The document is a seminar report on the space mouse presented by Mithil Jaju. It discusses the history and development of the space mouse, which originated from the DLR control ball developed in the 1970s for controlling robot grippers. The space mouse uses optical sensing and mechatronics engineering to allow 6 degrees of freedom motion control for applications like 3D modeling and animation. It has benefits over a regular 2D mouse for interactive control in 3D graphics environments.
A Seminar Presentation of Space Mouse. A professional 3d controller, having 6DoF(6 - Degrees of Freedom), and many other facilities like , Keyboard Modifier, on screen display, quick view etc.
A Seminar Presentation of Space Mouse. A professional 3d controller, having 6DoF(6 - Degrees of Freedom), and many other facilities like , Keyboard Modifier, on screen display, quick view etc.
Introduction, Definition, Types of space mouse, Specifications, Features of space mouse, Working process of space mouse, Advantages and disadvantages, Applications, Benefits, Future Scope of space mouse and Conclusion
Sixth Sense technology discovered by Pranav Mistry. It is a wearable gestural based device which integrates the two worlds, i.e Physical world and Digital world.
Sixth Sense Technology is a mini-projector coupled with a camera and a cellphone—which acts as the computer and connected to the Cloud, all the information stored on the web. Sixth Sense can also obey hand gestures. The camera recognizes objects around a person instantly, with the micro-projector overlaying the information on any surface, including the object itself or hand. Also can access or manipulate the information using fingers. make a call by Extend hand on front of the projector and numbers will appear for to click. know the time by Draw a circle on wrist and a watch will appear. take a photo by Just make a square with fingers, highlighting what want to frame, and the system will make the photo—which can later organize with the others using own hands over the air.and The device has a huge number of applications , it is portable and easily to carry as can wear it in neck.
The drawing application lets user draw on any surface by observing the movement of index finger. Mapping can also be done anywhere with the features of zooming in or zooming out. The camera also helps user to take pictures of the scene is viewing and later can arrange them on any surface. Some of the more practical uses are reading a newspaper. reading a newspaper and viewing videos instead of the photos in the paper. Or live sports updates while reading the newspaper.
Gesture Based Interface Using Motion and Image Comparisonijait
This paper gives a new approach for movement of mouse and implementation of its functions using a real time camera. Here we propose to change the hardware design. Most of the existing technologies mainly depend on changing the mouse parts features like changing the position of tracking ball and adding more buttons. We use a camera, colored substance, image comparison technology and motion detection technology to control mouse movement and implement its functions (right click, left click, scrolling and double click) .
Sixth Sense is a wearable gestural interface that integrates digital information into the physical world and its objects, making the entire world your computer and lets us use natural hand gestures to interact with that information.
The talk explores a hypothesis in support of a very common reaction to zSpace. Beginning with assumptions and observations in physiology, evolution, and perception, we build a case that zSpace has surpassed a minimum performance threshold. Future implications are addressed.
WorldKit: Rapid and Easy Creation of Ad-hoc Interactive
Applications on Everyday Surfaces.
Instant access to computing, when and where we need it,
has long been one of the aims of research areas such as
ubiquitous computing. In this paper, we describe the
WorldKit system, which makes use of a paired depth camera
and projector to make ordinary surfaces instantly interactive.
Using this system, touch-based interactivity can,
without prior calibration, be placed on nearly any unmodified
surface literally with a wave of the hand, as can other
new forms of sensed interaction. From a user perspective,
such interfaces are easy enough to instantiate that they
could, if desired, be recreated or modified “each time we sat
down” by “painting” them next to us. From the programmer’s
perspective, our system encapsulates these capabilities
in a simple set of abstractions that make the creation of
interfaces quick and easy. Further, it is extensible to new,
custom interactors in a way that closely mimics conventional
2D graphical user interfaces, hiding much of the
complexity of working in this new domain. We detail the
hardware and software implementation of our system, and
several example applications built using the library.
Introduction, Definition, Types of space mouse, Specifications, Features of space mouse, Working process of space mouse, Advantages and disadvantages, Applications, Benefits, Future Scope of space mouse and Conclusion
Sixth Sense technology discovered by Pranav Mistry. It is a wearable gestural based device which integrates the two worlds, i.e Physical world and Digital world.
Sixth Sense Technology is a mini-projector coupled with a camera and a cellphone—which acts as the computer and connected to the Cloud, all the information stored on the web. Sixth Sense can also obey hand gestures. The camera recognizes objects around a person instantly, with the micro-projector overlaying the information on any surface, including the object itself or hand. Also can access or manipulate the information using fingers. make a call by Extend hand on front of the projector and numbers will appear for to click. know the time by Draw a circle on wrist and a watch will appear. take a photo by Just make a square with fingers, highlighting what want to frame, and the system will make the photo—which can later organize with the others using own hands over the air.and The device has a huge number of applications , it is portable and easily to carry as can wear it in neck.
The drawing application lets user draw on any surface by observing the movement of index finger. Mapping can also be done anywhere with the features of zooming in or zooming out. The camera also helps user to take pictures of the scene is viewing and later can arrange them on any surface. Some of the more practical uses are reading a newspaper. reading a newspaper and viewing videos instead of the photos in the paper. Or live sports updates while reading the newspaper.
