Golafshani, Ali Reza2006-07-282006-07-2819991999http://hdl.handle.net/10012/441application/pdf3657544 bytesapplication/pdfenCopyright: 1999, Golafshani, Ali Reza. All rights reserved.Harvested from Collections CanadaModeling and optimal control of tower crane motionsDoctoral Thesis