{"id":"W4390174820","doi":"10.3390/act13010008","title":"Cosserat Rod-Based Dynamic Modeling of a Hybrid-Actuated Soft Robot for Robot-Assisted Cardiac Ablation","year":2023,"lang":"en","type":"article","venue":"Actuators","topic":"Soft Robotics and Applications","field":"Engineering","cited_by":15,"is_retracted":false,"has_abstract":true,"ca_institutions":"McGill University; Concordia University","funders":"Fonds de recherche du Québec – Nature et technologies; Concordia University; Natural Sciences and Engineering Research Council of Canada; McGill University","keywords":"Robot; Actuator; Control theory (sociology); Soft robotics; Equations of motion; Engineering; Control engineering; Computer science; Mechanical engineering; Simulation; Artificial intelligence; Physics; Classical mechanics","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":[],"consensus_categories":[],"category_scores_codex":[0.0001423089,0.0001760228,0.0002582175,0.0001710842,0.00009668471,0.00003058358,0.0001335804,0.00006663486,0.000008918686],"category_scores_gemma":[0.0000553948,0.0001916344,0.0001455295,0.0004893675,0.00001845042,0.00007875684,0.0000157876,0.00008817548,0.00002632781],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00008706405,"about_ca_system_score_gemma":0.00004531376,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00002423601,"about_ca_topic_score_gemma":0.000009519646,"domain_scores_codex":[0.9990326,0.00001031647,0.0003226171,0.000208009,0.0001492321,0.0002772166],"domain_scores_gemma":[0.9992668,0.0001868417,0.00005540637,0.0003075269,0.0001080844,0.00007532757],"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":[0.000005974009,0.00001424261,0.0001023581,0.00006127854,0.00005831227,4.328631e-7,0.0000421307,0.9799209,0.01233209,0.00008273398,0.0003097148,0.007069806],"study_design_scores_gemma":[0.0002780621,0.00001725497,0.001338441,0.00002723725,0.00005479809,3.756281e-7,0.00003896328,0.993259,0.00431157,0.0002937078,0.000185032,0.0001956052],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.3549968,0.00003584392,0.643699,0.0000777262,0.0001996032,0.000363374,0.00006457727,0.0005242953,0.00003878115],"genre_scores_gemma":[0.991814,0.0000192421,0.007329195,0.00001633621,0.00003465375,0.0001789316,0.0005031384,0.00007425188,0.00003032081],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.6368171,"threshold_uncertainty_score":0.7814624,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.02058604768758768,"score_gpt":0.2543617775444899,"score_spread":0.2337757298569022,"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."}}