Sports Biomechanics Lab > Lab Members > Jason Moore > Dissertation Planning
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Dissertation Planning

A basic outline of the tasks I need to do for my dissertation work.

Dissertation Plans

Green = Complete

Blue = Started

Red = Not Started

Bicycle Dynamics Model

  • Develop the Whipple model
  • Extend the Whipple model with rider degrees of freedom
  • Estimate mass, CoM and inertia for a rider
  • Linear Stability parameter study
  • Extend Whipple model to a swing bike
  • Extend Whipple model to a gryobike
  • Extend Whipple model to treadmill dynamics

Human Biomechanics Experiments

  • Instrument a bicycle with rate and angle measurements and video 
  • Around town riding experiments 
  • Treadmill experiments 
  • Motion Capture treadmill experiments

Statistical Analysis of the Delft Experiments

  • Calculate additional "states" from the data 
  • Basic statistical review of the time history data 
  • Principal component analysis 
  • Linear Mixed Effects Model

Physical Parameter Measurement

  • Measure the physical parameters of a bicycle accurately
  •  Calculate parameters, eigenvalues and transfer functions with uncertainty 

Human Biomechanics Model

  • Choose and develop a human biomechanics model based off of the Delft experiments and the extended Whipple model

Instrumented Bicycle

  • Instrument a bicycle similar to the Delft bike but add in force/torque measurements to fit with the new human biomechanical model

Control Experiements

  • Lane change, pull force disturbance
  • Maneuvers on the gym floor
  • The treadmill

More accurate human physical parameters

  • Implement Yeadon's model with the human biomechanics model
  • Develop program that takes Yeadon's human measurements and outputs body segment parameters for any rider

Manual Control Model

  • Develop and tune a manual control model to get matching perturbation results.
  • Statistics of the model matching.

Timeline

June 21 - 27

Meeting Topics

  • ISEA presentation: fft, stats
  • Dissertation plan

Tasks

  • Work on ISEA presentation
  • Research data acquisition systems
  • Choose IMU with Luke & Gilbert
  • Plan bike dynamics software

June 28 - July 4

Meeting Topics

  • Rider biomechanic model: what rider kinematics and kinetics do we want to measure?
  • Review the plots for the ISEA presentation
  • Go over DAQ options
  • Discuss full scale motion capture

Jason's Tasks

  • Order IMU
  • Send plots to Jodi
  • Work on journal paper revisions
  • Sensor spreadsheet and selection
    • add all the kinematic data from the motion capture experiments
  • Work on new rider/bike model
  • Research DAQs and Netbooks

Gilbert's Tasks

  • Research handlebars and seatpost in Maury's lab
    • Look up Stone's and de Lorenzo's theses and papers
    • What do they measure?
    • How do they work?
    • What do we need to use them?
  • Sensor selection spreadsheet
    • add in information about forces/torques from Hull's students' work
  • Research amplfier options for seat post and handlebar strain gages
    • Do we need to make these?
    • Is it better to buy them?

July 5 - July 11

Meeting Topics

  • Go over new bike/rider model design
  • Force measurement considerations
  • Go over journal paper revisions

Jason's Tasks

  • Work on PCA paper
  • Make leaning rider model for Ron
  • Check on horse treadmill
  • Research DAQs and netbooks

Gilbert's Tasks

  • Design of seat post and handlebar force measurements
    • If we use them as is, then we can start wiring and calibration
    • Add torsional strain gauge
  • Work on rider kinematic measurements harness design
  • Research DAQs and netbooks

July 12 - July 18

Meeting Topics

  • No meeting this week

Jason's Tasks

Gilbert's Tasks

  • Test IMU
    • Are the magnetometer readings affected by the fork movement, hub motors, the treadmill or the gym floor?
  • See if the old seatpost amplifier works
  • Read about strain gages
  • Talk with Keith Williams & Maury Hull about harnesses and goniometers
  • Work on rider kinematic measurement harness design

