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| Students will formulate and implement an engineering project desired to explore a biological principle or property that is exhibited in nature. Students will work in small teams in which they build a hardware platform that is motivated by a biological example in which a given approach or architecture is used to implement a given behavior. Alternatively, the team will construct new experimental instruments in order to test for the presence of an engineering principle in a biological system. Example topics include bio-inspired control of motion (from bacteria to insects), processing of sensory information (molecules to neurons), and robustness/fault-tolerance. Each project will involve proposing a specific mechanism to be explored, designing an engineering system that can be used to demonstrate and evaluate the mechanism, and building a computer-controlled, electro-mechanical system in the lab that implements or characterizes the proposed mechanism, behavior or architecture. | | Students will formulate and implement an engineering project desired to explore a biological principle or property that is exhibited in nature. Students will work in small teams in which they build a hardware platform that is motivated by a biological example in which a given approach or architecture is used to implement a given behavior. Alternatively, the team will construct new experimental instruments in order to test for the presence of an engineering principle in a biological system. Example topics include bio-inspired control of motion (from bacteria to insects), processing of sensory information (molecules to neurons), and robustness/fault-tolerance. Each project will involve proposing a specific mechanism to be explored, designing an engineering system that can be used to demonstrate and evaluate the mechanism, and building a computer-controlled, electro-mechanical system in the lab that implements or characterizes the proposed mechanism, behavior or architecture. |
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| === Lecture Schedule ===
| | <center>'''[http://www.cds.caltech.edu/be107|Course homepage]'''</center> |
| {| class="mw-collapsible " width=100% border=1 cellpadding=5
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| |-
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| | '''Date'''
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| | '''Topic'''
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| | '''Reading'''
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| | '''Homework'''
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| |- valign=top
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| |}
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| === Week 1 ===
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| * Tue lecture (31 Mar): Motivation (bio and engineering; 60m) + class logistics (30m) - Michael and Richard
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| ** Michael: 15 min class motivation and then 30 min on cool biology
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| ** Richard: 30 min on cool engineering, then 15 min on class logistics
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| * Wed lab session #1, 7-10 pm: Introductory Tracking Experiment
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| * Thu lecture (2 Apr): Programming concepts - Richard
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| ** Wiki's, subversion, plotting data using python (will use later)
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| * HW/lab description out on Tue, due following Tue
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| * Lab hours on Mon, 1-4 pm
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| | |
| === Week 2 (RMM out of town on Wed-Fri) ===
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| * Tue lecture (7 Apr): Mechanical design and fabrication - Floris (or Joel B?)
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| * Wed lab session #2, 7-10 pm: CAD, Fabrication, Arena
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| * Thu lecture (9 Apr): Biomechanics - Michael (or Chris)
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| * HW/lab description out on Tue, due following Tue
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| * Lab hours on Mon, 1-4 pm
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| | |
| === Week 3 (RMM out of town on Mon-Thu) ===
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| * Tue lecture (14 Apr): Electrical design, sensing and actuation - David (or Joel B?)
