Path Following and Shape Morphing With a Continuous Slender Mechanism
Bibliographic record
Abstract
We present the continuous model of a mobile slender mechanism that is intended to be the structure of an autonomous hyper-redundant slender robotic system. Rigid body degrees-of-freedom (DOF) and deformability are coupled through a Lagrangian weak formulation that includes control inputs to achieve forward locomotion and shape tracking. The forward locomotion and the shape tracking are associated to the coupling with a substrate that models a generic environment with which the mechanism could interact. The assumption of small deformations around rigid body placements allows to adopt the floating reference kinematic description. By posing the distributed parameter control problem in weak form, we naturally introduce an approximate solution technique based on Galerkin projection on the linear mode shapes of the Timoshenko beam model that is adopted to describe the body of the system. Simulation results illustrate coupling among forward motion and shape tracking as described by the equations governing the system.
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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 | 0.001 | 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".