IEEE-CAA Journal of Automatica Sinica

Article	Citations
SwinFusion: Cross-domain Long-range Learning for General Image Fusion via Swin Transformer	462
A Review on Representative Swarm Intelligence Algorithms for Solving Optimization Problems: Applications and Trends	458
A Brief Overview of ChatGPT: The History, Status Quo and Potential Future Development	341
Internet of Things for the Future of Smart Agriculture: A Comprehensive Survey of Emerging Technologies	305
Modeling and trajectory tracking control for flapping-wing micro aerial vehicles	267
A Survey on Smart Agriculture: Development Modes, Technologies, and Security and Privacy Challenges	226
Deep Learning for EMG-based Human-Machine Interaction: A Review	209
A Survey of Cyber Attacks on Cyber Physical Systems: Recent Advances and Challenges	208
A Survey of Evolutionary Algorithms for Multi-Objective Optimization Problems With Irregular Pareto Fronts	207
Deep Learning Based Attack Detection for Cyber-Physical System Cybersecurity: A Survey	204
SuperFusion: A Versatile Image Registration and Fusion Network with Semantic Awareness	201
Automatic detection of COVID-19 infection using chest X-ray images through transfer learning	200
Blockchain-Assisted Secure Fine-Grained Searchable Encryption for a Cloud-Based Healthcare Cyber-Physical System	196
Dynamic Event-Triggered Scheduling and Platooning Control Co-Design for Automated Vehicles Over Vehicular Ad-Hoc Networks	186
An overview of calibration technology of industrial robots	184
Physical Safety and Cyber Security Analysis of Multi-Agent Systems: A Survey of Recent Advances	177
An Overview of Finite/Fixed-Time Control and Its Application in Engineering Systems	161
Human-in-the-Loop Consensus Control for Nonlinear Multi-Agent Systems With Actuator Faults	152
Dual-Objective Mixed Integer Linear Program and Memetic Algorithm for an Industrial Group Scheduling Problem	147
A multi-layered gravitational search algorithm for function optimization and real-world problems	141
Towards Long Lifetime Battery: AI-Based Manufacturing and Management	141
Disassembly Sequence Planning: A Survey	130
Efficient and High-quality Recommendations via Momentum-incorporated Parallel Stochastic Gradient Descent-Based Learning	122
What Does ChatGPT Say: The DAO from Algorithmic Intelligence to Linguistic Intelligence	118
Three-Way Behavioral Decision Making With Hesitant Fuzzy Information Systems: Survey and Challenges	115

Dynamic hand gesture recognition based on short-term sampling neural networks	113
Consensus Control of Multi-Agent Systems Using Fault-Estimation-in-the-Loop: Dynamic Event-Triggered Case	108
Finite-Control-Set Model Predictive Control of Permanent Magnet Synchronous Motor Drive Systems—An Overview	107
Consensus Control of Leader-Following Multi-Agent Systems in Directed Topology With Heterogeneous Disturbances	107
Digital Twin for Human-Robot Interactive Welding and Welder Behavior Analysis	104
Discounted Iterative Adaptive Critic Designs With Novel Stability Analysis for Tracking Control	104
Unmanned Aerial Vehicles: Control Methods and Future Challenges	103
Set-Membership Filtering Subject to Impulsive Measurement Outliers: A Recursive Algorithm	100
Sliding Mode Control in Power Converters and Drives: A Review	96
Parallel control for optimal tracking via adaptive dynamic programming	93
An Effective Cloud Workflow Scheduling Approach Combining PSO and Idle Time Slot-Aware Rules	90
Task Scheduling for Multi-Cloud Computing Subject to Security and Reliability Constraints	90
Finite-time convergence disturbance rejection control for a flexible Timoshenko manipulator	89
A Survey on Negative Transfer	88
Adaptive Fixed-Time Control of Nonlinear MASs With Actuator Faults	84
Robust Latent Factor Analysis for Precise Representation of High-Dimensional and Sparse Data	82
Resilient and Safe Platooning Control of Connected Automated Vehicles Against Intermittent Denial-of-Service Attacks	82
Chat with ChatGPT on Industry 5.0: Learning and Decision-Making for Intelligent Industries	82
