ECG Beat Representation and Delineation by Means of Variable Projection

Objective: The electrocardiogram (ECG) follows a characteristic shape, which has led to the development of several mathematical models for extracting clinically important information. Our main objective is to resolve limitations of previous approaches, that means to simultaneously cope with various noise sources, perform exact beat segmentation, and to retain diagnostically important morphological information. Methods: We therefore propose a model that is based on Hermite and sigmoid functions combined with piecewise polynomial interpolation for exact segmentation and low-dimensional representation of individual ECG beat segments. Hermite and sigmoidal functions enable reliable extraction of important ECG waveform information while the piecewise polynomial interpolation captures noisy signal features like the baseline wander (BLW). For that we use variable projection, which allows the separation of linear and nonlinear morphological variations of the according ECG waveforms. The resulting ECG model simultaneously performs BLW cancellation, beat segmentation, and low-dimensional waveform representation. Results: We demonstrate its BLW denoising and segmentation performance in two experiments, using synthetic and real data. Compared to state-of-the-art algorithms, the experiments showed less diagnostic distortion in case of denoising and a more robust delineation for the P and T wave. Conclusion: This work suggests a novel concept for ECG beat representation, easily adaptable to other biomedical signals with similar shape characteristics, such as blood pressure and evoked potentials. Significance: Our method is able to capture linear and nonlinear wave shape changes. Therefore, it provides a novel methodology to understand the origin of morphological variations caused, for instance, by respiration, medication, and abnormalities

Study on the non-linear metrics contribution to estimate atrial fibrillation organization from the surface electrocardiogram

