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SEMINAR REPORT ON SPACE MOUSE

INDEX

S. NO. CHAPTER PAGE NO.

1 INTRODUCTION 1

2 HOW DOES A COMPUTER 2

MOUSE WORK??

3 THREE DIMENTIONAL USER 8

INTERFACE

4 MECHATRONICS 10

5 SPACEMOUSE 15

6 MAGELLAN: FEATURES AND 28

BENEFITS

7 CONCLUSION 38

8 REFERENCE 39

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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 spacemouse has different modes of operation
in which it can also be used as a two-dimensional mouse.

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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.1 The guts of a mouse

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1. A ball inside the mouse touches the desktop and rolls when the mouse
moves.

Fig 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.

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Fig.3 The rollers that touch the ball and detect X and Y motion

3. When the ball rotates, one or both of these rollers rotate as well. The
following image shows the two white rollers on this mouse:
4. The rollers each connect to a shaft, and the shaft spins a disk with
holes in it. When roller rolls, its shaft and disk spin. The

following image shows the disk:

Fig.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.

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Fig.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.

The rate of the pulsing is directly related to the speed of the mouse and
the distance it travels.

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.

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Fig 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.

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

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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.

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CHAPTER 3

Three-dimensional user interfaces

For typical computer displays, three-dimensional is a misnomer—their

displays are two-dimensional. Three-dimensional images are projected on
them in two dimensions. Since this technique has been in use for many
years, the recent use of the term three-dimensional must be considered a
declaration by equipment marketers that the speed of three dimension to
two dimension projection is adequate to use in standard graphical user
interfaces.

Three-dimensional graphical user interfaces are common in science fiction

literature and movies, such as in Jurassic Park, which features Silicon
Graphics' three-dimensional file manager, "File system navigator", an
actual file manager that never got much widespread use as the user
interface for a Unix computer.

In science fiction, three-dimensional user interfaces are often immersible

environments like William Gibson's Cyberspace or Neal Stephenson's
Metaverse. Three-dimensional graphics are currently mostly used in
computer games, art and computer-aided design (CAD). There have been
several attempts at making three-dimensional desktop environments like
Sun's Project Looking Glass or SphereXP from Sphere Inc. A three-
dimensional computing environment could possibly be used for

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collaborative work. For example, scientists could study three-dimensional

models of molecules in a virtual reality environment, or engineers could
work on assembling a three-dimensional model of an airplane. This is a
goal of the Croquet project and Project Looking Glass by Java.

The use of three-dimensional graphics has become increasingly common

in mainstream operating systems, but mainly been confined to creating
attractive interfaces—eye candy—rather than for functional purposes only
possible using three dimensions. For example, user switching is
represented by rotating a cube whose faces are each user's workspace,
and window management is represented in the form of Exposé on Mac OS
X, or via a Rolodex-style flipping mechanism in Windows Vista. In both
cases, the operating system transforms windows on-the-fly while
continuing to update the content of those windows.

workspace, and window management is represented in the form of Exposé

on Mac OS X, or via a Rolodex-style flipping mechanism in Windows Vista.
In both cases, the operating system transforms windows on-the-fly while
continuing to update the content of those windows.

Interfaces for the X Window System have also implemented advanced

three-dimensional user interfaces through compositing window managers
such as Beryl and Compiz using the AIGLX or XGL architectures, allowing
for the usage of OpenGL to animate the user's interactions with the
desktop.

Another branch in the three-dimensional desktop environment is the

three-dimensional graphical user interfaces that take the desktop
metaphor a step further, like the BumpTop, where a user can manipulate
documents and windows as if they were "real world" documents, with
realistic movement and physics. With the current pace on three-
dimensional and related hardware evolution, projects such these may
reach an operational level soon.

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CHAPTER 4

MECHATRONICS

4.1 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
Mechanical engineering,Electronics engineering and Computing. These

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three disciplines are linked together with knowledge of management,

manufacturing and marketing.

