/[gzz]/manuscripts/Control1/poster.rst
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revision 1.78 by tjl, Mon May 5 21:13:00 2003 UTC revision 1.79 by mudyc, Mon May 5 21:13:43 2003 UTC
# Line 205  controllers has been the interfacing of Line 205  controllers has been the interfacing of
205  the optomechanical mice.  the optomechanical mice.
206    
207  .. figure:: required.jpg  .. figure:: required.jpg
208    :width: 7.5cm  :width: 7.5cm
209    :label: figrequired  :label: figrequired
210    
211  The non-LEGO parts and tools required for a controller.  The non-LEGO parts and tools required for a controller.
212  A USB mouse would be preferred to the PS/2 mouse  A USB mouse would be preferred to the PS/2 mouse
# Line 214  shown in the picture, since several can Line 214  shown in the picture, since several can
214  to a computer simultaneously as separate input sources.  to a computer simultaneously as separate input sources.
215    
216  .. figure:: mouseopen.jpg  .. figure:: mouseopen.jpg
217    :width: 7.5cm  :width: 7.5cm
218    :label: figmouseopen  :label: figmouseopen
219    
220  The mouse, opened with the screwdriver. The screwdriver  The mouse, opened with the screwdriver. The screwdriver
221  will not be needed after this step.  will not be needed after this step.
222    
223  .. figure:: mousemechanism.jpg  .. figure:: mousemechanism.jpg
224    :width: 7.5cm  :width: 7.5cm
225    :label: figmousemechanism  :label: figmousemechanism
226    
227  The mechanism of the mouse: the mouse ball, which rotates  The mechanism of the mouse: the mouse ball, which rotates
228  from contact with the underlying surface, rotates  from contact with the underlying surface, rotates
# Line 230  the two axles whose motion is then detec Line 230  the two axles whose motion is then detec
230    
231    
232  .. figure:: optomechanism.jpg  .. figure:: optomechanism.jpg
233    :width: 7.5cm  :width: 7.5cm
234    :label: figoptomechanism  :label: figoptomechanism
235    
236  In optomechanical mice, the motion of the axles is detected  In optomechanical mice, the motion of the axles is detected
237  by the IR light gate whose beam is cut by the slitted disk.  by the IR light gate whose beam is cut by the slitted disk.
# Line 251  additional materials or tools, but the a Line 251  additional materials or tools, but the a
251  affected: the gate missed a large fraction of the events.  affected: the gate missed a large fraction of the events.
252    
253  .. figure:: wheelmechanism1.jpg  .. figure:: wheelmechanism1.jpg
254    :width: 7.5cm  :width: 7.5cm
255    :label: figwheelmechanism1  :label: figwheelmechanism1
256    
257  The principle behind the current version of  The principle behind the current version of
258  our interface between the optomechanical mouse and  our interface between the optomechanical mouse and
# Line 272  LEGO mechanism shown in Figs. [ref-figpr Line 272  LEGO mechanism shown in Figs. [ref-figpr
272  [ref-figpressmechanism1]_.  [ref-figpressmechanism1]_.
273    
274  .. figure:: pressmechparts.jpg  .. figure:: pressmechparts.jpg
275    :width: 7.5cm  :width: 7.5cm
276    :label: figpressmechparts  :label: figpressmechparts
277    
278  The LEGO parts for the driving mechanism  The LEGO parts for the driving mechanism
279    
280  .. figure:: pressmechanism1.jpg  .. figure:: pressmechanism1.jpg
281    :width: 7.5cm  :width: 7.5cm
282    :label: figpressmechanism1  :label: figpressmechanism1
283    
284  The driving mechanism assembled. The mechanism is attached  The driving mechanism assembled. The mechanism is attached
285  to the LEGO framework by the long axle; the driving tyre  to the LEGO framework by the long axle; the driving tyre
# Line 299  is not shown in the these images). Line 299  is not shown in the these images).
299    
300    
301  .. figure:: framestart.jpg  .. figure:: framestart.jpg
302    :width: 7.5cm  :width: 7.5cm
303    :label: figframestart  :label: figframestart
304    
305  The beginnings of the housing for the mouse case.  The beginnings of the housing for the mouse case.
306    
307    
308  .. figure:: framedrivers.jpg  .. figure:: framedrivers.jpg
309    :width: 7.5cm  :width: 7.5cm
310    :label: figframedrivers  :label: figframedrivers
311    
312  The driving mechanisms (using a slightly different version  The driving mechanisms (using a slightly different version
313  than the one depicted in the previous figures)  than the one depicted in the previous figures)
# Line 339  The handles can be used to control zoom Line 339  The handles can be used to control zoom
339  focused node and the peripherally shown nodes.  focused node and the peripherally shown nodes.
340    
341  .. figure:: loomcontrol.jpg  .. figure:: loomcontrol.jpg
342    :width: 7.5cm  :width: 7.5cm
343    :label: figloomcontrol  :label: figloomcontrol
344    
345  A fully functional controller prototype, with two  A fully functional controller prototype, with two
346  absolute arm controls and a wheel control. All three  absolute arm controls and a wheel control. All three
# Line 368  differs from general joystick game contr Line 368  differs from general joystick game contr
368  by preserving its position  by preserving its position
369    
370  .. figure:: joystick.jpg  .. figure:: joystick.jpg
371    :width: 7.5cm  :width: 7.5cm
372    :label: figjoystick  :label: figjoystick
373    
374  A 2D joystick-like controller built from LEGO bricks as  A 2D joystick-like controller built from LEGO bricks as
375  a proof-of-principle.  a proof-of-principle.
# Line 420  to taking the numerical derivative of a Line 420  to taking the numerical derivative of a
420    
421  .. raw:: latex  .. raw:: latex
422    
423     $f(x)$  $f(x)$
424    
425  at  at
426    
427  .. raw:: latex  .. raw:: latex
428    
429     $x$  $x$
430    
431  as  as
432    
433  .. raw:: latex  .. raw:: latex
434    
435     $(f(x+\epsilon/2) - f(x-\epsilon/2)) / \epsilon$  $(f(x+\epsilon/2) - f(x-\epsilon/2)) / \epsilon$
436    
437  instead of  instead of
438    
439  .. raw:: latex  .. raw:: latex
440    
441     $(f(x+\epsilon) - f(x)) / \epsilon$  $(f(x+\epsilon) - f(x)) / \epsilon$
442    
443    
444    
# Line 455  As an example, an octagonal Line 455  As an example, an octagonal
455  handle is shown in Fig. [ref-figoctagonal]_.  handle is shown in Fig. [ref-figoctagonal]_.
456    
457  .. figure:: octagonal.jpg  .. figure:: octagonal.jpg
458    :width: 7.5cm  :width: 7.5cm
459    :label: figoctagonal  :label: figoctagonal
460    
461  A rugged and relatively comfortable octagonal  A rugged and relatively comfortable octagonal
462  handle built from slopes and inverted slopes.  handle built from slopes and inverted slopes.
# Line 468  LEGO bricks with air-hardening Line 468  LEGO bricks with air-hardening
468  modelling paste, as in [ref-figpaste1]_.  modelling paste, as in [ref-figpaste1]_.
469    
470  .. figure:: paste1.jpg  .. figure:: paste1.jpg
471    :width: 7.5cm  :width: 7.5cm
472    :label: figpaste1  :label: figpaste1
473    
474  An ergonomic handle implemented using  An ergonomic handle implemented using
475  air-hardening modelling paste. The handle was  air-hardening modelling paste. The handle was

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