Transcript Document 7248995
Embodied Speech and Facial Expression Avatar Critical Design Review
sss Dan Harbin - Evan Zoss - Jaclyn Tech - Brent Sicking sss March 10, 2004
Problem Background/Needs Statement
• There has been a great deal of research trying to understand how a person interacts with a computer.
• Messages of the face help illustrate verbal communication by revealing what the expresser is feeling or trying to convey.
• The ability to generate animated facial expressions together with speech is important to many diverse application areas.
– A deaf person could use an animated face as a lip reading system.
– An autistic child could be positively affected from a robotic face in terms of social interaction, language development, and learning through structure and repetition.
Goals and Objectives
• The overall goal of this project is to create a robotic face capable of displaying human emotion accompanied with speech.
Goals and Objectives
• Reverse engineer Yano’s motors and sensors so we are able to move them to any desired position.
• Develop a GUI that allows the user to move each motor in both directions to a desired position.
• Research the psychology behind the use of facial expressions to convey emotion and mimic these facial expressions with the Yano face.
• Develop a GUI that allows the user to select and display real human facial expressions.
• Add a microphone input in which we will develop software to mimic speech based on a measure of intensity.
• Incorporate facial expressions with speech input to complete the avatar.
Yano Control System
User Interface Flow Chart
Note: In the future a speech dialog box will be added to the menu.
User Interface Class Diagram
MenuDlg ManualControlDlg CYanoDlg SpeechControlDlg YanoEngine Motor (3 instances) CComm
ManualControlDlg (.cpp) Class
SetProgressValues() CheckEndSwitches() YanoEngine::CalibrateMotor(int) YanoEngine:: adjustMotors(int destX, int destY, int destZ) Goes back to menu
CYanoDlg (.cpp) Class
YanoEngine:: conveyEmotion(int destX, int destY, int destZ) YanoEngine:: adjustMotors(int destX, int destY, int destZ) Goes back to menu
Command Examples
• Open Mouth: “PC5PS6 D200 PS5PS6\r ” • Close Mouth: “PS5PC6 D200 PS5PS6\r ” • Raise Cheeks: “PS3PC4 D200 PS3PS4\r ” • Lower Cheeks: “PC3PS4 D200 PS3PS4\r ” • Open Mouth and Lower Cheeks: “PC5PS6PC3PS4 D200 PS3PS4PS5PS6\r ”
SV203 Microcontroller
Circuit Description
Input Port:
AD1 AD5
Motor Control Port:
SV6
Power:
Gnd Vcc SV1
Serial Port
SV203 Microcontroller
Functional Description • Receives command through the serial port • Set or Clear the appropriate Motor Control Pin(s) • Read an analogue voltage off of the desired Input Pin(s) • Transmit a value representing the voltage back up the serial line
SV203 Microcontroller
Interface Description •
Serial Port
– ASCII text commands are sent to the board via the serial port to tell it what to do. Values from the input pins are also sent back to the computer via the serial port – List of commands we use: • SVxM0 – initialize pin x to use digital logic • PSx – set pin x high • PCx – clear pin x to low • Dn – delay for n milliseconds before next command • PC1PC3PC5D300PS1PS3PS5 – typical motor control command • ADy – read the voltage of input pin y, transmit up serial port •
Motor Control Port
– sends the logic controls for the motors to the Yano I/O Board. When a pin is set high with PSx, it is set to 6V, PCx will set it to 0V. We use six pins, SV1 through SV6 •
A/D Input Port
– receives the status of Yano’s switches from the Yano I/O Board. We use 5 pins, AD1 through AD5. Each pin will have 6V on it if it’s switch is open, and near 0V if it is closed. The SV203 converts these voltages to the numbers 0 – 255 for 0V-6V.
Motor Control Port
SV5: SV6: Mouth Motor Stopped Mouth Opens 2 Pulses
SV203 Microcontroller
Logic Description
Mouth:
open: closed:
Motor Control Port SV5
PC PS
SV6
PS PC
Cheek:
up: down:
Eyes:
cw: ccw:
SV3
PS PC
SV1
PS PC
SV4
PC PS
SV2
PC PS
A/D Input Port AD3
255 0
AD4
0 255
AD1
255 0
AD5
N/A N/A
AD2
0 255 Mouth Closes 2 Pulses 5V
A/D Input Port
AD3: 0V 5V AD4: 0V Mouth Motor In the Middle Mouth Fully Closed Mouth Fully Open 255 0 255 0
Switch Circuit:
Yano I/O Board
Circuit Description
Yano I/O Board
Functional Description • Receives logic controls for the motors from SV203 • Converts them into powered control for Yano’s motors • Reads in status of Yano’s switches, open or closed • Converts this to a voltage, 6V for open, 0V for closed, and sends back to SV203
Yano I/O Board
Interface Description • • •
Motor Control Input
direction and movement. They are paired off, 2 pins per H-Bridge, 1 Bridge per motor: – Mouth: SV5 and SV6 – Cheeks: SV3 and SV4 – Eyes: SV1 and SV2 – the logic input for the H-Bridges that determines motor
Motor Outputs
the other pin.
