A New Method for Bilateral Teleoperation Passivity under Varying Time Delays
Why this work is in the frame
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Bibliographic record
Abstract
A new framework is proposed to mitigate the adverse effect of time‐varying time delays on the passivity of a teleoperation system. To this end, the communication channel with time‐varying delays is modeled as a constant‐delay channel along with additive output disturbances. Then, disturbance estimator blocks are added in each of the feedforward and feedback paths to estimate these disturbances and to compensate for them. In the disturbance estimator block, there is a need for a virtual time‐varying delay block such that the overall communication channel can be seen as one with a constant delay. We also propose a method for determining this virtual delay. Two PHANToM haptic devices connected through a communication channel with time‐varying delays are considered for a case study. Simulation and experimental results confirm the efficiency of the proposed method in terms of passivating the teleoperation system in the presence of time‐varying delays.
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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 | 0.001 | 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