Mechatronics is centered on mechanics, electronics, computing, control

engineering, molecular engineering (from nanochemistry andbiology),
and optical engineering, which, combined, make possible the generation of
simpler, more economical, reliable and versatile systems. The portmanteau
"mechatronics" was coined by Tetsuro Mori, the senior engineer of
the Japanese company Yaskawa in 1969. An industrial robot is a prime
example of a mechatronics system; it includes aspects of electronics,
mechanics, and computing to do its day-to-day jobs.

Engineering cybernetics deals with the question of control engineering of

mechatronic systems. It is used to control or regulate such a system
(see control theory). Through collaboration, the mechatronic modules
perform the production goals and inherit flexible and agile manufacturing
properties in the production scheme. Modern production equipment consists
of mechatronic modules that are integrated according to a control
architecture. The most known architectures
involve hierarchy, polyarchy, heterarchy, and hybrid. The methods for
achieving a technical effect are described by control algorithms, which might
or might not utilize formal methods in their design. Hybrid systems
important to mechatronics include production systems, synergy
drives, planetary exploration rovers, automotive subsystems such as anti-
lock braking systems and spin-assist, and every-day equipment such as
autofocus cameras, video, hard disks, and CD players.

For most mechatronic systems, the main issue is no more how to implement
a control system, but how to implement actuators and what is the energy
source. Within the mechatronic field, mainly two technologies are used to
produce the movement: the piezo-electric actuators and motors, or
the electromagnetic actuators and motors. Maybe the most famous
mechatronics systems are the well known camera autofocus system or
camera anti-shake systems.

Concerning the energy sources, most of the applications use batteries. But a
new trend is arriving and is the energy harvesting, allowing transforming

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into electricity mechanical energy from shock, vibration, or thermal energy

from thermal variation, and so on.

4.2 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
own.

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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.

4.3 Mechatronic goals

4.3.1 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.
miniaturized triangulation based laser range finders.
integrated inductive joint-torque-sensor for light-weight-robot.

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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.

CHAPTER 5

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SPACEMOUSE

Spacemouse is developed by the DLR institute of robotics and

mechatronics.
DLR- Deutsches Zenturum far Luft-und Raumfahrt

5.1 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
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 (dof). Thus, it is no surprise that in the last few
years, there are increasing demands for comfortable 3D control and

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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.

Users control three-dimensional movement by maneuvering SPACE MOUSE

"Classic" spring-mounted cap. Slight finger pressure on the cap will control
an object in up to 6 degrees of freedom (X, Y, Z, pitch, roll, and yaw
movement) simultaneously. The SPACE MOUSE "Classic" 3D Motion
Controller is available for both UNIX and PC platforms to be used with
industry standard CAD/CAM, CAE applications such as CATIA,
Pro/ENGINEER, I-DEAS or AutoCAD.

Features:

Unprecedented ease of use for manipulating objects in 3D

applications
Calibration- and driftfree sensor technology for high precision and
unequaled reliability
Nine programmable buttons to customize user's preferences for
motion control
Finger operation for maximum precision and performance
Certified by all major suppliers of CAD/CAM, CAE and visual
simulation products

Benefits:

In CAD/CAM, CAE and visual simulation applications, the 3D Motion

Controller is used in conjunction with the normal mouse. As the user
positions the 3D object with Magellan™, the necessity of going back
and forth to a menu is eliminated. Thus, drawing times can be reduced by
20-30%, increasing overall productivity. Other benefits include an improved
design comprehension and earlier detection of design errors, contributing to
faster time to market and cost savings in the design process.

SPACE MOUSE "Classic" - Product Specifications

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Operating 3D interface (six degrees of freedom)

Modes:
Translation Only the translation coordinates (X, Y, X) are
Mode: reported
Rotation Mode: Only the rotation coordinates (A, B, C) are
reported
Dominant Mode: Only the coordinate with the greatest
magnitude is reported
Sensitivity Adjustable (real 600 speed levels resolution)
Buttons: 9, programmable
Interface type: RS232C Serial
Baud Rate: 9600 baud
Connector: DSUB 9 Female
Power Supply: via serial port signals
Dimensions: L x W x H: 163 x 112 x 40 mm
Weight: 665 gr.
EMC Standards: FCC, TUV/GS, UL/UR and CE approved
Warranty: 3 Years

