Brain–computer interface (BCI) is a typical direction of integration of human intelligence and robot intelligence. Shared control is an essential form of combining human and robot agents in a common task, but still faces a lack of freedom for the human agent. This paper proposes a Centroidal Voronoi Tessellation (CVT)-based road segmentation approach for brain-controlled robot navigation by means of asynchronous BCI. An electromyogram-based asynchronous mechanism is introduced into the BCI system for self-paced control. A novel CVT-based road segmentation method is provided to generate optional navigation goals in the road area for arbitrary goal selection. An event-related potential of the BCI is designed for target selection to communicate with the robot. The robot has an autonomous navigation function to reach the human selected goals. A comparison experiment in the single-step control pattern is executed to verify the effectiveness of the CVT-based asynchronous (CVT-A) BCI system. Eight subjects participated in the experiment, and they were instructed to control the robot to navigate toward a destination with obstacle avoidance tasks. The results show that the CVT-A BCI system can shorten the task duration, decrease the command times, and optimize navigation path, compared with the single-step pattern. Moreover, this shared control mechanism of the CVT-A BCI system contributes to the promotion of human and robot agent integration control in unstructured environments.
This study compared the efficacy of Motor Imagery brain-computer interface (MI-BCI) combined with physiotherapy and physiotherapy alone in ischemic stroke before and after rehabilitation training. We wanted to explore whether the rehabilitation effect of MI-BCI is affected by the severity of the patient’s condition and whether MI-BCI was effective for all patients. Forty hospitalized patients with ischemic stroke with motor deficits participated in this study. The patients were divided into MI and control groups. Functional assessments were performed before and after rehabilitation training. The Fugl-Meyer Assessment (FMA) was used as the primary outcome measure, and its shoulder and elbow scores and wrist scores served as secondary outcome measures. The motor assessment scale (MAS) was used to assess motor function recovery. We used non-contrast CT (NCCT) to investigate the influence of different types of middle cerebral artery high-density signs on the prognosis of ischemic stroke. Brain topographic maps can directly reflect the neural activity of the brain, so we used them to detect changes in brain function and brain topological power response after stroke. Compared the MI group and control group after rehabilitation training, better functional outcome was observed after MI-BCI rehabilitation, including a significantly higher probability of achieving a relevant increase in the Total FMA scores (MI = 16.70 ± 12.79, control = 5.34 ± 10.48), FMA shoulder and elbow scores (MI = 12.56 ± 6.37, control = 2.45 ± 7.91), FMA wrist scores (MI = 11.01 ± 3.48, control = 3.36 ± 5.79), the MAS scores (MI = 3.62 ± 2.48, control = 1.85 ± 2.89), the NCCT (MI = 21.94 ± 2.37, control = 17.86 ± 3.55). The findings demonstrate that MI-BCI rehabilitation training could more effectively improve motor function after upper limb motor dysfunction after stroke compared with routine rehabilitation training, which verifies the feasibility of active induction of neural rehabilitation. The severity of the patient’s condition may affect the rehabilitation effect of the MI-BCI system.
In view of the information management processor a telecommunication enterprise, how to properly store electronic documents is a challenge. This paper presents the design of a document storage management system based on Hadoop, which uses the distributed file system HDFS and the distributed database HBase, to achieve efficient access to electronic office documents in a steel structure enterprise. This paper also describes an automatic small files merge method using HBase, which simplifies the process of artificial periodic joining of small files, resulting in improved system efficiency.
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