Abstract-Time delays in bilateral teleoperation systems can degrade the transparency and result in instability. For large delays, model predictive control or impedance reflective methods in which the operator interacts with the slave and environment model, can help overcome this issue. An important key to the success of these systems is to have the local virtual slave model synchronized with the slave. This is especially important when the slave gets into contact with hard environments, resulting in rapid contact force build up and slave chattering. In this paper, we propose a model-reference model-mediated teleoperation control architecture that provides enhanced synchronization between the slave and virtual slave models and keeps both the master and slave responsive. The proposed architecture is evaluated against through simulations and experiments carried out on a 1-DOF master-slave testbed.

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The aerospace industry is experiencing the problem of producing higher quality products under faster changes in technologies and complexities. This worsens ensuring product functionality and supporting product assurance. This is especially true in the space industry. One punctual solution is to study and adapt practices and criteria used in the military aviation industry to improve the satellite industry, as done here. So, this paper studies practices and criteria used in the military aviation certification to improve the satellite product assurance. Their comparison allows the proposal of a new model for a satellite product assurance process, especially at INPE. To contextualize the subject, a brief history of product certification in Brazilian military aviation is presented with its current principles and relevance. In addition, essential concepts and international standards adopted by several organizations are mentioned. Some differences between aeronautical and space products and their features are also highlighted. In the end, a harmonization of MoCs (Means of Compliance) strategy is suggested to align the understanding between suppliers and satellite program organizations. Some of the practices discussed in this paper may aid the requirements compliance control for the space field, which can boost some projects with limited funds, stringent deadlines, and high costs.

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