Reconfigurable fully constrained cable-driven parallel mechanism for avoiding collision between cables with human
Why this work is in the frame
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Bibliographic record
Abstract
Abstract Productivity can be increased by manipulators tracking the desired trajectory with some constraints. Humans as moving obstacles in a shared workspace are one of the most challenging problems for cable-driven parallel mechanisms (CDPMs) that are considered in this research. One of the essential primary issues in CDPM is collision avoidance among cables and humans in the shared workspace. This paper presents a model and simulation of a reconfigurable, fully constrained CDPM enabling detection and avoidance of cable–human collision. In this method, unlike conventional CDPMs where the attachment points are fixed, the attachment points on the rails can be moved (up and down on their rails), and then the geometric configuration is adapted. Karush–Kuhn–Tucker method is proposed, which focuses on estimating the shortest distance among moving obstacles (human limbs) and all cables. When cable and limbs are close to colliding, the new idea of reconfiguration is presented by moving the cable’s attachment point on the rail to increase the distance between the cables and human limbs while they are both moving. Also, the trajectory of the end effector remains unchanged. Some simulation results of reconfiguration theory as a new approach are shown for the eight-cable-driven parallel manipulator, including the workspace boundary variation. The proposed method could find a collision-free predefined path, according to the simulation results.
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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) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.001 | 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