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\title{First Look at Rider Biomechanics while Controlling a Bicycle}
\author{Jason~K.~Moore}
\author[Jason~K.~Moore]
{
  Reverend Jason~K.~Moore
}
\institute[Davis]
{
  Bicycle Dynamics Lab\\
  3mE/PME Engineering Dynamics\\
  Delft University of Technology\\
  \&\\
  Sports Biomechanics Lab\\
  Mechanical and Aeronautical Engineering Department\\
  University of California, Davis
}
\date{June 4, 2009}
\begin{document}

\frame{\titlepage}
\section[Outline]{}

\frame{\tableofcontents}

\section{Introduction}

\subsection{Handling Qualities}
\frame
{
  \frametitle{The Holy Grail}
	\begin{itemize}
		\item<1-> What are we seeking?
		\begin{itemize}
			\item<2-> To be able to predict the \alert{handling qualities} of a bicycle.
		\end{itemize}
		\item<3-> What is a \alert{handling quality}?
		\begin{itemize}
			\item<4-> A measure that determines the ease and precision with which a rider may complete a given task
		\end{itemize}
	\end{itemize}
}
\frame
{
	\frametitle{But why?}
	Isn't the bicycle perfect the way it is?
  \begin{itemize}
  	\item<2-> The bicycle evolved from 200 years of tinkerers.
  	\item<3-> Alternative designs do not have this luxury.
  	\item<4-> Help shed light on many other human/machine interactions.
  \end{itemize}
	\begin{center}
  	\includegraphics[width=8cm]{Bicycle_evolution-en.pdf}
  \end{center}
}
\frame
{
  \frametitle{Handling qualities road map}
      \begin{columns}[t]
  			\column{5cm}
				\begin{overlayarea}{5cm}{4cm}
				\begin{center}
					\alert<1>{Vehicle Dynamics}\\
					$\downarrow$\\
					\alert<2>{Human Biomechanics}\\
					$\downarrow$\\
					\alert<3>{Manual Control}\\
					$\downarrow$\\
					\alert<4>{Handling qualities}
				\end{center}
				\end{overlayarea}
  			\column{6cm}  
  			\begin{overlayarea}{5cm}{5cm}
  			\begin{figure}[]
    			\begin{center}
    				\includegraphics[width=5cm]<1>{NeimarkFufaev1967.png}
    				\includegraphics[width=5cm]<2>{biomechanics.jpg}
    				\includegraphics[width=5cm]<3>{brain-small.jpg}
    				\includegraphics[width=5cm]<4>{nervousDriver.jpg}
  				\end{center}
  			\end{figure}
  			\end{overlayarea}
  \end{columns}
}
\subsection{What do we know?}
\frame
{
  \frametitle{Vehicle dynamics}
  We only confidently know two things about bicycle dynamics:
		\begin{itemize}
		\item<2-> \alert{Fact \# 1}: Some bicycles are stable at various speeds.
		\item<3-> \alert{Fact \# 2}: Steering into the lean will stabilize the bicycle. As a consequence, to go \structure{right} you have to steer to the \structure{left}!
