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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. This paper presents a novel scheme that combines visual and inertial measurements as well as magnetic information for suppressing deviation in yaw. A novel method for initializing visual-inertial-magnetic odometers, which recovers the directions of magnetic north and gravity, the visual scalar factor, inertial measurement unit (IMU) biases etc., has been conceived, implemented, and validated. Based on non-linear optimization, a magnetometer cost function is incorporated into the overall optimization objective function as a yawing constraint among others. We have done extensive research and collected several datasets recorded in large-scale outdoor environments to certify the proposed system's viability, robustness, and performance. Cogent experiments and quantitative comparisons corroborate the merits of the proposed scheme and the desired effect of the involvement of magnetic information on the overall performance.

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. These experimental data, particularly the three distinct matrices A((17)O), not only confirm the GeE1(') center to represent spin trapping on a substitutional Ge atom coordinated to three nonequivalent nearest-neighbor O atoms (i.e., the GeO moiety involving an oxygen vacancy) and two next-nearest-neighbor Si atoms but also permit determination of the spin population on all of these atoms. These EPR data also have been evaluated by periodic density functional theory (DFT) calculations to demonstrate that the widely popular single-oxygen-vacancy V(O)(+) model for the GeE1(') center cannot account for A((17)O) arising from three nonequivalent nearest-neighbor oxygen atoms. A new tri-vacancy with an Al impurity model V(SiO2)(Al), on the other hand, reproduces all the EPR experimental hyperfine matrices A((73)Ge), A((17)O), and A((29)Si) and explains the common associations of the E' centers with both Al related defects and superoxide/peroxy radicals in quartz and amorphous silica., (Copyright © 2013 Elsevier Inc. All rights reserved.)

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. The IEF-PCM solvation model with gas-phase optimized structures was adopted in calculating the pKa values of the substituted neutral anilines in DMSO, regenerating the experimental results within a standard deviation of 0.4 pKa unit. When the IEF-PCM solvation model was applied to calculate the standard redox potentials of anilide anions, it showed that the computed values agreed well with experiment, but the redox potentials of substituted anilines were systematically overestimated by 0.304 eV. The cause of this deviation was found to be related to the inaccuracy of the calculated solvation free energies of aniline radical cations. By adjusting the size of the cavity in the IEF-PCM method, we derived a reliable procedure that can reproduce the experimental pKa values of aniline radical cations within 1.2 pKa units to those from experiment.

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). These radicals are in fact stabilized by electron-withdrawing groups (EWGs) but destabilized by electron-donating groups (EDGs), a phenomenon just opposite to the observed O-behavior of many other aromatic heteroatomic radicals studied so far. These radicals are thus assigned as a new radical class, Class counter-O (or O) according to Walter's terminology. Moreover, the excellent multi-parametric Hammett-type correlations indicated that the para substituent effects on BDEs originate mainly from polar effects, but those on radical stability originate from both spin delocalization and polar effects. The atomic charge and spin population variations at a radical center due to p-G substitution were also found to correlate satisfactorily with REs. These results show that the spin delocalization effect should be explicitly considered in accounting for both DeltaBDEs and radical stabilization effects. Finally, an overall subsituent effect scale for radical stability has been proposed, and the overall substituent effect on the N-radicals was found to conform to the Capto-dative Principle.