{"id":"W3124627721","doi":"10.22215/etd/2020-14324","title":"Real-Time Path Planning for Needle Insertion With Multiple Targets","year":2020,"lang":"en","type":"dissertation","venue":"","topic":"Soft Robotics and Applications","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"Carleton University","funders":"","keywords":"Bevel; Motion planning; Nonholonomic system; Path (computing); Kinematics; Computer science; Planner; Engineering; Artificial intelligence; Robot; Mechanical engineering; Physics; Mobile robot","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":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.00001949131,0.000176466,0.000177503,0.00004614532,0.00006482047,0.00003255064,0.00008087296,0.0001263627,0.00003125276],"category_scores_gemma":[0.00001296147,0.0001621779,0.00004572462,0.0001034665,0.000003320002,0.00004221057,0.000003336566,0.0001029069,0.0000456634],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00002809011,"about_ca_system_score_gemma":0.00002158527,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0000265707,"about_ca_topic_score_gemma":0.00001655996,"domain_scores_codex":[0.9994327,0.000002082827,0.0001569718,0.0001750071,0.00008440632,0.0001488109],"domain_scores_gemma":[0.9996703,0.00005627729,0.00003979309,0.0001215534,0.00004938833,0.00006270106],"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":[0.0004177894,0.0001641316,0.001543151,0.002597454,0.0006935098,0.00001198256,0.00773447,0.4789423,0.3766665,0.004586476,0.1212574,0.005384788],"study_design_scores_gemma":[0.0008366018,0.0001381348,0.00708185,0.0002285373,0.0001350329,0.0000013701,0.001116662,0.9476867,0.02239809,0.0002744306,0.0192723,0.0008302337],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"empirical","genre_gemma":"empirical","genre_scores_codex":[0.4749313,0.0007029278,0.3275576,0.0002806858,0.001284231,0.005882288,0.000355738,0.006517927,0.1824873],"genre_scores_gemma":[0.891415,0.00008655109,0.08311836,0.00004729459,0.0003767974,0.001052638,0.01644146,0.0003086308,0.00715326],"genre_candidate":"empirical","genre_consensus":"empirical","teacher_disagreement_score":0.4687444,"threshold_uncertainty_score":0.6613421,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01082744993529803,"score_gpt":0.2306181233191003,"score_spread":0.2197906733838023,"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."}}