[EN] Atrial fibrillation (AF) is the most frequently diagnosed arrhythmia, characterized by an uncoordinated atrial electrical activation, thus causing the atria to be unable to pump blood effectively. The prevalence of AF is expected to increase significantly in the next decades as the population ages. However, both the knowledge and the treatment of this arrhythmia still have to experiment a significant progress. Previous studies have reported that AF organization, which can be defined as the repetitiveness degree of the atrial activity pattern, correlates with the arrhythmia status as well as with the therapy outcome. Thus, estimating AF organization from surface electrocardiographic (ECG) recordings constitutes a very interesting approach because ECG recordings are easy and cheap to obtain. The objective of this doctoral thesis is to assess the use of a variety of nonlinear indices in the estimation of AF organization from single-lead noninvasive ECG recordings. Apart from the most common noninvasive AF organization estimators, such as Sample Entropy (SampEn) and the dominant atrial frequency (DAF), the following nonlinear indices have been studied: Fuzzy Entropy, Spectral Entropy, Lempel-Ziv Complexity and Hurst Exponents. Moreover, since the presence of noise and ventricular residuals affects the performance of nonlinear methods, the application of a strategy aimed at reducing these nuisances has been evaluated. Therefore, the application of these metrics over the atrial activity fundamental waveform, named the main atrial wave (MAW), has been proposed. In this doctoral thesis, the following scenarios involving AF organization have been considered: the prediction of paroxysmal AF spontaneous termination, the study of the earlier signs anticipating AF termination and the classification between paroxysmal and persistent AF from short ECG recordings. Firstly, the performance of the studied metrics discriminating events related to AF organization was tested making use of a reference database aimed at predicting AF spontaneous termination. In this study, most of the proposed indices provided higher accuracy than traditional AF organization estimators. Accuracy values higher than 90% were obtained with several indices. In particular, the generalized Hurst exponents of order 1 and 2, H(1) and H(2), achieved outstanding results, thus being selected for later studies in this thesis. Furthermore, the computation of H(2) depends on two critical parameters, namely, the analyzed interval length (L) and the maximum search window for self-similarities (tau). Hence, a study with 660 combinations on these two parameters was performed, together with the sampling frequency (fs) of the recording, in order to obtain their optimal combination in computing AF organization. On the other hand, previous works analyzing the spontaneous termination of AF have been only focused on the last 2 minutes preceding the termination. In contrast, a different scenario considering longer recordings to detect the earlier signs anticipating paroxysmal AF termination has been analyzed for the first time in this thesis. H(2) was selected for the study because of its highest accuracy in AF termination prediction. Additionally, the DAF and SampEn were also computed as references. Through this study it has been corroborated that AF organization only varies significantly within the last 3 minutes before spontaneous termination. As a consequence, the early prediction of paroxysmal AF spontaneous termination does not seem feasible through the current signal analysis tools. Finally, H(2) was applied in the classification between paroxysmal and persistent AF from short ECG recordings, achieving a higher diagnostic accuracy than DAF and SampEn. This result suggests that the analysis of ambulatory ECG recordings through H(2) could be a future alternative to the use of Holter ECG recordings in the classification between paroxysmal and persistent AF.[ES] La fibrilación auricular (FA) es la arritmia más frecuente y se caracteriza por una actividad auricular descoordinada, que impide que las aurículas bombeen sangre de manera eficaz. Se espera que la prevalencia de la FA aumente significativamente en las próximas décadas debido al envejecimiento de la población. Sin embargo, tanto el conocimiento relativo a esta arritmia como su tratamiento son todavía mejorables. Estudios previos han relacionado la organización de la FA, que se puede definir como el grado de repetitividad de la actividad auricular, con el estado de la arritmia o su respuesta al tratamiento. Además, la estimación de la organización de la FA a partir de registros electrocardiográficos (ECG) de superficie resulta especialmente interesante porque su obtención es sencilla y barata. El objetivo de esta tesis doctoral es evaluar el uso de distintos índices no lineales para estimar la organización de la FA a partir del ECG. Además de los estimadores no invasivos de organización más comunes, como la entropía muestral (SampEn) y la frecuencia auricular dominante (DAF), se han estudiado los siguientes métodos no lineales: la entropía borrosa, la entropía espectral, la complejidad Lempel-Ziv y los exponentes de Hurst. Además, se ha estudiado el uso de una estrategia destinada a la reducción del ruido y los residuos de actividad ventricular para mejorar el desempeño de métodos no lineales. Así, los índices estudiados también se han aplicado sobre la forma de onda fundamental de la actividad auricular, conocida como la onda auricular principal (MAW). Se han considerado los siguientes escenarios relacionados con la organización de la FA: la predicción de la terminación espontánea de la FA paroxística, el estudio de los primeros indicios de terminación espontánea de la FA y la clasificación entre FA paroxística y FA persistente a partir de registros ECG de corta duración. Primero, se estudió la capacidad de los índices estudiados para distinguir eventos relacionados con la organización