Suchergebnis: Katalogdaten im Herbstsemester 2016
|151-0255-00L||Energy Conversion and Transport in Biosystems||W||4 KP||2V + 1U||D. Poulikakos, A. Ferrari|
|Kurzbeschreibung||Theorie und Anwendung von Thermodynamik und Energieerhaltung in biologischen Systemen mit Schwerpunkt auf Zellebene.|
|Lernziel||Theorie und Anwendung von Energieerhaltung auf Zellebene. Verständnis für die grundlegenden Stofftransport-Kreisläufe in menschlichen Zellen und die Mechanismen, welche diese Kreisläufe beeinflussen. Parallelen zu anderen Gebieten im Ingenieurswesen erkennen. Wärme- und Massentransport Prozesse in der Zelle, Kraft Entwicklung der Zelle, und die Verbindung zu modernen biomedizinischen Technologien.|
|Inhalt||Massentransportmodelle für den Transport von chemischen Spezies in der menschlichen Zelle. Organisation und Funktion der Zellmembran und des Zytoskeletts. Die Rolle molekularer Motoren in der Kraftentwicklung der Zelle und deren Funktion in der Fortbewegung der Zelle. Beschreibung der Funktionsweise dieser Systeme sowie der experimentellen Analyse und Simulationen um sie besser zu verstehen. Einführung in den Zell-Metabolismus, Zell-Energietransport und die Zelluläre Thermodynamik.|
|Skript||Kursmaterial wird in Form von Hand-outs verteilt.|
|Literatur||Notizen sowie Referenzen aus der Vorlesung.|
|151-0317-00L||Visualization, Simulation and Interaction - Virtual Reality II||W||4 KP||3G||A. Kunz|
|Kurzbeschreibung||This lecture provides deeper knowledge on the possible applications of virtual reality, its basic technolgy, and future research fields. The goal is to provide a strong knowledge on Virtual Reality for a possible future use in business processes.|
|Lernziel||Virtual Reality can not only be used for the visualization of 3D objects, but also offers a wide application field for small and medium enterprises (SME). This could be for instance an enabling technolgy for net-based collaboration, the transmission of images and other data, the interaction of the human user with the digital environment, or the use of augmented reality systems.|
The goal of the lecture is to provide a deeper knowledge of today's VR environments that are used in business processes. The technical background, the algorithms, and the applied methods are explained more in detail. Finally, future tasks of VR will be discussed and an outlook on ongoing international research is given.
|Inhalt||Introduction into Virtual Reality; basisc of augmented reality; interaction with digital data, tangible user interfaces (TUI); basics of simulation; compression procedures of image-, audio-, and video signals; new materials for force feedback devices; intorduction into data security; cryptography; definition of free-form surfaces; digital factory; new research fields of virtual reality|
|Skript||The handout is available in German and English.|
|Voraussetzungen / Besonderes||Prerequisites:|
"Visualization, Simulation and Interaction - Virtual Reality I" is recommended.
The course consists of lectures and exercises.
|151-0917-00L||Mass Transfer||W||4 KP||2V + 2U||R. Büchel, S. E. Pratsinis|
|Kurzbeschreibung||Diese Vorlesung behandelt Grundlagen der Transportvorgänge, wobei das Hauptaugenmerk auf dem Stofftransport liegt. Die physikalische Bedeutung der Grundgesetze des Stofftransports wird dargestellt und quantitativ beschrieben. Des weiteren wird die Anwendung dieser Prinzipien am Beispiel relevanter ingenieurtechnischer Problemstellungen aufgezeigt.|
|Lernziel||Diese Vorlesung behandelt Grundlagen der Transportvorgänge, wobei das Hauptaugenmerk auf dem Stofftransport liegt. Die physikalische Bedeutung der Grundgesetze des Stofftransports wird dargestellt und quantitativ beschrieben. Des weiteren wird die Anwendung dieser Prinzipien am Beispiel relevanter ingenieurtechnischer Problemstellungen aufgezeigt.|
|Inhalt||Ficksche Gesetze; Anwendungen und Bedeutung von Stofftransport; Vergleich von Fickschen Gesetzen mit Newtonschen und Fourierschen Gesetzen; Herleitung des zweiten Fickschen Gesetzes; Diffusion in verdünnten und konzentrierten Lösungen; Rotierende Scheibe; Dispersion; Diffusionskoeffizient, Gasviskosität und Leitfähigkeit (Pr und Sc); Brownsche Bewegung; Stokes-Einstein-Gleichung; Stofftransportkoeffizienten (Nu und Sh-Zahlen); Stoffaustausch über Grenzflächen; Reynolds- und Chilton-Colburn-Analogien für Impuls-, Wärme- und Stofftransport in turbulenten Strömungen; Film-, Penetrations- und Oberflächenerneuerungstheorien; Gleichzeitiger Transport von Stoff und Wärme oder Impuls (Grenzschichten); Homogene und heterogene, reversible und irreversible. Anwendungen Reaktionen; "Diffusionskontrollierte" Reaktionen; Stofftransport und heterogene Reaktion erster Ordnung.|
|Literatur||Cussler, E.L.: "Diffusion", 2nd edition, Cambridge University Press, 1997.|
|Voraussetzungen / Besonderes||Es werden 2 Tests zur Vertiefung des Lernstoffs angeboten. Die Teilnahme ist obligatorisch.|
|151-3205-00L||Experimental Ergonomics |
Number of participants limited to 15.
|W||4 KP||2V + 2A||J. Held|
|Kurzbeschreibung||You will learn how to apply the scientific discipline of ergonomics for system analysis and product development "in order to optimise human well-being and overall system performance" (www.iea.cc). The course offers the framework of models, concepts, methods and tools of applied ergonomics. Teaching is combined with learning-by-doing and research-based learning.|
- Principles and rules of applied ergonomic system and product design.
