2022
Marie Dominique Schmidt; Tobias Glasmachers; Ioannis Iossifidis
From Motion to Muscle Journal Article
In: arXiv: 2201.11501 [cs.LG], 2022.
Links | BibTeX | Tags: BCI, Machine Learning, movement model, muscle signal generator, recurrent neural network
@article{schmidt2022motion,
title = {From Motion to Muscle},
author = {Marie Dominique Schmidt and Tobias Glasmachers and Ioannis Iossifidis},
doi = {https://doi.org/10.48550/arXiv.2201.11501},
year = {2022},
date = {2022-01-01},
urldate = {2022-01-01},
journal = {arXiv: 2201.11501 [cs.LG]},
keywords = {BCI, Machine Learning, movement model, muscle signal generator, recurrent neural network},
pubstate = {published},
tppubtype = {article}
}
Marie Dominique Schmidt; Tobias Glasmachers; Ioannis Iossifidis
Motion Intention Prediction Proceedings Article
In: FENS, Forum 2022, FENS, Federation of European Neuroscience Societies, 2022.
Abstract | BibTeX | Tags: BCI, Machine Learning, movement model, muscle signal generator, recurrent neural network
@inproceedings{schmidtMotionIntentionPrediction2022a,
title = {Motion Intention Prediction},
author = {Marie Dominique Schmidt and Tobias Glasmachers and Ioannis Iossifidis},
year = {2022},
date = {2022-01-01},
urldate = {2022-01-01},
booktitle = {FENS, Forum 2022},
publisher = {FENS, Federation of European Neuroscience Societies},
abstract = {Motion intention prediction is the key to robot-assisted rehabilitation systems. These can rely on various biological signals. One commonly used signal is the muscle activity measured by an electromyogram that occurs between 50-100 milliseconds before the actual movement, allowing a real-world application to assist in time. We show that upper limb motion can be estimated from the corresponding muscle activity. To this end, eight-arm muscles are mapped to the joint angle, velocity, and acceleration of the shoulder, elbow, and wrist. For this purpose, we specifically develop an artificial neural network that estimates complex motions involving multiple upper limb joints. The network model is evaluated concerning its ability to generalize across subjects as well as for new motions. This is achieved through training on multiple subjects and additional transfer learning methods so that the prediction for new subjects is significantly improved. In particular, this is beneficial for a robust real-world application. Furthermore, we investigate the importance of the different parameters such as angle, velocity, and acceleration for simple and complex motions. Predictions for simple motions along with the main components of complex motions achieve excellent accuracy while joints that do not play a dominant role during the motion have comparatively lower accuracy.},
keywords = {BCI, Machine Learning, movement model, muscle signal generator, recurrent neural network},
pubstate = {published},
tppubtype = {inproceedings}
}
Motion intention prediction is the key to robot-assisted rehabilitation systems. These can rely on various biological signals. One commonly used signal is the muscle activity measured by an electromyogram that occurs between 50-100 milliseconds before the actual movement, allowing a real-world application to assist in time. We show that upper limb motion can be estimated from the corresponding muscle activity. To this end, eight-arm muscles are mapped to the joint angle, velocity, and acceleration of the shoulder, elbow, and wrist. For this purpose, we specifically develop an artificial neural network that estimates complex motions involving multiple upper limb joints. The network model is evaluated concerning its ability to generalize across subjects as well as for new motions. This is achieved through training on multiple subjects and additional transfer learning methods so that the prediction for new subjects is significantly improved. In particular, this is beneficial for a robust real-world application. Furthermore, we investigate the importance of the different parameters such as angle, velocity, and acceleration for simple and complex motions. Predictions for simple motions along with the main components of complex motions achieve excellent accuracy while joints that do not play a dominant role during the motion have comparatively lower accuracy.
2021
Marie Dominique Schmidt; Tobias Glasmachers; Ioannis Iossifidis
Artificially Generated Muscle Signals Proceedings Article
In: Bernstein Conference, 2021.
