colors theme

diff --git a/figures/actuatorcircuit.tex b/figures/actuatorcircuit.tex
index 2d1fa1e709ccdd40efe4331452c5bcf12fed1d4a..2e37df2cfc62fa998f4056d6d229cabfd955615e 100644 (file)
--- a/figures/actuatorcircuit.tex
+++ b/figures/actuatorcircuit.tex
@@ -2,7 +2,6 @@
 
 \begin{figure}[htb]
   \centering
-
   % height
   % on width
   % off width
@@ -20,15 +19,13 @@
       ({(#2 + #3) * (\x + 1)}, 0);
     }
   }
-  \definecolor{cellred}{rgb}    {0.98,0.17,0.15}
-  \definecolor{cellblue}{rgb}    {0.17,0.60,0.99}
-  
+%
   \tikzexternalenable
   \begin{circuitikz}[]
     \ctikzset{diodes/scale=0.6, mylength/.style={bipoles/length=#1}}%, elmech/scale=0.6}
     \draw (0,0) node[and port] (andgate) {}
-      (andgate.in 1) to[short, -o] ++(-0.5,0) node[anchor=east, cellblue] {Frequency}
-      (andgate.in 2) to[short, -o] ++(-0.5,0) node[anchor=east, cellred] {Amplitude}
+      (andgate.in 1) to[short, -o] ++(-0.5,0) node[anchor=east, myblue] {Frequency}
+      (andgate.in 2) to[short, -o] ++(-0.5,0) node[anchor=east, myred] {Amplitude}
       (andgate.out) node[anchor=west] {};
 
     \draw (andgate.out) -- ++(0.25,0) node[nfet,bodydiode, anchor=G](nmos){};
@@ -44,12 +41,12 @@
   \begin{tikzpicture}[x=0.8mm,y=0.8mm]
     \draw[dotted, step=10] (0,0) grid (80,50);
     \begin{scope}[yshift=32mm]
-      \sqsignal{10}{20}{20}{2}{0.4mm}{cellblue}
-      \node[anchor=east, cellblue] () at (0,5) {Frequency};
+      \sqsignal{10}{20}{20}{2}{0.4mm}{myblue}
+      \node[anchor=east, myblue] () at (0,5) {Frequency};
     \end{scope}
     \begin{scope}[yshift=16mm]
-      \sqsignal{10}{3}{1}{20}{0.4mm}{cellred}
-      \node[anchor=east, cellred] () at (0,5) {Amplitude};
+      \sqsignal{10}{3}{1}{20}{0.4mm}{myred}
+      \node[anchor=east, myred] () at (0,5) {Amplitude};
     \end{scope}
     \begin{scope}[]
       \node[anchor=east] () at (0,5) {\textbf{Actuator}};
@@ -65,7 +62,7 @@
       \filldraw[draw=black, fill=white, thick] (80,10) circle (12);
       \clip (80,10) circle (12);
       \draw[dotted, step=3] (0,0) grid (90,30);
-      \sqsignal{15}{9}{3}{10}{0.6mm}{cellred}
+      \sqsignal{15}{9}{3}{10}{0.6mm}{myred}
     \end{scope}
   \end{tikzpicture}
   \tikzexternaldisable

diff --git a/figures/amplifiers.tex b/figures/amplifiers.tex
index c4a9eabced05008b83222fe37af10026bc70586b..6f86756e628b99513de86b8b8b164e66d69a432e 100644 (file)
--- a/figures/amplifiers.tex
+++ b/figures/amplifiers.tex
@@ -3,13 +3,10 @@
 \begin{figure}[htb]
   \centering
 