de la FA mediante el análisis de una base de datos de referencia para la predicción de su terminación espontánea. La mayoría de los índices propuestos consiguieron una mayor precisión que los estimadores tradicionales de organización. Así, varios de los índices obtuvieron una precisión superior al 90% en la predicción de la terminación espontánea de la FA. En particular, los exponentes de Hurst generalizados de orden 1 y 2, H(1) y H(2), lograron los mejores resultados de clasificación. Puesto que el cálculo de H(2) depende de dos parámetros críticos, la longitud del intervalo analizado (L) y el tamaño máximo de la ventana donde buscar similitudes (tau), se llevó a cabo un estudio con 660 combinaciones de esos dos parámetros junto con la frecuencia de muestreo (fs) del registro para determinar el uso óptimo de este índice. Por otra parte, los trabajos previos que han estudiado la terminación espontánea de la FA se han centrado en los últimos 2 minutos antes de la terminación. Por contra, en esta tesis doctoral se han estudiado por primera vez registros de mayor duración para detectar los primeros indicios de la terminación de la FA. Para ello, se eligió el uso de H(2) por su alta precisión en la predicción de la terminación de la FA. Además, la DAF y SampEn se calcularon como referencias. En este estudio se ha comprobado que la organización de la FA solamente presenta variaciones significativas en los últimos 3 minutos antes de su terminación espontánea. Por ello, la predicción temprana de la terminación no parece posible con los medios actuales de análisis de la señal. Por último, se aplicó H(2) para clasificar entre FA paroxística y FA persistente a partir de ECGs de corta duración, obteniendo una mayor precisión diagnóstica que la DAF y SampEn. Este resultado sugiere que el análisis de ECGs ambulatorios por medio de H(2) puede ser en el futuro una alte[CA] La fibril·lació auricular (FA) és l'arítmia més freqüent i es caracteritza per una activitat auricular descoordinada, que impedix que les aurícules bomben sang de manera eficaç. S'espera que la prevalença de la FA augmente significativament en les pròximes dècades a causa de l'envelliment de la població. No obstant això, tant el coneixement relatiu a esta arítmia com el seu tractament són encara millorables. Estudis previs han relacionat l'organització de la FA, que es pot definir com el grau de repetitivitat de l'activitat auricular, amb l'estat de l'arítmia o la seua resposta al tractament. A més, l'estimació de l'organització de la FA a partir de registres electrocardiogràfics (ECG) de superfície resulta especialment interessant perquè la seua obtenció és senzilla i barata. L'objectiu d'esta tesi doctoral és avaluar l'ús de distints índexs no lineals en l'estimació de l'organització de la FA a partir de l'ECG de superfície. A més dels estimadors no invasius d'organització més comuns, com l'entropia mostral (SampEn) i la freqüència auricular dominant (DAF), s'han estudiat els següents mètodes no lineals: l'entropia borrosa, l'entropia espectral, la complexitat Lempel-Ziv i els exponents de Hurst. A més, s'ha estudiat l'ús d'una estratègia destinada a la reducció del soroll i els residus d'activitat ventricular per a millorar la seua capacitat d'estimar l'organització. Així, doncs, els índexs estudiats també s'han aplicat sobre la forma d'onda fonamental de l'activitat auricular, coneguda com l'onda auricular principal (MAW). S'han considerat els següents escenaris relacionats amb l'organització de la FA: la predicció de la terminació espontània de la FA paroxística, l'estudi dels primers indicis de terminació espontània de la FA i la classificació entre FA paroxística i FA persistent a partir de registres ECG de curta duració. Primer, es va estudiar la capacitat dels índexs estudiats per a distingir esdeveniments relacionats amb l'organització de la FA per mitjà de l'anàlisi d'una base de dades de referència per a la predicció de la seua terminació espontània. La majoria dels índexs proposats van aconseguir una major precisió que els estimadors tradicionals d'organització de la FA. Així, alguns dels índexs van obtindre una precisió superior al 90% en la predicció de la terminació espontània de la FA. En particular, els exponents de Hurst generalitzats d'orde 1 i 2, H(1) i H(2), van aconseguir els millors resultats de classificació. Com el càlcul de H(2) depén de dos paràmetres crítics, la longitud de l'interval analitzat (L) i la grandària màxima de la finestra on buscar similituds (tau), es va dur a terme un estudi amb 660 combinacions d'eixos dos paràmetres junt amb la freqüència de mostratge (fs) del registre per a determinar la combinació òptima de valors per a estimar l'organització de la FA. D'altra banda, els treballs previs que han estudiat la terminació espontània de la FA s'han centrat en els últims 2 minuts abans de la terminació. Per contra, en esta tesi doctoral s'han estudiat per primera vegada registres de major duració amb l'objectiu de detectar els primers indicis de la terminació de la FA. Es va triar l'ús de H(2) per a este estudi per la seua alta precisió en la predicció de la terminació de la FA. A més, la DAF i SampEn es van calcular com a referències. En este estudi s'ha comprovat que l'organització de la FA només presenta variacions significatives en els últims 3 minuts abans de la seua terminació espontània. Per això, la predicció primerenca de la terminació no pareix possible amb els mitjans actuals d'anàlisi del senyal. Finalment, es va aplicar H(2) per a classificar entre FA paroxística i FA persistent a partir d'ECGs de curta duració, obtenint una millor precisió diagnòstica que amb la DAF i SampEn. Este resultat suggerix que l'anàlisi d'ECGs ambulatoris per mitjà de H(2) pot ser en eJulián Seguí, M. (2015). Study on the non-linear metrics contribution to estimate atrial fibrillation organization from the surface electrocardiogram [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/56150TESI

