Working project:

Bio-inspired self-organization intelligent robotic system

Grant manager:

Associated Professor Dobrea Dan, M.Sc., Ph.D

This research is supported with the help of:

       Romanian National Council for Research in High Education grant

Budget:

      264,850 EUR

Research team:

      Sirbu Adriana, Fira Monica, Dobrea Monica Claudia, Chiper Rodica

Short Descriptions of the Project

    The human motor system has a hierarchical organization with different control levels that receive specific sensorial information. The muscular proprioceptors and the receptors from the vestibular system inform (especially at the low motor control levels) the central nervous system about the locomotor mechanics and the body posture. The tactile, visual and auditory information is mainly used by the high control/command levels of the human motor system. Human motor system requires a training time interval for executing a specific motor program (e.q. walking), followed then by a systematic adaptation to the changing of the human living system's parameters and of the environment characteristics.
    This research project aims to design and to implement an intelligent, bio-inspired and with auto-organization robotic system (SrBio) that will be capable to control the movement dynamics (MD) and to obey the successive hierarchical subordination principle that characterizes the human motor system. Thus, SrBio will learn (in an adaptive manner, through a continuing auto-organizing process) to move by avoiding the obstacles and by using for this only the local environment representation provided by the sensors. The movement command for the SrBio will be given by a subject (more exactly, by his cortical activity) through out a brain computer interface (BCI) system. SrBio will execute this global command but having concurrently a local autonomy (it does not receive a details command in order to avoid the local obstacles). SrBio will achieve a double integration: that of the global command and that of the local control of the movement dynamics. This integration is required in order to execute the global command based on the local autonomy which relieves the BCI by the md details command, thus improving the performances. Due to the interdisciplinarity of the project we will seek to simultaneously develop new types of invertors, to test and to utilize new classes of sensors and to find new algorithms for improving the BCI's performances.

2009:

2009 grant report (in romanian language)

Papers:

1. Dan Marius Dobrea, Monica-Claudia Dobrea, EEG Classification System – From an Universal System Implementation to a Particular Signal Modeling, Proceedings of the Romanian Academy - Series A: Mathematics, Physics, Technical Sciences, Information Science, Vol. 10, Nr. 2, May–August 2009, pp. 197-204, ISSN 1454-8267 (download paper)
2. Dan Marius Dobrea, Monica Claudia Dobrea, A study on mental tasks discriminative power,  International Symposium on Signal Processing, Image Processing and Pattern Recognition (Eds. Y.-h. Lee et al., book title „Future Generation Information Technology”, Series „Lecture Notes in Computer Science”, vol. 5899, 2009, ISBN 978-3-642-10508-1, ISSN 0302-9743 (Print) 1611-3349 (Online), editura: Springer-Verlag Berlin Heidelberg), December 10-12, 2009, Jeju Island, Korea, pp. 61-68, Springer – DOI: 10.1007/978-3-642-10509-8 (download paper)
3. Dan Marius Dobrea, Monica Claudia Dobrea, The concept of an intelligent, bio-inspired and brain controlled robotic system, 9th International Conference on Information Technology and Applications in Biomedicine,  November 5-7, 2009, Larnaca, Cyprus, ISBN 978-1-4244-5379-5 (download paper)
4. Monica Claudia Dobrea, Dan Marius Dobrea, The selection of proper discriminative cognitive tasks – a necessary prerequisite in high-quality BCI applications, 2nd International Symposium on Applied Sciences in Biomedical and Communication Technologies, ISABEL 2009, November 24-27, 2009, Bratislava, Slovak Republic, pp. 1-6, ISBN: 978-1-4244-4640-7, IEEE Xplore (http://ieeexplore.ieee.org) - DOI: 10.1109/ISABEL.2009.5373706 (download paper)
5. Dan Marius Dobrea, Monica Claudia Dobrea, Optimisation of a BCI system using the GA technique, 2nd International Symposium on Applied Sciences in Biomedical and Communication Technologies, ISABEL 2009, November 24-27, 2009, Bratislava, Slovak Republic, ISBN: 978-1-4244-4640-7, IEEE Xplore (http://ieeexplore.ieee.org) - DOI: 10.1109/ISABEL.2009.5373673 (download paper)