July 19 - July 25

Meeting Topics

  • Horse treadmill findings
  • Review rider motion sensor design
  • IMU results
  • Lean angle inputs instead of torques
  • Seat post measurements
  • Use of gynasiums

Jason's Tasks

  • Work on steer torque design
  • Work on new bicycle/rider model
  • Order strain gage glue
  • Setup DAQ and computer
  • Work on seat post
  • Start designing seat post calibration rig

Gilbert's Tasks

  • Test VectorNav Matlab scripts
    • Does it work with Matlab, Windows?
    • Do we have the needed Matlab toolboxes?
  • Figure out Matlab functionality with the DAQ and combining with VectorNav
  • Work on seat post
  • Start designing seat post calibration rig

July 26 - August 1

Meeting Topics

  • State as an input to a model
  • Pots versus rate gyros
  • Steer torque design
  • Seat post calibration
  • Harness design

Tasks

  • Strain gage application class
  • Work on gain calculations for seat post torque strains and gains
  • Work on steer torque design
  • Look into making fiber glass harness
  • Order rate gyro
  • Order torque sensor

Gilbert's Tasks

  • Strain gage application class

August 2 - August 8

Meeting Topics

  • No meeting

Jason's Tasks (out of town Aug 2, 3 and 6)

  • Work on steer torque design
  • Work on seat post calibration fixture
  • Update steer angle measurement design

Gilbert's Tasks


August 9 - August 15

Meeting Topics

  • No meeting

Jason's Tasks

  • Complete steer torque parts drawings
  • Order steer torque parts
    • Potentiometer
    • Slip clutch
    • U-joint
    • Timing belt and pulley
  • Finish seat post calibration setup
  • Order small strain gages
  • NSF Report
  • Think about foot forces

Gilbert's Tasks

  • Calcs for foot peg strains and gains

August 16 - August 17

Meeting Topics

  • Go over what's happening while I'm away
  • Foot force measurments
  • NSF Annual Report
  • getting space for the experiments

Tasks


August 18 - September 5

Meeting Topics

  • No meetings

Jason's Tasks

~20 days in India

Gilbert's Tasks

  • Fabricate steer torque parts
    • Check over the drawings and make sure things make sense (i.e. fix mistakes)
    • Find material
    • Make the parts (use the undergrads help if they feel comfortable making the particular part)
  • Seat post force/moment verification
  • Design the force foot pegs
  • Computer, DAQ, amplifier mount for rear rack (undergrads can probably handle this)

September 6 - Septermber 12

Meeting Topics

  • No meeting

Jason's Tasks

  • Check over current seat post results
  • Order material
  • Machine steer assembly parts

Gilbert's Tasks

  • Machine parts for steer torque assembly

September 13 - September 19

Meeting Topics

  • Eigenvalues of the eight bicycles
  • Update on steer torque, foot pegs and seat post

Jason's Tasks

  • Weld tubes for steer assembly
  • Meet with Hull about current seat post results
  • Mock up the rider upper body measurement design
  • Work on 8 bicycle eigenvalue verification

Gilbert's Tasks

  • Foot peg final calculations
  • Fabricate foot pegs
  • Mock up the rider upper body measurement design

September 20 - September 26

Meeting Topics

  • Rider upper body measurement design
  • Findings on bike parameters (product of inertia check)

Jason's Tasks

  • Work on bicycle software
  • Verify bike eigenvalues
  • Upper body measurement design
  • Get some back braces

Gilbert's Tasks

  • Write up foot peg
  • Write up strain gage clamp
  • Collect any random info on the website

September 27 - October 3

Meeting Topics

  • Rider upper body design
  • David Weir talk

Jason's Tasks

  • Practice strain gage application
  • Apply strain gages to foot pegs
  • Get some back braces
  • Design rider upper body measurement stuff

