Implementation
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This section contains pointers to:

Control Software -:- two main collections of routines were written: board & shaker
Interface board -:- a small electronic circuit was built to perform both data acquisition (from the accelerometers) and waveform generation (to the motors).
Vision -:- the position of parts is retrieved at frame rates by standard image processing algorithms.
COR Estimation -:- how we use accelerometer data to estimate the position of the table's instantaneous center of rotation (COR).
 
2000 Dan S. Reznik, <dreznik@cs.berkeley.edu>