 안녕하세요. 정중김입니다. 저는 기술사의 포스트 닥터리리셜입니다. 이 책에 대해서 모델미스메치의 효과가 있습니다. 모델미디아티드 텔레포레이션의 스테리티의 stabilty입니다. 모델미디아티드 텔레포레이션은 시스템의 stabilty와 트랜스레이션을 제공하고 있습니다. however, previous experimental researches reported that systems mediated by linear models become unstable when interacting with nonlinear objects and some researchers analysed the system stability but they do not focus on the model mismatch. 그래서, 이 책을 왜 and when the model mismatch causes instability of model mediated teleportation. In the analysis, it is assumed that the system employs a linear or nonlinear spring-temper model and the robot interacts with a nonlinear object and the robot is position-controlled to track the position of the haptic device. A theorem can be derived from the assumptions and this inequality is also derived. This implies that the stiffness term in the model generates energy during the interaction when there is time delay. The analysis is verified experimentally and the result shows that the system becomes unstable in the presence of time delay as predicted by the analysis. So this is the conclusion. It is confirmed that the time delay makes the model stiffness is smaller in the pressing motion than in the releasing motion. And the stiffness difference generates surplus energy. From this conclusion, we have two options to avoid energy generation. One is adjusting the stiffness value of the model and the other is adjusting the reference point of the model. I also proposed a method adaptably setting the reference point of the model responding to the stiffness update. So please refer to this journal if you are interested. So this is the end of my presentation. Thank you.