The DAO to MetaControl for MetaSystems in Metaverses: The System of Parallel Control Systems for Knowledge Automation and Control Intelligence in CPSS	80
FISS GAN: A Generative Adversarial Network for Foggy Image Semantic Segmentation	77
DRRS-BC: Decentralized Routing Registration System Based on Blockchain	76
Remaining Useful Life Prediction With Partial Sensor Malfunctions Using Deep Adversarial Networks	74
Complex-Valued Neural Networks: A Comprehensive Survey	74
Neural-Network-Based Control for Discrete-Time Nonlinear Systems with Input Saturation Under Stochastic Communication Protocol	71
Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator	71
Adaptive Decentralized Asymptotic Tracking Control for Large-Scale Nonlinear Systems With Unknown Strong Interconnections	70
Novel stability criteria for linear time-delay systems using Lyapunov-Krasovskii functionals with a cubic polynomial on time-varying delay	69
ST-Trader: A Spatial-Temporal Deep Neural Network for Modeling Stock Market Movement	67
Large-Scale Group Decision Making: A Systematic Review and a Critical Analysis	67
Adaptive Attitude Control for Multi-MUAV Systems With Output Dead-Zone and Actuator Fault	67
Adaptive Memory Event-Triggered Observer-Based Control for Nonlinear Multi-Agent Systems Under DoS Attacks	67
A Risk-Averse Remaining Useful Life Estimation for Predictive Maintenance	66
Decentralized Dynamic Event-Triggered Communication and Active Suspension Control of In-Wheel Motor Driven Electric Vehicles with Dynamic Damping	65
Data-Driven Control of Distributed Event-Triggered Network Systems	65
Computing Paradigms in Emerging Vehicular Environments: A Review	64
Residual-driven Fuzzy C-Means Clustering for Image Segmentation	64
Cooperative and Competitive Multi-Agent Systems: From Optimization to Games	62
An Overview of Recommendation Techniques and Their Applications in Healthcare	62
Dynamic Event-triggered State Estimation for Nonlinear Coupled Output Complex Networks Subject to Innovation Constraints	62
Blockchain-Based Secured IPFS-Enable Event Storage Technique With Authentication Protocol in VANET	61
Machine Learning With Data Assimilation and Uncertainty Quantification for Dynamical Systems: A Review	61
Multiagent Reinforcement Learning: Rollout and Policy Iteration	59
Improving Dendritic Neuron Model With Dynamic Scale-Free Network-Based Differential Evolution	59
A Survey of Underwater Multi-Robot Systems	58
A Distributed Framework for Large-scale Protein-protein Interaction Data Analysis and Prediction Using MapReduce	58
Distributed Nash Equilibrium Seeking for General Networked Games With Bounded Disturbances	57
Distributed Platooning Control of Automated Vehicles Subject to Replay Attacks Based on Proportional Integral Observers	57
Sampling Methods for Efficient Training of Graph Convolutional Networks: A Survey	57
An Adaptive Rapidly-Exploring Random Tree	57
Steps Toward Industry 5.0: Building “6S” Parallel Industries With Cyber-Physical-Social Intelligence	56

Observer-Based Adaptive Fuzzy Tracking Control Using Integral Barrier Lyapunov Functionals for A Nonlinear System With Full State Constraints	55
A PID-incorporated Latent Factorization of Tensors Approach to Dynamically Weighted Directed Network Analysis	55
A novel automatic classification system based on hybrid unsupervised and supervised machine learning for electrospun nanofibers	55
Neural-network-based nonlinear model predictive tracking control of a pneumatic muscle actuator-driven exoskeleton	55
Towards Collaborative Robotics in Top View Surveillance: A Framework for Multiple Object Tracking by Detection Using Deep Learning	55
Scribble-Supervised Video Object Segmentation	54
Vehicle Motion Prediction at Intersections Based on the Turning Intention and Prior Trajectories Model	53
Coordination of Networked Nonlinear Multi-Agents Using a High-Order Fully Actuated Predictive Control Strategy	53
Fighting COVID-19 and Future Pandemics With the Internet of Things: Security and Privacy Perspectives	52
CurveNet: Curvature-Based Multitask Learning Deep Networks for 3D Object Recognition	52