	\end{itemize}
}
\frame
{
  \frametitle{Unstable at 0 km/h}
    \begin{columns}[t]
  		\column{6cm}
  			\begin{figure}[]
  				\centering
  				\includegraphics[width=6cm]{0kph.pdf}\\
  				Linear model
  			\end{figure}
  		\column{5cm}  
  			\begin{figure}[]
    			\begin{center}
    				\movie[width=5.00cm,height=4.01cm]{\centering\includegraphics[width=5.04cm]{Bicycle3v0p00.jpg}}{Bicycle3v0p00.avi}
    				Non-linear simulation
  				\end{center}
  			\end{figure}
  \end{columns}
}
\frame
{
  \frametitle{Unstable 12.6 km/h}
    \begin{columns}[t]
  		\column{6cm}
  			\begin{figure}[]
  				\centering
  				\includegraphics[width=6cm]{12p6kph.pdf}\\
  				Linear model
  			\end{figure}
  		\column{5cm}  
  			\begin{figure}[]
    			\begin{center}
    				\movie[width=5.00cm,height=4.01cm]{\centering\includegraphics[width=5.04cm]{Bicycle3v3p50.jpg}}{Bicycle3v3p50.avi}
     				Non-linear simulation
 				\end{center}
  			\end{figure}
  \end{columns}
}
\frame
{
  \frametitle{Stable at 17.6 km/h}
    \begin{columns}[t]
  		\column{6cm}
  			\begin{figure}[]
  				\centering
  				\includegraphics[width=6cm]{17p6kph.pdf}\\
  				Linear model
  			\end{figure}
  		\column{5cm}  
  			\begin{figure}[]
    			\begin{center}
    				\movie[width=5cm,height=4.01cm]{\centering\includegraphics[width=5.04cm]{Bicycle3v4p90.jpg}}{Bicycle3v4p90.avi}
    				Non-linear simulation
  				\end{center}
  			\end{figure}
  \end{columns}
}
\frame
{
  \frametitle{Unstable at 22.7 km/h}
    \begin{columns}[t]
  		\column{6cm}
  			\begin{figure}[]
  				\centering
  				\includegraphics[width=6cm]{22p7kph.pdf}\\
  				Linear model
  			\end{figure}
  		\column{5cm}  
  			\begin{figure}[]
    			\begin{center}
    				\movie[width=5cm,height=4.01cm]{\centering\includegraphics[width=5.04cm]{Bicycle3v6p30.jpg}}{Bicycle3v6p30.avi}
    				Non-linear simulation
  				\end{center}
  			\end{figure}
  \end{columns}
}
\frame
{
  \frametitle{Yellow Bicycle}
  \begin{center}
    \movie[width=6.4cm,height=4.8cm]{\centering\includegraphics[width=6.4cm]{Yellowbike2.jpg}}{Yellowbike2.avi}
  \end{center}
}
\frame
{
  \frametitle{Gyrobike}
  \begin{center}
    \movie[width=7.2cm,height=4.8cm]{\centering\includegraphics[width=7.2cm]{New_gyrobike.jpg}}{New_gyrobike.avi}
  \end{center}
}
\frame
{
  \frametitle{Countersteering}
  \begin{center}
    \movie[width=7.2cm,height=4.8cm]{\centering\includegraphics[width=7.2cm]{New_countersteer.jpg}}{New_countersteer.avi}
	\end{center}
}
\frame
{
  \frametitle{Vehicle dynamics and handling}
  \begin{itemize}
  	\item<1-> Is stability beneficial?
		\begin{itemize}
			\item<2-> The Wright Flyer was an unstable aircraft
			\item<2-> Fighter jets are unstable without control
			\item<2-> Race cars are typically on the verge of stability
		\end{itemize}
		\item<3-> \alert{Stability does not necessarily equate to ease of control}
		\item<4-> Are the uncontrolled dynamics and indicator of handling?