Links | BibTeX | Tags: BCI, Machine Learning, movement model, muscle signal generator, recurrent neural network
@inproceedings{schmidtArtificiallyGeneratedMuscle2021b,
title = {Artificially Generated Muscle Signals},
author = {Marie Dominique Schmidt and Tobias Glasmachers and Ioannis Iossifidis},
doi = {10.12751/nncn.bc2021.p111},
year = {2021},
date = {2021-10-01},
urldate = {2021-10-01},
publisher = {Bernstein Conference},
keywords = {BCI, Machine Learning, movement model, muscle signal generator, recurrent neural network},
pubstate = {published},
tppubtype = {inproceedings}
}
2011
Urun Dogan; Johann Edelbrunner; Ioannis Iossifidis
Autonomous Driving: A Comparison of Machine Learning Techniques by Measns of the Prediction of Lane Change Behavior Proceedings Article
In: Proc. IEEE/RSJ International Conference on Robotics and Biomimetics (RoBio2011), 2011.
BibTeX | Tags: driver information systems, feed forward neural network, lane change maneuvers, Machine Learning, recurrent neural network, support vector machines, traffic simulator
@inproceedings{Dogan2011b,
title = {Autonomous Driving: A Comparison of Machine Learning Techniques by Measns of the Prediction of Lane Change Behavior},
author = {Urun Dogan and Johann Edelbrunner and Ioannis Iossifidis},
year = {2011},
date = {2011-01-01},
urldate = {2011-01-01},
booktitle = {Proc. IEEE/RSJ International Conference on Robotics and Biomimetics (RoBio2011)},
keywords = {driver information systems, feed forward neural network, lane change maneuvers, Machine Learning, recurrent neural network, support vector machines, traffic simulator},
pubstate = {published},
tppubtype = {inproceedings}
}
2008
Ueruen Dogan; Hannes Edelbrunner; Ioannis Iossifidis
Towards a Driver Model: Preliminary Study of Lane Change Behavior Proceedings Article
In: 2008 11th International IEEE Conference on Intelligent Transportation Systems, pp. 931–937, IEEE, 2008, ISBN: 978-1-4244-2111-4.
Abstract | Links | BibTeX | Tags: driver information systems, driver model, drivers lane change behavior prediction, feed forward neural network, feedforward neural nets, lane change maneuvers, Machine Learning, recurrent neural nets, recurrent neural network, support vector machines, traffic simulator
@inproceedings{Dogan2008b,
title = {Towards a Driver Model: Preliminary Study of Lane Change Behavior},
author = {Ueruen Dogan and Hannes Edelbrunner and Ioannis Iossifidis},
url = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4732700},
doi = {10.1109/ITSC.2008.4732700},
isbn = {978-1-4244-2111-4},
year = {2008},
date = {2008-10-01},
booktitle = {2008 11th International IEEE Conference on Intelligent Transportation Systems},
pages = {931–937},
publisher = {IEEE},
abstract = {The presented work formulates an framework in which early prediction of drivers lane change behavior is realized. We aim to build a representation of drivers lane change behavior in order to recognize and to predict driver's intentions as a first step towards a realistic driver model. In the test bed of the Institute of Neuroinformatik, based on the traffic simulator NISYS TRS 1, 10 individuals have driven in the experiments and they performed more then 150 lane change maneuvers. Lane-offset, distance to the front car and time to contact, were recorded. The acquired data was used to train - in parallel- a recurrent neural network, a feed forward neural network and a set of support vector machines. In the followed test drives the system was able of performing a lane change prediction time of 1.5 sec beforehand. The proposed approach describes a framework for lane-change detection and prediction, which will serve as a prerequisite for a successful driver model.},
keywords = {driver information systems, driver model, drivers lane change behavior prediction, feed forward neural network, feedforward neural nets, lane change maneuvers, Machine Learning, recurrent neural nets, recurrent neural network, support vector machines, traffic simulator},
pubstate = {published},
tppubtype = {inproceedings}
}
The presented work formulates an framework in which early prediction of drivers lane change behavior is realized. We aim to build a representation of drivers lane change behavior in order to recognize and to predict driver's intentions as a first step towards a realistic driver model. In the test bed of the Institute of Neuroinformatik, based on the traffic simulator NISYS TRS 1, 10 individuals have driven in the experiments and they performed more then 150 lane change maneuvers. Lane-offset, distance to the front car and time to contact, were recorded. The acquired data was used to train - in parallel- a recurrent neural network, a feed forward neural network and a set of support vector machines. In the followed test drives the system was able of performing a lane change prediction time of 1.5 sec beforehand. The proposed approach describes a framework for lane-change detection and prediction, which will serve as a prerequisite for a successful driver model.