Operating 3D interface (six degrees of freedom)

Modes:
Translation Only the translation coordinates (X, Y, X) are
Mode: reported
Rotation Mode: Only the rotation coordinates (A, B, C) are
reported
Dominant Mode: Only the coordinate with the greatest
magnitude is reported
Sensitivity Adjustable (real 600 speed levels resolution)
Buttons: 9, programmable
Interface type: RS232C Serial
Baud Rate: 9600 baud
Connector: DSUB 9 Female

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Power Supply: via serial port signals

Dimensions: L x W x H: 163 x 112 x 40 mm
Weight: 665 gr.
EMC Standards: FCC, TUV/GS, UL/UR and CE approved
Warranty: 3 Years

SpaceMouse® Plus is the award-winning product in the line of professional

3D motion controllers for industrial design and visual simulation
applications. It provides intuitive and precise interactive motion control of
three-dimensional graphic objects in up to six degrees of freedom
simultaneously. This professional input device dramatically increases
productivity, improves object comprehension and helps detect design errors
earlier.

Spacemouse Plus

A user-friendly, soft coated cap (electrostatic, ionised method of coating

provides a better grip) with a distinctive grip area for thumb, forefinger and
middle finger supports virtually every single cap movement with the
uniquely soft, pressure-sensitive sensor. Dedicated edges improve your
emotional attachment to the graphics object and ensure precise object
manipulation in 3D space. The V-shaped cap particularly supports the
"zoom" command, the most commonly used positioning command in 3D
design applications. Optimised overall dimensions and generous device
weight, produce unsurpassed stability for hassle-free computing experience.

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In CAD/CAM, CAE and visual simulation applications, the 3D Motion

Controller is used in conjunction with the normal mouse. As the user
positions the 3D object with SpaceMouse®, the necessity of going back and
forth to a menu is eliminated. Thus, drawing times can be reduced by 20-
30%, increasing overall productivity. Other benefits include an improved
design comprehension and earlier detection of design errors, contributing to
faster time to market and cost savings in the design process.

This premium 3D motion controller features 11 programmable map keys

(plus a Quicktip® button) that let you easily customize the device's
sensitivity settings and motion controls. You also may assign application-
specific tasks to the buttons. The inclined keypad has nine buttons with two
additional buttons on each side of the cap for easy access. Its patented high-
tech core, an opto-electronic and contact-less measuring system provides six
degrees of freedom motion control (X, Y, Z, pitch, roll and yaw) without the
need for calibration.

Spacemouse Plus

5.2 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

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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.

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.

5.2.1 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

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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.

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.

5.3 Magellan (the European Spacemouse):

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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.

Fig 7.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

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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 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

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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 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 8 Spacemouse

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

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behind its construction is mechatronics engineering and the

multisensory concept. The spacemouse has different modes of operation
in which it can also be used as a two-dimensional mouse.

5.4 Table-1

Technical specifications of spacemouse

Magellan/SpaceMouse Classic is used in conjunction with the

normal mouse (or tablet). The user intuitively positions an object
with Magellan/SpaceMouse while working on that object using the
mouse. Slight pressure of the fingers onto the ÒcapÓ is sufficient
for generating small deflections of a 3D graphic object. This
corresponds to the natural way of executing coordinated operations
with both hands and supports intuitive creativity without interrupting
the natural thought process. Additionally, the ergonomic design of
a flat cap reduces stress in the hand and arm.
P a t e n t e d H i g h - Te c h C o r e
Magellan/SpaceMouse 3D Motion Controller translates your sense
of touch into dynamic movement of objects within 3D space.

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ItÕs patented high-tech core (license DLR), an opto-electronic and

contactless measuring system provides 6 degrees of freedom
motion control (X, Y, Z, pitch, roll and yaw) without the need for
calibration. Magellan/SpaceMouse technology has been optimized
and miniaturized in such a way that it works with standard serial
interfaces without any additional power supply.

Magellan/SpaceMouse Classic is a space-proven, highly reliable

professional product, manufactured according to the strictest
quality standards of Logitech, the worldÕs leading manufacturer
of control devices.