October 4 - October 10

Meeting Topics

  • Delft presentation and poster
  • Rider restraint design
  • Experiment space

Jason's Tasks

  • Buy paint for bike frame
  • Check on horse treadmill
  • Write letter to the ARC
  • Make poster for the Delft conference
  • Write Delft paper

October 11 - October 17

In the Netherlands Oct 12 - Oct 24

Meeting Topics


Jason's Tasks

  • Work on paper
  • Work on poster

October 18 - October 24

In the Netherlands Oct 12 - Oct 24

Meeting Topics

  • No meeting

Jason's Tasks

  • Finish paper and poster
  • Delft conference

October 25 - October 31

Meeting Topics


Jason's Tasks

  • Finish rigid rider parts
  • Assemble bicycle
  • Work on wiring harness
  • Plan and prep for experiments

Nov 1 - Nov 7

Meeting Topics


Jason's Tasks

  • Make the wiring harness
  • Make and install disc for wheel speedometer
  • Fab button/LED mount
  • Put pins through the universal joint
  • Mount the sensor power switch
  • Test harness for the treadmill

Nov 8 - Nov 14

Meeting Topics

  • Experiments on the treadmill

Jason's Tasks

  • Final wiring
  • Meet with Coulson Thomas about the gym floor
  • Program the data collection software
  • Buy rope
  • Work on the rider harness with Dave
  • Finish the computer mount
    • Get sticky velcro
    • Make velcro straps
    • Mount the voltage regulator
  • NSF Conference Paper

Nov 15 - Nov 21

Meeting Topics

  • Time sync

Jason's Tasks

  • Program the GUI
  • Work on time sync of the VectorNav and the NI card

Nov 22 - Nov 28

Took off Nov 25-26

Meeting Topics

  • Time sync

Jason's Tasks

  • Program the GUI
  • Work on time sync of the VectorNav and the NI card
  • Call Sterling about the slip clutch
  • Mail slip clutch back

Mohammad's Tasks

  • Repair the speedometer mount

Nov 29 - Dec 5

Took off Nov 29-30

Meeting Topics

  • No meeting

Jason's Tasks

  • Work on pull force measurement
  • Redundant accelerometer
  • Work on time sync
  • Bump tests with redundant accel and rate

Dec 6 - Dec 12

Meeting Topics

  • Bump test results

Jason's Tasks

  • Check on slip clutch
  • Figure out why VectorNav data is lost
  • Work on the gui
  • Make permanent attachement for the accelerometer
  • Design a bump
  • Setup up the pull force measurement
  • Voltage regulator for 3.3v

Steven's Tasks

  • Work on knee magnets

Dec 13 - Dec 19

Meeting Topics

  • Slip clutch
  • How to use the bump with the treadmill

Jason's Tasks

  • Check on slip clutch
  • Fab a bump
  • Buy some backup tubes
  • Calibrate force pull
  • Mount the amp box
  • Attach the body cast
  • Get equine key
  • Work on the gui
  • Sew up knee straps
  • Make higher standoffs for the computer mount

Steven's Tasks

  • Work on knee magnets

Dec 20 - Dec 26

Meeting Topics

  • Slip clutch

Jason's Tasks

  • Finish the gui
  • Check on drift in the amp box
  • Strengthen the tip of the bump
  • Test bump
  • Test riding with body cast

Dec 27 - Jan 2

Topics

  • Treadmill testing

Jason's Tasks

  • Inspect the test data
  • Test on treadmill
  • Try to take out back lash in the slip clutch
  • Rewire hub motor and test
  • Create experiment protocol

Jan 3 - Jan 9

Topics

  • No meeting

Jason's Tasks

  • Work and complete on Atlanta poster
  • Diagnose hub motor and order repair parts
  • Read up on VectorNav tuning
  • Construct a wooden "quick" stand for the bicycle
  • GUI bugs
    • Duration isn't always updating properly
    • There are issues with overwriting data and the popup menus, also the appended data needs some work

