Summary of algorithm performance.

<p>Comparison of novelty detection schemes when (i) either whisking stochastically or periodically and (ii) when the robot model of whisker movement is linear or nonlinear. <b>A</b>: Linear model of robot whisking. The bilinear term coefficient, (described in <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0044560#s2" target="_blank">Methods</a>) was set to 0. <b>B</b>: Nonlinear model of robot whisking. The bilinear term coefficient, was set to 0.05. Mean level of improvement in signal-to-noise ratio (SNR) over baseline raw signal is shown by the bar plot and standard deviation by the error bars (obtained from 20 trials in each case).