A Human-Machine Interface is a device that allows humans to inter- act with and use machines. One such device is a Brain-Computer Interface which allows the user to communicate to a computer system through thought patterns. A commonly used technique, electroencephalography, uses multiple sensors positioned on the subject’s cranium to extract electrical changes as a representation of thought patterns. This report investigates the use of a single EEG sensor as a user-friendly BCI implementation. The primary goal of this report is to determine if specific mental tasks can be reliably detected with such a system. / text

In this thesis, an algorithm that improves the performance of the extended Kalman filter (EKF) on the mobile robot localization issue is proposed, which is aided by the cooperation of neural network and fuzzy logic. An EKF is used to fuse the information acquired from both the robot optical encoders and the external sensors in order to estimate the current robot position and orientation. Then the error covariance of the EKF is tracked by the covariance matching technique. When the output of the matching technique does not meet the desired condition, a fuzzy logic is employed to adjust the error covariance matrix to modify it back to the desired value range. Since the fuzzy logic is lack of the capability of learning, a neural network is presented in the algorithm to train the EKF. The simulation results demonstrate that, with the comparison to the odometry and the standard EKF method under the same error divergence condition, the proposed extended Kalman filter effectively improves the accuracy of the localization of the mobile robot system and effectively prevents the filter divergence.

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Currently technologies such as EEG, EMG and EOG recordings are the established methods used in the analysis of sleep. But if these methods are to be employed to study sleep in rodents, extensive surgery and recovery is involved which can be both time consuming and costly. This thesis presents and analyzes a cost effective, non-invasive, high throughput system for detecting the sleep and wake patterns in mice using a piezoelectric sensor. This sensor was placed at the bottom of the mice cages to monitor the movements of the mice. The thesis work included the development of the instrumentation and signal acquisition system for recording the signals critical to sleep and wake classification. Classification of the mouse sleep and wake states were studied for a linear classifier and a Neural Network classifier based on 23 features extracted from the Power Spectrum (PS), Generalized Spectrum (GS), and Autocorrelation (AC) functions of short data intervals. The testing of the classifiers was done on two data sets collected from two mice, with each data set having around 5 hours of data. A scoring of the sleep and wake states was also done via human observation to aid in the training of the classifiers. The performances of these two classifiers were analyzed by looking at the misclassification error of a set of test features when run through a classifier trained by a set of training features. The best performing features were selected by first testing each of the 23 features individually in a linear classifier and ranking them according to their misclassification rate. A test was then done on the 10 best individually performing features where they were grouped in all possible combinations of 5 features to determine the feature combinations leading to the lowest error rates in a multi feature classifier. From this test 5 features were eventually chosen to do the classification. It was found that the features related to the signal energy and the spectral peaks in the 3Hz range gave the lowest errors. Error rates as low as 4% and 9% were achieved from a 5-feature linear classifier for the two data sets. The error rates from a 5-feature Neural Network classifier were found to be 6% and 12% respectively for these two data sets.

Die Erregungsausbreitung in neuronalen Systemen beruht auf materieller Grundlage, Transmittermoleküle werden präsynaptisch emittiert und postsynaptisch absorbiert. Emission und Absorption sind einander sich selbst verursachende Prozesse, sie sind voneinander ereignisabhängig und damit nur schwer zu unterscheiden. Diese Schwierigkeit wird prekär, wenn es darum geht, den Prozeß der Erregungsausbreitung technisch modellieren und simulieren zu wollen. Im Verlaufe der Simulation bilden sich Abhängigkeiten heraus, deren Ursachen nicht mehr vereinzelt werden können. Demzufolge ist es schwierig, das Verhalten des Simulationsmodells zu prognostizieren. Gleichermaßen schwierig ist es aber auch, das gezeigte Verhalten zweifelsfrei interpretieren zu wollen. Aus diesem Grunde macht es sich erforderlich, das Verhalten eines neuronalen Netzes auf analytischem Wege zu beschreiben. Erschwerend wirkt hierbei der Umstand, daß es innerhalb des Netzes voneinander ereignisabhängige Prozesse gibt, die sich selbst verursachen. Zur Beschreibung dessen gibt es zwei in Raum und Zeit variable Parameter: erstens die Vorzugsorientierung bei der Erregungsausbreitung, bezeichnet als "Beweglichkeit", und zweitens die Durchlässigkeit des Netzes für den Erregungstransport, bezeichnet als "Diffusionskoeffizient". Diese beiden Parameter werden hergenommen, um eine vektoranalytische Beschreibungsgleichung abzuleiten, Unterschiede zu "klassischen" neuronalen Netzen werden herausgestellt.

