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In this paper, a passive bilateral control scheme is proposed for a teleoperator with time-varying communication delay. Recently proposed two-port time-domain passivity approach (TDPA), which composed of Passivity Observer (PO) and Passivity Controller (PC), is extended. A set of sufficient conditions is derived, which satisfies the passivity of the(More)
— The time domain passivity framework is attracting interest as a method for granting stability in both telerobotics and haptic contexts; this paper employs this approach in order to introduce a novel concept, the Bilateral Energy Transfer for haptic telepresence. Loosely speaking, the Bilateral Energy Transfer is the straightforward transfer of energy(More)
Among the methods to grant the stability of a telemanipulation system , the bilateral time domain passivity framework has the appealing characteristic to consider both the forces and velocities signal exchanged between the master and slave systems, and the power introduced or dissipated by the elements that compose the whole telemanipulation system. In(More)
Between 1986 and 1988 we studied the spinal cord of 40 patients dying of AIDS. Transverse and longitudinal sections from a minimum of four levels of the spinal cord were examined by means of conventional histology, immunohistochemistry and electron microscopy. Out of 22 cases there were 6 showing a mild, 11 a moderate and 5 a severe myelopathy. Among these(More)
Brains of 19 AIDS patients with HIV encephalitis were examined by immunohistochemistry and in situ hybridization using antisense HIV DNA and RNA probes. Double immunohistochemical labeling, using antibodies against viral and cell-type specific antigens, was utilized to study lesions in some brains. Other combined studies included use of in situ(More)
This article presents a method for passivating the communication channel of a symmetric position-position teleoperation architecture on the time domain. The time domain passivity control approach has recently gained appeal in the context of time-delayed teleoperation because passivity is not established as a design constraint, which often forces(More)
In this paper a trilateral Multi-Master-Single-Slave-System with control authority allocation between two human operators is proposed. The authority coefficient permits to slide the dominant role between the operators. They can simultaneously execute a task in a collaborative way or a trainee might hapti-cally only observe the task, while an expert is in(More)
In an ideal case telepresence achieves a state, where a human operator can no longer dierentiate between an interaction with a real environment or a technical mediated one. This state is called transparent telepresence. The applicability of telepresence to on-orbit servicing (OOS), i.e. an unmanned servicing operation in space, teleoperated from ground in(More)