The Draper Laboratory Vorticity Control Unmanned Undersea Vehicle (VCUUV) is the first mission-scale, autonomous underwater vehicle that uses vorticity control propulsion and maneuvering. Built as a research platform with which to study the energetics and maneuvering performance of fish-swimming propulsion, the VCUUV is a self-contained free swimming research vehicle which follows the morpholog...

The di!culty in tracking a maneuvering target in the presence of false measurements arises from the uncertain origin of the measurements (as a result of the observation=detection process) and the uncertainty in the maneuvering command driving the state of the target. Conditional mean estimates of the target state require a computational cost which is exponential with the number of observations ...

Detailed knowledge of the estimation performance for passive tracking of maneuvering targets is of fundamental interest. Therefore, the maximum achievable localization accuracy for maneuvering targets from azimuth measurements as well as from combined azimuth and azimuth rate measurements are calculated in this paper. These targets perform a piecewise curvilinear motion with an unknown number o...

Turning strategies on the Sarcos Treadport, a linear treadmill locomotion interface, are developed and compared in a tight maneuvering task. A rate control strategy employing sidestep is compared to a proportional control strategy employing head gaze and torso trigger. The maneuvering task involves walking down a narrow corridor and avoiding obstacles that are placed at different separations to...

A study is currently underway to better understand and influence the maneuvering characteristics of autonomous underwater vehicles (AUVs). A two-pronged approach, using traditional quasi-steady state-space modeling as well as maneuvering experiments performed in unsteady Reynolds-averaged Navier-Stokes simulations (URANS), has been adopted to provide the greatest possible insight into vehicle m...

The surveillance area of a radar system is usually very huge and the observations are usually more than the real targets. Moreover, both non-maneuvering and maneuvering conditions are usually existed during the tracking process. The computation burden of a radar system is heavy to track multiple maneuvering targets in real time because of the complicated tracking environment. In order to reduce...

In this paper, a new fuzzy forgetting factor (FFF) is developed in order to aid a modified input estimation (MIE) technique and enhance its performance in tracking high maneuvering targets. The MIE has been introduced recently and succeeds in presenting reasonably accurate target trajectory, velocity and acceleration estimation in low and mild maneuvering situations. However, after some iterati...

In view of the lack dynamicity in a traditional fixed sensor system, an algorithm of tracking multiple maneuvering targets in a dynamic sensor system is proposed in this paper. The algorithm combines coordinate conversion logics and a multiple sensor data fusion for it to work in the dynamic sensor system. With the developed algorithm, the sensors can be installed in various tracking systems wh...

The scenario deployed with mobile sensors for tracking both of non-maneuvering and maneuvering targets traveling in the phenomena exploits with mobile WSN (wireless sensor networks) is simulated in this paper. In order to solve the complicated situation and reduce computation burden because of the multiple sensing event exists mobile WSN environments is proposed. Moreover, a variable structure ...

Ship maneuvering performance is typically predicted in calm water conditions. This provides very valuable information at the initial ship design stage. However, since the ship always sails in waves, the maneuvering performance of the ship in seaway may be significantly different from calm water condition. Therefore, if the effect of waves and the corresponding motion responses can be included i...