Gesture Based Interface Using Motion and Image Comparisonijait
This paper gives a new approach for movement of mouse and implementation of its functions using a real time camera. Here we propose to change the hardware design. Most of the existing technologies mainly depend on changing the mouse parts features like changing the position of tracking ball and adding more buttons. We use a camera, colored substance, image comparison technology and motion detection technology to control mouse movement and implement its functions (right click, left click, scrolling and double click) .
Sixth Sense is a wearable gestural interface that integrates digital information into the physical world and its objects, making the entire world your computer and lets us use natural hand gestures to interact with that information.
The talk explores a hypothesis in support of a very common reaction to zSpace. Beginning with assumptions and observations in physiology, evolution, and perception, we build a case that zSpace has surpassed a minimum performance threshold. Future implications are addressed.
WorldKit: Rapid and Easy Creation of Ad-hoc Interactive
Applications on Everyday Surfaces.
Instant access to computing, when and where we need it,
has long been one of the aims of research areas such as
ubiquitous computing. In this paper, we describe the
WorldKit system, which makes use of a paired depth camera
and projector to make ordinary surfaces instantly interactive.
Using this system, touch-based interactivity can,
without prior calibration, be placed on nearly any unmodified
surface literally with a wave of the hand, as can other
new forms of sensed interaction. From a user perspective,
such interfaces are easy enough to instantiate that they
could, if desired, be recreated or modified “each time we sat
down” by “painting” them next to us. From the programmer’s
perspective, our system encapsulates these capabilities
in a simple set of abstractions that make the creation of
interfaces quick and easy. Further, it is extensible to new,
custom interactors in a way that closely mimics conventional
2D graphical user interfaces, hiding much of the
complexity of working in this new domain. We detail the
hardware and software implementation of our system, and
several example applications built using the library.
ABSTRACT: Now a Days computing is not constraint to desktops and laptops, it has got its way into mobile devices like mobile phones. But the input device for the computing process has not been modified from the last few years. Eg:- QWERTY keyboard. Virtual Keyboard allows users to work on any surfaces by using sensor technology.Our device will have three main partsi.e the camera, IR sensor, lazer pattern projector. The Virtual Keyboard uses light to project a full-sized computer keyboard onto almost any surface, and disappears when not in use. Used with Smartphone and PDAs, the keyboard provides a practical way to do email, word processing and spreadsheet tasks, allowing the user to leave the laptop computer at home.
ACCELEROMETER BASED HAND GESTURE CONTROLLED ROBOT USING ARDUINOSnehasis Mondal
WORKING ARDUINO CODE:
/* * Gesture Recognition Robot * Coder – Raj,Rajib,Saity,Snehasis * This program lets you to control your robot with gesture made by your hand */ int GNDPin=A4; //Set Analog pin 4 as GND int VccPin=A5; //Set Analog pin 5 as VCC int xPin=A3; //X axis input int yPin=A2; //Y axis input int zPin=A1; //Z axis input(not used) int Q1=10,Q2=11,Q3=12,Q4=13; //Output pins to be connected to 10, 11, 12, 13 of Decoder IC long x; //Variabe for storing X coordinates long y; //Variabe for storing Y coordinates long z; //Variabe for storing Z coordinates void setup() { Serial.begin(9600); pinMode(Q1,OUTPUT); pinMode(Q2,OUTPUT); pinMode(Q3,OUTPUT); pinMode(Q4,OUTPUT); pinMode(GNDPin, OUTPUT); pinMode(VccPin, OUTPUT); digitalWrite(GNDPin, LOW); //Set A4 pin LOW digitalWrite(VccPin, HIGH); //Set A5 pin HIGH } void loop() { x = analogRead(xPin); //Reads X coordinates y = analogRead(yPin); //Reads Y coordinates z = analogRead(zPin); //Reads Z coordinates (Not Used) if(x<340) // Change the value for adjusting sensitivity forward(); else if(x>400) // Change the value for adjusting sensitivity backward(); else if(y>400) // Change the value for adjusting sensitivity right(); else if(y<340) // Change the value for adjusting sensitivity left(); else stop_(); } void stop_() { Serial.println(""); Serial.println("STOP"); digitalWrite(Q1,LOW); digitalWrite(Q2,LOW); digitalWrite(Q3,LOW); digitalWrite(Q4,LOW); } void forward() { Serial.println(""); Serial.println("Forward");
digitalWrite(Q1,HIGH); digitalWrite(Q2,LOW); digitalWrite(Q3,HIGH); digitalWrite(Q4,LOW); } void backward() { Serial.println(""); Serial.println("Backward"); digitalWrite(Q1,LOW); digitalWrite(Q2,HIGH); digitalWrite(Q3,LOW); digitalWrite(Q4,HIGH); } void left() { Serial.println(""); Serial.println("Left"); digitalWrite(Q1,LOW); digitalWrite(Q2,HIGH); digitalWrite(Q3,HIGH); digitalWrite(Q4,LOW); } void right() { Serial.println(""); Serial.println("Right"); digitalWrite(Q1,HIGH); digitalWrite(Q2,LOW); digitalWrite(Q3,LOW); digitalWrite(Q4,HIGH); }
A prototype of IOT Car Parking System that allows drivers to effectively find the vacant parking spaces is been designed and implemented in this report . By periodically learning the parking status from the sensor networks deployed in parking lots, the drivers are allowed to access this information with their personal communication devices and exactly know which parking slots are vacant. This particular application uses internet of things for accessing the information with their mobile phones. This system has the potential to simplify the operations of parking systems, as well as alleviate traffic congestion caused by parking searching and would definitely make people follow the traffic rules and ensure safety. The developed system is reliable, low cost and user friendly
Applications Of Mems In Robotics And Bio Mems Using Psoc With Metal Detector ...IOSR Journals
Abstract: This project deals with accelerometercontrolled robot with wireless image and voice transmission as well as metal Detector. This robot is prototype for the “Path Finder”. This robot is controlled based on PSoCdevice using MEMS accelerometer remote. This can be moved forward and reverse direction using geared motors of 60RPM. Also this robot can take sharp turnings towards left and right directions. A high sensitive induction type metal detector is designed using colpitts oscillator principle and fixed to this robot. Also a wireless camera with voice is interfaced to the kit. When the robot is moving on a surface, the system produces a beep sound when metal is detected. This beep sound will be transmitted to remote place. Simultaneously the images around the robot will be transmitted to remote place. User can monitor the images and metal detection alarms on Television. Keywords: PSoC designer 1.0, keil -c,PSOC device (CY8C29466), AT89S52.
