Collision avoidance system concept for mobile servicing system
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
The mobile servicing system (MSS) is an integrated mobile remote manipulator system under development by SPAR Aerospace Limited for the Canadian Space Agency. The MSS includes two separate manipulator systems, both possessing kinematic redundancy, and will be used in the construction and maintenance of the International Space Station Freedom. This paper presents the concepts for the collision avoidance system for these manipulators. The collision avoidance system uses a collision prediction system as a front end. The collision prediction system is based on an octree model of the environment and provides the location, direction, and distance of impending collision(s). Given the information, the system calculates the joint rate commands that will achieve automatic collision avoidance. Computer simulation of the Space Station remote manipulator system (SSRMS) operating in an octree model of the Space Station is shown, as well as hardware demonstration using a large-scale ground testbed for the special purpose dexterous manipulator (SPDM).< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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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 | 0.001 | 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