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I.
INTRODUCTION
II.
A. Hardware
2.
3.
4.
5.
6.
7.
8.
REQUIREMENTS
B. Procedure Flow
Like every running application/program our robot has a
procedure flow. This flow starts with receiving the voice
command and ends with executing the move. As seen in Figure
2, voice communication between the DFRobot and the voice
recognition module, have 6 procedures in the flow.
The first four of the steps are executed on the voice
recognition module, and the last steps are executed on the
DFRobot.
Below is the execution sequence provided that applies to
any command:
1.
2.
3.
4.
5.
6.
C. Software
Voice controlled communication requires two IDEs to be
installed:
Procedure
Receive characters
As we can see from the snippet above the logic for the
Right command is not complicated. First of all it is a switch
statement with several different case statements; each case
number corresponds to command index in the command list in
EasyVR Commander.
E. Programming
The voice recognition module is coded using the EasyVR
Commander software. First, the commands are recorded.
Second, recorded speech is linked to a VR module to command
the rover. Then the robot is programmed in the Arduino IDE
environment. Code is defined for each of the commands
trained previously.
Coding for the melodies is done in Arduino IDE, and
requires some knowledge about how to play notes and timing
issues. Before coding melodies, need a header file with list of
notes definitions, for example
#define NOTE_B0 31
D. Assembly
#define NOTE_C1 33
II.
Serial.print("d");
delay(800);
Serial.print("a");
When it finds case 13 it recognizes it as Dance and starts
going through every statement inside and executes it. (Number
13 corresponds to the number that is assigned to Dance
command during recording session). Inside the case we have
defined series of Serial.print() and delay() commands.
Whenever first Serial statement is executed the character is
transmitted to the VRbot for execution of the specific and
defined command: either right, left, forward, backward or stop.
Serial.print() allows for a character to become available on
a specific port and Serial.read() that is called on the VRbot
allows that available character to be read and processed.
Delay command ensures appropriate time that will be spent
by VRbot executing the command and also that no other
command will be send during this time.
VRbot has its own case statements to interpret the received
character and execute the appropriate command. There are two
additional variables defined in the code, leftspeed and
rightspeed they hold a value of 255 which means the highest
speed for each track.
The code snippet above shows a small part of the Dance
command that is a combination of right, left, forward,
backward moves that together form and closely mimic dance
movements in our opinion.
1.
2.
4.
BACKWARD made the rover move
left.
Additional Commands
rover
spin
F. Social Implications
Voice control over devices is useful in various situations.
it can be used by disabled people to control tools or
machines which they have to use
voice control can make peoples lives easier since it
does not require any extra work like pushing buttons
to make machines move
therefore, voice controlled interaction is a promising
field to do research in
MAIN RESULTS
A. Comments
While working with EasyVR voice recognition module the
following observations were made:
CONCLUSIONS
FUTURE WORK
.
ACKNOWLEDGMENT
The authors would like to acknowledge previous semester
group work on this project as well as Dr. Sun, for providing all
the guidance and advising us during our work and research.
Also NASA for the funding this project
REFERENCES
[1]
[2]
[3]