Download or read book Moving Target Depth Estimation for Passive Sonar Using Sequential Resampling Techniques written by and published by . This book was released on 2000 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: We examine the problem of passive localization of a moving target in a littoral environment, based on its depth and range-rate. We compare performance with the conventional matched field processor which localizes in depth and range. Range-rate localization is more robust with respect to uncertainties in the environment, and with respect to associated uncertainties in the horizontal wave numbers of the channel modes used for the matched field target response. In our approach the complex amplitudes of the modes are treated as nuisance parameters, which comprise a hidden, first-order Markov state process. In lieu of an analytic expression for the evolution of the likelihood function as new snapshots are integrate, we evaluate a method of particle filtering, or sequential resampling.

Download or read book Range rate Estimation of Moving Targets with Passive Sonar in Shallow Water written by Hailiang Tao and published by . This book was released on 2005 with total page 108 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Direction of Arrival Estimation in Passive Sonar Systems written by Ali Massoud and published by LAP Lambert Academic Publishing. This book was released on 2012 with total page 136 pages. Available in PDF, EPUB and Kindle. Book excerpt: last decades witnessed several research activities in the area of acoustic undersea warfare targeting the development of advanced systems to accurately detect and localize underwater moving targets. One of the main categories of these systems is the passive sonar (sound navigation and ranging) that searches for the location of the ships and submarines by listening to the radiated noise produced by their propellers, machinery, and flow dynamics. The performance of the passive sonar (involving estimation of the target bearing) highly depends on the particular array signal processing algorithms used in practice. Presently, the main challenge is to accurately estimate the target bearing in low signal to noise ratio for the underwater environment. This book presents advanced high spatial resolution techniques for both uniform and nonuniform hydrophone arrays. These techniques are now utilized in real applications due to its outstanding performance.

Download or read book Direction of Arrival Estimation in Passive Sonar written by ALi Massoud and published by . This book was released on 2012 with total page 230 pages. Available in PDF, EPUB and Kindle. Book excerpt: Since World War I, the area of acoustic undersea warfare has witnessed several research activities targeting the development of advanced systems to accurately detect and localize underwater moving targets. One of the main categories of these systems is the passive sound navigation and ranging (SONAR) that searches for the location of the ships and submarines by listening to the radiated noise produced by their propellers, machinery, and flow dynamics. The performance of the passive sonar highly depends on the particular array signal processing algorithms used in practice. Presently, one of the main challenges is to accurately estimate the target direction of arrival (DOA) in severe underwater environments. This thesis is proposed to enhance the DOA estimation in two distinct applications. This first application is to improve the spatial resolution of the uniform linear towed arrays. This is done by applying new spatial extrapolation techniques called 2D- and 3D- fast orthogonal search (FOS) for both uniform linear and rectangular arrays, respectively. The presented methods show better performance than the conventional methods with respect to signal to noise ratio (SNR), number of snapshots and angular separation. Moreover it reduces the computational complexity required by the spatial extrapolation methods based on linear prediction approach. The other application concerns with developing a new DOA estimation that provides better spatial spectrum than the one provided by conventional beamforming (CBF) when a nonuniform linear array of directional frequency analysis and recording (DIFAR) sonobuoys is employed. The introduced technique or the so called fourth order cumulant beamforming (FOCBF) and shows an outstanding performance compared to CBF especially in low SNR. Furthermore, a warping FOC-BF (WFOC-BF) method obtained by augmenting a warping beamforming technique with FOC-BF is proposed to reduce the required computational complexity by FOC-BF while preserving the same performance.

Download or read book Beyond the Kalman Filter Particle Filters for Tracking Applications written by Branko Ristic and published by Artech House. This book was released on 2003-12-01 with total page 328 pages. Available in PDF, EPUB and Kindle. Book excerpt: For most tracking applications the Kalman filter is reliable and efficient, but it is limited to a relatively restricted class of linear Gaussian problems. To solve problems beyond this restricted class, particle filters are proving to be dependable methods for stochastic dynamic estimation. Packed with 867 equations, this cutting-edge book introduces the latest advances in particle filter theory, discusses their relevance to defense surveillance systems, and examines defense-related applications of particle filters to nonlinear and non-Gaussian problems. With this hands-on guide, you can develop more accurate and reliable nonlinear filter designs and more precisely predict the performance of these designs. You can also apply particle filters to tracking a ballistic object, detection and tracking of stealthy targets, tracking through the blind Doppler zone, bi-static radar tracking, passive ranging (bearings-only tracking) of maneuvering targets, range-only tracking, terrain-aided tracking of ground vehicles, and group and extended object tracking.

