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where significant contributions can be made. Before undertaking this project it is important to realize that an HMD that supplies stereo images to the user will be needed to view stereo images transmitted from the T-bot. The small size of the miniature video cameras is good for stereographic imaging. It allows two cameras to be positioned side by side at the same interocular distance (IOD) as that of human eyes. To be more specific, the average interocular distance (pupil to pupil) for adult humans is about 63 mm. The camera s lenses can be positioned, from center to center, this same distance apart to mimic the IOD humans use for depth perception. The transmitters for each camera must be tuned to transmit on different frequencies. This allows the HMD video receivers to accurately display the right eye image to the right eye and the left eye image to the left eye. Seeing in stereo from the Golem provides the operator with depth perception when he or she is driving. Stereo-vision becomes increasingly more important when depth perception is needed, for instance when using a robotic arm. Being able to see the manipulator (robot arm) move along the Z axis in a three-dimensional (3D) coordinate system (X, Y, and Z) allows for efficient operation. It is difficult for an operator to efficiently use robotic arms via telepresence when the Z dimension (depth) is lost in a monocular view. Operators are forced to gently bump into objects to approximate the robotic manipulator s location along the Z axis. The same is true when driving a telepresence car. One quickly loses depth perception, and it becomes difficult to determine how far ahead of the vehicle something is. When the stereo system is set up, the operator of the vehicle will see the T-bot s environment as a 3D picture. However, the stereo image transmitted will not contain the very important convergence clues. Much of our distance reckoning incorporates convergence clues we get from our eyes. Convergence is the angle our eyes rotate inward when viewing an object. An object very close to us will cause our eyes to rotate inward. In contrast, when viewing an object that is far away, our eyes look straight ahead. The brain automatically brings this convergence information to bear in calculating distance. The stereo video cameras are in a fixed position looking straight ahead. To add convergence clues would require eye tracking engineering. A feedback-providing HMD would need to constantly ascertain the operator s eye convergence. The eye tracking (convergence) information would be transmitted to servo motors
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that hold the video cameras and would converge the video cameras in direct proportion to the operator s eye convergence. This type of master-slave system, as far as I know, has not been built. It needs to be determined how accurate this system would be in helping an operator gauge distance. While building this system is beyond the scope of this book, it is not beyond the scope of an avid experimenter.
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5 includes plans for a digital compass that is suitable for use with Golem. The compass can be set up in two different ways. The first method keeps the light-emitting diodes (LEDs) of the compass in the visual field of the video camera. A quick look informs the operator in which direction Golem is traveling. The second option uses a radio link between the digital output of the compass on the T-bot and the remote location of the operator.
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When driving the model car via telepresence, you cannot feel the tilt or roughness of the road as you drive. To incorporate a rumble feature into the system, you could use the spring suspension of the model car. Any number of sensors can be used for this purpose, for instance, piezoelectric transducers, Hall devices, and strain gauges. The challenge to the experimenter is not in detecting the rumble, but in providing that information to the seat of the operator. Most motion platforms use expensive pneumatic and hydraulic systems. If cost is an issue, this isn t an option. A cheaper solution can be found in the ThunderSeat by ThunderSeat Technologies. The Thunderseat utilizes any sound source to generate vibratory sensations. It contains a subwoofer speaker coupled to an acoustical wave chamber inside the seat. The wave chamber vibrates the entire seat. The low-frequency (woofer) speaker can handle up to 100 watts (W) of power. The frequency response of the system is 50 Hz to 3.7 kHz. Originally designed to work with flight simulator programs running with a sound card on a personal computer (PC), the output from the sound card is fed into an amplifier and then to the Thunderseat.
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