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ima and minima are called loops and nodes, respectively. At a current loop, the voltage is minimum (a voltage node), and at a current node, the voltage is maximum (a voltage loop). The current and voltage loops and nodes along a mismatched transmission line, if graphed as functions of the position on the line, form wavelike patterns that remain fixed over time. They just stand there. For this reason, they are called standing waves.

Telepresence is a refined, advanced form of robot remote control. The robot operator gets a sense of being on location, even if the remotely controlled machine, or telechir, and the operator are miles apart. Control and feedback are done by means of telemetry sent over wires, optical fibers, or radio.

From DS-1 to DS-3

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Standing-Wave Loss At current loops, the loss in line conductors reaches a maximum At voltage loops, the loss in the dielectric reaches a maximum At current nodes, the loss in the conductors reaches a minimum At voltage nodes, the loss in the dielectric reaches a minimum It is tempting to suppose that everything would average out here, but it doesn t work that way! Overall, in a mismatched line, the line losses are greater than they are in a perfectly matched line This extra line loss increases as the mismatch gets worse Transmission-line mismatch loss, also called standing-wave loss, occurs in the form of heat dissipation It is true power Any true power that goes into heating up a transmission line is wasted, because it cannot be dissipated in the load The greater the mismatch, the more severe the standing-wave loss becomes.

What would it be like to operate a telechir Here is a possible 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 robot vision provides a sense of depth Binaural robot hearing allows you to perceive sounds Special vision modes let you see UV or IR; special hearing modes let you hear ultrasound or infrasound.

We have already seen the process for creating the DS-1 signal from 24 incoming DS-0 channels and an added frame bit. Now we turn our attention to higher bit-rate services. As we wander our way through this

The more loss a line has to begin with (that is, when it is perfectly matched), the more loss is caused by a given amount of mismatch Standing-wave loss also increases as the frequency increases, if all other factors are held constant This loss is the most significant, and the most harmful, in long lengths of transmission line, especially in RF practice at VHF, UHF, and microwave frequencies Line Overheating A severe mismatch between the load and the transmission line can cause another problem: physical damage to, or destruction of, the line! A feed line might be able to handle a kilowatt (1 kW) of power when it is perfectly matched.

Robot propulsion can be carried out by means of a track drive, a wheel drive, or robot 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, you go through the motions Back-pressure sensors and position sensors let you feel what s going on If an object weighs 10 pounds, it will feel as if it weighs 10 pounds 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 weighs 10 pounds feels as if it only weighs one pound This might be called strength 10 mode.

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