Spatial locating of magnetic mobile robot in closed steel box girder based on UWB sensors and structural boundary
Bibliographic record
Abstract
Abstract Fatigue cracks in orthotropic steel decks pose a significant threat to bridge safety, yet traditional inspection methods are inefficient and inaccurate. To address this, we propose a spatial positioning method for magnetic mobile robots inside closed steel box girders, combining ultra-wideband ranging with structural boundary constraints. Distance measurements between anchors and a mobile tag are processed via a multispherical intersection algorithm, and the geometric boundaries of the girder are incorporated as hard constraints to optimize trajectory estimation using adaptive filtering. Experimental validation on an in-service bridge showed that static positioning errors can be controlled within 10 cm, while dynamic trajectory errors are significantly reduced after constraint optimization. The layout of anchors and robot speed were found to critically influence accuracy, with a recommended speed limit of 0.05 m s −1 for sub-decimeter precision. This method provides reliable, low-power positioning support for robotic inspection in complex steel structures.
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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 | 0.001 |
| 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".