A controlled riderless bicycle is desired for the purpose of testing autonomous vehicles ability to detect and recognise cyclists. The bicycle, which is a highly unstable system with complex dynamics have been subject to research for over a century, and in the last decades, controllers have been developed for autonomous bicycles. The controllers are often only evaluated in simulation, but some complex controllers have been developed on real-life bicycles as well. The goal of this work is to validate sensors and subsystems of an instrumented bicycle and to develop a robust controller which can balance a bicycle by using actuation on the steering axis alone. Using an iterative design process, the sensor measuring the lean angle and the steering system are improved and validated. By sensing the lean angle, the handlebar is manipulated to make the bicycle stable. For this purpose, a P, PD, two different PID, an LQR and a fuzzy controller are developed, evaluated and compared. The results show that the bicycle can ride without human interaction on a bicycle roller in different velocities. Additionally, numerous experiments are conducted in an outdoor environment in several different terrains, where the proposed control structure manages to balance and steer the bicycle.

The purpose of this study was to determine the effect of cadence on time trial performance in novice female cyclists. Ten novice female cyclists volunteered to participate in this study. Participants performed 3 sessions: one VO2 peak and two time trials (TT). Cadence was randomly selected and fixed for each TT (60 or 100 rpm) while power output (PO) was adjusted by the participant, as tolerated. Finish time, HR, blood lactate, PO, VO2, and RPE were measured throughout the time trials. The major finding of this study was the significantly faster (p<0.05) finish time (minutes) during the 60 rpm condition (34:23) versus the 100 rpm condition (37:34). Also the 60 rpm TT resulted in significant (p<0.05) differences for HR (155.9 vs 161.2 bpm), gross efficiency (21.1% vs 17.7%), and PO (147 vs 129 watts). These results indicate that novice female cyclists benefit from adopting a low cadence during an 8k TT. / by Patricia Graham. / Thesis (M.S.)--Florida Atlantic University, 2010. / Includes bibliography. / Electronic reproduction. Boca Raton, Fla., 2010. Mode of access: World Wide Web.

A desigualdade de gênero no espaço urbano se expressa através de padrões de mobilidade e dos modos de deslocamento. Uma análise da pesquisa Origem-Destino de São Paulo, realizada pelo Metrô, mostra que os padrões de mobilidade masculino e feminino são bastante diferentes, sendo as mulheres a maioria no uso do ônibus e andar a pé, mas apenas 12% dos ciclistas. Com base em dados quantitativos e qualitativos sobre o uso de bicicletas na cidade de São Paulo, este estudo investiga porque o uso da bicicleta é tão incomum entre mulheres em grandes cidades brasileiras. Ele busca responder duas perguntas centrais: quais características das cidades impedem as mulheres de usarem bicicletas, e o que significa falar de mobilidade ativa e gênero no contexto brasileiro? Para responder essas perguntas, o estudo se baseia na literatura recente nos campos de sociologia urbana e estudos de gênero para desenvolver um modelo de porque mulheres usam ou não usam bicicletas em contextos urbanos. Ele também desenvolve uma metodologia para estudar a mobilidade e analisar a infraestrutura urbana que leva em consideração os fatores culturais e subjetivos que subjazem as escolhas das pessoas de como se locomover na cidade, e que estão na base de como relações de gênero impactam os usos diferentes que mulheres e homens fazem da cidade. Esse modelo é utilizado para analisar o uso da bicicleta entre mulheres na cidade de São Paulo, revelando que, para melhor compreender os padrões de mobilidade, é crucial que se olhe além de variáveis quantitativas e características de infraestrutura urbana, considerando também a lógica das percepções, emoções e afetos que moldam nosso relacionamento com a cidade e considerando como cada indivíduo está inserido dentro de estruturas/lógicas de família que devem ser levadas em consideração por planejadores urbanos se buscamos construir cidades mais justas e democráticas. / Gender inequality expresses itself in patterns of mobility and forms of displacement in urban environments. The historical, series of the Origin-Destiny Survey carried out by the São Paulo Metro, for instance, reveals that patterns of male and female displacement in the city differ significantly, and that, while women represent the majority of pedestrians and public transport users, only 12% of cyclists are female. Based on quantitative and qualitative analyses the use of bicycles in São Paulo, the present dissertation investigates why cycling is so uncommon among women in large Brazilian cities. It sets out to answer two central questions: which characteristics of the city hinder bicycle use among women, and what does it mean to speak of gender and active mobility and gender in the Brazilian context? To address these questions, the study draws on and brings together recent literature in the fields of urban sociology, urban planning and gender studies to develop. a framework for assessing how and why women do and do not ride bicycles in urban environments. It also devises a methodology for studying urban mobility and analysing the city\'s built environment which takes into account the cultural and subjective factors which drive people\'s choices of how to interact with and within the city, as well as the how gender relations impact on the different use female and male make of the city gendered dimension. This framework is then deployed in the investigation of bicycle usage among women in São Paulo, and finds that, in order to more fully understand patterns of urban displacement, it is crucial to look beyond quantitative variables and raw infrastructural characteristics, also focusing on the logics of perceptions, emotions and affects that shape our relationships to the city and how each individual is inserted within the structure of familial logic - which must be taken into consideration by urban planners if the aim is to make cities more democratic and fair.

