{"id":"W2158161185","doi":"10.1115/1.2431813","title":"Adaptive Control of Harmonic Drives","year":2006,"lang":"en","type":"article","venue":"Journal of Dynamic Systems Measurement and Control","topic":"Adaptive Control of Nonlinear Systems","field":"Engineering","cited_by":16,"is_retracted":false,"has_abstract":true,"ca_institutions":"Canadian Space Agency","funders":"","keywords":"Control theory (sociology); Harmonic drive; Torque; Controller (irrigation); Adaptive control; Harmonic; Motion control; Stability (learning theory); Joint (building); Robot; Control engineering; Position (finance); Computer science; Engineering; Control (management); Artificial intelligence; Physics","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":[0.001338942,0.0002677763,0.0009547109,0.0002335126,0.00004126001,0.00004187643,0.000192356,0.0001073642,0.000003585849],"category_scores_gemma":[0.00005190307,0.0002189176,0.0002228544,0.00009917898,0.00006271419,0.0002018017,0.000006889587,0.0002160225,0.000003254528],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002455701,"about_ca_system_score_gemma":0.00007600924,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00004495445,"about_ca_topic_score_gemma":0.0000337779,"domain_scores_codex":[0.9973323,0.000176962,0.001242682,0.0001326523,0.0008335662,0.0002818438],"domain_scores_gemma":[0.9980809,0.0001252477,0.0006904911,0.0001654308,0.0008315064,0.000106403],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"bench_or_experimental","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.002238593,0.0004997078,0.02274097,0.001181901,0.007572498,0.0002108481,0.0004804203,0.1361943,0.8103194,0.002857793,0.001984084,0.01371943],"study_design_scores_gemma":[0.02296609,0.001014616,0.03749573,0.001303531,0.0008819468,0.0002902223,0.0007544742,0.932054,0.00036418,0.0001717068,0.002092769,0.0006106693],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1414437,0.08537896,0.7682715,0.0001572783,0.002322082,0.001121033,0.00006465639,0.00008688644,0.001153873],"genre_scores_gemma":[0.9992598,0.00005983886,0.0001168641,0.000009385858,0.0004458348,0.00001334817,5.426712e-7,0.0000384385,0.00005590808],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.8578161,"threshold_uncertainty_score":0.89272,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01028385736959621,"score_gpt":0.1857994182990754,"score_spread":0.1755155609294792,"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."}}