-  \definecolor{cellred}{rgb}    {0.98,0.17,0.15}
-  \definecolor{cellblue}{rgb}    {0.17,0.60,0.99}
-
   \tikzexternalenable
   %\begin{circuitikz}[scale=0.8, transform shape]
   \begin{circuitikz}[]
-    \ctikzset{amplifiers/fill=cellblue, resistors/scale=0.5, component text=left}
+    \ctikzset{amplifiers/fill=myblue, resistors/scale=0.5, component text=left}
     \draw (0,0) node[above]{$v_i$} to[short, o-] ++(1,0)
       node[op amp, noinv input up, anchor=+, scale=0.7](OA){}
       (OA.-) -- ++(0,-0.8) coordinate(outnode)

diff --git a/figures/cargame.tex b/figures/cargame.tex
index b903a359d2a59f48d7ca9783eadc9a2c50bcd3fd..ae4ff7b9ac09ffd117b06592e6dbe8a586134f9d 100644 (file)
--- a/figures/cargame.tex
+++ b/figures/cargame.tex
@@ -27,38 +27,36 @@
       \fill[white] (-2.1,-1) to[out=150,in=60] (-5.5,-2) to[out=240,in=210] (-2,-6) to[out=30,in=330] cycle;
     \end{scope}
   }
-  \definecolor{cellred}{rgb}    {0.98,0.17,0.15}
-  \definecolor{cellblue}{rgb}    {0.17,0.60,0.99}
   \includegraphics[width=7.1cm,valign=t]{figures/vdrift}
   \hfill
   \adjustbox{valign=t,minipage=9.7cm}{
     \centering
     \tikzexternalenable
-    \begin{tikzpicture}[x=1mm,y=1mm,outer sep=0pt, inner sep=0pt, inner frame sep=0]%, background rectangle/.style={fill=cellblue}, show background rectangle]
+    \begin{tikzpicture}[x=1mm,y=1mm,outer sep=0pt, inner sep=0pt, inner frame sep=0]%, background rectangle/.style={fill=myblue}, show background rectangle]
       \begin{scope}
         \wheel{90}
-        \vibrators{white}{white}{white}{cellred}
+        \vibrators{white}{white}{white}{myred}
       \end{scope}
       \begin{scope}[xshift=57]
         \wheel{45}
-        \vibrators{cellred}{white}{white}{cellred}
+        \vibrators{myred}{white}{white}{myred}
       \end{scope}
       \begin{scope}[xshift=114]
         \wheel{0}
-        \vibrators{cellred}{white}{white}{white}
+        \vibrators{myred}{white}{white}{white}
       \end{scope}
       \begin{scope}[xshift=171]
         \wheel{-45}
-        \vibrators{cellred}{cellred}{white}{white}
+        \vibrators{myred}{myred}{white}{white}
       \end{scope}
       \begin{scope}[xshift=228]
         \wheel{-90}
-        \vibrators{white}{cellred}{white}{white}
+        \vibrators{white}{myred}{white}{white}
       \end{scope}
     \end{tikzpicture}
 
     \begin{tikzpicture}[x=1mm,y=1mm, node distance=0.5mm]
-        \node[fill=cellred, draw=black!50, circle] (full) at (0,0) {};
+        \node[fill=myred, draw=black!50, circle] (full) at (0,0) {};
         \node[right=of full, anchor=west] {\SI{250}{\hertz} vibration};
         \node[fill=white, draw=black!40, circle] (none) at (50,0) {};
         \node[right=of none, anchor=west] {no vibration};

diff --git a/figures/dwellpointing.tex b/figures/dwellpointing.tex
index 3720524944ebaae96182ddb93f4c260060f59035..a33493ec229735447437737735e5a685319402e9 100644 (file)
--- a/figures/dwellpointing.tex
+++ b/figures/dwellpointing.tex
@@ -2,9 +2,6 @@
 
