International Journal of Advance Science and Technology Vol. 29, No. 10S, (2020), pp.5928 -5937 CMG Method of Designing Self-Balancing Bicycles: A Review Avinash Kumar1, Adeel beg2, Pulkit Jain3 1,2Pursuing bachelor degree program in mechatronics engineering in Chandigarh University,India 3Assistant Professor in Mechatronics engineering in Chandigarh University, India Email:[email protected], [email protected] Abstract In recent years researchers are busy in concept of electric vehicles and the driverless cars. Now compared to the automated cars, autonomous bicycles are more affordable and environment friendly in nature which do not produce any harmful effect to the environment. The autonomous bicycles reduce human effort and are also considered best for the physically disabled person. This review paper explains the benefits of autonomous bicycles and its various methods of balancing. The biggest challenge in automating bicycle is the inherent problem of staying balanced. This paper gives knowledge about the modifications which can be carried out on conventional bicycles to make them autonomous. Various electrical components and their uses are also described in this paper. The design of the autonomous bicycle using Control Movement Gyroscope (CMG) to make it self-balance also described in this paper. The hardware and software development of autonomous bicycles are described in this paper. Keywords: CMG; driverless bicycles; self-balance; Autonomous; balancing; development. 1 INTRODUCTION Self balancing and driving bicycles or autonomous bicycles becomes a most searched topic on internet in this year. It has many benefits on normal bicycles ,bicycles usually lead many injuries but it can reduce injuries. Generally everyone think that why not we try to make 4-wheeled or 3-wheeled autonomous vehicles rather than trying to make autonomous bicycles. So if we compare bicycles from other vehicles then there are some reasons. Bicycles does not use more track space like any other vehicles. It can be more flexible and easy to handle for rider as compared to any other vehicles. It can easily cut through obstacles as compared to 4-wheeled or 3-wheeled vehicle. It can be also useful for transportation in small areas like mines or research areas.Apart from the potential advantages bicycles are also a unique platform for research. For example, it can help us to understand the physical human- machine interaction. Because there are various points for connecting a bicycle to its rider(like handle bars, comfortable seat, and peddles).Due to these points we can attach various multiple sensors to track activities of rider.In India, recently held KPIT sparkle 2016(annual national design and development innovation contest) students of IIT Kharagpur who came with driverless bicycle , took the first prize. In this study we are going to discuss about design and prototypes to make bicycles self balance and driverless. Fig1. A self balance bicycle[1] ISSN: 2005-4238 IJAST 5928 Copyright ⓒ 2020 SERSC International Journal of Advance Science and Technology Vol. 29, No. 10S, (2020), pp.5928 -5937 1.1.Advantages: The Autonomous bicycles have a fast speed as compared to normal bicycles. So, this is easy for a fat and a beginner to get some significant speed going. These bicycles are easy to handle with a less effort or no effort , just move the steering where you want to go. It occupies less track space as compare to any other vehicles. It provides a comfortable ride to the riders . Fig2. Beginner on a self-balance bicycle.[2] It does not produce any type of environmental pollution. It helps in many small areas like research areas and mines as a transport. The blind person or a physically disable person can also drive these bicycles without any harm. It can also run on wireless phone network by using GPS technology. Fig3. Flow chart of advantages. ISSN: 2005-4238 IJAST 5929 Copyright ⓒ 2020 SERSC International Journal of Advance Science and Technology Vol. 29, No. 10S, (2020), pp.5928 -5937 1.2. Disadvantages: Autonomous bicycles have more parts or components as compare to the normal bicycles. So, there is more chance of something going wrong. Weight of the autonomous bicycle is more as compare to normal bicycle. Expensive than a normal bicycle. Programming is done in this , so there is possibilities that something unexpected fault may happen. Many taxi drivers will loose their jobs because of lot of advantages of autonomous bicycle on taxi. So, there is decrease in demand of drivers. It would not be affordable by average person due to its price when it will newly introduce in market. Fig4. Flow chart of disadvantages 2.REVIEW: It contains methods to achieve self balance bicycles and how to make driverless bicycle and to understand the human-machine interactions in driverless bicycles. The goal of this section is to introduce related work with the help of these topics. 