Mechanical regulator-free bicycle robots have lighter weight and fewer actuators than the traditional regulator-based bicycle robots. In order to deal with the difficulty of maintaining balance for this kind of bicycle robot, we consider a front-wheel drive and mechanical regulator-free bicycle robot. We present the methodologies for realizing the robot's ultra-low-speed track-stand motion, moderate-speed circular motion and high-speed rectilinear motion. A simplified dynamics of the robot is developed using three independent velocities. From the dynamics, we suggest there may be an underactuated rolling angle in the system. Our balancing strategies are inspired by human riders' experience, and our control rules are based on the bicycle system's underactuated dynamics. In the case of track-stand and circular motion, we linearize the frame's rolling angle and configure the robot to maintain balance by the front-wheel's motion with a fixed front-bar turning angle. In the case of the rectilinear motion, we linearize both front-bar steering angle and front-wheel rotating angle, and configure the system to maintain balance by the front-bar's turning with a constant front-wheel rotating rate. Numerical simulations and physical experiments are given together to validate the effectiveness of our control strategies in realizing the robot's proposed three motions.

In this paper, shape-stabilized phase change materials (PCMs) based on paraffin and thermoplastic elastomer poly(styrene-butadiene-styrene) are prepared. The shape-stabilized PCMs can keep the same shape in a solid state even when their temperature is above the melting point of the paraffin. They exhibit same phase transition characteristics as paraffin and up to 80% of the latent heat of paraffin. Thermal conductivity of the shape-stabilized PCMs is increased significantly by the introduction of expanded graphite (EG). The time for complete solidification and complete melting of the composite P(80)/S(20)/EG(3) is two ninths and two fifths of paraffin, respectively.