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Unicycle is a robot that imitates a performance of a circus artist on a one-wheeled self-balancing bicycle. This research assumes that this model is equivalent to two separated popular models: a two-wheeled self-balancing robot and reaction wheeled inverted pendulum. On each model, we build a PD controller. Thence, we present a structure of PD controllers to balance this model at the equilibrium point. We also build an experimental unicycle robot for the laboratory. Our method is proven to work well based on both simulation and experiment.

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The fabrication process for the designed MEMS resonator using surface-micromachined technology is presented in this paper. A 10-MHz Free-Free beam MEMS resonator is designed to vibrate in the second-mode shape, which is significant improvement compare to the fundamental mode. The design showed a Q value as high as 75,000, which is significant improvement compared to 8,400 VHF F-F beam MEMS resonator by K. Wang; and very low motional resistance (18kΩ). The surface-micromachined technology is used as the standard process for the design. The process is briefly described from the layout design to the experimental fabricated device.

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