UART Interface Research Articles

Разработка программного обеспечения для цифровых интерфейсов электромеханического датчика положения

For an electromechanical position sensor to be used in modern motion control systems, it must have technical means to transmit measurement results. It is also necessary to connect the sensor with equipment to configure and test it. In addition, the exchange of information between its elements that calculate, and generate and process signals may be required. To perform the listed functions of information interaction digital interfaces are designed. The choice of interface types depends on their purpose, and the algorithms of their use are implemented using software. The development of such digital interfaces for the controller of a sine-cosine rotary transformer in amplitude mode is an urgent task of modern motion control systems. When developing software for digital interfaces, methods of algorithmization of control and information transfer processes, methods of software development and debugging, as well as experimental research methods have been used. Information interaction between the controller of the electromechanical position sensor and the high-level controller as part of the motion control system and ensuring its operability is carried out using various digital interfaces. The I2C interface is used to communicate the sensor with the high-level controller, and the UART interface is used to communicate with the equipment for configuring and testing. The connection between the generator and signal processor chip and the microcontroller included in the sensor is carried out via the I2C interface. The authors have developed a microcontroller driver for connecting to the I2C network bus in Slave mode, as well as a software handler for the UART interface, which detects received messages of a given format and ensure safe operation in case of receiving corrupted messages. To store the configuration parameters of the sensor, one can access to flash memory of microcontroller. As a result of the use of digital interfaces and algorithms of their implementation that carry out information interaction, the developed controller of electromechanical position sensor becomes a full-fledged element of motion control systems. The use of modern design tools and specialized function libraries based on high-level C language, helps to develop software that implements these algorithms for various interfaces.

Design and Evaluation of Wireless DYU Air Box for Environment-Monitoring IoT System on Da-Yeh University Campus

This paper presents an original wireless DYU Air Box of an environment-monitoring IoT (EMIoT) system on a campus to offer information on environmental conditions through the public ThingSpeak IoT platform for stakeholders including all the students and employees on the Da-Yeh University (DYU) campus in Taiwan. Firstly, the proposed wireless heterogeneous multi-sensor module aggregates BME680, SCD30, PMS7003, and BH1750 sensors with a TTGO ESP32 Wi-Fi device based on the I2C and UART interface standards of series communication. Through the DYU-802.1X Wi-Fi network with the WPA2 Enterprise security directly, the wireless multi-sensor monitoring module further forwards the observation data of environmental conditions on campus via the DYU-802.1X Wi-Fi network to the public ThingSpeak IoT platform, which is a cloud service platform to aggregate, visualize, and analyze live sensing data of air quality index (AQI), concentrations of PM1.0/2.5 and CO2, brightness, ambient temperature, and relative humidity (RH). The results illustrate the proposed DYU Air Box for monitoring the indoor environmental conditions on campus and validate them with sufficient accuracy and confidence with commercialized measurement instruments. In this work, the wireless smart environment-monitoring IoT system features monitoring and automatic alarm functions for monitoring AQI, CO2, and PM concentrations, as well as ambient illumination, temperature, and RH parameters and collaboration and interoperability through the Enterprise Intranet. All the organizational stakeholders interested in the environmental conditions of the DYU campus can openly access the information according to their interests. In the upcoming future, the information of the environmental conditions in the DYU campus will be developed to be simultaneously accessed by all the stakeholders through both the public ThingSpeak IoT platform and the private EMIoT system.

Development of the wiring diagram of the device based on the LoRa module RAK3172

The paper presents the results of the development of circuitry of electronic device for the acquisition and transmission of telemetry data. The purpose of this work is to design and develop circuitry of the device for data acquisition using LoRa technology. The integrated end-to-end design environment Altium Designer was used to develop the electronic part of the device. The STM32F407VGT6 series microcontroller was used as the central control unit. A LoRa RAK3172 radio module is provided in the circuit for receiving and transmitting data. Unlike previous series, this module is equipped with a UART interface, which greatly simplifies the process of designing and writing a program for control. In this article the relevance of developing device with the use of LoRa-technology is considered. The theoretical basis of LoRa-modulation is briefly considered. The main section presents the results of the circuit design of the device, in particular, the inclusion diagram of the module and the control microcontroller. The information presented in the paper reflects only that part of the developed device, which is related to LoRa technology. In general, this work is part of a much larger project, which involves the use of GSM, Wi-Fi, RFID technology. Circuit of power supply is designed for 220 volt AC voltage with further transformation to +12V.

