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Transcript of Space Mouse
09105EN062 Space Mouse 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. Introduction The predecessor of the space-mouse was the DLR controller ball.
Space-mouse 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 multi-sensory concept. The space-mouse has different modes of operation in which it can also be used as a two-dimensional mouse. Origin 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: Inside a Mouse
How does it work? The guts of a mouse Inside a mouse continued.. 1. A ball inside the mouse touches the desktop and rolls when the mouse moves. The underside of the mouse's logic board: The exposed portion of the ball touches the desktop. Inside a Mouse continued... 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 rollers that touch the ball and detect X and Y motion 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. Inside a Mouse continued... A typical optical encoding disk: This disk has 36 holes around its outer edge. Inside a mouse continued... 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. 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. Inside of a mouse continued... 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 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. Explanation 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 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. The logic section of a mouse is dominated by an encoder chip, a small processor that reads the pulsescoming from the infrared sensors and turns them intobytes sent to the computer. You can also see the two buttons that detect clicks (on either side of the wire connector). 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 (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 behaviours are and will remain analogous forever. Why 3D motion? continued... Magellan- European Space Mouse The wear resistant and drift free opto electronic, 6 component measuring system was optimized to place all the electronics.
These include 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.
This 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. Magellan continued Standard Mode: Technical Specifications Weight: Size: Translation Mode: Dominant Mode: Internal Resolution: Interface: 3D Mode: Supply: Rotation Mode: 720gms 180x120x44mm Only the translational coordinates are reported Only the rotational coordinates are reported Only the coordinate with greatest magnitude is reported 3D Interface 8 bit RS232 (IBM PC port pinout) 9600 Bauds (receives and transmits) via RS232 handshake signals lines RTS and DTS 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. Features 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. Conclusion J. HeintB, G. Hilzinger: Device for programming movements of a Robot, Enrop. Patent No. 0.108.348; USPatent No. 4,589,810 References www.howstuffworks.com 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", Toulouse Labege, France, Sept. 30 - Oct. 2, 1992. J. Dietrich, G. Plank, H. Krans: Optoelectronic System Housed in Plastic Sphere, Emop. Patent No. 0 240 023; US-Patent No. 4,785,180; JP-Patent No. 1763 620 THANK YOU QUERIES?? Introduction Contents References Conclusions Features Technical Specifications Magellan- European Space Mouse Why 3D motion is needed? How does a mouse work? Inside a mouse Origin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17