{"id":"W2009272203","doi":"10.1016/j.rcim.2010.08.004","title":"The self-adaptation of weights for joint-limits and singularity avoidances of functionally redundant robotic-task","year":2010,"lang":"en","type":"article","venue":"Robotics and Computer-Integrated Manufacturing","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":62,"is_retracted":false,"has_abstract":false,"ca_institutions":"Polytechnique Montréal","funders":"Natural Sciences and Engineering Research Council of Canada","keywords":"Redundancy (engineering); Computer science; Kinematics; Task (project management); Adaptation (eye); Singularity; Artificial intelligence; Mathematics; Engineering; Systems engineering; Psychology","routes":{"ca_aff":true,"ca_fund":true,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0002121171,0.0001930497,0.0002862889,0.0000704035,0.0001864869,0.00007512492,0.0001083832,0.0001099375,0.000001096709],"category_scores_gemma":[0.00001355165,0.0001411842,0.0000639463,0.00005146024,0.00006647305,0.00008445117,0.000034538,0.0002275792,1.935535e-7],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00001511747,"about_ca_system_score_gemma":0.00003036933,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00003460077,"about_ca_topic_score_gemma":0.0001392831,"domain_scores_codex":[0.9990568,0.00001671316,0.0003870704,0.0001920874,0.0001405286,0.0002068484],"domain_scores_gemma":[0.999303,0.0001979639,0.0001267073,0.0001808655,0.0001182175,0.00007319586],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.00002003825,0.00004625301,0.00003937739,0.0002793013,0.0001391086,0.000001291854,0.0001961174,0.8991647,0.004644282,0.06551852,0.0000239295,0.02992707],"study_design_scores_gemma":[0.000311591,0.0001306702,0.00163683,0.00007240114,0.00005633311,0.00001610565,0.0000657725,0.9774513,0.01029452,0.009673771,0.0001334662,0.0001572912],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1747776,0.0001384615,0.8238807,0.00005026351,0.0008269404,0.0002081078,0.000007722685,0.00006974774,0.00004051056],"genre_scores_gemma":[0.564714,0.0001905352,0.43495,0.000006703946,0.00007852876,0.000005047089,0.00001237991,0.00002160455,0.00002117435],"genre_candidate":"methods","genre_consensus":null,"teacher_disagreement_score":0.3899364,"threshold_uncertainty_score":0.5757325,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.009318882674625563,"score_gpt":0.1877619056554315,"score_spread":0.1784430229808059,"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."}}