This presentation is a group collaboration of Joseph Koplar, Tony Tenaglier, Sarah Winiarz, and myself about the technology and history of a wireless optical mouse, created for a course on electronic properties.
A 64-by-8 Scrolling Led Matrix Display SystemSamson Kayode
For this project, a prototype of a 64 x 8 LED matrix, capable of displaying a maximum of eight (8) characters at a time was constructed. Then, scrolling the characters to show the remaining part of the message and repeating the same loop over and over again was achieved. This process can be interrupted by failure in the power supply or when the reset button is being pushed and released. The system can easily be expanded to handle more characters. The control of this LED matrix is based on a PIC18F4520 microcontroller. This microcontroller was programmed using C language. The number of the microcontroller’s pins used in controlling the LED matrix was strictly minimized to three by adopting the serial to parallel mode of signal transmission. The design of the project was done and simulated with Proteus software. The LED matrix was constructed on a vero board. The drive circuitry which consists of the microcontroller, two ULN2803s, nine 74HC595s and other peripherals was constructed on a printed circuit board. This was done to ensure the project was compact as possible. Cost efficiency was also given a priority in the implementation of this project.
Design and implementation of an sms based robotic system for hole- detection ...eSAT Journals
Abstract This paper presents the design and implementation of SMS-based robotic system for hole-detection in surface pipes using GPS/GPRS/GSM technology. In industries today, surface pipelines are used to transport fluids; some of these pipelines have joints which are welded together. In a situation whereby the welding is not perfectly done, leakage of fluids may occur, leading to product loss and downtime. Therefore to checkmate this issue of pipeline leakage, an SMS-based robotic system is designed to inspect the pipelines for holes and if light is sensed in the pipelines through the sensing devices on the robot, a Short Message Service (SMS) indicating the location where the light was sensed is sent to the operator’s phone with help of the SIM 900 GPS/GPRS/GSM MODEM installed on the robot hardware system. The robot system is designed with an Arduino Uno Micro-Controller and some sensing devices installed on it. The system is programmed using embedded C language. After the implementation, the robot system was tested which could detect holes in surface pipelines and sent short message to the personnel’s mobile phone. Keywords: Arduino Uno Board, GPS/GPRS/GSM technology, Robotics, SIM900 Modem, Sensors
The Art Pastor's Guide to Sabbath | Steve ThomasonSteve Thomason
What is the purpose of the Sabbath Law in the Torah. It is interesting to compare how the context of the law shifts from Exodus to Deuteronomy. Who gets to rest, and why?
Instructions for Submissions thorugh G- Classroom.pptxJheel Barad
This presentation provides a briefing on how to upload submissions and documents in Google Classroom. It was prepared as part of an orientation for new Sainik School in-service teacher trainees. As a training officer, my goal is to ensure that you are comfortable and proficient with this essential tool for managing assignments and fostering student engagement.
Model Attribute Check Company Auto PropertyCeline George
In Odoo, the multi-company feature allows you to manage multiple companies within a single Odoo database instance. Each company can have its own configurations while still sharing common resources such as products, customers, and suppliers.
Unit 8 - Information and Communication Technology (Paper I).pdfThiyagu K
This slides describes the basic concepts of ICT, basics of Email, Emerging Technology and Digital Initiatives in Education. This presentations aligns with the UGC Paper I syllabus.
The Roman Empire A Historical Colossus.pdfkaushalkr1407
The Roman Empire, a vast and enduring power, stands as one of history's most remarkable civilizations, leaving an indelible imprint on the world. It emerged from the Roman Republic, transitioning into an imperial powerhouse under the leadership of Augustus Caesar in 27 BCE. This transformation marked the beginning of an era defined by unprecedented territorial expansion, architectural marvels, and profound cultural influence.
The empire's roots lie in the city of Rome, founded, according to legend, by Romulus in 753 BCE. Over centuries, Rome evolved from a small settlement to a formidable republic, characterized by a complex political system with elected officials and checks on power. However, internal strife, class conflicts, and military ambitions paved the way for the end of the Republic. Julius Caesar’s dictatorship and subsequent assassination in 44 BCE created a power vacuum, leading to a civil war. Octavian, later Augustus, emerged victorious, heralding the Roman Empire’s birth.
