Objective. For the shared control systems, how to trade off the control weight between robot autonomy and human operator is an important issue, especially for BCI-based systems. However, most of existing shared controllers have paid less attention to the effects caused by subjects with different levels of brain control ability. Approach. In this paper, a brain state evaluation network, termed BSE-NET, is proposed to evaluate subjects’ brain control ability online based on quantized attention-gated kernel reinforcement learning. With the output of BSE-NET (confidence score), a shared controller is designed to dynamically adjust the control weight between robot autonomy and human operator. Main results. The experimental results show that most of subjects achieved high and stable experimental success rate of approximately 90%. Furthermore, for subjects with different accuracy on EEG decoding, a proper confidence score can be dynamically generated to reflect their levels of brain control ability, and the proposed system can effectively adjust the control weight in all-time shared control. Significance. We discuss how our proposed method shows promise for BCI applications that can evaluate subjects’ brain control ability online as well as provide a method for the research on self-adaptive shared control to adaptively balance control weight between subject’s instruction and robot autonomy.
Predicting the coagulant dosage is especially crucial to the purification process in water treatment plants, directly affecting the quality of the purified water. Nowadays, several mathematical methods have been adopted for the purification process, but their predictive precision and speed still need to be improved. This study applies a novel neural network called the extreme learning machine (ELM) to predict the coagulant dosage based on certain signification factors of the raw water. Performances are compared between ELM and back-propagation neural networks in this paper. The results show that both neural network algorithms perform well in this application and ELM can realize online prediction due to its short time consumption.
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