An agile single board quadrotor providing “eye in the sky” capabilities for marine environments
Why this work is in the frame
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Bibliographic record
Abstract
This paper presents a robust model independent control method for the stabilization of a four-rotor rotorcraft, which is popularly known as the quadrotor helicopter. In addition, a detailed dynamic model is presented for the formulation of the proposed control law and a prototype platform heavily utilizing printed circuit board technology is proposed for experimentation. This paper focuses on compensating for unknown disturbances (e.g., wind gusts) that naturally occur in a marine environment. In order to employ eye in the sky capabilities in a marine environment, a quadrotor helicopter must hand these disturbances without jeopardizing the stability of the vehicle. To this end, the control law is derived from the Active Disturbance Rejection Control (ADRC) technology, which is reported in the literature to be resistant to external disturbances. The robustness of the proposed controller is demonstrated through numerical simulation of the vehicle's vertical flight. External disturbances in the simulation experiment is considered as a sudden vertical gust of wind acting on the vehicle. In order to quantify the robustness of the controller relative to conventional control technologies, a PD controller under identical flight conditions provides a reference benchmark. The comparative performance of the two controllers shows that the proposed control algorithm significantly outperforms the PD algorithm under the simulated disturbance conditions.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it