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STM32F407 VE NODEMCU ESP8266 KARTLARI KULLANARAK KABLOSUZ ÇOK YÖNLÜ KONTROLLÜ ROBOTİK ARAÇ SİSTEMİNİN GELİŞTİRİLMESİ

Year 2023, Volume: 26 Issue: 4, 1030 - 1049, 03.12.2023

Muhammet Fatih Acun , Metehan Daldal , Kemal Avcı

https://doi.org/10.17780/ksujes.1351636

Abstract

Bu çalışma, kablosuz uzaktan çok yönlü olarak kontrol edilebilen üç tekerlekli bir robotik aracın gerçekleştirilmesini amaçlamaktadır. Sistem, Türkçe sesli komutlar ve dokunmatik butonlar kullanarak, bilgisayarlar ve mobil akıllı telefonlar aracılığıyla hem internetsiz hem de internetli olarak kontrol edilebilen bir yapı sunmaktadır. STM32F407 tabanlı ilk çalışmada, Bluetooth üzerinden bilgisayar tabanlı olarak butonlu ve sesli komutlarla robotik aracın kontrolü yapılmış, bu doğrultuda Tkinter tabanlı bir kullanıcı arayüzü oluşturulmuştur. Sesli komutların internetsiz olarak algılanabilmesi için, öncelikle 5 Türkçe komutun bilgisayar ortamında doğru tanınması için Mel-Frekans Kepstral Katsayıları (MFCC) öznitelik çıkarma işleminde ve Dinamik Zaman Bükmesi (DTW) yöntemi de eşleştirme ve karar verme işleminde kullanılmıştır. 15 katılımcıdan 5 sesli komut için örnekler alınmış ve kullanılan yöntem test edilmiştir. Sonuçlar 5 sesli komutun %100 doğrulukla tanındığını göstermiştir. Daha sonra STM32F407 tabanlı akıllı telefon ve Bluetooth temelli kontrol çalışması ele alınmış ve sesli komutlar için Google asistan tabanlı çalışan bir mobil arayüz tasarlanmıştır. Üçüncü ve dördüncü çalışmalar ise NodeMCU kartı kullanarak sırasıyla Bluetooth ve Wi-Fi bağlantılar üzerinden aracın kontrollerini içermektedir. Nesnelerin interneti temelli kontrol için Arduino IoT Cloud tabanlı bir arayüz geliştirilmiştir. 10 katılımcıyla yapılan gerçek zamanlı çalışmalar, STM32F407 ve NodeMCU kartları tabanlı tüm kontrol yöntemlerinin başarılı bir biçimde çalıştığını göstermiştir.

Keywords

Robotik araç kontrolü ses komut tanıma dinamik zaman bükmesi STM32F407 nodeMCU

References

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  • Bakır, Ç. (2016). Alman dili üzerinde konuşmacı cinsiyetinin otomatik olarak belirlenmesi. Academic Platform-Journal of Engineering and Science, 4(2), 52-58.
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  • Kurniawan, A., & Kurniawan, A. (2021). Arduino IoT Cloud. Beginning Arduino Nano 33 IoT: Step-By-Step Internet of Things Projects, 131-155.
  • Manwani, A., Dhirani, J., Baloch, A., & Wasan, R. H. (2022). Design of voice-controlled robot vehicle. Journal of Applied Engineering & Technology (JAET), 6(1), 40-47.
  • Moore, A. D. (2018). Python GUI Programming with Tkinter: Develop responsive and powerful GUI applications with Tkinter. Packt Publishing Ltd.
  • Mnassri, A., Nasri, S., Boussif, M., & Cherif, A. (2022, May). Robust real-time automatic voice command based on raspberry pi for assistance disabled people. In 2022 IEEE 9th International Conference on Sciences of Electronics, Technologies of Information and Telecommunications (SETIT) (pp. 474-478). IEEE.
  • Muda, L., Begam, M., & Elamvazuthi, I. (2010). Voice recognition algorithms using mel frequency cepstral coefficient (MFCC) and dynamic time warping (DTW) techniques. arXiv preprint arXiv:1003.4083.
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DEVELOPMENT OF A WIRELESS MULTI WAY CONTROLLED ROBOTIC VEHICLE SYSTEM USING STM32F407 AND NODEMCU ESP8266 BOARDS

Year 2023, Volume: 26 Issue: 4, 1030 - 1049, 03.12.2023

Muhammet Fatih Acun , Metehan Daldal , Kemal Avcı

https://doi.org/10.17780/ksujes.1351636

Abstract

This study aims to realize a wireless remotely multi way controllable three-wheeled robotic vehicle. The system provides a structure that can be controlled both without and with internet via computers and mobile smartphones using Turkish voice commands and touch buttons. In the first study based on STM32F407, the robotic vehicle was controlled by computer-based button and voice commands over Bluetooth, and a Tkinter-based user interface was created accordingly. To detect voice commands without internet, firstly, Mel-Frequency Cepstral Coefficients (MFCC) were used in feature extraction and Dynamic Time Warping (DTW) method was used in matching and decision-making process for the correct recognition of 5 Turkish commands in computer environment. Samples for 5 voice commands were taken from 15 participants and the method used was tested. The results showed that 5 voice commands were recognized with 100% accuracy. Then, STM32F407-based smartphone and Bluetooth-based control work was discussed, and a Google assistant-based mobile interface was designed for voice commands. The third and fourth studies include the controls of the vehicle over Bluetooth and Wi-Fi connections, respectively, using the NodeMCU board. An Arduino IoT Cloud-based interface was developed for IoT-based control. Real-time studies with 10 participants showed that all control methods based on STM32F407 and NodeMCU boards work successfully

