A Computationally Efficient Multiclass Time-Frequency Common Spatial Pattern Analysis on EEG Motor Imagery

Common spatial pattern (CSP) is a popular feature extraction method for electroencephalogram (EEG) motor imagery (MI). This study modifies the conventional CSP algorithm to improve the multi-class MI classification accuracy and ensure the computation process is efficient. The EEG MI data is gathered from the Brain-Computer Interface (BCI) Competition IV. At first, a bandpass filter and a time-frequency analysis are performed for each experiment trial. Then, the optimal EEG signals for every experiment trials are selected based on the signal energy for CSP feature extraction. In the end, the extracted features are classified by three classifiers, linear discriminant analysis (LDA), na\"ive Bayes (NVB), and support vector machine (SVM), in parallel for classification accuracy comparison. The experiment results show the proposed algorithm average computation time is 37.22% less than the FBCSP (1st winner in the BCI Competition IV) and 4.98% longer than the conventional CSP method. For the classification rate, the proposed algorithm kappa value achieved 2nd highest compared with the top 3 winners in BCI Competition IV.Comment: Accepted by 42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society in conjunction with the 43rd Annual Conference of the Canadian Medical and Biological Engineering Society, 202

XTENTH-CAR: A Proportionally Scaled Experimental Vehicle Platform for Connected Autonomy and All-Terrain Research

Connected Autonomous Vehicles (CAVs) are key components of the Intelligent Transportation System (ITS), and all-terrain Autonomous Ground Vehicles (AGVs) are indispensable tools for a wide range of applications such as disaster response, automated mining, agriculture, military operations, search and rescue missions, and planetary exploration. Experimental validation is a requisite for CAV and AGV research, but requires a large, safe experimental environment when using full-size vehicles which is time-consuming and expensive. To address these challenges, we developed XTENTH-CAR (eXperimental one-TENTH scaled vehicle platform for Connected autonomy and All-terrain Research), an open-source, cost-effective proportionally one-tenth scaled experimental vehicle platform governed by the same physics as a full-size on-road vehicle. XTENTH-CAR is equipped with the best-in-class NVIDIA Jetson AGX Orin System on Module (SOM), stereo camera, 2D LiDAR and open-source Electronic Speed Controller (ESC) with drivers written for both versions of the Robot Operating System (ROS 1 & ROS 2) to facilitate experimental CAV and AGV perception, motion planning and control research, that incorporate state-of-the-art computationally expensive algorithms such as Deep Reinforcement Learning (DRL). XTENTH-CAR is designed for compact experimental environments, and aims to increase the accessibility of experimental CAV and AGV research with low upfront costs, and complete Autonomous Vehicle (AV) hardware and software architectures similar to the full-sized X-CAR experimental vehicle platform, enabling efficient cross-platform development between small-scale and full-scale vehicles.Comment: $\copyright$ 2023 ASME. This work has been accepted to ASME for publicatio

Deep Reinforcement Learning for Autonomous Ground Vehicle Exploration Without A-Priori Maps

Autonomous Ground Vehicles (AGVs) are essential tools for a wide range of applications stemming from their ability to operate in hazardous environments with minimal human operator input. Effective motion planning is paramount for successful operation of AGVs. Conventional motion planning algorithms are dependent on prior knowledge of environment characteristics and offer limited utility in information poor, dynamically altering environments such as areas where emergency hazards like fire and earthquake occur, and unexplored subterranean environments such as tunnels and lava tubes on Mars. We propose a Deep Reinforcement Learning (DRL) framework for intelligent AGV exploration without a-priori maps utilizing Actor-Critic DRL algorithms to learn policies in continuous and high-dimensional action spaces directly from raw sensor data. The DRL architecture comprises feedforward neural networks for the critic and actor representations in which the actor network strategizes linear and angular velocity control actions given current state inputs, that are evaluated by the critic network which learns and estimates Q-values to maximize an accumulated reward. Three off-policy DRL algorithms, DDPG, TD3 and SAC, are trained and compared in two environments of varying complexity, and further evaluated in a third with no prior training or knowledge of map characteristics. The agent is shown to learn optimal policies at the end of each training period to chart quick, collision-free exploration trajectories, and is extensible, capable of adapting to an unknown environment without changes to network architecture or hyperparameters. The best algorithm is further evaluated in a realistic 3D environment.Comment: $\copyright$ 2023 the authors. This work has been accepted to Advances in Artificial Intelligence and Machine Learning for publication under a Creative Commons License CC BY 4.