- Methods and tools of ergonomic analysis and evaluation.
Practical experiences and hands-on skills in:
- Conducting a study in system and task analysis.
- Analysing human-product interactions.
- Applying ergonomic knowledge for product and system improvements.
|Inhalt||- Definition and role of applied ergonomics in engineering and design.|
- Framework of ergonomic analysis and design.
- Design principles and rules.
- Methods and tools for system and task analysis.
Hands-on experience in team work:
- Experimental study of human-product interaction and usability through eye-tracking
- Field study of system and task analysis, including on-site visits of complex work stations (Hospital OR/ICU or Air traffic/Railway Control Rooms).
|Skript||Handout at the start of the course.|
|Literatur||Ahlstrom, V. and Longo, V. (2003). Human Factors Design Standard (HFDS). http://hf.tc.faa.gov/hfds/default.htm|
Wiklund M.E., Wilcox, S.B. (2005). Designing Usability into Medical Products. Taylor & Francis.
Rubin, J. and Chisnell, D. (2008). Handbook of Usability Testing: How to Plan, Design and Conduct Effective Tests. Wiley.
Hölscher, U., Laurig, W. & Müller-Arnecke, H.W. (2008). Prinziplösungen zur ergonomischen Gestaltung von Medizingeräten. BAUA Forschung Projekt F1902.
Niku, S.B. (2009). Creative Design of Products and Systems (Chapter 8). Wiley.
|Voraussetzungen / Besonderes||Max. number of participants is 15. |
Experiments and field studies in teams of 2-3 students are obligatory.
|227-0385-10L||Biomedical Imaging||W||6 KP||5G||S. Kozerke, K. P. Prüssmann, M. Rudin|
|Kurzbeschreibung||Introduction and analysis of medical imaging technology including X-ray procedures, computed tomography, nuclear imaging techniques using single photon and positron emission tomography, magnetic resonance imaging and ultrasound imaging techniques.|
|Lernziel||To understand the physical and technical principles underlying X-ray imaging, computed tomography, single photon and positron emission tomography, magnetic resonance imaging, ultrasound and Doppler imaging techniques. The mathematical framework is developed to describe image encoding/decoding, point-spread function/modular transfer function, signal-to-noise ratio, contrast behavior for each of the methods. Matlab exercises are used to implement and study basic concepts.|
|Inhalt||- X-ray imaging |
- Computed tomography
- Single photon emission tomography
- Positron emission tomography
- Magnetic resonance imaging
- Ultrasound/Doppler imaging
|Skript||Lecture notes and handouts|
|Literatur||Webb A, Smith N.B. Introduction to Medical Imaging: Physics, Engineering and Clinical Applications; Cambridge University Press 2011|
|Voraussetzungen / Besonderes||Analysis, Linear Algebra, Physics, Basics of Signal Theory, Basic skills in Matlab programming|
|227-0386-00L||Biomedical Engineering||W||4 KP||3G||J. Vörös, S. J. Ferguson, S. Kozerke, U. Moser, M. Rudin, M. P. Wolf, M. Zenobi-Wong|
|Kurzbeschreibung||Introduction into selected topics of biomedical engineering as well as their relationship with physics and physiology. The focus is on learning the concepts that govern common medical instruments and the most important organs from an engineering point of view. In addition, the most recent achievements and trends of the field of biomedical engineering are also outlined.|
|Lernziel||Introduction into selected topics of biomedical engineering as well as their relationship with physics and physiology. The course provides an overview of the various topics of the different tracks of the biomedical engineering master course and helps orienting the students in selecting their specialized classes and project locations.|
|Inhalt||Introduction into neuro- and electrophysiology. Functional analysis of peripheral nerves, muscles, sensory organs and the central nervous system. Electrograms, evoked potentials. Audiometry, optometry. Functional electrostimulation: Cardiac pacemakers. Function of the heart and the circulatory system, transport and exchange of substances in the human body, pharmacokinetics. Endoscopy, medical television technology. Lithotripsy. Electrical Safety. Orthopaedic biomechanics. Lung function. Bioinformatics and Bioelectronics. Biomaterials. Biosensors. Microcirculation.Metabolism. |
Practical and theoretical exercises in small groups in the laboratory.
|Skript||Introduction to Biomedical Engineering|
by Enderle, Banchard, and Bronzino
|227-0393-10L||Bioelectronics and Biosensors|
New course. Not to be confounded with 227-0393-00L last offered in the Spring Semester 2015.
