Stability of sampled-data, delayed haptic interaction and teleoperation
Bibliographic record
Abstract
This paper proposes a unified framework to study the stability of sampled-data, haptic virtual environment (HVE) systems and sampled-data position-error-based (PEB) bilateral teleoperation systems based on the discrete-time circle criterion. Communication time delay and controller discretization are two major factors that jeopardize the system stability. We provide a framework for the system stability analysis in which both these two destabilizing factors can be addressed. In this paper, first the well-known Colgates stability condition for a 1-user haptic system with a passive operator is reproduced in a different manner and then extended to the case where delay can exist in the communication channel. Then, it is shown that using the same method, the stability of sampled-data position-error-based (PEB) bilateral teleoperation systems can be dealt in a similar manner. Simulation results confirm the validity of the proposed conditions for stability of both sampled-data, HVE and PEB bilateral teleoperation systems.
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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".