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Absolute localization of a flying UAV on its own in a global-navigation-satellite-system (GNSS)-denied environment is always a challenge. In this paper, we present a landmark-based approach where a UAV is automatically locked into the landmark scene shown in a georeferenced image via a feedback control loop, which is driven by the output of an aerial image registration. To pursue a real-time application, we design and implement a speeded-up-robust-features (SURF)-based image registration algorithm that focuses efficiency and robustness under a 2D geometric transformation. A linear UAV controller with signals of four degrees of freedom is derived from the estimated transformation matrix. The approach is validated in a virtual simulation environment, with experimental results demonstrating the effectiveness and robustness of the proposed UAV self-localization system.

This paper considers the two-dimensional (2D) anchorless localization problem for sensor networks in global positioning system (GPS)-denied environments. We present an efficient method, based on the multidimensional scaling (MDS) algorithm, in order to estimate the positions of the nodes in the network using measurements of the inter-node distances. The proposed method takes advantage of the mobility of the nodes to address the location ambiguity problem, i.e., rotation and flip ambiguity, which arises in the anchorless MDS algorithm. Knowledge of the displacement of the moving node is used to produce an analytical solution for the noise-free case. Subsequently, a least squares estimator is presented for the noisy scenario and the associated closed-form solution derived. The simulations show that the proposed algorithm accurately and efficiently estimates the locations of nodes, outperforming alternative methods.

In this study we developed a technique for identifying noisy electrodes in high density surface electromyography (HD-sEMG). The technique finds the spatial similarity of each electrode in the electrode array by counting the number of interactions the electrode has. Using this information the technique identifies noisy electrodes by finding electrodes that are significantly dissimilar to the other electrodes. The HD-sEMG recordings used in this study were taken from three participants who performed two isometric contractions of their biceps at 40% and 80% of their maximum voluntary contraction (MVC) force. White Gaussian noisy was added to a varying number of recorded signals before being digital filtering to generate a variety of recordings to test the technique with. In the recordings, groups of 2, 4, 8, and 16 electrodes had noise added such that the signal to noise ratios (SNR) were 0, 5, 10, 15, and 20dB. The results show that the technique can reliably identify groups of 2, 4, and 8 noisy electrodes with SNRs of 0, 5, and 10dB.

The aim of the present investigation was to filter outliers in facial surface electromyography (fSEMG) originating from eye blinks, through a decision based filtering technique. Since, these outliers lie within the frequency range of electromyographic activity (30–300 Hz), conventional filtering methods fail to remove them. Hence, an application of an outlier filtering technique, Hampel filtering, has been introduced which is proficient at removing high frequency impulsive spikes (100–150 Hz) from facial sEMG. The Hampel filter removes the outliers without distorting the original data sequence and improves the quality of the signal as observed in time-frequency analysis.

Hand movement classification based on surface electromyography (sEMG) pattern recognition is a promising approach for upper limb neuroprosthetic control. However, maintaining day-to-day performance is challenged by the non-stationary nature of sEMG in real-life operation. In this study, we propose a self-recalibrating classifier that can be automatically updated to maintain a stable performance over time without the need for user retraining. Our classifier is based on convolutional neural network (CNN) using short latency dimension-reduced sEMG spectrograms as inputs. The pretrained classifier is recalibrated routinely using a corrected version of the prediction results from recent testing sessions. Our proposed system was evaluated with the NinaPro database comprising of hand movement data of 40 intact and 11 amputee subjects. Our system was able to achieve ~10.18% (intact, 50 movement types) and ~2.99% (amputee, 10 movement types) increase in classification accuracy averaged over five testing sessions with respect to the unrecalibrated classifier. When compared with a support vector machine (SVM) classifier, our CNN-based system consistently showed higher absolute performance and larger improvement as well as more efficient training. These results suggest that the proposed system can be a useful tool to facilitate long-term adoption of prosthetics for amputees in real-life applications.

