{"id":"W2005342375","doi":"10.1109/iros.2008.4650682","title":"A gauge-invariant formulation for constrained robotic systems using square-root factorization and unitary transformation","year":2008,"lang":"en","type":"article","venue":"","topic":"Robot Manipulation and Learning","field":"Engineering","cited_by":6,"is_retracted":false,"has_abstract":true,"ca_institutions":"Canadian Space Agency","funders":"","keywords":"Square root; Unitary state; Invariant (physics); Factorization; Mathematics; Equations of motion; Unitary transformation; Square (algebra); Control theory (sociology); Transformation matrix; Kinematics; Mathematical analysis; Applied mathematics; Classical mechanics; Computer science; Physics; Algorithm; Geometry; Control (management); Artificial intelligence","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.000454693,0.0007664534,0.0005437153,0.000414756,0.0003623162,0.0008055825,0.0009575827,0.0009183126,0.004311866],"category_scores_gemma":[0.0005196079,0.0003039835,0.0007293247,0.0003457412,0.001150268,0.001213233,0.0008344464,0.001110012,0.001160359],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0005813897,"about_ca_system_score_gemma":0.0006542772,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.001602642,"about_ca_topic_score_gemma":0.001803522,"domain_scores_codex":[0.9997789,0.00005622785,0.00001285914,0.00004077569,0.0000905335,0.00002062963],"domain_scores_gemma":[0.9998868,0.00002994638,0.0000209874,0.00001927018,0.00003043421,0.00001266568],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"theoretical_or_conceptual","study_design_gemma":"theoretical_or_conceptual","study_design_scores_codex":[0.000009747312,0.00002219645,0.00007630063,0.00008180142,0.00001259646,0.0001197453,0.0001023351,0.07048629,0.007517801,0.9035195,0.001402153,0.01664953],"study_design_scores_gemma":[0.00001565351,0.00008869905,0.0001310638,0.00001947323,0.000008530075,0.00009904044,0.00004151789,0.6638326,0.001307539,0.3247656,0.009668494,0.00002174485],"study_design_candidate":"theoretical_or_conceptual","study_design_consensus":"theoretical_or_conceptual","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.002657105,0.0001985148,0.9902529,0.0001261109,0.00005439328,0.00002496969,0.00003483614,0.00005534065,0.006595977],"genre_scores_gemma":[0.3458751,0.001299701,0.6304209,0.0004440209,0.0003467212,0.0004522632,0.0002206035,0.0002133955,0.02072743],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.004311866,"threshold_uncertainty_score":0.01442462,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.0502075430362157,"score_gpt":0.2395714990088713,"score_spread":0.1893639559726557,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}