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  • DEPARTMENT OF ECE ROBOTIC CONTROL THROUGH SPEECH
  • ROBOTIC CONTROL THROUGH SPEECH DEPARTMENT OF ECE
  • ROBOTIC CONTROL THROUGH SPEECH DEPARTMENT OF ECE

Transcript

  • 1. ROBOTIC CONTROL THROUGH SPEECH
  • 2. INTRODUCTION
    • This voice recognition project consists of two major components, a speech recognition module and a motorized robot.
    • Programmable module allows us to write the programming in Visual DSP++ (Programming applications for the ADSP 2181 Architecture).
    • The motorized robot will consist of two DC motors and will make the robot forward and backward directions.
    DEPARTMENT OF ECE
  • 3. PROJECT DESCRIPTION
    • The Speaker Recognition can be classified into two phases.
    • 1 Training Phase.
    • 2 Testing Phase.
    DEPARTMENT OF ECE
  • 4. Training Phase.
    • In Training Phase ,the frequency components of the given speech signal is extracted.
    • Each registered speaker has to provide samples of their speech (given words).
    • so that the system an build or train a reference model for that speaker.
    DEPARTMENT OF ECE
  • 5. Testing phase
    • In testing phase ,the input speech is matched with stored references models (s)
    • Recognition decision is made on the basis of Mel Frequency Cepstrum Coefficients (MFCC)
    • The command recognition is observed by the operation of stepper motor & DC motor and the control signals to the DC motor
    DEPARTMENT OF ECE
  • 6. ARCHITECTURE OF ADSP 2181 DEPARTMENT OF ECE
  • 7. FEATURES OF ADSP 2181 PROCESSOR
    • 25 ns Instruction Cycle Time from 20 MHz Crystal at 5.0 Volts
    • Single-Cycle Instruction Execution
    • Multifunction Instructions
    • Low Power Dissipation in Idle Mode
    • 16K Words On-Chip Program Memory RAM
    • 16K Words On-Chip Data Memory RAM
    • Independent ALU, Multiplier/Accumulator, and Barrel Shifter Units
    • 3-Bus Architecture Allows Dual Operand Fetches in every Instruction Cycle
    DEPARTMENT OF ECE
  • 8. ALU and MAC
    • The ALU performs a standard set of arithmetic and logic operations in addition to division primitives.
    •  
    • The MAC performs single-cycle multiply, multiply/add and multiply/subtract operations.
    DEPARTMENT OF ECE
  • 9. SHIFTER
    • The shifter performs logical and arithmetic shifts, normalization, de-normalization, and derive exponent operations.
    • The shifter implements numeric format control including multiword floating-point representations.
    DEPARTMENT OF ECE
  • 10. SPEECH
    • The input speech is given in the form of nos. like1, 2,3..
    • The frequency range of human voice is 4kHz hence sampling frequency is taken as 8kHz
    • In coding only 2000 samples are considered because only 0.25 sec will be taken for one character
    DEPARTMENT OF ECE
  • 11. REPRESENTATION OF SPEECH SIGNAL DEPARTMENT OF ECE
  • 12. Block Diagram
    • Input speech
    • via mic ADSP 2181
    DEPARTMENT OF ECE DC MOTOR MEL SPECTRUM WINDOWING FFT MEL FREQ WRAP MEL CEPSTRUM CODEC FRAMMING
  • 13. FRAMING
    • Speech signal is blocked into frames of N samples (n=256)
    • Adjacent Frames are separated by M samples (M=100)
    • Frame1= 0-256
    • Frame2=100-356
    • Such kind of 18 frames are required for 2000 samples/sec character.
    DEPARTMENT OF ECE
  • 14. FRAMING DEPARTMENT OF ECE
  • 15. Windowing
    • Minimizes signal discontinuity in each frame
    • Reduced spectral distortion
    • Window signal is obtained by
    • Y 1 (n)=x 1 (n)*w(n) ; 0<=n<N-1
    • Where w(n) is Hamming Window and is given by
    • w(n)=0.54-0.46Cos(2∏ n/N-1); 0<=n<N-1
    DEPARTMENT OF ECE
  • 16. Windowing DEPARTMENT OF ECE
  • 17. Result of Windowing
    • 256 values are o/p of this process
    • These values are given as an
    • input for FFT.