Under Augustus, the empire experienced the Pax Romana, a 200-year period of relative peace and stability. Augustus reformed the military, established efficient administrative systems, and initiated grand construction projects. The empire's borders expanded, encompassing territories from Britain to Egypt and from Spain to the Euphrates. Roman legions, renowned for their discipline and engineering prowess, secured and maintained these vast territories, building roads, fortifications, and cities that facilitated control and integration.
The Roman Empire’s society was hierarchical, with a rigid class system. At the top were the patricians, wealthy elites who held significant political power. Below them were the plebeians, free citizens with limited political influence, and the vast numbers of slaves who formed the backbone of the economy. The family unit was central, governed by the paterfamilias, the male head who held absolute authority.
Culturally, the Romans were eclectic, absorbing and adapting elements from the civilizations they encountered, particularly the Greeks. Roman art, literature, and philosophy reflected this synthesis, creating a rich cultural tapestry. Latin, the Roman language, became the lingua franca of the Western world, influencing numerous modern languages.
Roman architecture and engineering achievements were monumental. They perfected the arch, vault, and dome, constructing enduring structures like the Colosseum, Pantheon, and aqueducts. These engineering marvels not only showcased Roman ingenuity but also served practical purposes, from public entertainment to water supply.
The French Revolution, which began in 1789, was a period of radical social and political upheaval in France. It marked the decline of absolute monarchies, the rise of secular and democratic republics, and the eventual rise of Napoleon Bonaparte. This revolutionary period is crucial in understanding the transition from feudalism to modernity in Europe.
For more information, visit-www.vavaclasses.com
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Synthetic fiber production is a fascinating and complex field that blends chemistry, engineering, and environmental science. By understanding these aspects, students can gain a comprehensive view of synthetic fiber production, its impact on society and the environment, and the potential for future innovations. Synthetic fibers play a crucial role in modern society, impacting various aspects of daily life, industry, and the environment. ynthetic fibers are integral to modern life, offering a range of benefits from cost-effectiveness and versatility to innovative applications and performance characteristics. While they pose environmental challenges, ongoing research and development aim to create more sustainable and eco-friendly alternatives. Understanding the importance of synthetic fibers helps in appreciating their role in the economy, industry, and daily life, while also emphasizing the need for sustainable practices and innovation.
1. SPACE MOUSE
A SEMINAR REPORT
Submitted by
MITHIL JAJU
in partial fulfillment for the award of the degree
of
BACHELOR OF TECHNOLOGY
in
COMPUTER SCIENCE & ENGINEERING
SCHOOL OF ENGINEERING
COCHIN UNIVERSITY OF SCIENCE AND
TECHNOLOGY
KOCHI – 682022
SEPTEMBER 2010
2. Division of Computer Engineering
School of Engineering
Cochin University of Science & Technology
Kochi-682022
CERTIFICATE
Certified that this is a bonafide record of the seminar work titled
Space Mouse
Done by
Mithil Jaju
of VII semester Computer Science & Engineering in the year 2010 in partial
fulfillment of the requirements for the award of Degree of Bachelor of Technology
in Computer Science & Engineering of Cochin University of Science & Technology
Dr.David Peter S Ms. Sheena S.
Head of the Division Seminar Guide
3. ACKNOWLEDGEMENT
I thank my seminar guide Sheena S., Sr. Lecturer, CUSAT, for her proper
guidance, and valuable suggestions. I am indebted to Dr. David Petter S., the
HOD, Computer Science Division & other faculty members for giving me an
opportunity to learn and present the seminar. If not for the above mentioned
people my seminar would never have been completed successfully. I once again
extend my sincere thanks to all of them.
MITHIL JAJU
4. ABSTRACT
Space mouse opens a new age for man-machine communication.
This device is based on the technology used to control the first robot in space
and has been adapted for a wide range of tasks including mechanical design,
real time video animation and visual simulation. It has become a standard
input device for interactive motion control of three-dimensional graphic
objects in up to six degrees of freedom. Space mouse works with standard
serial mouse interface without an additional power supply. The ergonomic
design allows the human hand to rest on it without fatigue. Thus flying an
object in six degrees of freedom is done without any strain.
5. CONTENTS
CHAPTER 1 INTRODUCTION 1
CHAPTER 2 HOW DOES COMPUTER MOUSE WORK? 2
2.1 INSIDE A MOUSE 2
CHAPTER 3 MECHATRONICS 8
3.1 WHAT IS MECHATRONICS ENGINEERING 8
3.2 WHAT DO MECHATRONICS ENGINEERS DO? 9
3.3 MECHATRONICS GOALS 10
3.3.1 MULTISENSORY CONCEPT 10
CHAPTER 4 SPACE MOUSE 12
4.1 WHY 3D MOTION 12
4.2 DLR CONTROL BALL 13
4.2.1 BASIC PRINCIPLE 14
4.3 MAGELLAN: SPACE MOUSE 15
CHAPTER 5 MAGELLAN: FEATURES AND BENEFITS 20
5.1 FEATURES 20
5.2 BENEFITS 20
CHAPTER 6 FUTURE SCOPE 22
6.1 FUTURE SCOPE 22
6.1.1 VISUAL SPACE MOUSE 22
CHAPTER 7 CONCLUSION 24
REFERENCE 25
i
6. List Of Figures
Fig. No. Figure/Image Page No.
