An underwater docking system for an autonomous underwater vehicle, the underwater docking system including: an underwater station including a base mount fixed to a seabed and a circular frame member supported by the base mount and parallel to a horizontal plane; and an autonomous underwater vehicle configured to dock with the underwater station while sailing through an upper side of the frame member, wherein: the autonomous underwater vehicle includes an underwater vehicle main body.

A system and method of using the system are provided. The system can include at least one source, a plurality of sensors, and a processing device. The source can emit one or more low frequency sounds. The sensors can sense the low frequency sounds and transform the low frequency sounds into one or more signals including a plurality of data values. The processing device can be communicatively operable with the sensors to receive the signals and determine positioning information of the sensors based on the data values.

A method for determining the location of a frequency receiver device with respect to at least two frequency originator devices, each of a current location, the method including synchronizing a clock of the frequency receiver device with a clock of one of the at least two frequency originator devices; receiving by the frequency receiver device, a message including an identification code configured for identifying one of the at least two frequency originator devices and obtaining a broadcast time and a current location of the one of the at least two frequency originator devices by looking up a table correlating the at least two frequency originator devices and their respective broadcast times and current locations; calculating a time of flight of the message by calculating the difference between a receive time at which the message is received by the frequency receiver device and the broadcast time.

A method for determining the location of a frequency receiver device with respect to at least two frequency originator devices, each of a current location, the method including synchronizing a clock of the frequency receiver device with a clock of one of the at least two frequency originator devices; receiving by the frequency receiver device, a message including an identification code configured for identifying one of the at least two frequency originator devices and obtaining a broadcast time and a current location of the one of the at least two frequency originator devices by looking up a table correlating the at least two frequency originator devices and their respective broadcast times and current locations; calculating a time of flight of the message by calculating the difference between a receive time at which the message is received by the frequency receiver device and the broadcast time.

A leaky-wave antenna for fluid environments includes a waveguide cavity defined by a waveguide wall. The waveguide cavity is filled with a waveguide fluid. The waveguide walls are made of either an anisotropic material that utilize one of orthotropic stiffness of the anisotropic material to control mode conversion, a band gap material to approximate an acoustically rigid boundary, and a combination of the two materials.

A leaky-wave antenna for fluid environments includes a waveguide cavity defined by a waveguide wall. The waveguide cavity is filled with a waveguide fluid. The waveguide walls are made of either an anisotropic material that utilize one of orthotropic stiffness of the anisotropic material to control mode conversion, a band gap material to approximate an acoustically rigid boundary, and a combination of the two materials.

Disclosed is a target tracking method, applicable to an electronic device, the electronic device being provided with a camera and an ultra wideband module, the method comprising: determining, by the ultra wideband module, first relative position information of a tracked target with respect to the electronic device; determining, by the camera, second relative position information of the tracked target with respect to the electronic device; determining third relative position information of the tracked target with respect to the electronic device on the basis of the first relative position information and the second relative position information; and controlling, on the basis of the third relative position information, the electronic device to track the movement of the target. The present invention realizes the technical effect of improving stability and robustness of a target tracking method. Also disclosed are a target tracking apparatus and a storage medium.

A radiation ultrasonic wave visualization method in which an ultrasonic wave radiated by a sound source is visualized, comprises: heterodyne-converting ultrasonic signals in a band of at least 20 KHz or more, which are acquired by an ultrasonic sensor array constituted by a plurality of ultrasonic sensors and converting the ultrasonic signals into a low-frequency signal and thereafter, beamforming the converted low-frequency signals or beamforming the converted low-frequency signals based on resampling signals, thereby handling the low-frequency signals without distorting ultrasonic sound location information to reduce a data handling amount in the beamforming step.

A neural network model, such as a deep neural network (DNN), is trained using many speech examples to perform beam selection in a microphone array-based speech processing system. The DNN is trained using many different speech examples that are labeled with position or direction information relative to a training microphone array. The DNN may then be trained to recognize a direction of incoming speech so that at runtime the trained DNN may process input audio data from a microphone array and may output to a beam selector an indicator of the desired beam that may be selected for further processing. The DNN may be configured to output a beam index and/or coordinates (or other position data) corresponding to an estimated location of the detected speech. The DNN may also be configured to output acoustic unit data corresponding to speech units (for example corresponding to phonemes, senons, etc. such as those of a detected wakeword or other word).

A method of determining, by an electronic device, an audio event is disclosed. The method may include receiving an input sound from a sound source by a plurality of sound sensors. The method may also extracting, by a processor, at least one sound feature from the received input sound, determining, by the processor, location information of the sound source based on the input sound received by the sound sensors, determining, by the processor, the audio event indicative of the input sound based on the at least one sound feature and the location information, and transmitting, by a communication unit, a notification of the audio event to an external electronic device.