DESIGN AND DEVELOPMENT OF AN AUTONOMOUS OMNIDIRECTIONAL HAZARDOUS MATERIALS HANDLING ROBOT
Bibliographic record
Abstract
This paper describes the design and testing of an autonomous omnidirectional robot to be used for moving radioactive materials while minimizing human exposure. The robot, called the OmniMaxbot, uses the Robot Operating System (ROS) to allow the individual components to communicate as well as to control the movement. Details about the hardware and software used in the OmniMaxbot are explained. Test results are presented for the navigation system based on the ROS packages: Global Planner, Base Local Planner, and Adaptive Monte Carlo Localization (AMCL). The test results confirm that the OmniMaxbot is capable of autonomously navigating to a mock ash can, lifting it, navigating to a drop-off location, putting the mock ash can down, backing away until the forks are clear of the mock ash can, and navigating to a standby location. These actions can be performed in areas with both static and dynamic obstacles.
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How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".