2.1 The guts of a mouse 2
2.2. The exposed portion of the ball touches the desktop. 3
2.3. The rollers that touch the ball and detect X and Y motion 3
2.4. A typical optical encoding disk 4
2.5. The optical encoders 5
2.6. The logic section of a mouse is dominated by an
encoder chip, a small processor 6
4.1. Spacemouse system 16
4.2. Spacemouse 19
ii
7. List Of Tables
SL. No. Table Name Page No.
4.1. Technical specifications of spacemouse 19
iii
8. SPACE MOUSE
Division Of Computer Science, School Of Engineering Page 1
CHAPTER 1
INTRODUCTION
Every day of your computing life, you reach out for the mouse
whenever you want to move the cursor or activate something. The mouse
senses your motion and your clicks and sends them to the computer so it
can respond appropriately. An ordinary mouse detects motion in the X
and Y plane and acts as a two dimensional controller. It is not well suited
for people to use in a 3D graphics environment. Space Mouse is a
professional 3D controller specifically designed for manipulating objects
in a 3D environment. It permits the simultaneous control of all six
degrees of freedom - translation rotation or a combination. . The device
serves as an intuitive man-machine interface
The predecessor of the spacemouse was the DLR controller
ball. Spacemouse has its origins in the late seventies when the DLR
(German Aerospace Research Establishment) started research in its
robotics and system dynamics division on devices with six degrees of
freedom (6 dof) for controlling robot grippers in Cartesian space. The
basic principle behind its construction is mechatronics engineering and
the multisensory concept. The space mouse has different modes of
operation in which it can also be used as a two-dimensional mouse.
9. SPACE MOUSE
Division Of Computer Science, School Of Engineering Page 2
CHAPTER 2
How does computer mouse work?
Mice first broke onto the public stage with the introduction of the Apple
Macintosh in 1984, and since then they have helped to completely
redefine the way we use computers. Every day of your computing life,
you reach out for your mouse whenever you want to move your cursor or
activate something. Your mouse senses your motion and your clicks and
sends them to the computer so it can respond appropriately
2.1 Inside a Mouse
The main goal of any mouse is to translate the motion of your hand into
signals that the computer can use. Almost all mice today do the
translation using five components:
Fig.2.1 The guts of a mouse
1. A ball inside the mouse touches the desktop and rolls when the mouse
moves.
10. SPACE MOUSE
Division Of Computer Science, School Of Engineering Page 3
Fig 2.2
The underside of the mouse's logic board: The exposed portion of the ball touches the
desktop.
2. Two rollers inside the mouse touch the ball. One of the rollers is
oriented so that it detects motion in the X direction, and the other is
oriented 90 degrees to the first roller so it detects motion in the Y
direction. When the ball rotates, one or both of these rollers rotate as
well. The following image shows the two white rollers on this mouse:
Fig.2.3 The rollers that touch the ball and detect X and Y motion
11. SPACE MOUSE
Division Of Computer Science, School Of Engineering Page 4
3. The rollers each connect to a shaft, and the shaft spins a disk with
holes in it. When a roller rolls, its shaft and disk spin. The following
image shows the disk:
Fig.2.4 A typical optical encoding disk: This disk has 36 holes around its outer
edge.
4. On either side of the disk there is an infrared LED and an infrared
sensor. The holes in the disk break the beam of light coming from the
LED so that the infrared sensor sees pulses of light. The rate of the
pulsing is directly related to the speed of the mouse and the distance it
travels.
12. SPACE MOUSE
Division Of Computer Science, School Of Engineering Page 5
Fig.2.5 A close-up of one of the optical encoders that track
mouse motion: There is an infrared LED (clear) on one
side of the disk and an infrared sensor (red) on the other.
5. An on-board processor chip reads the pulses from the infrared
sensors and turns them into binary data that the computer can
understand. The chip sends the binary data to the computer through
the mouse's cord.
13. SPACE MOUSE
Division Of Computer Science, School Of Engineering Page 6
Fig 2.6 The logic section of a mouse is dominated by an
encoder chip, a small processor that reads the pulses
coming from the infrared sensors and turns them into
bytes sent to the computer. You can also see the two
buttons that detect clicks (on either side of the wire
connector).
In this optomechanical arrangement, the disk moves mechanically, and
an optical system counts pulses of light. On this mouse, the ball is 21
mm in diameter. The roller is 7 mm in diameter. The encoding disk has
36 holes. So if the mouse moves 25.4 mm (1 inch), the encoder chip
detects 41 pulses of light.
14. SPACE MOUSE
Division Of Computer Science, School Of Engineering Page 7
Each encoder disk has two infrared LEDs and two infrared
sensors, one on each side of the disk (so there are four LED/sensor pairs
inside a mouse). This arrangement allows the processor to detect the
disk's direction of rotation. There is a piece of plastic with a small,
precisely located hole that sits between the encoder disk and each
infrared sensor. This piece of plastic provides a window through which
the infrared sensor can "see." The window on one side of the disk is
located slightly higher than it is on the other -- one-half the height of one
of the holes in the encoder disk, to be exact. That difference causes the
two infrared sensors to see pulses of light at slightly different times.
