The ML-PMHT MultistaticTracker for SharplyManeuvering Targets Report Title The maximum likelihood probabilistic multi-hypothesis tracker (ML-PMHT) is applied to a benchmark multistatic active sonar scenario with multiple targets, multiple sources, and multiple receivers. We first compare the performance of the tracker on this scenario when it is applied in Cartesian measurement space, a typical...

The movement of a mobile robot in non-deterministic environment is accompanied by maneuvering due to the need avoid collision with fixed or moving obstacle. Under certain conditions, several obstacles, including ones, may appear near zone robot. In this case, trajectory-planning algorithms based on “static” approach position obstacles will not be effective; their application lead collisions. Fi...

The capacity for aerial maneuvering was likely a major influence on the evolution of flying animals. Here we evaluate consequences of paravian morphology for aerial performance by quantifying static stability and control effectiveness of physical models for numerous taxa sampled from within the lineage leading to birds (Paraves). Results of aerodynamic testing are mapped phylogenetically to exa...

For irregular extended object and group target tracking (IEOT and IGTT), using a random matrix to simplify the extension as an ellipsoid, although efficient, may not be accurate without losing useful information in shape and orientation. In view of this, we consider modeling an irregular extended object or target group as a combination of multiple regular sub-objects. Each sub-object can be des...

An atmospheric differential drag based adaptive Lyapunov controller, originally proposed by the authors in previous work for spacecraft rendezvous, is here generalized allowing for the tracking of reference trajectories or dynamics. Differential drag is based on the ability to vary a satellite’s cross wind surface area, and it represents a propellant-free alternative to thrusters to control rel...

This paper presents a novel approach to on-line trajectory planning of robot arms for the interception of a fastmaneuvering object under torque and velocity constraints. Especially, the trajectory planning in the Y direction employs a missile guidance algorithm to intercept the maneuvering object. The proposed method yields that a robot arm can smoothly grasp a maneuvering object. Simulation re...

The decision-based models for maneuvering target tracking were studied in this paper. Focusing on the problem of dissatisfied with single model tracking and the optimal model-set is difficult to design of the multiple-model (MM) algorithm, we modified the “current” model, and proposed an adaptive single model (ASM) to track angular motion. The united velocity-acceleration estimation-based and d...

In order to make full use of measurement information provided by sensors on the aerial carriers and efficiently make maneuvering target tracking under complicated conditions, this paper studies tracking methods of joint maneuvering target by airborne radar and Electronic Support Measure (ESM). Based on Interacted Multiple Model-Blue Linear Unbiased Estimation (IMM-BLUE) algorithm, this paper we...

Compact zero-mass pulsatile jet actuators are proposed for low speed maneuvering, ducking, and station keeping of small underwater vehicles. To this end, optimization of synthetic jets for maximal thrust generation is investigated. Flow field of such jets are initially dominated by vortex ring formation. Pinched-off vortices characterize the extremum impulse accumulated by the leading vortex ri...

Although there are ongoing efforts to extend the ISS life cycle through 2028, the International Space Station (ISS) end-of-life (EOL) cycle is currently scheduled for 2020. The EOL for the ISS will require de-orbiting the ISS. This will be the largest manmade object ever to be deorbited, therefore safely de-orbiting the station will be a very complex problem. This process is being planned by NA...