Neural network decoupling technique and its application to a powered wheelchair system

© 2015 IEEE. This paper proposes a neural network decoupling technique for an uncertain multivariable system. Based on a linear diagonalization technique, a reference model is designed using nominal parameters to provide training signals for a neural network decoupler. A neural network model is designed to learn the dynamics of the uncertain multivariable system in order to avoid required calculations of the plant Jacobian. To avoid overfitting problem, both neural networks are trained by the Lavenberg-Marquardt with Bayesian regulation algorithm that uses a real-time recurrent learning algorithm to obtain gradient information. Three experimental results in the powered wheelchair control application confirm that the proposed technique effectively minimises the coupling effects caused by input-output interactions even under the condition of system uncertainties

Shared control strategies for obstacle avoidance tasks in an intelligent wheelchair.

In this paper we present a method of shared control strategy for an intelligent wheelchair to assist a disable user in performing obstacle avoidance tasks. The system detects obstacles in front of the wheelchair using a laser range finder sensor. As the wheelchair moves the information from the laser range finder is combined with data from the encoders mounted in its driving wheels to build a 360 degrees real-time map. The accuracy of the map is improved by eliminating the systematic error that would result from both the uncertainty of effective wheelbase and unequal driving wheel diameters. The usable wheelchair accessible space is determined by including the actual wheelchair dimensions in producing the real-time map. In making a decision the shared control method considers the user's intentions via the head-movement interface, accessible space of the environment and user safety. The experiments show promising results in the intelligent wheelchair system

Advanced obstacle avoidance for a laser based wheelchair using optimised Bayesian neural networks.

In this paper we present an advanced method of obstacle avoidance for a laser based intelligent wheelchair using optimized Bayesian neural networks. Three neural networks are designed for three separate sub-tasks: passing through a door way, corridor and wall following and general obstacle avoidance. The accurate usable accessible space is determined by including the actual wheelchair dimensions in a real-time map used as inputs to each networks. Data acquisitions are performed separately to collect the patterns required for specified sub-tasks. Bayesian frame work is used to determine the optimal neural network structure in each case. Then these networks are trained under the supervision of Bayesian rule. Experiment results showed that compare to the VFH algorithm our neural networks navigated a smoother path following a near optimum trajectory

Bayesian recursive algorithm for width estimation of freespace for a power wheelchair using stereoscopic cameras.

This paper is concerned with the estimation of freespace based on a Bayesian recursive (BR) algorithm for an autonomous wheelchair using stereoscopic cameras by severely disabled people. A stereo disparity map processed from both the left and right camera images is constructed to generate a 3D point map through a geometric projection algorithm. This is then converted to a 2D distance map for the purpose of freespace estimation. The width of freespace is estimated using a BR algorithm based on uncertainty information and control data. Given the probabilities of this width computed, a possible movement decision is then made for the mobile wheelchair. Experimental results obtained in an indoor environment show the effectiveness of this estimation algorithm

Genetic landscape of autism spectrum disorder in Vietnamese children

Autism spectrum disorder (ASD) is a complex disorder with an unclear aetiology and an estimated global prevalence of 1%. However, studies of ASD in the Vietnamese population are limited. Here, we first conducted whole exome sequencing (WES) of 100 children with ASD and their unaffected parents. Our stringent analysis pipeline was able to detect 18 unique variants (8 de novo and 10 ×-linked, all validated), including 12 newly discovered variants. Interestingly, a notable number of X-linked variants were detected (56%), and all of them were found in affected males but not in affected females. We uncovered 17 genes from our ASD cohort in which CHD8, DYRK1A, GRIN2B, SCN2A, OFD1 and MDB5 have been previously identified as ASD risk genes, suggesting the universal aetiology of ASD for these genes. In addition, we identified six genes that have not been previously reported in any autism database: CHM, ENPP1, IGF1, LAS1L, SYP and TBX22. Gene ontology and phenotype-genotype analysis suggested that variants in IGF1, SYP and LAS1L could plausibly confer risk for ASD. Taken together, this study adds to the genetic heterogeneity of ASD and is the first report elucidating the genetic landscape of ASD in Vietnamese children