A New Safety Assessment Method Based on Belief Rule Base With Attribute Reliability	52
Cyber Security Intrusion Detection for Agriculture 4.0: Machine Learning-Based Solutions, Datasets, and Future Directions	51
Sliding mode control for nonlinear Markovian jump systems under denial-of-service attacks	50
An Overview and Experimental Study of Learning-Based Optimization Algorithms for the Vehicle Routing Problem	48
Distributed Secondary Control of AC Microgrids With External Disturbances and Directed Communication Topologies: A Full-Order Sliding-Mode Approach	48
A Scalable Adaptive Approach to Multi-Vehicle Formation Control with Obstacle Avoidance	48
Recent Progress in Reinforcement Learning and Adaptive Dynamic Programming for Advanced Control Applications	48
Decentralized Resilient $H_{\infty}$ Load Frequency Control for Cyber-Physical Power Systems Under DoS Attacks	47
Robust Optimization-Based Iterative Learning Control for Nonlinear Systems With Nonrepetitive Uncertainties	47
Detecting Vulnerability on IoT Device Firmware: A Survey	46
Parallel Manufacturing for Industrial Metaverses: A New Paradigm in Smart Manufacturing	46
Coarse-to-Fine Video Instance Segmentation With Factorized Conditional Appearance Flows	46
Resilient Event-Triggered Control of Connected Automated Vehicles Under Cyber Attacks	45
Resilience Against Replay Attacks: A Distributed Model Predictive Control Scheme for Networked Multi-Agent Systems	45
Deep Learning in Sheet Metal Bending With a Novel Theory-Guided Deep Neural Network	45
Joint Algorithm of Message Fragmentation and No-Wait Scheduling for Time-Sensitive Networks	45
Parallel Learning: Overview and Perspective for Computational Learning Across Syn2Real and Sim2Real	45
An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles	45
Distributed Cooperative Control of Battery Energy Storage Systems in DC Microgrids	44
DAO to HANOI via DeSci: AI Paradigm Shifts from AlphaGo to ChatGPT	44
Highway Lane Change Decision-Making via Attention-Based Deep Reinforcement Learning	43
Price-Based Residential Demand Response Management in Smart Grids: A Reinforcement Learning-Based Approach	43
Output-Feedback Based Simplified Optimized Backstepping Control for Strict-Feedback Systems with Input and State Constraints	42
Self-adaptive Bat Algorithm With Genetic Operations	42
Adaptive Multi-Step Evaluation Design With Stability Guarantee for Discrete-Time Optimal Learning Control	41
Decoupling Adaptive Sliding Mode Observer Design for Wind Turbines Subject to Simultaneous Faults in Sensors and Actuators	41
Remaining Useful Life Prediction for a Roller in a Hot Strip Mill Based on Deep Recurrent Neural Networks	41
Speed and Accuracy Tradeoff for LiDAR Data Based Road Boundary Detection	40
Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays	39
Review of Research and Development of Supernumerary Robotic Limbs	39
Reinforcement learning based data fusion method for multi-sensors	39
Fixed-Time Cooperative Tracking for Delayed Disturbed Multi-Agent Systems Under Dynamic Event-Triggered Control	38
Collaborative Pushing and Grasping of Tightly Stacked Objects via Deep Reinforcement Learning	38
Intermittent Control for Fixed-Time Synchronization of Coupled Networks	38
Multi-Modal Domain Adaptation Variational Autoencoder for EEG-Based Emotion Recognition	37
Can ChatGPT Boost Artistic Creation: The Need of Imaginative Intelligence for Parallel Art	37
Lightweight Image Super-Resolution via Weighted Multi-Scale Residual Network	37
New Control Paradigm for Industry 5.0: From Big Models to Foundation Control and Management	37
Recursive Fault Estimation With Energy Harvesting Sensors and Uniform Quantization Effects	37
MU-GAN: Facial Attribute Editing Based on Multi-Attention Mechanism	37
Cooperative Target Tracking of Multiple Autonomous Surface Vehicles Under Switching Interaction Topologies	36
QoS Prediction Model of Cloud Services Based on Deep Learning	36
A sensorless state estimation for a safety-oriented cyber-physical system in urban driving: Deep learning approach	36
