Head Eye Coordination, Motion Detection and Feedback Control with Counters

该建议涉及人的头部/眼睛组合的方向控制。目标是获得到组合头眼对的跟踪信号，用于注视固定和跟踪的目的。几何框架利用拉格朗日动力学，以获得动力系统。对于跟踪的目的，PI建议使用非线性动力学和控制理论。人的头眼复合体的控制信号来自三个源。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反射的肌肉有关。第三个信号是附着在眼睛上的坐标系中的目标速度。重点是研究动态和控制的眼睛/头部的方向;视网膜信号的统计建模的目标运动的目标运动估计和基于事件的控制作为一个动态系统与countersIntellectual Merit：这一建议的三个主要组成部分是：（一）方向控制的头眼组合的目的？追踪？(b)视网膜的统计模型的目的是估计？目标运动参数？(c)用计数器动态控制才能实现？基于事件的控制？该提案的这一组成部分可以描述为？动态控制理论与基于事件的计数器。确定性信号由事件触发，动态控制器由具有两个分量的方程描述。平滑部分和跳跃间断。PI计划与芝加哥大学的研究人员合作研究海龟视网膜，与慕尼黑工业大学的研究人员合作研究眼/头协调。更广泛的影响：该项目是跨学科的，吸引了传感器引导机器人、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关注。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。研究成果将作为高年级本科生专题课程的一部分，由工程、生物和文理科的学生参加。

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.