A Self-Adaptive Online Brain Machine Interface of a Humanoid Robot through a General Type-2 Fuzzy Inference System

This paper presents a self-adaptive general type-2 fuzzy inference system (GT2 FIS) for online motor imagery (MI) decoding to build a brain-machine interface (BMI) and navigate a bi-pedal humanoid robot in a real experiment, using EEG brain recordings only. GT2 FISs are applied to BMI for the first time in this study. We also account for several constraints commonly associated with BMI in real practice: 1) maximum number of electroencephalography (EEG) channels is limited and fixed, 2) no possibility of performing repeated user training sessions, and 3) desirable use of unsupervised and low complexity features extraction methods. The novel learning method presented in this paper consists of a self-adaptive GT2 FIS that can both incrementally update its parameters and evolve (a.k.a. self-adapt) its structure via creation, fusion and scaling of the fuzzy system rules in an online BMI experiment with a real robot. The structure identification is based on an online GT2 Gath-Geva algorithm where every MI decoding class can be represented by multiple fuzzy rules (models). The effectiveness of the proposed method is demonstrated in a detailed BMI experiment where 15 untrained users were able to accurately interface with a humanoid robot, in a single thirty-minute experiment, using signals from six EEG electrodes only

A Survey on the Project in title

In this paper we present a survey of work that has been done in the project ldquo;Unsupervised Adaptive P300 BCI in the framework of chaotic theory and stochastic theoryrdquo;we summarised the following papers, (Mohammed J Alhaddad amp; 2011), (Mohammed J. Alhaddad amp; Kamel M, 2012), (Mohammed J Alhaddad, Kamel, amp; Al-Otaibi, 2013), (Mohammed J Alhaddad, Kamel, amp; Bakheet, 2013), (Mohammed J Alhaddad, Kamel, amp; Al-Otaibi, 2014), (Mohammed J Alhaddad, Kamel, amp; Bakheet, 2014), (Mohammed J Alhaddad, Kamel, amp; Kadah, 2014), (Mohammed J Alhaddad, Kamel, Makary, Hargas, amp; Kadah, 2014), (Mohammed J Alhaddad, Mohammed, Kamel, amp; Hagras, 2015).We developed a new pre-processing method for denoising P300-based brain-computer interface data that allows better performance with lower number of channels and blocks. The new denoising technique is based on a modified version of the spectral subtraction denoising and works on each temporal signal channel independently thus offering seamless integration with existing pre-processing and allowing low channel counts to be used. We also developed a novel approach for brain-computer interface data that requires no prior training. The proposed approach is based on interval type-2 fuzzy logic based classifier which is able to handle the usersrsquo; uncertainties to produce better prediction accuracies than other competing classifiers such as BLDA or RFLDA. In addition, the generated type-2 fuzzy classifier is learnt from data via genetic algorithms to produce a small number of rules with a rule length of only one antecedent to maximize the transparency and interpretability for the normal clinician. We also employ a feature selection system based on an ensemble neural networks recursive feature selection which is able to find the effective time instances within the effective sensors in relation to given P300 event. The basic principle of this new class of techniques is that the trial with true activation signal within each block has to be different from the rest of the trials within that block. Hence, a measure that is sensitive to this dissimilarity can be used to make a decision based on a single block without any prior training. The new methods were verified using various experiments which were performed on standard data sets and using real-data sets obtained from real subjects experiments performed in the BCI lab in King Abdulaziz University. The results were compared to the classification results of the same data using previous methods. Enhanced performance in different experiments as quantitatively assessed using classification block accuracy as well as bit rate estimates was confirmed. It will be shown that the produced type-2 fuzzy logic based classifier will learn simple rules which are easy to understand explaining the events in question. In addition, the produced type-2 fuzzy logic classifier will be able to give better accuracies when compared to BLDA or RFLDA on various human subjects on the standard and real-world data sets

Designing an Interval Type-2 Fuzzy Logic System for Handling Uncertainty Effects in Brain–Computer Interface Classification of Motor Imagery Induced EEG Patterns

