{"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":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0002290461,0.0004272036,0.0003978646,0.0003675312,0.0003337153,0.0005837826,0.0007142332,0.001041024,0.00173104],"category_scores_gemma":[0.0002566482,0.0003154998,0.0005744891,0.0002464315,0.0005154425,0.0004133368,0.0003938024,0.000375316,0.0003095675],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0003554357,"about_ca_system_score_gemma":0.0005984973,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.004621569,"about_ca_topic_score_gemma":0.003435856,"domain_scores_codex":[0.9998946,0.0000201227,0.000009035115,0.00002518515,0.00003900883,0.0000120837],"domain_scores_gemma":[0.9998817,0.00003607488,0.00002835449,0.00001498393,0.00003129228,0.000007426546],"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":[0.00004257458,0.00003037177,0.0003899003,0.00007595886,0.00001433249,0.0001782467,0.00006954832,0.961648,0.02480691,0.005805408,0.0001884457,0.006750209],"study_design_scores_gemma":[0.000002656047,0.00002743817,0.00008881232,0.000004014169,0.00000287208,0.00001396882,0.000005653791,0.9983088,0.0009759731,0.000150539,0.0004147666,0.000004602786],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.15038,0.0006851777,0.8250077,0.0002674052,0.0001464456,0.0001402242,0.0001775108,0.0005624754,0.02263307],"genre_scores_gemma":[0.9360938,0.0005557652,0.0533282,0.00005331361,0.00001845867,0.000277652,0.0001066985,0.00003405917,0.009532138],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.004621569,"threshold_uncertainty_score":0.009189308,"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."}}