Wave-Based Time Delay Compensation in Bilateral Teleoperation: Two-Channel versus Four-Channel Architectures
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Bibliographic record
Abstract
In this paper, two different approaches have been proposed aiming to improve transparency of a passivity-based delay-compensated teleoperation system: direct force reflection in a two-channel wave-based control architecture, which uses the same number of channels as the traditional position error- based control scheme with wave variables and, four-channel wave-based control architecture, which is capable of achieving ideal transparency in the presence of time delay. In order to present a comprehensive performance comparison, we quantify the transparency of each approach through subjecting the experimental results of a bilateral master-slave system developed for endoscopic surgery applications to identification of the hybrid parameters of the equivalent two-port network.
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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 | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.002 | 0.000 |
| Bibliometrics | 0.001 | 0.002 |
| Science and technology studies | 0.000 | 0.002 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.002 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| 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 it