Download or read book Creating Autonomous Vehicle Systems written by Shaoshan Liu and published by Morgan & Claypool Publishers. This book was released on 2017-10-25 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first technical overview of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences of creating autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions about its actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, we are able to test new algorithms and update the HD map—plus, train better recognition, tracking, and decision models. This book consists of nine chapters. Chapter 1 provides an overview of autonomous vehicle systems; Chapter 2 focuses on localization technologies; Chapter 3 discusses traditional techniques used for perception; Chapter 4 discusses deep learning based techniques for perception; Chapter 5 introduces the planning and control sub-system, especially prediction and routing technologies; Chapter 6 focuses on motion planning and feedback control of the planning and control subsystem; Chapter 7 introduces reinforcement learning-based planning and control; Chapter 8 delves into the details of client systems design; and Chapter 9 provides the details of cloud platforms for autonomous driving. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find plenty of references for an effective, deeper exploration of the various technologies.

Download or read book Probabilistic Robotics written by Sebastian Thrun and published by MIT Press. This book was released on 2005-08-19 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: An introduction to the techniques and algorithms of the newest field in robotics. Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site, www.probabilistic-robotics.org, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.

Download or read book Underwater Acoustic Signal Processing written by Douglas A. Abraham and published by Springer. This book was released on 2019-02-14 with total page 860 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides comprehensive coverage of the detection and processing of signals in underwater acoustics. Background material on active and passive sonar systems, underwater acoustics, and statistical signal processing makes the book a self-contained and valuable resource for graduate students, researchers, and active practitioners alike. Signal detection topics span a range of common signal types including signals of known form such as active sonar or communications signals; signals of unknown form, including passive sonar and narrowband signals; and transient signals such as marine mammal vocalizations. This text, along with its companion volume on beamforming, provides a thorough treatment of underwater acoustic signal processing that speaks to its author’s broad experience in the field.

Download or read book Time frequency Signal Analysis methods and Applications written by Boualem Boashash and published by . This book was released on 1992 with total page 570 pages. Available in PDF, EPUB and Kindle. Book excerpt: Examines the advances that have occurred in the development of methods for the analysis of non-stationary signals. It covers instantaneous frequency estimation and tracking, algorithms for computer implementation and a range of applications such as radar, sonar, biomedicine and speech.

Download or read book Passive Acoustic Monitoring of Cetaceans written by Walter M. X. Zimmer and published by Cambridge University Press. This book was released on 2011-04-21 with total page 367 pages. Available in PDF, EPUB and Kindle. Book excerpt: Passive acoustic monitoring is increasingly used by the scientific community to study, survey and census marine mammals, especially cetaceans, many of which are easier to hear than to see. PAM is also used to support efforts to mitigate potential negative effects of human activities such as ship traffic, military and civilian sonar and offshore exploration. Walter Zimmer provides an integrated approach to PAM, combining physical principles, discussion of technical tools and application-oriented concepts of operations. Additionally, relevant information and tools necessary to assess existing and future PAM systems are presented, with Matlab code used to generate figures and results so readers can reproduce data and modify code to analyse the impact of changes. This allows the principles to be studied whilst discovering potential difficulties and side effects. Aimed at graduate students and researchers, the book provides all information and tools necessary to gain a comprehensive understanding of this interdisciplinary subject.

Download or read book Introduction to AI Robotics second edition written by Robin R. Murphy and published by MIT Press. This book was released on 2019-10-01 with total page 649 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive survey of artificial intelligence algorithms and programming organization for robot systems, combining theoretical rigor and practical applications. This textbook offers a comprehensive survey of artificial intelligence (AI) algorithms and programming organization for robot systems. Readers who master the topics covered will be able to design and evaluate an artificially intelligent robot for applications involving sensing, acting, planning, and learning. A background in AI is not required; the book introduces key AI topics from all AI subdisciplines throughout the book and explains how they contribute to autonomous capabilities. This second edition is a major expansion and reorganization of the first edition, reflecting the dramatic advances made in AI over the past fifteen years. An introductory overview provides a framework for thinking about AI for robotics, distinguishing between the fundamentally different design paradigms of automation and autonomy. The book then discusses the reactive functionality of sensing and acting in AI robotics; introduces the deliberative functions most often associated with intelligence and the capability of autonomous initiative; surveys multi-robot systems and (in a new chapter) human-robot interaction; and offers a “metaview” of how to design and evaluate autonomous systems and the ethical considerations in doing so. New material covers locomotion, simultaneous localization and mapping, human-robot interaction, machine learning, and ethics. Each chapter includes exercises, and many chapters provide case studies. Endnotes point to additional reading, highlight advanced topics, and offer robot trivia.