2.1.Methods to achieve self balance bicycles: Now,we are going to discuss about four methods to self -balancing bicycle based on the literature review and these four types are as follows: • Control moment gyroscope • Mass balancing • Steering control • Reaction wheel • Control moment gyroscope: A CMG is an attitude control device often used in spacecraft attitude control[3]. A typical CMG Is made of one spinning rotor and one motorized gimbal that can change the rotor’s angular momentum, which can generate processive torque to balance the bicycle. Many researchers have utilized CMGs to balance bicycles[4,5]. According to gyroscopic theory it can be clear that by making a flywheel process, it generates a moment to oppose the gravitational moment and due to this our bicycle will balanced. ISSN: 2005-4238 IJAST 5930 Copyright ⓒ 2020 SERSC International Journal of Advance Science and Technology Vol. 29, No. 10S, (2020), pp.5928 -5937 Fig5. Parts of Control moment gyroscope.[6] • Mass Balancing: Bicycles can also balance by using a massive balancer on the bicycle to achieve self-balance [7,8].The mass balancing can provide a small amount of torque besides the structure required for mass balancing is simpler as compared to CMG. Steering Control: Steering control is a method to achieve real time control of bicycle balance by adjusting the steering system in real time [9,10]. So the steering control will consume the less power as compared to the gyroscope , but this method sufficiently cannot provide balance at low forward velocities. Reaction Wheel: The reaction wheel cannot response fast and and the torque is limited, so it is only to balance a small type of bicycle. Fig6. Reaction wheel balancing a small object.[11] ISSN: 2005-4238 IJAST 5931 Copyright ⓒ 2020 SERSC International Journal of Advance Science and Technology Vol. 29, No. 10S, (2020), pp.5928 -5937 TABLE1. ADVANTAGE AND DISADVANTAGE OF DIFFERENT TECHNIQUES. Sr.No Disadvantages Methods Advantages 1 It produces High energy consumption. CMG large torque to balance. 2 Mass It has Small torque. balancing simple structure as compared to CMG. 3 Steering It gives At low velocities control real time there is no response balance. and it consume less energy. 4 Reaction It Output torque is Wheel response limited. in short time period. 2.2. Driverless bicycles: In the recent year, the researchers show a huge interest on autonomous driving, mostly in autonomously driving cars. However, there are few researches that focus on autonomous driving bicycles. On the basis of pre-existing literature there are few projects on driverless bicycles are discussed below. Student of IIT Kharagpur develop a driverless bicycle that can reach you with just an SMS. It uses GPS for automatic respond to GPS coordinates of destination which are received through SMS with the help of an application which are meant for this bike. Laser and sonar-based sensor are used to avoid obstacles. It is enabled to follow a specialised bicycle lane due to a unique and affordable software architecture. It is connected to a wireless network which provides live tracking mechanism. A power-assisted electric bicycle was designed by researchers from University of California, Berkeley for uphill riding. Control algorithms in the system can provide flexible assistive power through estimating and compensating for the changing environmental disturbances [12]. Automotive collision avoidance systems have been developed by many automotive manufacturers and a sensing system for bicyclist-motorist crash prediction is developed to `accurately track rear vehicles that can have two-dimensional motion [13]. In addition, vision-based motion planning systems for an autonomous motorcycle has been designed for desert terrain, where uniform road surface and lane markings are not present [14]. Finally, the study of self-driving and human-robot interaction can be developed by deep learning algorithm. ISSN: 2005-4238 IJAST 5932 Copyright ⓒ 2020 SERSC International Journal of Advance Science and Technology Vol. 29, No. 10S, (2020), pp.5928 -5937 3.HARDWARE MODIFICATION FOR AUTONOMOUS BICYCLE: The hardware for this project was created and designed to create a best self balance and the driverless bicycle. This section includes the modification of bicycle model, some useful sensors which is used to control the various actions of bicycles, steering control assembly, CMG development and various electrical components . This bicycle contains a hub motor of 300w power which allows the bicycles to carry large amount of weight of the components used in this model . A pre-built electric bicycle, the X-Treme