Continuous Operator Authentication for Teleoperated Systems Using Hidden Markov Models

In this article, we present a novel approach for continuous operator authentication in teleoperated robotic processes based on Hidden Markov Models (HMM). While HMMs were originally developed and widely used in speech recognition, they have shown great performance in human motion and activity modeling. We make an analogy between human language and teleoperated robotic processes (i.e., words are analogous to a teleoperator’s gestures, sentences are analogous to the entire teleoperated task or process) and implement HMMs to model the teleoperated task. To test the continuous authentication performance of the proposed method, we conducted two sets of analyses. We built a virtual reality (VR) experimental environment using a commodity VR headset (HTC Vive) and haptic feedback enabled controller (Sensable PHANToM Omni) to simulate a real teleoperated task. An experimental study with 10 subjects was then conducted. We also performed simulated continuous operator authentication by using the JHU-ISI Gesture and Skill Assessment Working Set (JIGSAWS). The performance of the model was evaluated based on the continuous (real-time) operator authentication accuracy as well as resistance to a simulated impersonation attack. The results suggest that the proposed method is able to achieve 70% (VR experiment) and 81% (JIGSAWS dataset) continuous classification accuracy with as short as a 1-second sample window. It is also capable of detecting an impersonation attack in real-time.

Supported Diagnosis of Attention Deficit and Hyperactivity Disorder from EEG Based on Interpretable Kernels for Hidden Markov Models

As a neurodevelopmental pathology, Attention Deficit Hyperactivity Disorder (ADHD) mainly arises during childhood. Persistent patterns of generalized inattention, impulsivity, or hyperactivity characterize ADHD that may persist into adulthood. The conventional diagnosis relies on clinical observational processes yielding high rates of overdiagnosis due to varying interpretations among specialists or missing information. Although several studies have designed objective behavioral features to overcome such an issue, they lack significance. Despite electroencephalography (EEG) analyses extracting alternative biomarkers using signal processing techniques, the nonlinearity and nonstationarity of EEG signals restrain performance and generalization of hand-crafted features. This work proposes a methodology to support ADHD diagnosis by characterizing EEG signals from hidden Markov models (HMM), classifying subjects based on similarity measures for probability functions, and spatially interpreting the results using graphic embeddings of stochastic dynamic models. The methodology learns a single HMM for EEG signal from each patient, so favoring the inter-subject variability. Then, the Probability Product Kernel, specifically developed for assessing the similarity between HMMs, fed a support vector machine that classifies subjects according to their stochastic dynamics. Lastly, the kernel variant of Principal Component Analysis provided a means to visualize the EEG transitions in a two-dimensional space, evidencing dynamic differences between ADHD and Healthy Control children. From the electrophysiological perspective, we recorded EEG under the Stop Signal Task modified with reward levels, which considers cognitive features of interest as insufficient motivational circuits recruitment. The methodology compares the supported diagnosis in two EEG channel setups (whole channel set and channels of interest in frontocentral area) and four frequency bands (Theta, Alpha, Beta rhythms, and a wideband). Results evidence an accuracy rate of 97.0% in the Beta band and in the channels where previous works found error-related negativity events. Such accuracy rate strongly supports the dual pathway hypothesis and motivational deficit concerning the pathophysiology of ADHD. It also demonstrates the utility of joining inhibitory and motivational paradigms with dynamic EEG analysis into a noninvasive and affordable diagnostic tool for ADHD patients.

Infant Cry Recognition System

Cries of infants can be seen as an indicator of pain. It has been proven that crying caused by pain, hunger, fear, stress, etc., show different cry patterns. The work presented here introduces a comparative study between the performance of two different classification techniques implemented in an automatic classification system for identifying two types of infants' cries, pain, and non-pain. The techniques are namely, Continuous Hidden Markov Models (CHMM) and Artificial Neural Networks (ANN). Two different sets of acoustic features were extracted from the cry samples, those are MFCC and LPCC, the feature vectors generated by each were eventually fed into the classification module for the purpose of training and testing. The results of this work showed that the system based on CDHMM have better performance than that based on ANN. CDHMM gives the best identification rate at 96.1%, which is much higher than 79% of ANN whereby in general the system based on MFCC features performed better than the one that utilizes LPCC features.