Urun Dogan; Johann Edelbrunner; Ioannis Iossifidis
Towards a Driver Model: Preliminary Study of Lane Change Behavior Proceedings Article
In: Proc. 11th International IEEE Conference on Intelligent Transportation Systems ITSC 2008, pp. 931–937, Beijing, China, 2008.
Abstract | Links | BibTeX | Tags: driver information systems, driver model, drivers lane change behavior prediction, feed forward neural network, feedforward neural nets, lane change maneuvers, Machine Learning, recurrent neural nets, recurrent neural network, support vector machines, traffic simulator
@inproceedings{Dogan2008,
title = {Towards a Driver Model: Preliminary Study of Lane Change Behavior},
author = {Urun Dogan and Johann Edelbrunner and Ioannis Iossifidis},
doi = {10.1109/ITSC.2008.4732700},
year = {2008},
date = {2008-01-01},
urldate = {2008-01-01},
booktitle = {Proc. 11th International IEEE Conference on Intelligent Transportation Systems ITSC 2008},
pages = {931–937},
address = {Beijing, China},
abstract = {The presented work formulates an framework in which early prediction of drivers lane change behavior is realized. We aim to build a representation of drivers lane change behavior in order to recognize and to predict driver's intentions as a first step towards a realistic driver model. In the test bed of the Institute of Neuroinformatik, based on the traffic simulator NISYS TRS textlesssuptextgreater1textless/suptextgreater, 10 individuals have driven in the experiments and they performed more then 150 lane change maneuvers. Lane-offset, distance to the front car and time to contact, were recorded. The acquired data was used to train - in parallel- a recurrent neural network, a feed forward neural network and a set of support vector machines. In the followed test drives the system was able of performing a lane change prediction time of 1.5 sec beforehand. The proposed approach describes a framework for lane-change detection and prediction, which will serve as a prerequisite for a successful driver model.},
keywords = {driver information systems, driver model, drivers lane change behavior prediction, feed forward neural network, feedforward neural nets, lane change maneuvers, Machine Learning, recurrent neural nets, recurrent neural network, support vector machines, traffic simulator},
pubstate = {published},
tppubtype = {inproceedings}
}
The presented work formulates an framework in which early prediction of drivers lane change behavior is realized. We aim to build a representation of drivers lane change behavior in order to recognize and to predict driver's intentions as a first step towards a realistic driver model. In the test bed of the Institute of Neuroinformatik, based on the traffic simulator NISYS TRS textlesssuptextgreater1textless/suptextgreater, 10 individuals have driven in the experiments and they performed more then 150 lane change maneuvers. Lane-offset, distance to the front car and time to contact, were recorded. The acquired data was used to train - in parallel- a recurrent neural network, a feed forward neural network and a set of support vector machines. In the followed test drives the system was able of performing a lane change prediction time of 1.5 sec beforehand. The proposed approach describes a framework for lane-change detection and prediction, which will serve as a prerequisite for a successful driver model.