Related papers: Dynamics of a Towed Cable with Sensor-Array for Un…
Passive bearing-only tracking (BOT) estimates the target states by utilising noisy bearing measurements captured by a sensor array. The sensor array is often towed behind the ship, using a long flexible cable to reduce interference from the…
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…
This paper proposes a novel towed movable antenna (ToMA) array architecture to enhance the physical layer security of airborne communication systems. Unlike conventional onboard arrays with fixed-position antennas (FPAs), the ToMA array…
The spatial sensitivity pattern of millimeter-wavelength receivers is an important diagnostic of performance and is affected by the alignment of coupling optics. Characterization can be challenging in the field, particularly in the…
Target tracking problem has many practical applications in real life. In submarines, target tracking is done using, preferably, passive sensors. These sensors measure only the bearing angles between the observed target and the ownship.…
Cables are complex, high dimensional, and dynamic objects. Standard approaches to manipulate them often rely on conservative strategies that involve long series of very slow and incremental deformations, or various mechanical fixtures such…
This paper tackles the problem of robots collaboratively towing a load with cables to a specified goal location while avoiding collisions in real time. The introduction of cables (as opposed to rigid links) enables the robotic team to…
Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has…
Cable/rope elements are pervasive in deformable-object manipulation, often serving as a deformable force-transmission medium whose routing and contact determine how wrenches are delivered. In cable-towed manipulation, transmission is…
In bearing only tracking using a towed array, the array can sense the bearing angle of the target but is unable to differentiate whether the target is on the left or the right side of the array. Thus, the traditional tracking algorithm…
For Cable-Driven Parallel Robots, the cable length is the only element we control. Better knowledge of this parameter will improve robot performances. We propose a new cable length autocalibration subsystem. It consists of an instrumented…
The cable-based arrestment systems are integral to the launch and recovery of aircraft onboard carriers and on expeditionary land-based installations. These modern arrestment systems rely on various mechanisms to absorb energy from an…
This work proposes a novel control and estimation approach for aerial manipulation of a cable-suspended load using Unmanned Aerial Vehicles (UAVs). Common approaches in the state of the art have practical limitations, relying on direct load…
For an autonomous surface vessel (ASV) to dock, it must track other vessels close to the docking area. Kayaks present a particular challenge due to their proximity to the dock and relatively small size. Maritime target tracking has…
This letter exploits moving arrays to enable nearfield multiple-input multiple-output (MIMO) sensing via a limited number of antenna elements. We consider a scenario where a base station (BS) is equipped with a uniform linear array (ULA) on…
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…
This research presents a dynamic modeling framework and parameter identification methods for describing the highly nonlinear behaviors of flexibly connected dual-AUV systems. The modeling framework is established based on the lumped mass…
Underwater monitoring and surveillance systems are essential for underwater target detection, localization and classification. The aim of this work is to investigate the possibility of target detection by using data transmission between…
Critical evaluation and understanding of ship responses in the ocean is important for not only the design and engineering of future platforms but also the operation and safety of those that are currently deployed. Simulations or experiments…
This paper provides a thorough mathematical analysis of continuous movable antenna (MA) arrays. Focusing on the multiple antenna case, we consider a linear antenna array with multiple fixed antenna elements that moves along a line. We…