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Opportunities are available for ERC students, who are enrolled at one of the core or outreach universities, to take courses and/or conduct research at a different institution other than their own. Core and outreach universities include: Johns Hopkins University, Carnegie Mellon University, the Massachusetts Institute of Technology, Morgan State University, Georgetown University, and Harvard University. Permission to participate in this agreement must be obtained by your advisor, and the PI or advisor of the visiting university. Students must be affiliated with the ERC which would be categorized as undergraduates, or graduates who are supported totally or in part by the ERC CISST; one of the student officers of the Computer Integrated Surgery Student Research Society (CISSRS); or those participating in a major project. All students must have written approval from the Associate Director of Education and Outreach, or an individual faculty member with whom arrangements have been made. Students who participate in the ERC Articulation Agreement will continue to pay tuition to their home university. The host university will not charge them tuition. For further information and opportunities please contact Cyndi Ramey, ERC Education Director, at (410) 516-6841, or cramey@jhu.edu. 500.410 Surgery for Engineers Surgery for Engineers is a semester long lecture and laboratory course that teaches the fundamental skills and operative procedures for general surgery. This hands-on course is designed for engineers tasked with development of computer integrated surgical systems and associated technologies. Students are exposed to both traditional and innovative operating room (OR) environments and are taught basic techniques used during surgery.Prerequisite: permission required. Applications must be submitted: cramey@jhu.edu. Marohn/Assumpcao/ 3 credits/ summer 
Okamura/ 4 credits/ spring
530.414 (E) Computer-Aided Design This course attempts to integrate the concepts developed in 530.215 with the use of the computer as a design tool. The topics covered include the design of mechanical systems. Extensive use is made of computer-aided design software, including object modeling, system assembly, and mechanism solution procedures. Computer-aided drafting and dimensioning. Prerequisites: 530.215, 500.100 Stoianovici/ 3 credits/ fall 530.420 (E) Robot Sensors and Actuators Introduction to modeling and use of actuators and sensors in mechatronic design. Topics include electric motors, solenoids, micro-actuators, position sensors, and proximity sensors. Prerequisites: 171.101, 171.102, 110.108, 110.109, 110.202, 550.291 and 530.341 or 520.345 Whitcomb/ 3 credits/ spring 530.421 (E) Mechatronics Mechatronics is the synergistic integration of mechanism, electronics, and computer control to achieve a functional system. This interdisciplinary course includes lectures, lab assignments, and projects that teach the student to design and build mechatronic devices, building upon the themes of 530.420 Robot Sensors & Actuators. We expand on the topics of mechanism design, motors and sensors, interfacing and programming microprocessors, mechanical prototyping, and creativity in the design process. Course labs and projects are performed in small student groups. Each group develops a microprocessor-controlled electromechanical device, such as a mobile robot or art-making machine. Project topics vary from year to year. Prerequisite: 530.420 or permission required. Staff/ 3 credits/ fall 
530.454 (E) Manufacturing Engineering An introduction to the various manufacturing processes used to produce metal and nonmetal components. Topics include casting, forming and shaping, and the various processes for material removal including computer-controlled machining. Simple joining processes and surface preparation are discussed. Economic and production aspects are considered throughout. Sharpe/ 3 credits/ fall 530.487 (E, N) Introduction to MEMS For engineering and science majors. An introduction to materials and devices with examples of applications for sensing and actuation. Lectures complemented with laboratory experiments. Prerequisite: Junior or Senior standing or permission required. Sharpe/ 3 credits/ alternate springs 530.495 Microfabrication Laboratory This laboratory course is an introduction to the principles of microfabrication for microelectronics, sensors, MEMS, and other synthetic microsystems that have applications in medicine and biology. Course comprised of laboratory work and accompanying lectures that cover silicon oxidation, aluminum evaporation, photoresist deposition, photolithography, plating, etching, packaging, design and analysis CAD tools, and foundry services. Prerequisite: permission required; seniors only. Co-listed with 520.495 & 580.495. Wang & Andreou/ 4 credits/ fall 530.651 (E) Haptic Systems for Teleoperation and Virtual Reality Graduate-level introduction to the field of haptics, focusing on teleoperated and virtual environments that are displayed through the sense of touch. Topics covered include human haptic sensing and control, design of haptic interfaces (tactile and force), haptics for teleoperation, haptic rendering and modeling of virtual environments, control and stability issues, and medical applications such as tele-surgery and surgical simulation. Course work includes reading and discussion of research papers, presentations, and a final project. Appropriate for students in any engineering discipline with interests in robotics, virtual reality, or computer-integrated surgical systems. Undergraduates admitted with consent of the instructor. Okamura/ 3 credits/ alternate falls 
