Gas concentration mapping and source localization for environmental monitoring through unmanned aerial systems using model-free reinforcement learning agents.

There are three primary objectives of this work; first: to establish a gas concentration map; second: to estimate the point of emission of the gas; and third: to generate a path from any location to the point of emission for UAVs or UGVs. A mountable array of MOX sensors was developed so that the angles and distances among the sensors, alongside sensors data, were utilized to identify the influx of gas plumes. Gas dispersion experiments under indoor conditions were conducted to train machine learning algorithms to collect data at numerous locations and angles. Taguchi's orthogonal arrays for experiment design were used to identify the gas dispersion locations. For the second objective, the data collected after pre-processing was used to train an off-policy, model-free reinforcement learning agent with a Q-learning policy. After finishing the training from the training data set, Q-learning produces a table called the Q-table. The Q-table contains state-action pairs that generate an autonomous path from any point to the source from the testing dataset. The entire process is carried out in an obstacle-free environment, and the whole scheme is designed to be conducted in three modes: search, track, and localize. The hyperparameter combinations of the RL agent were evaluated through trial-and-error technique and it was found that ε = 0.9, γ = 0.9 and α = 0.9 was the fastest path generating combination that took 1258.88 seconds for training and 6.2 milliseconds for path generation. Out of 31 unseen scenarios, the trained RL agent generated successful paths for all the 31 scenarios, however, the UAV was able to reach successfully on the gas source in 23 scenarios, producing a success rate of 74.19%. The results paved the way for using reinforcement learning techniques to be used as autonomous path generation of unmanned systems alongside the need to explore and improve the accuracy of the reported results as future works.

No-reference quality assessment for image-based assessment of economically important tropical woods.

Image Quality Assessment (IQA) is essential for the accuracy of systems for automatic recognition of tree species for wood samples. In this study, a No-Reference IQA (NR-IQA), wood NR-IQA (WNR-IQA) metric was proposed to assess the quality of wood images. Support Vector Regression (SVR) was trained using Generalized Gaussian Distribution (GGD) and Asymmetric Generalized Gaussian Distribution (AGGD) features, which were measured for wood images. Meanwhile, the Mean Opinion Score (MOS) was obtained from the subjective evaluation. This was followed by a comparison between the proposed IQA metric, WNR-IQA, and three established NR-IQA metrics, namely Blind/Referenceless Image Spatial Quality Evaluator (BRISQUE), deepIQA, Deep Bilinear Convolutional Neural Networks (DB-CNN), and five Full Reference-IQA (FR-IQA) metrics known as MSSIM, SSIM, FSIM, IWSSIM, and GMSD. The proposed WNR-IQA metric, BRISQUE, deepIQA, DB-CNN, and FR-IQAs were then compared with MOS values to evaluate the performance of the automatic IQA metrics. As a result, the WNR-IQA metric exhibited a higher performance compared to BRISQUE, deepIQA, DB-CNN, and FR-IQA metrics. Highest quality images may not be routinely available due to logistic factors, such as dust, poor illumination, and hot environment present in the timber industry. Moreover, motion blur could occur due to the relative motion between the camera and the wood slice. Therefore, the advantage of WNR-IQA could be seen from its independency from a "perfect" reference image for the image quality evaluation.

Waste level detection and HMM based collection scheduling of multiple bins.

In this paper, an image-based waste collection scheduling involving a node with three waste bins is considered. First, the system locates the three bins and determines the waste level of each bin using four Laws Masks and a set of Support Vector Machine (SVM) classifiers. Next, a Hidden Markov Model (HMM) is used to decide on the number of days remaining before waste is collected from the node. This decision is based on the HMM's previous state and current observations. The HMM waste collection scheduling seeks to maximize the number of days between collection visits while preventing waste contamination due to late collection. The proposed system was trained using 100 training images and then tested on 100 test images. Each test image contains three bins that might be shifted, rotated, occluded or toppled over. The upright bins could be empty, partially full or full of garbage of various shapes and sizes. The method achieves bin detection, waste level classification and collection day scheduling rates of 100%, 99.8% and 100% respectively.

Automated Classification and Removal of EEG Artifacts With SVM and Wavelet-ICA.

Brain electrical activity recordings by electroencephalography (EEG) are often contaminated with signal artifacts. Procedures for automated removal of EEG artifacts are frequently sought for clinical diagnostics and brain-computer interface applications. In recent years, a combination of independent component analysis (ICA) and discrete wavelet transform has been introduced as standard technique for EEG artifact removal. However, in performing the wavelet-ICA procedure, visual inspection or arbitrary thresholding may be required for identifying artifactual components in the EEG signal. We now propose a novel approach for identifying artifactual components separated by wavelet-ICA using a pretrained support vector machine (SVM). Our method presents a robust and extendable system that enables fully automated identification and removal of artifacts from EEG signals, without applying any arbitrary thresholding. Using test data contaminated by eye blink artifacts, we show that our method performed better in identifying artifactual components than did existing thresholding methods. Furthermore, wavelet-ICA in conjunction with SVM successfully removed target artifacts, while largely retaining the EEG source signals of interest. We propose a set of features including kurtosis, variance, Shannon's entropy, and range of amplitude as training and test data of SVM to identify eye blink artifacts in EEG signals. This combinatorial method is also extendable to accommodate multiple types of artifacts present in multichannel EEG. We envision future research to explore other descriptive features corresponding to other types of artifactual components.

