Transcript AUs and Control Points AU Appearance changes 5 10 121425 Control points Inner Brow Raiser Outer Brow Raiser Brow Lowerer Upper Lid Raiser Cheek Raiser& Lid CompressorLid TightenerNose Wrinkler 10 Upper.

AUs and Control Points
AU Appearance changes
2
1
5
9
3
6
7
4
10
13
12
15
11
14
16
18
1
2
4
5
17
Control points
8
Inner Brow Raiser
Outer Brow Raiser
Brow Lowerer
Upper Lid Raiser
Cheek Raiser
6
& Lid Compressor
7
Lid Tightener
9
Nose Wrinkler
10 Upper Lip Raiser
12 Lip Corner Puller
15 Lip Corner Depressor
17
Chin Raiser
20
Lip Stretcher
25
Lips part
26
Jaw Drop
Control point
Right
Left
2
3
1
4
5, 6
7, 8
9
10
11
12
9
10
13
13
11
16
13
12
17
18
11
16
12
17
19
The number of McKibben air muscles①
Head part (for facial expression)
・80[mm] × 4
・100[mm] × 6
・90[mm] × 12
90mm×1 90mm×1 90mm×1 90mm×1
100mm×1
100mm×1
90mm×1
80mm×2
90mm×1
80mm×2
110mm×1
90mm×1
90mm×1
90mm×1
90mm×1
100mm×1 90mm×2 100mm×1
100mm×2
The number of McKibben air muscles②
Head part (for nodding)
・110[mm] × 2
・120[mm] × 2
110mm×2
120mm×2
Neck part
・90[mm] × 8
90mm×2
90mm×2
90mm×2
90mm×2
DC motor and CCD camera
Oculomotor
・DC motor RE13 Φ13 0.75W (#118453)
×2
・Gear-head GP13 Φ13 0.2-0.35Nm (#110316) × 2
・Encoder MEnc13 16[ppr] 2ch (#110778)
×2
(Maxon motor)
Camera
・CCD camera CCN3412Y-2.3M × 1
(Plum net Co., Ltd (Japan))
Neck part
・DC motor TG-05D-SM-150 6[V] × 1
(TSUKASA ELECTRIC CO., LTD (Japan))
System Configuration
USB
Video Capture
Serial
(RS232C) Micro
computer
PC1
Motor driver (×3)
CCD camera
Eye (Pitch)
Eye (Yaw)
Neck (Yaw)
McKibben
USB D/A
Controlled air
Electro-pneumatic
regulator
PC2
Compressed air
Air compressor
:
:
Software Configuration
User
Ask,
Question
Mike
Control PC
Speaker
Answer
Answer selection
Dialogue control
SP_DLG.exe
Facial expression
selection
Visual C++
Microsoft Speech SDK 5.1
Facial expression
Data base
Facial expression
control
USB
Face robot
Compressor
D/A
Face tracking
Motor driver
Gaze control
Image
Control PC
Micro
Computer
Camera controller
Camera
Compressed air
Regulator
Actuators
USB
Face area extraction
Image capture
Video_Capture.exe
Visual C++
Microsoft Direct X 8.1
SP_DLG
SP_DLG
Debug
dic
saya.xml ・・・ un-compiled grammar file
saya.cfg ・・・ compiled grammar file
res.txt
・・・ response file
ex
0.csv
SP_DLG.exe
winmain.cpp
DA_Func.cpp
SpEngine.h
DA_Func.h
HUSB002.h
resource.h
Script.rc
・・・ exe. file
・・・ pattern file for controlling air pressure
dic/saya.xml
<GRAMMAR LANGID="409">
<RULE NAME="SAYAControl" TOPLEVEL="ACTIVE">
<L>
<P>
<RULEREF NAME="SAYA" />
</P>
</L>
</RULE>
<RULE NAME="SAYA">
Recognition
<L PROPNAME="MOVE">
<P VAL="100">angry</P>
<P VAL="101">surprise</P>
<P VAL="102">laugh</P>
:
:
:
</L>
</RULE>
</GRAMMAR >
words
Add recognition words here
dic/res.txt
Response words
Name of .csv files
Recognition words
hello
angry
saya
laugh
surprise
/
/
/
/
/
Hello
Angry
I am saya
ha ha ha
wow wow
/
/
/
/
/
0
1
2
3
4
ex/○○○.csv
Channel of air muscle
Value of air pressure
Cell
Time
1
2
3
4
5
・・・
1
100
0
0
0
0
0
・・・
2
200
0
1
0
0
0
・・・
3
300
0
2
0
0
0
・・・
4
400
0
3
0
5
0
・・・
5
500
0
4
0
4
0
・・・
6
600
0
0
0
3
0
・・・
7
700
0
0
0
0
0
・・・
：
：
：
：
：
：
：
：
Video_Capture
Video_Capture
Debug
Video_Capture.exe
・・・ exe. file
winmain.cpp
Feature_extraction.cpp
RGB_Converter.cpp
Serial_Comm.cpp
Video_Capture.cpp
Feature_extraction.h
Parameter.h
RGB_Converter.h
Serial_Comm.h
resource.h
Video_Capture.rc