CHAPTER 1

INTRODUCTION

1.1 OVERVIEW
A Segway is simply a light electric transportation device which is meant for personal
transportation.
It is a kind of vehicle which does not produce any kind of pollution because it runs on
electricity.
Basically it is a three wheel indoor scooter with two driving wheel and one supporting
wheel.
It consist of two DC geared motor and two Lead acid battery(12 volt 7 Ah).
The Segway PT can take you places that a car or bicycle can't - including inside many
stores, office buildings, businesses, airports, elevators, and trains. Although they're ideal
for short jaunts, Segway PTs can travel as far as 8 km on a single battery charge,
depending on terrain, payload, and riding style.
The device is light and cheap and eco friendly at the same time. It can be used at places
where other modes of transportation cant be used such as inside malls, universities, golf
courses and other big buildings.
The device we have is a very initial step in this field as we have tried to develop an idea. We
made this device by using components from toys. For example the wheel are taken from a
children car, the accerlation device is also taken from the same.

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The basic components of this device are

Two DC batteries (12v 7Ah)
Two DC motors (12v 150 rpm)
Simple steering mechanism (bearing)
Basic structure
A Charger

1.2 LIMITATIONS OF EXISTING SYSTEM

Before we talk about the limitations of the existing system, let us make it clear that through
this device we are only aiming the travel of single person for short range of distances.
So now, let us talk about the existing systems one by one.
LIMITATIONS OF USING CAR IF A PERSON HAS TO TRAVEL SHORT RANGE OF
DISTANCE.

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What if a person has to go to market. Will it be possible to take the car inside the
market?
- The answer in most of the cases will be NO due the congestion. He will not get
any space to park his car, and soon he will regret his decision.
- For a work that would have been completed in 20 minutes, it may take more
than an hour if he uses car.
Traffic Jams
- This is another major problem
- If there is a traffic jam and you are in car then for sure you are a part of jam.
- You cannot turn your car at zero turning radius of carry in from there( which is
simply possible with segway.

POLLUTION
This is other major problem which is increasing day by day
Cars produce majorly 2 types of pollution i.e. air pollution, noise pollution.
Air pollution - Air pollution occurs when the air contains gases, dust, fumes
or odour in harmful amounts. That is, amounts which could be harmful to
the health or comfort of humans and animals or which could cause
damage to plants and materials.

The substances that cause air pollution are called pollutants. Pollutants that are pumped
into our atmosphere and directly pollute the air are called primary pollutants. Primary
pollutant examples include carbon monoxide from car exhausts and sulfur dioxide from the
combustion of coal

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Noise pollution - Noise pollution can become big environmental problem in some areas. It is
not only stressful to many animals but can also cause the problems in predator/prey
relation and detection, and even lead to different reproduction problems. More serious
noise can even significantly reduce usable habitats for many sound-sensible animals, and
can in the end even result in extinction of some species.

COST
The initial and travelling cost a as compared to this segway is much higher.
It is not feasible to buy a car for a child who has to go for tution classes 3 kms from home.
For him, the segway will be the best option.

LIMITATIONS OF USING BIKE/SCOOTER FOR SHORT RANGE DISTANCES

The very first thing which comes in mind if one is giving a bike to his children is safety. The
bikes can run at high speed and thus they are unsafe.
Unfortunately if it meets an accident, it can result in serious injuries or even prove fatel.
But the segway runs on very low speed so it can be controlled easily and chances of
accident are very less.

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Other limitation of using bike/scooter is that to use these one should learn how to ride and
they should be confident enough that that they can ride. Otherwise they should not ride
bikes/scooter. It has been observed that for children and old age people it is not easy to ride
bikes and scooters
On the other hand, riding segway is very easy. One just has to get on it and press the
accerlator. Weather it is children or old men, it is simple and safe to ride a segway.

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You will never fall from a segway like this.

