{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/35112"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/35112","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Reference Frame Regulation for a Biplanar Bicycle","abstract":"The biplanar bicycle is an experimental vehicle configuration that has been the focus of recent autonomous vehicle research at Virginia Tech. Although the vehicle can be advantageous due to its zero-radius turning and ability to traverse discontinuous terrain, one key disadvantage of the configuration is that it lacks a stable reference frame from which observations of the surroundings can be based. A solution to this problem is presented here in the form of actuators designed to actively control the oscillations of a reference frame. The orientation of a camera attached to a mast extended above the vehicle is specifically considered. Autonomous operation of the vehicle could utilize image processing to navigate, but the camera must maintain a fixed orientation for the data to be valid. The work presented examines not only the regulation of the reference frame, but also the effects of such regulation on the velocity response of the vehicle. Practical considerations such as sensors, actuators, cost, and complexity are addressed. Although this work is centered around the biplanar bicycle, similar approaches can be extended to orientation of an arbitrary body in space.","abstract_html":"The biplanar bicycle is an experimental vehicle configuration that has been the focus of recent autonomous vehicle research at Virginia Tech. Although the vehicle can be advantageous due to its zero-radius turning and ability to traverse discontinuous terrain, one key disadvantage of the configuration is that it lacks a stable reference frame from which observations of the surroundings can be based. A solution to this problem is presented here in the form of actuators designed to actively control the oscillations of a reference frame. The orientation of a camera attached to a mast extended above the vehicle is specifically considered. Autonomous operation of the vehicle could utilize image processing to navigate, but the camera must maintain a fixed orientation for the data to be valid. The work presented examines not only the regulation of the reference frame, but also the effects of such regulation on the velocity response of the vehicle. Practical considerations such as sensors, actuators, cost, and complexity are addressed. Although this work is centered around the biplanar bicycle, similar approaches can be extended to orientation of an arbitrary body in space.","abstract_has_math":false,"creators":["Lewis, Jason"],"institution":"Virginia Tech","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Electrical and Computer Engineering","degree_department":"Electrical and Computer Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":["Kachroo, Pushkin"],"committee_members":[],"year":2000,"date_issued":"2000-09-08","date_published":"2000-09-08","updated_at":"2026-07-22T22:20:00Z","subjects":["biplanar bicycle","Lagrange","orientation"],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-09202000-12380005"],"render_values":[{"text":"etd-09202000-12380005","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10919/35112","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Kachroo, Pushkin"]},{"key":"dc:contributor.department","label":"Department","values":["Electrical and Computer Engineering"]},{"key":"dc:creator","label":"Author","values":["Lewis, Jason"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2014-03-14T20:45:42Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2014-03-14T20:45:42Z","2001-11-03"]},{"key":"dc:date.issued","label":"Date","values":["2000-09-08"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical and Computer Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["biplanar bicycle","Lagrange","orientation"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-09202000-12380005"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/35112"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["The biplanar bicycle is an experimental vehicle configuration that has been the focus of recent autonomous vehicle research at Virginia Tech. Although the vehicle can be advantageous due to its zero-radius turning and ability to traverse discontinuous terrain, one key disadvantage of the configuration is that it lacks a stable reference frame from which observations of the surroundings can be based. A solution to this problem is presented here in the form of actuators designed to actively control the oscillations of a reference frame. The orientation of a camera attached to a mast extended above the vehicle is specifically considered. Autonomous operation of the vehicle could utilize image processing to navigate, but the camera must maintain a fixed orientation for the data to be valid. The work presented examines not only the regulation of the reference frame, but also the effects of such regulation on the velocity response of the vehicle. Practical considerations such as sensors, actuators, cost, and complexity are addressed. Although this work is centered around the biplanar bicycle, similar approaches can be extended to orientation of an arbitrary body in space."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Science"]},{"key":"dc:title","label":"Title","values":["Reference Frame Regulation for a Biplanar Bicycle"]}]}],"canonical_facts":{"dc:contributor.committeechair":["Kachroo, Pushkin"],"dc:contributor.department":["Electrical and Computer Engineering"],"dc:creator":["Lewis, Jason"],"dc:date.accessioned":["2014-03-14T20:45:42Z"],"dc:date.available":["2014-03-14T20:45:42Z","2001-11-03"],"dc:date.issued":["2000-09-08"],"dc:description.abstract":["The biplanar bicycle is an experimental vehicle configuration that has been the focus of recent autonomous vehicle research at Virginia Tech. Although the vehicle can be advantageous due to its zero-radius turning and ability to traverse discontinuous terrain, one key disadvantage of the configuration is that it lacks a stable reference frame from which observations of the surroundings can be based. A solution to this problem is presented here in the form of actuators designed to actively control the oscillations of a reference frame. The orientation of a camera attached to a mast extended above the vehicle is specifically considered. Autonomous operation of the vehicle could utilize image processing to navigate, but the camera must maintain a fixed orientation for the data to be valid. The work presented examines not only the regulation of the reference frame, but also the effects of such regulation on the velocity response of the vehicle. Practical considerations such as sensors, actuators, cost, and complexity are addressed. Although this work is centered around the biplanar bicycle, similar approaches can be extended to orientation of an arbitrary body in space."],"dc:description.degree":["Master of Science"],"dc:identifier.other":["etd-09202000-12380005"],"dc:identifier.uri":["http://hdl.handle.net/10919/35112"],"dc:publisher":["Virginia Tech"],"dc:rights":["In Copyright"],"dc:rights.uri":["http://rightsstatements.org/vocab/InC/1.0/"],"dc:subject":["biplanar bicycle","Lagrange","orientation"],"dc:title":["Reference Frame Regulation for a Biplanar Bicycle"],"dc:type":["Thesis"],"thesis:degree_discipline":["Electrical and Computer Engineering"],"thesis:degree_level":["masters"],"thesis:degree_name":["Master of Science"],"thesis:institution_name":["Virginia Polytechnic Institute and State University"]},"updated_at":"2026-07-22T22:20:00Z"}