The Doppler spread of a received signal is estimated from the derivative of the path transfer function envelope for the received signal. The proof mass moves along a sensing axis in response to linear acceleration. It comprises the step of comparing data in a frame to data in a plurality of classifier entries, wherein the order of comparison of the classifier entries with a frame is a function of a quality of service priority level, and the step of classifying a frame for which a match is found as a function of a parameter associated with the matching classifier entry. 3 the present invention relates to a method of manufacture of a product from a first component of deformable material and a second component, the method comprising the steps of:. The magnets may be arranged to attract the components when the components are in the locking orientation and to repel the components when the components are rotated to an unlocked position. The system comprises an operator control system receiving input from the operator including instructions for the remote vehicle to execute an autonomous behavior, and a control system on the remote vehicle for receiving the instruction to execute an autonomous behavior from the operator control system.