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[Gzz-commits] manuscripts/Control1 poster.rst
From: |
Tuomas J. Lukka |
Subject: |
[Gzz-commits] manuscripts/Control1 poster.rst |
Date: |
Mon, 05 May 2003 16:39:25 -0400 |
CVSROOT: /cvsroot/gzz
Module name: manuscripts
Changes by: Tuomas J. Lukka <address@hidden> 03/05/05 16:39:25
Modified files:
Control1 : poster.rst
Log message:
reorg
CVSWeb URLs:
http://savannah.gnu.org/cgi-bin/viewcvs/gzz/manuscripts/Control1/poster.rst.diff?tr1=1.65&tr2=1.66&r1=text&r2=text
Patches:
Index: manuscripts/Control1/poster.rst
diff -u manuscripts/Control1/poster.rst:1.65
manuscripts/Control1/poster.rst:1.66
--- manuscripts/Control1/poster.rst:1.65 Mon May 5 16:39:10 2003
+++ manuscripts/Control1/poster.rst Mon May 5 16:39:25 2003
@@ -93,7 +93,7 @@
controllers out of commodity parts, without requiring electrical or
mechanical engineering experience.
The components that suit our purposes best are LEGO bricks and
-optom
+optomechanical computer mice.
.. from the end user point of view, several spesific
controllers have been tricky to use simultaneously before USB
@@ -121,14 +121,6 @@
- a way to do user interface device research on EXTREMELY
limited budgets
- - LEGO has already published a robotics invention series called
- Mindstorms, which also contains bricks with touch and light
- sensors and a central unit to control them. Even the central unit
- alone
- is quite expensive and the existing sensors
- are not accurate
- enough for controller use, we look them forward with interests.
-
- advantages:
- LEGO bricks
@@ -164,14 +156,22 @@
was measured by having the fishing line go through a grid wheel
in the mouse with small weigtht at the end maintaining tension.
+- LEGO has already published a robotics invention series called
+ Mindstorms, which also contains bricks with touch and light
+ sensors and a central unit to control them. Even the central unit
+ alone
+ is quite expensive and the existing sensors
+ are not accurate
+ enough for controller use, we look them forward with interests.
+
REF: Mindstorms-using articles &c
[fitzmaurice95bricks]_
- - using physical Lego-size bricks as controllers for applications
- on a large horizontal display surface
- - a Lego brick sorting experiment shows how two hands are
- used flexibly in parallel
+- using physical Lego-size bricks as controllers for applications
+ on a large horizontal display surface
+- a Lego brick sorting experiment shows how two hands are
+ used flexibly in parallel
Graph: axes: price, DOF
@@ -192,36 +192,36 @@
the optomechanical mice.
.. figure:: required.jpg
- :width: 7.5cm
- :label: figrequired
+:width: 7.5cm
+:label: figrequired
- The non-LEGO parts and tools required for a controller.
- A USB mouse would be preferred to the PS/2 mouse
- shown in the picture, since several can be connected
- to a computer simultaneously as separate input sources.
+The non-LEGO parts and tools required for a controller.
+A USB mouse would be preferred to the PS/2 mouse
+shown in the picture, since several can be connected
+to a computer simultaneously as separate input sources.
.. figure:: mouseopen.jpg
- :width: 7.5cm
- :label: figmouseopen
+:width: 7.5cm
+:label: figmouseopen
- The mouse, opened with the screwdriver. The screwdriver
- will not be needed after this step.
+The mouse, opened with the screwdriver. The screwdriver
+will not be needed after this step.
.. figure:: mousemechanism.jpg
- :width: 7.5cm
- :label: figmousemechanism
+:width: 7.5cm
+:label: figmousemechanism
- The mechanism of the mouse: the mouse ball, which rotates
- from contact with the underlying surface, rotates
- the two axles whose motion is then detected.
+The mechanism of the mouse: the mouse ball, which rotates
+from contact with the underlying surface, rotates
+the two axles whose motion is then detected.
.. figure:: optomechanism.jpg
- :width: 7.5cm
- :label: figoptomechanism
+:width: 7.5cm
+:label: figoptomechanism
- In optomechanical mice, the motion of the axles is detected
- by the IR light gate whose beam is cut by the slitted disk.
