{"id":"W2525509502","doi":"10.1109/wcica.2016.7578304","title":"Decentralized control for reconfigurable manipulator with harmonic drive transmission based on adaptive super-twisting algorithm","year":2016,"lang":"en","type":"article","venue":"","topic":"Modular Robots and Swarm Intelligence","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"Toronto Metropolitan University","funders":"","keywords":"Control theory (sociology); Harmonic drive; Harmonic; Computer science; Nonlinear system; Trajectory; Controller (irrigation); Lyapunov stability; Sliding mode control; Lyapunov function; Transmission (telecommunications); Control engineering; Control (management); Engineering; 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":[0.0002267571,0.0003544658,0.0004084389,0.0001760465,0.000286699,0.0002519464,0.0005472171,0.0002466499,0.000881478],"category_scores_gemma":[0.0002592312,0.0001451642,0.0002902793,0.0001816466,0.0003557797,0.0002933138,0.0004226038,0.0003048794,0.0001101138],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002514518,"about_ca_system_score_gemma":0.0003094365,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00134703,"about_ca_topic_score_gemma":0.001223322,"domain_scores_codex":[0.9998757,0.00002276961,0.000005947414,0.00003363836,0.00004301088,0.00001888962],"domain_scores_gemma":[0.9998455,0.0000311889,0.00005505837,0.00002225147,0.00003116478,0.00001486736],"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":[0.0002249081,0.00005535578,0.0008900765,0.0001652473,0.0000546038,0.0002857081,0.0002043826,0.8019606,0.08444108,0.01835031,0.000797135,0.0925706],"study_design_scores_gemma":[0.00002738863,0.0001544376,0.0002719856,0.000002938715,0.000006724181,0.00004109683,0.000008781317,0.9955669,0.002153204,0.001235631,0.0005235706,0.000007312532],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.08832052,0.0001081032,0.9083729,0.00006479761,0.00003102599,0.0000299383,0.00001649078,0.0002171033,0.002839244],"genre_scores_gemma":[0.9711118,0.00006502882,0.02740168,0.00001571105,0.0000171484,0.00005426406,0.00002036442,0.00000806135,0.001305932],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.00134703,"threshold_uncertainty_score":0.002948761,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01848631375955645,"score_gpt":0.2130138887505553,"score_spread":0.1945275749909989,"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."}}