{"id":"W2284729379","doi":"10.1016/j.mechmachtheory.2015.12.013","title":"Failure recovery of manipulators under joint velocity limits using constrained optimization and partitioned Jacobian matrix","year":2016,"lang":"en","type":"article","venue":"Mechanism and Machine Theory","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":7,"is_retracted":false,"has_abstract":false,"ca_institutions":"Queen's University","funders":"","keywords":"Jacobian matrix and determinant; Mathematics; Matrix (chemical analysis); Inverse; Matrix norm; Control theory (sociology); Norm (philosophy); Serial manipulator; Rank (graph theory); Mathematical optimization; Applied mathematics; Mathematical analysis; Computer science; Robot; Parallel manipulator; Geometry; Combinatorics; Eigenvalues and eigenvectors; Physics; Artificial intelligence","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":[0.0008733569,0.001267742,0.001295206,0.0008280808,0.0004505483,0.0007247702,0.001117879,0.0009582626,0.001454035],"category_scores_gemma":[0.003769673,0.0006873587,0.0005671086,0.000546929,0.001112402,0.001197296,0.001379621,0.000746116,0.000205613],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0004652681,"about_ca_system_score_gemma":0.0009482832,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.009372654,"about_ca_topic_score_gemma":0.005714341,"domain_scores_codex":[0.9996912,0.00008510175,0.00002043461,0.00005706213,0.00009830563,0.00004794219],"domain_scores_gemma":[0.9987788,0.0006791545,0.0001963476,0.0001253177,0.0001685661,0.00005178532],"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":[0.00003762012,0.00001328246,0.0001384546,0.00002633313,0.00001278774,0.00002938617,0.00002557364,0.9923388,0.0006612308,0.001422193,0.0001098737,0.005184499],"study_design_scores_gemma":[0.000002811653,0.00001029777,0.00007734945,0.000002808943,0.000001754939,0.000004676925,0.000007258243,0.9979017,0.0001535579,0.001809959,0.0000250763,0.000002810862],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.0952953,0.0002371167,0.9016929,0.0001423484,0.00001821074,0.00003645816,0.00007023703,0.0003080331,0.002199404],"genre_scores_gemma":[0.9565818,0.0001063758,0.04086094,0.00001927543,0.00001077978,0.00006649012,0.0001129091,0.00007925591,0.002162148],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.009372654,"threshold_uncertainty_score":0.01863617,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01531107694362653,"score_gpt":0.2061840702976439,"score_spread":0.1908729933540174,"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."}}