基于卡尔曼滤波理论的脑电逆问题反演

由头皮上的电压推断出大脑内神经活动源的过程称之为脑电逆问题,这一问题的解决具有重要的研究意义和应用价值。为了有效地进行脑电逆问题的反演计算,提出了一种基于状态空间的新的脑电逆问题求解算法。该方法首先根据神经系统的动力学方程得到状态方程,并由脑电系统的观测方程构成测量方程;然后应用卡尔曼滤波方法来反演大脑内活动源的信息。这种新的求逆算法不仅可以处理脑电系统中的不确定因素,而且还可以将静态和动态脑电逆问题的求解统一到同一框架下,因此具有一定的新颖性;最后分别给出了模拟数据和实际脑电数据的实验结果。实验结果证明,卡尔曼滤波法更具优越性。     

利用有限差分法计算真实头模型脑电正问题

脑电研究领域的两个关键问题是脑电正问题和脑电逆问题,脑电正问题是脑电逆问题的基础.由于复杂、非规则真实头模型中的脑电正问题不存在解析解,因此脑电源分析依赖于正问题数值算法的精度和效率.文章首先详细推导了有限差分算法求解三维各向同性脑电正问题的数学模型,然后在三层同心球模型上通过与解析解比较验证了该算法的精度和效率,最后将该算法应用于真实头模型.仿真结果表明,有限差分法可以有效地处理任意形状几何体的电位场分布问题,是模拟计算真实头模型中脑电正问题的有力工具.     

脑电产生源三维空间分布的仿真研究

对于脑电信号源的分布模型，在基于加权广义逆矩阵的最小范数解的框架下，进行了源分布图象的计算机仿真计算，主要包括两部分内容：通过求解脑电正问题的边界元算法获取导联场矩阵；以脑电生理学上的特性，即源活动的高度协同性、聚集性及稀疏性为先验前提，借鉴LORETA算法中有关拉普拉斯平滑算子，以及FOCUSS算法中有关重加权的竞争机制等，通过分阶段地构造加权矩阵的方法逐步对逆解做出约束，实现具有较高分辨率的脑内各处电活动源的强度与方向的三维图象重建。计算机仿真研究结果证实了此方法的可行性。     

自适应遗传算法在脑电逆问题中的应用

脑电逆问题是指利用脑电图 (EEG)数据去反演可以反映脑电活动等效偶极子源的参数信息。优化方法是解决这一问题的有力工具。自适应遗传算法根据算法的不同情况自动改变遗传算子 ,将这一算法应用于脑电逆问题 ,其运算速度和防止局部最优的性能较基本遗传算法有较大提高     

物理受限冗余机械臂逆运动学凸优化求解

针对冗余机械臂逆运动学求解结果极有可能超过机械臂物理限制的问题,提出一种基于凸优化的逆运动学求解方法使得逆解结果满足物理约束.首先分析了关节速度与力矩关系,采用机械臂动能及重复运动为优化指标,以关节速度、关节力矩为优化变量.然后将逆运动学求解问题转化为凸优化问题,进一步转化为二次规划问题,充分利用冗余特性,实现逆运动学求解时避免关节位置、关节速度、关节力矩极限.最后利用7自由度冗余机械臂KUKA LBR iiwa进行仿真,求解关节量结果符合物理极限及优化准则.结果表明本文提出的方法适用于物理受限冗余机械臂的逆运动学求解.     

基于多时窗共空间模式的HMM运动想象脑电识别

运动想象脑电具有识别效果不佳及复杂时序信号建模困难的问题；提出一种基于多时窗共空间模式的隐马尔可夫模型运动想象脑电识别方法,首先将运动想象脑电划分为多个短时窗信号,然后使用共空间模式提取特征序列,以滤除脑电通道间的冗余信息,最后采用前向-后相算法与Viterbi算法求解隐马尔可夫模型并完成分类识别；将本文方法在公开运动想象脑电数据集上进行实验，得到77.17%的分类正确率，相较隐马尔可夫模型算法提升了5.74%，验证了所提方法的有效性。     

七自由度带电作业机器人逆运动学求解方法研究

本文以七自由度双臂带电作业机器人为研究对象,针对七自由度逆运动学求解计算复杂,实时控制困难的问题,在分析机器人的机械结构及建立正向运动学模型的基础上,采用位姿分解法与代数迭代法相结合的方式求解运动学逆解,将七自由度逆运动学求解转化为四自由度位置冗余问题,并设计了具体的程序流程图,经过仿真验证,该算法减小了逆运动学求解的计算量,提高了机器人控制的实时性。     