Fixed-Time Output Consensus Tracking for High-Order Multi-Agent Systems With Directed Network Topology and Packet Dropout	36
Zoning Search With Adaptive Resource Allocating Method for Balanced and Imbalanced Multimodal Multi-Objective Optimization	35
Vision Based Hand Gesture Recognition Using 3D Shape Context	35
A Bi-population Cooperative Optimization Algorithm Assisted by an Autoencoder for Medium-scale Expensive Problems	35
Mpc-based motion planning and control enables smarter and safer autonomous marine vehicles: perspectives and a tutorial survey	35
Precise Agriculture: Effective Deep Learning Strategies to Detect Pest Insects	35
Integrating Conjugate Gradients Into Evolutionary Algorithms for Large-Scale Continuous Multi-Objective Optimization	34
Energy Consumption Prediction of a CNC Machining Process With Incomplete Data	34
Distributed Fault-Tolerant Containment Control for Nonlinear Multi-Agent Systems Under Directed Network Topology via Hierarchical Approach	34
Elastic Smart Contracts in Blockchains	34
An RGB-D Camera Based Visual Positioning System for Assistive Navigation by a Robotic Navigation Aid	34
Encrypted Finite-Horizon Energy-to-Peak State Estimation for Time-Varying Systems Under Eavesdropping Attacks: Tackling Secrecy Capacity	34
Big data analytics in healthcare A systematic literature review and roadmap for practical implementation	34
Privacy preserving solution for the asynchronous localization of underwater sensor networks	34
Adaptive Consensus of Non-Strict Feedback Switched Multi-Agent Systems With Input Saturations	32
Generative Adversarial Network Based Heuristics for Sampling-Based Path Planning	32
Bipartite Formation Tracking for Multi-Agent Systems Using Fully Distributed Dynamic Edge-Event-Triggered Protocol	32
Cooperative Multi-Agent Control for Autonomous Ship Towing Under Environmental Disturbances	32
Deadlock-free Supervisor Design for Robotic Manufacturing Cells With Uncontrollable and Unobservable Events	32
Group multi-role assignment with conflicting roles and agents	31
A Hybrid Ensemble Deep Learning Approach for Early Prediction of Battery Remaining Useful Life	31
Development and Control of Underwater Gliding Robots: A Review	31
Adaptive Pseudo Inverse Control for a Class of Nonlinear Asymmetric and Saturated Nonlinear Hysteretic Systems	30
DeCASA in AgriVerse: Parallel Agriculture for Smart Villages in Metaverses	30
A Fully Distributed Approach to Optimal Energy Scheduling of Users and Generators Considering a Novel Combined Neurodynamic Algorithm in Smart Grid	30
Searching for Best Network Topologies with Optimal Synchronizability: A Brief Review	30
Limited-Budget Consensus Design and Analysis for Multiagent Systems With Switching Topologies and Intermittent Communications	30

Explainable, Domain-Adaptive, and Federated Artificial Intelligence in Medicine	29
Glioma Segmentation-Oriented Multi-Modal MR Image Fusion With Adversarial Learning	29
Cubature Kalman Filter Under Minimum Error Entropy With Fiducial Points for INS/GPS Integration	29
Stabilization parametric region of distributed PID controllers for general first-order multi-agent systems with time delay	29
Parallel Sensing in Metaverses: Virtual-Real Interactive Smart Systems for “6S” Sensing	29
Interval Type-2 Fuzzy Hierarchical Adaptive Cruise Following-Control for Intelligent Vehicles	29
A Bio-Inspired Flapping-Wing Robot With Cambered Wings and Its Application in Autonomous Airdrop	29
An Optimal Control Strategy for Multi-UAVs Target Tracking and Cooperative Competition	29
Soft Robotics: Morphology and Morphology-inspired Motion Strategy	29
Robotic Intra-Operative Ultrasound: Virtual Environments and Parallel Systems	29
Dynamic Scheduling and Path Planning of Automated Guided Vehicles in Automatic Container Terminal	28
Optimal Synchronization Control of Heterogeneous Asymmetric Input-Constrained Unknown Nonlinear MASs via Reinforcement Learning	28
Data-Driven Heuristic Assisted Memetic Algorithm for Efficient Inter-Satellite Link Scheduling in the BeiDou Navigation Satellite System	28