A dissertação apresenta um estudo de caso realizado na linha 4 - amarela do metrô da cidade de São Paulo, visando analisar os fatores que influenciam o uso da bicicleta no acesso às estações dessa linha. Foram realizadas 500 entrevistas nas plataformas de embarque, e nos bicicletários e pontos de bicicleta compartilhada próximos às estações da linha 4. O questionário utilizado tinha questões sobre a viagem interceptada e outros hábitos de viagem, características socioeconômicas dos entrevistados, além de solicitar o grau de concordância dos usuários com respeito a 12 afirmações relacionadas a fatores que influenciam positiva ou negativamente o uso da bicicleta. Uma análise descritiva da amostra permitiu uma avaliação preliminar das diferenças entre aqueles que acessam as estações por bicicleta e os que utilizam outros modos de transporte. Foram em seguida realizadas análises de correspondência simples que indicaram diferenças estatisticamente significativas quanto a comportamentos e hábitos de viagem entre ciclistas e usuários de outros modos para o acesso à estação. Finalmente, as respostas às 12 afirmações foram submetidas a uma análise fatorial por componentes principais, que levou à extração de três componentes principais: o primeiro relativo a aspectos que favorecem o uso da bicicleta (economia de tempo, dinheiro, infraestrutura e outros); referente ao ambiente (clima e topografia); e à segurança (pessoal e no trânsito). Os valores desses três componentes para cada indivíduo da amostra foram utilizados para a construção de um indicador de afinidade com o uso da bicicleta, que permitiu classificar os entrevistados em três grupos: Ciclistas, Potenciais Ciclistas e Não Ciclistas. A análise comparativa dos grupos gerados pelo indicador permitiu a identificação das características que distinguem os usuários de cada grupo, representando fatores importantes na decisão pelo uso da bicicleta. O conhecimento desses fatores e a maneira como influenciam os usuários é importante ferramenta para orientar a elaboração de políticas públicas que buscam aumentar o uso da bicicleta no acesso e integração com estações de metrô. / This dissertation presents a case study conducted on line 4 - Yellow of the São Paulo subway. The objective is to analyse factors influencing the use of bicycles as the access mode to subway stations. 500 interviews were conducted on metro platforms, as well as public bicycle racks and shared bicycle stations in the proximity of line 4 stations. The questionnaire includes questions about the intercepted trip and other travel habits, user socioeconomic characteristics, and assessment of user concordance with 12 statements representing factors that influence positively or negatively the use of bicycles. A descriptive analysis allowed a preliminary assessment of differences between those accessing stations by bicycle and by other modes. Simple correspondence analysis indicated statistically significant differences regarding travel behavior and habits between bike users and users of other modes for station access. Finally, a principal component analysis was conducted with answers to the 12 statements. Three principal components were extracted: a first component including aspects favouring bicycle use (time and money savings, the presence of cycling infrastructure, etc.); a second component representing environmental factors (climate and topography); and a third component representing aspects of personal security and traffic safety. An index of affinity with bicycling was proposed, based on the value of the three components for each individual in the sample, allowing the identification of three groups: Cyclists, Potential Cyclists and Non-cyclists. A comparative analysis of the groups revealed the characteristics that distinguish them, representing important factors in the decision to use bicycles. The understanding of these factors and their influence on users is an important tool to guide policy formulation aiming to increase the use of bicycle for modal integration with the subway.

