Rider Control Research Articles

Untangling the Complex Relationships between Horse Welfare, Rider Safety, and Rider Satisfaction

ABSTRACT Securing the horse industry’s long-term future is becoming increasingly urgent due to community concerns for horse welfare; human behavior change may offer novel solutions to this challenging problem. Self-determination theory (SDT), a well-established theory in human behavior change, assumes humans are intrinsically motivated by three universal psychological needs: competence, autonomy, and relatedness. These align well with horse–human interaction. To explore the potential for human behavior change to improve horse welfare, this study investigated the relationship between horse welfare, rider safety, and rider satisfaction. An online survey asked equestrians about their horse-keeping and training practices, their riding accidents and injuries, and their level of satisfaction with their horse. Relative horse welfare and rider satisfaction were significantly related (r = 0.34, p < 0.001). Hyperreactive horse behavior (defined in this study as bucking, bolting, rearing, and spooking) and rider accidents and injuries were negatively related to rider satisfaction (r = −0.23, p < 0.001 and r = −0.16, p = 0.001, respectively). Further, goal achievement (r = 0.57, p < 0.001), rider control (r = 0.49, p < 0.001), and horse–human partnership (r = 0.62, p < 0.001) were all significantly related to rider satisfaction. A regression analysis testing the proposed SDT-based rider satisfaction model was significant (p < 0.001), with goal achievement, rider control, and horse–human partnership accounting for 63% of the variance of rider satisfaction scores. We found that horse welfare, rider safety, and rider satisfaction were related, with equestrian goal achievement (competence), horse control (autonomy), and horse-rider partnership (relatedness) all significantly contributing to rider satisfaction, suggesting that SDT may offer a useful framework for developing behavior change strategies. While more work is needed to develop and evaluate such strategies, a better understanding of intrinsic rider motivation represents an important first step.

Rider control identification in cycling taking into account steering torque feedback and sensory delays

Experiments and human rider models were used to investigate bicycle balance and steering using visuo/vestibular motion and proprioceptive feedback taking into account sensory delays. An instrumented steer-by-wire bicycle designed and built at the TU Delft bicycle laboratory was used to investigate rider responses with and with reduced steering torque feedback. Steering responses and bicycle motions were measured perturbing balance with impulsive forces at the seat post. The rider was commanded to follow a straight lane at unstable (2.6 and 3.7 ) and stable speeds (4.5 and 5.6 ). Bicycle speed was controlled with an electric drive and cruise control. Balance and steering responses could well be captured by linear impulse response functions which were consistent across participants. The impulse response functions were used to develop neuromuscular control models capturing rider–bicycle interaction. The Carvallo–Whipple bicycle model was extended with rider inertia and an additional degree of freedom for the steer-by-wire system. Rider behaviour was modelled as a balance and heading controller. This controller used visuo/vestibular motion feedback of roll angle and roll rate, heading angle and heading rate, and proprioceptive feedback of steering angle, velocity and torque. Results showed that the rider model followed the necessary stability condition of steer into the fall and was capable of stabilising the bicycle. Sensory delays had a negative effect on the model fit, which was resolved with an internal model and prediction algorithm. A model without steer angle and steer velocity feedback could not well capture the human response at the highest speeds and the absence of torque feedback had similar effects for all speeds, supporting the relevance of steer angle and torque feedback in bicycle control.

Connected Bike-smart IoT-based Cycling Training Solution.

The Connected Bike project combines several technologies, both hardware and software, to provide cycling enthusiasts with a modern alternative solution for training. Therefore, a trainer can monitor online through a Web Application some of the important parameters for training, more specifically the speed, cadence and power generated by the cyclist. Also, the trainer can see at every moment where the rider is with the aid of a GPS module. The system is built out of both hardware and software components. The hardware is in charge of collecting, scaling, converting and sending data from sensors. On the software side, there is the server, which consists of the Back-End and the MQTT (Message Queues Telemetry Transport) Broker, as well as the Front-End of the Web Application that displays and manages data as well as collaboration between cyclists and trainers. Finally, there is the Android Application that acts like a remote command for the hardware module on the bike, giving the rider control over how and when the ride is monitored.