Statistical and Graph-Based Signal Processing: Fundamental Results and Application to Cardiac Electrophysiology

The goal of cardiac electrophysiology is to obtain information about the mechanism, function, and performance of the electrical activities of the heart, the identification of deviation from normal pattern and the design of treatments. Offering a better insight into cardiac arrhythmias comprehension and management, signal processing can help the physician to enhance the treatment strategies, in particular in case of atrial fibrillation (AF), a very common atrial arrhythmia which is associated to significant morbidities, such as increased risk of mortality, heart failure, and thromboembolic events. Catheter ablation of AF is a therapeutic technique which uses radiofrequency energy to destroy atrial tissue involved in the arrhythmia sustenance, typically aiming at the electrical disconnection of the of the pulmonary veins triggers. However, recurrence rate is still very high, showing that the very complex and heterogeneous nature of AF still represents a challenging problem. Leveraging the tools of non-stationary and statistical signal processing, the first part of our work has a twofold focus: firstly, we compare the performance of two different ablation technologies, based on contact force sensing or remote magnetic controlled, using signal-based criteria as surrogates for lesion assessment. Furthermore, we investigate the role of ablation parameters in lesion formation using the late-gadolinium enhanced magnetic resonance imaging. Secondly, we hypothesized that in human atria the frequency content of the bipolar signal is directly related to the local conduction velocity (CV), a key parameter characterizing the substrate abnormality and influencing atrial arrhythmias. Comparing the degree of spectral compression among signals recorded at different points of the endocardial surface in response to decreasing pacing rate, our experimental data demonstrate a significant correlation between CV and the corresponding spectral centroids. However, complex spatio-temporal propagation pattern characterizing AF spurred the need for new signals acquisition and processing methods. Multi-electrode catheters allow whole-chamber panoramic mapping of electrical activity but produce an amount of data which need to be preprocessed and analyzed to provide clinically relevant support to the physician. Graph signal processing has shown its potential on a variety of applications involving high-dimensional data on irregular domains and complex network. Nevertheless, though state-of-the-art graph-based methods have been successful for many tasks, so far they predominantly ignore the time-dimension of data. To address this shortcoming, in the second part of this dissertation, we put forth a Time-Vertex Signal Processing Framework, as a particular case of the multi-dimensional graph signal processing. Linking together the time-domain signal processing techniques with the tools of GSP, the Time-Vertex Signal Processing facilitates the analysis of graph structured data which also evolve in time. We motivate our framework leveraging the notion of partial differential equations on graphs. We introduce joint operators, such as time-vertex localization and we present a novel approach to significantly improve the accuracy of fast joint filtering. We also illustrate how to build time-vertex dictionaries, providing conditions for efficient invertibility and examples of constructions. The experimental results on a variety of datasets suggest that the proposed tools can bring significant benefits in various signal processing and learning tasks involving time-series on graphs. We close the gap between the two parts illustrating the application of graph and time-vertex signal processing to the challenging case of multi-channels intracardiac signals

Signal Processing Methods for the Analysis of the Electrocardiogram

Das Elektrokardiogramm (EKG) zeichnet die elektrische Aktivität des Herzens auf der Brust- oberfläche auf. Dieses Signal kann einfach und kostengünstig aufgenommen werden und wird daher in einer Vielzahl von mobilen und stationären Anwendungen genutzt. Es ist über die letzten 100 Jahre zum Goldstandard bei der Diagnose vieler kardiologischer Krankheiten geworden. Herzerkrankungen bleiben ein relevantes Thema in unserer Gesellschaft, da sie zu 30 % aller Todesfälle weltweit führen. Allein die koronare Herzkrankheit ist die häufigste Todesursache überhaupt. Weiterhin sind 2 bis 3 % der Europäer von Herzrhythmusstörungen wie Vorhofflimmern und Vorhofflattern betroffen. Die damit verbundenen geschätzten Kosten in der Europäischen Union belaufen sich auf 26 Milliarden Euro pro Jahr. In allen diesen Fällen ist die Aufzeichnung des EKGs der erste unumgängliche Schritt für eine verlässliche Diagnose und erfolgreiche Therapie. Im Rahmen dieser Dissertation wurden eine Reihe von Algorithmen zur Signalver- arbeitung des EKG entwickelt, die automatisch die rhythmischen und morphologischen Eigenschaften aus dem EKG extrahieren und dadurch den diagnostischen Prozess und die Entscheidungsfindung des Arztes unterstützen. In einem ersten Projekt wurde das Phänomen der postextrasystolischen T-Wellen-Änderung (PEST) untersucht. Die aus der PEST ex- trahierten Biomarker haben wir als Prädiktoren für Herzversagen postuliert. Ein zweites Projekt handelte vom Entwurf eines akkuraten Algorithmus zur Detektion und Annotation der P-Welle im EKG. Als Referenz während der Entwicklung wurden intrakardial gemessene Signale verwendet. Eine dritte Untersuchg hatte das Ziel, das physiologische Phänomen der respiratorischen Sinusarrhythmie (RSA) besser zu verstehen. In diesem Projekt wurde ein Algorithmus zur Trennung der Herzratenvariabilität (HRV) in ihre atmungsabhängige und ihre atmungsunabhn ̈gige Komponente untersucht. Letzterer Anteil der HRV könnte neue Erkenntnisse über die Regulationsmechanismen des kardiovaskulären Systems liefern. In der vierten und letzten Studie wurde der Einfluss mentaler Belastung auf das EKG während der Autofahrt untersucht. Eine Vielzahl von Deskriptoren wurden gefunden, die eine gefährliche mentale Beanspruchung detektieren und somit den Fahrer vor einem möglichen Unfall schützen können. Wir schließen aus diesen Untersuchungen, dass gut entwickelte Methoden der Signalver- arbeitung des EKG das Potential haben, die Belastung der Patienten, die an Herzerkrankungen leiden, und die Anzahl der Verkehrsunfälle zu reduzieren