Parallel Factories for Smart Industrial Operations: From Big AI Models to Field Foundational Models and Scenarios Engineering	28
Adaptive Backstepping Control Design for Semi-Active Suspension of Half-Vehicle With Magnetorheological Damper	27
Position Encoding Based Convolutional Neural Networks for Machine Remaining Useful Life Prediction	27
Gradient-Based Differential $k\text{WTA}$ Network With Application to Competitive Coordination of Multiple Robots	27
A Fast Clustering Based Evolutionary Algorithm for Super-Large-Scale Sparse Multi-Objective Optimization	27
Communication Resource-Efficient Vehicle Platooning Control With Various Spacing Policies	26
Vibration Control of a High-Rise Building Structure: Theory and Experiment	26
Data-Driven Hybrid Neural Fuzzy Network and ARX Modeling Approach to Practical Industrial Process Identification	26
Aerodynamic Effects Compensation on Multi-Rotor UAVs Based on a Neural Network Control Allocation Approach	26
Understanding nonverbal communication cues of human personality traits in human-robot interaction	26
An Eco-Route planner for heavy duty vehicles	26
Resource Allocation Based on User Pairing and Subcarrier Matching for Downlink Non-Orthogonal Multiple Access Networks	26
Kernel Generalization of Multi-Rate Probabilistic Principal Component Analysis for Fault Detection in Nonlinear Process	26
Distributed Fault-Tolerant Consensus Tracking of Multi-Agent Systems Under Cyber-Attacks	25
Probabilistic Lane-Change Decision-Making and Planning for Autonomous Heavy Vehicles	25
A Novel Green Supplier Selection Method Based on the Interval Type-2 Fuzzy Prioritized Choquet Bonferroni Means	25
Human-Swarm-Teaming Transparency and Trust Architecture	25
Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning	25
Output Constrained Adaptive Controller Design for Nonlinear Saturation Systems	25
The Metaverse of Mind: Perspectives on DeSci for DeEco and DeSoc	25
Resilient Time-Varying Formation-Tracking of Multi-UAV Systems Against Composite Attacks: A Two-Layered Framework	24
A Survey and Tutorial of EEG-Based Brain Monitoring for Driver State Analysis	24
Computation of an emptiable minimal siphon in a subclass of Petri nets using mixed-integer programming	24
Performance Evaluation of Public Bus Transportation by Using DEA Models and Shannon's Entropy: An Example From a Company in a Large City of China	24
Iterative Learning Disturbance Observer Based Attitude Stabilization of Flexible Spacecraft Subject to Complex Disturbances and Measurement Noises	24
Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor: System, Algorithms, and Experiments	24
Sampled-Data Asynchronous Fuzzy Output Feedback Control for Active Suspension Systems in Restricted Frequency Domain	24
A Novel Disturbance Observer Based Fixed-Time Sliding Mode Control for Robotic Manipulators with Global Fast Convergence	24
Property Preservation of Petri Synthesis Net Based Representation for Embedded Systems	24
A Visual-Based Gesture Prediction Framework Applied in Social Robots	24
Atomic Spin Polarization Controllability Analysis: A Novel Controllability Determination Method for Spin-Exchange Relaxation-Free Co-Magnetometers	24
On the System Performance of Mobile Edge Computing in an Uplink NOMA WSN With a Multiantenna Access Point Over Nakagami-$m$ Fading	24
Multi-Cluster Feature Selection Based on Isometric Mapping	24
Energy Control of Plug-In Hybrid Electric Vehicles Using Model Predictive Control With Route Preview	23
Resilient Event-Triggered Model Predictive Control for Adaptive Cruise Control Under Sensor Attacks	23
When Does Sora Show: The Beginning of TAO to Imaginative Intelligence and Scenarios Engineering	23
A Lane-Level Road Marking Map Using a Monocular Camera	23
Networked Knowledge and Complex Networks: An Engineering View	23
Learning Convex Optimization Models	23
Variance-Constrained Filtering Fusion for Nonlinear Cyber-Physical Systems With the Denial-of-Service Attacks and Stochastic Communication Protocol	23
Generalized-Extended-State-Observer and Equivalent-Input-Disturbance Methods for Active Disturbance Rejection: Deep Observation and Comparison	23
