This work deals with design and construction of unstable double wheeled Segway-like vehicle built for human personnel transportation and its smaller scaled clone developed for control algorithms testing. The smaller machine is controlled via Joystick and PC. This work was conducted in team consisting of three students. Individual goals are described in chapter „Stanovení cílů práce“. The beginning of the work deals with researching any similar projects concerned with this topic, especially with sensors and control algorithms used. Further, the work describes the process of choosing used electronics and its parameters. One of the problems faced during the work was the pitch angle of the vehicle base calculation - algorithm of the angle calculation had been designed by students of several world universities. The principle of how it works was studied and then tested by simulations and practically in the following chapters. Further on, the work deals with platform‘s parameter estimation, at first the testing platform made of wood, followed by the final platform made of aluminium. Parameter estimation was realized by using the multifunctional I/O card Humusoft MF 624 for PC. Part of the work deals with the final control algorithm on the dsPIC microcontroller implementation, sensor‘s outputs calculation and calibration algorithm design. Since the vehicle is built for human personnel transportation, implementation of certain safety algorithms was necessary. These algorithms should be able to detect possible fail states and prevent the driver from losing control over the vehicle in order to prevent any injuries.

Der Gesetzgeber beabsichtigt in naher Zukunft Fahrzeuge wie den Elektro-Stehroller der Firma Segway für den öffentlichen Straßenverkehr in Deutschland zuzulassen. Vor diesem Hintergrund befasste sich die Unfallforschung der Versicherer (UDV) mit dem Thema und analysierte die Sicherheitseigenschaften dieses Kraftfahrzeugs.

Segway has been a popular production as an alternative transporter since its invention at the end of 20th century. Millions of people like for its ergonomic design and high-tech elements. It is predicted to be an innovational product to change a person's life style. This thesis focuses on building a simple low cost, home-made Segway style scooter. This project uses two electric scooter motors, two 12V car batteries, one accelerometer and several microprocessors to build up the whole system. Significantly, this project also explains how to build a Brushed Direct Current (BDC) motor driver with a rated output power of more than 350W and the capability of coping with up to 120A transient peak current and up to 40A continuous current. Four-quadrant operation and eight modes of DC motor operation are discussed. A mathematical model of the Segway style scooter is also introduced in details. This including the modelling of a BDC motor, a two-wheeled inverted pendulum and their combination. The linearization of these models is used. At the end the linearized model is simulated in computer software.

Today, numerous alternative modes of mobility are emerging to provide a solution to the problems created by the automobile. This research envisions a future where transportation in urban areas will be dominated by small personal mobility devices (PMDs) instead of automobiles. This Intelligent Mobility System (IMS) would be a car-free zone where people travel by a shared-system of PMDs providing levels of mobility greater than walking but less than a car. This research effort focuses on the operational aspects of this future system by studying PMD performance characteristics as inputs for a computer simulation model of an IMS environment. Therefore, the primary objective of this research is to evaluate the operations of PMDs that are currently used in a variety of settings. GPS recorders are used to log speed and location data each second of pedestrian, bicycle, Segway, and electric cart trips. Segway speed and acceleration are analyzed using three factors, sidewalk width, surface quality, and pedestrian density to study their effect on Segway speed. Pedestrians have the lowest mean speed and the most narrow speed distribution. Segways, bicycles and electric carts have increasingly faster mean speeds and wider speed distributions, respectively. Segways and bicycles were found to have similar acceleration distributions. Segways seem to provide a level of speed and mobility between that of pedestrians and cyclists, meaning that Segways might capture new users by providing a level of mobility and convenience previously unseen. Narrow sidewalk widths, poor sidewalk quality, and heavy pedestrian density all decreased Segway speeds. The researchers suspect that surface quality is likely an independent constraint for Segway speed and that sidewalk width and pedestrian density interact to limit Segway speeds under certain conditions. This research concludes that these external factors may affect PMD speed and should be considered when analyzing PMD mobility, especially in an IMS setting.

Le travail de cette thèse porte sur l’étude et la conception d’un fauteuil roulantsur deux roues appelé Gyrolift, adaptation d’un gyropode, véhicule de transport autoéquilibré,en fauteuil roulant verticalisateur sur deux roues. La verticalisation permetà une personne assise dans un fauteuil roulant le transfert d’une position assise à uneposition debout.Se mettre debout et se maintenir en équilibre malgré la présence d’un certainnombre de perturbations représente un défi pour une personne en situation de handicap.Les variations de posture de la partie supérieure telle que le tronc peuventêtre dues à des perturbations externes. Nous étudions la détection des mouvementsperturbateurs afin d’interpréter ces derniers ou l’intention qu’ils caractérisent et permettrede réagir en fonction de caractéristiques comme l’intensité et le sens. Nousétudions aussi les impacts de facteurs tels que l’environnement et l’appréhension surle Gyrolift et son utilisateur.Dans le premier chapitre de la thèse, la contribution porte sur l’étude de la trajectoirede verticalisation et sur les perturbations qu’elle peut générer. Un premierprototype a été conçu afin de valider notre étude.Afin de développer notre approche, le second chapitre de la thèse porte sur ladétection de perturbations sur un robot humanoïde bipède. Nous avons obtenu descritères nous permettant une détection rapide et fiable d’une perturbation, de sonsens et de son intensité afin d’effectuer les mouvements adaptés pour compenser cetteperturbation.Enfin, nous avons étudié l’adaptation de ces critères sur le Gyrolift ainsi que lesréactions possibles afin de sécuriser le système. Nous avons pour cela développé etréalisé un second prototype du fauteuil Gyrolift.Nous avons validé cette étude à l’aide d’un robot humanoïde et d’un nouveau typede fauteuil roulant verticalisateur, le Gyrolift, développé dans le cadre de ce projet. / The work of this thesis concerns the study and design of a two-wheel mobilitychair, conscript the Gyrolift, adapted from a Personal Transporter. It provides anauto-well-balanced transport vehicle and a verticalisation mechanism. The verticalisationallows a user in a wheelchair the transfer from a seat position to a standingposition.Being in a standing position and remaining stable when disturbances are presentmay be a challenge for a person with a mobility impairment. The posture variationsof the upper limbs such as the trunk can be due to external disturbances. This studydiscusses the detection of disruptive movements and to interpret the disturbances. Asafety ystem reacts according to the intensity of the disturbance when detected. Wealso study the impacts of factors such as the environment and the apprehension onthe Gyrolift and user.In the first chapter of the thesis, the contribution concerns the study of the trajectoryof verticalisation and the disturbances which it can generate. A first prototypewas designed to validate our study.The second chapter of the thesis concerns the detection of disturbance on bipedshumanoids robots. We obtained criteria allowing us a fast and reliable detection ofa disturbance, its direction and its intensity to make the movements adapted tocompensate for this disturbance.Finally, we studied the adaptation of these criteria on the Gyrolift as well as thepossible reactions to secure the system. We developed and realised for it a secondprototype of the Gyrolift wheelchair.We validated this study with the help of a humanoid robot and a new type ofverticalisation wheelchair developed within the framework of this project.

