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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.

Finally, implement any difficult strategy slowly, especially if it s of the repositioning kind. People need time to adjust to change. By making changes slowly, you reduce the anxiety that comes with a dramatic shift of strategy.

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.

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.

* Peter F. Drucker, Management: Tasks, Responsibilities, Practices (New York: Harper & Row, 1974), p. 61.

As with the rumble interface, there are several transducers one can use to determine tilt (see Chap. 5). One tilt sensor uses a steel

There remains, of course, a finite arbitrariness After introduction of a regularization, the coefficients of the counterterms are completely determined by normalization conditions, imposed on the superficially divergent Green functions If these normalization conditions are satisfied to lowest order (the tree approximation as implied by the initial Lagrangian), demanding that the Green functions satisfy them order by order fixes unambiguously not only the infinite but also the finite part of the counterterms For instance, in the renormalizable <p4 theory of a scalar field of mass m, the two-point function r(2) is quadratically divergent [w(r(2) = 2] We demand that the renormalized r~) satisfies (8-30) This is a natural condition for the physical mass, since the interpretation of the theory in terms of particles requires that the complete propagator G~)(p2) = i[r}l)(p2)]-1 has a pole of residue i at p2 = m2.

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