Neural Network Based Diagonal Decoupling Control of Powered Wheelchair Systems

This paper proposes an advanced diagonal decou- pling control method for powered wheelchair systems. This control method is based on a combination of the systematic diagonaliza- tion technique and the neural network control design. As such, this control method reduces coupling effects on a multivariable system, leading to independent control design procedures. Using an obtained dynamic model, the problem of the plants Jacobian calculation is eliminated in a neural network control design. The effectiveness of the proposed control method is verified in a real-time implementation on a powered wheelchair system. The obtained results confirm that robustness and desired performance of the overall system are guaranteed, even under parameter uncertainty effects

Optimal path-following control of a smart powered wheelchair.

This paper proposes an optimal path-following control approach for a smart powered wheelchair. Lyapunov's second method is employed to find a stable position tracking control rule. To guarantee robust performance of this wheelchair system even under model uncertainties, an advanced robust tracking is utilised based on the combination of a systematic decoupling technique and a neural network design. A calibration procedure is adopted for the wheelchair system to improve positioning accuracy. After the calibration, the accuracy is improved significantly. Two real-time experimental results obtained from square tracking and door passing tasks confirm the performance of proposed approach

Human computer interaction using hand gesture.

Hand gesture is a very natural form of human interaction and can be used effectively in human computer interaction (HCI). This project involves the design and implementation of a HCI using a small hand-worn wireless module with a 3-axis accelerometer as the motion sensor. The small stand-alone unit contains an accelerometer and a wireless Zigbee transceiver with microcontroller. To minimize intrusiveness to the user, the module is designed to be small (3cm by 4 cm). A time-delay neural network algorithm is developed to analyze the time series data from the 3-axis accelerometer. Power consumption is reduced by the non-continuous transmission of data and the use of low-power components, efficient algorithm and sleep mode between sampling for the wireless module. A home control interface is designed so that the user can control home appliances by moving through menus. The results demonstrate the feasibility of controlling home appliances using hand gestures and would present an opportunity for a section of the aging population and disabled people to lead a more independent life

Effect of wearing whole body compression garments on cardiovascular function using ECG signals

The purpose of this study was to examine the effects of wearing whole body compression garments (WBCGs) on cardiovascular function of running trainers. Eight non-athletes (age: 25.1±3.8 years, height: 165.9±8.3 cm; weight: 61.4±13.7 kg) performed an incremental test followed by 30 minutes running on a treadmill, from 6 km.h-1 to 11 km.h-1 with correct size-compression garments (CCGs), undersize-compression garments (UCGs) and non-compression garments (NCGs). During the exercise, electrocardiogram (ECG) signals were collected between each completed speed by wearable sensors. There was a significant difference in heart rate (HR, p<0.05) between CCGs and NCGs from the velocity of 7km.h-1 onwards. Moreover, the group that wore UCGs has some significant effects on QT intervals and corrected QT at 10km.h-1 and 11km.h-1 (p<0.05). The utilization of WBCGs in a running test may influence the cardiovascular function of wearers. Based on the results of longer QTc, UCGs may cause an adverse effect on performance. Essentially, CCGs should be recommended for wearing during exercise due to the effects of lower HR

Neural network based diagonal decoupling control of powered wheelchair systems

This paper proposes an advanced diagonal decoupling control method for powered wheelchair systems. This control method is based on a combination of the systematic diagonalization technique and the neural network control design. As such, this control method reduces coupling effects on a multivariable system, leading to independent control design procedures. Using an obtained dynamic model, the problem of the plant's Jacobian calculation is eliminated in a neural network control design. The effectiveness of the proposed control method is verified in a real-time implementation on a powered wheelchair system. The obtained results confirm that robustness and desired performance of the overall system are guaranteed, even under parameter uncertainty effects. © 2013 IEEE