Revisiting Llewellyn's absolute stability criterion for bilateral teleoperation systems under non-passive operator or environment
Bibliographic record
Abstract
Stability of a haptic teleoperation system is influenced by the typically uncertain, time-varying and/or unknown dynamics of the operator and the environment. For a stability analysis that is independent of the operator and the environment dynamics, Llewellyn's absolute stability criterion proposes certain conditions on the two-port network representing the teleoperator (comprising the master, the controller and communication channel, and the slave) assuming that the terminations (i.e., the operator and the environment) are passive. These are less-than-accurate assumptions. It is desirable to extend Llewellyn's result to the cases where the operator or the environment is non-passive. This paper revisits Llewellyn's criterion and relaxes the assumption of passivity for one of the terminations. The possibly non-passive termination is realistically assumed to have a complex impedance with an upper or lower bound on its amplitude or real part, respectively. Although the proposed stability criteria are useful for any application of two-port network systems, we specifically apply them on bilateral teleoperation systems and find the stability conditions when the operator or the environment is not passive; this is a result that Llewellyn's absolute stability criterion cannot afford.
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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 | 0.000 |
| 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) | 0.001 | 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".