基于BP神经网络的排爆机械臂逆运动学分析

机械臂逆运动学是已知末端执行器的位姿求解机械臂各关节变量,主要用于机械臂末端执行器的精确定位和轨迹规划,如何高效的求解机械臂运动学逆解是机械臂轨迹控制的难点;针对传统的机械臂逆运动学求解方法复杂且存在多解等问题,提出一种基于BP神经网络的机械臂逆运动学求解方法;以四自由度机械臂为研究对象,对其运动学原理进行分析,建立BP神经网络模型并对神经网络算法进行改进,最后使用MATLAB进行仿真验证;仿真结果表明:使用BP神经网络模型求解机械臂逆运动学问题设计过程简单,求解精度较高,一定程度上避免了传统方法的不足,是一种可行的机械臂逆运动学求解方法。     

基于最大期望算法的电阻抗成像系统的图像重建

电阻抗成像EIT(Electrical impedance tomography)技术利用不同媒质具有不同的电导率这一物理基础,通过测量目标场在一定电刺激下所呈现出的电特性,推导出目标场内部的电导率分布信息,进而推知该场中媒质的分布情况。EIT图像重建问题是一个非线性的病态逆问题,且测量系统往往存在噪声,使重建图像中存在伪影,传统的正则化方法对重建图像伪影的抑制能力有限。本文将一种统计学方法,即最大期望EM(expectation maximization)算法应用于EIT逆问题求解。它将EIT的数学模型转化为非负约束极小化问题,并通过梯度投影简化牛顿算法GPRN(gradient projection-reduced Newton iteration method)求解该问题。与传统的Tikhonov算法和共轭梯度算法CG(conjugate gradient)相比,有效地抑制了重建图像中伪影的产生。仿真和实验结果表明,EIT系统可以通过EM算法获得高质量的重建图像。     

旋转变换张量法在机械手逆问题求解中的应用

本文结合实例,介绍旋转变换张量法在多关节机械手运动学逆问题求解中的应用,并介绍逆问题求解中与奇点的处理方法。     

Accuracy of two dipolar inverse algorithms applying reciprocity for forward calculation.

Two inverse algorithms were applied for solving the EEG inverse problem assuming a single dipole as a source model. For increasing the efficiency of the forward computations the lead field approach based on the reciprocity theorem was applied. This method provides a procedure to calculate the computationally heavy forward problem by a single solution for each EEG lead. A realistically shaped volume conductor model with five major tissue compartments was employed to obtain the lead fields of the standard 10-20 EEG electrode system and the scalp potentials generated by simulated dipole sources. A least-squares method and a probability-based method were compared in their performance to reproduce the dipole source based on the reciprocal forward solution. The dipole localization errors were 0 to 9 mm and 2 to 22 mm without and with added noise in the simulated data, respectively. The two different inverse algorithms operated mainly very similarly. The lead field method appeared applicable for the solution of the inverse problem and especially useful when a number of sources, e.g., multiple EEG time instances, must be solved.     

General bounds for electrode mislocation on the EEG inverse problem

We analyze the effect of electrode mislocation on the electroencephalography (EEG) inverse problem using the Cramér-Rao bound (CRB) for single dipolar source parameters. We adopt a realistic head shape model, and solve the forward problem using the Boundary Element Method; the use of the CRB allows us to obtain general results which do not depend on the algorithm used for solving the inverse problem. We consider two possible causes for the electrode mislocation, errors in the measurement of the electrode positions and an imperfect registration between the electrodes and the scalp surfaces. For 120 electrodes placed in the scalp according to the 10-20 standard, and errors on the electrode location with a standard deviation of 5 mm, the lower bound on the standard deviation in the source depth estimation is approximately 1 mm in the worst case. Therefore, we conclude that errors in the electrode location may be tolerated since their effect on the EEG inverse problem are negligible from a practical point of view.     

Application of particle swarm optimization in epileptic spike EEG source localization

Surgical therapy has become an important therapeutic alternative for patients with medically intractable epilepsy. Correct and anatomically precise localization of an epileptic focus is essential to decide if resection of brain tissue is possible. The inverse problem in EEG-based source localization is to determine the location of the brain sources that are responsible for the measured potentials at the scalp electrodes. We propose a new global optimization method based on particle swarm optimization (PSO) to solve the epileptic spike EEG source localization inverse problem. In a forward problem a modified subtraction method is proposed to reduce the computational time. The good accuracy and fast convergence are demonstrated for 2D and 3D cases with realistic head models. The results from the new method are promising for use in the pre-surgical clinic in the future.     