|W||6 KP||2V + 2U||J. Vörös, M. F. Yanik, T. Zambelli|
|Kurzbeschreibung||The course introduces the concepts of bioelectricity and biosensing. The sources and use of electrical fields and currents in the context of biological systems and problems are discussed. The fundamental challenges of measuring biological signals are introduced. The most important biosensing techniques and their physical concepts are introduced in a quantitative fashion.|
|Lernziel||During this course the students will:|
- learn the basic concepts in biosensing and bioelectronics
- be able to solve typical problems in biosensing and bioelectronics
- learn about the remaining challenges in this field
|Inhalt||L1. Bioelectronics history, its applications and overview of the field|
- Volta and Galvani dispute
- BMI, pacemaker, cochlear implant, retinal implant, limb replacement devices
- Fundamentals of biosensing
- Glucometer and ELISA
L2. Fundamentals of quantum and classical noise in measuring biological signals
L3. Biomeasurement techniques with photons
L4. Acoustics sensors
- Differential equation for quartz crystal resonance
- Acoustic sensors and their applications
L5. Engineering principles of optical probes for measuring and manipulating molecular and cellular processes
L6. Optical biosensors
- Differential equation for optical waveguides
- Optical sensors and their applications
- Plasmonic sensing
L7. Basic notions of molecular adsorption and electron transfer
- Quantum mechanics: Schrödinger equation energy levels from H atom to crystals, energy bands
- Electron transfer: Marcus theory, Gerischer theory
L8. Potentiometric sensors
- Fundamentals of the electrochemical cell at equilibrium (Nernst equation)
- Principles of operation of ion-selective electrodes
L9. Amperometric sensors and bioelectric potentials
- Fundamentals of the electrochemical cell with an applied overpotential to generate a faraday current
- Principles of operation of amperometric sensors
- Ion flow through a membrane (Fick equation, Nernst equation, Donnan equilibrium, Goldman equation)
L10. Channels, amplification, signal gating, and patch clamp Y4
L11. Action potentials and impulse propagation
L12. Functional electric stimulation and recording
- MEA and CMOS based recording
- Applying potential in liquid - simulation of fields and relevance to electric stimulation
L13. Neural networks memory and learning
|Literatur||Plonsey and Barr, Bioelectricity: A Quantitative Approach (Third edition)|
|Voraussetzungen / Besonderes||Supervised exercises solving real-world problems. Some Matlab based exercises in groups.|
|227-0447-00L||Image Analysis and Computer Vision||W||6 KP||3V + 1U||L. Van Gool, O. Göksel, E. Konukoglu|
|Kurzbeschreibung||Light and perception. Digital image formation. Image enhancement and feature extraction. Unitary transformations. Color and texture. Image segmentation and deformable shape matching. Motion extraction and tracking. 3D data extraction. Invariant features. Specific object recognition and object class recognition.|
|Lernziel||Overview of the most important concepts of image formation, perception and analysis, and Computer Vision. Gaining own experience through practical computer and programming exercises.|
|Inhalt||The first part of the course starts off from an overview of existing and emerging applications that need computer vision. It shows that the realm of image processing is no longer restricted to the factory floor, but is entering several fields of our daily life. First it is investigated how the parameters of the electromagnetic waves are related to our perception. Also the interaction of light with matter is considered. The most important hardware components of technical vision systems, such as cameras, optical devices and illumination sources are discussed. The course then turns to the steps that are necessary to arrive at the discrete images that serve as input to algorithms. The next part describes necessary preprocessing steps of image analysis, that enhance image quality and/or detect specific features. Linear and non-linear filters are introduced for that purpose. The course will continue by analyzing procedures allowing to extract additional types of basic information from multiple images, with motion and depth as two important examples. The estimation of image velocities (optical flow) will get due attention and methods for object tracking will be presented. Several techniques are discussed to extract three-dimensional information about objects and scenes. Finally, approaches for the recognition of specific objects as well as object classes will be discussed and analyzed.|
|Skript||Course material Script, computer demonstrations, exercises and problem solutions|
|Voraussetzungen / Besonderes||Prerequisites: |
Basic concepts of mathematical analysis and linear algebra. The computer exercises are based on Linux and C.
The course language is English.
|227-0455-00L||Terahertz: Technology & Applications||W||3 KP||2V||K. Sankaran|
|Kurzbeschreibung||This course will provide a solid foundation for understanding physical principles of THz applications. We will discuss various building blocks of THz technology - components dealing with generation, manipulation, and detection of THz electromagnetic radiation. We will introduce THz applications in the domain of imaging, communications, and energy harvesting.|
|Lernziel||This is an introductory course on Terahertz (THz) technology and applications. Devices operating in THz frequency range (0.1 to 10 THz) have been increasingly studied in the recent years. Progress in nonlinear optical materials, ultrafast optical and electronic techniques has strengthened research in THz application developments. Due to unique interaction of THz waves with materials, applications with new capabilities can be developed. In theory, they can penetrate somewhat like X-rays, but are not considered harmful radiation, because THz energy level is low. They should be able to provide resolution as good or better than magnetic resonance imaging (MRI), possibly with simpler equipment. Imaging, very-high bandwidth communication, and energy harvesting are the most widely explored THz application areas. We will study the basics of THz generation, manipulation, and detection. Our emphasis will be on the physical principles and applications of THz in the domain of imaging, communication and energy harvesting.|
Chapter 1: Introduction to THz Physics
Chapter 2: Components of THz Technology
THz TECHNOLOGY MODULES
Chapter 3: THz Generation
Chapter 4: THz Detection
Chapter 5: THz Manipulation
Chapter 6: THz Imaging
Chapter 7: THz Communication
Chapter 8: THz Energy Harvesting
|Literatur||- Yun-Shik Lee, Principles of Terahertz Science and Technology, Springer 2009|
- Ali Rostami, Hassan Rasooli, and Hamed Baghban, Terahertz Technology: Fundamentals and Applications, Springer 2010
Whenever we deviate from the main material discussed in these books, softcopy of lectures notes will be provided.
