Real-time and fault tolerance in distributed control software

Closed loop control systems typically contain multitude of spatially distributed sensors and actuators operated simultaneously. So those systems are parallel and distributed in their essence. But mapping this parallelism onto the given distributed hardware architecture, brings in some additional requirements: safe multithreading, optimal process allocation, real-time scheduling of bus and network resources. Nowadays, fault tolerance methods and fast even online reconfiguration are becoming increasingly important. All those often conflicting requirements, make design and implementation of real-time distributed control systems an extremely difficult task, that requires substantial knowledge in several areas of control and computer science. Although many design methods have been proposed so far, none of them had succeeded to cover all important aspects of the problem at hand. [1] Continuous increase of production in embedded market, makes a simple and natural design methodology for real-time systems needed more then ever

Spatial Filtering Pipeline Evaluation of Cortically Coupled Computer Vision System for Rapid Serial Visual Presentation

Rapid Serial Visual Presentation (RSVP) is a paradigm that supports the application of cortically coupled computer vision to rapid image search. In RSVP, images are presented to participants in a rapid serial sequence which can evoke Event-related Potentials (ERPs) detectable in their Electroencephalogram (EEG). The contemporary approach to this problem involves supervised spatial filtering techniques which are applied for the purposes of enhancing the discriminative information in the EEG data. In this paper we make two primary contributions to that field: 1) We propose a novel spatial filtering method which we call the Multiple Time Window LDA Beamformer (MTWLB) method; 2) we provide a comprehensive comparison of nine spatial filtering pipelines using three spatial filtering schemes namely, MTWLB, xDAWN, Common Spatial Pattern (CSP) and three linear classification methods Linear Discriminant Analysis (LDA), Bayesian Linear Regression (BLR) and Logistic Regression (LR). Three pipelines without spatial filtering are used as baseline comparison. The Area Under Curve (AUC) is used as an evaluation metric in this paper. The results reveal that MTWLB and xDAWN spatial filtering techniques enhance the classification performance of the pipeline but CSP does not. The results also support the conclusion that LR can be effective for RSVP based BCI if discriminative features are available

Fast and Accurate Multiclass Inference for MI-BCIs Using Large Multiscale Temporal and Spectral Features

Accurate, fast, and reliable multiclass classification of electroencephalography (EEG) signals is a challenging task towards the development of motor imagery brain-computer interface (MI-BCI) systems. We propose enhancements to different feature extractors, along with a support vector machine (SVM) classifier, to simultaneously improve classification accuracy and execution time during training and testing. We focus on the well-known common spatial pattern (CSP) and Riemannian covariance methods, and significantly extend these two feature extractors to multiscale temporal and spectral cases. The multiscale CSP features achieve 73.70$\pm$15.90% (mean$\pm$ standard deviation across 9 subjects) classification accuracy that surpasses the state-of-the-art method [1], 70.6$\pm$14.70%, on the 4-class BCI competition IV-2a dataset. The Riemannian covariance features outperform the CSP by achieving 74.27$\pm$15.5% accuracy and executing 9x faster in training and 4x faster in testing. Using more temporal windows for Riemannian features results in 75.47$\pm$12.8% accuracy with 1.6x faster testing than CSP.Comment: Published as a conference paper at the IEEE European Signal Processing Conference (EUSIPCO), 201

The Role of Commutativity in Constraint Propagation Algorithms

Constraint propagation algorithms form an important part of most of the constraint programming systems. We provide here a simple, yet very general framework that allows us to explain several constraint propagation algorithms in a systematic way. In this framework we proceed in two steps. First, we introduce a generic iteration algorithm on partial orderings and prove its correctness in an abstract setting. Then we instantiate this algorithm with specific partial orderings and functions to obtain specific constraint propagation algorithms. In particular, using the notions commutativity and semi-commutativity, we show that the {\tt AC-3}, {\tt PC-2}, {\tt DAC} and {\tt DPC} algorithms for achieving (directional) arc consistency and (directional) path consistency are instances of a single generic algorithm. The work reported here extends and simplifies that of Apt \citeyear{Apt99b}.Comment: 35 pages. To appear in ACM TOPLA

Wavelet Lifting over Information-Based EEG Graphs for Motor Imagery Data Classification

The imagination of limb movements offers an intuitive paradigm for the control of electronic devices via brain computer interfacing (BCI). The analysis of electroencephalographic (EEG) data related to motor imagery potentials has proved to be a difficult task. EEG readings are noisy, and the elicited patterns occur in different parts of the scalp, at different instants and at different frequencies. Wavelet transform has been widely used in the BCI field as it offers temporal and spectral capabilities, although it lacks spatial information. In this study we propose a tailored second generation wavelet to extract features from these three domains. This transform is applied over a graph representation of motor imaginary trials, which encodes temporal and spatial information. This graph is enhanced using per-subject knowledge in order to optimise the spatial relationships among the electrodes, and to improve the filter design. This method improves the performance of classifying different imaginary limb movements maintaining the low computational resources required by the lifting transform over graphs. By using an online dataset we were able to positively assess the feasibility of using the novel method in an online BCI context