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What It s Like Here is an example of a telepresence scenario The robot is autonomous and has a humanoid form The control station consists of a suit that you wear or a chair in which you sit with various manipulators and displays Sensors can give you feelings of pressure, sight, and sound You wear a helmet with a viewing screen that shows whatever the robot camera sees When your head turns, the robot head, with its vision system, follows, so you see an image that changes as you turn your head, as if you were in a space suit or diving suit at the location of the robot Binocular machine vision provides a sense of depth Binaural machine hearing allows you to perceive sounds Special vision modes let you see UV or IR; special hearing modes let you hear ultrasound or infrasound A telechir can be propelled by means of a track drive (similar to those used by military tanks), a wheel drive, or robot legs If the propulsion uses legs, you propel the telechir by literally walking around a room in your telepresence suit! In the case of track drive or wheel drive, you sit in a chair and drive the robot like a tank or a car The telechir, which is a form of android, has two arms, each with grippers resembling human hands When you want to pick something up, you go through the normal motions with your own hands Back-pressure sensors and position sensors let you feel (to a limited extent) what s going on If an object masses 1 kg, it feels as if it masses 1 kg because of resistance provided by the back-pressure sensors But it will be as if you re wearing thick gloves; you won t be able to feel texture You might throw a switch, and something that masses 10 kg feels as if it masses only 1 kg This might be called strength 10 mode If you switch to strength 100 mode, a 100-kg object seems to mass only 1 kg Functional Description Figure 34-12 is a simplified diagram of a robot telepresence system using an android and a wireless control link At the control end of the system (where the human operator is), electromechanical transducers convert the human operator s movements into electrical signals The modem converts these signals into analog form The analog signals modulate the RF produced by the transceiver, which in turn transmits commands by wireless to the telechir end of the system Radio signals from the telechir arrive at the operator-end transceiver These signals are converted into analog impulses, and are translated by the modem into electrical signals that power transducers, giving the operator a sense of what is going on At the telechir end of the system, the transceiver receives control signals from the human operator These signals are translated by the modem into impulses that drive electromechanical transducers, propelling or manipulating the telechir Data obtained by the telechir, such as its visual sense of position, environmental sounds, or the apparent mass of a lifted object, are converted by the modem into electrical signals These signals modulate the RF energy produced by the transceiver Signals are thus sent back to the operator end by wireless.

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1 1 1

(812)

combines remote monitoring and control, giving the operator the feeling of being onsite at a distant location

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If each row of H is denoted as hi , then the rst three components of each hi de ne a unit vector pointing from the satellite to the point of linearization xk For each iteration of eqn (810), the matrix H should be recalculated This recalculation is most important when pk p is large The iteration of eqn (810) assumes that the rows of H are linearly independent so that the required matrix inverse exists The iteration of eqn (810) is concluded when the change in the estimate xk given by 1 H ( ( k )) x (813) dxk = H H in a given iteration has magnitude dxk less than a prespeci ed threshold The fact that dxk is small at the conclusion of the iteration does not imply that (814) xk = x xk is small The estimate xk was selected to minimize the norm of the error between the computed pseudorange and measurements of the pseudorange Therefore, the pseudorange measurement errors de ned in eqn (87)

Applications Here are a few potential applications for a telepresence system using a human operator and an android:

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82 GPS PSEUDORANGE Satellite SV 2 SV26 SV 4 SV 7 x, m +776618844 -2592267966 -574377402 -278600569 y, m -2196053534 -662946128 -2582831992 -1590072580 z, m +1252283856 +3186437 +169275772 +2130200349

Table 81: ECEF satellite positions have a determinative role in the resulting characterization of the vector xk The relationship between , the matrix H, and the characteristics of x are discussed in Section 85 Example 81 At time t, a set of satellite positions are calculated using the equations in Appendix C The resulting positions are shown in Table 81 At the same time t, the pseudoranges are measured to be 2 26 4 7 = = = = 2222820642m, 2409613911m, 2172907063m, 2125958109m

Working in extreme heat or cold Working under high pressure, such as on the sea floor Working in a vacuum, such as in space Working where there is dangerous radiation Disarming bombs Handling toxic substances Serving in high-risk police or military situations

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