{"id":"W2967084655","doi":"10.1109/taes.2019.2934371","title":"Reactionless Control of Free-Floating Space Manipulators","year":2019,"lang":"en","type":"article","venue":"IEEE Transactions on Aerospace and Electronic Systems","topic":"Space Satellite Systems and Control","field":"Engineering","cited_by":45,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Toronto","funders":"China Scholarship Council; University of Toronto; National Natural Science Foundation of China","keywords":"Control theory (sociology); Jacobian matrix and determinant; Torque; Lagrange multiplier; Kinematics; Trajectory; Quadratic programming; Robot end effector; Inverse dynamics; Optimal control; Computer science; Inverse kinematics; Mathematics; Control engineering; Mathematical optimization; Engineering; Control (management); Robot","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":["metaepi_narrow"],"consensus_categories":[],"category_scores_codex":[0.0002288744,0.0002617748,0.0004757265,0.0001423183,0.00007615886,0.00004803755,0.0001306174,0.0001663234,0.00002714407],"category_scores_gemma":[0.000001863559,0.0002529114,0.0001189162,0.0002237828,0.00002504837,0.0001212702,6.691792e-7,0.0003347787,0.00005083218],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001600496,"about_ca_system_score_gemma":0.00003661846,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0005253187,"about_ca_topic_score_gemma":0.0001668125,"domain_scores_codex":[0.9986036,0.00005254685,0.00034212,0.0002652987,0.0002476927,0.0004887015],"domain_scores_gemma":[0.9992062,0.00009459238,0.00009506899,0.0004566096,0.00005364665,0.00009390322],"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":[0.0002162287,0.0001270607,0.001520305,0.001177632,0.001111187,0.000004364045,0.001063377,0.5234623,0.4561539,0.006784152,0.0002801141,0.0080994],"study_design_scores_gemma":[0.01750894,0.002305897,0.001231914,0.001821796,0.0007136886,0.0003584467,0.009851989,0.7282134,0.1926323,0.0001785626,0.04213075,0.003052254],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"empirical","genre_gemma":"empirical","genre_scores_codex":[0.7326189,0.004678719,0.2563789,0.00009587659,0.002176665,0.00110852,0.00003424726,0.0003317513,0.002576389],"genre_scores_gemma":[0.9981385,0.000335943,0.0000138773,0.0000121805,0.00007808524,0.00004166021,7.680511e-7,0.00005902438,0.001319892],"genre_candidate":"empirical","genre_consensus":"empirical","teacher_disagreement_score":0.2655196,"threshold_uncertainty_score":0.9999923,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.003711785448581519,"score_gpt":0.173228072121207,"score_spread":0.1695162866726255,"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."}}