One of the urgent challenges in the automated analysis and interpretation of electrical brain activity is the effective handling of uncertainties associated with the complexity and variability of brain dynamics, reflected in the nonstationary nature of brain signals such as electroencephalogram (EEG). This poses a severe problem for existing approaches to the classification task within brain–computer interface (BCI) systems. Recently emerged type-2 fuzzy logic (T2FL) methodology has shown a remarkable potential in dealing with uncertain information given limited insight into the nature of the data generating mechanism. The objective of this work is thus to examine the applicability of T2FL approach to the problem of EEG pattern recognition. In particular, the focus is two-fold: i) the design methodology for the interval T2FL system (IT2FLS) that can robustly deal with inter-session as well as within-session manifestations of nonstationary spectral EEG correlates of motor imagery (MI), and ii) the comprehensive examination of the proposed fuzzy classifier in both off-line and on-line EEG classification case studies. The on-line evaluation of the IT2FLS-controlled real-time neurofeedback over multiple recording sessions holds special importance for EEG-based BCI technology. In addition, a retrospective comparative analysis accounting for other popular BCI classifiers such as linear discriminant analysis (LDA), kernel Fisher discriminant (KFD) and support vector machines (SVMs) as well as a conventional type-1 FLS (T1FLS), simulated off-line on the recorded EEGs, has demonstrated the enhanced potential of the proposed IT2FLS approach to robustly handle uncertainty effects in BCI classification

Online Covariate Shift Detection based Adaptive Brain-Computer Interface to Trigger Hand Exoskeleton Feedback for Neuro-Rehabilitation

A major issue in electroencephalogram (EEG) based brain-computer interfaces (BCIs) is the intrinsic non-stationarities in the brain waves, which may degrade the performance of the classifier, while transitioning from calibration to feedback generation phase. The non-stationary nature of the EEG data may cause its input probability distribution to vary over time, which often appear as a covariate shift. To adapt to the covariate shift, we had proposed an adaptive learning method in our previous work and tested it on offline standard datasets. This paper presents an online BCI system using previously developed covariate shift detection (CSD)-based adaptive classifier to discriminate between mental tasks and generate neurofeedback in the form of visual and exoskeleton motion. The CSD test helps prevent unnecessary retraining of the classifier. The feasibility of the developed online-BCI system was first tested on 10 healthy individuals, and then on 10 stroke patients having hand disability. A comparison of the proposed online CSD-based adaptive classifier with conventional non-adaptive classifier has shown a significantly (p<0.01) higher classification accuracy in both the cases of healthy and patient groups. The results demonstrate that the online CSD-based adaptive BCI system is superior to the non-adaptive BCI system and it is feasible to be used for actuating hand exoskeleton for the stroke-rehabilitation applications

Impulsive differential equations by using the Euler method

The theory of impulsive differential equations is emerging as an important area of investigation since such equations appear to represent a natural framework for mathematical modeling of several real phenomena. There have been intensive studies on the qualitative behavior of solutions of the impulsive differential equations. However, many impulsive differential equations cannot be solved analytically or their solving is complicated. In this paper, we represent the algorithm which follows the theory of impulsive differential equations to solve the impulsive differential equations by using the Euler methods. It is clearly shown the impulsive operators k I that acts at the moments k t influence the error. Finally, the better convergence result of the numerical solution is given by solving the numerical examples

Impulsive differential equations by using the Euler method

The theory of impulsive differential equations is emerging as an important area of investigation since such equations appear to represent a natural framework for mathematical modeling of several real phenomena. There have been intensive studies on the qualitative behavior of solutions of the impulsive differential equations. However, many impulsive differential equations cannot be solved analytically or their solving is complicated. In this paper, we represent the algorithm which follows the theory of impulsive differential equations to solve the impulsive differential equations by using the Euler methods. It is clearly shown the impulsive operators k I that acts at the moments k t influence the error. Finally, the better convergence result of the numerical solution is given by solving the numerical examples

EEG-based brain-computer interfaces using motor-imagery: techniques and challenges.

Electroencephalography (EEG)-based brain-computer interfaces (BCIs), particularly those using motor-imagery (MI) data, have the potential to become groundbreaking technologies in both clinical and entertainment settings. MI data is generated when a subject imagines the movement of a limb. This paper reviews state-of-the-art signal processing techniques for MI EEG-based BCIs, with a particular focus on the feature extraction, feature selection and classification techniques used. It also summarizes the main applications of EEG-based BCIs, particularly those based on MI data, and finally presents a detailed discussion of the most prevalent challenges impeding the development and commercialization of EEG-based BCIs