{"id":"W4380881228","doi":"10.36227/techrxiv.23528205","title":"SuRFR: A Fast Recursive Simulator for Soft Manipulators with Discrete Joints on SE(3)","year":2023,"lang":"en","type":"preprint","venue":"","topic":"Modular Robots and Swarm Intelligence","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"","funders":"Natural Sciences and Engineering Research Council of Canada; Canadian Space Agency","keywords":"Inverse dynamics; Rigid body; Kinematics; Mathematics; Solver; Discretization; Control theory (sociology); Computer science; Applied mathematics; Mathematical analysis; Mathematical optimization; Classical mechanics","routes":{"ca_aff":false,"ca_fund":true,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":true},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":["metaepi_narrow"],"consensus_categories":[],"category_scores_codex":[0.0001617413,0.0005631723,0.0005573259,0.0001800013,0.00007850435,0.0001189299,0.0003880874,0.0003446464,0.0001257558],"category_scores_gemma":[0.00004648541,0.0004457658,0.0002302392,0.0001250681,0.00003981721,0.00005460656,0.0001861319,0.0005698113,0.0002321147],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001471362,"about_ca_system_score_gemma":0.00004379628,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0001148472,"about_ca_topic_score_gemma":0.0002012263,"domain_scores_codex":[0.9980203,0.00001815905,0.0004040483,0.0006954796,0.0003358931,0.0005261077],"domain_scores_gemma":[0.9986992,0.0001483631,0.00008067498,0.0007858227,0.0001079049,0.0001780284],"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":[0.00004968781,0.00001474186,0.0001652788,0.0004541917,0.0002585681,0.0000212969,0.0002972802,0.9922998,0.00002418959,0.001849421,0.003077193,0.001488373],"study_design_scores_gemma":[0.0005947904,0.000410361,0.0009397544,0.001413086,0.0001752131,0.000007487571,0.0003134264,0.9701539,0.00949896,0.007569671,0.006844002,0.002079365],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.05161889,0.0001037032,0.9388872,0.0001959069,0.002386568,0.002074878,0.0003157078,0.001671681,0.002745498],"genre_scores_gemma":[0.988047,0.00007490112,0.004917253,0.00008104925,0.0003102247,0.000254982,0.0002176089,0.0003227275,0.00577425],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.9364281,"threshold_uncertainty_score":0.9997994,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.05736475838804905,"score_gpt":0.2812568417729606,"score_spread":0.2238920833849115,"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."}}