Best outline is here
Some nice images Paul did at http://local.wasp.uwa.edu.au/~pbourke/fractals/
I like this
"The approach used here is to modify the geometry of a 3D model itself. Both of the effects mentioned above are quite easy to simulate by computer using random and fractal methods. Non-intersecting lines are achieved by extending both ends of line segments by a random distance. The distance should be related to the line length, the application I developed allowed a range of overshoots from between zero and a user chosen maximum. The wiggly line effect was generated by a well known technique from fractal geometry called "random midpoint displacement". It takes a straight line segment and generates a fractal curve by repeatedly splitting lines and perturbing their midpoint, the degree of wiggle is easily controlled by the user.....
Another noticeable effect of hand drawings is that the intensity is not constant along a line and also varies within a drawing. Typically a line is darker at the beginning and lighter near the end, lines also tend to be darker for foreground items or parts of the drawing of particular interest"
more info here
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