ERM Second Literature Review

7/25/2019 ERM Second Literature Review

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The Implementation of Ultrasonic Sensors toWheelchair controlled by Electroencephalogram (EEG)signal for obstacle avoidance

Name : PHOO KHAI MENG

ID : TP026077


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The literature review of obstacle avoidancein wheelchair controlled by EEG signal


3/24

Identify the Projet

ssisted navigation for a brain!actuated intelligentwheelchair

A!!i!ti"e Na"i#ation $y!tem %AN$& 'rain()om*+ter Interfae ,o-oti .hee/hair H+manMahine Interfae %HMI&

"rain!#ontrolled Wheelchair$ %obotic rchitecture

'rain()om*+ter Interfae ,o-oti .hee/hair $hared ontro/ /ayer

&oninvasive "rain!ctuated Wheelchair "ased on a' &europhysiological 'rotocol and utomated&avigation

'rain at+ated 1hee/hair P00 ne+ro*hy!io/o#ia/ *rotoo/ A+tomated na"i#ation

3o+rna/ 4

3o+rna/

3o+rna/ 2


4/24

Identify the Projet

synchronous and non!invasive "rain*computerinterfaces for continuous control of robots

$hared ontro/ !y!tem: $ta-/e EEG !i#na/ !e/etion

Inte//i#ent 1hee/hair %/a!er !en!or&

"rain!coupled interaction for semi!autonomousnavigation of an assistive robot

Pro-a-/e ation from the en"ironment $e/etion or ref+!a/

3o+rna/ 5

3o+rna/


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A"oidane&

Na"i#ate thro+#ha *redened *ath

mathin#a/#orithmtehni8+e

identifyeah

o-!ta/e

Predenedo-!ta/e

Ne1o-!ta/e

9oa/*/anner

Predenedath


6/24

$hared ontro//er40 !onar! !en!or!

2 1e-am!

Method 2 %O-!ta/eA"oidane&


7/24

Method %O-!ta/eA"oidane&+odel builder )reate a "irt+a/ ma*Tra 1hee/hair oordinate

,ocal planner

Tatia/ */annin# ,eati"e o//i!ion a"oidane


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EEG !i#na//a!er !anner

P%diretion& P%EEG!i#na/&

.hee/hairNa"i#ation

Mer#ed


9/24

Method %O-!ta/eA"oidane&

/a!er !anner

Diretion!on $reen

.hee/hairNa"i#ation

Prom*t +!er

;e!

No


10/24

9imitation!'roblems -ournal . -ournal / -ournal -ournal 0 -ournal 1

9o1 $N, and

informationrate

;e! ;e! ;e! Not

mentioned

;e!

Non!tationarityof the EEG!i#na/ d+e tofati#+e

;e! ;e! $o/"ed 1itha+tomatedna"i#ation

$o/"ed 1itha+tomatedna"i#ation

$o/"ed 1itha+tomatedna"i#ation

9a!er!en!or

More!en!or!information areneeded

.e-am! 9i#htin#

9a!er!en!or

Na"i#ation-et1eennear-yo-!ta/e!

9a!er!en!or

No*ro-/em

9a!er!en!or

9imited to!tatio-!ta/e

Pratie Not ;e! ;e! ;e! Not


11/24

O+tome

-ournal %esult

4 AN$ A"era#e a+ray of ==>

2 $hared ontro//ed A+ray of ?@> %ine*eriened +!er& A+ray of 400> %e*eriened +!er&

P00 ontro//ed 1hee/hair Minim+m a+ray of =4> Maim+m a+ray of ?5>

5 A!ynhrono+! and nonin"a!i"e ')I

Minim+m a+ray of =0> Maim+m a+ray of 400>

$emia+tonomo+! ')I 1hee/hair Minim+m a+ray of 7@> Maim+m a+ray of ?2>


12/24

The literature review of obstacleavoidance using ultrasonic sensors


13/24

Identify the Projet

ppro2imate robotic mapping from sonar data by

modeling perceptions with antonyms Antonym!-a!ed method Grid ma* for o-!ta/e! Grid ma* for free *ath

E2ploratory data analysis for robot perception of roomenvironments by means of an in!air sonar scanner

Mode/ an ima#inary room en"ironment

utonomous mobile robot navigation system designedin dynamic environment based on transferable beliefmodel

B+!ion:


14/24

Identify the Projet

Error Eliminating %apid Ultrasonic 3iring for +obile%obot 4bstacle voidance

Error e/iminatin# ra*id +/tra!oni rin# %EE,


15/24


2 +/tra!oni!en!or!

O-!ta/ema*

Bree !*aema*

Inte#ratedma*

Mer#ed


16/24

Method 7 %O-!ta/eA"oidane&B+y )Mean! %B)M& a/#orithm data!et!D en"ironment on!tr+tion

Di!ard mi!inter*reted !en!or data


17/24

Method = %O-!ta/eA"oidane&Pro-a-i/itie! f+!ion:


18/24

Method ? %O-!ta/eA"oidane&)on!e+ti"e readin#! methodA/ternatin# de/ay! method

Dynami o-!ta/e a"oidane*erformane


19/24

Method 40 %O-!ta/eA"oidane&Cetor e/d hi!to#ram %CBH&2D hi!to#ram to 4D *o/ar

hi!to#ram


20/24

9imitation!'roblems -ournal 7 -ournal 8 -ournal 9 -ournal : -ournal .