There are times when one of the sensors will see a pulse of light when
the other does not, and vice versa.
15. SPACE MOUSE
Division Of Computer Science, School Of Engineering Page 8
CHAPTER 3
MECHATRONICS
3.1 What is Mechatronics engineering?
Mechatronics is concerned with the design automation and
operational performance of electromechanical systems. Mechatronics
engineering is nothing new; it is simply the applications of latest
techniques in precision mechanical engineering, electronic and computer
control, computing systems and sensor and actuator technology to design
improved products and processes.
The basic idea of Mechatronics engineering is to apply innovative
controls to extract new level of performance from a mechanical device. It
means using modem cost effective technology to improve product and
process performance, adaptability and flexibility.
Mechatronics covers a wide range of application areas including
consumer product design, instrumentation, manufacturing methods,
computer integration and process and device control. A typical
Mechatronic system picks up signals processes them and generates
forces and motion as an output. In effect mechanical systems are
extended and integrated with sensors (to know where things are),
microprocessors (to work out what to do), and controllers (to perform the
required actions).
The word Mechatronics came up describing this fact of having
technical systems operating mechanically with respect to some kernel
functions but with more or less electronics supporting the mechanical
parts decisively. Thus we can say that Mechatronics is a blending of
16. SPACE MOUSE
Division Of Computer Science, School Of Engineering Page 9
Mechanical engineering,Electronics engineering and Computing
These three disciplines are linked together with knowledge of
management, manufacturing and marketing.
3.2 What do Mechatronics engineers do?
Mechatronics design covers a wide variety of applications from
the physical integration and miniaturization of electronic controllers with
mechanical systems to the control of hydraulically powered robots in
manufacturing and assembling factories.
Computer disk drives are one example of the successful
application of Mechatronics engineering as they are required to provide
very fast access precise positioning and robustness against various
disturbances.
An intelligent window shade that opens and closes according to
the amount of sun exposure is another example of a Mechatronics
application.
Mechatronics engineering may be involved in the design of
equipments and robots for under water or mining exploration as an
alternative to using human beings where this may be dangerous. In fact
Mechatronics engineers can be found working in a range of industries
and project areas including
Design of data collection, instrumentation and computerized
machine tools.
Intelligent product design for example smart cars and automation
for household transportation and industrial application.
Design of self-diagnostic machines, which fix problems on their
17. SPACE MOUSE
Division Of Computer Science, School Of Engineering Page 10
own.
Medical devices such as life supporting systems, scanners and
DNA sequencing automation.
Robotics and space exploration equipments.
Smart domestic consumer goods
Computer peripherals.
Security systems.
3.3 Mechatronic goals
3.3.1 The multisensory concept
The aim was to design a new generation of multi sensory
lightweight robots. The new sensor and actuator generation does not only
show up a high degree of electronic and processor integration but also
fully modular hardware and software structures. Analog conditioning,
power supply and digital pre-processing are typical subsystems modules
of this kind. The 20khz lines connecting all sensor and actuator systems
in a galvanically decoupled way and high speed optical serial data bus
(SERCOS) are the typical examples of multi sensory and multi actuator
concept for the new generation robot envisioned.
The main sensory developments finished with these criteria have
been in the last years: optically measuring force-torque-sensor for
assembly operations. In a more compact form these sensory systems
were integrated inside plastic hollow balls, thus generating 6-degree of
freedom hand controllers (the DLR control balls). The SPACE-MOUSE
is the most recent product based on these ideas.
stiff strain-gauge based 6 component force-torque-sensor systems.
18. SPACE MOUSE
Division Of Computer Science, School Of Engineering Page 11
miniaturized triangulation based laser range finders.
integrated inductive joint-torque-sensor for light-weight-robot.
In order to demonstrate the multi sensory design concept, these
types of sensors have been integrated into the multi sensory DLR-
gripper, which contains 15 sensory components and to our knowledge it
is the most complex robot gripper built so far (more than 1000
miniaturized electronic and about 400 mechanical components). It has
become a central element of the ROTEX space robot experiment.
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CHAPTER 4
SPACEMOUSE
Spacemouse is developed by the DLR institute of robotics and
mechatronics.
DLR- Deutsches Zenturum far Luft-und Raumfahrt
4.1 Why 3D motion?
In every area of technology, one can find automata and systems
controllable up to six degrees of freedom- three translational and three
rotational. Industrial robots made up the most prominent category
needing six degrees of freedom by maneuvering six joints to reach any
point in their working space with a desired orientation. Even broader
there have been a dramatic explosion in the growth of 3D computer
graphics.
Already in the early eighties, the first wire frame models of
volume objects could move smoothly and interactively using so called
knob-boxes on the fastest graphics machines available. A separate button
controlled each of the six degrees of freedom. Next, graphics systems on
the market allowed manipulation of shaded volume models smoothly,
i.e. rotate, zoom and shift them and thus look at them from any viewing
angle and position. The scenes become more and more complex; e.g.
with a "reality engine" the mirror effects on volume car bodies are
updated several times per second - a task that needed hours on main
frame computers a couple of years ago.