基于进化策略的偶极子源定位

如何有效地从头表记录电位中准确定位脑电源的真实活动位置是神经认知脑功能研究中的一个关键问题。该文从无性生殖的生物在自然界中优胜劣汰的进化模式中得到启发,设计了基于进化策略算法来进行源定位。我们采取组合变异和自适应变步长相结合的方式对特定的问题进行求解。在三层球模型上的仿真结果表明了该方法能有效的对脑电源进行定位。     

Working memory modeling using inverse fuzzy relational approach

The paper proposes a novel approach to fuzzy modeling of human working memory (WM) using electroencephalographic (EEG) signals, acquired during human face encoding and recall experiments in connection with a face recognition problem. The EEG signals acquired from the short term memory (STM) during memory encoding instances are considered as the input of the proposed working memory model. On the other hand, the EEG response of the WM to visual stimuli acquired during WM recall instances are considered as the output of the proposed working memory model. The entire experiment is primarily divided into two phases. In the first phase, the WM of a human subject is modeled by a fuzzy implication relation, describing a mapping from the STM response (during encoding) to the WM responses (during recall) to visual stimuli. During STM encoding, the subject is visually presented with the full face stimulus of a person. During WM recall, four partial face stimuli of the same person (made familiar during encoding) are used for the subject to recall the respective full face.The second phase is undertaken to validate the WM model by visually stimulating the subject again with randomly selected partial faces of people, being familiar in the first phase and the WM EEG responses are recorded. The WM responses along with the WM model, developed in the first phase, are used to retrieve the STM information by using an inverse fuzzy (implication) relation. Besides WM modeling, another important contribution of the paper lies in devising a solution to the inverse fuzzy relation computation in the settings of an optimization problem. An error metric is then defined to measure the discrepancy between the model-predicted STM encoding pattern and the actual pattern encoded by the STM (as captured by the EEG signal during encoding in the first phase). Apparently, smaller the error magnitude better is the accuracy of the proposed model to effectively differentiate people with memory failures. Experimentally it is observed that the proposed model yields a very small error, in the order of 10⁻⁴, thus showing a high level of similarity between actual and model predicted STM response for all the healthy subjects. An experiment undertaken using eLORETA software confirms that the orbito-frontal cortex of prefrontal lobe is responsible for STM encoding whereas dorsolateral prefrontal region is responsible for WM recall. An analysis undertaken reveals that the proposed WM model produces the best response in the theta frequency band of EEG spectra, thus assuring the association of the theta frequency range in the face recognition task. Comparative analysis performed also substantiates that the proposed technique of computing max–min inverse fuzzy relation outperforms the existing techniques for inverse fuzzy computation, with a successful retrieval accuracy of 87.92%. The proposed study would find interesting applications to diagnose memory failures for people with Pre-frontal lobe amnesia.     

A study on the reference electrode standardization technique for a realistic head model

One oldest technical problem in EEG practice is the effect of an active reference on EEG recording, and it is especially important for identifying the temporal information of EEG recordings. To solve this problem, a reference electrode standardization technique (REST) has been proposed for a concentric three-sphere head model. REST, based on an equivalent distributed source model, reconstructs the potential with a reference at infinity from the potential with a scalp point reference or with the average reference. In this paper, investigated was the REST for a realistic head model. The results of simulation studies show that the potential reconstruction for the realistic head model is more sensitive to noise than that for the concentric three-sphere head model, so a regularized inverse by truncated singular value decomposition was introduced. The results confirm that REST is still an efficient method even for a realistic head model especially for the most important superficial cortex region.     

Inverse electroencephalography for volumetric sources

In this work the problem of recovering bioelectrical sources on the cerebral volume, from measurement of the potential generated by these sources on the scalp, is studied. This problem is an ill posed problem, since given a measurement on the scalp, there are different bioelectrical sources that produce this measurement and small variations in the input data can produce significant variations in the source localization. The problem is studied through a boundary value problem, which is obtained using a model that describes the head as a conductive layer medium. This model allows relationships between the characteristics of the bioelectrical activity and the EEG to be established. We find in this work conditions under which the inverse solution is unique and we give an algorithm to find it. In the simple case, when the head is modeled through two concentric circles, we give a regularization strategy.