POMDP-BCI: A Benchmark of (Re)Active BCI Using POMDP to Issue Commands.

OBJECTIVE: Past research in Brain-Computer Interfaces (BCI) have presented different decoding algorithms for different modalities. Meanwhile, highly specific decision making processes have been developed for some of these modalities, while others lack such a component in their classic pipeline. The present work proposes a model based on Partially Observable Markov Decission Process (POMDP) that works as a high-level decision making framework for three different active/reactive BCI modalities. METHODS: We tested our approach on three different BCI modalities using publicly available datasets. We compared the general POMDP model as a decision making process with state of the art methods for each BCI modality. Accuracy, false positive (FP) trials, no-action (NA) trials and average decision time are presented as metrics. RESULTS: Our results show how the presented POMDP models achieve comparable or better performance to the presented baseline methods, while being usable for the three proposed experiments without significant changes. Crucially, it offers the possibility of taking no-action (NA) when the decoding does not perform well. CONCLUSION: The present work implements a flexible POMDP model that acts as a sequential decision framework for BCI systems that lack such a component, and perform comparably to those that include it. SIGNIFICANCE: We believe the proposed POMDP framework provides several interesting properties for future BCI developments, mainly the generalizability to any BCI modality and the possible integration of other physiological or brain data pipelines under a unified decision-making framework.

Enabling Blockchain Services for IoE with Zk-Rollups.

The Internet of Things includes all connected objects from small embedded systems with low computational power and storage capacities to efficient ones, as well as moving objects like drones and autonomous vehicles. The concept of Internet of Everything expands upon this idea by adding people, data and processing. The adoption of such systems is exploding and becoming ever more significant, bringing with it questions related to the security and the privacy of these objects. A natural solution to data integrity, confidentiality and single point of failure vulnerability is the use of blockchains. Blockchains can be used as an immutable data layer for storing information, avoiding single point of failure vulnerability via decentralization and providing strong security and cryptographic tools for IoE. However, the adoption of blockchain technology in such heterogeneous systems containing light devices presents several challenges and practical issues that need to be overcome. Indeed, most of the solutions proposed to adapt blockchains to devices with low resources confront difficulty in maintaining decentralization or security. The most interesting are probably the Layer 2 solutions, which build offchain systems strongly connected to the blockchain. Among these, zk-rollup is a promising new generation of Layer 2/off-chain schemes that can remove the last obstacles to blockchain adoption in IoT, or more generally, in IoE. By increasing the scalability and enabling rule customization while preserving the same security as the Layer 1 blockchain, zk-rollups overcome restrictions on the use of blockchains for IoE. Despite their promises illustrated by recent systems proposed by startups and private companies, very few scientific publications explaining or applying this barely-known technology have been published, especially for non-financial systems. In this context, the objective of our paper is to fill this gap for IoE systems in two steps. We first propose a synthetic review of recent proposals to improve scalability including onchain (consensus, blockchain organization, …) and offchain (sidechain, rollups) solutions and we demonstrate that zk-rollups are the most promising ones. In a second step, we focus on IoE by describing several interesting features (scalability, dynamicity, data management, …) that are illustrated with various general IoE use cases.

Mental Workload Estimation Based on Physiological Features for Pilot-UAV Teaming Applications.

Manned-Unmanned Teaming (MUM-T) can be defined as the teaming of aerial robots (artificial agents) along with a human pilot (natural agent), in which the human agent is not an authoritative controller but rather a cooperative team player. To our knowledge, no study has yet evaluated the impact of MUM-T scenarios on operators' mental workload (MW) using a neuroergonomic approach (i.e., using physiological measures), nor provided a MW estimation through classification applied on those measures. Moreover, the impact of the non-stationarity of the physiological signal is seldom taken into account in classification pipelines, particularly regarding the validation design. Therefore this study was designed with two goals: (i) to characterize and estimate MW in a MUM-T setting based on physiological signals; (ii) to assess the impact of the validation procedure on classification accuracy. In this context, a search and rescue (S&R) scenario was developed in which 14 participants played the role of a pilot cooperating with three UAVs (Unmanned Aerial Vehicles). Missions were designed to induce high and low MW levels, which were evaluated using self-reported, behavioral and physiological measures (i.e., cerebral, cardiac, and oculomotor features). Supervised classification pipelines based on various combinations of these physiological features were benchmarked, and two validation procedures were compared (i.e., a traditional one that does not take time into account vs. an ecological one that does). The main results are: (i) a significant impact of MW on all measures, (ii) a higher intra-subject classification accuracy (75%) reached using ECG features alone or in combination with EEG and ET ones with the Adaboost, Linear Discriminant Analysis or the Support Vector Machine classifiers. However this was only true with the traditional validation. There was a significant drop in classification accuracy using the ecological one. Interestingly, inter-subject classification with ecological validation (59.8%) surpassed both intra-subject with ecological and inter-subject with traditional validation. These results highlight the need for further developments to perform MW monitoring in such operational contexts.

Towards a Blockchain-Based Multi-UAV Surveillance System.

This study describes a blockchain-based multi-unmanned aerial vehicle (multi-UAV) surveillance framework that enables UAV coordination and financial exchange between system users. The objective of the system is to allow a set of Points-Of-Interest (POI) to be surveyed by a set of autonomous UAVs that cooperate to minimize the time between successive visits while exhibiting unpredictable behavior to prevent external agents from learning their movements. The system can be seen as a marketplace where the UAVs are the service providers and the POIs are the service seekers. This concept is based on a blockchain embedded on the UAVs and on some nodes on the ground, which has two main functionalities. The first one is to plan the route of each UAV through an efficient and computationally cheap game-theoretic decision algorithm implemented into a smart contract. The second one is to allow financial transactions between the system and its users, where the POIs subscribe to surveillance services by buying tokens. Conversely, the system pays the UAVs in tokens for the provided services. The first benchmarking experiments show that the IOTA blockchain is a potential blockchain candidate to be integrated in the UAV embedded system and that the chosen decentralized decision-making coordination strategy is efficient enough to fill the mission requirements while being computationally light.

Towards Mixed-Initiative Human-Robot Interaction: Assessment of Discriminative Physiological and Behavioral Features for Performance Prediction.

The design of human-robot interactions is a key challenge to optimize operational performance. A promising approach is to consider mixed-initiative interactions in which the tasks and authority of each human and artificial agents are dynamically defined according to their current abilities. An important issue for the implementation of mixed-initiative systems is to monitor human performance to dynamically drive task allocation between human and artificial agents (i.e., robots). We, therefore, designed an experimental scenario involving missions whereby participants had to cooperate with a robot to fight fires while facing hazards. Two levels of robot automation (manual vs. autonomous) were randomly manipulated to assess their impact on the participants' performance across missions. Cardiac activity, eye-tracking, and participants' actions on the user interface were collected. The participants performed differently to an extent that we could identify high and low score mission groups that also exhibited different behavioral, cardiac and ocular patterns. More specifically, our findings indicated that the higher level of automation could be beneficial to low-scoring participants but detrimental to high-scoring ones, and vice versa. In addition, inter-subject single-trial classification results showed that the studied behavioral and physiological features were relevant to predict mission performance. The highest average balanced accuracy (74%) was reached using the features extracted from all input devices. These results suggest that an adaptive HRI driving system, that would aim at maximizing performance, would be capable of analyzing such physiological and behavior markers online to further change the level of automation when it is relevant for the mission purpose.