Position-Mode Haptic-Based Control of Teleoperated Hydraulic Actuators
Bibliographic record
Abstract
A control scheme for teleoperation of hydraulic actuators, using a haptic device, is developed and experimentally evaluated in this paper. In the control laws, the position error between the displacement of the haptic device and the hydraulic actuator movement is used at both master and slave sides to maintain good position tracking at the actuator side while providing a haptic force to the operator. Lyapunov’s stability theory and LaSalle’s invariant set theorems are employed to prove the asymptotic stability of the system. It is shown that beside stability, the system performs well in terms of position tracking of the hydraulic actuator and providing a feel of telepresence to the operator. Proposed controller only needs system’s pressures and displacements that are easy to obtain via on-line measurements. Additionally, the controller does not need any information about the parameters of the system. These characteristics make the controller very attractive from the implementation view point.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| 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 | 0.001 | 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 source (direct Gemma or distilled Codex), 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".