A method and apparatus for providing functional electrical stimulation to an individual for altering a mood or emotional parameter associated with a mood or emotional state is provided. This present invention allows the user to view their lips at close range and apply lip cosmetics accurately and conveniently in a single step, wherever the user may be. A classifier is used to calculate a combined single saliency value for each pixel based on the single saliency values for the pixel. The extended state observer estimates and predictions are used in conjunction with a control law that generates an input to the system based in part on the extended state observer estimates and predictions as well as a desired trajectory for the plant to follow. Meanwhile a second task, whose critical section does not contain code affecting execution of the other task may run in parallel, without acquiring an exclusive lock, via a nonexclusive execution unit. By opening the first passage 201, the high-pressure refrigerant may be released from the discharge port 120 to the driving chamber 110 through the first passage 201.