 
Summary: The Center for Control, Dynamical Systems, and Computation
University of California at Santa Barbara
Spring 2009 Seminar Series
Presents
Optimal Control and Tracking with Smooth Pursuit and
Vergence Eye Movements
Bijoy Ghosh
Texas Tech University
Tuesday, May 26, 2009 10:00  11:00 am ESB 2001
Abstract: In this talk, the human oculomotor system is presented as a simple mechanical control system. Most of the
time, such as during "smooth pursuit", eye movements obey Listing's constraint, which states that the movements consist
of rotation matrices for which the axes are orthogonal to the normal gaze direction. This corresponds to the "coronal plane"
when the head is not turned and the eyes are looking straight. Eye movements fail to satisfy the Listing's constraint either
as a result of abnormality or when the gaze direction is sufficiently oblique, as would typically be the case when the angle
of rotation is large, i.e. when the eye is rotated sufficiently to one corner of the visual field. During binocular vision, two eyes
need to simultaneously focus on a target. This is achieved by what is known as a "vergence eye movement". The vergence
eye movements are not actuated satisfying the Listing's constraint but instead the axes of rotation are contained in a plane
spanned by the normal direction and the vertical direction. This would be called the sagittal plane. In this talk, optimal eye
movements are described during smooth pursuit when the dynamics satisfy the Listing's constraint. We compare this dy
namics to the case when the Listing's constraint is not satisfied. We also study "optimal vergence eye movements" which
