The course content covers four major areas:

• We start by studying the relationship between motion in the real world and its image projection.
  1. Linearization of intensity variation, 6D general "optic flow".
  2. Couplings to motor models, dynamic systems, coordinate transforms. hager
  3. Subspace and transform based methods (Fourier: Nelson and Alamoinos, PCA:fleet,black, jepson, salgian, jag
  4. A comparison of the above to the human visual system.
• Vision and other sensory based control.
  1. A simple visual servoing example.
  2. Spatial transforms, kinematics, dynamics and formulation of the general visual control problem.
  3. Image vs position based approaches.
  4. Learning spatial transforms and visual-motor models.
  5. Task function formalism. (An equational formulation of motion specifications by Samson, Espiau, Chaumette etc.)
• Human motor control.
  1. Overview of basic anatomy, physiology and neurophysiology.
  2. Reference frames for human hand-eye coordination
  3. Neural coding of motion. Case study: Ocular-motor system. (which we know a little bit about)
  4. Characterizing human motion, hopefully a guest lecture by Terry and/or others from his group.
  5. Ongoing efforts to merge human and robotic hand-eye coordination: UWO, TUM, ATR etc...
• User interfaces for robots and other machines.
  1. Closing the feedback loop over the human, simulating and animating movement. (www.cs.yale.edu/~jag/ click on Perceptual Actions)
  2. Service robotics for elderly and handicapped.
  3. Surgical robotics (See WWW pages: cisstweb.cs.jhu.edu)
  4. Industrial applications (Remember Pierre's interview talk?)
  5. Vision and motion based HCI for everyday applications. (Again see our WWW pages www.cs.jhu.edu/CIPS)