Jan 10 - Jan 16

Topics

  • VectorNav tuning
  • Motor update

Jason's Tasks

  • Repair and test hub motor
  • Tune the VectorNav
  • Soft/hard iron calibrate VectorNav
  • Review the test data from the first trials

Jan 17 - Jan 23

Topics


Jason's Tasks

  • Tune the VectorNav
  • Soft/hard iron calibrate VectorNav
  • Reference frame rotation on the VectorNav

Jan 24 - Jan 30

Topics

  • VectorNav tuning

Jason's Tasks

  • Get Peter up to speed on what we are doing
  • Try to Hard/soft iron calibrate
  • Try out the active tuning parameters
  • Make a 10 degree angle tester
  • Work on machining new U Join to Torque sensor connector

Steven's Tasks

  • Work on the steer angle calibration device

Jan 31 - Feb 6

Topics

  • VectorNav tuning

Jason's Tasks

  • Finish machining the u join to torque sensor connector
  • Re assemble the steer torque assembly
  • Decide whether to continue with VectorNav
  • Design mechanical roll angle device

Steven's Tasks

  • Get Inventor 2011 working on the lab computer
  • Finish the steer angle calibration device

Feb 7 - Feb 13

Topics


Jason's Tasks

  • Check kinematic equations of the roll angle trailer
  • Design roll angle trailer

Steven's Tasks

  • Finish the steer angle calibration device
  • Calibrate the steer angle

Feb 14 - Feb 20

Topics

  • Amgen talk in Tahoe
  • Finished roll trailer
  • Experiments next week
  • Ron's paper
  • Reviews

Jason's Tasks

  • Finish roll angle trailer design
  • Manufacture roll angle trailer
  • Test roll angle trailer
  • Review Ron's paper
  • Work on VSD review
  • Send Science review to Arend

Feb 21 - Feb 27

Topics

  • Experiments prep
  • Sensor calibration procedures

Jason's Tasks

  • Check 3.3 voltage
  • Build bump catcher
  • Finish experiment protocol
  • Do experiments on treadmill
  • Test roll angle trailer
  • Calibrate roll angle trailer
  • Make periphrial blinders

Feb 28 - Mar 6

Topics

  • Look at data and videos
  • Do we do experiments next week?
  • 5 things that need to happen before next experiments
  • Canceling Monday experiments in the Pavillion

Jason's Tasks

  • Pavillion data collection
  • Process the video data
  • Go through Pavilion data, add notes and check
  • Learn about PyTables
  • Testing importing/exporting matlab/python
  • Order tapes and head cleaning tape
  • Code DataProcess module

Mar 7 - Mar 13

Topics

  • Data processing
  • Treadmill tests

Jason's Tasks

  • Second round of treadmill testing
  • Work on the data processing so that it plots
  • Go over preliminary data outputs with everyone

Mar 14 - Mar 20

Topics

  • Finding the bump

Jason's Tasks

  • Finish paper review
  • Download video of lastest runs
  • Update the data on the runs from the notebook
  • Work on data processing code
  • Calibrate the roll potentiometer and repair
  • Measure physical parameters of the bicycle
  • Test the Delft treadmill data for deviation of front wheel contact
  • Fix the Push Button signal from being excited @ high treadmill speeds
  • Figure out why the noise is in the pull force at high speeds

Peter's Tasks

  • Steer damping experiments

Mar 21 - Jul 31

  • Estimate/measure steer damping in the bearings
  • Order accelerometer for Benny

Aug 1 - Aug 7

Topics

  • AutoK issues at low speed, finds a unstable phi-dot loop, seems to have to do with the selection criteria

Jason's Tasks

  • Check on treadmill

Aug 8 - Aug 14

Topics


Jason's Tasks

  • Finish BicycleParameter Software
  • Finish HumanControl Software

Aug 15 - Aug 21

Topics


Jason's Tasks

  • Lock slip clutch
  • Remount the wheel rate motor
  • Connect roll angle sensor better
  • Work on switching the x/z labels in software for the accelerometer
  • Fix bump
  • Remove material from rigid rider mount for more adjustablity
  • Design and work on the push/pull force input
  • Work on gain matching alogrithm