LIMITATION OF CYCLES

Bicycles are highly unstable except when chained to a lamp post

They will not stand up on their own
Due to their inherent instability, the direction of the rider is highly unpredictable to
anyone in the vicinity
They do not protect the rider in any way, neither from unsafe conditions nor from
the weather
They are not a satisfactory means for most people to cover long distances
Their capacity for carrying things is strictly limited, innovativeness of far eastern
populations using three-wheelers or mini-trailers notwithstanding
Six bicycles take up about as much room as a car for six
Bike owners tend to occupy pedestrian sidewalks
Except for tandems, they are individualistic and hence unfriendly, and tandems are
only suitable for people who like snuggling close. Even then the potential is very
limited.
Modern bikes are capable of speeds lethal to the rider and are operated at these
lethal speeds more frequently than cars
Cable actuated caliper brakes are not a robust mechanism for speed control, and
bicycle tires wear out quickly
Anyone who has tried to cross the street at quitting time in an eastern city where
bicycles are the norm will know that it is like trying to cross a twelve-lane highway
next to impossible
Modern bikes tend to be worse than earlier models because they don't have
mudguards and so make the back of the rider unconscionably mucky, to say nothing
of anyone who happens to stand too close
They require a lot of personal effort to operate resulting in the operatives giving the
impression of being superior and distant when they are really sweaty and
uncomfortable

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1.3 ADVANTAGES OF SEGWAY

1. Segway is fun
Fun is important to the adoption of new technology. Never underestimate its importance. People
are more likely to find uses for things they like.
2. The Segway lets you be social
The Segway allows you to be much more sociable with others while moving than many other
forms of personal transportation. When two people ride bicycles or motor scooters near each
other, there is always the likely danger of handlebars touching and a resulting crash. The Segway
has no such problems it seems (while riding you can push each other with no worse effect than
when walking). The Segway takes up about as much area as a person walking, so you can travel
in groups much as you would with walking, with all the social advantages.
3. The Segway is a tool to improved cities
The chaotic flow of not-too-long city blocks is crucial. Automobiles, because of their need for
streets, ramps, parking, etc., break up this crucial world. Enter the Segway. You can envision
how it enables all sorts of city designs that would better serve our needs.
4. The Segway PT can take you places that a car or bicycle can't - including inside many
stores, office buildings, businesses, airports, elevators, and trains

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5. A wide range of people can successfully use the Segway, including people for whom
walking a distance is a challenge.

1.4PROPOSED SYSTEM
We have proposed a personal transporter and named it as Segway.
This Segway has two DC motors which are connected to DC batteries through a circuit.
It accerelates through a paddle which is placed under the foot of the rider, so he can
press it and move the Segway whenever he wants.

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The segway is steered by simple steering system. The handle bar of the Segway is
directly attached to front wheel through a bearing. So the rider can ride it in any
direction while riding. Through this simple steering arrangement, this Segway can be
steered in a turning radius of zero.
The DC motors and batteries are of 12v each.

Overall length -

60 cm

Overall width -

50 cm

Overall height -

117 cm

Wheelbase

42 cm

Wheel track -

42 cm

Ground clearance -

5 cm

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Dimesnsions of the system are:-

Rear wheel dia. -

23 cm

Front wheel dia. -

6.5 cm

Weight of device -

14.5 kgs

Battery

12v 7 Ah

Motor

12v 150 rpm

A two wheeled, self-balancing transportation machine is designed and developed to change

the scope of personal transportation. Segway is also on the leading edge of green forms of
transportation.
The Segway PT can take you places that a car or bicycle can't - including inside many
stores, office buildings, businesses, airports, elevators, and trains. Although they're ideal
for short jaunts, Segway PTs can travel as far as 8 km on a single battery charge,
depending on terrain, payload, and riding style.
The device is light and cheap and eco friendly at the same time. It can be used at places
where other modes of transportation cant be used such as inside malls, universities, golf
courses and other big buildings.

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1.5_SCOPE OF PROPOSED SYSTEM

There is great scope for this device due to the following reasons :-

Limataions of bicycles, cars, bikes in several places as discussed earlier.

Segway is fun
Fun is important to the adoption of new technology. Never underestimate its
importance. People are more likely to find uses for things they like.