Parallel to the rapid graphics development, we observed a clear
trend in the field of mechanical design towards constructing and
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modeling new parts in a 3D environment and transferring the resulting
programs to NC machines. The machines are able to work in 5 or 6
degrees of freedom (dot). Thus, it is no surprise that in the last few years,
there are increasing demands for comfortable 3D control and
manipulation devices for these kinds of systems. Despite breathtaking
advancements in digital technology it turned out that digital man-
machine interfaces like keyboards are not well suited for people to use as
our sensomotory reactions and behaviors are and will remain analogous
forever.
4.2 DLR control ball, Magellan's predecessor
At the end of the seventies, the DLR (German Aerospace Research
Establishment) institute for robotics and system dynamics started
research on devices for the 6-dof control of robot grippers .in Cartesian
space. After lengthy experiments it turned out around 1981 that
integrating a six axis force torque sensor (3 force, 3 torque components)
into a plastic hollow ball was the optimal solution. Such a ball registered
the linear and rotational displacements as generated by the forces/
torques of a human hand, which were then computationally transformed
into translational / rotational motion speeds.
The first force torque sensor used was based upon strain gauge
technology, integrated into a plastic hollow ball. DLR had the basic
concept centre of a hollow ball handle approximately coinciding with the
measuring centre of an integrated 6 dof force / torque sensor patented in
Europe and US.
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From 1982-1985, the first prototype applications showed that DLR's
control ball was not only excellently suited as a control device for robots,
but also for the first 3D-graphics system that came onto the market at
that time. Wide commercial distribution was prevented by the high sales
price of about $8,000 per unit. It took until 1985 for the DLR's developer
group to succeed in designing a much cheaper optical measuring system.
4.2.1 Basic principle
The new system used 6 one-dimensional position detectors. This
system received a worldwide patent. The basic principle is as follows.
The measuring system consists of an inner and an outer part. The
measuring arrangement in the inner ring is composed of the LED, a slit
and perpendicular to the slit on the opposite side of the ring a linear
position sensitive detector (PSD). The slit / LED combination is mobile
against the remaining system. Six such systems (rotated by 60 degrees
each) are mounted in a plane, whereby the slits alternatively are vertical
and parallel to the plane. The ring with PSD's is fixed inside the outer
part and connected via springs with the LED-slit-basis. The springs bring
the inner part back to a neutral position when no forces / torque are
exerted: There is a particularly simple and unique. This measuring
system is drift-free and not subject to aging effects.
The whole electronics including computational processing on a
one-chip-processor was already integrable into the ball by means of two
small double sided surface mount device (SMD) boards, the
manufacturing costs were reduced to below $1,000, but the sales price
still hovered in the area of $3,000.
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The original hopes of the developers group that the license
companies might be able to redevelop devices towards much lower
manufacturing costs did not materialize. On the other hand, with passing
of time, other technologically comparable ball systems appeared on the
market especially in USA. They differed only in the type of measuring
system. Around 1990, terms like cyberspace and virtual reality became
popular. However, the effort required to steer oneself around in a virtual
world using helmet and glove tires one out quickly. Movements were
measured by electromagnetic or ultrasonic means, with the human head
having problems in controlling translational speeds. In addition, moving
the hand around in free space leads to fairly fast fatigue. Thus a redesign
of the ball idea seemed urgent.
4.3 Magellan (the European Spacemouse):
The result of a long development chain
With the developments explained in the previous sections, DLR's
development group started a transfer company, SPACE CONTROL and
addressed a clear goal: To redesign the control ball idea with its
unsurpassed opto electronic measuring system and optimize it thus that
to reduce manufacturing costs to a fraction of its previous amount and
thus allow it to approach the pricing level of high quality PC mouse at
least long-term.
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Fig 4.1 Spacemouse system
The new manipulation device would also be able to function as a
conventional mouse and appear like one, yet maintain its versatility in a
real workstation design environment. The result of an intense one-year's
work was the European SpaceMouse, in the USA it is especially in the
European market place. But end of 93, DLR and SPACE CONTROL
jointly approached LOGITECH because of their wide expertise with
pointing devices for computers to market and sell Magellan in USA and
Asia. The wear resistant and drift free opto electronic, 6 component
measuring system was optimized to place all the electronics, including
the analogous signal processing, AT conversion, computational
evaluation and power supply on only one side of a tiny SMD- board
inside Magellan's handling cap. It only needs a few milliamperes of
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current supplied through the serial port of any PC or standard mouse
interface. It does not need a dedicated power supply. The electronic
circuitry using a lot of time multiplex technology was simplified by a
factor of five, compared to the former control balls mentioned before.
The unbelievably tedious mechanical optimization, where the simple
adjustment of the PSD's with respect to the slits played a central role in
its construction, finally led to 3 simple injection moulding parts, namely
the basic housing, a cap handle with the measuring system inside and the
small nine button keyboard system. The housing, a punched steel plate
provides Magellan with the necessary weight for stability; any kind of
metal cutting was avoided. The small board inside the cap (including a
beeper) takes diverse mechanical functions as well. For example, it
contains the automatically mountable springs as well as overload
protection. The springs were optimized in the measuring system so that
they no longer show hysteresis; nevertheless different stiffness of the cap
are realizable by selection of appropriate springs. Ergonomically,
Magellan was constructed as flat as can be so that the human hand may
rest on it without fatigue.
