Enhanced Stability of Three-Users Multirate Distributed Haptic Cooperation via Coordination to Average Peer Position
Bibliographic record
Abstract
Abstract—Distributed networked haptic cooperation may be-come unstable when the number of interacting users increases because the effective coordination gain for the shared virtual object increases. The average position coordination strategy maintains the coordination gain of the shared virtual object constant regardless of the number of cooperating participants. Therefore, the average position strategy is expected to increase the stability region of networked haptic cooperation among multiple users. This paper confirms through analysis and experiments that AP coordination maintains the three-users haptic cooperation stable for larger coordination gains than traditional virtual coupling coordination. The stability analysis is performed in a multirate control framework. Multirate control is deployed to support high sampling rate of the peer force feedback loops in the presence of a low network update rate. The experiments report a one degree of freedom manipulation of a virtual cube by three cooperating users. Keywords-Networked haptic cooperation; distributed control; multirate control; coordination to averaged position. I.
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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) | 0.001 | 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 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".