The Segway lets you be social

The Segway allows you to be much more sociable with others while moving than
many other forms of personal transportation. When two people ride bicycles or
motor scooters near each other, there is always the likely danger of handlebars
touching and a resulting crash. The Segway has no such problems it seems (while
riding you can push each other with no worse effect than when walking). The
Segway takes up about as much area as a person walking, so you can travel in
groups much as you would with walking, with all the social advantages.

The Segway is a tool to improved cities

The chaotic flow of not-too-long city blocks is crucial. Automobiles, because of
their need for streets, ramps, parking, etc., break up this crucial world. Enter the
Segway. You can envision how it enables all sorts of city designs that would
better serve our needs.

The Segway PT can take you places that a car or bicycle can't - including inside
many stores, office buildings, businesses, airports, elevators, and trains

A wide range of people can successfully use the Segway, including people for
whom walking a distance is a challenge.

CHAPTER 2
TECHNICAL DETAILS & CONSTRUCTION.

Now, to study the technology used in this device, lets us take a look at the components it is
made up of.
This device is made by assembling the following components
DC GEARED MOTORS (2, 12v each)
DC BATTERY (2, 12v each)

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The Segway is transportation device meant for personal transportation. It takes power
from DC batteries which can be charged again and again. So in this way it does not
produces any pollution and its cost of running is also very cheap.

ACCERLATION PEDDLE
FRAME
STEERING SYSTEM (bearing assembly)
A CHARGER

DC GEARED MOTOR

A gear motor is a type of electrical motor like all electrical motor. It uses the magnetism
induced by an electrical current to rotate to a rotor that is connected to a shaft. The energy
transferred from the rotor to the shaft is used to power a connecting device in a gear motor.
The energy output used to turn a series of gears in an integrated train.
It result in greatly increase the amount of torque the motor is capable of producing while
simultaneously slowing down the motor output speed.

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DC GEARED MOTOR

A DC motor is an electric motor that runs on direct current (DC) electricity. DC motors
were used to run machinery, often eliminating the need for a local steam engine or internal
combustion engine. DC motors can operate directly from rechargeable batteries, providing
the motive power for the first electric vehicles. Today DC motors are still found in
applications as small as toys and disk drives, or in large sizes to operate steel rolling mills
and paper machines. Modern DC motors are nearly always operated in conjunction with
power electronic devices.
Two important performance parameters of DC motors are the motor constants, Kv and Km.
Brush
The brushed DC electric motor generates torque directly from DC power supplied to the
motor by using internal commutation, stationary magnets (permanent or electromagnets),
and rotating electrical magnets.
Like all electric motors or generators, torque is produced by the principle of Lorentz force,
which states that any current-carrying conductor placed within an external magnetic field
experiences a torque or force known as Lorentz force. Advantages of a brushed DC motor
include low initial cost, high reliability, and simple control of motor speed. Disadvantages
are high maintenance and low life-span for high intensity uses. Maintenance involves
regularly replacing the brushes and springs which carry the electric current, as well as
cleaning or replacing the commuter. These components are necessary for transferring
electrical power from outside the motor to the spinning wire windings of the rotor inside
the motor.

Brushless

Un-commutated

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Brushless DC motors use a rotating permanent magnet or soft magnetic core in the rotor,
and stationary electrical magnets on the motor housing. A motor controller converts DC to
AC. This design is simpler than that of brushed motors because it eliminates the
complication of transferring power from outside the motor to the spinning rotor.
Advantages of brushless motors include long life span, little or no maintenance, and high
efficiency. Disadvantages include high initial cost, and more complicated motor speed
controllers. Some such brushless motors are sometimes referred to as "synchronous
motors" although they have no external power supply to be synchronized with, as would be
the case with normal AC synchronous motors.

Other types of DC motors require no commutation.

Homo-polar motor A homopolar motor has a magnetic field along the axis of
rotation and an electric current that at some point is not parallel to the magnetic
field. The name homopolar refers to the absence of polarity change.
Homopolar motors necessarily have a single-turn coil, which limits them to very low
voltages. This has restricted the practical application of this type of motor.