		\begin{itemize}
			\item<5-> For aircraft, connections have been found
			\item<5-> Unlike a bicycle, the pilot's motion does not affect the aircraft's dynamics
			\item<5-> Pilot and manual control theory have provided more insight
		\end{itemize}
	\end{itemize}
}
\subsection{What we want to know}
\frame
{
  \frametitle{How do we control the bicycle?}
	\begin{center}
  	\movie[width=6cm,height=4.5cm]{\centering\includegraphics[width=6cm]{MacAskill.jpg}}{MacAskill.avi}\\
  	Danny MacAskill, Pro Trials Rider
  \end{center}
}
\frame
{
  \frametitle{How do we control the bicycle?}
	Obvious control input candidates:
		\begin{itemize}
			\item<2-> Steering
			\item<3-> Upper body lean (especially while riding no-hands)
		\end{itemize}
	Not so obvious candidates:
		\begin{itemize}
			\item<4-> Upper body twist
			\item<5-> Arm movement
			\item<6-> Leg movement
			\item<7-> Shifting on the saddle
		\end{itemize}		
	\onslide<8->\alert{First step}: objectively observe and measure what the rider does
}
\section{Instrumented bicycle}
\subsection{The bicycle}
\frame
{
  \frametitle{The bicycle}
  	\begin{figure}[]
  		\centering
  		\includegraphics[width=8cm]{instruBike.pdf}
  	\end{figure}  
}
\subsection{Experiments}
\frame
{
  \frametitle{Experiments}
    \begin{columns}[t]
  		\column{5.5cm}
  		\begin{itemize}
				\item<1-> Around the town ride
				\item<2-> Treadmill tests: pedaling, no pedaling, no-hands, perturbing, lane change
				\item<3-> Measured bicycle dynamics and observed rider
			\end{itemize}
			\begin{figure}[]
  			\centering
  			\includegraphics[width=5cm]{treadmill.jpg}
  		\end{figure}
  		\column{5.5cm}
    	\begin{figure}[]
  			\begin{center}
    			\movie[width=5cm,height=4cm]{\centering\includegraphics[width=5cm]{arendcycling301505.jpg}}{arendcycling301505.avi}
				\end{center}
			\end{figure}
  \end{columns}
}
\subsection{Conclusions}
\frame
{
	\frametitle{Conclusions}
		\begin{itemize}
			\item<1-> No visual signs of upper body lean
			\item<2-> Steering frequency is dominated by pedaling frequency
			\item<3-> Steering amplitude inversely proportional to the speed
			\item<4-> At low speeds the rider exhibited knee motion
		\end{itemize}
		\onslide<5->\alert{But, no easy way to quantify the rider's movements.}
}
\section{Motion Capture}
\subsection{Experiments}
\frame
{
  \frametitle{Experimental Setup}
  \begin{columns}[t]
  	\column{8cm}
  	\begin{itemize}
  		\item Full body motion capture with active markers
			\item Two different bicycles and three adult male riders
			\item Treadmill tests (pedaling, no pedaling, no-hands, tracking) at different speeds
		\end{itemize}
  	\begin{figure}[]
  		\centering
  		\includegraphics[height=2.5cm]{optotrack.jpg}
  		\includegraphics[height=2.5cm]{jodiBikeMarkers.pdf}
  	\end{figure}
  	\column{3cm}
		\begin{figure}[]
  		\centering
  		\includegraphics[width=2.5cm]{jodiMarkers.pdf}
  	\end{figure}
	\end{columns}	

}
\subsection{Data Processing}
\frame
{
  \frametitle{Principal component analysis}
 	$3\textrm{ riders}\times90\frac{\textrm{runs}}{\textrm{rider}}\times560,000\frac{\textrm{data points}}{\textrm{run}}=$ \alert{$150\cdot10^6\textrm{ data points}$}
	\begin{center}\onslide<2->\structure{Principal Component Analysis!}\end{center}
	\begin{itemize}
		\item<3-> Statistical data reduction technique based on an eigenanalysis of data variance
		\item<4-> Used for face recognition, data compression, characterizing human walking
		\item<5-> Largest eigenvalue corresponds to largest variance in motion
	\end{itemize}
}
\frame
{
  \frametitle{Graphical User Interface}
  	\begin{figure}[]
  		\centering