Revealing Distinct Neural Signatures in Magnetoencephalography with Hidden Markov Models

Magnetoencephalography (MEG) is a functional neuroimaging method which measures the magnetic fields produced by neural communication in the brain. Specifically, the fields induced by dendritic current flow in assemblies of pyramidal neurons. Because these magnetic fields are generated directly by brain electrophysiology, and are mostly unperturbed by the skull, MEG data are rich in spatial and temporal information. This thesis is chiefly concerned with interpreting these data in a way that produces useful results whilst minimising bias. Hidden Markov modelling (HMM) is a robust statistical method which has been applied to fields as diverse as speech recognition and financial market prediction. It parses data into a number of ‘hidden states’, each with their own unique characteristics, in an unsupervised way. Because it is data-driven, it can create a model unique to each participant’s brain activity and specific to each task. In addition, the HMM framework itself is flexible so it can be applied to both sensor and source-space data and can be applied to multiple channels (multivariate) or to a single time course (univariate). Choice of an observation model allows states to be characterised by amplitude, spatial, or spectral content depending on the research question. The aim of this thesis is to apply hidden Markov modelling (HMM) to whole head MEG data to identify repeated patterns of transient neural activity occurring throughout the brain. Once these patterns were identified, the interaction between these short ‘bursts’ of activity across the cortex was established which provided a unique measure of functional connectivity. Three studies were undertaken: The role of transient spectral bursts in MEG functional connectivity: In recent years, the smoothly varying neural oscillations often studied in MEG (such as those trial-averaged responses in the traditional neurophysiological (such as alpha/beta) frequency bands) have been shown to be made up of single-trial high-amplitude ‘bursts’ of activity. These bursts can be observed in the beta frequency band and are therefore often referred to as beta bursts. In this study, a novel time-delay embedded HMM was used to identif bursts in broadband data based on their spectral content for MEG data from 66 healthy adult participants. The burst amplitude, duration and frequency of occurrence were characterised across the cortex in resting state data, and in a motor task the classic movement-related beta desynchronisation and post movement beta rebound were shown to be made up of changes in burst occurrence. A novel functional connectivity metric was then introduced based on the coincidence of bursts from distal brain regions, allowing the known beta band functional connectome to be reproduced. Bursts coincident across spatially separate brain regions were also shown to correspond to periods of heightened coherence, lending evidence to the communication by coherence (Fries 2005, 2015) hypothesis. Post-stimulus responses across the cortex: During a motor task, both primary (during stimulation) and post stimulus responses (PSR) can be observed. These are well characterised in the literature, but little is known about their functional significance. The PSR in particular is modified in a range of seemingly unrelated neurological conditions with variable symptoms, such as schizophrenia (Robson et al. 2016), autism spectrum disorder (Gaetz et al. 2020) and multiple sclerosis (Barratt et al. 2017), indicating that the PSR is a fundamental neurophysiological process, the disturbance of which has implications on both healthy and pathological brain function. This work therefore tested the hypothesis that the PSR is present across the cortex. MEG data were acquired and analysed from two experiments with 15 healthy adult volunteers each – the first was a right-hand grip task with visual feedback, the second involved passive left visual field stimulation. Both experiments varied stimulus duration (2s, 5s and 10s) with a 30s rest-period between trials to allow characterisation of the full PSR. A univariate 3-state time-delay-embedded hidden Markov model (HMM) was used to characterise the spatial distributions of the primary and PSR across the cortex for both tasks. Results showed that for both tasks, the primary response state was more bilateral over the sensorimotor or visual areas (depending on task) where the PSR state was more unilateral and confined to the contralateral sensorimotor or visual areas (again, dependant on task). A state coincidence metric was then used to investigate the integration of the primary and PSR states across brain regions as a measure of task-related functional connectivity. Hidden Markov modelling of the interictal brain: Epilepsy is a highly heterogeneous disease with variations in the temporal morphology and localisation of epileptiform activity across patients. Unsupervised machine learning techniques like the HMM allow us to take into account this variability and ensure that every model is tailored to each individual. In this work, a multivariate time-delay embedded HMM was used to identify brain states based on their spatial and spectral properties in sensor-level MEG data acquired as part of standard clinical care for patients at the Children’s Hospital of Philadelphia. State allocations were used together with a linearly constrained minimum variance (LCMV) beamformer to produce a 3D map of state variance, hence localising probable epileptogenic foci. Clinical MEG epilepsy data are routinely analysed by excess kurtosis mapping (EKM) and so the performance of the HMM was assessed against this for three patient groups, each with increasingly complex epilepsy manifestation (10 patients in total). The difference in localization of epileptogenic foci for the two methods was 7 ± 2mm (mean ± SD over all 10 patients); and 94 ± 13% of EKM temporal markers were matched by an HMM state visit. It is therefore clear that this method localizes epileptogenic areas in agreement with EKM and in patients with more than one focus the HMM provides additional information about the relationship between them

