Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Using Variable Natural Environment Brain-Computer Interface Stimuli for
  Real-time Humanoid Robot Navigation   This paper addresses the challenge of humanoid robot teleoperation in a
natural indoor environment via a Brain-Computer Interface (BCI). We leverage
deep Convolutional Neural Network (CNN) based image and signal understanding to
facilitate both real-time bject detection and dry-Electroencephalography (EEG)
based human cortical brain bio-signals decoding. We employ recent advances in
dry-EEG technology to stream and collect the cortical waveforms from subjects
while they fixate on variable Steady State Visual Evoked Potential (SSVEP)
stimuli generated directly from the environment the robot is navigating. To
these ends, we propose the use of novel variable BCI stimuli by utilising the
real-time video streamed via the on-board robot camera as visual input for
SSVEP, where the CNN detected natural scene objects are altered and flickered
with differing frequencies (10Hz, 12Hz and 15Hz). These stimuli are not akin to
traditional stimuli - as both the dimensions of the flicker regions and their
on-screen position changes depending on the scene objects detected. On-screen
object selection via such a dry-EEG enabled SSVEP methodology, facilitates the
on-line decoding of human cortical brain signals, via a specialised secondary
CNN, directly into teleoperation robot commands (approach object, move in a
specific direction: right, left or back). This SSVEP decoding model is trained
via a priori offline experimental data in which very similar visual input is
present for all subjects. The resulting classification demonstrates high
performance with mean accuracy of 85% for the real-time robot navigation
experiment across multiple test subjects.

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The categories of this paper are: physics
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The categories of this paper are: hep-th
18
The categories of this paper are: econ
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The categories of this paper are: hep-ph
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The categories of this paper are: math-ph
34
The categories of this paper are: chem-ph
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The categories of this paper are: mtrl-th
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The categories of this paper are: solv-int
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The categories of this paper are: patt-sol
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The categories of this paper are: nlin
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The categories of this paper are: gr-qc
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The categories of this paper are: hep-ex
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The categories of this paper are: nucl-ex
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The categories of this paper are: cmp-lg
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The categories of this paper are: alg-geom
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The categories of this paper are: chao-dyn