Dynamics and control of underactuated mechanical systems with applications to robotic and air vehicles / (Record no. 56401)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 02768cam a2200349 a 4500 |
| 003 - CONTROL NUMBER IDENTIFIER | |
| control field | EG-GiCUC |
| 005 - DATE AND TIME OF LATEST TRANSACTION | |
| control field | 20250223031506.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 160511s2015 ua h f m 000 0 eng d |
| 040 ## - CATALOGING SOURCE | |
| Original cataloging agency | EG-GiCUC |
| Language of cataloging | eng |
| Transcribing agency | EG-GiCUC |
| 041 0# - LANGUAGE CODE | |
| Language code of text/sound track or separate title | eng |
| 049 ## - LOCAL HOLDINGS (OCLC) | |
| Holding library | Deposite |
| 097 ## - Thesis Degree | |
| Thesis Level | Ph.D |
| 099 ## - LOCAL FREE-TEXT CALL NUMBER (OCLC) | |
| Classification number | Cai01.13.01.Ph.D.2015.Ma.D |
| 100 0# - MAIN ENTRY--PERSONAL NAME | |
| Personal name | Maya Mohamed Abdulallah Emarah |
| 245 10 - TITLE STATEMENT | |
| Title | Dynamics and control of underactuated mechanical systems with applications to robotic and air vehicles / |
| Statement of responsibility, etc. | Maya Mohamed Abdulallah Emarah ; Supervised Gamal M. Elbayoumi , Ayman Hamdy M. Kassem , Mohammed Khalil Ibrahim |
| 246 15 - VARYING FORM OF TITLE | |
| Title proper/short title | الديناميكا والتحكم للنظم الميكانيكية ذات المشغلات المختزلة والتطبيق في الروبوتيات والمركبات الطائرة |
| 260 ## - PUBLICATION, DISTRIBUTION, ETC. | |
| Place of publication, distribution, etc. | Cairo : |
| Name of publisher, distributor, etc. | Maya Mohamed Abdulallah Emarah , |
| Date of publication, distribution, etc. | 2015 |
| 300 ## - PHYSICAL DESCRIPTION | |
| Extent | 112 P. : |
| Other physical details | facsimiles ; |
| Dimensions | 30cm |
| 502 ## - DISSERTATION NOTE | |
| Dissertation note | Thesis (Ph.D.) - Cairo University - Faculty of Engineering - Department of Aerospace Engineering |
| 520 ## - SUMMARY, ETC. | |
| Summary, etc. | In the last few years, industry has seen an ever increasing trend towards a new class of mechanical systems with minimum power consumed, less cost in design, lighter weight and in mini or even micro size. This brings to the focus of research the term of Underactuated Mechanical Systems (UMS). The underactuated mechanical system is defined as the systems with fewer control inputs than the degree of freedom of the system. Most of the real mechanical systems could be considered as underactuated mechanical systems. The applications of such systems are widely used in; robotic, satellites, unmanned air vehicles, underwater vessels, hovercrafts, and vertical take off and landing aircrafts. The main objective of this thesis is to design the dynamic modeling and control of underactuated mechanical systems. A wide survey about the underactuated mechanical systems includes the difference between fully and under actuated systems, method of deriving the dynamic model, most control strategies used by the researches and the most famous underactuated mechanical systems. A dynamic model of both: robotic example; the Acrobot system and Air vehicle; the vertical take/off and landing (VTOL) aircraft is proof. Then, feedback linearization and fuzzy control methods are applied to those systems |
| 530 ## - ADDITIONAL PHYSICAL FORM AVAILABLE NOTE | |
| Additional physical form available note | Issued also as CD |
| 653 #4 - INDEX TERM--UNCONTROLLED | |
| Uncontrolled term | Feedback linearization |
| 653 #4 - INDEX TERM--UNCONTROLLED | |
| Uncontrolled term | Fuzzy |
| 653 #4 - INDEX TERM--UNCONTROLLED | |
| Uncontrolled term | Underactuated |
| 700 0# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Ayman Hamdy Mohamed Kassem , |
| Relator term | |
| 700 0# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Gamal Mahmoud Elbayoumi , |
| Relator term | |
| 700 0# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Mohammed Khalil Ibrahim , |
| Relator term | |
| 856 ## - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | <a href="http://172.23.153.220/th.pdf">http://172.23.153.220/th.pdf</a> |
| 905 ## - LOCAL DATA ELEMENT E, LDE (RLIN) | |
| Cataloger | Nazla |
| Reviser | Revisor |
| 905 ## - LOCAL DATA ELEMENT E, LDE (RLIN) | |
| Cataloger | Soheir |
| Reviser | Cataloger |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Source of classification or shelving scheme | Dewey Decimal Classification |
| Koha item type | Thesis |
| Source of classification or shelving scheme | Not for loan | Home library | Current library | Date acquired | Full call number | Barcode | Date last seen | Koha item type | Copy number |
|---|---|---|---|---|---|---|---|---|---|
| Dewey Decimal Classification | المكتبة المركزبة الجديدة - جامعة القاهرة | قاعة الرسائل الجامعية - الدور الاول | 11.02.2024 | Cai01.13.01.Ph.D.2015.Ma.D | 01010110068855000 | 22.09.2023 | Thesis | ||
| Dewey Decimal Classification | المكتبة المركزبة الجديدة - جامعة القاهرة | مخـــزن الرســائل الجـــامعية - البدروم | 11.02.2024 | Cai01.13.01.Ph.D.2015.Ma.D | 01020110068855000 | 22.09.2023 | CD - Rom | 68855.CD |