VELOCITY-LEVEL KINEMATICS OF THE ATLAS SPHERICAL ORIENTING DEVICE USING OMNI-WHEELS
Bibliographic record
Abstract
Using a novel actuation concept employing omni-directional wheels (or simply omni-wheels), the Atlas simulator motion platform provides unlimited angular displacement about any axis. The Atlas concept completely decouples the orienting and positioning degrees-of-freedom and further decouples each of the positioning degrees-of-freedom. It consists of an omni-wheel driven sphere for orientation that has its geometric centre positioned by an $XYZ$-table. The Jacobian of the orienting device is independent of time and dependent only on the mechanism architecture, meaning that it is always invertible for any configuration provided that the initial design parameters do not result in architecture singularities. An examination of the Atlas Jacobian and its determinant identifies architecture singular design conditions. It is found that these are not design limiting. Discussion highlights the uniqueness of the Atlas concept and its associated kinematic advantages.
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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 | 0.001 |
| 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".