Specifications
Operating Modes 3D Interface Ð 6 degrees of freedom
Translation Mode Only the translation coordinates (X, Y, Z)
are reported
Rotation Mode Only the rotation coordinates (A, B, C)
are reported
Dominant Mode Only the coordinate with the greatest
magnitude is reported
Sensitivity Adjustable (600 speed levels resolution)
Buttons 9, programmable
Interface Type RS-232C Serial
Baud Rate 9600 baud
Connector DB 9 Female
Power Supply Serial port signals
Weight 665 grams
Dimensions L x W x H 165 x 112 x 40mm
EMC Standards FCC, CE and EMI approved

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CHAPTER 6

MAGELLAN: FEATURES AND BENEFITS

6.1 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.

6.2 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
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

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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 7

FUTURE SCOPE

7.1 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.

SPACE MOUSE "Plus" is the newest award-winning product in the line of

professional 3D motion controllers for industrial design and visual
simulation applications. It provides intuitive and precise interactive motion
control of three-dimensional graphic objects in up to six degrees of freedom
simultaneously. This professional input device dramatically increases
productivity, improves object comprehension and helps detect design errors
earlier.

A new, user-friendly cap with a distinctive grip area for thumb, forefinger
and middle finger supports virtually every single cap movement with the
uniquely soft, pressure-sensitive sensor. Dedicated edges improve your
emotional attachment to the graphics object and ensure precise object
manipulation in 3D space. The V-shaped cap particularly supports the
"zoom" command, the most commonly used positioning command in 3D
design applications. Optimized overall dimensions and generous device
weight, produce unsurpassed stability for hassle-free computing experience.

This premium 3D motion controller features 11 programmable map keys

that let you easily customize the device's sensitivity settings and motion
controls. You also may assign application-specific tasks to the buttons. The

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inclined keypad has nine buttons with two additional buttons on each side
of the cap for easy access. Its patented high-tech core, an opto-electronic
and contact-less measuring system provides six degrees of freedom motion
control (X, Y, Z, pitch, roll and yaw) without the need for calibration.

SPACE MOUSE "Plus" - Product Specifications

Operating 3D interface (six degrees of freedom)

Modes:
Translation Only the translation coordinates (X, Y, X) are
Mode: reported
Rotation Mode: Only the rotation coordinates (A, B, C) are
reported
Dominant Mode: Only the coordinate with the greatest
magnitude is reported
Sensitivity Adjustable (real 600 speed levels resolution)
Buttons: 11, programmable
Interface type: RS232C Serial
Baud Rate: 9600 baud
Connector: DSUB 9 Female
Power Supply: via serial port signals
Dimensions: L x W x H: 188 x 120 x 44 mm
Weight: 720 grams
EMC Standards: FCC, TUV/GS, UL/UR and CE approved
Warranty: 3 Years

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Cyberpuck

CYBERPUCK is the world's first six-degrees of freedom, 3D web navigation

device. While the normal mouse clicks represents a repetitive and tedious
way of designating direction for navigation in 3D space, Cyberpuck allows
the user to "fly through" in a seamless and intuitive way. Particularly in the
field of professional, multi-user graphics applications, Cyberpuck creates an
entirely new way of real-time communication ("collaborative engineering").

Cyperpuck - Product Specifications

Operating 3D interface (six degrees of freedom)

Modes:
Translation Only the translation coordinates (X, Y, X) are
Mode: reported
Rotation Mode: Only the rotation coordinates (A, B, C) are
reported
Dominant Mode: Only the coordinate with the greatest
magnitude is reported
Sensitivity Adjustable (real 600 speed levels resolution)

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Buttons: 5 virtuell Quicktip, programmable

Interface type: RS232C Serial
Baud Rate: 9600 baud
Connector: DSUB 9 Female
Power Supply: via serial port signals
Dimensions: L x W x H: 140 x 140 x 45 mm
Weight: 510 gr.
EMC Standards: FCC, TUV/GS, UL/UR and CE approved
Warranty: 3 Years

7.1.1 VISUAL SPACEMOUSE

n many areas of our daily life we are faced with rather complex tasks that
have to be done in circumstances unfavorable for human beings. For
example, heavy weights may have to be lifted or the environment may be
dangerous and, therefore, the assistance of a machine is needed. Some of
these tasks, on the other hand, also need the presence of a human, because
the complexity of the task is beyond the capability that an independent
robot system is able to handle. Therefore, there is a need for a robot system
controlled by a human.