9o1a+ray:- !hort

ehoe!- re-o+nd- !*e+/ar

reetion!

;e! $o/"ed E!timati

n# !i#na/ener#y/e"e/

;e! ;e! $o/"ed Po/ar

hi!to#ramdetet!im*rei!e !en!ordata

Ty*e ofo-!ta/e!

$tati $tati $tati Fdynami

$tati Fdynami

$tati Fdynami

)ro!!ta/ Notmentioned

;e! Notmentioned

$o/"ed-yEE,


21/24

O+tome

-ournal %esult

6 Antonym!-a!ed method 9ea!t Mean A-!o/+te Error %MAE&

7 B+y )Mean! %B)M& a/#orithm En"ironment a1arene!! %main intention&

= Tran!fera-/e -e/ief mode/ %T'M& Bind !mooth *ath and na"i#ate !afe/y

? EE,


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4!tCa/idation %EEG1hee/hair&Cario+! na"i#ation method! !ho1nO-!ta/e a"oidane method !ho1ed

/imitation

Mo!t/y /a!er !en!or!

2ndCa/idation %


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,eferene! 'oren!tein 3@ F Koren ;@ %4??4&@ The "etor e/d hi!to#ramfa!t o-!ta/e a"oidane for mo-i/e ro-ot!@ Robotics and

Automation, IEEE Transactions onOn/ineL 7%& *@ 27=2==@ A"ai/a-/e from:htt*:ieee*/ore@ieee@or#!tam*!tam*@j!*t*Farn+m-er==47Ae!!ed 0402045L

'oren!tein 3@ F Koren ;@ %4??&@ Error e/iminatin# ra*id +/tra!oni rin# for mo-i/e ro-ot o-!ta/ea"oidane@ Robotics and Automation, IEEE Transactions onOn/ineL 44%4& *@ 424=@ A"ai/a-/e from: htt*

:ieee*/ore@ieee@or#!tam*!tam*@j!*t*Farn+m-er5?5Ae!!ed 0402045L )ar/!on T@ F Mi//n 3@ D@ ,@ %2042&@ 'rain)ontro//ed .hee/hair!: A ,o-oti Arhitet+re@ IEEE Robotics &

Automation MagazineOn/ineL 20%4& *@ 67@ A"ai/a-/e from: htt*:info!iene@e*@hreord4=46?=/e!)ar/!onMi,AM4@*df Ae!!ed 46052045L

Ga/n B@ N+ttin M@ 9e1 E@ Berre P@ .@ Canaer G@ Phi/i*! 3@ F Mi//n 3@ D@ ,@ %200=&@ A -rainat+ated1hee/hair: a!ynhrono+! and nonin"a!i"e -rain(om*+ter interfae! for ontin+o+! ontro/ of ro-ot!@ ClinicalNeurophysiologyOn/ineL 44?%?& *@ 24?246?@ A"ai/a-/e from: htt*:a@e/!dn@om$4==2570=00704!2@0$4==2570=0070main@*dftid540=ad5044ea7f500000aa-0f27Fadnat4????=42=?0776f74f576726f?f0da5?64 Ae!!ed 002045L

Giannoaro N@ I@ F $*ediato 9@ %204&@ E*/oratory data ana/y!i! for ro-ot *ere*tion of room en"ironment! -ymean! of an inair !onar !anner@ UltrasonicsOn/ineL %6& *@ 446447@ A"ai/a-/e from: htt*:a@e/!dn@om$0054625Q4000=?4!2@0$0054625Q4000=?main@*dftide=f2d-0ad6-544e=ae00000aa-62Fadnat4??6005da066=?5=6a-a5756d0d-6a77eAe!!ed 0202045L

G+adarrama $@ F ,+iMayor A@ %2040&@ A**roimate ro-oti ma**in# from !onar data -y mode/in# *ere*tion!1ith antonym!@ Inormation !ciencesOn/ineL 4=0%24& *@ 546554==@ A"ai/a-/e from: htt*:

a@e/!dn@om$0020024000074!2@0$002002400007main@*dftid6f0?4=ed6-544ea?500000aa-dFadnat4??7=54?2ea6?00?44f40a47?=Ae!!ed 0202045L

It+rrate I@ Ante/i! 3@ M@ K+-/er A@ F Min#+e 3@ %200?&@ A nonin"a!i"e -rainat+ated 1hee/hair -a!ed on a P00ne+ro*hy!io/o#ia/ *rotoo/ and a+tomated na"i#ation@ Robotics, IEEE Transactions onOn/ineL 2%& *@ 645627@A"ai/a-/e from: htt*:ieee*/ore@ieee@or#!tam*!tam*@j!*t*Farn+m-er5?45=5Ae!!ed 20052045L

9o*e! A@ )@ Pire! G@ F N+ne!


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ERM Second Literature Review