{"id":"W4366525700","doi":"10.1016/j.actaastro.2023.04.022","title":"Singularity-robust full-pose workspace control of space manipulators with non-zero momentum","year":2023,"lang":"en","type":"article","venue":"Acta Astronautica","topic":"Space Satellite Systems and Control","field":"Engineering","cited_by":9,"is_retracted":false,"has_abstract":false,"ca_institutions":"Carleton University","funders":"Natural Sciences and Engineering Research Council of Canada; Canada Research Chairs","keywords":"Control theory (sociology); Workspace; Sylvester's law of inertia; Mathematics; Jacobian matrix and determinant; Euclidean group; Computer science; Physics; Artificial intelligence; Symmetric matrix; Applied mathematics; Geometry; 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":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0005440206,0.001003746,0.0008027733,0.0003311949,0.0003097349,0.0007037958,0.0007537949,0.000664002,0.001351141],"category_scores_gemma":[0.001227413,0.000381547,0.0004006164,0.0002833626,0.0007365654,0.0007647251,0.001532168,0.0006222875,0.0003558482],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002031827,"about_ca_system_score_gemma":0.000545852,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.001466766,"about_ca_topic_score_gemma":0.001021499,"domain_scores_codex":[0.9997188,0.00006152125,0.00001392802,0.00005324008,0.0001040717,0.00004836971],"domain_scores_gemma":[0.999691,0.00008074369,0.00007671711,0.00003356659,0.00008522233,0.00003273522],"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":[0.0003859145,0.00006776994,0.0003869925,0.0002266972,0.00005068232,0.0003315721,0.0002925358,0.8914218,0.02525045,0.01415318,0.0008685951,0.06656373],"study_design_scores_gemma":[0.00003175442,0.000405201,0.0003455612,0.00001217591,0.000006689165,0.00006098893,0.00002397585,0.9924172,0.001876231,0.004409252,0.0003983358,0.00001256662],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.09869585,0.000338731,0.8948949,0.0001113181,0.00006200729,0.00003505905,0.0000368053,0.0003062144,0.005519076],"genre_scores_gemma":[0.9842627,0.00007629918,0.01390256,0.00001837005,0.00001558366,0.00002690495,0.0000278067,0.00002132543,0.001648358],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.001466766,"threshold_uncertainty_score":0.004520059,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.006697118799575574,"score_gpt":0.1842046185451049,"score_spread":0.1775074997455293,"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."}}