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 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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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 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.

The purpose of this project was to develop a system that is able to control a
robotic system by observing the human and directly converting hand
gestures into movements of the manipulator. The hand serves as the
primary controlling element to effect the actual motion and position of a
robot gripper. For the observation of the user, one usual greyscale camera is
used without any kind of calibration. The manipulator is a PUMA 560 robot
with six degrees of freedom and a gripper.

We use the image processing language VEIL for image processings. A special
feature of VEIL is blobs. These are defined as a brighter region in the image
plane within a darker environment. The hand is detected and traced with
the help of blobs. This blob contains the

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characteristic values of the image of the hand. The values of the blob are
then passed to the control part of the program to affect the actual position of
the manipulator.

In the mapping from the three-dimensional hand in the world to a blob

existing in a two-dimensional plane, a lot of information is lost. In
particular, rotations not lying in the image-plane cannot be resolved well.
Any rotation with the rotation axis parallel to the image plane will just
change the heigth and the width of the object. The sign of the rotation is
especially to determined. This is a limitation of 2D image analysis in general.
There are only three dimensions that are robustly detectable of an object in
a plane: height, width and one rotation in the image plane.

The control task of a manipulator with six degrees of freedom is therefore

very difficult or even impossible with just 3 values. To handle this problem,
and to keep the user interface intuitive, a state machine was implemented.

The state machine consists of three different levels: two control levels and
one transition level. The control levels are used to move the manipulator.

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The transition level connects the two control levels and affects the gripper of
the robot arm.

Every time the flat hand is facing the camera, as shown above, the state
machine of the controlling unit is in one of two control levels. In each control
level the manipulator can be moved in a plane, by moving the hand in the
up-down direction or forward-backward direction. The control levels differ in
the orientation of the planes in which the manipulator can be moved in. The
plane of control level 1 is orthogonal to the plane of control level 2.

To change the control levels the hand has to be turned, so that the side of
the flat hand is facing the camera. In this mode the hand can be moved
within the sight of the camera without effecting the manipulator. This mode
is called the transition mode. If the hand is turned back so that the flat
hand is facing the camera again, the state machine of the control unit moves
back into the other control level.

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With the use of the two planes, described previously, only a cubic space in
front of the arm can be accessed. With the rotation along the z-axis this
cube can be rotated and so the whole area around the manipulator is
attainable. The rotation is initiated just by rotating the hand in the image-
plane. Also, the gripping gesture is part of the transition level. Placing the
gesture of the gripper in the transition level has the advantage that any
movement of the hand has no effect on the manipulator itself, which will
keep the gripper fixed during the gripping gesture.

Experiment

An experiment was performed to validate the functions of the system. The

task was to assemble a house out of three randomly placed wooden pieces.

Several people have been chosen to perform this experiment without any
training. Each person was able to successfully finish the task. The
experiment showed that the state machine with its two separated control
levels was no problem for the candidates. The biggest problem was the
gesture for the gripping movement. It became obvious that the choses
gripping gesture was nonnatural to perform.

The major attempt of this project was to combine an image processing unit
with an control unit to achieve a convenient, image-based control system for
a manipulator: the visual space-mouse. This intention was achieved
successfully. As it was demonstrated by the experiment, a person is able to
successfully manage to handle simple manipulation tasks by using the
visual space-mouse-system developed as a remote tool.

Indeed, it became obvious that the possibilities of controlling a six

dimensional manipulator just by using one greyscale camera as input is
very limited, because only three dimensions can be robustly observed by the
video output.

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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

www.howstuffworks.com
www.wikipedia.com
http://www-cvr.ai.uiuc.edu/demos/tobias/spacemouse.html
www.aalizwel.com
www.google.com

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