A dissertação apresenta um estudo de caso realizado na linha 4 - amarela do metrô da cidade de São Paulo, visando analisar os fatores que influenciam o uso da bicicleta no acesso às estações dessa linha. Foram realizadas 500 entrevistas nas plataformas de embarque, e nos bicicletários e pontos de bicicleta compartilhada próximos às estações da linha 4. O questionário utilizado tinha questões sobre a viagem interceptada e outros hábitos de viagem, características socioeconômicas dos entrevistados, além de solicitar o grau de concordância dos usuários com respeito a 12 afirmações relacionadas a fatores que influenciam positiva ou negativamente o uso da bicicleta. Uma análise descritiva da amostra permitiu uma avaliação preliminar das diferenças entre aqueles que acessam as estações por bicicleta e os que utilizam outros modos de transporte. Foram em seguida realizadas análises de correspondência simples que indicaram diferenças estatisticamente significativas quanto a comportamentos e hábitos de viagem entre ciclistas e usuários de outros modos para o acesso à estação. Finalmente, as respostas às 12 afirmações foram submetidas a uma análise fatorial por componentes principais, que levou à extração de três componentes principais: o primeiro relativo a aspectos que favorecem o uso da bicicleta (economia de tempo, dinheiro, infraestrutura e outros); referente ao ambiente (clima e topografia); e à segurança (pessoal e no trânsito). Os valores desses três componentes para cada indivíduo da amostra foram utilizados para a construção de um indicador de afinidade com o uso da bicicleta, que permitiu classificar os entrevistados em três grupos: Ciclistas, Potenciais Ciclistas e Não Ciclistas. A análise comparativa dos grupos gerados pelo indicador permitiu a identificação das características que distinguem os usuários de cada grupo, representando fatores importantes na decisão pelo uso da bicicleta. O conhecimento desses fatores e a maneira como influenciam os usuários é importante ferramenta para orientar a elaboração de políticas públicas que buscam aumentar o uso da bicicleta no acesso e integração com estações de metrô. / This dissertation presents a case study conducted on line 4 - Yellow of the São Paulo subway. The objective is to analyse factors influencing the use of bicycles as the access mode to subway stations. 500 interviews were conducted on metro platforms, as well as public bicycle racks and shared bicycle stations in the proximity of line 4 stations. The questionnaire includes questions about the intercepted trip and other travel habits, user socioeconomic characteristics, and assessment of user concordance with 12 statements representing factors that influence positively or negatively the use of bicycles. A descriptive analysis allowed a preliminary assessment of differences between those accessing stations by bicycle and by other modes. Simple correspondence analysis indicated statistically significant differences regarding travel behavior and habits between bike users and users of other modes for station access. Finally, a principal component analysis was conducted with answers to the 12 statements. Three principal components were extracted: a first component including aspects favouring bicycle use (time and money savings, the presence of cycling infrastructure, etc.); a second component representing environmental factors (climate and topography); and a third component representing aspects of personal security and traffic safety. An index of affinity with bicycling was proposed, based on the value of the three components for each individual in the sample, allowing the identification of three groups: Cyclists, Potential Cyclists and Non-cyclists. A comparative analysis of the groups revealed the characteristics that distinguish them, representing important factors in the decision to use bicycles. The understanding of these factors and their influence on users is an important tool to guide policy formulation aiming to increase the use of bicycle for modal integration with the subway.

