Design of Dual-Master-Dual-Slave Teleoperation System through State Convergence
Bibliographic record
Abstract
State convergence [15] and its extended version [17] are novel design methods which will assure the required dynamical system response and remove unwanted effects of the teleoperation systems modeled on the state space along with the synchronization of leader/follower devices. This paper discusses the scheme of dual-leader-dual-follower teleoperation system in detail. The design procedure requires 8n+4 parameters to be determined as compared to 3n+1 in case of single-leader-single-follower teleoperation system, where n is order of the leader/follower device. The feasibility of the proposed scheme to control a dual-leader-dual-follower teleoperation system over delay-less link is studied through simulations in MATLAB/Simulink environment. It is found that each master device can affect the motion of each slave device to a desired degree. Furthermore, the aim of getting requisite performance of the system also achieved while maintaining synchronization between leader/follower to common reference motion of all the leader devices.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.002 | 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 source (direct Gemma or distilled Codex), 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".