Fast Monte-Carlo Localization on Aerial Vehicles using Approximate Continuous Belief Representations

Size, weight, and power constrained platforms impose constraints on computational resources that introduce unique challenges in implementing localization algorithms. We present a framework to perform fast localization on such platforms enabled by the compressive capabilities of Gaussian Mixture Model representations of point cloud data. Given raw structural data from a depth sensor and pitch and roll estimates from an on-board attitude reference system, a multi-hypothesis particle filter localizes the vehicle by exploiting the likelihood of the data originating from the mixture model. We demonstrate analysis of this likelihood in the vicinity of the ground truth pose and detail its utilization in a particle filter-based vehicle localization strategy, and later present results of real-time implementations on a desktop system and an off-the-shelf embedded platform that outperform localization results from running a state-of-the-art algorithm on the same environment

High-efficiency broad-bandwidth sub-wavelength grating based fibre-chip coupler in SOI

We report a comprehensive study on the performance of uniform and non-uniform based subwavelength grating couplers in Silicon-on-Insulator. The two performance metrics, coupling efficiency and bandwidth enhancement and trade-offs is presented. We also present, design parameters to achieve high-efficiency and broadband operation based on the detailed study of various loss mechanisms in the grating. Based on the detailed analysis subwavelength grating coupler designs with efficiency as high as 84 % with a 1 dB bandwidth of 50 nm and 98 % with a 44 nm 1 dB bandwidth is presented

Noise-induced quantum transport

We analyze the problem of directed quantum transport induced by external exponentially correlated telegraphic noise. In addition to quantum nature of the heat bath, nonlinearity of the periodic system potential brings in quantum contribution. We observe that quantization, in general, enhances classical current at low temperature, while the differences become insignificant at higher temperature. Interplay of quantum diffusion and quantum correction to system potential is analyzed for various ranges of temperature, correlation time and strength of external noise and asymmetry parameters. A possible experimental realization of the observed quantum effects in a superionic conductor placed in a random asymmetric dichotomous electric field has been suggested.Comment: 23 pages and 5 figures. To be published in Physical Review