This paper presents a novel criterion to study the stability of multilateral teleoperation systems based on passivity. Such systems (modelled as n -port networks) have recently found interesting applications in cooperative haptic teleoperation and haptic-assisted training. The criterion provides researchers with an analytical, closed-form, necessary and sufficient condition useful for both anal...

A patent pending, energy based, method is presented for controlling a haptic interface system to ensure stable contact under a wide variety of operating conditions. System stability is analyzed in terms of the time domain definition of passivity. We define a "Passivity Observer" (PO) which measures energy flow in and out of one or more subsystems in real-time software. Active behavior is indica...

In this paper, we analyse the stability of large-scale nonlinear stochastic systems, represented as an interconnection of lowerorder stochastic subsystems. Stochastic stability in probability and noise-to-state stability are addressed, and sufficient conditions for the latter are provided. The method proposed proves network stability by using appropriate stochastic passivity properties of its s...

This article examines the moderating effect of depression on interdisciplinary treatment approaches for behaviors in dementia. A secondary analysis of data collected on tailored treatment of 105 long-term care residents with dementia found a significant relationship between treatment and passivity (p < 0.001), treatment and agitation (p = 0.001), and the mediating effect of change in passivity ...

Dynamic Bayesian networks (DBNs) are a general model for stochastic processes with partially observed states. Belief filtering in DBNs is the task of inferring the belief state (i.e. the probability distribution over process states) based on incomplete and uncertain observations. In this article, we explore the idea of accelerating the filtering task by automatically exploiting causality in the...

In view of the control problem of Permanent magnet linear synchronous motor (PMLSM), applying port-controlled Hamiltonian (PCH) systems and passivity -based control theory, the modeling of Permanent Magnet Linear Synchronous Motor is presented. Using energy-shaping and passivity-based control (PBC) method, the control principle of PMLSM is given. The control laws are presented in load known con...

A passivity framework for hydraulic actuators is developed by consideration of the compressibility energy function for a fluid with a pressure dependent bulk modulus. The typical actuator’s mechanical and pressure dynamic model is shown to be the Euler-Lagrange equations for this energy function. A passivity property for the actuator is exhibited in which the hydraulic supply rate contains the ...

This paper studies necessary and sufficient conditions for numerical stability verification of a twodimensional time-dependent nonlinear shallow water (NLSW) system integrated by multidimensional wave digital filtering (MDWDF) network. As the verification activities are directly linked to the passivity of the system, the proposed solutions from the MDWDF network are intensively analyzed for the...

This paper is concerned with the problem of enhanced results on robust finite-time passivity for uncertain discrete-time Markovian jumping BAM delayed neural networks with leakage delay. By implementing a proper Lyapunov-Krasovskii functional candidate, the reciprocally convex combination method together with linear matrix inequality technique, several sufficient conditions are derived for vary...