skip to content
Kinematic analysis and control design of a retractable wheel mechanism using optimal control theory Preview this item
ClosePreview this item
Checking...

Kinematic analysis and control design of a retractable wheel mechanism using optimal control theory

Author: Pedram Safi Samghabadi
Publisher: [Long Beach, California] : California State University, Long Beach, 2013.
Dissertation: M.M.E. California State University, Long Beach 2013
Series: California State University, Long Beach.; Master's thesis collection, Dept. of Mechanical and Aerospace Engineering.
Edition/Format:   Thesis/dissertation : Thesis/dissertation   Computer File : English
Summary:
Abstract: Mobile robots are un-manned systems and must be able to overcome the obstacles they face without human intervention. In this research we have proposed a novel retractable mechanism which converts a linear hydraulic motion into expansion of six claws at each wheel. In order to control the expansion, optimal control theory was applied and a constrained optimization problem was defined using different  Read more...
Rating:

(not yet rated) 0 with reviews - Be the first.

Subjects
More like this

Find a copy online

Links to this item

Find a copy in the library

&AllPage.SpinnerRetrieving; Finding libraries that hold this item...

Details

Genre/Form: Academic theses
Material Type: Thesis/dissertation, Internet resource
Document Type: Book, Computer File, Internet Resource
All Authors / Contributors: Pedram Safi Samghabadi
ISBN: 9781303766152 1303766159
OCLC Number: 1018333266
Description: x, 38 leaves : illustrations, charts
Series Title: California State University, Long Beach.; Master's thesis collection, Dept. of Mechanical and Aerospace Engineering.
Responsibility: by Pedram Safi Samghabadi.

Abstract:

Abstract: Mobile robots are un-manned systems and must be able to overcome the obstacles they face without human intervention. In this research we have proposed a novel retractable mechanism which converts a linear hydraulic motion into expansion of six claws at each wheel. In order to control the expansion, optimal control theory was applied and a constrained optimization problem was defined using different Simulink toolboxes and applied to the mechanism modeled in SimHydraulics/SimMechanics. The main benefit of performing both hydraulic and mechanical system simulation and also control design in the same environment is to eliminate mathematical approximation of the model and using existing Simulink simulation tools for simulation and control. Systems were modeled and controller optimization was performed. Simulation results are illustrated at the end, which show the method's versatility and reliability for controlling the mechanism operation.

Reviews

User-contributed reviews
Retrieving GoodReads reviews...
Retrieving DOGObooks reviews...

Tags

Be the first.
Confirm this request

You may have already requested this item. Please select Ok if you would like to proceed with this request anyway.

Linked Data


Primary Entity

<http://www.worldcat.org/oclc/1018333266> # Kinematic analysis and control design of a retractable wheel mechanism using optimal control theory
    a bgn:Thesis, schema:Book, schema:CreativeWork ;
    bgn:inSupportOf "" ;
    library:oclcnum "1018333266" ;
    library:placeOfPublication <http://id.loc.gov/vocabulary/countries/cau> ;
    library:placeOfPublication <http://experiment.worldcat.org/entity/work/data/4711893680#Place/long_beach_california> ; # Long Beach, California
    schema:about <http://experiment.worldcat.org/entity/work/data/4711893680#Topic/rescue_work> ; # Rescue work
    schema:about <http://experiment.worldcat.org/entity/work/data/4711893680#Topic/mobile_robots_design_and_construction> ; # Mobile robots--Design and construction
    schema:about <http://experiment.worldcat.org/entity/work/data/4711893680#Topic/intelligent_control_systems> ; # Intelligent control systems
    schema:creator <http://experiment.worldcat.org/entity/work/data/4711893680#Person/safi_samghabadi_pedram> ; # Pedram Safi Samghabadi
    schema:datePublished "2013" ;
    schema:description "Abstract: Mobile robots are un-manned systems and must be able to overcome the obstacles they face without human intervention. In this research we have proposed a novel retractable mechanism which converts a linear hydraulic motion into expansion of six claws at each wheel. In order to control the expansion, optimal control theory was applied and a constrained optimization problem was defined using different Simulink toolboxes and applied to the mechanism modeled in SimHydraulics/SimMechanics. The main benefit of performing both hydraulic and mechanical system simulation and also control design in the same environment is to eliminate mathematical approximation of the model and using existing Simulink simulation tools for simulation and control. Systems were modeled and controller optimization was performed. Simulation results are illustrated at the end, which show the method's versatility and reliability for controlling the mechanism operation."@en ;
    schema:exampleOfWork <http://worldcat.org/entity/work/id/4711893680> ;
    schema:genre "Academic theses"@en ;
    schema:inLanguage "en" ;
    schema:isPartOf <http://experiment.worldcat.org/entity/work/data/4711893680#Series/master_s_thesis_collection_dept_of_mechanical_and_aerospace_engineering> ; # Master's thesis collection, Dept. of Mechanical and Aerospace Engineering.
    schema:name "Kinematic analysis and control design of a retractable wheel mechanism using optimal control theory"@en ;
    schema:productID "1018333266" ;
    schema:publication <http://www.worldcat.org/title/-/oclc/1018333266#PublicationEvent/long_beach_california_california_state_university_long_beach_2013> ;
    schema:publisher <http://experiment.worldcat.org/entity/work/data/4711893680#Agent/california_state_university_long_beach> ; # California State University, Long Beach
    schema:url <http://search.proquest.com/docview/1508568845?accountid=10351> ;
    schema:workExample <http://worldcat.org/isbn/9781303766152> ;
    wdrs:describedby <http://www.worldcat.org/title/-/oclc/1018333266> ;
    .