Thesis deals with design of construction, control and electronics for unstable balancing vehicle. The rst part is focused on the determination of requirements for the function and then design and manufacture of structure in line with set requirements, including 3D models and drawings. The second part is devoted to the creation of simulation models of vehicles using the Lagrange equations of the second kind and using SimMechanics. Also PID and LQR regulators are designed, including the advantages and disadvantages of each regulator for this application. The last part is focused on electronics necessary to vehicle operating. They are mainly power electronics (H-bridge, battery charger, switching supply of voltage board). There are also necessary calculations, complete PCB design and a description of the rmware for the this specifc device.

This rapport deals with the construction of a self-balancing scooter. A self-balancing scooter is a two-wheel vehicle where the velocity is controlled by the tilt of the driver. When the driver leans forward and backward, the vehicle is running forward and backwards. The main task was to determine if the Arduino microcontroller could be used for the control system. An iron frame, control circuit and a tilt able handlebar were constructed. Two recycled permobil DC-motor were mounted onto the iron frame. An accelerometer and a gyrometer were obtaining the tilt of the handlebar and the scooter. The system was using locked Anti-phase drive and a PI-regulator to control the motors. The self-balancing scooter prototype worked well and was able to balance without any external help. The driver was able to control the speed by tilting forward or backward and was able to choose the direction by the tilt of the handlebar. The balance was affected negative by the backlashes from the gear and too weak H-bridges. If the project were made again, two three-phase hub motors with higher ratings would replace the DC-motors. Gears could be excluded and the backlashes are removed.

Tato práce se zabývá návrhem nového řídícího systému, odolného proti chybám, pro nestabilní samo-balancující dvoukolové vozidlo typu Segway. Původní systém vozidla je podroben analýze rizikovosti jeho součástí a na základě výsledků jsou navržena opatření pro zvýšení jeho bezpečnosti. Je navržena nová topologie řídícího systému obsahující dvě samostatné řídící jednotky, redundantní senzoriku a voter. Pro řídící jednotky byl vyvinut software obsahující bezpečnostní algoritmy a mechanismy přepínání kontrolních výstupů. V práci jsou také představeny dva matematické modely vozidla různé složitosti, které jsou následně využity při HIL testování nově navrženého systému. Celý návrh byl proveden s využitím nástrojů pro Rapid Control Prototyping.

The goal of this work is to describe a robotics platform called the Building Wide Intelligence Segbot (segbot). The segbot is a two wheeled robot that can robustly navigate our building, perform obstacle avoidance, and reason about the world. This work has two main goals. First we introduce the segbot platform to anyone that may use it in the future. We begin by examining off-the-shelf components we used and how to build a robot that is able to navigate in a complex multi-floor building environment with moving obstacles. Then we explain the software from a top down viewpoint, with a three layer abstraction model for segmenting code on any robotics platform. The second part of this document describes current work on the segbot platform, which is able to non-robustly take requests for coffee and navigate to a coffee shop while having to move across multiple floors in a building. My contribution to this work is building an infrastructure for multi-floor navigation. The multi-floor infrastructure built is non-robust but has helped identify several issues that will need to be tackled in future iterations of the segbot. / text

This diploma thesis is a part of HUMMER project. The project deals with three student’s development of two-wheeled unstable vehicle Segway type and its diminished laboratory model. This thesis deals with reviviscence of laboratory model, design of its control and realization of its actuating (a more detailed breakdown of tasks in the project is shown below). At the beginning of the work is presented reviewed study. The first part of study deals with similar models in the world, their construction and way of control. In the next part of reviewed study follows description of a real model and derivation of model basic equations, in the last part of search is given principle of operation of some used sensors. The next step was the selection and design of required electronics. In this capture are described all designed electronic modules and used sensors. There are also given parameters of used batteries and motors. The next task was the estimation of system parameters. The estimation was made by sections, in the capture is in detail described way of measuring data and structuring of estimation model. The penultimate step was design of PID and LQR controller using I/O card MF 624 and their comparing. Following thing was choice of better regulator and its implementation to the microprocessor. The last step was the realization of actuating driving of model by joystick and supreme PC.