left / right arrow keys to rotate view around the x axis

up / down arrow keys to rotate the view and the y axis

a / q to decrease or increase sigma value by 1

s / w to decrease or increase beta value by 0.5

d / e to decrease or increase rho value by 1

0 key resets the view rotation

9 key resets sigma, beta, rho to defaults 10, 2.666, 28, respectively