Aug 22 - Aug 28

Topics

  • Whether to go on filing fee or TA

Jason's Tasks

  • Fabricate the push/pull rod
  • Switch the x/z labels in software for the accelerometer
  • Organize a time for Luke, Mont to ride the bike on the treadmill
  • Make sure the calibration code produces the correct data
  • Calibrate wheel rate sensor again
  • Calibrate all sensors
  • Test out data collection on rigid rider bicycle
  • Work on the match gain algorithm for any transfer function
  • Find IRB consent forms
  • Contact potential riders and helpers for the experiments
  • Update treadmill experiment protocol: add measurements for the bicycle config for each rider
  • Figure out why the steer torque sensor isn't working

Aug 29 - Sep 4

Topics

  • 4 committee members?
  • More experiments
  • Gain matching

Jason's Tasks

  • Figure out best speeds to ride at. Weave speed is about 6.2 m/s, capsize is abouve 10 m/s.
  • Figure out a way to randomly select push or pull.
  • Check out the noise in the high speed treadmill runs
  • Attach blinder to helmet
  • Tighten all bolts before experiments.
  • Zip tie all wires before experiments.
  • Prepare for experiments.
  • Test full data collection in a hallway test run.
  • Treadmill experiments with mulitple Jason and Luke as riders.
  • Process videos of treadmill experiments.
  • Add handwritten notes to the data files.
  • Organize pavillion experiments time.
  • Plan third rider tests for treadmill.
  • Work on gain matching.

Sep 5 - Sep 11

Topics

  • Arm inertia

Jason's Tasks

  • One more treadmill rider (Tuesday 9-6)
  • Update pavilion protocol.
  • Update bicycle DAQ with a multiple trigger option for the pavillion experiments.
  • Pavillion experiments (Friday 12-9)

Sep 12 - Sep 18

Topics


Jason's Tasks

  • Evaluate the quality of the data from the previous Friday (force saturation and vnav bump)
  • Schedule the last session at the pavillion for Luke and Charlie's disturbance runs.
  • Work on adding arm inertia effect to the whipple model.

Sep 19 - Sep 25

Topics


Jason's Tasks

  • Last pavilion experiments on Wednesday September 21, 2011.
  • Download videos from the latest pavilion experiments.
  • Study system identification and try out the Matlab SysID toolbox.
  • Work on adding the inertial effects of the the arms to the whipple model.

Sep 26 - Oct 2

Topics

  • Dissertation website
  • System ID findings
  • Arm inertia
  • Trailer effects
  • Rider configuration inertia

Jason's Tasks

  • Add the notes from the notebook to the digital files from the final experiments.
  • Make a special manuevers for the static measurements with the roll angle and pull force.
  • Check out the dissertation format requirements.
  • Start the outline for my thesis in Sphinx.
  • Learn more system id stuff.
  • Work on getting the gains for the PEM model.
  • Take Charlie's measurements
  • Work on NSF report

Oct 3 - Oct 9

Topics

  • Bicycle equations of motion chapter
  • Mixed effect modeling
  • System ID

Jason's Tasks

  • Work on the draft of the bicycle equations of motion chapter.
  • Work on measuring the bicycle frame parameters for Charlie and Luke's configuration.
  • Read about system id.
  • Work on grey box model for system id.

Oct 10 - Oct 16

Topics

  • System ID grey box and noise
  • Whipple simulations

Jason's Tasks

  • Work on draft of the bicycle equations of motion chapter (simulation graphs and validation)
  • Measure the bicycle frame parameters for Charlie and Luke's configuration.
  • Work on grey box system id approach.

Oct 17 - Oct 23

Topics


Jason's Tasks

  • Finish draft of the bicycle equations of motion chapter (simulation graphs and validation)
  • Work on model extensions chapter.
  • Work on adding the inertial effects of the arms to the whipple model.
  • Add the trailer to the bicycle model (after getting the arms to work).
  • Work on grey and black box system id with multi outputs.
  • Hall of Fame presentation.