Real-time multi-fusion perceptron architecture for autonomous drones

ABSTRACT In this paper, a multi-fusion perceptron architecture and real-time algorithms are proposed for AMR (Autonomous Mobile Robot). Traditionally, AGV (Automated Guided Vehicle) has been used in a large number of indoor logistics warehousing, factory automation, and thus, the corresponding sensor environment must be deployed. AMR needs to have various functions, like autonomous navigation, intelligent control, intelligent visual positioning, intelligent detection, etc., to automatically work in different conditions for traditional required fields. In a factory, there are several modes of operations, multi-machine cooperation, heterogeneous machine cooperation, This paper discusses unmanned machines with sensor elements to collaborate and to establish the complementary spatial information lacking in 3D unmanned carriers. A factory-validated multi-aware fusion of small drones is constructed, and a framework with front-end and back-end design is used for multi-computer communication, information analysis, and decentralized collaborative computing. The whole multi-fusion sensor serial platform is proposed and the system consists of a Logitech C270 USB interface Camera, the V4L2 (Video4Linux) universal driver protocol for communication, and a YDLIDAR G4 laser device serial connection. Through the UART communication interface and microcontroller platform, package information exchange and establish the underlying sensor information acquisition with Ethernet/Wi-Fi for remote sensing, algorithm verification, and real-time image confirmation.

Intelligent Accidental Detection and Prevention System for Car using Can FD Protocol

Controller Area Network with Flexible Data Rate (CAN FD) is a vehicle bus standard protocol designed especially for automotive application. By using CAN FD Bus protocol, ECUs (Electronic control units) of vehicles can communicate with each other. It is a high speed, bandwidth efficient network. In order to reduce point to point wiring harness in vehicle automation, CAN FD is suggested as a means for data communication within the vehicle environment. The benefits of CAN FD bus based network over traditional point to point schemes will offer increased flexibility and expandability for future technology insertions units. We have designed five nodes, 4-sensor nodes and 1-Bus monitor nodes. Sensor nodes and Bus monitor nodes are communicating with each other through CAN FD Bus. Bus monitor node collects all messages present on the CAN FD Bus and transmits to the PC by using the UART interface. The CAN FD monitor window is designed using Visual Studio.net which allows the time oriented buffering of CAN FD messages and visualization of the BUS data at the package level.

스마트센서시스템의 기능안전을 위한 Lora 통신 필드 적합성 테스트 연구

Purpose: Three types of LPWA LoRa module were investigated as candidate smart sensor systems in a smart factory. A long-distance communication success test was conducted to determine which module type best satisfied functional safety requirements.BRMethods: The three types of LoRa communication module considered in this paper were 1. sLory, 2. RYLR890 using UART interface and 3. P2P UART communication module RAK811. A communication success field demonstration test was performed at 3.24 km in the city center and in a flat area (Ansan-si).BRResults: The RYLR890 module type achieved communication success up to 3 km. However, the communication success rate from departure to arrival was unstable. The RAK811 achieved communication up to 2 km and the field test demonstrated that the transmission/reception performance was stable from departure to arrival.BRConclusion: Three types of LoRa module were selected for LPWA and the world

ИССЛЕДОВАНИЕ И МАТЕМАТИЧЕСКОЕ МОДЕЛИРОВАНИЕ ЛИТИЙ-ИОННОГО АККУМУЛЯТОРА

This study considers existing methods of mathematical modeling of lithium-ion batteries based on the Shepherd formula, as well as using formulas from the general course of physics. In order to measure experimental data in automatic mode, a special measuring facility was developed, the main element of the setup is a programmable platform based on the ATmega328p microprocessor. It controls the process, measures the voltage on the battery and transmits data to the computer every 5 seconds via the UART interface of the microprocessor for further analysis. On the basis of the data obtained, an experimental dependence of the battery discharge by direct current over a certain peri-od of time was built. This was followed by a calculation of battery capacity. The load is 20 resistors connected in series-parallel, in order to dissipate the thermal power released on them when an electric current flows. Since the resistors are carbon with precision accuracy class, heating does not raise ambient temperature by more than 10 degrees. Thus any change in their resistance can be neglected. The values obtained were used to implement and test the mathematical model in the MATLAB/Simulink simulation environment. The test results showed the similarity of the obtained values with the ide-alized Shepherd model, since the standard deviation of all points from this model was 2.6%.