|Voraussetzungen / Besonderes||Good foundation in electromagnetics & knowledge of microwave or optical communication is helpful.|
|227-0945-00L||Cell and Molecular Biology for Engineers I|
This course is part I of a two-semester course.
|W||3 KP||3G||C. Frei|
|Kurzbeschreibung||The course gives an introduction into cellular and molecular biology, specifically for students with a background in engineering. The focus will be on the basic organization of eukaryotic cells, molecular mechanisms and cellular functions. Textbook knowledge will be combined with results from recent research and technological innovations in biology.|
|Lernziel||After completing this course, engineering students will be able to apply their previous training in the quantitative and physical sciences to modern biology. Students will also learn the principles how biological models are established, and how these models can be tested.|
|Inhalt||Lectures will include the following topics: DNA, chromosomes, RNA, protein, genetics, gene expression, membrane structure and function, vesicular traffic, cellular communication, energy conversion, cytoskeleton, cell cycle, cellular growth, apoptosis, autophagy, cancer, development and stem cells.|
In addition, three journal clubs will be held, where one/two publictions will be discussed (part I: 1 Journal club, part II: 2 Journal Clubs). For each journal club, students (alone or in groups of up to three students) have to write a summary and discussion of the publication. These written documents will be graded and count as 25% for the final grade.
|Skript||Scripts of all lectures will be available.|
|Literatur||"Molecular Biology of the Cell" (6th edition) by Alberts, Johnson, Lewis, Raff, Roberts, and Walter.|
|227-0965-00L||Micro and Nano-Tomography of Biological Tissues||W||4 KP||3G||M. Stampanoni, P. A. Kaestner|
|Kurzbeschreibung||Einführung in die physikalischen und technischen Grundkenntnisse der tomographischen Röntgenmikroskopie. Verschiedene Röntgenbasierten-Abbildungsmechanismen (Absorptions-, Phasen- und Dunkelfeld-Kontrast) werden erklärt und deren Einsatz in der aktuellen Forschung vorgestellt, insbesondere in der Biologie. Die quantitative Auswertung tomographische Datensätzen wird ausführlich beigebracht.|
|Lernziel||Einführung in die Grundlagen der Röntgentomographie auf der Mikrometer- und Nanometerskala, sowie in die entsprechenden Bildbearbeitungs- und Quantifizierungsmethoden, unter besonderer Berücksichtigung von biologischen Anwendungen.|
|Inhalt||Synchrotron basierte Röntgenmikro- und Nanotomographie ist heutzutage eine leistungsfähige Technik für die hochaufgelösten zerstörungsfreien Untersuchungen einer Vielfalt von Materialien. Die aussergewöhnlichen Stärke und Kohärenz der Strahlung einer Synchrotronquelle der dritten Generation erlauben quantitative drei-dimensionale Aufnahmen auf der Mikro- und Nanometerskala und erweitern die klassischen Absorption-basierten Verfahrensweisen auf die kontrastreicheren kantenverstärkten und phasenempfindlichen Methoden, die für die Analyse von biologischen Proben besonders geeignet sind.|
Die Vorlesung umfasst eine allgemeine Einführung in die Grundsätze der Röntgentomographie, von der Bildentstehung bis zur 3D Bildrekonstruktion. Sie liefert die physikalischen und technischen Grundkentnisse über die bildgebenden Synchrotronstrahllinien, vertieft die neusten Phasenkontrastmethoden und beschreibt die ersten Anwendungen nanotomographischer Röntgenuntersuchungen.
Schliesslich liefert der Kurs den notwendigen Hintergrund, um die quantitative Auswertung tomographischer Daten zu verstehen, von der grundlegenden Bildanalyse bis zur komplexen morphometrischen Berechnung und zur 3D-Visualisierung, unter besonderer Berücksichtigung von biomedizinischen Anwendungen.
|Literatur||Wird in der Vorlesung angegeben.|
|227-0981-00L||Cross-Disciplinary Research and Development in Medicine and Engineering |
A maximum of 12 medical degree students and 12 (biomedical) engineering degree students can be admitted, their number should be equal.
|W||4 KP||2V + 2A||V. Kurtcuoglu, D. de Julien de Zelicourt, M. Meboldt, M. Schmid Daners, O. Ullrich|
|Kurzbeschreibung||Cross-disciplinary collaboration between engineers and medical doctors is indispensable for innovation in health care. This course will bring together engineering students from ETH Zurich and medical students from the University of Zurich to experience the rewards and challenges of such interdisciplinary work in a project based learning environment.|
|Lernziel||The main goal of this course is to demonstrate the differences in communication between the fields of medicine and engineering. Since such differences become the most evident during actual collaborative work, the course is based on a current project in physiology research that combines medicine and engineering. For the engineering students, the specific aims of the course are to:|
- Acquire a working understanding of the anatomy and physiology of the investigated system;
- Identify the engineering challenges in the project and communicate them to the medical students;
- Develop and implement, together with the medical students, solution strategies for the identified challenges;
- Present the found solutions to a cross-disciplinary audience.