 \begin{figure}[htb]
   \centering\small
-  \definecolor{cellred}{rgb}    {0.98,0.17,0.15}
-  \definecolor{cellblue}{rgb}    {0.17,0.60,0.99}
-  
   % 1: size
   % 2: angle
   % 3: color
@@ -29,13 +26,13 @@
           \draw (0,0) circle (\csize);
           \ifthenelse{#1 > 0}{% no progress for 0
             \ifthenelse{\equal{#1}{360}}{
-              \filldraw[fill=cellblue, draw=black] (0,0) circle (\csize);
+              \filldraw[fill=myblue, draw=black] (0,0) circle (\csize);
             }{
-              \progress{\csize}{#1}{cellblue}
+              \progress{\csize}{#1}{myblue}
             }
           }{}
         }{}% idle
-        \filldraw[fill=cellblue, draw=black] (0,0) circle (\scsize);
+        \filldraw[fill=myblue, draw=black] (0,0) circle (\scsize);
       }{ \draw[draw=black] (0,0) circle (\scsize); }
     \end{scope}
   }
@@ -67,48 +64,48 @@
       \button{black!30}
       \cursor{0}{5}{10}{true}{false}
       \steplabel{\bf Hover}
-      \vibrators{cellred!40}{cellred!40}{cellred!40}{cellred!40}
+      \vibrators{myred!40}{myred!40}{myred!40}{myred!40}
     \end{scope}
     \begin{scope}[xshift=120]
       \button{black!30}
       \cursor{0}{5}{10}{true}{true}
-      \vibrators{cellred}{cellred}{cellred}{cellred}
+      \vibrators{myred}{myred}{myred}{myred}
     \end{scope}
     \begin{scope}[xshift=180]
       \button{black!30}
       \cursor{72}{5}{10}{true}{true}
-      \vibrators{cellred}{white}{white}{white}
+      \vibrators{myred}{white}{white}{white}
     \end{scope}
     \begin{scope}[xshift=240]
       \button{black!30}
       \cursor{144}{5}{10}{true}{true}
       \draw (-50,12) -- (50,12);
       \steplabel{\bf Progress}
-      \vibrators{white}{cellred}{white}{white}
+      \vibrators{white}{myred}{white}{white}
     \end{scope}
     \begin{scope}[xshift=300]
       \button{black!30}
       \cursor{216}{5}{10}{true}{true}
-      \vibrators{white}{white}{cellred}{white}
+      \vibrators{white}{white}{myred}{white}
     \end{scope}
     \begin{scope}[xshift=360]
       \button{black!30}
       \cursor{288}{5}{10}{true}{true}
-      \vibrators{white}{white}{white}{cellred}
+      \vibrators{white}{white}{white}{myred}
     \end{scope}
     \begin{scope}[xshift=420]
       \button{black!30}
       \cursor{360}{5}{10}{true}{true}
-      \vibrators{cellred}{cellred}{cellred}{cellred}
+      \vibrators{myred}{myred}{myred}{myred}
       \steplabel{\bf Activation}
     \end{scope}
     %legend
   \end{tikzpicture}
   \vspace{1mm}
   \begin{tikzpicture}[x=1mm,y=1mm, node distance=0.5mm]
-      \node[fill=cellred, draw=black!50, circle] (full) at (0,0) {};
+      \node[fill=myred, draw=black!50, circle] (full) at (0,0) {};
       \node[right=of full, anchor=west] {250Hz vibration};
-      \node[fill=cellred!50, draw=black!50, circle] (half) at (50,0) {};
+      \node[fill=myred!50, draw=black!50, circle] (half) at (50,0) {};
       \node[right=of half, anchor=west] {50Hz vibration};
       \node[fill=white, draw=black!40, circle] (none) at (100,0) {};
       \node[right=of none, anchor=west] {no vibration};

diff --git a/figures/flexuralstiffnesses.tex b/figures/flexuralstiffnesses.tex
index f8eef9478d155cc873db1e2075703c0f31ff2f84..b0de67c7d54bd6d6776ad902658b6df623435ad2 100644 (file)
--- a/figures/flexuralstiffnesses.tex
+++ b/figures/flexuralstiffnesses.tex
@@ -2,10 +2,6 @@
 
