Model Averaging and Input Transformation for 3D Needle Steering
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
In this paper, a duty-cycle-based method is proposed for needle steering in 3D. The paper models the continuous 3D needle steering problem as a four-mode switching system and provides a new average-based formulation to transform the continuous input into a switching sequence. In this structure, the needle tip deflection control system is decomposed to two different 2D subsystems. Each subsystem has its own input, for which a controller can be designed to adjust a switching duty cycle. The duty cycles from the two subsystems are then combined to provide an axial needle rotation command to control the needle deflection in 3D. In order to show the application of the proposed formulation, robust sliding mode technique is employed to design controllers for each subsystem and, thus for the total system in 3D. The controllers are designed to be robust with respect to uncertainties in the value of the needle path curvature and to deal with measurement limitations. The performance of the proposed framework is shown by performing experiments in different scenarios.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
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 | 0.002 | 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