A desigualdade de gênero no espaço urbano se expressa através de padrões de mobilidade e dos modos de deslocamento. Uma análise da pesquisa Origem-Destino de São Paulo, realizada pelo Metrô, mostra que os padrões de mobilidade masculino e feminino são bastante diferentes, sendo as mulheres a maioria no uso do ônibus e andar a pé, mas apenas 12% dos ciclistas. Com base em dados quantitativos e qualitativos sobre o uso de bicicletas na cidade de São Paulo, este estudo investiga porque o uso da bicicleta é tão incomum entre mulheres em grandes cidades brasileiras. Ele busca responder duas perguntas centrais: quais características das cidades impedem as mulheres de usarem bicicletas, e o que significa falar de mobilidade ativa e gênero no contexto brasileiro? Para responder essas perguntas, o estudo se baseia na literatura recente nos campos de sociologia urbana e estudos de gênero para desenvolver um modelo de porque mulheres usam ou não usam bicicletas em contextos urbanos. Ele também desenvolve uma metodologia para estudar a mobilidade e analisar a infraestrutura urbana que leva em consideração os fatores culturais e subjetivos que subjazem as escolhas das pessoas de como se locomover na cidade, e que estão na base de como relações de gênero impactam os usos diferentes que mulheres e homens fazem da cidade. Esse modelo é utilizado para analisar o uso da bicicleta entre mulheres na cidade de São Paulo, revelando que, para melhor compreender os padrões de mobilidade, é crucial que se olhe além de variáveis quantitativas e características de infraestrutura urbana, considerando também a lógica das percepções, emoções e afetos que moldam nosso relacionamento com a cidade e considerando como cada indivíduo está inserido dentro de estruturas/lógicas de família que devem ser levadas em consideração por planejadores urbanos se buscamos construir cidades mais justas e democráticas. / Gender inequality expresses itself in patterns of mobility and forms of displacement in urban environments. The historical, series of the Origin-Destiny Survey carried out by the São Paulo Metro, for instance, reveals that patterns of male and female displacement in the city differ significantly, and that, while women represent the majority of pedestrians and public transport users, only 12% of cyclists are female. Based on quantitative and qualitative analyses the use of bicycles in São Paulo, the present dissertation investigates why cycling is so uncommon among women in large Brazilian cities. It sets out to answer two central questions: which characteristics of the city hinder bicycle use among women, and what does it mean to speak of gender and active mobility and gender in the Brazilian context? To address these questions, the study draws on and brings together recent literature in the fields of urban sociology, urban planning and gender studies to develop. a framework for assessing how and why women do and do not ride bicycles in urban environments. It also devises a methodology for studying urban mobility and analysing the city\'s built environment which takes into account the cultural and subjective factors which drive people\'s choices of how to interact with and within the city, as well as the how gender relations impact on the different use female and male make of the city gendered dimension. This framework is then deployed in the investigation of bicycle usage among women in São Paulo, and finds that, in order to more fully understand patterns of urban displacement, it is crucial to look beyond quantitative variables and raw infrastructural characteristics, also focusing on the logics of perceptions, emotions and affects that shape our relationships to the city and how each individual is inserted within the structure of familial logic - which must be taken into consideration by urban planners if the aim is to make cities more democratic and fair.

A bicicleta estacionária articulada é um tipo de equipamento disponibilizado recentemente ao mercado de fitness, consequentemente não explorado em estudos no meio acadêmico científico. Desta forma surgem alguns problemas de pesquisas, desde o fato da instrumentação deste equipamento até a escolha de metodologias e variáveis a serem estudadas para potencializar o seu uso. Este estudo foi realizado com o proposito de descrever as diferenças quanto ao padrão angular da pedalada do ciclista, ou seja, o ângulo do pedal relativo ao pedivela, utilizando-se desta nova bicicleta estacionária de ciclismo indoor, comparando a condição chassi fixo com o articulado. Para a instrumentação, foi acoplado um gerador e um encoder junto a roda de inércia tendo controle das variáveis carga e cadência. Para a medição do ângulo do pedal, os pedais (direito e esquerdo) da bicicleta foram substituídos por pedais instrumentados com potenciômetros, já para o registro do ângulo do pedivela, foi utilizado um sensor eletromagnético, do tipo reed switch. A amostra foi composta por cinco praticantes, todos devidamente adaptados com bicicletas de chassi articulado, submetidas a um protocolo pré-estabelecido, variando condição (fixo e articulado) e posição (pedalando no selim e em pé) com carga e cadência determinada. Embora a amplitude de movimento para ambos os pedais não apresentaram diferenças, em análise, os resultados apontaram que o uso do chassi articulado afeta o padrão angular do pedal durante o ciclo da pedalada, menos acentuado quando utilizou-se a posição sentado no selim, e mais acentuado quando estava-se pedalando em pé. Das posições no pedivela que apresentaram as diferenças no padrão angular durante o uso do chassi articulado, 80% foram na parte produtiva da pedalada (ângulo de 0° a 180°), e o ângulo de 150° concentrou 60% destas ocorrências. Já, tratando-se de forças no pedal, o chassi articulado apresenta evidência de ser mais eficiente do que o chassi fixo. / The stationary articulated bicycle is a type of equipment which is available to the fitness market only recently, and therefore it was not investigated in academic or scientific studies yet. Thus, this fact arises some problems of research, from the fact of instrumentation of this equipment to the choice of methods and variables to be studied to maximize its use. This study was conducted with the purpose to describe the differences in the angular pattern of cyclist pedaling, i.e., the angle on the pedal crank, using this new stationary bicycle of indoor cycling, by comparing the condition of the fixed chassis with the articulated one. For the instrumentation, a generator and an encoder were connected to the wheel of inertia, taking control of the load and cadence variables. To measure the angle of the pedal, the left and right pedals of the bicycle were replaced by pedals which were instrumented with potentiometers. To record the angle of the crank, we used an electromagnetic sensor, the reed switch. The sample consisted of five practitioners, all suitably adapted with articulated frame bicycles, which were subjected to a pre-established protocol, varying the condition (fixed or articulated), and the position (pedaling in the saddle or standing up), with determined load and cadence. The results indicated that the use of articulated frame affects the pattern of the pedal angle during the pedaling cycle, less marked when the sitting position on the saddle was used, and more pronounced when pedaling on the standing up position. About the positions of the crank that showed differences in angle while using the articulated frame: 80% were in the productive part of the pedaling (angle from 0° to 180°), and the angle of 150° concentrated 60% of these incidents. The amplitude of angular movement of the pedal showed no differences between fixed and articulated frame. However, in the case of forces on the pedal, the articulated frame shows evidence of being more efficient than the fixed frame.

