A Single Subject Machine Learning Based Classification of Motor Imagery EEGs

Motor Imagery-Based Brain-Computer Interfaces (MI-BCIs) are systems that detect and interpret brain activity patterns linked to the mental visualization of movement, and then translate these into instructions for controlling external robotic or domotic devices. Such devices have the potential to be useful in a broad variety of applications. While implementing a system that would help individuals restore some freedom levels, the interpretation of (Electroencephalography) EEG data remains a complex and unsolved problem. In the literature, the classification of left and right imagined movements has been extensively studied. This study introduces a novel pipeline that makes use of machine learning techniques for classifying MI EEG data. The entire framework is capable of accurately categorizing left and imagined motions, as well as rest phases, for a set of 52 subjects who performed a MI task. We trained a within subject model on each individual subject. The methodology has been offline evaluated and compared to four studies that are currently the state-of-the-art regarding the specified dataset. The results show that our proposed framework could be used with MI-BCI systems in light of its failsafe classification performances, i.e. 99.5% in accuracy

Agile and Cooperative Aerial Manipulation of a Cable-Suspended Load

Quadrotors can carry slung loads to hard-to-reach locations at high speed. Since a single quadrotor has limited payload capacities, using a team of quadrotors to collaboratively manipulate a heavy object is a scalable and promising solution. However, existing control algorithms for multi-lifting systems only enable low-speed and low-acceleration operations due to the complex dynamic coupling between quadrotors and the load, limiting their use in time-critical missions such as search and rescue. In this work, we present a solution to significantly enhance the agility of cable-suspended multi-lifting systems. Unlike traditional cascaded solutions, we introduce a trajectory-based framework that solves the whole-body kinodynamic motion planning problem online, accounting for the dynamic coupling effects and constraints between the quadrotors and the load. The planned trajectory is provided to the quadrotors as a reference in a receding-horizon fashion and is tracked by an onboard controller that observes and compensates for the cable tension. Real-world experiments demonstrate that our framework can achieve at least eight times greater acceleration than state-of-the-art methods to follow agile trajectories. Our method can even perform complex maneuvers such as flying through narrow passages at high speed. Additionally, it exhibits high robustness against load uncertainties and does not require adding any sensors to the load, demonstrating strong practicality.