ВИКОРИСТАННЯ РОБОТОТЕХНІЧНИХ КОМПЛЕКСІВ ПРИ ПІДГОТОВЦІ ФАХІВЦІВ З ЕЛЕКТРОНІКИ, АВТОМАТИЗАЦІЇ ТА КОМП’ЮТЕРНОЇ ІНЖЕНЕРІЇ

Purpose. The use of robotic systems in the training of specialists in electronics, automation and computer engineering. Involvement of which will improve the quality of training of students in the direction of robot design, programming and research. Methodology. Physical and logical principles of operation of components for building robots, computer simulation, programming on languages Scratch and Python, processes description in the form of block diagrams. Results. An example of program has been developed the main functions of which are: communication of Robomaster S1 with sensors via UART interface, recognition and tracking of a given trajectory, data collection from sensors with a certain time interval, return to the starting point of the trajectory, subtraction of average values measurement on the liquid crystal display. The general algorithm of interaction with a robotic complex, an example of interaction with the accompanying software, the basic technical characteristics, the detailed description of the main constituent elements of a complex and the main list of its functions and possibilities of application were presented. Originality. A method of training future specialists in electronics, automation and computer engineering using the robotic complex Robomaster S1 to improve the quality of learning. Practical Value. The use of robotic devices in learning through the involvement of the complex Robomaster S1, promotes the activation of cognitive activity, creates a basis for the development of creative potential and is the basis for individualization of learning. Thus, one of the promising areas of further research in the fields of electronics, automation and computer engineering is the improvement of the system of training of future professionals through the use of such systems. Figures 12, tables 1, references 16.

Use of web services in technological process control systems

The optimal control of technological objects and processes is usually implemented by computer control systems with complicated structure and relations between elements. On the one hand, it allows to perform the functions of automatic control and regulation, alarms, process status registration and visualization. On the other hand, this leads to a significant complication of the systems because of increased process intensity, speed, accuracy and quality requirements.Use of web services is the most popular approach to solve the problem of integration and coordination of system elements. It is based on the exchange of messages of a special (universal) format between parts of the system and processing the responses.The role of web service and its place in control system has been analyzed. The most appropriate place is between the levels of PLC - controllers and SCADA one. It allows you to receive current information about the state of the technological process and implement the following functions: data acquisition by controllers; storage data to the database; providing data to the operator on demand and it’s visualization in real time; monitoring and alarms of process parameters.The web service build with Microsoft ASP.NET has been proposed for use in computer control systems. The key benefit of this technology are: open-source, cross-platform, fast and scalable. The development of web-services in control systems is a universal approach that can be applied to a large class of objects or processes. In the article the web service for temperature control has been proposed. The key task of the system is temperature data acquisition from the control object, to save information to the database, visualize the temperature curve, notify when the temperature exceeds limits.Since the Microsoft technology stack is already in use, MS SQL has been chosen. To increase the speed of development the Entity Framework Core application has been used, which provides a way to interact with data. To provide the security of the database and prevent development errors, a library has been implemented to access the database. It provides two interfaces Repository and Unit Of Work. Repository is an interface for interacting with each object in the database. The advantage of this interface is abstraction that removes dependency of a specific class implementation.The hardware of control system consists of programmable platform Arduino and such modules: Arduino Uno – the platform on the Atmega 328 microcontroller with built-in interface SPI, I2C, UART, 5 analog inputs and 13 discrete built-in power lines 3.3 and 5 V; MAX6675 - signal conversion module (12-bit ADC); thermocouple type K; ESP8266-01 - module with Wi-Fi interface; DS3132 - real time clock module.The modules interact according to the following algorithm: Arduino calls the thermocouple module and remembers the value, then calls the time module and forms a data period in which it places the time and temperature value. The controller module transmits data to the ESP8266-01 via a programmed UART interface. The Wi-Fi module reads data on the UART bus, forms HTTP request headers and sends JSON text to the server.Thus, web service for SCADA-level has been developed. The control object based on the Arduino hardware platform has been simulated. The developed web service provides the necessary level of security, high indicators of convenience of the human-machine interface, allows to analyze the object and track the past state of the system.

