CFA Level 3, Schweser Seminar Slide Workbook, Volume 1, 2010 by Kaplan Schweser

By Kaplan Schweser

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To eliminate view rotation, the human’s view axis must be perpendicular to the displays plane, at the area of interest. This constraint is clearly impractical because it means that as the user changes his area of interest, he must translate. Thus, a more reasonable constraint is to place the human on the display’s centerline to reduced view rotation. This constraint can be represented mathematically by the conditions 7 If the center of rotation is the center of the image plane, then the translation component is zero.

Each camera/display should independently satisfy the control and view constraints mentioned previously. P. E. A. Peshkin For simplicity, assume that the cameras and robot frames are fixed and known, but the displays, manipulandum, and human frames need to be arranged. This is often the case. The robot frame is often intelligently chosen for the given application and robot kinematics. Similarly, the cameras are often chosen based on where they physically can be placed and where they are most beneficial for the given tasks.

Second, passive measures of attention switching, such as eye tracking, may initiate transition when the user is merely glancing between displays. On the other hand, requiring the user to press a button when switching adds time and may increase overall mental workload for an interface. , when trying not to collide with multiple objects seen in separate views), transition becomes completely infeasible. Fig. 10. P. E. A. Peshkin An alternative method to placing the displays around the user is to place the user and manipulandum around the displays.

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