Development of a coordinated controller for underwater vehicle-manipulator systems
Why this work is in the frame
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Bibliographic record
Abstract
In this work, the motions of an underwater remotely operated vehicle (ROV) and a spatial manipulator are coordinated using a consolidated controller. The controller translates a single pilot command, the desired position and orientation of the end effector, into a coordinated set of ROV and manipulator joint motions that satisfy the pilot intent in addition to a series of secondary objectives. The controller relies on a unified dynamic model of the system. The quasi-Lagrange method is used to derive the equations of motion in terms of the ROV body-fixed frame. For the control problem, a novel sliding-mode based controller is proposed. The controller contains two layers of adaptivity. The first layer is for adjusting PID gains, whereas the second layer is for estimating the bound on a lumped uncertainty vector. The second level of adaptation is shown to relax the Lyapunov stability requirements leading to a more robust controller. To generate reference state values, a redundancy resolution technique is utilized that is based on the gradient projection method merged with a fuzzy determination of the hierarchy of the secondary objectives. The redundancy resolution method distributes the pilot's end-effector command over the ROV and the manipulator in an optimal manner using the redundant degrees of freedom. The results illustrate that detailed subsea tasks can be completed with a small, low-cost ROVM system using the proposed unified control scheme.
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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 | 0.000 | 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 it