Roll angle estimator based on angular rate measurements for bicycles

ABSTRACTMeasuring the roll angle of single-track vehicles has always been a challenging task; however, accurate and reliable measurements of this magnitude are paramount for controlling the stability of these vehicles, both for autonomous riding and for safety reasons. A roll angle estimation is also useful in other situations, such as tests to perform the identification of the parameters of the rider control. In this work, a new algorithm is presented for estimating the roll angle of bicycles. This estimator, based on the well-known Kalman filter, employs a wheel speed sensor to approximate the speed of the vehicle, and three angular rate sensors, which are currently small and affordable sensors. The proposed method was implemented in a microcontroller and tested in a bicycle and the results were compared with measurements obtained with optical sensors, showing a good correlation. Although it has not been tested in motorcycles, comparable results are expected.

Smart e‐bike monitoring system: real‐time open source and open hardware GPS assistance and sensor data for electrically‐assisted bicycles

The smart e-bike monitoring system (SEMS) is a platform for the real-time acquisition of usage data from electrically-assisted bikes (also called pedelecs or e-bikes). It is autonomous (runs off the bike battery), replicable (open source and open hardware), scalable (different fleet sizes) and modular (sensors can be added), so it can be used for further research and development. The system monitors location (global positioning system), rider control data (level of assistance) and other custom sensor input in real time. The SEMS data feeds an online interface for data analysis, for riders to view their own data and for sharing on social media. The basic system can be replicated by other researchers and can be extended with modules to explore various issues in e-bike research. The source code and hardware design are publicly available, under the General Public License, for non-commercial use. SEMS was implemented on 30 bikes and collected data during 10 months of real-word trials in the UK. This study details the design and implementation of the hardware and software, discusses the system use and explores features for future design iterations. The SEMS turns singular e-bikes into a networked fleet and is an example of the internet of things in the cycling context.

Bicycle rider control skills: expertise and assessment

Research on how human balance and control bicycles are inconclusive, largely due to the small number of participants in the previous studies. Therefore, the aim of this study was to test the hypotheses that 1) cycling lateral deviation amplitude will reliably show differences between more and less experienced cyclists and 2) more experienced will exhibit slower and smaller steering motions compared to the less experienced cyclists. Twenty-eight experienced and inexperienced cyclists rode a bicycle in a straight line. Lateral deviation, steering and roll were measured. Intersession reliability of the deviation was high with Cronbach’s alpha values higher than 0.75. The amplitude, variability and rate of steering and roll parameters showed statistically significant differences between the groups. The test used in this study is sensitive to detect differences between more and less experienced cyclists and can be used for further research that aims to test the effect of a specific intervention addressing rider control. We also showed that steering and roll angle, which were described before as two of the main motor control actions in bicycle control, differ in the variability, amplitude and rate between more and less experienced cyclists. The results of the present study have practical implications for improving bicycle rider control and increasing the safety of cyclists.

Bicycle Rider Control Modelling for Path Tracking

Rider models are employed to gain insight into bicycle rider steering behaviour and to improve characteristic properties of bicycles. In this paper, stability properties as well as basic dynamic characteristics of the passive (uncontrolled) bicycle-rider system and consequences on the rider control modelling are addressed. In particular, the unstable motion of the system at low velocities and bandwidth limitations caused by non-minimum phase dynamics are emphasized. To analyse the effectiveness of the steering torque and the lean torque as possible rider's inputs to control the dynamics of the bicycle, a controllability analysis of the bicycle-rider system has been performed. It turns out that lean torque input, in contrast to steering torque input, has marginal impact on the dynamics of the system. Finally, a bicycle rider control model considering human rider properties is presented, and its capabilities are demonstrated by performing a curve entering manoeuvre.

3208 立体視を用いた二輪車用ライディングシミュレータ構築に関する研究(OS9-1 シミュレータシステムの開発,OS9 ビークルシミュレータの開発と応用,オーガナイズド・セッション(OS))

Our study deals with the development and evaluation of motorcycle simulator for understanding rider's control mechanism. For that purpose, we have been putting much effort for spherical screen visual system, since the effect to the rider's subject evaluation is shown in previous study. Adding to spherical screen, we made it clear that solid angle from rider's eyes should be wider enough to cover eyesight along the rider's range of head motion. To verify this, rider's subjective evaluations are analyzed by our proposal methodology. The quantitative results show usefulness for riding simulator design study.