Ball bearing motor A ball bearing motor is an unusual electric motor that consists
of two ball bearing-type bearings, with the inner races mounted on a common
conductive shaft, and the outer races connected to a high current, low voltage power
supply. An alternative construction fits the outer races inside a metal tube, while the
inner races are mounted on a shaft with a non-conductive section (e.g. two sleeves on
an insulating rod). This method has the advantage that the tube will act as a
flywheel. The direction of rotation is determined by the initial spin which is usually
required to get it going.

Connection types

Series connection
A series DC motor connects the armature and field windings in series with a common D.C.
power source. This motor has poor speed regulation since its speed varies approximately
inversely to load. However, a series DC motor has very high starting torque and is
commonly used for starting high inertia loads, such as trains, elevators or hoists. With no
mechanical load on the series motor, the current is low, the magnetic field produced by the
field winding is weak, and so the armature must turn faster to produce sufficient counterEMF to balance the supply voltage (and internal voltage drops). For some types of motor,
the speed may be higher than can be safely sustained by the motor. In a no-load condition,
the motor may increase its speed until the motor mechanically destroys itself. This is called
a runaway condition. The speed/torque characteristic is also useful in applications such as
dragline excavators, where the digging tool moves rapidly when unloaded but slowly when
carrying a heavy load.
Series motors called "universal motors" can be used on alternating current. Since the
armature voltage and the field direction reverse at (substantially) the same time, torque

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There are three types of connections used for DC electric motors: series, shunt and
compound. These types of connections configure how the motor's field and armature
windings are connected together. The type of connection is significant because it determines
the characteristics of the motor and is selected for speed/torque requirements of the load.

continues to be produced in the same direction. Since the speed is not related to the line
frequency, universal motors can develop higher-than-synchronous speeds, making them
lighter than induction motors of the same rated mechanical output. This is a valuable
characteristic for hand-held power tools. Universal motors for commercial power
frequency are usually small, not more than about 1 kW output. However, much larger
universal motors were used, fed by special low-frequency traction power networks to avoid
problems with commutation under heavy and varying loads.
Shunt connection
A shunt DC motor connects the armature and field windings in parallel or shunt with a
common D.C. power source. This type of motor has good speed regulation even as the load
varies, but does not have as high of starting torque as a series DC motor. It is typically used
for industrial, adjustable speed applications, such as machine tools, winding/unwinding
machines and tensioners.
Compound connection
A compound DC motor connects the armature and fields windings in a shunt and a series
combination to give it characteristics of both a shunt and a series DC motor. This motor is
used when both a high starting torque and good speed regulation is needed. The motor can
be connected in two arrangements: cumulatively or differentially. Cumulative compound
motors connect the series field to aid the shunt field, which provides higher starting torque
but less speed regulation. Differential compound DC motors have good speed regulation
and are typically operated at constant speed. They are commonly used in elevators, air
compressors, conveyors and punch presses.

DC BATTERY

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We have used to lead acid batteries in this system. These batteries are re-chargable.

LEAD ACID BATTERY

Leadacid batteries, invented in 1859 by French physicist Gaston Plant, are the oldest
type of rechargeable battery. Despite having a very low energy-to-weight ratio and a low
energy-to-volume ratio, their ability to supply high surge currents means that the cells
maintain a relatively large power-to-weight ratio. These features, along with their low cost,
make them attractive for use in motor vehicles to provide the high current required by
automobile starter motors.

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Discharge

Fully Discharged: Two identical lead sulfate plates

In the discharged state both the positive and negative plates become lead(II) sulfate
(PbSO4) and the electrolyte loses much of its dissolved sulfuric acid and becomes primarily
water. The discharge process is driven by the conduction of electrons from the positive
plate back into the cell at the negative plate.
Negative plate reaction: Pb(s) + HSO
4(aq) PbSO4(s) + H+(aq) + 2e
Positive plate reaction: PbO2(s) + HSO
4(aq) + 3H+(aq) + 2e PbSO4(s) + 2H2O(l)

