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This work presents a stability analysis for an architecture for teleoperating a laboratory crane using haptic devices. The teleoperation scheme chosen is the 2-channel position error (PE) architecture. This scheme is modeled first by state-space equations testing that the system is Hurwitz stable for zero delay and calculating the maximum constant value of the delay hmax > 0 for which the nominal...
A methodology for identifying brain areas from the brain MER signals (microelectrode recordings) is presented, which is based on a nonlinear feature set. We propose nonlinear dynamics measures such as correlation dimension, Hurst exponent and the largest Lyapunov exponent to characterize the dynamic structure. The MER records belong to the Polytechnical University of Valencia, 24 records for each...
In this work we study the stability of several standard teleoperation schemes. This problem is usually addressed by frequency domain Laplace techniques or by passivity techniques. We use an LMI approach based on Lyapunov-Krasovskii functionals. Firstly, the schemes are modelled as differential-delayed equations which are of the neutral type, that is, the delay affects not only the state but also the...
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