|Inhalt||After a general introduction to interdisciplinary communication and detailed background on the collaborative project, the engineering students will receive tailored lectures on the anatomy and physiology of the relevant system. They will then team up with medical students who have received a basic introduction to engineering methodology to collaborate on said project. In the process, they will be coached both by lecturers from ETH Zurich and the University of Zurich, receiving lectures customized to the project. The course will end with each team presenting their solution to a cross-disciplinary audience.|
|Skript||Handouts and relevant literature will be provided.|
|376-1177-00L||Human Factors I||W||2 KP||2V||M. Menozzi Jäckli, R. Huang, M. Siegrist|
|Kurzbeschreibung||Every day humans interact with various systems. Strategies of interaction, individual needs, physical & mental abilities, and system properties are important factors in controlling the quality and performance in interaction processes. In the lecture, factors are investigated by basic scientific approaches. Discussed topics are important for optimizing people's satisfaction & overall performance.|
|Lernziel||The goal of the lecture is to empower students in better understanding the applied theories, principles, and methods in various applications. Students are expected to learn about how to enable an efficient and qualitatively high standing interaction between human and the environment, considering costs, benefits, health, and safety as well. Thus, an ergonomic design and evaluation process of products, tasks, and environments may be promoted in different disciplines. The goal is achieved in addressing a broad variety of topics and embedding the discussion in macroscopic factors such as the behavior of consumers and objectives of economy.|
|Inhalt||- Physiological, physical, and cognitive factors in sensation and perception|
- Body spaces and functional anthropometry, Digital Human Models
- Experimental techniques in assessing human performance and well-being
- Human factors and ergonomics in system designs, product development and innovation
- Human information processing and biological cybernetics
- Interaction among consumers, environments, behavior, and tasks
|Literatur||- Gavriel Salvendy, Handbook of Human Factors and Ergonomics, 4th edition (2012), is available on NEBIS as electronic version and for free to ETH students|
- Further textbooks are introduced in the lecture
- Brouchures, checklists, key articles etc. are uploaded in ILIAS
|376-1219-00L||Rehabilitation Engineering II: Rehabilitation of Sensory and Vegetative Functions||W||3 KP||2V||R. Riener, R. Gassert, L. Marchal Crespo|
|Kurzbeschreibung||Rehabilitation Engng is the application of science and technology to ameliorate the handicaps of individuals with disabilities to reintegrate them into society.The goal is to present classical and new rehabilitation engineering principles applied to compensate or enhance motor, sensory, and cognitive deficits. Focus is on the restoration and treatment of the human sensory and vegetative system.|
|Lernziel||Provide knowledge on the anatomy and physiology of the human sensory system, related dysfunctions and pathologies, and how rehabilitation engineering can provide sensory restoration and substitution.|
This lecture is independent from Rehabilitation Engineering I. Thus, both lectures can be visited in arbitrary order.
|Inhalt||Introduction, problem definition, overview |
Rehabilitation of visual function
- Anatomy and physiology of the visual sense
- Technical aids (glasses, sensor substitution)
- Retina and cortex implants
Rehabilitation of hearing function
- Anatomy and physiology of the auditory sense
- Hearing aids
- Cochlea Implants
Rehabilitation and use of kinesthetic and tactile function
- Anatomy and physiology of the kinesthetic and tactile sense
- Tactile/haptic displays for motion therapy (incl. electrical stimulation)
- Role of displays in motor learning
Rehabilitation of vestibular function
- Anatomy and physiology of the vestibular sense
- Rehabilitation strategies and devices (e.g. BrainPort)
Rehabilitation of vegetative Functions
- Cardiac Pacemaker
- Phrenic stimulation, artificial breathing aids
- Bladder stimulation, artificial sphincter
Brain stimulation and recording
- Deep brain stimulation for patients with Parkinson, epilepsy, depression
- Brain-Computer Interfaces
An Introduction to Rehabilitation Engineering. R. A. Cooper, H. Ohnabe, D. A. Hobson (Eds.). Taylor & Francis, 2007.
Principles of Neural Science. E. R. Kandel, J. H. Schwartz, T. M Jessell (Eds.). Mc Graw Hill, New York, 2000.
Force and Touch Feedback for Virtual Reality. G. C. Burdea (Ed.). Wiley, New York, 1996 (available on NEBIS).
Human Haptic Perception, Basics and Applications. M. Grunwald (Ed.). Birkhäuser, Basel, 2008.
The Sense of Touch and Its Rendering, Springer Tracts in Advanced Robotics 45, A. Bicchi et al.(Eds). Springer-Verlag Berlin, 2008.
Interaktive und autonome Systeme der Medizintechnik - Funktionswiederherstellung und Organersatz. Herausgeber: J. Werner, Oldenbourg Wissenschaftsverlag 2005.
Neural prostheses - replacing motor function after desease or disability. Eds.: R. Stein, H. Peckham, D. Popovic. New York and Oxford: Oxford University Press.
Advances in Rehabilitation Robotics - Human-Friendly Technologies on Movement Assistance and Restoration for People with Disabilities. Eds: Z.Z. Bien, D. Stefanov (Lecture Notes in Control and Information Science, No. 306). Springer Verlag Berlin 2004.
Intelligent Systems and Technologies in Rehabilitation Engineering. Eds: H.N.L. Teodorescu, L.C. Jain (International Series on Computational Intelligence). CRC Press Boca Raton, 2001.
Selected Journal Articles and Web Links:
Abbas, J., Riener, R. (2001) Using mathematical models and advanced control systems techniques to enhance neuroprosthesis function. Neuromodulation 4, pp. 187-195.