  		\includegraphics[width=9cm]{GUI.pdf}
  	\end{figure}  
}
\frame  
{
  \frametitle{Normal bicycling at 15 km/h}
  \begin{columns}[t]
	\column{5.5cm}
  \begin{figure}[]
  	\begin{center}
    	\movie[width=5.5cm,height=4.4cm,showcontrols]{\centering\includegraphics[width=5.5cm]{3054a.jpg}}{New_3054a.avi}
		\end{center}
	\end{figure}
	\column{5.5cm}
	  \begin{figure}[]
  	\begin{center}
    	\movie[width=5.5cm,height=4.81cm,showcontrols]{\centering\includegraphics[width=5.5cm]{jasonNormal15kph.jpg}}{jasonNormal15kph.avi}
		\end{center}
	\end{figure}
 \end{columns}
}
\subsection{Results}
\frame  
{
  \frametitle{Motions and Groups}
  \begin{columns}[t]
  \column{2.93cm}
	\begin{figure}[]
    \begin{center}
			\includegraphics[height=3cm]{rollSteer.pdf}
			\includegraphics[height=3cm]{yaw.pdf}\\
			Steer-Roll-Yaw Group
    \end{center}
	\end{figure}
	\column{5.14cm}
	\begin{figure}[]
    \begin{center}
			\includegraphics[height=3cm]{pedal.pdf}
			\includegraphics[height=3cm]{lean.pdf}
			\includegraphics[height=3cm]{bend.pdf}
			\includegraphics[width=1.5cm]{twist.pdf}\\
			Pedaling Group
    \end{center}
	\end{figure}
	\column{1.47cm}
	\begin{figure}[]
    \begin{center}
			\includegraphics[height=3cm]{knees.pdf}\\
			Lateral Knee Group
    \end{center}
	\end{figure}
	\column{1.47cm}
	\begin{figure}[]
    \begin{center}
			\includegraphics[height=3cm]{bounce.pdf}\\
			Knee Bounce Group
    \end{center}
	\end{figure}
	\end{columns}
}   
\frame  
{
  \frametitle{Group variance vs speed}
  \begin{figure}[]
  	\begin{center}
			\includegraphics[width=8cm]{pedaling4classes.pdf}
		\end{center}
	\end{figure}
}
\frame  
{
  \frametitle{Normal bicycling at 5 km/h and 25 km/h}
  \begin{figure}[]
  	\begin{center}
    	\movie[width=8.00cm,height=4.64cm]{\centering\includegraphics[width=8.00cm]{63vs59.jpg}}{63vs59.avi}\\
    	\structure{5 km/h} and \structure{25 km/h}
		\end{center}
	\end{figure}
}
\frame  
{
  \frametitle{Steer angle comparisons}
  \begin{columns}[t]
  \column{6cm}
  \begin{figure}[]
  	\begin{center}
			\includegraphics[width=6cm]{steerangle.pdf}
		\end{center}
	\end{figure}
	\column{5cm}
		  \begin{figure}[]
  	\begin{center}
			\includegraphics[width=5cm]{steerangleVsSpeed.pdf}
		\end{center}
	\end{figure}
	\end{columns}
}
\section{Conclusions}
\frame  
{
  \frametitle{Conclusions}
\begin{itemize}[<+->]
\item During normal bicycling the dominant \structure{upper body motions}: lean, bend, twist and bounce,
\alert{are all linked} to the \structure{pedaling motion}.
\item We hypothesize that \structure{lateral control} is mainly done \alert{by steering} since we observed only upper body motion in the pedaling frequency.
\item If \structure{upper body motions} are used for control then this control is in the \structure{pedaling frequency}.
\item When pedaling at \structure{low speed} we observe \alert{lateral knee motions} which are probably also used for control.
\end{itemize}
}
\frame  
{
  \frametitle{Conclusions}
  \begin{columns}[t]
  \column{5.5cm}
  Bicycles present a rich complex and robust system to study
	\begin{itemize}[<+->]
		\item \alert{vehicle dynamics} (rolling contacts, variable stability)
		\item \alert{biomechanics} (human stabilization, locomotion)
		\item \alert{human control} (stabilization + manuveuring)
		\item \alert{handling qualities} (perception, psychology)
	\end{itemize}
	\column{5.5cm}
	  \begin{figure}[]
  	\begin{center}
  	\vspace*{-35pt}
    	\movie[width=5.5cm,height=6.27cm,repeat]{\centering\includegraphics[width=5.5cm]{JasonNoHands10kph.jpg}}{JasonNoHands10kph.avi}
		\end{center}
	\end{figure}
	\end{columns}
}
\end{document}
