety, control and control when vehicles supposedly become smart and aware of the environment. warmly recommended.
http://www.amazon.co.uk/Design-Future-Things-Donald-Norman/dp/0465002277
First of all, I will state that I express my opinion only, and that too only from reading the article.
It is a bit unfair to express such an opinion without driving a motorcycle. My opinion might be different if I had driven it and seen its function.
My personal opinion:- I must state that I would be afraid to ride such a motorcycle
The reason:- I don't want anything to interfere with the operation of the motorcycle while I'm traveling in the dangerous transportation conditions in Israel. And explained my words:-
I have never had a problem with stability and balance when riding a motorcycle, this stability is achieved after a fairly short practice. The main problem with riding a two-wheeled vehicle is how to get out of a near-accident situation, and the aforementioned motorcycle will not allow that, on the contrary, it may interfere. For example, in that it will "want" to maintain the stability of the motorcycle when I would actually prefer to "lay it down" There is also a great danger in the motorcycle taking a step that the rider is not aware of. This may cause the rider to be thrown from the motorcycle.
Also regarding the fact that the idea will facilitate the safety inspection of motorcycles, then, this motorcycle will not be able to be used for safety inspection of other motorcycles but only its own.
Stability of a motorcycle during the safety test can be achieved by moving it along a track.
In addition, it is clear to me that such a system will complicate and make motorcycles more expensive.
Unfortunately, I did not see in the article a reference to the traffic dangers arising from an oil stain on the road and sand on the road (which also acts like oil for motorcycles). It would be interesting to know if the system contributes in this matter.
It would have been desirable to add to the article comments from other bikers expressing their opinion about riding the aforementioned motorcycle, it wasn't, and it's a shame.
Again I say this is my personal opinion and I'm sure other bikers may express a different opinion.
I have no doubt that the student did an in-depth analysis of the movement of the motorcycle and earned the master's degree with honors, and I wish the student / inventor Uri Nagar success in the future.
Happy New Year
Sabdarmish Yehuda