{"id":"W2015780685","doi":"10.1177/027836402322023231","title":"Singularity Loci of a Special Class of Spherical Three-degree-of-freedom Parallel Mechanisms with Revolute Actuators","year":2002,"lang":"en","type":"article","venue":"The International Journal of Robotics Research","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":49,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université Laval","funders":"","keywords":"Singularity; Gravitational singularity; Revolute joint; Cartesian coordinate system; Kinematics; Parallel manipulator; Mathematics; Screw theory; Degree (music); Control theory (sociology); Mathematical analysis; Computer science; Geometry; Classical mechanics; Artificial intelligence; Constraint (computer-aided design); Physics; Control (management)","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":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.001170056,0.0001371714,0.0003871643,0.0002226275,0.00004021205,0.00002893514,0.001152149,0.00009923062,0.0002496634],"category_scores_gemma":[0.0002937673,0.00009364247,0.0001587635,0.0003005026,0.0002677885,0.0001104879,0.0001581682,0.0006499453,0.000004604354],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001512914,"about_ca_system_score_gemma":0.00009155543,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00004693582,"about_ca_topic_score_gemma":0.00008969171,"domain_scores_codex":[0.9967843,0.00008456311,0.0007092294,0.00010176,0.002062705,0.0002573935],"domain_scores_gemma":[0.9975353,0.0004090616,0.0003129906,0.0002789916,0.001361149,0.0001025071],"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":[0.0002393764,0.0001826009,0.0001580779,0.00004517923,0.0004373303,0.00005579013,0.0003235986,0.7834954,0.001386055,0.209687,0.0008734596,0.003116127],"study_design_scores_gemma":[0.00148403,0.000927299,0.0004999324,0.000380911,0.00007315704,0.0002176015,0.0003638194,0.8785976,0.0009175478,0.1162412,0.0001061318,0.0001908399],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"methods","genre_scores_codex":[0.00557059,0.0001448951,0.9915275,0.0005991091,0.0004688149,0.0001274621,0.00001049424,0.000007217518,0.001543939],"genre_scores_gemma":[0.2428042,0.0003012033,0.7561527,0.00000788959,0.0005604751,0.000001234653,0.000001874566,0.00003729239,0.0001331398],"genre_candidate":"methods","genre_consensus":"methods","teacher_disagreement_score":0.2372336,"threshold_uncertainty_score":0.3818629,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.0688153427471521,"score_gpt":0.2933167078716412,"score_spread":0.224501365124489,"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."}}