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| * Wed lab session, 7-10 pm: Sensors/Actuators (Braitenberg bug)
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| * Thu lecture (16 Apr): Animal sensors/actuators - Michael
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| * HW/lab description out on Tue, due following Tue
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| * Lab hours on Mon, 1-4 pm
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| | |
| === Week 4 (MHD out of town all week, RMM out of town on Thu) ===
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| * Tue lecture (21 Apr): Control systems - Richard
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| * Wed lab session, 7-10 pm: Controls and Arduino
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| * Thu lecture (23 Apr): Feedback principles in biology - Floris, with input from Michael
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| * HW/lab description out on Tue, due following Tue
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| * Lab hours on Mon, 1-4 pm
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| | |
| === Week 5 ===
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| * Tue lecture (28 Apr): Image processing - Pietro Perona
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| * Wed lab session, 7-10 pm: Vision/ROS
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| * Thu lecture (30 Apr): Animal vision systems - Michael
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| * HW/lab description out on Tue, due following Tue
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| * Lab hours on Mon, 1-4 pm
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| | |
| === Week 6 ===
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| * Tue lecture (5 May): estimation - Richard
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| ** Include things that might mirror what nature does (eg, DGC)
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| ** Kalman filtering; use in avoiding higher order derivatives
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| * Wed lab session, 7-10 pm: Tracking
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| * Thu lecture (7 May): Experiment design - Michael (or Chris)
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| * HW/lab description out on Tue, due following Tue
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| * Lab hours on Mon, 1-4 pm
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| === Week 7 ===
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| * Tue lecture (12 May): Robotics/autonomy - Richard
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| * Lab hours on Wed, 7-10 pm (projects)
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| * Thu lecture (14 May): Animal behavior - Michael
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| * Lab hours on Mon, 1-4 pm (projects)
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| === Week 8 ===
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| * Tue lecture (19 May): Evolution - Chris
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| * Lab hours on Wed, 7-10 pm (projects)
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| * Thu lecture (21 May): Systems design - Richard + Floris?
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| ** This could be swapped with animal navigation lecture
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| * Lab hours on Mon, 1-4 pm (projects)
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| | |
| === Week 9 ===
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| * Tue lecture (26 May): TBD
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| ** Hold for topics to be decided later. Could do lab presentations?
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| ** Could also be a talk on bioinspired control algorithms - Floris
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| * Lab hours on Wed, 7-10 pm (projects)
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| * Thu lecture (28 May): TBD
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| * Lab hours on Mon, 1-4 pm (projects)
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| === Grading ===
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| The final grade will be based on homework and a final exam:
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| * Lab reports (40%) - There will be 6 one-week labs, with a lab writeup (wiki page, with data) due no later than Tuesday at 10:30 am (start of class). ''Late writeups will not be accepted without <u>prior</u> permission from the instructors.''
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| * Final project (40%) - The last three weeks of the course will be used to implement a project the demonstrates the principles and tools that are covered in the course. Students will work in groups of 2-3, with a single grade assigned to the group.
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| * Class/lab participation (20%) - Students will be assigned by the lecturers and TAs based on their participation in class discussions and lab sessions.
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| === Collaboration Policy ===
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| Collaboration on lab work is encouraged. All lab writeups that are handed should reflect your understanding of the lab work and results at the time of writing.
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| Final projects collaborative.
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| [[Category:Courses]] | | [[Category:Courses]] |
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BE 107: Exploring Biological Principles Through Bio-Inspired Design
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Instructors
- Michael Dickinson (BBE), flyman@caltech.edu
- Richard Murray (CDS/BE), murray@cds.caltech.edu
- Chris Kempes (CMS/GPS), ckempes@gmail.com
- Floris van Breugel (BE), floris@caltech.edu
- Lectures: TuTh, 10:30-12, location TBD
- Office hours: by appointment
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Teaching Assistants
- David Flicker (ME)
- Melissa Tanner (ME)
- Lab session: Wed, 1-4 or 7-10 pm (determine later), location TBD
- Open lab hours: Mon, 1-4 pm, location TBD
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Course Description
Students will formulate and implement an engineering project desired to explore a biological principle or property that is exhibited in nature. Students will work in small teams in which they build a hardware platform that is motivated by a biological example in which a given approach or architecture is used to implement a given behavior. Alternatively, the team will construct new experimental instruments in order to test for the presence of an engineering principle in a biological system. Example topics include bio-inspired control of motion (from bacteria to insects), processing of sensory information (molecules to neurons), and robustness/fault-tolerance. Each project will involve proposing a specific mechanism to be explored, designing an engineering system that can be used to demonstrate and evaluate the mechanism, and building a computer-controlled, electro-mechanical system in the lab that implements or characterizes the proposed mechanism, behavior or architecture.
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