Velocity degeneracy determination for the kinematically redundant CSA/ISE STEAR testbed manipulator
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Bibliographic record
Abstract
The Canadian Space Agency (CSA)/International Submarine Engineering (ISE) STEAR Testbed Manipulator (STM) is a ground-based manipulator similar to the arms of the Special Purpose Dextrous Manipulator (SPDM) being built for the International Space Station (ISS). This work presents the determination of the velocity-degenerate (singular) configurations for the STM, a system comprised of two seven-jointed redundant manipulators. The two “arms” of the STM are mirror images of one another. The analysis presented is for the STM-1 or “right” arm, but it applies to the STM-2 or “left” arm since they are mirror images and have similar dimensions and joint ranges. A methodology based on reciprocity of screws is used to identify all configurations causing one degree-of-freedom (DOF) instantaneous motion loss in the STM. It is shown that there are five families of two-condition configurations resulting in a single DOF loss for manipulators kinematically similar to the STM-1. Reciprocal screws characterizing the lost motion DOF for each of the degenerate configurations are derived. Analysis of the velocity degeneracies shows that for the STM-1 dimensions and joint limits, only four of the five velocity-degenerate configurations are feasible. © 2000 John Wiley & Sons, Inc.
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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)
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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