{"id":"W4315927107","doi":"10.36227/techrxiv.21862575","title":"Singularity-Robust Full-Pose Workspace Control of Space Manipulators with Non-Zero Momentum","year":2023,"lang":"en","type":"preprint","venue":"","topic":"Space Satellite Systems and Control","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"Carleton University","funders":"Natural Sciences and Engineering Research Council of Canada","keywords":"Control theory (sociology); Workspace; Sylvester's law of inertia; Mathematics; Jacobian matrix and determinant; Euclidean group; Computer science; Physics; Geometry; Applied mathematics; Symmetric matrix; Artificial intelligence; 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":[0.0003835277,0.0007533308,0.001272434,0.0003576638,0.00005567527,0.0001458432,0.0004584759,0.000629883,0.00008298642],"category_scores_gemma":[0.00001812844,0.0006529311,0.0003009623,0.0003597759,0.00007213355,0.00008601933,0.000194175,0.0009110977,0.0001006863],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002123789,"about_ca_system_score_gemma":0.00009226148,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00070254,"about_ca_topic_score_gemma":0.0006794438,"domain_scores_codex":[0.9973792,0.00005381676,0.0006477277,0.0006551201,0.0005689159,0.0006952081],"domain_scores_gemma":[0.9980519,0.0001143821,0.0002465163,0.001181583,0.0001764773,0.0002291692],"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":[0.0001372493,0.00006254561,0.003399828,0.001729984,0.001573313,0.0000978494,0.0004856783,0.9825755,0.002334474,0.002203158,0.004911357,0.0004890625],"study_design_scores_gemma":[0.009579254,0.0005943848,0.007390187,0.005631423,0.001476257,0.00006259139,0.002473524,0.9529505,0.003410722,0.002377927,0.009219739,0.004833496],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.04737125,0.001815125,0.9329019,0.0006430867,0.003675791,0.002430984,0.00009004132,0.0017232,0.009348607],"genre_scores_gemma":[0.9874259,0.0001239154,0.004221555,0.00002499654,0.0003492184,0.0001667371,0.00003580578,0.0002823749,0.007369485],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.9400547,"threshold_uncertainty_score":0.9995922,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01422532068906101,"score_gpt":0.1991354819871232,"score_spread":0.1849101612980621,"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."}}