Bach-y-Rita P., Tyler M., and Kaczmarek K (2003). Seeing with the brain. International journal of human-computer-interaction, 15(2):285-295.
Burdea, G., Popescu, V., Hentz, V., and Colbert, K. (2000): Virtual reality-based orthopedic telerehabilitation, IEEE Trans. Rehab. Eng., 8, pp. 430-432
Colombo, G., Jörg, M., Schreier, R., Dietz, V. (2000) Treadmill training of paraplegic patients using a robotic orthosis. Journal of Rehabilitation Research and Development, vol. 37, pp. 693-700.
Hayward, V. (2008): A Brief Taxonomy of Tactile Illusions and
Demonstrations That Can Be Done In a Hardware Store. Brain Research Bulletin, Vol 75, No 6, pp 742-752
Krebs, H.I., Hogan, N., Aisen, M.L., Volpe, B.T. (1998): Robot-aided neurorehabilitation, IEEE Trans. Rehab. Eng., 6, pp. 75-87
Levesque. V. (2005). Blindness, technology and haptics. Technical report, McGill University. Available at: http://www.cim.mcgill.ca/~vleves/docs/VL-CIM-TR-05.08.pdf
Quintern, J. (1998) Application of functional electrical stimulation in paraplegic patients. NeuroRehabilitation 10, pp. 205-250.
Riener, R., Nef, T., Colombo, G. (2005) Robot-aided neurorehabilitation for the upper extremities. Medical & Biological Engineering & Computing 43(1), pp. 2-10.
Riener, R. (1999) Model-based development of neuroprostheses for paraplegic patients. Royal Philosophical Transactions: Biological Sciences 354, pp. 877-894.
The vOICe. http://www.seeingwithsound.com.
VideoTact, ForeThought Development, LLC. http://my.execpc.com/?dwysocki/videotac.html
|Voraussetzungen / Besonderes||Target Group: |
Students of higher semesters and PhD students of
- D-MAVT, D-ITET, D-INFK, D-HEST
- Biomedical Engineering, Robotics, Systems and Control
- Medical Faculty, University of Zurich
Students of other departments, faculties, courses are also welcome
This lecture is independent from Rehabilitation Engineering I. Thus, both lectures can be visited in arbitrary order.
|376-1279-00L||Virtual Reality in Medicine |
Findet dieses Semester nicht statt.
|W||3 KP||2V||R. Riener|
|Kurzbeschreibung||Virtual Reality has the potential to support medical training and therapy. This lecture will derive the technical principles of multi-modal (audiovisual, haptic, tactile etc.) input devices, displays and rendering techniques. Examples are presented in the fields of surgical training, intra-operative augmentation, and rehabilitation. The lecture is accompanied by practical courses and excursions.|
|Lernziel||Provide theoretical and practical knowledge of new principles and applications of multi-modal simulation and interface technologies in medical education, therapy, and rehabilitation.|
|Inhalt||Virtual Reality has the potential to provide descriptive and practical information for medical training and therapy while relieving the patient and/or the physician. Multi-modal interactions between the user and the virtual environment facilitate the generation of high-fidelity sensory impressions, by using not only visual and auditory modalities, but also kinesthetic, tactile, and even olfactory feedback. On the basis of the existing physiological constraints, this lecture will derive the technical requirements and principles of multi-modal input devices, displays, and rendering techniques. Several examples are presented that are currently being developed or already applied for surgical training, intra-operative augmentation, and rehabilitation. The lecture will be accompanied by several practical courses on graphical and haptic display devices as well as excursions to facilities equipped with large-scale VR equipment. |
Students of higher semesters and PhD students of
- D-HEST, D-MAVT, D-ITET, D-INFK, D-PHYS
- Robotics, Systems and Control Master
- Biomedical Engineering/Movement Science and Sport
- Medical Faculty, University of Zurich
Students of other departments, faculties, courses are also welcome!
|Literatur||Book: Virtual Reality in Medicine. Riener, Robert; Harders, Matthias; 2012 Springer.|
|Voraussetzungen / Besonderes||The course language is English. |
Basic experience in Information Technology and Computer Science will be of advantage
More details will be announced in the lecture.
|376-1504-00L||Physical Human Robot Interaction (pHRI) |
Number of participants limited to 26.
|W||4 KP||2V + 2U||R. Gassert, O. Lambercy|
|Kurzbeschreibung||This course focuses on the emerging, interdisciplinary field of physical human-robot interaction, bringing together themes from robotics, real-time control, human factors, haptics, virtual environments, interaction design and other fields to enable the development of human-oriented robotic systems.|
|Lernziel||The objective of this course is to give an introduction to the fundamentals of physical human robot interaction, through lectures on the underlying theoretical/mechatronics aspects and application fields, in combination with a hands-on lab tutorial. The course will guide students through the design and evaluation process of such systems.|
By the end of this course, you should understand the critical elements in human-robot interactions - both in terms of engineering and human factors - and use these to evaluate and de- sign safe and efficient assistive and rehabilitative robotic systems. Specifically, you should be able to:
1) identify critical human factors in physical human-robot interaction and use these to derive design requirements;
2) compare and select mechatronic components that optimally fulfill the defined design requirements;
3) derive a model of the device dynamics to guide and optimize the selection and integration of selected components
into a functional system;
4) design control hardware and software and implement and
test human-interactive control strategies on the physical
5) characterize and optimize such systems using both engineering and psychophysical evaluation metrics;
6) investigate and optimize one aspect of the physical setup and convey and defend the gained insights in a technical presentation.