Objectivity in molecular dynamics

In classical Continuum Mechanics, Principle of Objectivity requires that balance laws and constitutive equations must be form-invariant with respect to rigid motions of the spatial frame of reference. Any tensorial quantity is said to be objective if it obeys the appropriate tensor transformation law. Quantities such as temperature and stress tensor are known to be objective. In Molecular Dynamics (MD) simulation, which is a prevalent numerical method in nanoscience on atomistic basis, Principle of Objectivity was rarely discussed. This research explores the objectivity issue in the classical MD by examining the governing equation and constitutive equation. It can be shown that the interatomic potential and the corresponding interatomic force are objective because they are determined by relative atomic positions, which are objective. On the other hand, velocity and relative velocity are not objective. As a consequence, quantities such as temperature and Virial stress that are calculated based on apparent atomic velocities are not objective. Therefore, multiphysics body forces generated by these nonobjective quantities are not objective either. This becomes problematic when the system or subsystem is described in a noninertial reference frame, i.e., the reference frame undergoes acceleration or rotation. To resolve this deficiency, this research proposes the theory of Objectivity Incorporated MD. With the adoption of an objective form of velocity, the objectivity of temperature and Virial stress are restored. The theory also requires all kinds of body forces to be objective so that the constitutive equation well satisfies the Principle of Objectivity. The theory further supplements the governing equation with fictitious force, which accounts for the motion of reference frame, so that MD simulation can be extended to noninertial reference frame. It is considered that the application of Principle of Objectivity on MD will provide more power and credibility to the simulations of complex systems

EEG-Fest: Few-shot based Attention Network for Driver's Vigilance Estimation with EEG Signals

A lack of driver's vigilance is the main cause of most vehicle crashes. Electroencephalography(EEG) has been reliable and efficient tool for drivers' drowsiness estimation. Even though previous studies have developed accurate and robust driver's vigilance detection algorithms, these methods are still facing challenges on following areas: (a) small sample size training, (b) anomaly signal detection, and (c) subject-independent classification. In this paper, we propose a generalized few-shot model, namely EEG-Fest, to improve aforementioned drawbacks. The EEG-Fest model can (a) classify the query sample's drowsiness with a few samples, (b) identify whether a query sample is anomaly signals or not, and (c) achieve subject independent classification. The proposed algorithm achieves state-of-the-art results on the SEED-VIG dataset and the SADT dataset. The accuracy of the drowsy class achieves 92% and 94% for 1-shot and 5-shot support samples in the SEED-VIG dataset, and 62% and 78% for 1-shot and 5-shot support samples in the SADT dataset.Comment: Submitted to peer review journal for revie

AutoVRL: A High Fidelity Autonomous Ground Vehicle Simulator for Sim-to-Real Deep Reinforcement Learning

Deep Reinforcement Learning (DRL) enables cognitive Autonomous Ground Vehicle (AGV) navigation utilizing raw sensor data without a-priori maps or GPS, which is a necessity in hazardous, information poor environments such as regions where natural disasters occur, and extraterrestrial planets. The substantial training time required to learn an optimal DRL policy, which can be days or weeks for complex tasks, is a major hurdle to real-world implementation in AGV applications. Training entails repeated collisions with the surrounding environment over an extended time period, dependent on the complexity of the task, to reinforce positive exploratory, application specific behavior that is expensive, and time consuming in the real-world. Effectively bridging the simulation to real-world gap is a requisite for successful implementation of DRL in complex AGV applications, enabling learning of cost-effective policies. We present AutoVRL, an open-source high fidelity simulator built upon the Bullet physics engine utilizing OpenAI Gym and Stable Baselines3 in PyTorch to train AGV DRL agents for sim-to-real policy transfer. AutoVRL is equipped with sensor implementations of GPS, IMU, LiDAR and camera, actuators for AGV control, and realistic environments, with extensibility for new environments and AGV models. The simulator provides access to state-of-the-art DRL algorithms, utilizing a python interface for simple algorithm and environment customization, and simulation execution.Comment: $\copyright$ 2023 the authors. This work has been accepted to IFAC for publication under a Creative Commons License CC-BY-NC-N