Analysis of Coupled Stability in Multilateral Dual-User Teleoperation Systems
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Bibliographic record
Abstract
In this paper, we set out a framework for the analysis of coupled stability in dual-user linear teleoperation systems. An extension of the Zeheb-Walach (ZW) criteria for absolute stability of an n-port network will be stated and proven. While the original theorem states conditions for asymptotic stability of a network terminated by passive impedances, the extended version allows for poles on the imaginary axis, which makes it applicable to a larger class of systems, such as robotic applications with position feedback. The extended theorem includes conditions on the Laurent expansion of the elements and the principal minors of the network immittance matrix. A novel dual-user shared control paradigm, realizing a three-way gearbox mechanism, is presented. A numerical analysis of absolute stability of the three-port network, representing the shared control architecture, demonstrates the effectiveness of the extended Zeheb-Walach method.
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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 | 0.001 |
| 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 it