 \begin{figure}[htb]
   \centering
-  \definecolor{cellblue}{rgb}    {0.17,0.60,0.99}
-  \definecolor{clearblue}{rgb}    {0.77,0.90,1.0}
-
-  
   % 1: total width
   % 2: small h width
   % 3: small v width
@@ -74,17 +70,16 @@
       (#2, - #1 / 2) --
       (0, - #1 / 2) -- cycle;
   }
-
+%
   \tikzstyle{size} = [|-|]
-
-
+%
   \tikzexternalenable
   % Soft
   \begin{tikzpicture}[x=1mm,y=1mm,node distance=4mm and 1mm]
     \begin{scope}[xshift=0cm]
       \begin{scope}[rotate=-90]
-        \barrel{11.2}{20}{10}{9}{cellblue}
-        \screw{9}{2}{0.5}{5}{clearblue}
+        \barrel{11.2}{20}{10}{9}{myblue}
+        \screw{9}{2}{0.5}{5}{myblue!50}
       \end{scope}
       \draw[size] (-4.5,-21.5) -- (4.5,-21.5) node[midway, below, inner sep=0mm, outer sep=1.5mm]{\scriptsize $9mm$};
       \node[anchor=north] (soft) at (0,-25) {Soft};
@@ -94,8 +89,8 @@
     % Medium soft
     \begin{scope}[xshift=3cm]
       \begin{scope}[rotate=-90]
-        \barrel{11.2}{20}{10}{8}{cellblue}
-        \screw{9}{2}{0.5}{5}{clearblue}
+        \barrel{11.2}{20}{10}{8}{myblue}
+        \screw{9}{2}{0.5}{5}{myblue!50}
       \end{scope}
       \draw[size] (-4,-21.5) -- (4,-21.5) node[midway, below, inner sep=0mm, outer sep=1.5mm]{\scriptsize $8mm$};
       \node[anchor=north] (mediumsoft) at (0,-25) {Medium soft};
@@ -105,8 +100,8 @@
     % Medium
     \begin{scope}[xshift=6cm]
       \begin{scope}[rotate=-90]
-        \barrel{11.2}{20}{10}{7.5}{cellblue}
-        \screw{9}{2}{0.5}{5}{clearblue}
+        \barrel{11.2}{20}{10}{7.5}{myblue}
+        \screw{9}{2}{0.5}{5}{myblue!50}
       \end{scope}
       \draw[size] (-3.75,-21.5) -- (3.75,-21.5) node[midway, below, inner sep=0mm, outer sep=1.5mm]{\scriptsize $7.5mm$};
       \node[anchor=north] (medium) at (0,-25) {Medium};
@@ -116,8 +111,8 @@
     % Medium hard
     \begin{scope}[xshift=9cm]
       \begin{scope}[rotate=-90]
-        \barrel{11.2}{20}{10}{7}{cellblue}
-        \screw{9}{2}{0.5}{5}{clearblue}
+        \barrel{11.2}{20}{10}{7}{myblue}
+        \screw{9}{2}{0.5}{5}{myblue!50}
       \end{scope}
       \draw[size] (-3.5,-21.5) -- (3.5,-21.5) node[midway, below, inner sep=0mm, outer sep=1.5mm]{\scriptsize $7mm$};
       \node[anchor=north] (mediumhard) at (0,-25) {Medium hard};
@@ -127,8 +122,8 @@
     % Hard
     \begin{scope}[xshift=12cm]
       \begin{scope}[rotate=-90]
-        \barrel{11.2}{20}{10}{6}{cellblue}
-        \screw{9}{2}{0.5}{5}{clearblue}
+        \barrel{11.2}{20}{10}{6}{myblue}
+        \screw{9}{2}{0.5}{5}{myblue!50}
       \end{scope}
       \draw[size] (-3,-21.5) -- (3,-21.5) node[midway, below, inner sep=0mm, outer sep=1.5mm]{\scriptsize $6mm$};
       \node[anchor=north] (hard) at (0,-25) {Hard};

diff --git a/figures/interactingloops.tex b/figures/interactingloops.tex
index 29d39f9257b0b8156e6acb8ddc1a8148a689f089..c04c2f46638a9d8791d7b912f65c819960d67ff8 100644 (file)
--- a/figures/interactingloops.tex
+++ b/figures/interactingloops.tex
@@ -2,17 +2,14 @@
 
