Extension of Zeheb-Walach absolute stability criteria for robot-human interactions
Bibliographic record
Abstract
The notion of absolute stability has been used to analyze the stability of man-machine interfaces in which a human operator commands a robot to do a task in a real or simulated environment. In this paper, we present and prove an extended version of the Zeheb-Walach absolute stability theorem that can be applied to n-port networks with “simple imaginary poles”. Conditions on the Laurent expansion of the elements and the principal minors of the impedance matrix are added to the theorem and the proof is conducted using the zero set of multiparameter functions. The unique feature of the proposed method is the graphical representation of the loci of the roots of the system, which allows for studying the effect of various system and control parameters on stability margins. To demonstrate the applicability of the new theorem, the stability of a position-position controlled teleoperation system, modeled by a 2-port network, coupled with the passive impedances of the human operator's hand, and the environment, is investigated.
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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 | 0.002 | 0.004 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.001 | 0.002 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.003 | 0.001 |
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".