/[gzz]/manuscripts/Control1/poster.rst
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revision 1.80 by jvk, Mon May 5 21:14:33 2003 UTC revision 1.81 by mudyc, Mon May 5 21:21:13 2003 UTC
# Line 209  controllers has been the interfacing of Line 209  controllers has been the interfacing of
209  the optomechanical mice.  the optomechanical mice.
210    
211  .. figure:: required.jpg  .. figure:: required.jpg
212  :width: 7.5cm     :width: 7.5cm
213  :label: figrequired     :label: figrequired
214    
215  The non-LEGO parts and tools required for a controller.  The non-LEGO parts and tools required for a controller.
216  A USB mouse would be preferred to the PS/2 mouse  A USB mouse would be preferred to the PS/2 mouse
# Line 218  shown in the picture, since several can Line 218  shown in the picture, since several can
218  to a computer simultaneously as separate input sources.  to a computer simultaneously as separate input sources.
219    
220  .. figure:: mouseopen.jpg  .. figure:: mouseopen.jpg
221  :width: 7.5cm     :width: 7.5cm
222  :label: figmouseopen     :label: figmouseopen
223    
224  The mouse, opened with the screwdriver. The screwdriver  The mouse, opened with the screwdriver. The screwdriver
225  will not be needed after this step.  will not be needed after this step.
226    
227  .. figure:: mousemechanism.jpg  .. figure:: mousemechanism.jpg
228  :width: 7.5cm     :width: 7.5cm
229  :label: figmousemechanism     :label: figmousemechanism
230    
231  The mechanism of the mouse: the mouse ball, which rotates  The mechanism of the mouse: the mouse ball, which rotates
232  from contact with the underlying surface, rotates  from contact with the underlying surface, rotates
# Line 234  the two axles whose motion is then detec Line 234  the two axles whose motion is then detec
234    
235    
236  .. figure:: optomechanism.jpg  .. figure:: optomechanism.jpg
237  :width: 7.5cm     :width: 7.5cm
238  :label: figoptomechanism     :label: figoptomechanism
239    
240  In optomechanical mice, the motion of the axles is detected  In optomechanical mice, the motion of the axles is detected
241  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 255  additional materials or tools, but the a Line 255  additional materials or tools, but the a
255  affected: the gate missed a large fraction of the events.  affected: the gate missed a large fraction of the events.
256    
257  .. figure:: wheelmechanism1.jpg  .. figure:: wheelmechanism1.jpg
258  :width: 7.5cm     :width: 7.5cm
259  :label: figwheelmechanism1     :label: figwheelmechanism1
260    
261  The principle behind the current version of  The principle behind the current version of
262  our interface between the optomechanical mouse and  our interface between the optomechanical mouse and
# Line 276  LEGO mechanism shown in Figs. [ref-figpr Line 276  LEGO mechanism shown in Figs. [ref-figpr
276  [ref-figpressmechanism1]_.  [ref-figpressmechanism1]_.
277    
278  .. figure:: pressmechparts.jpg  .. figure:: pressmechparts.jpg
279  :width: 7.5cm     :width: 7.5cm
280  :label: figpressmechparts     :label: figpressmechparts
281    
282  The LEGO parts for the driving mechanism  The LEGO parts for the driving mechanism
283    
284  .. figure:: pressmechanism1.jpg  .. figure:: pressmechanism1.jpg
285  :width: 7.5cm     :width: 7.5cm
286  :label: figpressmechanism1     :label: figpressmechanism1
287    
288  The driving mechanism assembled. The mechanism is attached  The driving mechanism assembled. The mechanism is attached
289  to the LEGO framework by the long axle; the driving tyre  to the LEGO framework by the long axle; the driving tyre
# Line 303  is not shown in the these images). Line 303  is not shown in the these images).
303    
304    
305  .. figure:: framestart.jpg  .. figure:: framestart.jpg
306  :width: 7.5cm     :width: 7.5cm
307  :label: figframestart     :label: figframestart
308    
309  The beginnings of the housing for the mouse case.  The beginnings of the housing for the mouse case.
310    
311    
312  .. figure:: framedrivers.jpg  .. figure:: framedrivers.jpg
313  :width: 7.5cm     :width: 7.5cm
314  :label: figframedrivers     :label: figframedrivers
315    
316  The driving mechanisms (using a slightly different version  The driving mechanisms (using a slightly different version
317  than the one depicted in the previous figures)  than the one depicted in the previous figures)
# Line 343  The handles can be used to control zoom Line 343  The handles can be used to control zoom
343  focused node and the peripherally shown nodes.  focused node and the peripherally shown nodes.
344    
345  .. figure:: loomcontrol.jpg  .. figure:: loomcontrol.jpg
346  :width: 7.5cm     :width: 7.5cm
347  :label: figloomcontrol     :label: figloomcontrol
348    
349  A fully functional controller prototype, with two  A fully functional controller prototype, with two
350  absolute arm controls and a wheel control. All three  absolute arm controls and a wheel control. All three
# Line 372  differs from general joystick game contr Line 372  differs from general joystick game contr
372  by preserving its position  by preserving its position
373    
374  .. figure:: joystick.jpg  .. figure:: joystick.jpg
375  :width: 7.5cm     :width: 7.5cm
376  :label: figjoystick     :label: figjoystick
377    
378  A 2D joystick-like controller built from LEGO bricks as  A 2D joystick-like controller built from LEGO bricks as
379  a proof-of-principle.  a proof-of-principle.
# Line 424  to taking the numerical derivative of a Line 424  to taking the numerical derivative of a
424    
425  .. raw:: latex  .. raw:: latex
426    
427  $f(x)$     $f(x)$
428    
429  at  at
430    
431  .. raw:: latex  .. raw:: latex
432    
433  $x$     $x$
434    
435  as  as
436    
437  .. raw:: latex  .. raw:: latex
438    
439  $(f(x+\epsilon/2) - f(x-\epsilon/2)) / \epsilon$     $(f(x+\epsilon/2) - f(x-\epsilon/2)) / \epsilon$
440    
441  instead of  instead of
442    
443  .. raw:: latex  .. raw:: latex
444    
445  $(f(x+\epsilon) - f(x)) / \epsilon$     $(f(x+\epsilon) - f(x)) / \epsilon$
446    
447    
448    
# Line 459  As an example, an octagonal Line 459  As an example, an octagonal
459  handle is shown in Fig. [ref-figoctagonal]_.  handle is shown in Fig. [ref-figoctagonal]_.
460    
461  .. figure:: octagonal.jpg  .. figure:: octagonal.jpg
462  :width: 7.5cm     :width: 7.5cm
463  :label: figoctagonal     :label: figoctagonal
464    
465  A rugged and relatively comfortable octagonal  A rugged and relatively comfortable octagonal
466  handle built from slopes and inverted slopes.  handle built from slopes and inverted slopes.
# Line 472  LEGO bricks with air-hardening Line 472  LEGO bricks with air-hardening
472  modelling paste, as in [ref-figpaste1]_.  modelling paste, as in [ref-figpaste1]_.
473    
474  .. figure:: paste1.jpg  .. figure:: paste1.jpg
475  :width: 7.5cm     :width: 7.5cm
476  :label: figpaste1     :label: figpaste1
477    
478  An ergonomic handle implemented using  An ergonomic handle implemented using
479  air-hardening modelling paste. The handle was  air-hardening modelling paste. The handle was

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