Conceptual Design of BCI for Mobile Robot Control

Abstract

This paper presents an application of Hierarchical Systems (HS) technology in conceptual and detailed design of Brain Computer Interface (BCI) system to control a mobile robot. The BCI is a biomechatronic system that includes biological (brain), computer (control PC), electronic (sensors), visual informatics (LCD—liquid crystal display, GUI—graphic user interface) and executive electro-mechanical (MR—mobile robot) subsystems. Therefore, the conceptual model of the designed BCI system should present connected formal models of the above subsystems presented in the general systemic basis. The structure of the BCI system, its dynamic realization as a unit in its environment and MR environment are presented formally as well. In addition, the conceptual model should also take into account the BCI inter-level relations performed by MR coordinator implemented in the form of the design and control system. Therefore, HS model (and its standard block aed—ancient Greek word) is selected and described as the formal basis of the conceptual model of BCI system in the first part of the given paper. BCI system detailed design is under consideration in the second part of the paper. BCI control system and MR design results, as well as MR control process are also described in the final part of the paper.

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“…Con respecto al uso de tecnologías avanzadas, la propuesta realizada se basa en tecnologías web modernas y con sostenibilidad. Aun así, autores como Miatliuk K. [22] proponen un diseño conceptual de control mental del dispositivo mediante la lectura de ondas cerebrales. Así mismo, Gego D. [23] propone algo similar pero mediante el seguimiento de la pupila del ojo del usuario.…”

Analysis of the Displacement of Terrestrial Mobile Robots in Corridors Using Paraconsistent Annotated Evidential Logic Eτ

“…They do not allow describing robotic and mechatronic systems on all their levels in one common formal basis. So, Hierarchical Systems (HS) technology and created MS model [7][8][9][10] are coordinated with known mathematical and AI models, thus meeting all the above requirements. Models of MS structure, MS as a unit in its environment, and MS environment model are presented in the common HS formal basis.…”

Conceptual Design and Control of a Robotic System for Welding

“…Therefore, Hierarchical System (HS) [7] including its aed model [8][9][10][11][12][13] was selected in the paper as the formal basis for the conceptual model development and conceptual design of RW system. RWS model was created using the general conceptual description of mechatronic systems proposed [1,11,12,14,16].…”