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We describe a strategy for collecting experimental data and validating a bone-burr haptic contact model developed in a virtual surgical training system for middle ear surgery. The validation strategy is based on the analysis of data acquired during virtual and real burring sessions. Our approach involves intensive testing of the surgical simulator by expert(More)
In this paper we provide a preliminary report on our work on the tuning of a temporal bone surgical simula-tor using parameter values derived from experimental measurements , and on the comparison between these results and the previously used " domain expert " assigned values. Our preliminary results indicate that the parameter values defined by the(More)
This paper is concerned with the stabilization of discrete–time linear systems with quantization of the input and output spaces, i.e., when available values of inputs and outputs are discrete. Unlike most of the existing literature, we assume that how the input and output spaces are quantized is a datum of the problem, rather than a degree of freedom in(More)
This paper deals with the stabilization problem for a particular class of hybrid systems, namely discrete– time linear systems subject to a uniform (a priori fixed) quantization of the control set. Results of our previous work on the subject provided a description of minimal (in a specific sense) invariant sets that could be rendered maximally attractive(More)
This paper is concerned with the stabilizability problem for discrete–time linear systems subject to a uniform quantization of the control set and to a regular state quantization, both fixed a priori. As it is well known, for quantized systems only weak (practical) stability properties can be achieved. Therefore, we focus on the existence and construction(More)
— This paper deals with the design of a hierarchical two-layer controller. At the high level, a robust MPC regulator works at a slow frequency rate and computes the ideal control signals needed to suitably control the plant. At the low level, a number of already controlled actuators drive the plant at a faster time rate and track the desired control signals(More)
Quantized linear systems are a widely studied class of nonlinear dynamics resulting from the control of a linear system through finite inputs. The stabilization problem for these models shall be studied in terms of the so called practical stability notion that essentially consists in confining the trajectories into sufficiently small neighborhoods of the(More)