 \begin{figure}[htb]
   \centering
-  \definecolor{cellred}{rgb}    {0.98,0.17,0.15}
-  \definecolor{cellblue}{rgb}    {0.17,0.60,0.99}
-  
   \newcommand{\labelcell}[2]{
   \node[minimum width=2.5cm, minimum height=.85cm,text width=2.0cm, align=center, outer sep=0](#1) {#2};
   }
   \newcommand{\bluecell}[2]{
-    \node[minimum width=2.1cm, minimum height=.85cm,fill=cellblue, text=white,text width=2cm, align=center, rounded corners=2ex, outer sep=0](#1) {#2};
+    \node[minimum width=2.1cm, minimum height=.85cm,fill=myblue, text=white,text width=2cm, align=center, rounded corners=2ex, outer sep=0](#1) {#2};
   }
   \newcommand{\redcell}[2]{
-    \node[minimum width=2.1cm, minimum height=.85cm,fill=cellred, text=white,text width=2cm, align=center, rounded corners=2ex, outer sep=0](#1) {#2};
+    \node[minimum width=2.1cm, minimum height=.85cm,fill=myred, text=white,text width=2cm, align=center, rounded corners=2ex, outer sep=0](#1) {#2};
   }
   \tikzexternalenable
   \begin{tikzpicture}
@@ -29,11 +26,11 @@
       % (user.south east) edge[bend right] (sensorimotor.south east)
       % (execution.south west) edge[bend right] (system.south west)
       % (system.north west) to[bend right] (execution.north west);
-      \draw [->, -stealth', line width=1mm, draw=cellred!50!black, shorten >= -1.5mm, shorten <= 0.0mm] (sensorimotor.east) to[out=90,in=45] (user.north east);
-      \draw [->, -stealth', line width=1mm, draw=cellblue!50!black, shorten >= -1.5mm, shorten <= 0.0mm] (execution.west) to[out=-90,in=225] (system.south west);
+      \draw [->, -stealth', line width=1mm, draw=myred!50!black, shorten >= -1.5mm, shorten <= 0.0mm] (sensorimotor.east) to[out=90,in=45] (user.north east);
+      \draw [->, -stealth', line width=1mm, draw=myblue!50!black, shorten >= -1.5mm, shorten <= 0.0mm] (execution.west) to[out=-90,in=225] (system.south west);
 
-      \draw [->, -stealth', line width=1mm, draw=cellred!50!black, shorten <= -1.5mm] (user.south east) to[out=-45,in=270] (sensorimotor.east);
-      \draw [->, -stealth', line width=1mm, draw=cellblue!50!black, shorten <= -1.5mm] (system.north west) to[out=135,in=90] (execution.west);
+      \draw [->, -stealth', line width=1mm, draw=myred!50!black, shorten <= -1.5mm] (user.south east) to[out=-45,in=270] (sensorimotor.east);
+      \draw [->, -stealth', line width=1mm, draw=myblue!50!black, shorten <= -1.5mm] (system.north west) to[out=135,in=90] (execution.west);
       \end{tikzpicture}
   \tikzexternaldisable
   \caption{The similarity of a user and a system interacting with each other.}

diff --git a/figures/lagmeter.tex b/figures/lagmeter.tex
index 41e6ef36e54c04acdcc99e366e6ed2300e1f17ef..9bd82dfaf43cdd15f26139d71f2e1748a5c1e38e 100644 (file)
--- a/figures/lagmeter.tex
+++ b/figures/lagmeter.tex
@@ -2,25 +2,21 @@
 
