Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
Every manipulator contact task that begins with a transition from free motion to constraint motion may exhibit impacts that could drive the system unstable. Stabilization of manipulators during this transition is, therefore, an important issue in contact task control design. This paper presents a discontinuous controller to regulate the transition mode in hydraulic actuators. The controller, upon sensing a nonzero force, positions the actuator at the location where the force was sensed, thus, exerting minimal force on a nonmoving environment. The scheme does not require force or velocity feedback as they are difficult to measure throughout the short transition phase. Also, no knowledge about the environment or hydraulic parameters is required for control action. Due to the discontinuity of the control law, the control system is nonsmooth. First, the existence, continuation and uniqueness of Filippov’s solution to the system are proven. Next, the extension of Lyapunov stability theory to nonsmooth systems is employed to guarantee the global asymptotic convergence of the entire system’s state towards the equilibrium point. Complete dynamic characteristics of hydraulic functions and Hertz-type contact model are included in the stability analysis. Experiments are conducted to verify the practicality and effectiveness of the proposed controller. They include actuator collisions with hard and soft environments and with various approach velocities.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
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 | 0.002 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 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 it