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TETHERED ROBOTS
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The simplest form of telerobot operates through a tether, which is simply a bundle of wires between the robot and its operator. You ve seen these, and probably owned one yourself, in the form of a battery-powered toy car. The simplest form of control box is one or more switches that turn on motors in the remote robot. Such a simple mechanism can barely be called a robot and, in fact, most of them do not have pretensions of being a robot. Mostly they are remote-controlled cars. A tether is still a useful form of connection between the operator and the robot. It is more reliable and less expensive than other forms of remote control. In a more robotic case than the toy car, the operator gives high-level commands to the robot through the tether. The robot interprets these commands and carries them out to the best of its abilities, using its internal programs to work out the details of the operation. Information comes back up the tether to the operator as well. The robot can send status and other information to the operator, as well as video, audio, or other forms of sensory information. The operator becomes part of the robot control system, a high-level supervisor keeping everything on track. This adds another layer to our robotic control. At the lowest level, there is the basic control over individual motors and sensors. Above this there is one or more layers of computer programs that organize the individual motors, coordinating them into coherent patterns of motion. The program layer is a middle manager,
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interpreting the high-level commands and keeping the low-level systems organized. Finally, in a telerobotic system, the human operator gives commands to these programs, telling them what to do next.
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The next level of telepresence removes the tether cable and replaces it with light or radio waves. You actually experience telepresence nearly every day of your life. The television lets you see an environment that is far away in both space and time and, most often, reality. This fantasy world is broadcast to you on invisible waves and painted on your television screen with electrons. The telephone, or in my case the wireless telephone, gives you audio telepresence. Your voice is carried over wires and wireless mechanisms to be broadcast in a remote location, just as your ear can hear the sounds captured from this same remote location. A telepresence link is not much more than a teleconferencing hookup, with pictures and sound. Along with these sensory signals there can be data signals, controls to the remote robot and status information coming back from it. Today we have high-speed data communications in the form of DSL and cable modems, among other systems. We forget that not too long ago information was transmitted by simple sounds. If you wanted your computer to communicate with another, it would send a series of tones down the phone line using a modem (MOdulator/DEModulator). The other computer listens to these tones and turns them back into data. You could listen in to this electronic conversation, and old-timers are very familiar with the modem squeal. A noisy telephone line could turn this data into junk, of course, but that is always the case. Unclear communcation, even on the human level, leads to loss of information. Many people still use tone-generating modems to access the Internet, and fax machines use a similar technology. Remote control of a robot, then, could be nothing more than a modem connection over a wireless telephone to the robot. Of course, it could also be much more, depending on your needs and budget.
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