 \begin{figure}[htb]
   \centering
-  \definecolor{cellred}{rgb}    {0.98,0.17,0.15}
-  \definecolor{cellblue}{rgb}    {0.17,0.60,0.99}
-  \definecolor{celldarkred}{rgb}    {0.68,0.15,0.13}
-  \definecolor{celldarkblue}{rgb}    {0.15,0.40,0.69}
   %
   \newcommand{\labelcell}[2]{
   \node[minimum width=1.0cm, minimum height=.75cm,text width=3.0cm, align=center, outer sep=0, column sep=0cm](#1) {\textbf{#2}};
   }
   \newcommand{\bluecell}[3]{
-    \node[minimum width=1.2cm, minimum height=1.2cm,fill=cellblue, text=white,text width=1.2cm, align=center, rounded corners=1mm, outer sep=0](#3) at (#1) {#2};
+    \node[minimum width=1.2cm, minimum height=1.2cm,fill=myblue, text=white,text width=1.2cm, align=center, rounded corners=1mm, outer sep=0](#3) at (#1) {#2};
   }
   \newcommand{\redcell}[3]{
-    \node[minimum width=1.2cm, minimum height=1.2cm,fill=cellred, text=white,text width=1.2cm, align=center, rounded corners=1mm, outer sep=0](#3) at (#1) {#2};
+    \node[minimum width=1.2cm, minimum height=1.2cm,fill=myred, text=white,text width=1.2cm, align=center, rounded corners=1mm, outer sep=0](#3) at (#1) {#2};
   }
   \newcommand{\darkbluecell}[3]{
-    \node[minimum width=1.2cm, minimum height=1.2cm,fill=celldarkblue, text=white,text width=1.2cm, align=center, rounded corners=1mm, outer sep=0](#3) at (#1) {#2};
+    \node[minimum width=1.2cm, minimum height=1.2cm,fill=myblue!50!black, text=white,text width=1.2cm, align=center, rounded corners=1mm, outer sep=0](#3) at (#1) {#2};
   }
   \newcommand{\darkredcell}[3]{
-    \node[minimum width=1.2cm, minimum height=1.2cm,fill=celldarkred, text=white,text width=1.2cm, align=center, rounded corners=1mm, outer sep=0](#3) at (#1) {#2};
+    \node[minimum width=1.2cm, minimum height=1.2cm,fill=myred!50!black, text=white,text width=1.2cm, align=center, rounded corners=1mm, outer sep=0](#3) at (#1) {#2};
   }
   \newcommand{\dashedcell}[3]{
     \node[minimum width=1.2cm, minimum height=1.2cm,dashed, text=black, draw=black, text width=1.2cm, align=center, rounded corners=1mm, outer sep=0](#3) at (#1) {#2};

diff --git a/figures/sevenstages.tex b/figures/sevenstages.tex
index c7caa297177bcfcccf76b6092ccdf73f9a18f12e..bf88a9ad1f0aaf49a9255b9034ac843145b965f3 100644 (file)
--- a/figures/sevenstages.tex
+++ b/figures/sevenstages.tex
@@ -2,9 +2,8 @@
 
 \begin{figure}[htb]
   \centering
-  \definecolor{cellred}{rgb}    {0.98,0.17,0.15}
   \newcommand{\stage}[2]{
-    \node[minimum width=2.5cm, minimum height=.85cm,fill=cellred, text=white,text width=2.2cm, align=center, rounded corners=2ex, outer sep=0, execute at begin node=\setlength{\baselineskip}{0em}](#1) {#2};
+    \node[minimum width=2.5cm, minimum height=.85cm,fill=myred, text=white,text width=2.2cm, align=center, rounded corners=2ex, outer sep=0, execute at begin node=\setlength{\baselineskip}{0em}](#1) {#2};
   }
   \tikzexternalenable
   \begin{tikzpicture}

diff --git a/figures/sevenstages2.tex b/figures/sevenstages2.tex
index 404a511c3366470326a769cc387208334d8e3afa..5a7aeed30f96812369d435201a7a2f4dd0242bf1 100644 (file)
--- a/figures/sevenstages2.tex
+++ b/figures/sevenstages2.tex
@@ -2,10 +2,8 @@
 
