Biomimetic measurement of optical flow and centroid for visual-servo control of hover flight
Bibliographic record
Abstract
This paper presents a novel, biomimetic design of a visual sensor and visual servo system for a micro-RUAV, based on a study of the hybrid controls approach used by Macroglossum Stel. L. for pure 2-D hover stabilization. The sensor approach determines ego-motion in the Yaw axis through use of an optic flow estimator on a peripheral ring about a foveal region centered on a target. A centroid measure of the target is used to govern remaining degrees of freedom. The biomimetic controller builds upon locomotor studies and uses a PID control to govern error corrections for each separate axis. In turn, the corrective motions of each axis are combined through a thrust matrix, which projects the desired thrust on a series of pre-learned signals in cardinal directions about the RUAV. Experimental implementation and results are discussed.
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How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".