3D Self-Localization of Drones using a Single Millimeter-Wave Anchor

We present the design, implementation, and evaluation of MiFly, a self-localization system for autonomous drones that works across indoor and outdoor environments, including low-visibility, dark, and GPS-denied settings. MiFly performs 6DoF self-localization by leveraging a single millimeter-wave (mmWave) anchor in its vicinity - even if that anchor is visually occluded. MmWave signals are used in radar and 5G systems and can operate in the dark and through occlusions. MiFly introduces a new mmWave anchor design and mounts light-weight high-resolution mmWave radars on a drone. By jointly designing the localization algorithms and the novel low-power mmWave anchor hardware (including its polarization and modulation), the drone is capable of high-speed 3D localization. Furthermore, by intelligently fusing the location estimates from its mmWave radars and its IMUs, it can accurately and robustly track its 6DoF trajectory. We implemented and evaluated MiFly on a DJI drone. We demonstrate a median localization error of 7cm and a 90th percentile less than 15cm, even when the anchor is fully occluded (visually) from the drone

Why Doesn\u27t Negative Behave? Inferences from Emotional Language

Emotional language appears to support the inference process in a hierarchical nature (Shears, et al., 2011). However, Nasrallah, Carmel and Lavie (2009) suggest that the negative valence should be primary in supporting inferences because it is survival based. Further, Gygax, Garnham and Oakhill (2004) claim the importance of context is critical when readers are processing emotional language. Here, we extend previous findings using two sentence pairs, by examining longer, more natural story contexts. Similarly, we hypothesized that if emotional language supports the formation of causal inferences, then positive stories should cause more false alarms to inference-related target words than negative stories. Participants made key press responses to words either in the story (control) or words related to the inferred information (experiment). Both accuracy and reaction time data were used to measure the formation of inferences across valences. Results suggest readers formed inferences equally from positive and neutral stories, but did not form inferences from negative emotional stories. These findings imply a unique quality of negative emotional language that resists typical comprehension processes of knowledge-based inferences