Robot Manipulator Dynamics Schematic diagram of robot manipulator with permanent magnet brush DC motor is shown in figure 2. Direct adaptive control of Robotic Manipulator Universe of discourse used for triangular membership function is
An accurate COP is essential to NCO, as it facilitates the self-synchronization of NCO, decreasing the need for communications to establish a common understanding of a situation and thereby increasing the speed of command. While the COP as it exists today does provide important information, the current system has significant shortcomings.
This situation is discussed below according to the four components of the COP—the air picture, the maritime sea surface picture, the undersea picture, and the ground picture.
But first, there should be some clarification of the nature of a COP. Access to data is the key here. From a network-centric perspective see the discussion in Chapter 3users should have access to data as soon as they are in some comprehensible form, even though further processing of the data might be intended.
This is because different users will have different needs for the data, and the additional processing might remove information content according to the perspectives of some users. For example, air vehicle tracks could be processed with the criteria of minimizing false-alarm rates or in order to display all potential leakers; the resulting processed data would not be the same in the two cases.
Common processing will have to be applied in cases, for example, in which the parties involved need to see the same air picture, but the data should still be accessible in their preprocessed form. The particular problems in the air picture relate primarily to aircraft and cruise missiles, given the typically unique and observable nature of ballistic missiles.
Shortcomings in the air picture include missing tracks, multiple track designations for one object, swaps of track number between objects, and object misidentification. The National Academies Press.
Incremental progress has been made in addressing these problems over the years, but a wholly adequate solution may not result unless a new COP for the air picture is designed from the ground up.
Work is now being done on components that can be used for such a new development. Given the development of a common track manager, the issue will be the extent to which this track manager is available throughout the force all Services and inadequate legacy track-management capability is phased out.
At the same time, however, as is noted above, the track data prior to processing by the common track manager should be accessible for those who have a need for those data.
This requirement has implications with respect to the design of air picture systems in terms of the data interfaces and posting mechanisms that must be provided. This maritime picture is established from sensor data collected from national assets, aircraft, helicopters, and, in the future, from unmanned aerial vehicles UAVs.
The airborne assets can be both naval and, potentially, those of other Services and coalition parties, too. Navy officers interviewed during the study indicated that the quality of the current maritime picture, while improving over the past few years, still has significant shortcomings.
In particular, sensor coverage typically is not adequate to provide full, persistent coverage, and those sensor inputs that are available are manually assembled rather than being networked together.
The consequence of these shortcomings is a maritime picture that is far less complete and accurate than it could be. OPNAV staff had formulated a potential program, called the Single Integrated Maritime Picture, to network the sensors providing maritime surveillance, but this proposal was not included in the budget for funding.
A program such as that appears necessary to meet the surface threat in the littoral environment, including the possibility of swarms of small boats, particularly given the importance of littoral operations.
There are significant shortcomings in the ability to detect quiet submarines and stealthy minefields see Chapter 7Section 7. Means for improving the networking of the undersea sensors also appear necessary, but the first priority is the need to improve the sensor detection and processing.
The reason is that the scope of this study does not include the operational maneuver of Marine Corps forces ashore except for those aspects of the ground picture necessary for naval fires from or directed by expeditionary strike groups against ground targets in support of Marine Corps and other Service or coalition forces.
This ground picture includes friendly, neutral, and hostile entities. AFATDS automates the fire planning, tactical fire direction, and fire-support coordination required to support maneuver from the sea and subsequent operations ashore. It provides a suite of tools and interfaces for horizontal and vertical integration across battlespace functional areas.
ADOCS has evolved into the automated support system in actual wartime situations for deep operations in several theaters. Page Share Cite Suggested Citation: The trackers used by the Marines are not yet part of a program of record, and interoperability problems exist between tracker types, although actions appear to be under way to resolve these issues.
The Navy is largely dependent on the sensors of other Services and on intelligence means to provide information on coalition, neutral, and hostile entities for the ground picture, although the Navy does have some applicable organic sensors see Chapter 7Section 7.
At the present time there is no funded program—joint or in any of the Services—to provide a composite ground picture on which the Navy can draw. In the face of this uncertainty, the Navy should ensure that it has the necessary external inputs, and that these inputs can be correlated with organic Navy inputs, to provide it with the necessary ground picture.
As all the Services and intelligence entities move toward network-centric operations and post their sensor and other data, input from the external sources should become readily available to the Navy. Becoming a 21st-Century Force, Vol. That committee also noted, however, that building this technical infrastructure for network-centric operations is an exceptionally large undertaking.
The programs, with the responsible organization for each, are listed and discussed below.The best adaptive control algorithm will then be selected for field testing based on the analysis of the simulation results. Development of a test plan for field implementation. Formulate micro-grid operation management under battery energy storage sizing.
• Propose a novel bat algorithm with several parallel velocity updating strategies. CMA-ES stands for covariance matrix adaptation evolution alphabetnyc.comion strategies (ES) are stochastic, derivative-free methods for numerical optimization of non-linear or non-convex continuous optimization problems.
They belong to the class of evolutionary algorithms and evolutionary alphabetnyc.com evolutionary algorithm is broadly based on the principle of biological evolution, .
Vol.7, No.3, May, Mathematical and Natural Sciences. Study on Bilinear Scheme and Application to Three-dimensional Convective Equation (Itaru Hataue and Yosuke Matsuda).
The chapter takes a discrete time robust direct adaptive control algorithm with a dead zone as an example. The effectiveness of the proposed method is demonstrated by the application to permanent magnet (PM) synchronous motors. Select Index. Book chapter Full text access.
Adaptive Control (second edition) shows how a desired level of system performance can be maintained automatically and in real time, even when process or disturbance parameters are unknown and variable.
It is a coherent exposition of the many aspects of this field, setting out the problems to be Format: With Online Files.