+In optomechanical mice, the motion of the axles is detected
+by the IR light gate whose beam is cut by the slitted disk.
Figures [ref-figrequired]_ - [ref-figoptomechanism]_ explain
the internal mechanism of optomechanical mice,
@@ -238,15 +238,15 @@
affected: the gate missed a large fraction of the events.
.. figure:: wheelmechanism1.jpg
- :width: 7.5cm
- :label: figwheelmechanism1
+:width: 7.5cm
+:label: figwheelmechanism1
- The principle behind the current version of
- our interface between the optomechanical mouse and
- LEGO pieces: driving the mouse axles by a rubber LEGO tyre.
- A smooth tyre (Bricklink part no 132-old)
- works even better, but they are currently
- in short supply.
+The principle behind the current version of
+our interface between the optomechanical mouse and
+LEGO pieces: driving the mouse axles by a rubber LEGO tyre.
+A smooth tyre (Bricklink part no 132-old)
+works even better, but they are currently
+in short supply.
The third and so far final solution is to use the mouse's own
mechanism, simply driving it using a LEGO rubber tyre
@@ -259,24 +259,24 @@
[ref-figpressmechanism1]_.
.. figure:: pressmechparts.jpg
- :width: 7.5cm
- :label: figpressmechparts
+:width: 7.5cm
+:label: figpressmechparts
- The LEGO parts for the driving mechanism
+The LEGO parts for the driving mechanism
.. figure:: pressmechanism1.jpg
- :width: 7.5cm
- :label: figpressmechanism1
+:width: 7.5cm
+:label: figpressmechanism1
- The driving mechanism assembled. The mechanism is attached
- to the LEGO framework by the long axle; the driving tyre
- is on one end of the 1x5 liftarms and
- a towball for attaching a rubber band
- at the other.
- The rubber band is used to pull the towball upwards,
- which in turn presses the tyre downwards.
- The force is easily adjustable by adjusting the other
- end of the rubber band.
+The driving mechanism assembled. The mechanism is attached
+to the LEGO framework by the long axle; the driving tyre
+is on one end of the 1x5 liftarms and
+a towball for attaching a rubber band
+at the other.
+The rubber band is used to pull the towball upwards,
+which in turn presses the tyre downwards.
+The force is easily adjustable by adjusting the other
+end of the rubber band.
With the pressure mechanism, it is simple to build a housing
for the lower part of the mouse case and place the tyre holders
@@ -286,22 +286,22 @@
.. figure:: framestart.jpg
- :width: 7.5cm
- :label: figframestart
+:width: 7.5cm
+:label: figframestart
- The beginnings of the housing for the mouse case.
+The beginnings of the housing for the mouse case.
.. figure:: framedrivers.jpg
- :width: 7.5cm
- :label: figframedrivers
+:width: 7.5cm
+:label: figframedrivers
- The driving mechanisms (using a slightly different version
- than the one depicted in the previous figures)
- attached. After the towballs are attached
- to rubber bands for pressing the tyres downwards slightly,
- motions from the LEGO axles are accurately translated to mouse
- X and Y motions.
+The driving mechanisms (using a slightly different version
+than the one depicted in the previous figures)
+attached. After the towballs are attached
+to rubber bands for pressing the tyres downwards slightly,
+motions from the LEGO axles are accurately translated to mouse
+X and Y motions.
On the software side, the Linux kernel is able to
pass events from each USB mouse to a different virtual device
@@ -324,13 +324,13 @@
focused node and the peripherally shown nodes.
.. figure:: loomcontrol.jpg
- :width: 7.5cm
- :label: figloomcontrol
+:width: 7.5cm
+:label: figloomcontrol
- A fully functional controller prototype, with two
- absolute arm controls and a wheel control. All three
- controls have enough friction
- to retain their position.
+A fully functional controller prototype, with two
+absolute arm controls and a wheel control. All three
+controls have enough friction
+to retain their position.
We must stress that
this constoller is still very much work in progress;
@@ -353,16 +353,16 @@
by preserving its position
.. figure:: joystick.jpg
- :width: 7.5cm
- :label: figjoystick
+:width: 7.5cm
+:label: figjoystick
- A 2D joystick-like controller built from LEGO bricks as
- a proof-of-principle.