– 3 two pin ports, one for each motor, each pin will have either Vcc or Gnd. If both pins are Vcc (default state) there is no potential between them and the motor will not turn. If one pin drops to Gnd, the motor will turn one way, vice-versa for
Sensor Inputs
– these ports connect directly to Yano’s switches. Each motor has two limit switches to determine when it runs far enough in each direction.
•
Sensor Outputs
– Eyes: AD5 - the interface back to the SV203 that has 5 pins, each of which are set to 6V for open switch and 0V for closed switch. They are paired off according to which motor they are the limit switches for: – Mouth: AD3 and AD4 – Cheeks: AD1 and AD2
Yano I/O Board
Logic Description
Mouth:
open: closed:
Motor Control Input SV5
0 1
SV6
1 0
Cheek:
up: down:
SV3
1 0
SV4
0 1
Eyes:
cw: ccw:
SV1
1 0
SV2
0 1
Sensor Output AD3
1 0
AD4
0 1
AD1
1 0
AD2
0 1
AD5
N/A N/A
H-Bridge Logic for All Motors InA
0 0 1 1
InB
0 1 0 1
OutA OutB
Gnd Gnd Vcc Vcc Gnd Vcc Gnd Vcc
Desc.
Stop Fwd Rev Brake
Yano
Circuit Description
Yano
Functional Description • Yano has 3 motors powered by the Yano I/O Board. One for each the mouth, one for the cheeks, and one to control the eyelids, eyebrows, and ears.
• When the mouth and cheek motors reach their endpoints (ie. fully open or fully closed), they close a switch to indicate that limit is reached.
• These switches are read by the Yano I/O Board.
Yano
Interface Description • Yano’s interfaces are the motor controls, and the switch feedbacks.
• The wires are coded as follows: – Motors: • Red/Black – Eyes – SV1/SV2 • Green/Black – Cheeks – SV3/SV4 • White/Black – Mouth – SV5/SV6 – Sensors: • Red/Green/Brown – Mouth – Gnd/AD4/AD3 • Gray/Yellow/Pink – Cheeks – Gnd/AD2/AD1 • Green/Yellow/Red/Brown – Eyes – Vcc/AD5/Gnd/Gnd
Yano
Logic Description
Motors Colored
0 0 1 1
Black
0 1 0 1
Mouth Cheeks
Stop Stop Open Close Brake Up Down Brake
Eyes
Stop Cw Ccw Brake
Tasks and Accomplishments
• Completed: – Disassemble Yano – Reverse engineer motors and end switches – Create control circuit – Simple computer interface for motor control • In Progress: – Motor calibration – Reverse engineer eye motor IR switch • To Do: – Facial expressions – Sound analysis software – Complete GUI
Validation and Testing Procedures
• • •
Calibration Test
- Calibrate the motors, then run the motors to its limits and back to see if it stays calibrated.
Expression Test
- Change from any one expression to any other expression, and the face should show the desired expression each time.
Speech Test
- Using a sample sound file, make sure Yano produces the right mouth movements for the differences in sound volume consistently and accurately.
Validation and Testing Procedures
•
Complete Project Validation
– When we are successfully able to calibrate Yano’s motors and change between various facial expressions, as well as produce mouth movements that mimic human speech intensity, we will know we have been successful in accomplishing our goal.
Itemized Budget
Part
Computer Yano SV203 Microcontroller TC4424 H-bridges Serial Cable Breadboard 2 pin .100" Female Locking Connector 4 pin .100" Female Locking Connector 6 pin .100" Female Locking Connector 8 pin .100" Female Locking Connector 2 pin .100" Male Locking Connector 4 pin .100" Male Locking Connector 6 pin .100" Male Locking Connector 8 pin .100" Male Locking Connector 1kΩ Resistor .1 µF Capacitor .01 µF Capacitor Green Wire Red Wire Black Wire
Total Quantity
1 1 1 3 1 1 1 1 6 1 1 2 4 3 5 1 1 24 17 12
Cost
N/A $65.49
$59.98
$3.11
$11.99
$19.97
$8.94
$1.49
$1.49
$2.98
$5.96
$4.47
$1.49
$1.49
$0.99
$0.10
$0.10
$1.00
$1.00
$1.00
$193.04