A fuzzy logic based coordinated control strategy for a cabledriven clamming device
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Bibliographic record
Abstract
This paper presents design and experimental evaluation of a controller for the purpose of closed-loop coordinated control of a cable-driven clamming device. Currently, an experienced operator is required to continuously observe the tensions of the two cables that operate the device while coordinating their motions in real-time. We propose a control strategy to partially automate such an operation, therefore alleviating the mental burden on the operator. In the proposed control system, the operator simply uses a single-axis joystick to impart a desired speed to the clamming device while the controller handles corrections required to coordinate the motion of the cables. The proposed control strategy incorporates a novel fuzzy logic based integral-type controller built upon measurements of the load state and speed. It has been experimentally evaluated on a test rig that operates in a manner similar to the actual clamming device. The experiments, consisting of both simple and advanced case studies of specific segments of typical trash removal operations, demonstrate the feasibility and the promise of the technique
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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