Rich gave a talk on this, and there is an associated HN thread for the talk, but some of you may be interested in the original transducers presentation. You can

Rich gave a talk on this, and there is an associated HN thread for the talk, but some of you may be interested in the original transducers presentation. You can view it here: https://www.youtube.com/watch?v=6mTbuzafcII https://www.youtube.com/watch?v=6mTbuzafcII