Noncollocated Position Sensor Effect on Flexible Robot Control
Why this work is in the frame
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Bibliographic record
Abstract
Tracking a flexible robot is simulated using nonadaptive and fuzzy logic system (FLS) adaptive control strategies with noncollocated joint rotation sensors then with a position sensor located 0.5m, 2.25m and 4.0m from the end effector. Collocated joint rotation sensors satisfy hyperstability conditions but fail to capture nonminimum phase (NMP) response that causes control action delay. A position sensor noncollocated at the end effector captures NMP response. Results are poor for nonadaptive control with a collocated rotation sensor and a noncollocated end effector position sensor but very good results are achieved for FLS adaptive control. For noncollocated sensors at 0.5m, 2.25m and 4.0m from the end effector, tracking control results for both strategies are similar but drastically deviate from the commanded trajectory as the sensor gets closer to the elbow joint. FLS adaptive control is most effective for a sensor located either at the elbow joint or end effector.
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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) | 0.001 | 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