A review on bicycle and motorcycle rider control with a perspective on handling qualities

This paper is a review study on handling and control of bicycles and motorcycles, the so-called single-track vehicles. The first part gives a brief overview on the modelling of the dynamics of single-track vehicles and the experimental validation. The second part focusses on a review of modelling and measuring human rider control. The third part deals with the concepts of handling and manoeuvrability and their experimental validation. Parallels are drawn with the literature on aircraft handling and pilot models. The paper concludes with the open ends and promising directions for future work in the field of handling and control of single-track vehicles.

Rider control identification in bicycling using lateral force perturbation tests

A model describing rider control while steering and stabilizing a bicycle has been developed. Experimental data were obtained from riding a bicycle on a narrow treadmill while perturbing balance with impulsive forces at the seat post. The experiments were conducted at 2–7 m/s covering both the stable and the unstable forward speed range. Bicycle and rider mechanics have been modeled using the Whipple bicycle model extended with the rider inertia. A rider control model applying steering torque at the handle bars has been developed exploring potential feedback of visual, vestibular and arm proprioceptive cues. The identified rider control parameters, after model reduction, stabilize the system and mimic realistic rider control behavior. The feedback gains of this control model were used to identify the specific optimal control linear-quadratic regulator (LQR) cost function which the rider was using to control the bicycle. The identified cost functions indicate that at low speed the rider minimizes his control effort and at high speed he minimizes the heading error.

A review on bicycle dynamics and rider control

This paper is a review study in dynamics and rider control of bicycles. The first part gives a brief overview of the modelling of the dynamics of bicycles and the experimental validation. The second part focuses on a review of modelling and measuring human rider control, together with the concepts of handling and manoeuvrability and their experimental validation. The paper concludes with the open ends and promising directions for future work in the field of handling and control of bicycles.

3310 立体視を用いた二輪車用ライディングシミュレータ構築に関する研究 : 球面スクリーンによる速度感,臨場感への効果(OS10-1 ビークルシミュレータの開発と応用(1),OS10 ビークルシミュレータの開発と応用,オーガナイズド・セッション(OS))

This study deals with a development and evaluation of a motorcycle simulator to analyze rider's control algorithm. This paper described about the evaluation for a visual system configuration as underlying data of such simulator construction. We had subjective test using a flat screen to evaluate for a visual scene of the simulator. And, it is concluded that wide-field screen vertical view angle and stereoscopic video projector are effective. In addition, using these results, a new spherical screen system using 3D projectors is constructed. The motorcycle simulator will be improved using this system.

The effects of transport, riot control training and night patrols on the workload and stress of mounted police horses

Quantifying and evaluating police work is essential to avoid behavioural problems, minimise wastage and maximise welfare of police horses. Behavioural and physiological measures were used to assess the workload and/or stress police horses experience during police work. Further, the influence of the rider on the fear response and heart rate of the horse was studied.Nine police horses were evaluated during transport, riot control training and night patrols. Outcome parameters were mean and peak heart rates (HR, beats/min), plasma lactate concentration (LA, mmol/L) and behaviour score (BS, 0–10). Data were analysed using a linear mixed model test (P<0.05). During transport, peak HR differed between horses that were indicated as ‘stressed’ (116±25 beats/min) and ‘non-stressed’ (79±16 beats/min, P=0.032) during transport. Riot control training workload was 348±30min at a mean HR of 80±11 beats/min and LA<0.8mmol/L and night patrols workload was 198±48min at a mean HR of 51±7 beats/min. Horses experienced fire exercise (mean HR, 104±18) and individual seclusion exercise (mean HR, 151±17) as the most stressful events. During individual seclusion mean HR was significantly lower when the rider could control a horse's fear responses (146±14 beats/min) than when not (170±16 beats/min, P=0.004). BS differences were too small to discriminate between training scenarios. However, individual horses differed significantly (mean HR, P<0.001; mean BS, P<0.001) and consistently between scenarios. The workload and stress of police horses are low compared with those of horses in equine sports and probably do not cause behavioural problems and wastage. However, the rider's control over a horse's fear response seems to be important in the stress, ridden horses experience during challenging situations.