|Inhalt||This course provides an introduction to fundamental aspects of physical human-robot interaction. After an overview of human haptic, visual and auditory sensing, neurophysiology and psychophysics, principles of human-robot interaction systems (kinematics, mechanical transmissions, robot sensors and actuators used in these systems) will be introduced. Throughout the course, students will gain knowledge of interaction control strategies including impedance/admittance and force control, haptic rendering basics and issues in device design for humans such as transparency and stability analysis, safety hardware and procedures. The course is organized into lectures that aim to bring students up to speed with the basics of these systems, readings on classical and current topics in physical human-robot interaction, laboratory sessions and lab visits. |
Students will attend periodic laboratory sessions where they will implement the theoretical aspects learned during the lectures. Here the salient features of haptic device design will be identified and theoretical aspects will be implemented in a haptic system based on the haptic paddle (Link), by creating simple dynamic haptic virtual environments and understanding the performance limitations and causes of instabilities (direct/virtual coupling, friction, damping, time delays, sampling rate, sensor quantization, etc.) during rendering of different mechanical properties.
|Skript||Will be distributed through the document repository before the lectures.|
|Literatur||Abbott, J. and Okamura, A. (2005). Effects of position quantization and sampling rate on virtual-wall passivity. Robotics, IEEE Transactions on, 21(5):952 - 964.|
Adams, R. and Hannaford, B. (1999). Stable haptic interaction with virtual environments. Robotics and Automation, IEEE Transactions on, 15(3):465 -474.
Buerger, S. and Hogan, N. (2007). Complementary stability and loop shaping for improved human ndash;robot interaction. Robotics, IEEE Transactions on, 23(2):232 -244.
Burdea, G. and Brooks, F. (1996). Force and touch feedback for virtual reality. John Wiley & Sons New York NY.
Colgate, J. and Brown, J. (1994). Factors affecting the z-width of a haptic display. In Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on, pages 3205 -3210 vol.4.
Diolaiti, N., Niemeyer, G., Barbagli, F., and Salisbury, J. (2006). Stability of haptic rendering: Discretization, quantization, time delay, and coulomb effects. Robotics, IEEE Transactions on, 22(2):256 -268.
Gillespie, R. and Cutkosky, M. (1996). Stable user-specific haptic rendering of the virtual wall. In Proceedings of the ASME International Mechanical Engineering Congress and Exhibition, volume 58, pages 397-406.
Hannaford, B. and Ryu, J.-H. (2002). Time-domain passivity control of haptic interfaces. Robotics and Automation, IEEE Transactions on, 18(1):1 -10.
Hashtrudi-Zaad, K. and Salcudean, S. (2001). Analysis of control architectures for teleoperation systems with impedance/admittance master and slave manipulators. The International Journal of Robotics Research, 20(6):419.
Hayward, V. and Astley, O. (1996). Performance measures for haptic interfaces. In ROBOTICS RESEARCH-INTERNATIONAL SYMPOSIUM-, volume 7, pages 195-206. Citeseer.
Hayward, V. and Maclean, K. (2007). Do it yourself haptics: part i. Robotics Automation Magazine, IEEE, 14(4):88 -104.
Leskovsky, P., Harders, M., and Szeekely, G. (2006). Assessing the fidelity of haptically rendered deformable objects. In Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2006 14th Symposium on, pages 19 - 25.
MacLean, K. and Hayward, V. (2008). Do it yourself haptics: Part ii [tutorial]. Robotics Automation Magazine, IEEE, 15(1):104 -119.
Mahvash, M. and Hayward, V. (2003). Passivity-based high-fidelity haptic rendering of contact. In Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on, volume 3, pages 3722 - 3728 vol.3.
Mehling, J., Colgate, J., and Peshkin, M. (2005). Increasing the impedance range of a haptic display by adding electrical damping. In Eurohaptics Conference, 2005 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005. World Haptics 2005. First Joint, pages 257 - 262.
Okamura, A., Richard, C., and Cutkosky, M. (2002). Feeling is believing: Using a force-feedback joystick to teach dynamic systems. JOURNAL OF ENGINEERING EDUCATION-WASHINGTON-, 91(3):345-350.
O'Malley, M. and Goldfarb, M. (2004). The effect of virtual surface stiffness on the haptic perception of detail. Mechatronics, IEEE/ASME Transactions on, 9(2):448 -454.
Richard, C. and Cutkosky, M. (2000). The effects of real and computer generated friction on human performance in a targeting task. In Proceedings of the ASME Dynamic Systems and Control Division, volume 69, page 2.
Salisbury, K., Conti, F., and Barbagli, F. (2004). Haptic rendering: Introductory concepts. Computer Graphics and Applications, IEEE, 24(2):24-32.
Weir, D., Colgate, J., and Peshkin, M. (2008). Measuring and increasing z-width with active electrical damping. In Haptic interfaces for virtual environment and teleoperator systems, 2008. haptics 2008. symposium on, pages 169 -175.
Yasrebi, N. and Constantinescu, D. (2008). Extending the z-width of a haptic device using acceleration feedback. Haptics: Perception, Devices and Scenarios, pages 157-162.
|Voraussetzungen / Besonderes||Notice:|
The registration is limited to 26 students
There are 4 credit points for this lecture.
