Dynamics of a dual-unit articulated vehicle for path tracking control problem formulation
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Bibliographic record
Abstract
The dynamics of motion of a class of vehicles consisting of two one-axle wheeled units pivoted together are developed for the formulation of the path tracking control problem. This particular type of vehicle is frequently used for ore transportation in underground mines. Steering of this vehicle is performed through changing the angle between the two units by means of an actuator. In this paper the equations governing the motion and the tracking error dynamics in terms of the system inputs, namely the traction forces on the front and rear wheels and the actuator force for changing the angle between the two units, are derived. These equations are nonlinear and highly coupled. However, it may be deduced that from what normally appears in practice and for low operational speeds some acceptable assumptions may be made based upon which the formulation of the control problem and the synthesis of a controller becomes much simpler.
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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