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VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

2024

VDM-based navigation for Delta-wing UAVs: Models, calibration, implementation

Pasquale Longobardi

Autonomous navigation of small UAVs is typically based on the integration of inertial navigation systems (INS) together with global navigation satellite systems (GNSS). However, GNSS signals can face various forms of interference affecting their continuous ...

EPFL2024

An Ultralow-Power Triaxial MEMS Accelerometer With High-Voltage Biasing and Electrostatic Mismatch Compensation

Kyojin Choo, Li Xu, Yimai Peng

This article presents a triaxial micro electromechani-cal system (MEMS) capacitive accelerometer using a high-voltage biasing technique to achieve high resolution with ultralow power. The accelerometer system generates a differential pair of high voltages ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Airborne sensor fusion: Expected accuracy and behavior of a concurrent adjustment

Jan Skaloud, Davide Antonio Cucci, Aurélien Arnaud Brun, Kyriaki Mouzakidou

Tightly-coupled sensor orientation, i.e. the simultaneous processing of temporal (GNSS and raw inertial) and spatial (image and lidar) constraints in a common adjustment, has demonstrated significant improvement in the quality of attitude determination wit ...

2024

Leveraging Continuous Time to Understand Momentum When Training Diagonal Linear Networks

Nicolas Henri Bernard Flammarion, Hristo Georgiev Papazov, Scott William Pesme

In this work, we investigate the effect of momentum on the optimisation trajectory of gradient descent. We leverage a continuous-time approach in the analysis of momentum gradient descent with step size

\gamma

and momentum parameter

\beta

that allows u ...

2024

Alignment of ND3 molecules in dc-electric fields

Andreas Osterwalder, Viet Le Duc, Junwen Zou

The control of movement and orientation of gas-phase molecules has become the focus of many research areas in molecular physics. Here, ND3 molecules are polarized in a segmented, curved electrostatic guide and adiabatically aligned inside a rotatable mass ...

Aip Publishing2024

Search for Scalar Leptoquarks Produced via τ-Lepton-Quark Scattering in pp Collisions at ffiffi s p=13 TeV

Matthias Finger, Konstantin Androsov, Jan Steggemann, Qian Wang, Anna Mascellani, Yiming Li, Varun Sharma, Xin Chen, Rakesh Chawla, Matteo Galli

The first search for scalar leptoquarks produced in z-lepton-quark collisions is presented. It is based on a set of proton-proton collision data recorded with the CMS detector at the LHC at a center-of-mass energy of 13 TeV corresponding to an integrated l ...

Amer Physical Soc2024

Search for new Higgs bosons via same-sign top quark pair production in association with a jet in proton-proton collisions at √s=13 TeV

Matthias Finger, Konstantin Androsov, Jan Steggemann, Qian Wang, Anna Mascellani, Yiming Li, Varun Sharma, Xin Chen, Rakesh Chawla, Matteo Galli

A search is presented for new Higgs bosons in proton-proton (pp) collision events in which a same-sign top quark pair is produced in association with a jet, via the pp -> tH/ A -> tt (c) over bar and pp -> tH/ A -> tt

Elsevier2024

On the Generalization of Stochastic Gradient Descent with Momentum

Volkan Cevher, Kimon Antonakopoulos

While momentum-based accelerated variants of stochastic gradient descent (SGD) are widely used when training machine learning models, there is little theoretical understanding on the generalization error of such methods. In this work, we first show that th ...

Microtome Publishing2024

Nonlinear simulation of plasma turbulence using a gyrokinetic moment-based approach

Antoine Cyril David Hoffmann

Plasma turbulence plays a fundamental role in determining the performances of magnetic confinement fusion devices, such as tokamaks. Advances in computer science, combined with the development of efficient physical models, have significantly improved our u ...

EPFL2024

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