Fingertip force coordination is crucial to the success of grasp-and-lift tasks. In the development of motor prosthesis for daily applications, the ability to accurately classify the desired grasp-and-lift from multi-channel surface electromyography (sEMG) is essential. In order to extract reliable indicators for fingertip force coordination, we searched an extensive set of sEMG features for the optimal subset of relevant features. Using mutual information based feature selection we found that a subset of not more than 10 sEMG features selected from over seven thousand, could effectively classify object weights in grasp-and-lift tasks. Average classification accuracies of 82.53% in the acceleration phase and 88.61% in the isometric contraction phase were achieved. Furthermore, sEMG features associated with object weights and common across individuals were identified. These time-domain features (entropy, mean/median absolute deviation, pNNx) can be calculated efficiently, providing possible new indicators.

Hand gesture recognition from forearm surface electromyography (sEMG) is an active research field in the development of motor prosthesis. Studies have shown that classification accuracy and efficiency is highly dependent on the features extracted from the EMG. In this paper, we show that EMG spectrograms are a particularly effective feature for discriminating multiple classes of hand gesture when subjected to principal component analysis for dimensionality reduction. We tested our method on the Ninapro database which includes sEMG data (12 channels) of 40 subjects performing 50 different hand movements. Our results demonstrate improved classification accuracy (by ∼10%) over purely time domain features for 50 different hand movements, including small finger movements and different levels of force exertion. Our method has also reduced the error rate (by ∼12%) at the transition phase of gestures which could improve robustness of gesture recognition when continuous classification from sEMG is required.

This study investigated the difference in the gait of patients with Parkinson&rsquo, s disease (PD), age-matched controls and young controls during three walking patterns. Experiments were conducted with 24 PD, 24 age-matched controls and 24 young controls, and four gait intervals were measured using inertial measurement units (IMU). Group differences between the mean and variance of the gait parameters (stride interval, stance interval, swing interval and double support interval) for the three groups were calculated and statistical significance was tested. The results showed that the variance in each of the four gait parameters of PD patients was significantly higher compared with the controls, irrespective of the three walking patterns. This study showed that the variance of any of the gait interval parameters obtained using IMU during any of the walking patterns could be used to differentiate between the gait of PD and control people.

Vagus nerve stimulation (VNS) can enhance memory and cognitive functions in both rats and humans. Studies have shown that VNS influenced decision-making in epileptic patients. However, the sites of action involved in the cognitive-enhancement are poorly understood. By employing a conscious rat model equipped with vagus nerve cuff electrode, we assess the role of chronic VNS on decision-making in rat gambling task (RGT). Simultaneous multichannel-recordings offer an ideal setup to test the hypothesis that VNS may induce alterations of in both spike-field-coherence and synchronization of theta oscillations across brain areas in the anterior cingulate cortex (ACC) and basolateral amygdala (BLA). Daily VNS, administered immediately following training sessions of RGT, caused an increase in ‘good decision-maker’ rats. Neural spikes in the ACC became synchronized with the ongoing theta oscillations of local field potential (LFP) in BLA following VNS. Moreover, cross-correlation analysis revealed synchronization between the ACC and BLA. Our results provide specific evidence that VNS facilitates decision-making and unveils several important roles for VNS in regulating LFP and spike phases, as well as enhancing spike-phase coherence between key brain areas involved in cognitive performance. These data may serve to provide fundamental notions regarding neurophysiological biomarkers for therapeutic VNS in cognitive impairment.

Time-varying synergies from kinematic data can be used to discern fundamental patterns of movement. We show through simultaneous extraction of synergies from both novice and experienced pianists that movement common to both groups can be identified. The extracted synergies successfully allow for the majority of the variability of the data to be accounted for by a limited number of components. Furthermore, classification of the weightings representing the recruitment of each of the synergies accurately distinguishes between the piano playing of the two groups of subjects. However, the major differences between the two groups lie not in the synergies representing the majority of the variance of the data but in the recruitment of smaller synergies.

The concept of muscle synergies has proven to be an effective method for representing patterns of muscle activation. The number of degrees of freedom to be controlled are reduced while also providing a flexible platform for producing detailed movements using synergies as building blocks. It has previously been shown that small components of movement are crucial to producing precise and coordinated movement. Methods which focus on the variance of the data make it possible to overlook these small components in the synergy extraction process. However, algorithms which address the inherent complexity in the neuromuscular system are lacking. To that end we propose a new nonnegative matrix factorization algorithm which employs a cross fuzzy entropy similarity measure, thus, extracting muscle synergies which preserve the complexity of the recorded muscular data. The performance of the proposed algorithm is illustrated on representative EMG data.

