arXiv subjects

Maryam Norouzi

Publications and source records attributed to Maryam Norouzi.

4 recordsLinked to original sources

arXiv2026

A Novel Adaptive Formation Control Strategy for Teams of Unmanned Vehicles Under Complete Dynamic Uncertainty

Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and adaptive control strategies. In this work, we address the formation control problem for a team of unmanned systems with completely uncertain dynamics under a virtual leader-following framework. We propose a novel cooperative adaptive formation control algorithm, designed using artificial neural networks to achieve accurate formation tracking. The effectiveness of the proposed control strategy is established through rigorous theoretical analysis, which guarantees uniform ultimate boundedness of the overall system and exponential convergence of the tracking errors to a small neighborhood of zero. Numerical simulations further validate the effectiveness of the proposed formation control algorithm, demonstrating that the followers accurately track the desired formation trajectory relative to the leader, even in the presence of complete system uncertainties. This work suggests potential application in coordinating multiple unmanned airships for tasks such as persistent aerial surveillance, atmospheric data collection, and wide-area communication support, where adaptability to time-varying and uncertain dynamics is essential.

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arXiv2025

A Comparative Study of Conventional and Tripolar EEG for High-Performance Reach-to-Grasp BCI Systems

This study aims to enhance BCI applications for individuals with motor impairments by comparing the effectiveness of tripolar EEG (tEEG) with conventional EEG. The focus is on interpreting and decoding various grasping movements, such as power grasp and precision grasp. The goal is to determine which EEG technology is more effective in processing and translating grasp related neural signals. The approach involved experimenting on ten healthy participants who performed two distinct grasp movements: power grasp and precision grasp, with a no movement condition serving as the baseline. Our research presents a thorough comparison between EEG and tEEG in decoding grasping movements. This comparison spans several key parameters, including signal to noise ratio (SNR), spatial resolution via functional connectivity, ERPs, and wavelet time frequency analysis. Additionally, our study involved extracting and analyzing statistical features from the wavelet coefficients, and both binary and multiclass classification methods were employed. Four machine learning algorithms were used to evaluate the decoding accuracies. Our results indicated that tEEG demonstrated superior performance over conventional EEG in various aspects. This included a higher signal to noise ratio, enhanced spatial resolution, and more informative data in ERPs and wavelet time frequency analysis. The use of tEEG led to notable improvements in decoding accuracy for differentiating movement types. Specifically, tEEG achieved around 90% accuracy in binary and 75.97% for multiclass classification. These results are markedly better than those from standard EEG, which recorded a maximum of 77.85% and 61.27% in similar tasks, respectively. These findings highlight the superior effectiveness of tEEG over EEG in decoding grasp types and its competitive or superior performance in complex classifications compared with existing research.

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arXiv2024

A novel seamless magnetic-based actuating mechanism for end-effector-based robotic rehabilitation platforms

Rehabilitation robotics continues to confront substantial challenges, particularly in achieving smooth, safe, and intuitive human-robot interactions for upper limb motor training. Many current systems depend on complex mechanical designs, direct physical contact, and multiple sensors, which not only elevate costs but also reduce accessibility. Additionally, delivering seamless weight compensation and precise motion tracking remains a highly complex undertaking. To overcome these obstacles, we have developed a novel magnetic-based actuation mechanism for end-effector robotic rehabilitation. This innovative approach enables smooth, non-contact force transmission, significantly enhancing patient safety and comfort during upper limb training. To ensure consistent performance, we integrated an Extended Kalman Filter (EKF) alongside a controller for real-time position tracking, allowing the system to maintain high accuracy or recover even in the event of sensor malfunction or failure. In a user study with 12 participants, 75% rated the system highly for its smoothness, while 66.7% commended its safety and effective weight compensation. The EKF demonstrated precise tracking performance, with root mean square error (RMSE) values remaining within acceptable limits (under 2 cm). By combining magnetic actuation with advanced closed-loop control algorithms, this system marks a significant advancement in the field of upper limb rehabilitation robotics.

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arXiv2024

Precision Enhancement in Sustained Visual Attention Training Platforms: Offline EEG Signal Analysis for Classifier Fine-Tuning

In this study, a novel open-source brain-computer interface (BCI) platform was developed to decode scalp electroencephalography (EEG) signals associated with sustained attention. The EEG signal collection was conducted using a wireless headset during a sustained visual attention task, where participants were instructed to discriminate between composite images superimposed with scenes and faces, responding only to the relevant subcategory while ignoring the irrelevant ones. Seven volunteers participated in this experiment. The data collected were subjected to analyses through event-related potential (ERP), Hilbert Transform, and Wavelet Transform to extract temporal and spectral features. For each participant, utilizing its extracted features, personalized Support Vector Machine (SVM) and Random Forest (RF) models with tuned hyperparameters were developed. The models aimed to decode the participant's attentional state towards the face and scene stimuli. The SVM models achieved a higher average accuracy of 80\% and an Area Under the Curve (AUC) of 0.86, while the RF models showed an average accuracy of 78\% and AUC of 0.8. This work suggests potential applications for the evaluation of visual attention and the development of closed-loop brainwave regulation systems in the future.

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