Improving time–frequency domain sleep EEG classification via singular spectrum analysis

Background: Manual sleep scoring is deemed to be tedious and time consuming. Even among automatic methods such as Time-Frequency (T-F) representations, there is still room for more improvement. New method: To optimise the efficiency of T-F domain analysis of sleep electroencephalography (EEG) a novel approach for automatically identifying the brain waves, sleep spindles, and K-complexes from the sleep EEG signals is proposed. The proposed method is based on singular spectrum analysis (SSA). The single-channel EEG signal (C3-A2) is initially decomposed and then the desired components are automatically separated. In addition, the noise is removed to enhance the discrimination ability of features. The obtained T-F features after preprocessing stage are classified using a multi-class support vector machines (SVM) and used for the identification of four sleep stages over three sleep types. Furthermore, to emphasize on the usefulness of the proposed method the automatically-determined spindles are parameterised to discriminate three sleep types. Result: The four sleep stages are classified through SVM twice: with and without preprocessing stage. The mean accuracy, sensitivity, and specificity for before the preprocessing stage are: 71.5 ± 0.11%, 56.1 ± 0.09% and 86.8 ± 0.04% respectively. However, these values increase significantly to 83.6 ± 0.07%, 70.6 ± 0.14% and 90.8 ± 0.03% after applying SSA. Comparison with existing method: The new T-F representation has been compared with the existing benchmarks. Our results prove that, the proposed method well outperforms the previous methods in terms of identification and representation of sleep stages. Conclusion: Experimental results confirm the performance improvement in terms of classification rate and also representative T-F domain

Stiffness Control of Surgical Continuum Manipulators

This paper introduces the first stiffness controller for continuum robots. The control law is based on an accurate approximation of a continuum robot’s coupled kinematic and static force model. To implement a desired tip stiffness, the controller drives the actuators to positions corresponding to a deflected robot configuration that produces the required tip force for the measured tip position. This approach provides several important advantages. First, it enables the use of robot deflection sensing as a means to both sense and control tip forces. Second, it enables stiffness control to be implemented by modification of existing continuum robot position controllers. The proposed controller is demonstrated experimentally in the context of a concentric tube robot. Results show that the stiffness controller achieves the desired stiffness in steady state, provides good dynamic performance, and exhibits stability during contact transitions

Reasons for and consequences of missed appointments in general practice in the UK: questionnaire survey and prospective review of medical records

Background Missed appointments are a common occurrence in primary care in the UK, yet little is known about the reasons for them, or the consequences of missing an appointment. This paper aims to determine the reasons for missed appointments and whether patients who miss an appointment subsequently consult their general practitioner (GP). Secondary aims are to compare psychological morbidity, and the previous appointments with GPs between subjects and a comparison group. Methods Postal questionnaire survey and prospective medical notes review of adult patients missing an appointment and the comparison group who attended appointments over a three week period in seven general practices in West Yorkshire. Results Of the 386 who missed appointments 122 (32%) responded. Of the 386 in the comparison group 223 (58%) responded, resulting in 23 case-control matched pairs with complete data collection. Over 40% of individuals who missed an appointment and participated said that they forgot the appointment and a quarter said that they tried very hard to cancel the appointment or that it was at an inconvenient time. A fifth reported family commitments or being too ill to attend. Over 90% of the patients who missed an appointment subsequently consulted within three months and of these nearly 60% consulted for the stated problem that was going to be presented in the missed consultation. The odds of missing an appointment decreased with increasing age and were greater among those who had missed at least one appointment in the previous 12 months. However, estimates for comparisons between those who missed appointments and the comparison group were imprecise due to the low response rate. Conclusion Patients who miss appointments tend to cite practice factors and their own forgetfulness as the main reasons for doing so, and most attend within three months of a missed appointment. This study highlights a number of implications for future research. More work needs to be done to engage people who miss appointments into research in a meaningful way

Large magnetoresistance by Pauli blockade in hydrogenated graphene

We report the observation of a giant positive magnetoresistance in millimetre scale hydrogenated graphene with magnetic field oriented in the plane of the graphene sheet. A positive magnetoresistance in excess of 200\% at a temperature of 300 mK was observed in this configuration, reverting to negative magnetoresistance with the magnetic field oriented normal to the graphene plane. We attribute the observed positive, in-plane, magnetoresistance to Pauli-blockade of hopping conduction induced by spin polarization. Our work shows that spin polarization in concert with electron-electron interaction can play a dominant role in magnetotransport within an atomic monolayer.Comment: 6 pages, 3 figures, and supplemental informatio

Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators

This paper describes a multi-fingered haptic palpation method using stiffness feedback actuators for simulating tissue palpation procedures in traditional and in robot-assisted minimally invasive surgery. Soft tissue stiffness is simulated by changing the stiffness property of the actuator during palpation. For the first time, granular jamming and pneumatic air actuation are combined to realize stiffness modulation. The stiffness feedback actuator is validated by stiffness measurements in indentation tests and through stiffness discrimination based on a user study. According to the indentation test results, the introduction of a pneumatic chamber to granular jamming can amplify the stiffness variation range and reduce hysteresis of the actuator. The advantage of multi-fingered palpation using the proposed actuators is proven by the comparison of the results of the stiffness discrimination performance using two-fingered (sensitivity: 82.2%, specificity: 88.9%, positive predicative value: 80.0%, accuracy: 85.4%, time: 4.84 s) and single-fingered (sensitivity: 76.4%, specificity: 85.7%, positive predicative value: 75.3%, accuracy: 81.8%, time: 7.48 s) stiffness feedback