 \begin{figure}[htb]
   \centering
-  \definecolor{cellblue}{rgb}    {0.17,0.60,0.99}
-  
   \newcommand{\stage}[2]{
-    \node[minimum width=2.5cm, minimum height=.85cm,fill=cellblue, text=white,text width=2cm, align=center, rounded corners=2ex, outer sep=0, execute at begin node=\setlength{\baselineskip}{0em}](#1) {#2};
+    \node[minimum width=2.5cm, minimum height=.85cm,fill=myblue, text=white,text width=2cm, align=center, rounded corners=2ex, outer sep=0, execute at begin node=\setlength{\baselineskip}{0em}](#1) {#2};
   }
   \tikzexternalenable
   \begin{tikzpicture}

diff --git a/figures/wholeschema.tex b/figures/wholeschema.tex
index bbadc6058990e20de700313f3c48cbafd2fcf966..8db78558e4dd0bcf95f8fcae1e308ec73a3639fe 100644 (file)
--- a/figures/wholeschema.tex
+++ b/figures/wholeschema.tex
@@ -2,14 +2,11 @@
 
 \begin{figure}[htb]
   \centering
-  \definecolor{cellred}{rgb}    {0.98,0.17,0.15}
-  \definecolor{cellblue}{rgb}    {0.17,0.60,0.99}
-
   \def\levelone{10}
   \def\leveltwo{16}
   \def\levelthree{23}
   \def\thickness{18}
-
+%
   \tikzexternalenable
   \begin{tikzpicture}[x=1mm, y=1mm]
     \small
@@ -30,20 +27,20 @@
     \path[decorate, decoration={text along path, text={|\color{black}|World},text align=center, raise=-0.5ex}] (45:\leveltwo) arc[start angle=45, end angle=-45, radius=\leveltwo];
 
     %User
-    \draw[{Triangle Cap[bend]}-{Triangle Cap[bend]}, color=cellred, line width=\thickness] (180:\levelone)  arc[start angle=180, end angle=0, radius=\levelone];
+    \draw[{Triangle Cap[bend]}-{Triangle Cap[bend]}, color=myred, line width=\thickness] (180:\levelone)  arc[start angle=180, end angle=0, radius=\levelone];
     \path[decorate, decoration={text along path, text={|\color{white}|User},text align=center, raise=-0.5ex}] (180:\levelone) arc[start angle=180, end angle=0, radius=\levelone];
 
     %System
-    \draw[{Triangle Cap[bend]}-{Triangle Cap[bend]}, color=cellblue, line width=\thickness] (180:\levelone)  arc[start angle=180, end angle=360, radius=\levelone];
+    \draw[{Triangle Cap[bend]}-{Triangle Cap[bend]}, color=myblue, line width=\thickness] (180:\levelone)  arc[start angle=180, end angle=360, radius=\levelone];
     \path[decorate, decoration={text along path, text={|\color{white}|System},text align=center, raise=-0.5ex}] (180:\levelone) arc[start angle=180, end angle=360, radius=\levelone];
 
     %Input pipeline
     \draw[{Triangle Cap[bend]}-{Triangle Cap[bend]}, color=black!40, line width=\thickness] (90:\levelthree)  arc[start angle=90, end angle=-90, radius=\levelthree];
     \path[decorate, decoration={text along path, text={|\color{white}|Input pipeline},text align=center, raise=-0.5ex}] (90:\levelthree) arc[start angle=90, end angle=-90, radius=\levelthree];
 
-    %Haptic pipeline
+    %Output pipeline
     \draw[{Triangle Cap[bend]}-{Triangle Cap[bend]}, color=black!60, line width=\thickness] (270:\levelthree)  arc[start angle=270, end angle=90, radius=\levelthree];
-    \path[decorate, decoration={text along path, text={|\color{white}|Haptic rendering pipeline},text align=center, raise=-0.5ex}] (270:\levelthree) arc[start angle=270, end angle=90, radius=\levelthree];
+    \path[decorate, decoration={text along path, text={|\color{white}|Output pipeline},text align=center, raise=-0.5ex}] (270:\levelthree) arc[start angle=270, end angle=90, radius=\levelthree];
   \end{tikzpicture}
   \tikzexternaldisable
   \caption[Full pipeline.]{Full pipeline.}