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  • EEG With Collaborative Robot

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    AVISHEK MUKHERJEE
    8 views7 pages
    The document describes a workflow where a robot assists a human by picking up and placing components near the human when requested. It explains that when the robot cannot locate an object, the human gives the robot camera movement instructions to help locate it. The workflow is executed in parallel in normal mode.

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    EEG with Collaborative robot

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    The document describes a workflow where a robot assists a human by picking up and placing components near the human when requested. It explains that when the robot cannot locate an object, the human gives the robot camera movement instructions to help locate it. The workflow is executed in parallel in normal mode.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    8 views7 pages

    EEG With Collaborative Robot

    Uploaded by

    AVISHEK MUKHERJEE
    The document describes a workflow where a robot assists a human by picking up and placing components near the human when requested. It explains that when the robot cannot locate an object, the human gives the robot camera movement instructions to help locate it. The workflow is executed in parallel in normal mode.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 7

    WORKFLOW

     When human requests assistance, robot picks component and places it near human.
     When robot cannot locate object, human gives camera movement instructions to help the
    robot.
     Parallel execution in normal mode.
    THIS PAPER’S WORKFLOW

    Platform that contains shared


    Variables. OpenBCI and TMFlow
    communicate by changing the
    variables values.
    OUR WORKFLOW Desktop Laptop

    7
    Object
    EEG Cap
    positioning
    1
    2 Acquisition Live video
    Cykit
    5

    Processing 3
    6

    4 Prediction

    Interfacing
    COMPONENTS
    THIS PAPER OUR WORK
     OpenBCI GUI: Acquired via LSL layer  CyKIT: Acquires data from EMOTIV headset via Bluetooth serial
    interface
     Signal processing: Python, process for SSVEP.
     Signal acquisition, processing: Python stores signals in 2 s
     Sends values 0 – 4 windows.
     CCA for frequency peak analysis  Processes signal (filter, feature extraction)
     Butterworth filter – 4 to 30 Hz  Model prediction
     Notch filter: 50 Hz  Send 0/1 to robot
     GUI-ROS: TCP connection, sends parameter values  GUI: Displays red/green circle when corr. object in camera view
     ROS publishes to listening node  Acc. to input, variables set in OpCua. Pick and place task
    initiated accordingly.
     TMFlow subscriber: tracks value updates in variables
     TCP communication between all nodes.
     After process, reset all flags and variables
    SSVEP features in EEG signal
    Worker assistance
    Component A Component B

    Component C Component D
    Robot assistance
    Move up Move down

    Move left Move right

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