Realisation of a bilaterally teleoperated robotic vehicle platform with passivity control
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
In this study, a new bilateral teleoperated vehicle testing platform is proposed. In the platform, the authors apply a new power-based time domain passivity control (PTDPC) method in an effort to improve the transparency. A new bilateral teleoperation platform is realised where steering angle commands were transmitted from a steering wheel interface to a remote vehicle, and road surface forces are sent back from the vehicle to the steering wheel interface. The communication channel between the steering wheel (master side) and the remote vehicle (slave side) introduces time-varying delays in the transmitted signals. To ensure the stability of the whole system, PTDPCs are applied to each side of the communication channel, which further improve the tracking performance as well as reduce the overall effort required of the human operator. The alternative advantage of the passivity control is the simplicity: the dynamic models of both master and slave side systems are not required to be known. The algorithms, hardware and software realisations are described thoroughly in the study. Finally, experimental results are demonstrated to show the effectiveness of the proposed approach as well as the functionality of the new testing platform.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
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