Slight pressures of the fingers on the cap of Magellan is sufficient
for generating deflections in X, Y, and Z planes, thus shifting a cursor or
flying a 3D graphics object translationally through space. Slight twists of
the cap cause rotational motions of a 3D graphics object around the
corresponding axes. Pulling the cap in the Z direction corresponds to
zooming function. Moving the cap in X or Y direction drags the
horizontally and vertically respectively on the screen. Twisting the cap
over one of the main axes or any combination of them rotates the object
over the corresponding axis on the screen. The user can handle the
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object on the screen a he were holding it in his own left hand and helping
the right hand to undertake the constructive actions on specific points
lines or surfaces or simply by unconsciously bringing to the front of
appropriate perspective view of any necessary detail of the object. With
the integration of nine additional key buttons any macro functions can be
mapped onto one of the keys thus allowing the user most frequent
function to be called by a slight finger touch from the left hand. The
device has special features like dominant mode.
It uses those degrees of freedom in which the greatest magnitude
is generated. So defined movements can be created. Connection to the
computer is through a 3m cable (DB9 female) and platform adapter if
necessary. Use of handshake signals (RTSSCTS) are recommended for
the safe operation of the spacemouse. Without these handshake signals
loss of data may occur. Additional signal lines are provided to power the
Magellan (DTS&RTS). Thus, no additional power supply is needed.
Flying an object in 6 dof is done intuitively without any strain. In a
similar way, flying oneself through a virtual world is just fun. Touching
the keys results in either the usual menu selection, mode selection or the
pickup of 3D objects.
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Fig.4.2 Spacemouse
Table-4.1 Technical specifications of spacemouse
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CHAPTER 5
MAGELLAN: FEATURES AND BENEFITS
5.1 Features
Ease of use of manipulating objects in 3D applications.
Calibration free sensor technology for high precision and unique
reliability.
Nine programmable buttons to customize users preference for
motion control
Fingertip operation for maximum precision and performance.
Settings to adjust sensitivity and motion control to the users
preference.
Small form factor frees up the desk space.
Double productivity of object manipulation in 3D applications.
Natural hand position (resting on table) eliminates fatigue.
5.2 Benefits
As the user positions the 3D objects with the Magellan device the
necessity of going back and forth to the menu is eliminated. Drawing
times is reduced by 20%-30% increasing overall productivity. With the
Magellan device improved design comprehension is possible and earlier
detection of design errors contributing faster time to market and cost
savings in the design process. Any computer whose graphics power
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allows to update at least 5 frames per second of the designed scenery,
and which has a standard RS232 interface, can make use of the full
potential of Magellan spacemouse. In 3D applications Magellan is used
in conjunction with a 2D mouse. The user positions an object with
spacemouse while working on the object using a mouse. We can
consider it as a workman holding an object in his left hand and working
on it with a tool in his right hand. Now Magellan spacemouse is
becoming something for standard input device for interactive motion
control of 3D graphics objects in its working environment and for many
other applications.
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CHAPTER 6
FUTURE SCOPE
6.1 FUTURE SCOPE
Magellan's predecessor, DLR's control ball, was a key element of
the first real robot inspace, ROTEX- (3), which was launched in April 93
with space shuttle COLUMBIA inside a rack of the spacelab-D2. The
robot was directly teleoperated by the astronauts using the control ball,
the same way remotely controlled from ground (on-line and off line)
implying "predictive" stereographics. As an example, the ground
operator with one of the two balls or Magellans steered the robot's
gripper in the graphics presimulation, while with the second device he
was able to move the whole scenery around smoothly in 6 dot Predictive
graphics simulation together with the above mentioned man machine
interaction allowed for the compensation of overall signal delays up to
seven seconds, the most spectacular accomplishment being the grasping
of a floating object in space from the ground. Since then, ROTEX has
often been declared as the first real "virtual reality" application.
6.1.1 VISUAL SPACEMOUSE
A most intuitive controlling device would be a system that can be
instructed by watching and imitating the human user, using the hand as
the major controlling element. This would be a very comfortable
interface that allows the user to move a robot system in the most natural
way. This is called the visual space mouse. The system of the visual
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space mouse can be divided into two main parts: image processing and
robot control. The role of image processing is to perform operations on a
video signal, received by a video camera, to extract desired information
out of the video signal. The role of robot control is to transform
electronic commands into movements of the manipulator.
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CHAPTER 7
CONCLUSION
The graphics simulation and manipulation of 3D volume objects
and virtual worlds and their combination e.g. with real information as
contained in TV images (multi-media) is not only meaningful for space
technology, but will strongly change the whole world of manufacturing
and construction technology, including other areas like urban
development, chemistry, biology, and entertainment. For all these
applications we believe there is no other man- machine interface
technology comparable to Magellan in its simplicity and yet high
precision. It is used for 3D manipulations in 6 dof, but at the same time
may function as a conventional 2D mouse.
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REFERENCES
(1) J. HeintB, G. Hilzinger “Device for programming movements of a
Robot”
(2) J. Dietrich, G. Plank, H. Krans “Optoelectronic System Housed in
Plastic Sphere”
(3) G. Hirzmger and J. Dietrich, B. Gombert, J. Heindi, K. Landzettel, J.
Schott “The sensory and telerobotic aspects of the spare robot
technology experiment ROTEX”, Int. Symposium "Artificial
Intelligence, Robotics and Automation, in Space"
(4) http://www.en.wikipedia.com/ Mechatronics