The School of Electrical, Electronic and Computer Engineering at the North-West University in Potchefstroom has established an active magnetic bearing (AMB) research group called McTronX. This group provides extensive knowledge and experience in the theory and application of AMBs. By making use of the expertise contained within McTronX and the rest of the control engineering community, an adaptive controller for an AMB flywheel system is implemented. The adaptive controller is faced with many challenges because AMB systems are multivariable, nonlinear, dynamic and inherently unstable systems. It is no wonder that existing AMB models are poor approximations of reality. This modelling problem is avoided because the adaptive controller is based on an indirect adaptive control law. Online system identification is performed by a neural network to obtain a better model of the AMB flywheel system. More specifically, a nonlinear autoregressive with exogenous inputs (NARX) neural network is implemented as an online observer. Changes in the AMB flywheel system’s environment also add uncertainty to the control problem. The adaptive controller adjusts to these changes as opposed to a robust controller which operates despite the changes. Making use of reinforcement learning because no online training data can be obtained, an adaptive critic model is applied. The adaptive controller consists of three neural networks: a critic, an actor and an observer. It is called an observer-based adaptive critic neural controller (ACNC). Genetic algorithms are used as global optimization tools to obtain values for the parameters of the observer, critic and actor. These parameters include the number of neurons and the learning rate for each neural network. Since the observer uses a different error signal than the actor and critic, its parameters are optimized separately. When the actor and critic parameters are optimized by minimizing the tracking error, the observer parameters are kept constant. The chosen adaptive control design boasts analytical proofs of stability using Lyapunov stability analysis methods. These proofs clearly confirm that the design ensures stable simultaneous identification and tracking of the AMB flywheel system. Performance verification is achieved by step response, robustness and stability analysis. The final adaptive control system remains stable in the presence of severe cross-coupling effects whereas the original decentralized PD control system destabilizes. This study provides the justification for further research into adaptive control using artificial intelligence techniques as applied to the AMB flywheel system. / Thesis (M.Ing. (Computer and Electronical Engineering))--North-West University, Potchefstroom Campus, 2011.

The School of Electrical, Electronic and Computer Engineering at the North-West University in Potchefstroom has established an active magnetic bearing (AMB) research group called McTronX. This group provides extensive knowledge and experience in the theory and application of AMBs. By making use of the expertise contained within McTronX and the rest of the control engineering community, an adaptive controller for an AMB flywheel system is implemented. The adaptive controller is faced with many challenges because AMB systems are multivariable, nonlinear, dynamic and inherently unstable systems. It is no wonder that existing AMB models are poor approximations of reality. This modelling problem is avoided because the adaptive controller is based on an indirect adaptive control law. Online system identification is performed by a neural network to obtain a better model of the AMB flywheel system. More specifically, a nonlinear autoregressive with exogenous inputs (NARX) neural network is implemented as an online observer. Changes in the AMB flywheel system’s environment also add uncertainty to the control problem. The adaptive controller adjusts to these changes as opposed to a robust controller which operates despite the changes. Making use of reinforcement learning because no online training data can be obtained, an adaptive critic model is applied. The adaptive controller consists of three neural networks: a critic, an actor and an observer. It is called an observer-based adaptive critic neural controller (ACNC). Genetic algorithms are used as global optimization tools to obtain values for the parameters of the observer, critic and actor. These parameters include the number of neurons and the learning rate for each neural network. Since the observer uses a different error signal than the actor and critic, its parameters are optimized separately. When the actor and critic parameters are optimized by minimizing the tracking error, the observer parameters are kept constant. The chosen adaptive control design boasts analytical proofs of stability using Lyapunov stability analysis methods. These proofs clearly confirm that the design ensures stable simultaneous identification and tracking of the AMB flywheel system. Performance verification is achieved by step response, robustness and stability analysis. The final adaptive control system remains stable in the presence of severe cross-coupling effects whereas the original decentralized PD control system destabilizes. This study provides the justification for further research into adaptive control using artificial intelligence techniques as applied to the AMB flywheel system. / Thesis (M.Ing. (Computer and Electronical Engineering))--North-West University, Potchefstroom Campus, 2011.

The statistical properties of training, validation and test data play an important role in assuring optimal performance in artificial neural networks (ANN). Re-searchers have proposed randomized data partitioning (RDP) and stratified data partitioning (SDP) methods for partition of input data into training, vali-dation and test datasets. RDP methods based on genetic algorithm (GA) are computationally expensive as the random search space can be in the power of twenty or more for an average sized dataset. For SDP methods, clustering al-gorithms such as self organizing map (SOM) and fuzzy clustering (FC) are used to form strata. It is assumed that data points in any individual stratum are in close statistical agreement. Reported clustering algorithms are designed to form natural clusters. In the case of large multivariate datasets, some of these natural clusters can be big enough such that the furthest data vectors are statis-tically far away from the mean. Further, these algorithms are computationally expensive as well. Here a custom design clustering algorithm (CDCA) has been proposed to overcome these shortcomings. Comparisons have been made using three benchmark case studies, one each from classification, function ap-proximation and prediction domain respectively. The proposed CDCA data partitioning method was evaluated in comparison with SOM, FC and GA based data partitioning methods. It was found that the CDCA data partitioning method not only performed well but also reduced the average CPU time. / Engineering Management