    • Some values of windowing
    • for 1 kHz is shown
    0x0000 0x0826 0x0BE6 0x08B7 0x000F 0xF6C7 0xF26C 0xF5FC 0xFFE8 0x0AA9 0x0FC7 DEPARTMENT OF ECE
  • 18. Fast Fourier Transform
    • Converts time domain signal into frequency domain signal
    • Power spectrum is obtained with real and imaginary part of the frequency domain of the speech signal.
    DEPARTMENT OF ECE
  • 19. Wrapping
    • A subjective pitch for each frequency is computed using Mel Scale
    • Mel frequency scale is given by mel(f)=2595*log 10 (1+f/700)
    DEPARTMENT OF ECE
  • 20. Mel Frequency Coefficients DEPARTMENT OF ECE
  • 21. MFCC
    • It is Mel Frequency Cepstrum Coefficient
    • It consists of various frequency coefficient components.
    • It contains:
    • Mel Spectrum (frequency domain)
    • Mel Cepstrum (time domain)
    DEPARTMENT OF ECE
  • 22. SPECTRUM
    • Samples are convoluted with mel filter bank to obtain mel frequency spectrum.
    • Mel frequency spectrum is given by
    • s(n)=y(n)*f(n)
    • s(n)------>mel frequency spectrum
    • y(n)------>samples
    • f(n)------->filter coefficients
    DEPARTMENT OF ECE
  • 23. Inverse Discrete Cosine Transformation
    • Mel frequency power spectrum is in frequency domain function
    • In order to obtain a time domain function the signal undergoes IDCT
    • Now mel frequency spectrum is converted into mel frequency cepstrum.
    DEPARTMENT OF ECE
  • 24. CEPSTRUM
    • MFCC real numbers and are convoluted to time domain using IDCT
    • The time domain coefficients are called mel frequency cepstrum coefficients..
    • MFCC is given by
    • c(n)=sum of log (Sk * cos (n(k-.5)*pi/k)
    DEPARTMENT OF ECE
  • 25. LEAST MEAN SQUARE ALGORITHM (LMS)
    • This algorithm is used to find out the the minimum deviation between certain values.
    • During testing phase the input speech is compared with the stored 4 values.
    • The least deviated value is sent.
    DEPARTMENT OF ECE
  • 26. INTERFACING PC WITH KIT
            • RS-232 SERIAL CABLE
    DEPARTMENT OF ECE PC DSP PROCESSOR
  • 27. DSP TO DC MOTOR DEPARTMENT OF ECE
  • 28. CIRCUIT DIAGRAM DEPARTMENT OF ECE
  • 29. HARDWARE DETAILS
    • The latched output from the latch IC is given to the relays via resistor and transistor.
    • According to the predefined input, the coil gets energized and relay is switched to ON position.
    • Here we use SPDT relay
    • It causes a current flow in the DC Motor.
    DEPARTMENT OF ECE
  • 30. Details of dc motor
    • Speed of the motor - 300 rpm
    • Current – 750mA
    • Voltage – 7.5V
    DEPARTMENT OF ECE
  • 31. Advantages
    • It is SPEECH recognizable
    • Processing time is less
    • Easy and efficient
    • Useful for physically disable people
    • Less cost
    • Maintenance is easy
    DEPARTMENT OF ECE
  • 32. Limitations
    • Mismatching of frequency may affect the compatibility with the hardware.
    • Each and everyone voice should be trained before testing it.
    DEPARTMENT OF ECE
  • 33. APPLICATIONS
    • Physically and visually impaired friendly device where only the speech signals of the user is required.
    • In cases of acute problems like system crashes and all, this method can be utilized for emergency.
    DEPARTMENT OF ECE
  • 34. CONCLUSION and FUTURE MODIFICATIONS
    • Speech recognition is still an active research area.
    • Speech Recognition brings in the communication between human and machine.
    • This project recognizes the given speech signal and the word is displayed on the PC.
    DEPARTMENT OF ECE
  • 35.
    • THANK YOU
    DEPARTMENT OF ECE