Stability analysis of teleoperation systems under strictly passive and non-passive operator
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Bibliographic record
Abstract
A bilateral teleoperation system includes a human operator and an environment, which make the system stability analysis complicated due to their unknown, time-varying and nonlinear nature. Unable to have exact models for the human operator and the environment, it is typically assumed that they are passive but otherwise arbitrary. In this paper, through a set of experiments, first we show that a human operator's relaxed arm is strictly passive while voluntary motions of the human operator's arm involve non-passive characteristics. Then, we adjust the passivity assumption of the human operator's arm (by tightening it for an input-strictly-passive arm and relaxing it for a non-passive arm) in order to enable a more precise stability analysis of the teleoperation system. Inspired by Llewellyn's absolute stability criterion, a powerful stability analysis approach is developed to investigate the stability of a two-port network when it is coupled to an input-strictly-passive or a non-passive termination. Although this new stability criterion is applicable to any two-port network system, we apply it to a position-error-based bilateral teleoperation system as a case study.
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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 | 0.000 |
| 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) | 0.001 | 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 it