Related Entities

<http://experiment.worldcat.org/entity/work/data/4711893680#Agent/california_state_university_long_beach> # California State University, Long Beach
    a bgn:Agent ;
    schema:name "California State University, Long Beach" ;
    .

<http://experiment.worldcat.org/entity/work/data/4711893680#Organization/california_state_university_long_beach> # California State University, Long Beach.
    a schema:Organization ;
    schema:name "California State University, Long Beach." ;
    .

<http://experiment.worldcat.org/entity/work/data/4711893680#Person/safi_samghabadi_pedram> # Pedram Safi Samghabadi
    a schema:Person ;
    schema:familyName "Safi Samghabadi" ;
    schema:givenName "Pedram" ;
    schema:name "Pedram Safi Samghabadi" ;
    .

<http://experiment.worldcat.org/entity/work/data/4711893680#Place/long_beach_california> # Long Beach, California
    a schema:Place ;
    schema:name "Long Beach, California" ;
    .

<http://experiment.worldcat.org/entity/work/data/4711893680#Series/master_s_thesis_collection_dept_of_mechanical_and_aerospace_engineering> # Master's thesis collection, Dept. of Mechanical and Aerospace Engineering.
    a bgn:PublicationSeries ;
    schema:creator <http://experiment.worldcat.org/entity/work/data/4711893680#Organization/california_state_university_long_beach> ; # California State University, Long Beach.
    schema:hasPart <http://www.worldcat.org/oclc/1018333266> ; # Kinematic analysis and control design of a retractable wheel mechanism using optimal control theory
    schema:name "Master's thesis collection, Dept. of Mechanical and Aerospace Engineering." ;
    schema:name "[Master's thesis collection, Dept. of Mechanical and Aerospace Engineering]" ;
    .

<http://experiment.worldcat.org/entity/work/data/4711893680#Topic/intelligent_control_systems> # Intelligent control systems
    a schema:Intangible ;
    schema:name "Intelligent control systems"@en ;
    .

<http://experiment.worldcat.org/entity/work/data/4711893680#Topic/mobile_robots_design_and_construction> # Mobile robots--Design and construction
    a schema:Intangible ;
    schema:name "Mobile robots--Design and construction"@en ;
    .

<http://worldcat.org/isbn/9781303766152>
    a schema:ProductModel ;
    schema:isbn "1303766159" ;
    schema:isbn "9781303766152" ;
    .

<http://www.worldcat.org/title/-/oclc/1018333266>
    a genont:InformationResource, genont:ContentTypeGenericResource ;
    schema:about <http://www.worldcat.org/oclc/1018333266> ; # Kinematic analysis and control design of a retractable wheel mechanism using optimal control theory
    schema:dateModified "2019-04-23" ;
    void:inDataset <http://purl.oclc.org/dataset/WorldCat> ;
    .


Content-negotiable representations

Close Window

Please sign in to WorldCat 

Don't have an account? You can easily create a free account.