Fully Charged: Lead and Lead Oxide plates

In the charged state, each cell contains negative plates of elemental lead (Pb) and positive
plates of lead(IV) oxide (PbO2) in an electrolyte of approximately 33.5% v/v (4.2 Molar)
sulfuric acid (H2SO4). The charging process is driven by the forcible removal of electrons
from the negative plate and the forcible introduction of them to the positive plate.
Negative plate reaction: PbSO4(s) + H+(aq) + 2e Pb(s) + HSO
4(aq)
Positive plate reaction: PbSO4(s) + 2H2O(l) PbO2(s) + HSO
4(aq) + 3H+(aq) + 2E

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Charging

Overcharging with high charging voltages generates oxygen and hydrogen gas by
electrolysis of water, which is lost to the cell. Periodic maintenance of lead acid batteries
requires inspection of the electrolyte level and replacement of any water that has been lost.
Due to the freezing-point depression of water, as the battery discharges and the
concentration of sulfuric acid decreases, the electrolyte is more likely to freeze during
winter weather.
Construction

Gaston Plant found a way to provide a much larger effective surface area. In Plant's
design, the positive and negative plates were formed of two spirals of lead foil, separated
with a sheet of cloth and coiled up. The cells initially had low capacity, so a slow process of
"forming" was required to corrode the lead foils, creating lead dioxide on the plates and
roughening them to increase surface area. Initially this process used electricity from
primary batteries; when generators became available after 1870, the cost of production of
batteries greatly declined. Plant plates are still used in some stationary applications, where
the plates are mechanically grooved to increase their surface area.
Faure pasted-plate construction is typical of automotive batteries. Each plate consists of a
rectangular lead grid alloyed with antimony or calcium to improve the mechanical
characteristics. The holes of the grid are filled with a paste of red lead and 33% dilute
sulfuric acid. (Different manufacturers vary the mixture). The paste is pressed into the
holes in the grid which are slightly tapered on both sides to better retain the paste. This
porous paste allows the acid to react with the lead inside the plate, increasing the surface
area many fold. Once dry, the plates are stacked with suitable separators and inserted in
the battery container. An odd number of plates is usually used, with one more negative
plate than positive. Each alternate plate is connected.
The positive plates are the chocolate brown color of lead dioxide, and the negative are the
slate gray of "spongy" lead at the time of manufacture. In this charged state the plates are
called 'formed'.
One of the problems with the plates is that the plates increase in size as the active material
absorbs sulfate from the acid during discharge, and decrease as they give up the sulfate
during charging. This causes the plates to gradually shed the paste. It is important that
there is room underneath the plates to catch this shed material. If it reaches the plates, the
cell short-circuits.

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Plates
The leadacid cell can be demonstrated using sheet lead plates for the two electrodes.
However such a construction produces only around one ampere for roughly postcard sized
plates, and for only a few minutes.

The paste contains carbon black, blanc fixe (barium sulfate) and lignosulfonate. The blanc
fixe acts as a seed crystal for the leadtolead sulfate reaction. The blanc fixe must be fully
dispersed in the paste in order for it to be effective. The lignosulfonate prevents the
negative plate from forming a solid mass during the discharge cycle, instead enabling the
formation of long needlelike crystals. The long crystals have more surface area and are
easily converted back to the original state on charging. Carbon black counteracts the effect
of inhibiting formation caused by the lignosulfonates. Sulfonated naphthalene condensate
dispersant is a more effective expander than lignosulfonate and speeds up formation. This
dispersant improves dispersion of barium sulfate in the paste, reduces hydroset time,
produces a more breakage-resistant plate, reduces fine lead particles and thereby improves
handling and pasting characteristics. It extends battery life by increasing endofcharge
voltage. Sulfonated naphthalene requires about one-third to one-half the amount of
lignosulfonate and is stable to higher temperatures.
Practical cells are usually not made with pure lead but have small amounts of antimony,
tin, calcium or selenium alloyed in the plate material to add strength and simplify
manufacture. The alloying element has a great effect on the life of the batteries, with
calcium-alloyed plates preferred over antimony for longer life and less water consumption
on each charge/discharge cycle.
About 60% of the weight of an automotive-type leadacid battery rated around 60 Ah (8.7
kg of a 14.5 kg battery) is lead or internal parts made of lead; the balance is electrolyte,
separators, and the case.

