{"id":"W2734348320","doi":"10.23919/acc.2017.7963155","title":"Feedback-linearization-based 3D needle steering in a Frenet-Serret frame using a reduced order bicycle model","year":2017,"lang":"en","type":"article","venue":"","topic":"Soft Robotics and Applications","field":"Engineering","cited_by":16,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Alberta","funders":"","keywords":"Trajectory; Frenet–Serret formulas; Control theory (sociology); Controller (irrigation); Nonlinear system; Linearization; Computer science; Feedback linearization; Nonholonomic system; Simulation; Control engineering; Artificial intelligence; Computer vision; Engineering; Robot; Mobile robot; Mathematics; Control (management); Physics; Curvature","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":[0.0002143021,0.0006779634,0.0005677257,0.0003987635,0.0002979849,0.0006296515,0.0006558332,0.0008257354,0.001911268],"category_scores_gemma":[0.0003208787,0.0002957994,0.000704778,0.0002541908,0.0005584629,0.0003304689,0.0004350212,0.0004683629,0.0005329939],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0006111993,"about_ca_system_score_gemma":0.0006840605,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.01363824,"about_ca_topic_score_gemma":0.008647868,"domain_scores_codex":[0.9998814,0.00003107408,0.000005179142,0.00002538588,0.00004361431,0.00001338649],"domain_scores_gemma":[0.9998808,0.00002860267,0.00002905897,0.00001055903,0.00004268619,0.000008248047],"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":[0.00003919677,0.00001603299,0.0002334493,0.00006149435,0.00001410279,0.00009084194,0.00008177275,0.9741552,0.008252474,0.009086802,0.000254169,0.007714602],"study_design_scores_gemma":[0.000004399896,0.00003280744,0.00006384725,0.000003168752,0.00000458396,0.00001006856,0.000006089474,0.998135,0.0005166229,0.0005753671,0.0006432852,0.000004756343],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.03048709,0.0002086303,0.9612253,0.0001136989,0.00004324861,0.00004416293,0.00007354227,0.0003220458,0.007482246],"genre_scores_gemma":[0.9292959,0.0004999712,0.06016278,0.00006846918,0.0000282163,0.0001885169,0.0001962237,0.00005923108,0.009500704],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.01363824,"threshold_uncertainty_score":0.02711767,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.03494746126992456,"score_gpt":0.273456741971723,"score_spread":0.2385092807017984,"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."}}