Particle Swarm Optimization—An Adaptation for the Control of Robotic Swarms

Particle Swarm Optimization (PSO) is a numerical optimization technique based on the motion of virtual particles within a multidimensional space. The particles explore the space in an attempt to find minima or maxima to the optimization problem. The motion of the particles is linked, and the overall behavior of the particle swarm is controlled by several parameters. PSO has been proposed as a control strategy for physical swarms of robots that are localizing a source; the robots are analogous to the virtual particles. However, previous attempts to achieve this have shown that there are inherent problems. This paper addresses these problems by introducing a modified version of PSO, as well as introducing new guidelines for parameter selection. The proposed algorithm links the parameters to the velocity and acceleration of each robot, and demonstrates obstacle avoidance. Simulation results from both MATLAB and Gazebo show close agreement and demonstrate that the proposed algorithm is capable of effective control of a robotic swarm and obstacle avoidance

Towards effective energy harvesting from stacks of soil microbial fuel cells

The 2050 net-zero carbon target can only be achieved with renewable energy solutions that can drastically reduce carbon emissions. Soil microbial fuel cells (SMFCs) have significant potential as a low-cost and carbon-neutral energy conversion technology. Finding the most practical and energy efficient strategy to operate SMFCs is crucial for transitioning this technology from the lab to field implementations. In this study, an innovative self-sustaining and model-based energy harvesting strategy was developed and tested for the first time on SMFC stacks. The model, based on a first-order equivalent electrical circuit (EEC), enables real-time and continuous maximum power point tracking, without the need for offline analysis of electrochemical parameters. Power extraction from the SMFCs to fully charge a 3.6 V NiMH battery, was carried out for 24 h: the longest test duration reported so far on biological fuel cells for such energy harvesting strategy. A novel second-order EEC was also proposed to better describe the electrical dynamics of the SMFC. Our results provide important advances on both accurate model-based electrochemical parameter identification techniques and maximum power point tracking algorithms, for optimal energy extraction from SMFCs. Consequently, this study paves the way for successful implementations of SMFCs towards viable green energy solutions.</p

The Design of a Low Noise, Multi-Channel Recording System for Use in Implanted Peripheral Nerve Interfaces

In the development of implantable neural interfaces, the recording of signals from the peripheral nerves is a major challenge. Since the interference from outside the body, other biopotentials, and even random noise can be orders of magnitude larger than the neural signals, a filter network to attenuate the noise and interference is necessary. However, these networks may drastically affect the system performance, especially in recording systems with multiple electrode cuffs (MECs), where a higher number of electrodes leads to complicated circuits. This paper introduces formal analyses of the performance of two commonly used filter networks. To achieve a manageable set of design equations, the state equations of the complete system are simplified. The derived equations help the designer in the task of creating an interface network for specific applications. The noise, crosstalk and common-mode rejection ratio (CMRR) of the recording system are computed as a function of electrode impedance, filter component values and amplifier specifications. The effect of electrode mismatches as an inherent part of any multi-electrode system is also discussed, using measured data taken from a MEC implanted in a sheep. The accuracy of these analyses is then verified by simulations of the complete system. The results indicate good agreement between analytic equations and simulations. This work highlights the critical importance of understanding the effect of interface circuits on the performance of neural recording systems

Denoising and decoding spontaneous vagus nerve recordings with machine learning

Neural interfaces that electrically stimulate the peripheral nervous system have been shown to successfully improve symptom management for several conditions, such as epilepsy and depression. A crucial part for closing the loop and improving the efficacy of implantable neuromodulation devices is the efficient extraction of meaningful information from nerve recordings, which can have a low Signal-to-Noise ratio (SNR) and non-stationary noise. In recent years, machine learning (ML) models have shown outstanding performance in regression and classification problems, but it is often unclear how to translate and assess these for novel tasks in biomedical engineering. This paper aims to adapt existing ML algorithms to carry out unsupervised denoising of neural recordings instead. This is achieved by applying bandpass filtering and two novel ML algorithms to in-vivo spontaneous, low-SNR vagus nerve recordings. The performance of each approach is compared using the task of extracting respiratory afferent activity and validated using cross-correlation, MSE, and accuracy in terms of extracting the true respiratory rate. A variational autoencoder (VAE) model in particular produces results that show better correlation with respiratory activity compared to bandpass filtering, highlighting that these models have the potential to preserve relevant features in complex neural recordings