Wavefront Propagation and Fuzzy Based Autonomous Navigation

Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility theory. Combining these two functions enable a robot to autonomously navigate to its destination. This paper presents the approach and results in implementing an autonomous navigation system for an indoor mobile robot. The system developed is based on a laser sensor used to retrieve data to update a two dimensional world model of therobot environment. Waypoints in the path are incorporated into the obstacle avoidance. Features such as ageing of objects and smooth motion planning are implemented to enhance efficiency and also to cater for dynamic environments

Optimized Kernel Extreme Learning Machine for Myoelectric Pattern Recognition

Myoelectric pattern recognition (MPR) is used to detect user’s intention to achieve a smooth interaction between human and machine. The performance of MPR is influenced by the features extracted and the classifier employed. A kernel extreme learning machine especially radial basis function extreme learning machine (RBF-ELM) has emerged as one of the potential classifiers for MPR. However, RBF-ELM should be optimized to work efficiently. This paper proposed an optimization of RBF-ELM parameters using hybridization of particle swarm optimization (PSO) and a wavelet function. These proposed systems are employed to classify finger movements on the amputees and able-bodied subjects using electromyography signals. The experimental results show that the accuracy of the optimized RBF-ELM is 95.71% and 94.27% in the healthy subjects and the amputees, respectively. Meanwhile, the optimization using PSO only attained the average accuracy of 95.53 %, and 92.55 %, on the healthy subjects and the amputees, respectively. The experimental results also show that SW-RBF-ELM achieved the accuracy that is better than other well-known classifiers such as support vector machine (SVM), linear discriminant analysis (LDA) and k-nearest neighbor (kNN)

Comparison of EEG Pattern Recognition of Motor Imagery for Finger Movement Classification

The detection of a hand movement beforehand can be a beneficent tool to control a prosthetic hand for upper extremity rehabilitation. To be able to achieve smooth control, the intention detection is acquired from the human body, especially from brain signal or electroencephalogram (EEG) signal. However, many constraints hamper the development of this brain-computer interface (BCI, especially for finger movement detection). Most of the researchers have focused on the detection of the left and right-hand movement. This article presents the comparison of various pattern recognition method for recognizing five individual finger movements, i.e., the thumb, index, middle, ring, and pinky finger movements. The EEG pattern recognition utilized common spatial pattern (CSP) for feature extraction. As for the classifier, four classifiers, i.e., random forest (RF), support vector machine (SVM), k-nearest neighborhood (kNN), and linear discriminant analysis (LDA) were tested and compared to each other. The experimental results indicated that the EEG pattern recognition with RF achieved the best accuracy of about 54%. Other published publication reported that the classification of the individual finger movement is still challenging and need more efforts to make the best performance

The Beneficial Techniques in Preprocessing Step of Skin Cancer Detection System Comparing

AbstractAutomatic diagnostics of skin cancer is one of the most challenging problems in medical image processing. It helps physicians to decide whether a skin melanoma is benign or malignant. So, determining the more efficient methods of detection to reduce the rate of errors is a vital issue among researchers. Preprocessing is the first stage of detection to improve the quality of images, removing the irrelevant noises and unwanted parts in the background of the skin images. The purpose of this paper is to gather the preprocessing approaches can be used in skin cancer images. This paper provides good starting for researchers in their automatic skin cancer detections

PSO-SVM hybrid system for melanoma detection from histo-pathological images

This paper introduces an automated system for skin cancer (melanoma) detection from Histo-pathological images sampled from microscopic slides of skin biopsy. The proposed system is a hybrid system based on Particle Swarm Optimization and Support Vector Machine (PSO-SVM). The features used are extracted from the grayscale image histogram, the co-occurrence matrix and the energy of the wavelet coefficients resulting from the wavelet packet decomposition. The PSO-SVM system selects the best feature set and the best values for the SVM parameters (C and γ) that optimize the performance of the SVM classifier.   The system performance is tested on a real dataset obtained from the Southern Pathology Laboratory in Wollongong NSW, Australia. Evaluation results show a classification accuracy of 87.13%, a sensitivity of 94.1% and a specificity of 80.22%.The sensitivity and specificity results are comparable to those obtained by dermatologists

Myoelectric Control Systems for Hand Rehabilitation Device: A Review

One of the challenges of the hand rehabilitation device is to create a smooth interaction between the device and user. The smooth interaction can be achieved by considering myoelectric signal generated by human's muscle. Therefore, the so-called myoelectric control system (MCS) has been developed since the 1940s. Various MCS's has been proposed, developed, tested, and implemented in various hand rehabilitation devices for different purposes. This article presents a review of MCS in the existing hand rehabilitation devices. The MCS can be grouped into main groups, the non-pattern recognition and pattern recognition ones. In term of implementation, it can be classified as MCS for prosthetic and exoskeleton hand. Main challenges for MCS today is the robustness issue that hampers the implementation of MCS on the clinical application

Doppler radar-based non-contact health monitoring for obstructive sleep apnea diagnosis: A comprehensive review

Today’s rapid growth of elderly populations and aging problems coupled with the prevalence of obstructive sleep apnea (OSA) and other health related issues have affected many aspects of society. This has led to high demands for a more robust healthcare monitoring, diagnosing and treatments facilities. In particular to Sleep Medicine, sleep has a key role to play in both physical and mental health. The quality and duration of sleep have a direct and significant impact on people’s learning, memory, metabolism, weight, safety, mood, cardio-vascular health, diseases, and immune system function. The gold-standard for OSA diagnosis is the overnight sleep monitoring system using polysomnography (PSG). However, despite the quality and reliability of the PSG system, it is not well suited for long-term continuous usage due to limited mobility as well as causing possible irritation, distress, and discomfort to patients during the monitoring process. These limitations have led to stronger demands for non-contact sleep monitoring systems. The aim of this paper is to provide a comprehensive review of the current state of non-contact Doppler radar sleep monitoring technology and provide an outline of current challenges and make recommendations on future research directions to practically realize and commercialize the technology for everyday usage