530.646 Introduction to Robotics Graduate-level introduction to robotics with emphasis on the mathematical tools for kinematics and dynamics. Topics include forward and inverse kinematics, trajectory generation, position sensing and actuation, and manipulator control. Whitcomb/ 4 credits/ fall 530.647 Adaptive Systems Graduate-level introduction to adaptive identification and control. Emphasis on applications to mechanical systems possessing unknown parameters (e.g., mass, inertia, friction). Topics include stability of linear and nonlinear dynamical systems, Lyapunov stability, input-output stability, adaptive identification, and direct and indirect adaptive control. Whitcomb/ 3 credits/ alternate fall 530.655 Haptic Systems This graduate-level course addresses the design of the high-fidelity force feedback for virtual and teleoperated systems. Topics include real-time programming for haptics, haptic rendering and physically based modeling of contact with soft objects, stability of haptic interaction and control for force-feedback telemanipulation. The course includes several lab assignments using actual haptic devices to program virtual environments and teleoperators. Appropriate for students in Mechanical Engineering, Electrical and Computer Engineering, Computer Science, and Biomedical Engineering with interests in human-computer interaction, controls for robotics, and surgical assistance systems. Undergraduate students may be admitted with the consent of the instructor. Mahvash/ 2 credits/ intersession 580.471 (E, N) Principals of Design of Biomedical Instrumentation/ 580.771 Graduate level/ 580.571 Honors Instrumentation (Intersession) This core design course will cover lectures and hands-on labs. The material covered will include fundamentals of biomedical sensors and instrumentation, FDA regulations, designing with electronics, biopotentials and ECG amplifier design, recording from heart, muscle, brain, etc., diagnostic and therapeutic devices (including pacemakers and defibrillators), applications in prosthetics and rehabilitation, and safety. The course includes extensive laboratory work involving circuits, electronics, sensor design and interface, and building complete biomedical instrumentation. The students will also carry out design challenge projects, individually or in teams (examples include “smart cane for blind,” “computer interface for quadriplegic”). Prerequisites: 520.213-214, electronics lab or 580.470 Thakor/ 4 credits/ fall 600.335 (E) Artificial Intelligence Artificial intelligence (AI) is introduced by studying knowledge representation mechanisms, automated reasoning, automatic problem solvers and planners, production systems, game playing and machine learning. The class is recommended for all scientists and engineers with a genuine curiosity about the fundamental obstacles to getting machines to perform tasks such as deduction, learning, and planning and navigation. [Applications] Prerequisites: 600.226, 550.171; Recommended: linear algebra, prob/stat. Sheppard/ 3 credits/ spring 600.336 (E) Algorithms for Senior-Based Robotics This is an introductory course presenting a series of algorithms related to the representation and use of geometric models acquired from sensor data. Course topics include: basic sensing and estimation techniques, geometric model representations, and motion planning algorithms. The course will also discuss applications in diverse areas such as mobile systems, robot manipulation, and medicine. [Analysis] Prerequisites: 600.226, calculus, prob/stat. Hager/ 3 credits/ spring 600.357 (E,Q) Computer Graphics This course introduces computer graphics techniques and applications, including image processing, rendering, modeling and animation. Students may receive credit for 600.357 or 600.457, but not both. [Applications] Prerequisites: 600.120 (C++), 600.226, linear algebra. Permission of instructor is required for students not satisfying a pre-requisite. Kazhdan/ 3 credits/ spring 600.445 (E) Computer Integrated Surgery I This course focuses on computer-based techniques, systems, and applications exploiting quantitative information from medical images and sensors to assist clinicians in all phases of treatment from diagnosis to preoperative planning, execution, and follow-up. It emphasizes the relationship between problem definition, computer-based technology, and clinical application and includes a number of guest lectures given by surgeons and other experts on requirements and opportunities in particular clinical areas. Prerequisites: 600.120, 600.226 and linear algebra. Recommended: 600.457, 600.461, image processing. Taylor/ 3 credits/ fall 600.446 (E) Computer Integrated Surgery II This weekly lecture/seminar course addresses similar material to 600.445, but covers selected topics in greater depth. In addition to material covered in lectures/seminars by the instructor and other faculty, students are expected to read and provide critical analysis/ presentations of selected papers in recitation sessions. Students taking this course are required to undertake and report on a significant term project under the supervision of the instructor and clinical end users. Typically, this project is an extension of the term project from 600.445, although it does not have to be. Grades are based both on the project and on classroom recitations. Students wishing to attend the weekly lectures as a 1-credit seminar should sign up for 600.452. Students may also take this course as 600.646. The only difference between 600.446 and 600.646 is the level of project undertaken. Typically, 600.646 projects require a greater degree of mathematical, image processing, or modeling background. Prospective students should consult with the instructor as to which course number is appropriate. Students may receive credit for 600.446 or 600.646, but not both. [Applications] Prerequisite: 600.445 or permission required. Taylor/ 3 credits/ spring 