Nonsingular Terminal Sliding Mode Control With Ultra-Local Model and Single Input Interval Type-2 Fuzzy Logic Control for Pitch Control of Wind Turbines	22
Command Filtered Finite/Fixed-time Heading Tracking Control of Surface Vehicles	22
Knowledge Learning With Crowdsourcing: A Brief Review and Systematic Perspective	22
Domain-Invariant Similarity Activation Map Contrastive Learning for Retrieval-Based Long-Term Visual Localization	22
A Novel Multiobjective Fireworks Algorithm and Its Applications to Imbalanced Distance Minimization Problems	22
Fixed-Time Lyapunov Criteria and State-Feedback Controller Design for Stochastic Nonlinear Systems	22
Passivity-Based Robust Control Against Quantified False Data Injection Attacks in Cyber-Physical Systems	22
A Cognitive Memory-Augmented Network for Visual Anomaly Detection	22
Visuals to Text: A Comprehensive Review on Automatic Image Captioning	22
Geometric-Spectral Reconstruction Learning for Multi-Source Open-Set Classification With Hyperspectral and LiDAR Data	21
Reduced-Order Observer-Based Leader-Following Formation Control for Discrete-Time Linear Multi-Agent Systems	21
Single image enhancement in sandstorm weather via tensor least square	21
Adaptive Uniform Performance Control of Strict-Feedback Nonlinear Systems With Time-Varying Control Gain	21
Generating Adversarial Samples on Multivariate Time Series using Variational Autoencoders	21
Survey on AI and Machine Learning Techniques for Microgrid Energy Management Systems	21
Multi-Candidate Voting Model Based on Blockchain	21
Data-based optimal tracking of autonomous nonlinear switching systems	20
Four wheel independent drive electric vehicle lateral stability control strategy	20
Evolutionary Multitasking with Global and Local Auxiliary Tasks for Constrained Multi-Objective Optimization	20
STGSA: A Novel Spatial-Temporal Graph Synchronous Aggregation Model for Traffic Prediction	20
Static-Output-Feedback Based Robust Fuzzy Wheelbase Preview Control for Uncertain Active Suspensions With Time Delay and Finite Frequency Constraint	20
Fully Distributed Resilient Cooperative Control of Vehicular Platoon Systems Under DoS Attacks	20
How Generative Adversarial Networks Promote the Development of Intelligent Transportation Systems: A Survey	20
A Novel Obstacle Avoidance Consensus Control for Multi-AUV Formation System	20
Finite-Time Fuzzy Sliding Mode Control for Nonlinear Descriptor Systems	20
Point Cloud Classification Using Content-Based Transformer via Clustering in Feature Space	19
Editorial: Evolution from AI, IoT and Big Data Analytics to Metaverse	19
Robotic Knee Tracking Control to Mimic the Intact Human Knee Profile Based on Actor-Critic Reinforcement Learning	19
Towards a theoretical framework of autonomous systems underpinned by intelligence and systems sciences	19
Adaptive control of a two-link robot using batch least-square identifier	19
Autonomous Maneuver Decisions via Transfer Learning Pigeon-Inspired Optimization for UCAVs in Dogfight Engagements	19
Adaptive Control With Guaranteed Transient Behavior and Zero Steady-State Error for Systems With Time-Varying Parameters	19
A Novel Tensor Decomposition-Based Efficient Detector for Low-Altitude Aerial Objects With Knowledge Distillation Scheme	19
Battery Full Life Cycle Management and Health Prognosis Based on Cloud Service and Broad Learning	19
Total Variation Constrained Non-Negative Matrix Factorization for Medical Image Registration	19
A Chaotic Local Search-Based Particle Swarm Optimizer for Large-Scale Complex Wind Farm Layout Optimization	19
Distributed Optimization Algorithm for Multi-Robot Formation with Virtual Reference Center	19
Attacks Against Cross-Chain Systems and Defense Approaches: A Contemporary Survey	19
Hierarchical Reinforcement Learning With Automatic Sub-Goal Identification	18
A Braille Reading System Based on Electrotactile Display With Flexible Electrode Array	18
Notice of Removal: Removal of ocular artifacts using ICA and adaptive filter for motor imagery-based BCI	18