DEXTEROUS TASK-PRIORITY BASED REDUNDANCY RESOLUTION FOR UNDERWATER MANIPULATOR SYSTEMS
Bibliographic record
Abstract
The problem of redundancy resolution for underwater remote vehicle-manipulator systems (URVM) is addressed in the current work. In URVM applications, it is beneficial to have the underwater remote vehicle (URV) hold station using its thrusters while a human pilot operates the serial manipulator. This provides a stable platform for the manipulator and eases the pilot’s job drastically when current and/or tether disturbances are present. However, when following this objective, the redundancy of the URVM as a whole is wasted; the four actively controlled motions of the URV are not used to improve the efficacy of the manipulator task. In fact, this standard operating procedure frequently puts the manipulator into near singular configurations. This is not desirable from the manipulator controller standpoint since near singular configurations result in undesirably high joint velocities and oscillations. In this work, a new heuristic approach based on the task-priority redundancy resolution scheme is applied to the URVM. The proposed approach provides a means to avoid singular configurations of the manipulator, and provides dexterous manipulation by using the URV’s mobility in an optimal, coordinated manner. This scheme is particularly useful for remote systems where an a priori trajectory generator is not applicable. Numerical case studies are developed to demonstrate the effectiveness of the technique.
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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 | 0.001 | 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".