{"id":"W2168272890","doi":"10.1109/robot.2000.844157","title":"Forward dynamics algorithms for multibody chains and contact","year":2002,"lang":"en","type":"article","venue":"","topic":"Dynamics and Control of Mechanical Systems","field":"Engineering","cited_by":18,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of British Columbia","funders":"","keywords":"Multibody system; Computer science; Dynamics (music); Algorithm; Physics; Classical mechanics; Acoustics","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":[0.00007236921,0.0001063437,0.0001702443,0.00002590635,0.00003292451,0.00003576643,0.00006631565,0.00006962862,0.0000293782],"category_scores_gemma":[0.00001054586,0.00009219517,0.00005575014,0.00003087994,0.000004728777,0.00005063123,0.00001099233,0.00005144805,0.00001178784],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00005189087,"about_ca_system_score_gemma":9.80532e-7,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00002300143,"about_ca_topic_score_gemma":0.0001291131,"domain_scores_codex":[0.9994674,0.000003810398,0.0001497592,0.0001140986,0.0000651325,0.0001998426],"domain_scores_gemma":[0.9997241,0.00005528196,0.0000130788,0.0001013214,0.00001918642,0.00008696764],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"design_other","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.00001945246,0.0001062956,0.000356588,0.0002868095,0.0003714489,0.00001087606,0.0002155902,0.00374633,0.003952449,0.3430316,0.002751959,0.6451506],"study_design_scores_gemma":[0.0007769883,0.00006450208,0.00007328302,0.000007948506,0.00001034194,0.000003537521,0.00003472787,0.9934521,0.00001640633,0.0002637733,0.005163677,0.0001326645],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.01686375,0.0004891101,0.9673837,0.0003374561,0.0005783617,0.000596938,0.00007597049,0.0003734244,0.01330129],"genre_scores_gemma":[0.9958864,0.00006686807,0.002035069,0.00006183791,0.0001111668,0.00004605248,0.000008439581,0.00002693682,0.001757216],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.9897058,"threshold_uncertainty_score":0.375961,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01080832957178995,"score_gpt":0.2088112835507644,"score_spread":0.1980029539789745,"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."}}