Feature selection using angle modulated simulated Kalman filter for peak classification of EEG signals.

In the existing electroencephalogram (EEG) signals peak classification research, the existing models, such as Dumpala, Acir, Liu, and Dingle peak models, employ different set of features. However, all these models may not be able to offer good performance for various applications and it is found to be problem dependent. Therefore, the objective of this study is to combine all the associated features from the existing models before selecting the best combination of features. A new optimization algorithm, namely as angle modulated simulated Kalman filter (AMSKF) will be employed as feature selector. Also, the neural network random weight method is utilized in the proposed AMSKF technique as a classifier. In the conducted experiment, 11,781 samples of peak candidate are employed in this study for the validation purpose. The samples are collected from three different peak event-related EEG signals of 30 healthy subjects; (1) single eye blink, (2) double eye blink, and (3) eye movement signals. The experimental results have shown that the proposed AMSKF feature selector is able to find the best combination of features and performs at par with the existing related studies of epileptic EEG events classification.

Evaluation of different time domain peak models using extreme learning machine-based peak detection for EEG signal.

Various peak models have been introduced to detect and analyze peaks in the time domain analysis of electroencephalogram (EEG) signals. In general, peak model in the time domain analysis consists of a set of signal parameters, such as amplitude, width, and slope. Models including those proposed by Dumpala, Acir, Liu, and Dingle are routinely used to detect peaks in EEG signals acquired in clinical studies of epilepsy or eye blink. The optimal peak model is the most reliable peak detection performance in a particular application. A fair measure of performance of different models requires a common and unbiased platform. In this study, we evaluate the performance of the four different peak models using the extreme learning machine (ELM)-based peak detection algorithm. We found that the Dingle model gave the best performance, with 72 % accuracy in the analysis of real EEG data. Statistical analysis conferred that the Dingle model afforded significantly better mean testing accuracy than did the Acir and Liu models, which were in the range 37-52 %. Meanwhile, the Dingle model has no significant difference compared to Dumpala model.

HMM based automated wheelchair navigation using EOG traces in EEG.

This paper presents a wheelchair navigation system based on a hidden Markov model (HMM), which we developed to assist those with restricted mobility. The semi-autonomous system is equipped with obstacle/collision avoidance sensors and it takes the electrooculography (EOG) signal traces from the user as commands to maneuver the wheelchair. The EOG traces originate from eyeball and eyelid movements and they are embedded in EEG signals collected from the scalp of the user at three different locations. Features extracted from the EOG traces are used to determine whether the eyes are open or closed, and whether the eyes are gazing to the right, center, or left. These features are utilized as inputs to a few support vector machine (SVM) classifiers, whose outputs are regarded as observations to an HMM. The HMM determines the state of the system and generates commands for navigating the wheelchair accordingly. The use of simple features and the implementation of a sliding window that captures important signatures in the EOG traces result in a fast execution time and high classification rates. The wheelchair is equipped with a proximity sensor and it can move forward and backward in three directions. The asynchronous system achieved an average classification rate of 98% when tested with online data while its average execution time was less than 1 s. It was also tested in a navigation experiment where all of the participants managed to complete the tasks successfully without collisions.

Improving Vector Evaluated Particle Swarm Optimisation by incorporating nondominated solutions.

The Vector Evaluated Particle Swarm Optimisation algorithm is widely used to solve multiobjective optimisation problems. This algorithm optimises one objective using a swarm of particles where their movements are guided by the best solution found by another swarm. However, the best solution of a swarm is only updated when a newly generated solution has better fitness than the best solution at the objective function optimised by that swarm, yielding poor solutions for the multiobjective optimisation problems. Thus, an improved Vector Evaluated Particle Swarm Optimisation algorithm is introduced by incorporating the nondominated solutions as the guidance for a swarm rather than using the best solution from another swarm. In this paper, the performance of improved Vector Evaluated Particle Swarm Optimisation algorithm is investigated using performance measures such as the number of nondominated solutions found, the generational distance, the spread, and the hypervolume. The results suggest that the improved Vector Evaluated Particle Swarm Optimisation algorithm has impressive performance compared with the conventional Vector Evaluated Particle Swarm Optimisation algorithm.