The lecture will be held in English.
The students are expected to have basic control knowledge from previous classes.
|376-1651-00L||Clinical and Movement Biomechanics||W||4 KP||3G||S. Lorenzetti, R. List, N. Singh|
|Kurzbeschreibung||Measurement and modeling of the human movement during daily activities and in a clinical environment.|
|Lernziel||The students are able to analyse the human movement from a technical point of view, to process the data and perform modeling with a focus towards clinical application.|
|Inhalt||This course includes study design, measurement techniques, clinical testing, accessing movement data and anysis as well as modeling with regards to human movement.|
|376-1714-00L||Biocompatible Materials||W||4 KP||3G||K. Maniura, J. Möller, M. Zenobi-Wong|
|Kurzbeschreibung||Introduction to molecules used for biomaterials, molecular interactions between different materials and biological systems (molecules, cells, tissues). The concept of biocompatibility is discussed and important techniques from biomaterials research and development are introduced.|
|Lernziel||The class consists of three parts: |
1. Introdcution into molecular characteristics of molecules involved in the materials-to-biology interface. Molecular design of biomaterials.
2. The concept of biocompatibility.
3. Introduction into methodology used in biomaterials research and application.
|Inhalt||Introduction into native and polymeric biomaterials used for medical applications. The concepts of biocompatibility, biodegradation and the consequences of degradation products are discussed on the molecular level. Different classes of materials with respect to potential applications in tissue engineering and drug delivery are introduced. Strong focus lies on the molecular interactions between materials having very different bulk and/or surface chemistry with living cells, tissues and organs. In particular the interface between the materials surfaces and the eukaryotic cell surface and possible reactions of the cells with an implant material are elucidated. Techniques to design, produce and characterize materials in vitro as well as in vivo analysis of implanted and explanted materials are discussed.|
In addition, a link between academic research and industrial entrepreneurship is established by external guest speakers.
|Skript||Handouts can be accessed online.|
Biomaterials Science: An Introduction to Materials in Medicine, Ratner B.D. et al, 3rd Edition, 2013
Comprehensive Biomaterials, Ducheyne P. et al., 1st Edition, 2011
(available online via ETH library)
Handouts provided during the classes and references therin.
|376-1985-00L||Trauma Biomechanics||W||4 KP||2V + 1U||K.‑U. Schmitt, M. H. Muser|
|Kurzbeschreibung||Trauma-Biomechanik ist ein interdiszipliäres Fach, das sich mit der Biomechanik von Verletzungen sowie Möglichkeiten zur Prävention von Verletzungen beschäftigt. Die Vorlesung stellt die Grundlagen der Trauma-Biomechanik dar.|
|Lernziel||Vermittlung von Grundlagen der Trauma-Biomechanik.|
|Inhalt||Die Vorlesung beschäftigt sich mit Verletzungen des menschlichen Körpers und den zugrunde liegenden Verletzungsmechanismen. Hierbei bilden Verletzungen, die im Strassenverkehr erlitten werden, den Schwerpunkt. Weitere Vorlesungsthemen sind: Crash-Tests und die dazugehörige Messtechnik (z. B. Dummys), sowie aktuelle Themen der Trauma-Biomechanik wie z.B. Fussgänger-Kollisionen, Kinderrückhaltesysteme und Fahrzeugsitze.|
|Skript||Unterlagen werden zur Verfügung gestellt.|
|Literatur||Schmitt K-U, Niederer P, M. Muser, Walz F: "Trauma Biomechanics - An Introduction to Injury Biomechanics" bzw. "Trauma-Biomechanik - Einführung in die Biomechanik von Verletzungen", beide Springer Verlag.|
|402-0341-00L||Medical Physics I||W||6 KP||2V + 1U||P. Manser|
|Kurzbeschreibung||Introduction to the fundamentals of medical radiation physics. Functional chain due to radiation exposure from the primary physical effect to the radiobiological and medically manifest secondary effects. Dosimetric concepts of radiation protection in medicine. Mode of action of radiation sources used in medicine and its illustration by means of Monte Carlo simulations.|
|Lernziel||Understanding the functional chain from primary physical effects of ionizing radiation to clinical radiation effects. Dealing with dose as a quantitative measure of medical exposure. Getting familiar with methods to generate ionizing radiation in medicine and learn how they are applied for medical purposes. Eventually, the lecture aims to show the students that medical physics is a fascinating and evolving discipline where physics can directly be used for the benefits of patients and the society.|
|Inhalt||The lecture is covering the basic principles of ionzing radiation and its physical and biological effects. The physical interactions of photons as well as of charged particles will be reviewed and their consequences for medical applications will be discussed. The concept of Monte Carlo simulation will be introduced in the excercises and will help the student to understand the characteristics of ionizing radiation in simple and complex situations. Fundamentals in dosimetry will be provided in order to understand the physical and biological effects of ionizing radiation. Deterministic as well as stochastic effects will be discussed and fundamental knowledge about radiation protection will be provided. In the second part of the lecture series, we will cover the generation of ionizing radiation. By this means, the x-ray tube, the clinical linear accelarator, and different radioactive sources in radiology, radiotherapy and nuclear medicine will be addressed. Applications in radiolgoy, nuclear medicine and radiotherapy will be described with a special focus on the physics underlying these applications.|
|Skript||A script will be provided.|
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