Chapter Telepresence

Teach Yourself Electricity and Electronics Third Edition Book
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Teach Yourself Electricity and Electronics Third Edition Book

  • era, and AI software. You can figure out your coordinates and altitude, using onlythese devices, by letting the computer work with the image of the island. As you flyalong, you aim the camera at the island and keep it there. The computer sees an im-age that constantly changes shape. The computer has the map data, so it knows thetrue size, shape, and location of the island. The computer compares the shape/size ofthe image it sees, from the vantage point of the aircraft, with the actual shape/size ofthe island, which it knows from the map data. From this alone, it can determine youraltitude, your speed relative to the surface, your exact latitude, and your exact lon-gitude. There is a one-to-one correspondence between all points within sight of theisland and the size/shape of the island’s image.Epipolar navigation works on any scale, for any speed. It is a method by which ro-bots can find their way without triangulation, direction finding, beacons, sonar, or radar.It is only necessary that the robot have a computer map of its environment and thatviewing conditions be satisfactory.TelepresenceTelepresence is a refined, advanced form of robot remote control. The robot opera-tor gets a sense of being “on location,” even if the remotely controlled machine, ortelechir, and the operator are miles apart. Control and feedback are done by meansof telemetry sent over wires, optical fibers, or radio.What it’s likeWhat would it be like to operate a telechir? Here is a possible scenario. The robot isautonomous and has a humanoid form. The control station consists of a suit that youwear or a chair in which you sit with various manipulators and displays. Sensors cangive you feelings of pressure, sight, and sound.You wear a helmet with a viewing screen that shows whatever the robot camerasees. When your head turns, the robot head, with its vision system, follows, so you seean image that changes as you turn your head, as if you were in a space suit or diving suitat the location of the robot. Binocular robot vision provides a sense of depth. Binauralrobot hearing allows you to perceive sounds. Special vision modes let you see UV or IR;special hearing modes let you hear ultrasound or infrasound.Robot propulsion can be carried out by means of a track drive, a wheel drive, or ro-bot legs. If the propulsion uses legs, you propel the robot by walking around a room.Otherwise you sit in a chair and drive the robot like a car. The telechir has two arms,each with grippers resembling human hands. When you want to pick something up, yougo through the motions. Back-pressure sensors and position sensors let you feel what’sgoing on. If an object weighs 10 pounds, it will feel as if it weighs 10 pounds. But it willbe as if you’re wearing thick gloves; you won’t be able to feel texture. You might throwa switch, and something that weighs 10 pounds feels as if it only weighs one pound. Thismight be called “strength 10” mode. If you switch to “strength 100” mode, a 100-pound object seems to weigh 1 pound.Figure 34-10 is a simple block diagram of a telepresence system.Telepresence661