Tightly Coupled GNSS/INS Integration based on Robust M-Estimators

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Automatic Body Segment and Side Recognition of an Inertial Measurement Unit Sensor during Gait

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Inertial measurement unit (IMU) sensors are widely used for motion analysis in sports and rehabilitation. The attachment of IMU sensors to predefined body segments and sides (left/right) is complex, time-consuming, and error-prone. Methods for solving the ...

MDPI2023

ReLU Neural Network Galerkin BEM

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We introduce Neural Network (NN for short) approximation architectures for the numerical solution of Boundary Integral Equations (BIEs for short). We exemplify the proposed NN approach for the boundary reduction of the potential problem in two spatial dime ...

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A Large-Scale Characterization of How Readers Browse Wikipedia

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Despite the importance and pervasiveness of Wikipedia as one of the largest platforms for open knowledge, surprisingly little is known about how people navigate its content when seeking information. To bridge this gap, we present the first systematic large ...

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Alpha-NML Universal Predictors

Michael Christoph Gastpar, Marco Bondaschi

Inspired by Sibson’s alpha-mutual information, we introduce a new parametric class of universal predictors. This class interpolates two well-known predictors, the mixture estimator, that includes the Laplace and the Krichevsky-Trofimov predictors, and the ...

2022

Wikipedia Reader Navigation: When Synthetic Data Is Enough

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Every day millions of people read Wikipedia. When navigating the vast space of available topics using hyperlinks, readers describe trajectories on the article network. Understanding these navigation patterns is crucial to better serve readers' needs and ad ...

ASSOC COMPUTING MACHINERY2022

Robust Estimation of the Microstructure of the Early Developing Brain Using Deep Learning

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Diffusion Magnetic Resonance Imaging (dMRI) is a powerful non-invasive method for studying white matter tracts of the brain. However, accurate microstructure estimation with fiber orientation distribution (FOD) using existing computational methods requires ...

Springer2023

Quantifying uncertain system outputs via the multi-level Monte Carlo method --- distribution and robustness measures

Fabio Nobile, Sebastian Krumscheid, Sundar Subramaniam Ganesh, Quentin Olivier Martin Ayoul--Guilmard

In this work, we consider the problem of estimating the probability distribution, the quantile or the conditional expectation above the quantile, the so called conditional-value-at-risk, of output quantities of complex random differential models by the MLM ...

2023

Gait-dependent Traversability Estimation on the k-rock2 Robot

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Assessing the traversability of rugged terrain is a difficult challenge for legged robots, especially when they implement multiple, distinct gaits. We tackle this problem on the k-rock2 amphibious, sprawling gait robot by training a gait-dependent traversa ...

IEEE2022

Optimization and Real-Time Aspects of Aircraft Model-Based Navigation

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The Vehicle Dynamic Model (VDM) based navigation of fixed-wing drones determines the airborne trajectory in conjunction with Inertial Measurement Unit (IMU) sensors. Without Global Navigation Satellite Systems (GNSS) signals, this method estimates navigati ...

EPFL2022

Distribution-on-distribution regression via optimal transport maps

Victor Panaretos, Laya Ghodrati

We present a framework for performing regression when both covariate and response are probability distributions on a compact interval. Our regression model is based on the theory of optimal transportation, and links the conditional Frechet mean of the resp ...

OXFORD UNIV PRESS2022

GNSS/INS Kalman Filter Integrity Monitoring with Uncertain Time Correlated Error Processes

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Safety-critical navigation applications require that estimation errors be reliably quantified and bounded. Over the last decade, significant effort has been put to guarantee a bounded position estimation by using Global Navigation Satellite Systems (GNSS) ...

EPFL2022