Applications

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Separators
Separators between the positive and negative plates prevent short-circuit through physical
contact, mostly through dendrites (treeing), but also through shedding of the active
material. Separators obstruct the flow of ions between the plates and increase the internal
resistance of the cell. Wood, rubber, glass fiber mat, cellulose, and PVC or polyethylene
plastic have been used to make separators. Wood was the original choice, but deteriorated
in the acid electrolyte. Rubber separators were stable in the battery acid.
An effective separator must possess a number of mechanical properties; such as
permeability, porosity, pore size distribution, specific surface area, mechanical design and
strength, electrical resistance, ionic conductivity, and chemical compatibility with the
electrolyte. In service, the separator must have good resistance to acid and oxidation. The
area of the separator must be a little larger than the area of the plates to prevent material
shorting between the plates. The separators must remain stable over the battery's
operating temperature range.

FRAME

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Most of the world's leadacid batteries are automobile starting, lighting and ignition (SLI)
batteries, with an estimated 320 million units shipped in 1999. In 1992 about 3 million tons
of lead were used in the manufacture of batteries.
Wet cell stand-by (stationary) batteries designed for deep discharge are commonly used in
large backup power supplies for telephone and computer centers, grid energy storage, and
off-grid household electric power systems. Leadacid batteries are used in emergency
lighting in case of power failure.
Traction (propulsion) batteries are used for in golf carts and other battery electric vehicles.
Large leadacid batteries are also used to power the electric motors in diesel-electric
(conventional) submarines and are used on nuclear submarines as well. Valve-regulated
lead acid batteries cannot spill their electrolyte. They are used in back-up power supplies
for alarm and smaller computer systems (particularly in uninterruptible power supplies)
and for electric scooters, electric wheelchairs, electrified bicycles, marine applications,
battery electric vehicles or micro hybrid vehicles, and motorcycles.
Leadacid batteries were used to supply the filament (heater) voltage, with 2 V common in
early vacuum tube (valve) radio receivers.

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The frame of this Segway has been made by using a thin steel plate, a wooden piece of ply,
iron rod and some nut and bolts.

The iron rod is attached to the steering bearing at the lower end and at the upper end is
given as the shape of handle bar.
The length of this iron rod is 91 cms (above the bearing to handle).
The floor of this Segway is made by thin steel plate whose dimensions are 38*32 cm(L*B).
Further, a wooden ply piece is bolted to the steel plate in order to improve the strength and
quality.

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We have used nut and bolts to attach the steel plate and the wooden ply together.
Electric arc welding has been used to join the frame together.
Arc welding is a type of welding that uses a welding power supply to create an electric arc
between an electrode and the base material to melt the metals at the welding point. They
can use either direct (DC) or alternating (AC) current, and consumable or non-consumable
electrodes. The welding region is usually protected by some type of shielding gas, vapor,
and/or slag.

STEERING SYSTEM
The steering system of this device has been made very basic and simple.
We have taken front wheel of diameter 6.5 cm and it is attached to a bearing which is fixed
on the frame of the device.
Actually, the housing of the bearing is welded to the frame of the device, while its shaft is
connected to the iron bar which goes straight to handle of the device.

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As the rider moves the handle linearly, the front wheel moves respectively and thus the
Segway turns.

This steering system works along with the bearing, so to understand the detail working of
this steering let us simply take a look at the bearing turning process.
A bearing is any of various machine elements that constrain the relative motion between
two or more parts to only the desired type of motion. This is typically to allow and promote
free rotation around a fixed axis or free linear movement; it may also be to prevent any
motion, such as by controlling the vectors of normal forces. Bearings may be classified
broadly according to the motions they allow and according to their principle of operation,
as well as by the directions of applied loads they can handle.

