Head Eye Coordination, Motion Detection and Feedback Control with Counters

头眼协调、运动检测和带计数器的反馈控制

• 批准号: 1029178
• 负责人: Bijoy Ghosh
• 金额: $ 34.56万
• 依托单位: Texas Tech University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2010
• 资助国家: 美国
• 起止时间: 2010-10-01 至 2014-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1029178&HistoricalAwards=false
• 关键词: Head; Eye; Coordination; Motion; Detection

The proposal deals with orientation control of the human head/eye combination. The goal is to obtain the tracking signals to the combined head eye pair for the purpose of gaze fixation and tracking. The geometric framework utilizes Lagrangian dynamics in order to derive the dynamical system. For the purpose of tracking, the PI proposes to use nonlinear dynamics and control theory. The control signals to the human head eye complex are derived from three sources. The first two are position and velocity of the head and the eye. They are related to the muscles that actuate the eye movement and the vestibulo ocular reflex. The third signal is the target velocity in the coordinate system attached to the eye. The focus is to study dynamics and control of eye/head orientation; statistical modeling of the retinal signals conditioned on the target motion followed by target motion estimation and event based control implemented as a dynamical system with countersIntellectual Merit: The three major components of this proposal are: (a) Orientation control of the head eye combination for the purpose of ?Tracking?. (b) Statistical Modeling of the Retina for the purpose of estimating ?Target Motion Parameters?. (c) Dynamic control with counters in order to implement ?Event Based Control?. This component of the proposal can be described as ? Dynamic Control Theory with Event Based Counters. The deterministic signals are triggered by the events and the dynamic controller is described by an equation that has two components ? a smooth part and a jump discontinuity. The PI plans to work with researchers from the University of Chicago for the turtle retina and with Technische Universit¨at M¨unchen for the eye/head coordination.Broader Impacts: The project is interdisciplinary and attracts attention from sensor guided robotics, nonlinear control and systems theory and neuroscientists interested in modeling. The research would be performed as integral part of the laboratory for Bio Cybernetics and Intelligent Systems. The research results would be part of a senior undergraduate special topics course, attended by students from Engineering, Biology and Arts and Sciences.

该提案涉及人头/眼组合的方向控制。目标是获得组合头眼对的跟踪信号，以用于凝视固定和跟踪。该几何框架利用拉格朗日动力学来推导动力学系统。为了达到跟踪的目的，PI提出使用非线性动力学和控制理论。人头眼复合体的控制信号来自三个来源。前两个是头部和眼睛的位置和速度。它们与驱动眼球运动和前庭眼球反射的肌肉有关。第三个信号是连接到眼睛的坐标系中的目标速度。重点是研究眼睛/头部方向的动力学和控制；以目标运动为条件的视网膜信号的统计建模，然后是目标运动估计和基于事件的控制，作为一个具有逆的动态系统实现的智能优点：该方案的三个主要组成部分是：(A)为了跟踪目的而对头部眼睛组合进行定向控制。(B)为估计“目标运动参数”而建立的视网膜统计模型。(C)利用计数器进行动态控制，以实现基于事件的控制。提案的这一部分可以用什么来形容？基于事件计数器的动态控制理论。确定性信号由事件触发，动态控制器由包含两个分量的方程描述。光滑的部分和跳跃的不连续。PI计划与芝加哥大学的研究人员合作研究海龟的视网膜，与门兴的科技大学合作研究眼睛/头部的协调。广泛的影响：该项目是跨学科的，吸引了传感器制导机器人、非线性控制和系统理论以及对建模感兴趣的神经科学家的注意。这项研究将作为生物控制论和智能系统实验室的组成部分进行。这些研究成果将成为一门高级本科生专题课程的一部分，工程、生物、艺术和科学的学生将参加该课程。