- There is no force returning the joystick to its
- center position in this design, but if desired,
- that could easily be added (although in that case simply
- purchasing a commodity
- game controller would be easier).
+A 2D joystick-like controller built from LEGO bricks as
+a proof-of-principle.
+There is no force returning the joystick to its
+center position in this design, but if desired,
+that could easily be added (although in that case simply
+purchasing a commodity
+game controller would be easier).
Practical tips
==============
@@ -388,43 +388,43 @@
the following design rules:
- No frictionless pins. For controllers, the frictionless pins are next to
useless
- except in special circumstances due to their looseness.
+except in special circumstances due to their looseness.
- A high gear ratio right after the gear attached to the
- control stick is vital
- to alleviate the looseness in gears after that.
+control stick is vital
+to alleviate the looseness in gears after that.
- Axles used in gear trains must be supported at several points,
- far enough from each other.
+far enough from each other.
- All moving
- joints should be designed
- symmetrically, using e.g. 3-long pins with friction.
- This is similar
- to taking the numerical derivative of a function
+joints should be designed
+symmetrically, using e.g. 3-long pins with friction.
+This is similar
+to taking the numerical derivative of a function
.. raw:: latex
- $f(x)$
+$f(x)$
- at
+at
.. raw:: latex
- $x$
-
- as
+$x$
+
+as
.. raw:: latex
- $(f(x+\epsilon/2) - f(x-\epsilon/2)) / \epsilon$
+$(f(x+\epsilon/2) - f(x-\epsilon/2)) / \epsilon$
- instead of
+instead of
.. raw:: latex
- $(f(x+\epsilon) - f(x)) / \epsilon$
-
+$(f(x+\epsilon) - f(x)) / \epsilon$
+
Handles
@@ -440,11 +440,11 @@
handle is shown in Fig. [ref-figoctagonal]_.
.. figure:: octagonal.jpg
- :width: 7.5cm
- :label: figoctagonal
+:width: 7.5cm
+:label: figoctagonal
- A rugged and relatively comfortable octagonal
- handle built from slopes and inverted slopes.
+A rugged and relatively comfortable octagonal
+handle built from slopes and inverted slopes.
With some more effort, ergonomic handles of any imaginable shape
@@ -453,13 +453,13 @@
modelling paste, as in [ref-figpaste1]_.
.. figure:: paste1.jpg
- :width: 7.5cm
- :label: figpaste1
+:width: 7.5cm
+:label: figpaste1
- An ergonomic handle implemented using
- air-hardening modelling paste. The handle was
- molded directly to the left hand of one of our research
- group's members.
+An ergonomic handle implemented using
+air-hardening modelling paste. The handle was
+molded directly to the left hand of one of our research
+group's members.
@@ -475,7 +475,7 @@
- easy to build
- reusable parts
- USB -> can attach as many as we want, simple to use
- programmatically e.g. in Linux
+programmatically e.g. in Linux
- taps to several scientists' hidden background in LEGO building.
- fun, motivating
@@ -483,31 +483,31 @@
- weak (legos may break apart)
- - requires careful construction
+- requires careful construction
- - see tips section
+ - see tips section
- - gluing parts
+- gluing parts
- mechanical looseness
- - some inevitable
+- some inevitable
- - humans used to some
+- humans used to some
- - can be alleviated to a great degree by careful construction
+- can be alleviated to a great degree by careful construction
- - see tips
+ - see tips
- relatively big size
- - size has already reduced and will probably still reduce by new
- inventions for connecting mouse's optomechanics mouse to handles
+- size has already reduced and will probably still reduce by new
+ inventions for connecting mouse's optomechanics mouse to handles
- requires calibration
- having to explain to budget counters purchases of LEGO sets with
- interesting names (or bricklink purchases)
+interesting names (or bricklink purchases)
Most of the cons are still acceptable for prototypes, using LEGO bricks for
prototyping won't rule out the possibility to create "real" controller
- [Gzz-commits] manuscripts/Control1 poster.rst, (continued)
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Asko Soukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Asko Soukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Asko Soukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst,
Tuomas J. Lukka <=
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Janne V. Kujala, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Matti Katila, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05