Oct 24 - Oct 30

Topics


Jason's Tasks

Oct 31 - Nov 6

Topics

  • System ID progress

Jason's Tasks

Nov 7 - Nov 13

Topics

  • Stuttgart Conference
  • Physical Parameters Chapter

Jason's Tasks

  • Work on equations of motion chapter
  • Get my new Whipple derivation working

Nov 14 - Nov 20

Topics

  • EoM chapter

Jason's Tasks

  • Finish equations of motion draft
  • Work on model extensions draft
  • Work on system ID for the pavillion runs

Nov 21 - Nov 27

Topics


Jason's Tasks

  • Work on Davis bicycle chapter

Nov 28 - Dec 4

Topics

  • Extensions chapter.

Jason's Tasks

  • Work on Extensions Chapter
  • Work on sys id of pavilion runs

Dec 5 - Dec 11

Topics

  • Go over the three chapters.
  • Go over sys id results: better guess sweep and stats and visualization of the parameters versus speed.

Jason's Tasks

  • Work on system id of pavilion runs.
  • Finish the equations of motion, extensions and physical parameters chapters.
  • Measure the gyro bike front wheel y inertia again.

Dec 12 - Dec 18

Topics

  • Talk about the Kalman stuff in system ID.
  • Talk about the first three chapters.

Jason's Tasks

  • Work on parameter studies and Delft bike chapters.

Dec 19 - Dec 25

Topics

  • Variance estimation of process and output noise.
  • Estimating the bicycle model alone.
  • Parameter study and Delft bike chapters.

Jason's Tasks

  • Work on sys id: K estimation
  • Finish parameter study and Delft bicycle chapters.
  • Finish MoCap and Control Chapters

Dec 26 - Jan 1

Topics


Jason's Tasks

  • Work on Control Chapter.

Jan 2 - Jan 8

Topics


Jason's Tasks

  • Finish Control Chapter

Jan 9 - Jan 15

Topics


Jason's Tasks

  • Work on Davis Bicycle Chapter.

Jan 16 - Jan 22

Topics

  • EXB Class (brief)
  • Control chapter overview
  • Steer torque
  • Whipple Validity (tire model?)
  • Writing sys id problem out instead of using sysid toolbox

Jason's Tasks

  •  Work on instrumented bicycle chapter.

Jan 23 - Jan 29

Topics

  • Steer torque
  • Whipple validity

Jason's Tasks

  • Work on instrumented bicycle chapter.

Jan 30 - Feb 5

Topics


Jason's Tasks

  • Work instrumented bicycle chapter.

Feb 6 - Feb 12

Topics

  • Review Davis Bicycle Chapter

Jason's Tasks

  • Finish instrumented bicycle chapter rough draft.
  • Start on system ID chapter.

Feb 13 - Feb 19

Topics

  • Spectral analysis
  • Time delays
  • Conferences and paper topics
  • System ID lit review

Jason's Tasks

  • Lit review for system ID.
  • Work on system ID: bicycle ID

Feb 20 - Feb 26

Topics


Jason's Tasks

  • Work on system ID.
  • KQED Quest filming.

Feb 27 - March 4

Topics


Jason's Tasks

  • Work on system ID.

March 5 - March 11

Topics


Jason's Tasks

  • Finish System ID chapter.
  • Submit complete rough draft to committee.

March 12 - March 18

Topics


Jason's Tasks

  • Revise final draft
  • Work on formatting (pdf and bibtex)

March 19 - March 25

Topics


Jason's Tasks

  • Revise final draft
  • Work on formatting (pdf and bibtex)
  • Submit final draft to committee.

March 26 - April 1

Topics


Jason's Tasks

  • Final details.
  • Turn in thesis to Grad Studies with all signatures.
  • Have a beer, rejoice.
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