Wireless capsule endoscope achieved great success, however, the maneuvering of wireless capsule endoscope is challenging at present. A magnetic driving instrument, including two bar magnets, a stepper motor, a motor driver, a motor controller, and a power supplier, was developed to generate rotational magnetic fields. Permanent magnet ring, magnetized as S and N poles radially and mounted spira...

The capacity for aerial maneuvering shaped the evolution of flying animals. Here we evaluate consequences of paravian morphology for aerial performance [1, 2] by quantifying static stability and control effectiveness of physical models [3] for numerous taxa sampled from within the lineage leading to birds (Paraves, [4, 5]). Results of aerodynamic testing are mapped phylogenetically [6, 7, 8, 9,...

Maneuverability is one of the most important and least understood aspects of animal locomotion. The hydrofoil-like flippers of cetaceans are thought to function as control surfaces that effect maneuvers, but quantitative tests of this hypothesis have been lacking. Here, we constructed a simple hydrodynamic model to predict the longitudinal-axis roll performance of fin whales, and we tested its ...

This paper presents our research at bringing the state-of-the-art in vision and robotics technologies to enhance the emerging laparoscopic surgical procedure (Figure 1). In particular, a framework utilizing intelligent visual modeling, recognition, and servoing capabilities for assisting the surgeon in maneuvering the scope (camera) in laparoscopy is proposed. The proposed framework integrates ...

Online tracking of maneuvering targets is a highly nonlinear and challenging problem that involves, at every time instant, the estimation not only of the unknown state in the dynamic model describing the evolution of the target, but also the underlying model accounting for the regime of movement. In this paper we review and compare several sequential estimation procedures, that use appropriate ...

Optically driven micromanipulators with submicron probe tips are proposed and developed by using two-photon microstereolithography. The micromanipulators are worked by maneuvering their movable component with a focused laser beam, and an actual pair of microtweezers was opened and shut precisely. We also propose an effective method of controlling movable micromachines with great freedom of move...

This thesis develops a method to analyze the maneuvering forces on surfaced and underwater vehicles with complex propulsors. The analysis method is developed for general propellers yet has unique applicability to model highly contracting stern flows associated with integrated propulsors. Integrated propulsors exhibit strong coupling of the various blade-rows and duct, if present, to the vehicle...

The understanding of fish maneuvering and its application to underwater rigid bodies are considered. The goal is to gain insight into stealth. The recent progress made in NUWC is reviewed. Fish morphology suggests that control fins for maneuverability have unique scalar relationships irrespective of their speed type. Maneuvering experiments are carried out with fish that are fast yet maneuverab...

A nonlinear system model of maneuvering target detection was introduced. To estimate offset angles of pitch and azimuth, relative velocity of missile and target, and distance information while detecting maneuvering target, extended Kalman filter algorithm was introduced. Simulations of nominal trajectory and extreme trajectory shows that the proposed system model and filter design approach can ...

We proposed two approaches to tracking moving target with bearing-only measurement through incorporating observer trajectory optimization into passive tracking systems. The two optimizers algorithm are designed separately, and they are independent of any state estimators, which make them possible to be combined with any state estimators to achieve high accuracy maneuvering/non-maneuvering targe...