Adaptive signal processing algorithms for noncircular complex data

The complex domain provides a natural processing framework for a large class of signals encountered in communications, radar, biomedical engineering and renewable energy. Statistical signal processing in C has traditionally been viewed as a straightforward extension of the corresponding algorithms in the real domain R, however, recent developments in augmented complex statistics show that, in general, this leads to under-modelling. This direct treatment of complex-valued signals has led to advances in so called widely linear modelling and the introduction of a generalised framework for the differentiability of both analytic and non-analytic complex and quaternion functions. In this thesis, supervised and blind complex adaptive algorithms capable of processing the generality of complex and quaternion signals (both circular and noncircular) in both noise-free and noisy environments are developed; their usefulness in real-world applications is demonstrated through case studies. The focus of this thesis is on the use of augmented statistics and widely linear modelling. The standard complex least mean square (CLMS) algorithm is extended to perform optimally for the generality of complex-valued signals, and is shown to outperform the CLMS algorithm. Next, extraction of latent complex-valued signals from large mixtures is addressed. This is achieved by developing several classes of complex blind source extraction algorithms based on fundamental signal properties such as smoothness, predictability and degree of Gaussianity, with the analysis of the existence and uniqueness of the solutions also provided. These algorithms are shown to facilitate real-time applications, such as those in brain computer interfacing (BCI). Due to their modified cost functions and the widely linear mixing model, this class of algorithms perform well in both noise-free and noisy environments. Next, based on a widely linear quaternion model, the FastICA algorithm is extended to the quaternion domain to provide separation of the generality of quaternion signals. The enhanced performances of the widely linear algorithms are illustrated in renewable energy and biomedical applications, in particular, for the prediction of wind profiles and extraction of artifacts from EEG recordings

Bio-Inspired Robotics

Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field

Revealing Distinct Neural Signatures in Magnetoencephalography with Hidden Markov Models

