{"id":"W2519819389","doi":"10.1115/1.4034729","title":"Reduction of Hamiltonian Mechanical Systems With Affine Constraints: A Geometric Unification","year":2016,"lang":"en","type":"article","venue":"Journal of Computational and Nonlinear Dynamics","topic":"Control and Dynamics of Mobile Robots","field":"Engineering","cited_by":10,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Toronto","funders":"Natural Sciences and Engineering Research Council of Canada","keywords":"Cotangent bundle; Phase space; Hamiltonian system; Submanifold; Mathematics; Nonholonomic system; Dynamical systems theory; Hamiltonian (control theory); Affine transformation; Invariant manifold; Classical mechanics; Mathematical analysis; Physics; Geometry; Computer science; Mathematical optimization; Trigonometric functions","routes":{"ca_aff":true,"ca_fund":true,"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":[0.0002103376,0.00009044008,0.0002129937,0.0002499799,0.00002203301,0.00001505111,0.00006717294,0.00005152888,0.000005619833],"category_scores_gemma":[0.00002311313,0.00005853194,0.00004300728,0.0001995952,0.00007179366,0.0001343918,0.000008319539,0.00008702389,7.769532e-7],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00007330152,"about_ca_system_score_gemma":0.0000550605,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0000023894,"about_ca_topic_score_gemma":0.000004735773,"domain_scores_codex":[0.9991955,0.00001868738,0.0004031691,0.00006836993,0.0002279045,0.00008636619],"domain_scores_gemma":[0.9991804,0.0001422502,0.0001978785,0.00005439545,0.0003577645,0.00006726316],"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":[0.0001365533,0.00008516629,0.0003262368,0.00008076333,0.0001675966,0.000008006244,0.00002562205,0.8902658,0.002196745,0.005574256,0.00001861157,0.1011146],"study_design_scores_gemma":[0.00122743,0.0002545792,0.004284259,0.0001613244,0.00004101456,0.0005860679,0.00005937115,0.9923492,0.00003563182,0.0008372451,0.00006385841,0.0001000155],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.4495552,0.0002172126,0.5496402,0.0002003785,0.0001869998,0.00007146237,0.0000376337,0.00001601838,0.00007487118],"genre_scores_gemma":[0.9846609,0.0001334953,0.0150407,0.000002750744,0.0001146406,0.000001068972,0.00001005351,0.0000116543,0.00002478889],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.5351057,"threshold_uncertainty_score":0.2386863,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.005123626694387923,"score_gpt":0.1951710826453595,"score_spread":0.1900474559509716,"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."}}