Multi-rate Control Architectures for Dextrous Haptic Rendering in Cooperative Virtual Environments
Bibliographic record
Abstract
This paper is concerned with haptic simulation in multi-user virtual environments in which the users can haptically interact in a shared virtual world from separate workstations over an Ethernet local-area Network (LAN). High-fidelity haptic rendering requires a minimum control update rate of 1000Hz which is beyond the capability of popular network protocols such as the UDP and TCP/IP. Consequently, a multi-rate control strategy is adopted in which local force-feedback loops are executed at higher rates than data packet transmission between the user workstations. Two control architectures, i.e. centralized and distributed, are presented and their stability margins are compared. Two methods for mathematical modelling and analysis of the proposed multi-rate haptic control systems are examined. Analytical and experimental results demonstrate that the distributed control architecture is superior to the centralized controller from performance and stability perspectives. This is confirmed through experiments with a dual-user dual-finger haptic rendering platform.
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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".