{"id":"W2320173400","doi":"10.1139/tcsme-2010-0007","title":"SINGULARITY ANALYSIS OF A KINEMATICALLY SIMPLE CLASS OF 7-JOINTED REVOLUTE MANIPULATORS","year":2010,"lang":"en","type":"article","venue":"Transactions of the Canadian Society for Mechanical Engineering","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":21,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Victoria; Université de Moncton","funders":"","keywords":"Revolute joint; Gravitational singularity; Reciprocity (cultural anthropology); Singularity; Simple (philosophy); Reciprocal; Screw theory; Class (philosophy); Degenerate energy levels; Mathematics; Kinematics; Perpendicular; Mathematical analysis; Point (geometry); Control theory (sociology); Geometry; Computer science; Classical mechanics; Physics; Constraint (computer-aided design); Artificial intelligence","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":true,"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":[0.0004307104,0.0004495511,0.0004895334,0.001024263,0.0003706943,0.0005610043,0.0004982644,0.0005318442,0.001651858],"category_scores_gemma":[0.001084334,0.000186934,0.0004284451,0.0003583944,0.001090531,0.0005101045,0.0006094649,0.0004638901,0.0003474553],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002749544,"about_ca_system_score_gemma":0.0001732396,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0001799187,"about_ca_topic_score_gemma":0.0001096092,"domain_scores_codex":[0.9996675,0.00004323916,0.00001685276,0.00004512407,0.0001869627,0.00004032551],"domain_scores_gemma":[0.9995738,0.00009607067,0.0001383161,0.00004756538,0.0000955217,0.0000487301],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"theoretical_or_conceptual","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.0002351966,0.000103758,0.003245989,0.0001963297,0.00006441607,0.002950719,0.0006876489,0.1889922,0.05103645,0.6678427,0.002234824,0.08240975],"study_design_scores_gemma":[0.00006250131,0.0002647192,0.003435589,0.0000542317,0.00002272891,0.00190676,0.0001673638,0.5854329,0.005723864,0.3960418,0.006808,0.000079574],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"empirical","genre_gemma":"empirical","genre_scores_codex":[0.5268178,0.0007897545,0.4512907,0.0001403575,0.00003348651,0.00006388784,0.0000549825,0.0001740058,0.02063507],"genre_scores_gemma":[0.9789969,0.0002195892,0.0183018,0.00002161853,0.00002468229,0.00002890185,0.00006903635,0.00002054297,0.002317068],"genre_candidate":"empirical","genre_consensus":"empirical","teacher_disagreement_score":0.001651858,"threshold_uncertainty_score":0.005526006,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.007873528417728648,"score_gpt":0.1994832344431861,"score_spread":0.1916097060254575,"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."}}