The algorithms are coded in a way that makes it trivial to apply them to other problems. Several generic routines for resampling are provided. The derivation and details are presented in: Rudolph van der Merwe, Arnaud Doucet, Nando de Freitas and Eric Wan. The Unscented Particle Filter. Technical report CUED/F-INFENG/TR 380, Cambridge University Department of Engineering, May 2000. After downloading the file, type \"tar -xf upf_demos.tar\" to uncompress it. This creates the directory webalgorithm containing the required m files. Go to this directory, load matlab5 and type \"demo_MC\" for the demo.