Passive shared virtual environment for distributed haptic cooperation
Bibliographic record
Abstract
For distributed haptic cooperation systems, this paper develops a framework for virtual environments such that the design of the coordinating controllers is decoupled from the network topology and the communication issues. The discrete-time n-port passivity of the shared virtual object (SVO) is presented when n SVO copies are distributed on an undirected and connected communication topology with unreliable data transmission. Wave nodes as passive network elements can be implemented on multilateral wave-based communication architecture to passively distribute power across the network. In this note, the wave node scheme introduced in [16] is employed to construct a passive wave-based network architecture in order to passively interconnect multiple discrete-time port-Hamiltonian local SVO copies alongside their coordinating controllers. The performance analysis shows that the proposed network architecture: (i) possesses n-port passivity over a network with time-varying delay and packet-loss; (ii) is lossless when subjected to communications with no time delay; and (iii) offers less dissipation comparing to the network structures built based on the node scheme proposed in [18]. Simulations in which a VO is shared among four peers across a network with constant and varying time-delay validate the analysis.
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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) | 0.000 | 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 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".