VIMO: A Visual-Inertial-Magnetic Navigation System Based on Non-Linear Optimization.

Visual-inertial navigation systems are credited with superiority over both pure visual approaches and filtering ones. In spite of the high precision many state-of-the-art schemes have attained, yaw remains unobservable in those systems all the same. More accurate yaw estimation not only means more accurate attitude calculation but also leads to better position estimation.

⁷³Ge, ¹⁷O and ²⁹Si hyperfine interactions of the Ge E'₁ center in crystalline SiO₂.

E' centers as fundamental radiation-induced defects in amorphous and crystalline SiO2 have been thought to be related to oxygen vacancies for >50years. However, direct proof for oxygen vacancies from experimental (17)O hyperfine data has never been provided. In this contribution, we report on the most complete set of spin Hamiltonian parameter matrices g, A((73)Ge), P((73)Ge), A((17)O), and A((29)Si) for the Ge analog of the classic E1(') center (denoted GeE1(')), determined from single-crystal electron paramagnetic resonance (EPR) analyses of two fast-electron-irradiated, Ge-doped α-quartz samples, including one grown from (17)O-enriched water.

Computation of pKa values of substituted aniline radical cations in dimethylsulfoxide solution.

A newly developed computation strategy was used to calculate the absolute pKa values of 18 substituted aniline radical cations in dimethylsulfoxide (DMSO) solution with the error origin elucidated and deviation minimized. The B3LYP/6-311++G(2df,2p) method was applied and was found to be capable of reproducing the gas-phase proton-transfer free energies of substituted anilines with a precision of 0.83 kcal/mol.

A detailed investigation of subsitituent effects on N-h bond enthalpies in aniline derivatives and on the stability of corresponding N-centered radicals.

The N-H bond dissociation enthalpies (BDE's) of 40 anilines (pGC(6)H(4)NHY) from series 1 to 4 with alpha-Y and p-G substituents and the stability of related radicals (pGC(6)H(4)Ndot;Y) were studied using ab initio (MP2) and density functional methods (B3LYP) with large basis sets. The results show that both methods reproduce earlier experimental BDEs within 2-3 kcal/mol and satisfactorily predict the alpha and remote substituent effects on BDEs (DeltaBDEs), as they reproduced the experimental DeltaBDEs within less than 1 kcal/mol. Furthermore, the conventional radical stabilization enthalpy (RSE = - DeltaBDE) was found to be invalid to represent the trend of the radical stabilization because the molecule effect (ME) can contribute more to RSE than the radical effect (RE) for certain series (1 and 4).