FPGA Based Vehicle to Vehicle Communication in Spartan 3E

This paper presents economic and reconfigurable RF based wireless communication at 2.4 GHz between two vehicles. It implements digital VLSI using two Spartan 3E FPGAs, where one vehicle receives the information of another vehicle and shares its own information to another vehicle. The information includes vehicle’s speed, location, heading and its operation, such as braking status and turning status. It implements autonomous vehicle technology. In this work, FPGA is used as central signal processing unit which is interfaced with two microcontrollers (ATmega328P). Microcontroller-1 is interfaced with compass module, GPS module, DF Player mini and nRF24L01 module. This microcontroller determines the relative position and the relative heading as seen from one vehicle to another. Microcontroller-2 is used to measure the speed of vehicle digitally. The resulting data from these microcontrollers are transmitted separately and serially through UART interface to FPGA. At FPGA, different signal processing such as speed comparison, turn comparison, distance range measurement and vehicle operation processing, are carried out to generate the voice announcement command, warning signals, event signals, and such outputs are utilized to warn drivers about potential accidents and prevent crashes before event happens.

AUTOMATED TICKER-SYSTEM OF REMOTE DISPLAY OF DATA FOR LED-BOARD IN BENCH TESTS OF INTERNAL COMBUSTION ENGINE

The problem of developing adaptive information output systems, synchronized with the process of the experiment is solved by existing methods of concentration and interactive presentation of information. The purpose of this study is to develop an LED-board with an automated ticker-system for prompt display of information during bench tests of internal combustion engines. The developed design is based on the MAX7219 microcircuit. Data transfer occurs using the UART interface via the Bluetooth module HC-06. The driver is controlled via the SPI interface (mode 0). The choice of LED display is due to the possibility of using monochromatic light emitting diodes as point sources of radiation with a wide range of options for regulation of luminescence parameters. This is achieved when using high-performance LED clusters Pure-Green (525 nm), Ultra-Red (660 nm), Blue (470 nm). In the article the authors developed a constructive scheme of LED board for displaying the data of bench tests of internal combustion engines. The principle of the moving series (ticker), which is widely used in stock exchange analytics and advertising, is informative enough to reproduce the results of the internal combustion engine test bench tests. It has been determined that the application of the Arduino modular system will allow to vary the properties of the data display system to a wide extent and, when developing special software, to conduct test analytics using adaptive neural networks. The method of analysis and display of bench test data of an internal combustion engine has been improved. The developed scheme can be developed for holographic illumination of critical load zones on the surface of the structure under study. The slightly lower interactivity of holograms compared to augmented reality makes their supporting role more appropriate. It can be the basis for the formation on such a surface of markers for interactive augmented reality systems.

Design and Implementation of Z-Wave Sniffer on TI-CC1125 Transceiver

This paper proposed a new smart home master control system based on Z-wave network and the TI-CC1125 transceiver. The smart home system includes lighting system, security system, smoke sensors, environment control and other equipment which are connected to a wireless communication network. Instead of having a specific controller for each system, in this paper we suggest having a master controller that monitor all systems status via sniffing their transceiver signals. Z-wave is the selected communication technology for this research. The Texas instrument lower power consumption transceiver (TI-CC1125) is used for this purpose in the sniffer mode of operation. Smart RF Studio 7 and the Code Composer Studio (CCS), both produced by Texas Instrument, are used for programming the Transceiver. The sniffed packets are displayed by the on-board LCD screen as well as the on PC application over UART interface, which can be processed later for a specific function.

Design and Research of Online Measuring Device of Dielectric Loss Angle in Insulation Test Based on STM32

In this paper, an online measuring device of dielectric loss angle for insulation test is introduced. Based on the detection principle of zero-cross comparison method, the device uses STM32F205RCT6 chip as the control core of signal measurement and processing, and communicates with UART interface and Zigbee module, and the hardware circuit design of signal measurement and processing is completed. It has been proved by experiments that the measuring device has high measurement accuracy and stability. In addition, after analyzing the dielectric loss angle variation curve, this paper proposes a compression recording algorithm based on curve segmentation line fitting. The simulation results show that the algorithm can effectively reduce the storage space required for recording and has certain practicability.

