This letter proposes an omega-K algorithm for missile-borne synthetic aperture radar (SAR) diving with constant acceleration. The essence of the novel method is to derive a reference function multiplication from the equivalent range history. The true range history is divided into two parts: range independent and range dependent. After compensating the range-independent part with considering all the terms, we can regard the range-dependent part as an equivalent range history with a form similar to that of conventional SAR. Then, an analytical 2-D spectrum can be used for the omega-K algorithm. The proposed algorithm can handle general missile configurations with wide swaths and high squint angles. Simulation results are presented to validate the proposed method.

Interpretation of force and moment data is used to guide the searching phase of a circular peg-in-hole assembly. It is shown that the available measurements carry varying quality of information, ambiguous in much of the search space and relatively precise in a small region. By interpreting the history of sensory data acquired during an assembly attempt, reliable interpretation of the data is possible. A feature-based technique is described for interpreting sensory data. Experiments with robotic peg-in-hole assembly demonstrated a speed-up of nearly an order of magnitude relative to a blind search.