BCI-program

Dependencies

Matlab Addons

• Data Acquisition Toolbox: https://se.mathworks.com/products/data-acquisition.html
• Data Acquisition Support Package for National Instruments NI-DAQmx Devices: https://www.mathworks.com/matlabcentral/fileexchange/45086-data-acquisition-toolbox-support-package-for-national-instruments-ni-daqmx-devices
• Parallel Computing Toolbox: https://se.mathworks.com/products/parallel-computing.html
• ROS Toolbox: https://se.mathworks.com/products/ros.html
• Common Spatial Patterns (CSP): https://se.mathworks.com/matlabcentral/fileexchange/72204-common-spatial-patterns-csp
• FastICA: https://research.ics.aalto.fi/ica/fastica/
• Signal Processing Toolbox: https://se.mathworks.com/products/signal.html
• Brainflow API: https://brainflow.readthedocs.io/en/stable/index.html
• Wavelet Toolbox: https://se.mathworks.com/products/wavelet.html?s_tid=FX_PR_info
• wICA(data,varargin): https://se.mathworks.com/matlabcentral/fileexchange/55413-wica-data-varargin
• EMG Feature Extraction Toolbox: https://se.mathworks.com/matlabcentral/fileexchange/71514-emg-feature-extraction-toolbox

Project structure

├── Datasets
├── DebugScripts
├── Functions
├── Logs
├── main.m
├── README.md
└── Recording

main.m

• Main script to run the program.

Datasets

• Contains the datasets for EEG and EMG.
• Datasets named Left_Side_cluster is the offline sampled data used for training the classifiers
• Datsets name Ch_1_longitude_Ch_2_transverse is the offline sampled data used for training the classifiers

Functions

• Scripts used to run the BCI concurrently.

Logs

• Contains log files from running the program.

Recording

• Scripts used to record datasets for EEG and EMG.

Hardware setup

myDAQ and Grove EMG sensors

• Grove EMG sensors connects to analog input channels 0 and 1
• Grove EMG sensors are powered with myDAQs 5V out
• Check so both channels has ~1.5V output when powered using elvisMX oscilloscope instrument

Ganglion Board

• Connect the BLED112 bluetooth dongle to the laptop and check so that it has a COM* port specified. Change the port value in main.m to this value
• Flip the dipswitches to downwards position on the ganglion board to combine the references
• Connect electrodes to ports 1, 2, 3, 4, D_G, and ref
• Test the connection first using the OpenBCI_GUI, if the connection is working close the session

Running the program

After completing the hardware setup, a wsl session running turtlebot3_gazebo and ROS2 should be started if that is wanted. Otherwise the program should run by itself.

Console output

• Directions sent to the turtlebot
• Missed package IDs
• Average sampling + processing time

debug = true;

Will output more information to the console.

Flowchart

Recommendation for future implementations

• Setup the ganglion board as an internet streamer instead of file. Doing this enables 3 new data transmission such as UDP, LSL, and serial port. This allows for realtime plotting using another program, and the data can be sent to LabView or other real-time optimized interfaces.