Suppressing operator-induced oscillations in manual control systems with movable bases
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
There are many manual control tasks in which the operator's action is fed back to the input device, usually a joystick, through the operator's body dynamics excited by the base motion. This can lead to instability and reduced performance. This paper proposes a novel approach to the cancellation of such "biodynamic feedthrough". A prototype single-degree-of-freedom task in which the operator uses a force-reflecting joystick to position his/her base is considered here. A model-based approach is used to formulate /spl mu/-synthesis-based controllers that coordinate the motions of the joystick and the base. The solution is obtained by D-K iterations. The resultant controllers are robustly stable with respect to variations in the arm/joystick and biodynamic feedthrough parameters. They also provide a desired level of performance based upon position tracking between the joystick and the base and admittance shaping of the joystick. Experimental studies demonstrate the effectiveness of the proposed methods in the suppression of feedthrough induced oscillations. The approach developed in this paper, with some modifications, can be generalized to teleoperation from movable bases.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
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) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| 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