A practical approach to feedback path control for an articulated mining vehicle
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Bibliographic record
Abstract
This paper proposes a feedback path controller for an articulated load-haul-dump (LHD) mining vehicle. First, we develop a kinematic model of the vehicle in error coordinates expressed in a moving reference frame, which is partially linked to the vehicle. We give a change of coordinates and input combined with a new variable instead of the time-index that transform the original system into a form that can be viewed as a perturbation of a nominal linear time-invariant system. The nonlinear term in the perturbed system satisfies a linear growth bound. Subsequently, linear control feedback is applied to the full nonlinear system and local exponential stability of the closed-loop perturbed system is achieved. Simulation results illustrate the effectiveness of the proposed controller.
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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