Haptic-enabled teleoperation of base-excited hydraulic manipulators applied to live-line maintenance
Why this work is in the frame
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Bibliographic record
Abstract
This paper investigates haptic-enabled teleoperation of a base-excited hydraulic manipulator working under a wireless communication channel. The intended application is live power line maintenance. With respect to this application, three main challenges are recognized in the field: need for the force feedback, wireless communication between master and slave sites, and base excitation of the slave manipulator. In this paper, a test rig is developed to examine how an operator's hand speed regulating scheme enhances the lineman's performance while the entire system works under a wireless communication channel and the slave base is under excitation. Two sets of experiments are performed when the haptic device produces no force and when the regulating haptic force is added to the master device. Performance of the system is evaluated by measuring four indices: operator's failure in completing a task, end-effector displacement, slave manipulator controller effort, and task completion time. Results indicate that adding the haptic force to the system helps linemen function more effectively when the system is subject to base-excitation and communicates through a wireless network.
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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 | 0.000 | 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 it