This study focused on using a mapping tool, Space Syntax, to analyze the connectivity of the Cache County road network and its use to plan for bicycles. Space Syntax is being compared to another method that is already used by city planners called Bicycle Level of Service, or BLOS. The two analyses used data from Cache County and, after they were modeled and evaluated, a statistical analysis was done to see how similar one is to the other. The analyses were done at both a regional and a local scale. At both scales the analyses were not similar. Data was added to the Space Syntax analysis at both scales to see if it would influence making it more similar to BLOS. Adding the data had no effect in making them similar. It was determined that Space Syntax and BLOS are not similar and more research would need to be done to attempt to make them similar. They both have advantages and disadvantages to them when being used for planning for bicycles. One is not necessarily better than the other, as they are two different methods that could be used.

This thesis fills a missing piece in research on multimodal performance measures for traffic on streets and highways. The Highway Capacity Manual (HCM) published by the Transportation Research Board (TRB) provides Level of Service (LOS) methodologies which enable engineers and planners to evaluate the overall performance of roadways and highways based on the physical characteristics of facilities. This allows for the evaluation of those facilities and offers a means for recognizing issues and planning, designing, implementing, and ultimately assessing improvements. Originally, level of service was developed for automotive traffic only, but with recent developments as part of the complete streets movement, the performance of infrastructure for alternative transportation modes have also started being assessed in this fashion. There are methodologies in HCM 2010 for bicycle traffic at signalized intersections, all-way stop-controlled intersections, roadway and highway segments, but as of yet, no bicycle level of service methodology exists for two-way stop-controlled intersections. This work attempts to fill this gap. The methodology utilized for this report includes video collection of sample two-way stop-controlled intersections throughout California, collection of survey responses from viewers of video, and linear regression of collected survey responses with physical attributes of each sample intersection as the explanatory variables. Data was analyzed from both combined and individual street movements to determine the final equation set. The final methodology involves two separate procedures for major and minor streets at TWSC intersections. Final factors deemed significant in bicycle level of service analysis include sight distances, speed limits, presence of bus stops, presence and type of bicycle infrastructure, street widths and types of lanes present, pavement quality, and traffic flows.

Aim: The primary purpose of this study was to examine effects of a fan-induced airflow at standard room temperature (20-23°C) on 20-km cycling time trial performance. A secondary purpose was to investigate two fan speeds and whether a difference in performance existed with increased fan speed in intermediate duration indoor cycling tests. Methods: Seven trained cyclists completed three 20-km cycling time trials under three conditions in a randomized crossover design. The 3 conditions were: 1) control (no fan), 2) low speed fan, and 3) high speed fan. Results: A tendency for modest decreases in time to completion (TTC) were noted in the two experimental conditions compared to the control condition (-2.06% low speed fan; -3.29% high speed fan). There was also a tendency for small increases in power output during the experimental conditions, although neither time nor power output differences were statistically significant. No differences in mean heart rate and rating of perceived exertion were observed among the three conditions. Conclusion: These results suggest a relationship between fan use and 20-km indoor cycling time trial performance, specifically TTC and mean power output, but larger samples are needed to provide adequate statistical power. Further investigation into the effects of fan use in standard testing environments is recommended. No additional benefit was observed from increased fan speeds. Differences in the experimental conditions on average resulted in non-significant 1.2% improvement.