This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller,...

if we try to estimate the parameters of the ar process {xn} using the observed process {xn+zn} then these estimates will be badly biased and not consistent but we can minimize the damage using a robust estimation procedure such as gm-estimation. the question is does additive contamination affect estimates of “core” parameters in the infinite variance case to the same extent that it does in the ...

The paper proposes some robust estimators of the finite population mean. Such estimators are particularly suitable in the presence of some outlying observations. Included as special cases of our general result are robust versions of the ratio estimator and the Horvitz-Thompson estimator. The robust estimators are derived on the basis of certain predictive influence functions.