The control of semi-autonomous two-wheeled robots undergoing large payload-variations
Why this work is in the frame
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Bibliographic record
Abstract
We report on the control of semi-autonomous two-wheeled mobile robots undergoing large variations of the payload. These robots being underactuated, their control poses some challenges when resorting to a simple controller. The latter being a linear controller, its robustness with respect to model uncertainty needs to be investigated. To do this, we conducted a time-domain analysis of robustness of the foregoing controller with respect to parametric and unmodeled dynamics uncertainty. The controller, which is designed by a dominant second-order pole technique, turns out to be fragile (as opposed to robust) with respect to unmodeled dynamics uncertainty. In order to cope with this problem, a linear-quadratic regulator is designed. By numerical simulation we show that the latter features robustness with respect to both types of uncertainty.
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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