БЕЗДРОТОВІ МЕРЕЖІ ДЛЯ ПЕРЕДАЧІ СИГНАЛІВ ТЕЛЕМЕТРІЇ НА НАЗЕМНУ СТАНЦІЮ БЕЗПІЛОТНИХ ЛІТАЛЬНИХ АПАРАТІВ: ОРГАНІЗАЦІЯ І ПРОГРАМНО-АПАРАТНІ ЗАСОБИ

The methods and devices for providing communication between unmanned aerial vehicle and ground control station are analyzed in this paper. In many cases this solution is not optimal. The maximum length of the USB cable limits the distance between the radio modem and the ground control station by five meters. In many cases, this solution is not optimal. The maximum length of the USB cable limits the distance between the radio modem and the ground control station by five meters. It creates discomfort to take out the radio modem on the mast. Bad fixing of the USB cable connector in the corresponding port of the laptop creates an unreliable connection, which often causes a non-qualified transmission of telemetric information. This method of connection allows only a point-to-point connection. At the same time, it is often necessary to simultaneously transmit a telemetry signal to several terrestrial devices. It is proposed to provide this type of communication using a wireless (Wi-Fi) network. The wireless network in this work was used to exchange telemetry signals between the RFD-900 radio modem and the ground station of the unmanned aerial vehicle (installed on the laptop) in full-duplex mode. The transmission of telemetry signals to the Wi-Fi transceiver, built into the laptop, is carried out using the ESP8266-12E module, which is included in the NodeMCU-debug board. The ESP8266-12E module is connected via the UART interface to the output of the radio modem and used as a ground system's wireless signal repeater. To implement such signal transmission in the Delphi 7 IDE was developed a software module based on the TCP/IP protocol. The developed device has the modularity and universality features, which expands the area of its application. For example: video signals wireless transmission (FPV), an applications not associated with remote-controlled aircraft. In addition, the developed device can be used as a wireless server for local Wi-Fi network building. It is planned to modernize the software in the future - it will be added algorithm for working with a file system, it will be developed the software for other operating systems (Linux, Android) etc.

An Embedded System Processor Module with PCI Bus and Universal Communication Interface Based on PowerPC

In the high level applications of embedded systems such as Internet and data communication, the processor is an indispensable core module as the center of communication and control. An embedded system processor module with PCI bus and universal communication interface based on PowerPC is proposed in this paper. The central processor uses the Freescale PowerPC family of superscalar microprocessors with processing power of up to 733MIPS@400MHz. The microprocessor and peripheral conversion uses a bridge/memory controller that is seamlessly connected via a 60x bus. Regular large-capacity storage units such as SRAM, SDRAM, flash, and boot ROM are supported. Universal communication interfaces such as PCI bus interface, I2C bus interface, dual UART interface (RS485 level + RS232 level), Gigabit Ethernet interface, etc. are provided. The processor module has the characteristics of strong processor computing capability, common external interface and wide application, and could be directly used by developers, so that could shorten the development cycle.

An Energy Metering Chip With a Flexible Computing Engine

This paper presents an energy metering chip with a flexible computing engine. The flexible computing engine includes the metering program and a dedicated DSP. Besides providing the generally required energy metering data, the chip can also provide different energy metering and measurement data through the control registers accessible by a host MCU via the UART or SPI interface. The flexible computing engine adjusts the computing tasks of the DSP according to applications, reducing the amount of redundant computing and, therefore, reducing the power consumption. The chip can be used in general energy metering, fundamental energy metering, direct current (DC) energy metering, and various measurement and monitoring of the electricity signals. The energy metering chip is fabricated in a 0.11- $\mu$ m CMOS process. The chip meets the metering accuracy requirements by the international standard IEC-62053-21/22/23/24. The grid monitoring of the chip meets the international standard IEC-61000-4-30 Class S. The total power consumption when performing the energy metering is only 6.6 mW. The chip is currently in production.

Reconfigurable Real Time Signal Capturing through FPGA

Today all communication systems are prototyped on FPGAs before sending them for ASIC backend and fabrication. On other side the FPGAs with million gate logic densities and embedded block RAMs allowed the high speed signal capturing and storage for real time analysis. Performing various functions on the captured data allows high speed spectrum analysis. These two allow the prototyping of complex communication system on FPGA and real time analysis of implemented blocks. There are several types of interface methods possible to communicate the FPGA with a computer.. In this paper novel techniques are implemented for capturing and analyzing the signals of any design on FPGA with configurable UART interface. VHDL will be used for implementation of necessary modules such as block memory, capture FSM, triggering logic and UART interface. Necessary scripts will be developed to generate the synthesizable VHDL code as per the requirements of user. The captured data will be sent to PC using UART. Xilinx ISE will be used for systhesis and performance analysis.