Magnetoencephalography (MEG) is a functional neuroimaging method which measures the magnetic fields produced by neural communication in the brain. Specifically, the fields induced by dendritic current flow in assemblies of pyramidal neurons. Because these magnetic fields are generated directly by brain electrophysiology, and are mostly unperturbed by the skull, MEG data are rich in spatial and temporal information. This thesis is chiefly concerned with interpreting these data in a way that produces useful results whilst minimising bias. Hidden Markov modelling (HMM) is a robust statistical method which has been applied to fields as diverse as speech recognition and financial market prediction. It parses data into a number of ‘hidden states’, each with their own unique characteristics, in an unsupervised way. Because it is data-driven, it can create a model unique to each participant’s brain activity and specific to each task. In addition, the HMM framework itself is flexible so it can be applied to both sensor and source-space data and can be applied to multiple channels (multivariate) or to a single time course (univariate). Choice of an observation model allows states to be characterised by amplitude, spatial, or spectral content depending on the research question. The aim of this thesis is to apply hidden Markov modelling (HMM) to whole head MEG data to identify repeated patterns of transient neural activity occurring throughout the brain. Once these patterns were identified, the interaction between these short ‘bursts’ of activity across the cortex was established which provided a unique measure of functional connectivity. Three studies were undertaken: The role of transient spectral bursts in MEG functional connectivity: In recent years, the smoothly varying neural oscillations often studied in MEG (such as those trial-averaged responses in the traditional neurophysiological (such as alpha/beta) frequency bands) have been shown to be made up of single-trial high-amplitude ‘bursts’ of activity. These bursts can be observed in the beta frequency band and are therefore often referred to as beta bursts. In this study, a novel time-delay embedded HMM was used to identif bursts in broadband data based on their spectral content for MEG data from 66 healthy adult participants. The burst amplitude, duration and frequency of occurrence were characterised across the cortex in resting state data, and in a motor task the classic movement-related beta desynchronisation and post movement beta rebound were shown to be made up of changes in burst occurrence. A novel functional connectivity metric was then introduced based on the coincidence of bursts from distal brain regions, allowing the known beta band functional connectome to be reproduced. Bursts coincident across spatially separate brain regions were also shown to correspond to periods of heightened coherence, lending evidence to the communication by coherence (Fries 2005, 2015) hypothesis. Post-stimulus responses across the cortex: During a motor task, both primary (during stimulation) and post stimulus responses (PSR) can be observed. These are well characterised in the literature, but little is known about their functional significance. The PSR in particular is modified in a range of seemingly unrelated neurological conditions with variable symptoms, such as schizophrenia (Robson et al. 2016), autism spectrum disorder (Gaetz et al. 2020) and multiple sclerosis (Barratt et al. 2017), indicating that the PSR is a fundamental neurophysiological process, the disturbance of which has implications on both healthy and pathological brain function. This work therefore tested the hypothesis that the PSR is present across the cortex. MEG data were acquired and analysed from two experiments with 15 healthy adult volunteers each – the first was a right-hand grip task with visual feedback, the second involved passive left visual field stimulation. Both experiments varied stimulus duration (2s, 5s and 10s) with a 30s rest-period between trials to allow characterisation of the full PSR. A univariate 3-state time-delay-embedded hidden Markov model (HMM) was used to characterise the spatial distributions of the primary and PSR across the cortex for both tasks. Results showed that for both tasks, the primary response state was more bilateral over the sensorimotor or visual areas (depending on task) where the PSR state was more unilateral and confined to the contralateral sensorimotor or visual areas (again, dependant on task). A state coincidence metric was then used to investigate the integration of the primary and PSR states across brain regions as a measure of task-related functional connectivity. Hidden Markov modelling of the interictal brain: Epilepsy is a highly heterogeneous disease with variations in the temporal morphology and localisation of epileptiform activity across patients. Unsupervised machine learning techniques like the HMM allow us to take into account this variability and ensure that every model is tailored to each individual. In this work, a multivariate time-delay embedded HMM was used to identify brain states based on their spatial and spectral properties in sensor-level MEG data acquired as part of standard clinical care for patients at the Children’s Hospital of Philadelphia. State allocations were used together with a linearly constrained minimum variance (LCMV) beamformer to produce a 3D map of state variance, hence localising probable epileptogenic foci. Clinical MEG epilepsy data are routinely analysed by excess kurtosis mapping (EKM) and so the performance of the HMM was assessed against this for three patient groups, each with increasingly complex epilepsy manifestation (10 patients in total). The difference in localization of epileptogenic foci for the two methods was 7 ± 2mm (mean ± SD over all 10 patients); and 94 ± 13% of EKM temporal markers were matched by an HMM state visit. It is therefore clear that this method localizes epileptogenic areas in agreement with EKM and in patients with more than one focus the HMM provides additional information about the relationship between them

Aerial Vehicles

This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space

Technologies of information transmission and processing

Сборник содержит статьи, тематика которых посвящена научно-теоретическим разработкам в области сетей телекоммуникаций, информационной безопасности, технологий передачи и обработки информации. Предназначен для научных сотрудников в области инфокоммуникаций, преподавателей, аспирантов, магистрантов и студентов технических вузов