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This paper analyses the Time Domain Passivity Control approach in the time-delayed telepresence context, and proposes a method which provides stable operation. The passivity controller for the two-port network which is created by the bilateral control and communication elements in [1] is shown to be not valid if a time delay is introduced in the communication channel. Classical stability analysis for the delayed system is presented and used as argument and benchmark for the proposed solution. Simulations and experimental results are discussed and compared with classical stability analysis.

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Drift is ubiquitous in heliostat fields, and may be caused by diverse geometrical inaccuracies during heliostat installation and operation. This phenomenon is studied for three important primary errors in the present paper: Angular offset in the drive mechanism, pedestal tilt, and canting error. Each error produces characteristic signatures, but there is a diversity of behavior depending on the error parameters and location of the heliostat. The variation of the extent of drift curves is studied as a function of distance, for fixed error parameters. It is found that, in general, this extent is not proportional to distance, except for far heliostats, and depends on a complicated manner on the different parameters involved. Moreover, even though the extent of drift curves becomes proportional to distance for far heliostats, the convergence is very slow, and very variable with the error parameters. V C 2014 AIP Publishing LLC. [http://dx.

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