Gamal El-Ghazaly

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This paper deals with the design of a new robust adaptive controller for parallel manipulators based on sliding mode and modelbased adaptive control. More precisely, the proposed controller relies on continuous finite-time terminal sliding mode (TSM) control and the linear-in-the-parameters property of the inverse dynamics of the manipulator. The main(More)
In mature megaspores of Selaginella diffusa (C. Presl) Spring the units of the exospore are ordered and become unordered toward the outer and inner surfaces. The exospore surface is coated with silica at maturity. The insertion of the future gap begins in early stages with formation of many minigaps within the inner part of the exospore distally. The(More)
Traditional underwater vehicle-manipulator systems (UVMS) consist mainly of an underwater vehicle on which a manipulator is mounted. In addition to the vehicle thrusters, this paper proposes to use cables to actuate UVMSs. The main goal of this extra source of actuation is to enhance UVMS work capabilities. Similarly to cable-driven parallel robots, the(More)
This paper deals with cable-driven mobile platforms that are equipped with a serial robot. The contribution of this paper is twofold. First, a method to determine the maximum payload handled by the serial robot while the mobile platform is maintained in equilibrium by cables is presented. A mobile platform pose is wrench feasible if cables can balance any(More)
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