Development of a Quaternion-based algorithm to process data in robotics applications
Bibliographic record
Abstract
To implement automated control of a robot arm, it is critical to have an accurate description of the arm's position, orientation, and velocity in 3-space. Such a description can be facilitated with data about how the arm is aligned with the gravitational and magnetic fields of the Earth (the Earth frame). Using various sensors, TIAX can provide data on the orientation of the Earth's gravitational field with respect to the body frame of the robot arm, as well as the angular velocities of each axis making up the body frame. In this work, we focus on the transformation of this data from the body frame into the Earth frame. We examine the transformations in four different contexts: Euler angles, quaternions, rotations about a single axis, and transition matrices. We find that the contexts that do not rely upon angle definitions are superior. Unfortunately, consumers often demand the contexts that do.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".