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By far, the most common bearing is the plain bearing, a bearing which uses surfaces in
rubbing contact, often with a lubricant such as oil or graphite. A plain bearing may or may
not be a discrete device. It may be nothing more than the bearing surface of a hole with a
shaft passing through it, or of a planar surface that bears another (in these cases, not a
discrete device); or it may be a layer of bearing metal either fused to the substrate (semidiscrete) or in the form of a separable sleeve (discrete). With suitable lubrication, plain
bearings often give entirely acceptable accuracy, life, and friction at minimal cost.
Therefore, they are very widely used.
However, there are many applications where a more suitable bearing can improve
efficiency, accuracy, service intervals, reliability, speed of operation, size, weight, and costs
of purchasing and operating machinery.
Thus, there are many types of bearings, with varying shape, material, lubrication, principle
of operation, and so on.

CHARGER
As the lead acid batteries are re-chargeable, we have also provided a charger along with the
device.
We have used two lead acid batteries (12v 7Ah each).
The charger is of 26 v and 26 Ah and it will charger both of the batteries in 3 hours
connected together.

Lead acid batteries should be charged in three stages, which are [1] constant-current charge, [2]
topping charge and [3] float charge. The constant-current chargeapplies the bulk of the charge
and takes up roughly half of the required charge time; the topping charge continues at a lower
charge current and provides saturation, and the float charge compensates for the loss caused by
self-discharge. Figure illustrates these three stages.

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Lead acid charging uses a voltage-based algorithm that is similar to lithium-ion. The charge time
of this sealed lead acid battery is 3hours. With higher charge currents and multi-stage charge
methods, the charge time can be reduced. However, the topping charge may not be complete.
Lead acid is sluggish and cannot be charged as quickly as other battery systems.

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Figure 4-4: Charge stages of a lead acid battery

The battery is fully charged when the current drops to a pre-determined level or levels out in
stage 2. The float voltage must be reduced at full charge.

CHAPTER 3
FUTURE SCOPE

We have represented a very basic idea in the field of segway, but there is great future scope
for it.
With new improvements and technology, it can be proved commercially successful in near
future
The use of computers and sensors can enhance the performance of this device upto a great
extend.
Computers and motors in the base of the device, can be used, to keep the Segway PT
upright when powered on with balancing enabled. A user can command the Segway to go
forward by shifting their weight forward on the platform, and backward by shifting their
weight backward. The Segway notices, as it balances, the change in its center of mass, and
first establishes and then maintains a corresponding speed, forward or backward.
Gyroscopic sensors and fluid-based leveling sensors are used to detect the shift of weight.
To turn, the user can manipulate a control on the handlebar left or right.
We hope that the Segway can go up to 12.5 miles per hour (20.1 km/h) by using better
motor and sensors.

IN NEAR FUTURE..
The dynamics of the Segway will be similar to a classic control problem, the inverted
pendulum. The Segway PT (PT is an initialism for personal transporter while the old suffix
HT was an initialism for human transporter) has electric motors powered by Valence
Technology phosphate-based lithium-ion batteries which can be charged from household
current. It will balance with the help of dual computers running proprietary software, two
tilt sensors, and some gyroscopic sensors. The servo drive motors rotate the wheels
forwards or backwards as needed for balance or propulsion.
The rider will be able to control forward and backward movement by leaning the Segway
relative to the combined center of mass of the rider and Segway, by holding the control bar
closer to or farther from their body.

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The Segway will be able to detect the change in the balance point, and adjust the speed at
which it is balancing the rider accordingly. Newer models will be able to enable the use of
tilting the handle bar to steer.

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REFERENCES

During the course of project making we have founded helpful data from websites
(www.wikipedia.com and www.google.com )
These websites have provided us some short of guidance with the directions given by our
project guide Mr. SURINDER KUMAR.
We are also thankful to Mr. DHARAM VEER SINGH CHAUHAN (professor) and Dr. D S
SHARMA (dean mech.) as they helped us and motivated us throughout the sessionnand in
making this project.

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And last but not the least, we will be failing in our duties if we doesnt thank this institute
SRCEM as we have got this opportunity just because we are part of this institute.