We were privileged that we could realise our own idea, "one-axis-transporter", in this diploma thesis. However this made our project quite complex, more so than a completely prepared model. We therefore already worked on the one-axis-transporter in our first project thesis. A feasibility study with positive results was achieved and now we had to do the necessary preparations for the diploma thesis. One part of the preparation was included in my second project thesis. Here I, Daniel Hofer, developed the radio system for the transmission of the sensor and control signals.

We profited considerably from our good preparations in our first project thesis and experienced time-consuming efforts in optimising and numerous necessary expansions to achieve a user friendly one-axis-transporter. However many of these efforts was either of administrative character, or finding a balance between controller performance and restrictions given due to system.

Once again it was proven that control technique consists of much more than control design. We can now understand professor Wild?s rule of thumb ?only 10% of control technique is used to design a control?. Some examples of the other 90% are friction compensation, non-linear behaviour, model building, simulation, too small designed conductors, operation concepts, play etc.

Our planed "step by step" concept with enough provision in every sector enabled us to overcome every hurdle at least to our satisfaction. And so within six weeks a fully functional 1:2 model emerged. The model can automatically keep its balance and move around by speed- and speed-difference-presetting given by a joystick. The battery voltage is software controlled and furthermore the voltage can be enabled or disenabled by the enable button. The electronic aid for the locomotion speed can either be activated or deactivated the joystick buttons. If it is deactivated, the dummy will tilt according to the joystick input.