{"id":"W7115183681","doi":"10.1016/j.ifacol.2025.12.163","title":"A Globally Convergent Observer for Estimating Sphere Structures with Inertial Measurements","year":2025,"lang":"en","type":"article","venue":"IFAC-PapersOnLine","topic":"Robotics and Sensor-Based Localization","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"Polytechnique Montréal","funders":"Natural Sciences and Engineering Research Council of Canada; Polytechnique Montréal","keywords":"Observer (physics); Inertial frame of reference; Acceleration; Feature (linguistics); Control theory (sociology); Pinhole camera; Field (mathematics); Frame (networking); RADIUS","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":[0.0000695929,0.0001982252,0.0001988203,0.00003647914,0.0000831863,0.00005280487,0.0001283149,0.00008224052,0.00005920501],"category_scores_gemma":[0.00005471002,0.0001674893,0.00005660022,0.0001751426,0.00002300608,0.00006349948,0.0000155942,0.00007986117,0.000003264366],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001000014,"about_ca_system_score_gemma":0.00005340772,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00003816118,"about_ca_topic_score_gemma":0.0002195311,"domain_scores_codex":[0.9990966,0.00001223458,0.0002308648,0.0001972927,0.0002164538,0.0002465354],"domain_scores_gemma":[0.9995887,0.00002618411,0.00003482925,0.0001661596,0.000122767,0.00006136805],"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":[0.0000640675,0.00002435381,0.001887772,0.0002289867,0.0001583805,0.000002790047,0.00006680076,0.9829341,0.008708697,0.0004811613,0.0001386039,0.005304342],"study_design_scores_gemma":[0.001413115,0.00006898586,0.001707723,0.000130311,0.00008490546,0.000001739159,0.00006207045,0.9916026,0.003981447,0.0001077231,0.0006025548,0.0002368189],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"methods","genre_scores_codex":[0.273883,0.0003931048,0.7216111,0.0004277401,0.001264494,0.0007073735,0.00007176415,0.0003716353,0.001269792],"genre_scores_gemma":[0.2974501,0.000005837157,0.7016735,0.0003126849,0.0001708051,0.00001980995,0.0001283194,0.00003742752,0.0002014759],"genre_candidate":"methods","genre_consensus":"methods","teacher_disagreement_score":0.02356716,"threshold_uncertainty_score":0.6830016,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.02096034386683145,"score_gpt":0.2462819608686139,"score_spread":0.2253216170017824,"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."}}