[Gzz-commits] manuscripts/Control1 poster.rst

[Tuomas J. Lukka]

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