Download or read book Introduction to Microwave Remote Sensing written by Iain H. Woodhouse and published by CRC Press. This book was released on 2017-07-12 with total page 321 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction to Microwave Remote Sensing offers an extensive overview of this versatile and extremely precise technology for technically oriented undergraduates and graduate students. This textbook emphasizes an important shift in conceptualization and directs it toward students with prior knowledge of optical remote sensing: the author dispels any linkage between microwave and optical remote sensing. Instead, he constructs the concept of microwave remote sensing by comparing it to the process of audio perception, explaining the workings of the ear as a metaphor for microwave instrumentation. This volume takes an “application-driven” approach. Instead of describing the technology and then its uses, this textbook justifies the need for measurement then explains how microwave technology addresses this need. Following a brief summary of the field and a history of the use of microwaves, the book explores the physical properties of microwaves and the polarimetric properties of electromagnetic waves. It examines the interaction of microwaves with matter, analyzes passive atmospheric and passive surface measurements, and describes the operation of altimeters and scatterometers. The textbook concludes by explaining how high resolution images are created using radars, and how techniques of interferometry can be applied to both passive and active sensors.

Download or read book Introduction to Autonomous Mobile Robots second edition written by Roland Siegwart and published by MIT Press. This book was released on 2011-02-18 with total page 473 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.

Download or read book Underwater Acoustic Digital Signal Processing and Communication Systems written by Robert Istepanian and published by Springer Science & Business Media. This book was released on 2013-03-09 with total page 283 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underwater acoustic digital signal processing and communications is an area of applied research that has witnessed major advances over the past decade. Rapid developments in this area were made possible by the use of powerful digital signal processors (DSPs) whose speed, computational power and portability allowed efficient implementation of complex signal processing algorithms and experimental demonstration of their performance in a variety of underwater environments. The early results served as a motivation for the development of new and improved signal processing methods for underwater applications, which today range from classical of autonomous underwater vehicles and sonar signal processing, to remote control underwater wireless communications. This book presents the diverse areas of underwater acoustic signal processing and communication systems through a collection of contributions from prominent researchers in these areas. Their results, both new and those published over the past few years, have been assembled to provide what we hope is a comprehensive overview of the recent developments in the field. The book is intended for a general audience of researchers, engineers and students working in the areas of underwater acoustic signal processing. It requires the reader to have a basic understanding of the digital signal processing concepts. Each topic is treated from a theoretical perspective, followed by practical implementation details. We hope that the book can serve both as a study text and an academic reference.

Download or read book Single Photon Imaging written by Peter Seitz and published by Springer Science & Business Media. This book was released on 2011-08-03 with total page 363 pages. Available in PDF, EPUB and Kindle. Book excerpt: The acquisition and interpretation of images is a central capability in almost all scientific and technological domains. In particular, the acquisition of electromagnetic radiation, in the form of visible light, UV, infrared, X-ray, etc. is of enormous practical importance. The ultimate sensitivity in electronic imaging is the detection of individual photons. With this book, the first comprehensive review of all aspects of single-photon electronic imaging has been created. Topics include theoretical basics, semiconductor fabrication, single-photon detection principles, imager design and applications of different spectral domains. Today, the solid-state fabrication capabilities for several types of image sensors has advanced to a point, where uncoooled single-photon electronic imaging will soon become a consumer product. This book is giving a specialist ́s view from different domains to the forthcoming “single-photon imaging” revolution. The various aspects of single-photon imaging are treated by internationally renowned, leading scientists and technologists who have all pioneered their respective fields.

Download or read book Sensor Array Signal Processing written by Prabhakar S. Naidu and published by CRC Press. This book was released on 2000-07-06 with total page 475 pages. Available in PDF, EPUB and Kindle. Book excerpt: Sensors arrays are used in diverse applications across a broad range of disciplines. Regardless of the application, however, the tools of sensor array signal processing remain the same. Furthermore, whether your interest is in acoustic, seismic, mechanical, or electromagnetic wavefields, they all have a common mathematical framework. Mastering this

Download or read book Instrumentation in Earthquake Seismology written by Jens Havskov and published by Springer Science & Business Media. This book was released on 2010-02-11 with total page 365 pages. Available in PDF, EPUB and Kindle. Book excerpt: Here is unique and comprehensive coverage of modern seismic instrumentation, based on the authors’ practical experience of a quarter-century in seismology and geophysics. Their goal is to provide not only detailed information on the basics of seismic instruments but also to survey equipment on the market, blending this with only the amount of theory needed to understand the basic principles. Seismologists and technicians working with seismological instruments will find here the answers to their practical problems. Instrumentation in Earthquake Seismology is written to be understandable to the broad range of professionals working with seismological instruments and seismic data, whether students, engineers or seismologists. Whether installing seismic stations, networks and arrays, working and calibrating stationary or portable instruments, dealing with response information, or teaching about seismic instruments, professionals and academics now have a practical and authoritative sourcebook. Includes: SEISAN and SEISLOG software systems that are available from http://extras.springer.com and http://www.geo.uib.no/seismo/software/software.html