Design and Realization of Digital Modulator BPSK, QPSK and 16-QAM on FPGA

Innovations in the field of wireless communication are growing very rapidly in line with the behavior of modern societies that have high mobility, need of the flexible services, easy access, and high speed data transfer to facilitate any activities of its users. The needs of every user of any variety are more than just voice, video, data transfer, up to a demanding streaming multimedia capabilities and reliability of the communication system used. One of the factors that affect the quality and speed of data transfer in wireless communications is modulation. The development of technological modulation allows data transfer rate to become faster, more resistant to noise, and have high security (encryption) in order to secure data sent over the lead.
 The implementation of digital modulator PSK (Phase Shift Keying Modulation) and QAM (Quadrature Amplitude Modulation) on FPGA is designed to simplify the design of a hardware by representing the input which is prepared by using the VHDL programming language. The input will be programmed by logic gates contained in the FPGA into a circuit that functions as a digital modulator. This device can map the input bits into a modulator output that has been mapped in accordance with the coordinates of the constellation.
 The expected results of the implementation are three types of digital modulator, namely: BPSK, QPSK and 16-QAM to be implemented on FPGA Xilinx Spartan-6 XC6SLX45 CSG324C; modulation type to be used can be selected by entering input on the programs implemented in the FPGA. In the design used input from laptop devices with UART interface and data types for input is ASCII 8 bit for later analysis simulation results modulation of the input to each modulator using Modelsim for simulation design and Chipscope for simulation system design implemented in the FPGA.

Bluetooth Communication for Battery Powered Medical Devices

Abstract wireless communication eliminates obtrusive cables associated with wearable sensors and considerably increases patient comfort during measurement and collection of medical data. Wireless communication is very popular in recent years and plays a significant role in telemedicine and homecare applications. Bluetooth technology is one of the most commonly used wireless communication types in medicine. This paper describes the design of a universal wireless communication device with excellent price/performance ratio. The said device is based on the low-cost RN4020 Bluetooth module with Microchip Low-energy Data Profile (MLDP) and due to low-power consumption is especially suitable for the transmission of biological signals (ECG, EMG, PPG, etc.) from wearable medical/personal health devices. A unique USB dongle adaptor was developed for wireless communication via UART interface and power consumption was evaluated under various conditions.

Real-time embedded frame work for sEMG skeletal muscle force estimation and LQG control algorithms for smart upper extremity prostheses

This paper presents a real-time embedded framework for finger force control of upper extremity prostheses. The proposed system is based on the hypothesis that models describing the finger force and surface Electromyographic (sEMG) signal relationships of healthy subjects can be applied to amputees. An identification/estimation scheme is applied to the collected sEMG and finger force signals in order to infer dynamical models relating the two. A LQG control law is proposed based on this estimation scheme in order to control finger forces of upper extremity prostheses. For the force estimation, filtered sEMG signals from a sensor array and finger force data of a healthy subject are acquired. Real-time estimation and control are implemented using a PIC32MX360F512L microcontroller. In this paper, a novel fusion technique, the Optimized Linear Model Fusion Algorithm (OLMFA) is developed for estimating the skeletal muscle force from the sEMG sensor array in real-time. The sEMG signal is rectified and filtered using a Half-Gaussian filter, and fed to the OLMFA based Multiple Input Single Output (MISO) force model. This MISO system provides the estimated finger force as reference input to the upper extremity prostheses in real-time. A LQG controller is designed to control the finger force of the prostheses utilizing the force estimate from the OLMFA as a reference. Both the OLMFA and the LQG control scheme are prototyped on the embedded framework for testing of the real-time performance. The proposed embedded framework features rate partitioning and UART interface for performance validation and troubleshooting. The OLMFA based force estimation yields a real-time performance of 85.6% mean correlation and 20.4% mean relative error with a standard deviation of ±1.6 and ±1.5 respectively for 18 test subject’s k-fold cross validation data. The LQG control algorithm yields a real-time performance of 91.6% mean correlation and 9.2% mean relative error with a standard deviation of ±1.4 and ±1.3 respectively.