Piecewise affine modelling of a micro air vehicle using Voronoi partitions
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Bibliographic record
Abstract
This paper develops a three degrees of freedom (DOF) PWA model for a rotorcraft MAV. To develop the PWA model, a new function approximation method using a set of linearisation points (SLP) and Voronoi partitions is proposed. The SLP method is then compared to a uniform grid (UG) approximation, which is the current method being used in the literature of PWA. Next, a PWA controller is designed so the MAV follows a desired trajectory. Subsequently, the original system is placed in feedback connection with the PWA controller and a linear controller designed at the equilibrium point. Finally, simulation results are shown and conclusions are drawn. This work represents a key step in the development of PWA controller design for MAVs.
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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 | 0.000 |
| Open science | 0.000 | 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