{"id":"W2126252061","doi":"10.1109/robot.2001.933009","title":"Control of robot manipulators with consideration of actuator performance degradation and failures","year":2002,"lang":"en","type":"article","venue":"","topic":"Fault Detection and Control Systems","field":"Engineering","cited_by":50,"is_retracted":false,"has_abstract":true,"ca_institutions":"Toronto Metropolitan University","funders":"","keywords":"Actuator; Control theory (sociology); Payload (computing); Parametric statistics; Robot; Fault detection and isolation; Fault tolerance; Degradation (telecommunications); Control engineering; Computer science; Torque; Adaptive control; Fault (geology); Control (management); Engineering; Artificial intelligence; Mathematics","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":[0.0004595039,0.0007858374,0.0005807666,0.0002175293,0.0003807139,0.0004018151,0.0005978881,0.0006467425,0.0004671757],"category_scores_gemma":[0.001148349,0.0001907028,0.000289432,0.0002724033,0.0005832176,0.000501101,0.0004651729,0.0005700212,0.0000947056],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002367957,"about_ca_system_score_gemma":0.0003495475,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.001980336,"about_ca_topic_score_gemma":0.001149867,"domain_scores_codex":[0.9997633,0.00004767082,0.00001355879,0.00004511071,0.00008432115,0.00004599995],"domain_scores_gemma":[0.9995692,0.0001525979,0.0001232369,0.00003263085,0.00009425054,0.00002809861],"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":[0.0001731434,0.00003863547,0.0008564264,0.0001773495,0.00003066417,0.00044878,0.0002214376,0.8834486,0.04820526,0.005589155,0.0005517568,0.06025881],"study_design_scores_gemma":[0.00002414939,0.0002237865,0.0008089582,0.000008161824,0.000009244282,0.0001006107,0.00002328989,0.9926654,0.003058429,0.002466743,0.0006026557,0.000008560438],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.173107,0.001053732,0.8223451,0.0002775711,0.0000874212,0.00004747481,0.00003276776,0.0003718348,0.002677063],"genre_scores_gemma":[0.9852654,0.0002009299,0.01340302,0.00002168551,0.0000355371,0.00005036659,0.0000246635,0.000008303465,0.0009900628],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.001980336,"threshold_uncertainty_score":0.003937662,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.008327144173914626,"score_gpt":0.1637812701804857,"score_spread":0.1554541260065711,"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."}}