The flying anemometer: Unified estimation of wind velocity from aerodynamic power and wrenches
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
We consider the problem of estimating the wind velocity perceived by a flying multicopter, from data acquired by onboard sensors and knowledge of its aerodynamics model only. We employ two complementary methods. The first is based on the estimation of the external wrench (force and torque) due to aerodynamics acting on the robot in flight. Wind velocity is obtained by inverting an identified model of the aerodynamic forces. The second method is based on the estimation of the propeller aerodynamic power, and provides an estimate independent of other sensors. We show how to calculate components of the wind velocity using multiple aerodynamic power measurements, when the poses between them are known. The method uses the motor current and angular velocity as measured by the electronic speed controllers, essentially using the propellers as wind sensors. Verification of the methods and model identification were done using measurements acquired during autonomous flights in a 3D wind tunnel.
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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