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Sensory Motor Systems

Instructor: Dana H. Ballard

Office Hours: Friday 3-4pm or by appointment

Office: CSB 721

Extension: 5-3772

e-mail: dana@cs.rochester.edu

Overview

This course will provide an overview of biologically based sensory motor systems. The structure of the course is to provide a hands-on introduction to the material through programming assignments. The assignments will use the CS department's graphic simulation facilities that allow the control of humanoid models.

Oneline Text

Readings

Course Credit: Credit will be based on ten programming assignments, a midterm (10 %) and a final (15%). The assignments will be due Friday midnight of every week. Some assignments will require computer programming in Matlab or C.

Week Date Topic Subtopic Assignment Reading program help
0 Jan 13 Course ObjectivesHumanoid graphics
1 Jan 18ColorColor spaces, histogramsTracking via color indexingColor Indexing~rmessing/SensoryMotorSystems/Files
1 Jan 20 Color"
2 Jan 25 Freq Space Fourier transforms "
2 Jan 27 Freq SpaceGabor functions"
3 Feb 1Stereo Vergence and Kinetic DepthStereo Depth
3 Feb 3 Vergence
4 Feb 8Image motion
4 Feb 10 Kinetic depth "
5 Feb 15 Kalman Filter Pointing
5 Feb 17 Pursuit"
6 Feb 22 Object Recognition Invariance
6 Feb 24 View based Systems Invariance2
7 Mar 1 Review
7 Mar 3 MidTerm
8 Mar 15 KinematicsNotes
8 Mar 17 Gradient MethodDynamicsNotes
9 Mar 22Dynamics "
9 Mar 242D System "
10 Mar 29Optimal Control I Phantom
10 Mar 31 Optimal Control II "
11 Apr 5Equilrium Pt Ctrl I "
11 Apr 7 Equilibrium Pt Ctrl II "
12 Apr 12 Review
12 Apr 14Projects I
13 Apr 19Projects II
13 Apr 21Projects III
14 Apr 26 Projects IV