600.452 (E) Computer-Integrated Surgery Seminar Lecture version of 600.446 (no project) Prerequisite: 600.445 or permission required. Students may receive credit for 600.446 or 600.452, but not both. Taylor/ 1 credit/ spring 600.461 (E,Q) Computer Vision This course gives an overview of fundamental methods in computer vision from a computational perspective. Methods include computation of 3-D geometric constraints from binocular stereo, motion, texture, shape-from-shading, and photometric stereo. Edge detection and color perception are studied as well. Elements of machine vision and biological vision are also included. Prerequisite: 600.226 Hager/ 3 credits/ fall 600.462 (E) Advanced Topics in Computer Vision State-of-the-art methods in dynamic vision, with an emphasis on segmentation, reconstruction and recognition of static and dynamic scenes. Topics include: reconstruction of static scenes (tracking and correspondence, multiple view geometry, self calibration), reconstruction of dynamic scenes (2-D and 3-D motion sementation, nonrigid motion analysis), recognition of visual dynamics (dynamic textures, face and hand gestures, human gaits, crowd motion analysis), as well as geometric and statistical methods for clustering and unsupervised learning, such as K-means, Expectation Maximization, and Generalized Principal Component Analysis. Applications in robotics and biomedical imaging are also included. Prerequisites: 600.461 & linear algebra or permission required. Co-listed as 580.474 Vidal/ 3 credits/ fall 600.546 (E) Senior Thesis in Computer Integrated Surgery The student will undertake a substantial independent research project in the area of computer-integrated surgery, under joint supervision of a WSE faculty advisor and a clinician or clinical researcher at the Johns Hopkins Medical School. This project will typically require background literature research, design and execution of an experimental study or substantial implementation effort, and writeup of the results. The written reports will be published as reports by the CISST Engineering Research Center and may be used by the students as the basis for further academic publication. Because of the interdisciplinary, team oriented nature of much CIS Research, students may work in small groups or with other members of the advisor's research group. Students will be expected to establish a research plan and schedule and may be required by their advisor to provide interim documentation and meet interim deadlines, as appropriate. This requirement will be especially pertinent for two semester projects. Prerequisites: 600.445 or permission required. Taylor/ 3 credits/ fall 600.660 FFT in Graphics and Vision In this course, we will study the Fourier Transform from the perspective of representation theory. We will begin by considering the standard transform defined by the commutative group of rotations in 2D and translations in two- and three-dimensions, and will proceed to the Fourier Transform of the non-commutative group of 3D rotations. Subjects covered will include correlation of images, shape matching, computation of invariances, and symmetry detection. [Applications or Analysis] Prerequisites: linear algebra and comfort with mathematical derivations. Kazhdan/ fall 600.745 Seminar on Computer Integrated Surgery This weekly seminar will focus on research issues in computer integrated surgery, including subjects such as medical image analysis, statistical modeling, visualization, vision/sensing, surgical planning, medical robotics, and clinical applications. The purpose of the course is to widen the knowledge and awareness of the participants in current research in these areas, as well as to promote greater awareness and interaction between multiple research groups within the University and beyond. The format of the course is informal presentation by a pre-eminent invited speaker, followed by free discussion. Kazanzides/ 1 credit/ fall and spring 600.746 Medical Image Analysis Seminar This weekly seminar will focus on research issues in medical image analysis, including image segmentation, registration, statistical modeling, and applications. It will also include selected topics relating to medical image acquisition, especially where they relate to analysis. The purpose of the course is to provide the participants with a thorough background in current research in these areas, as well as to promote greater awareness and interaction between multiple research groups within the University. The format of the course is informal. Students will read selected papers. All students will be assumed to have read these papers by the time the paper is scheduled for discussion. But individual students will be assigned on a rotating basis to lead the discussion on particular papers or sections of papers. Cross-listed in ECE. Prince, Taylor & Hager/ 1 credit/ spring 600.757 Seminar in Computer Graphics In this course we will review current research in computer graphics. We will meet for an hour once a week and one of the participants will lead the discussion for the week. Prerequisite: permission required. Kazhdan/ 1 credit/ fall |