Accurate statistical models of neural spike responses can characterize the information carried by neural populations. But the limited samples of spike counts during recording usually result in model overfitting. Besides, current models assume spike counts to be Poisson-distributed, which ignores the fact that many neurons demonstrate over-dispersed spiking behaviour. Although the Negative Binomial Generalized Linear Model (NB-GLM) provides a powerful tool for modeling over-dispersed spike counts, the maximum likelihood-based standard NB-GLM leads to highly variable and inaccurate parameter estimates. Thus, we propose a hierarchical parametric empirical Bayes method to estimate the neural spike responses among neuronal population. Our method integrates both Generalized Linear Models (GLMs) and empirical Bayes theory, which aims to (1) improve the accuracy and reliability of parameter estimation, compared to the maximum likelihood-based method for NB-GLM and Poisson-GLM; (2) effectively capture the over-dispersion nature of spike counts from both simulated data and experimental data; and (3) provide insight into both neural interactions and spiking behaviours of the neuronal populations. We apply our approach to study both simulated data and experimental neural data. The estimation of simulation data indicates that the new framework can accurately predict mean spike counts simulated from different models and recover the connectivity weights among neural populations. The estimation based on retinal neurons demonstrate the proposed method outperforms both NB-GLM and Poisson-GLM in terms of the predictive log-likelihood of held-out data. Codes are available in https://doi.org/10.5281/zenodo.4704423, Comment: 16 pages, 20 figures, 3 tables

A novel method for the discrimination between discrete states of brain consciousness is proposed, achieved through examination of nonlinear features within the electroencephalogram (EEG). To allow for real time modes of operation, a collaborative adaptive filtering architecture, using a convex combination of adaptive filters is implemented. The evolution of the mixing parameter within this structure is then used as an indication of the predominant nature of the EEG recordings. Simulations based upon a number of different filter combinations illustrate the suitability of this approach to differentiate between the coma and quasi-brain-death states based upon fundamental signal characteristics.

A novel method for online tracking of the changes in the nonlinearity within both real-domain and complex-valued signals is introduced. This is achieved by a collaborative adaptive signal processing approach based on a hybrid filter. By tracking the dynamics of the adaptive mixing parameter within the employed hybrid filtering architecture, we show that it is possible to quantify the degree of nonlinearity within both real- and complex-valued data. Implementations for tracking nonlinearity in general and then more specifically sparsity are illustrated on both benchmark and real world data. It is also shown that by combining the information obtained from hybrid filters of different natures it is possible to use this method to gain a more complete understanding of the nature of the nonlinearity within a signal. This also paves the way for building multidimensional feature spaces and their application in data/information fusion.

Noninvasive approaches to measuring cerebral circulation and metabolism are crucial to furthering our understanding of brain function. These approaches also have considerable potential for clinical use “at the bedside”. However, a highly nontrivial task and precondition if such methods are to be used routinely is the robust physiological interpretation of the data. In this paper, we explore the ability of a previously developed model of brain circulation and metabolism to explain and predict quantitatively the responses of physiological signals. The five signals all noninvasively-measured during hypoxemia in healthy volunteers include four signals measured using near-infrared spectroscopy along with middle cerebral artery blood flow measured using transcranial Doppler flowmetry. We show that optimising the model using partial data from an individual can increase its predictive power thus aiding the interpretation of NIRS signals in individuals. At the same time such optimisation can also help refine model parametrisation and provide confidence intervals on model parameters. Discrepancies between model and data which persist despite model optimisation are used to flag up important questions concerning the underlying physiology, and the reliability and physiological meaning of the signals.

Real valued blind source extraction based on a linear predictor is extended to the complex domain using recent advances in complex domain statistics. It is shown that, in general, the mean square prediction error of the algorithm depends both on the covariance matrix and the pseudo-covariance matrix of the source signals. To fully utilise the available information, it is thus natural to adopt a widely linear predictor to extract the latent sources from the observed mixture. This way, we derive a new algorithm for the extraction of general complex signals and provide simulation results using benchmark complex data.