구동력을 고려한 자전거 안정성에 관한 연구

This study focuses on the influence of tractive forces on the self-stability of a bicycle. The eigen-value analysis of the self-stability of a passive rider control linear bicycle model can be used to analyze the self-stability. A linear bicycle model with front and rear driving forces is developed. The influence of tractive forces on the self-stability is identified by using the developed model. A nonlinear multi-body bicycle model is used to confirm the results of the linear analysis.

Rider control of a motorcycle near to its cornering limits

Optimal linear quadratic control theory is applied to longitudinal and lateral control of a high-performance motorcycle. Central to the story is the use of sufficient preview of the road to obtain the full benefit available from it. The focus is on effective control near to the cornering limits of the machine, and gain scheduling according to speed and lateral acceleration is employed to ensure that the linear controller used at any time is the most appropriate to the running conditions. The motorcycle model employed and the control theory background are described briefly. Selected optimal controls and closed-loop system frequency responses are illustrated. Path-tracking simulations are discussed and results are shown. Excellent machine control near to the feasible cornering limit is demonstrated. Further work is needed to provide similarly excellent control under limit braking.

Modeling the Manually Controlled Bicycle

A control-theoretic model of the bicycle rider is developed. The model has its origins in pilot modeling efforts previously reported in the literature. A handling-quality metric that was employed in pilot/vehicle analysis is adopted for use in estimating the task-independent handling qualities of bicycles. The resulting model is parameterized by five gains, two fixed second-order filters, and a preview time. Analysis and computer simulation of the rider/bicycle system are undertaken using six linear models of existing bicycles at three different velocities. The rider's task consisted of a 2-m lane-change maneuver and return. Lane tracking performance was comparable for all bicycles at each velocity. Distinct variations in estimated handling-quality levels were evident in the analysis that indicated that bicycle velocities, rather than differences in the bicycles themselves, dominated the handling-quality predictions. A brief discussion of a rider control model for hands-free riding and a possible approach for model identification concludes this paper.

1020 二輪車の操縦を模擬するライダモデルの応答性評価(OS17-2 交通システムのダイナミクスと制御II,OS17 交通システムのダイナミクスと制御)

1020 二輪車の操縦を模擬するライダモデルの応答性評価(OS17-2 交通システムのダイナミクスと制御II,OS17 交通システムのダイナミクスと制御)

Control effects of steer-by-wire system for motorcycles on lane-keeping performance

This study discusses the control effects of the steer-by-wire (SBW) system for motorcycles on the lane-keeping performance by examining computer simulation with a rider-vehicle system which consists of a simplified vehicle model, a rider control model and the controller of the SBW system. The SBW system, which compensates the rolling angle deviation between the desired rolling angle intended by the rider and the actual rolling angle, improves the lane-keeping performance of the rider-vehicle system under the steering torque disturbance. The SBW system is, on the other hand, not effective in the lane-keeping performance under the lateral force disturbance. In addition, the lane-keeping assistance (LKA) system is applied to the SBW system and the cooperativeness of the SBW and the LKA systems is examined. The LKA system improves the lane-keeping performance of the SBW system under not only the steering torque disturbance but also the lateral force disturbance.

1115 二輪車のライダ操縦モデルの安定性に関する研究(OS2-2 自動車・二輪車のダイナミクス,OS2 交通・物流システムのダイナミクス,オーガナイズド・セッション(OS))

This study evaluates the motorcycle stability, especially response performance with the rider control model. The effects of the rider control model gains on the response performance of the motorcycle-rider system are examined by computer simulation. The lateral displacement gain rarely affects the response performance if the gains on the yawing and rolling angles are moderate values. If either the yawing or rolling angle gain is small, the weak directional or attitude stability causes the less damping response. On the other hand, if either gain is large, the coupled oscillation of the yawing and rolling angles is occurred.

C204 二輪車の操縦を模擬するライダモデルの安定性評価(OS12 二輪車のダイナミクスと制御1)

C204 二輪車の操縦を模擬するライダモデルの安定性評価(OS12 二輪車のダイナミクスと制御1)