Keywords

Robotic vehicle control voice command recognition dynamic time warping STM32F407 nodeMCU

References

  • Abd Jalil, A. M., Mohamad, R., Anas, N. M., Kassim, M., & Suliman, S. I. (2021). Implementation of vehicle ventilation system using NodeMCU ESP8266 for remote monitoring. Bulletin of Electrical Engineering and Informatics, 10(1), 327-336.
  • Abed, A. A., & Jasim, A. A. (2016). Design and implementation of wireless voice controlled mobile robot. Al-Qadisiyah Journal for Engineering Science, 9(2), 135-147.
  • Andrew, A. B., Rajiv, S. A., Jusat, N., Zainuddin, A. A., Subramaniam, K., Rahman, N. A., & Sahak, R. (2021, August). Implementation of low-cost voice command robot using arduino uno platform. In 2021 IEEE 7th International Conference on Smart Instrumentation, Measurement and Applications (ICSIMA) (pp. 134-139). IEEE.
  • Aras, S., Öztürk, M., & Gangal, A. (2014, April). Recognition of real time voiced direction commands. In 2014 22nd Signal Processing and Communications Applications Conference (SIU) (pp. 2245-2248). IEEE.
  • Baltacıoğlu, F. (2010). Uzaktan sesle kontrol edilebilen robot tasarımı ve yapımı. Yüksek Lisans Tezi. Sakarya Universitesi Fen Bilimleri Enstitüsü Elektronik ve Bilgisayar Eğitimi Anabilim Dalı, Sakarya.
  • Bakır, Ç. (2016). Alman dili üzerinde konuşmacı cinsiyetinin otomatik olarak belirlenmesi. Academic Platform-Journal of Engineering and Science, 4(2), 52-58.
  • Chakraborty, S., De, N., Marak, D., Borah, M., Paul, S., & Majhi, V. (2021, October). Voice controlled robotic car using mobile application. In 2021 6th International Conference on Signal Processing, Computing and Control (ISPCC) (pp. 1-5). IEEE.
  • Chandelker, D., Kogahe, A., Suryawanshi, H., Chopde, N., Patil, N., Malviya, S., Sahu, V. & Chadokar, S. (2021). Arduino based voice control car. International Research Journal of Engineering and Technology (IRJET), 8(03), 1424-1429.
  • Chikhale, M. V., Gharat, M. R., Gogate, M. S., & Amireddy, M. R. (2017). Voice controlled robotic system using Arduino microcontroller. International Journal of New Technology and Research, 3(4), 92-94.
  • Çelebi, M. (2012). Ses komut tanıma ile gezgin araç kontrolü. Yüksek Lisans Tezi. Marmara Üniversitesi Fen Bilimleri Enstitüsü Elektronik ve Bilgisayar Eğitimi Anabilim Dalı, İstanbul.
  • Çubukçu, A., Kuncan, M., Kaplan, K., & Ertunc, H. M. (2015, May). Development of a voice-controlled home automation using Zigbee module. In 2015 23nd Signal Processing and Communications Applications Conference (SIU) (pp. 1801-1804). IEEE.
  • Diğken, G., & Ibrikci, T. (2015, May). Recognition of non-speech sounds using Mel-frequency cepstrum coefficients and dynamic time warping method. In 2015 23nd Signal Processing and Communications Applications Conference (SIU) (pp. 144-147). IEEE.
  • Doğan, S. (1999). PC ortamında sesli komutları tanıma. Yüksek Lisans Tezi. Marmara Üniversitesi Fen Bilimleri Enstitüsü Elektronik ve Haberleşme Eğitimi Anabilim Dalı, İstanbul.
  • Dutta, P. P., Kumar, A., Singh, A., Saha, K., Hazarika, B., Narzary, A., & Sharma, T. (2020, June). Design and development of voice controllable wheelchair. In 2020 8th International Conference on Reliability, Infocom Technologies and Optimization (Trends and Future Directions)(ICRITO) (pp. 1004-1008). IEEE.
  • Edizkan, R., Tiryaki, B., Büyükcan, T., & Uzun, İ. (2007, Ocak). Ses komut tanıma ile gezgin araç kontrolü. In Akademik Bilişim 2007 (pp. 1-4).
  • Gupta, M., Kumar, R., Chaudhary, R. K., & Kumari, J. (2021, December). IoT based voice controlled autonomous robotic vehicle through google assistant. In 2021 3rd International Conference on Advances in Computing, Communication Control and Networking (ICAC3N) (pp. 713-717). IEEE.
  • Gündoğdu, K., & Çalhan, A. (2013). Ses denetimli engelli insan aracı tasarımı. Düzce Üniversitesi Bilim ve Teknoloji Dergisi, 1(1), 110-119.
  • Gündoğdu, K., & Yücedağ, İ. (2013). Ses veya arayüz yardımı ile kontrol edilebilen mobil robot kol tasarımı. Düzce Üniversitesi Bilim ve Teknoloji Dergisi, 1(1), 24-31.
  • Harika, T., Chaitanya, M. L., Avinash, V. J., Arun, V., & Shamuella, S. (2018). Voice controlled robot using raspberry pi. International Journal of Innovative Technologies, 6(01), 0257-0261.
  • Ioana, G., & Văduva, J. A. (2022, October). Voice controlled robot dog. In 2022 IEEE 28th International Symposium for Design and Technology in Electronic Packaging (SIITME) (pp. 195-200). IEEE.
  • İskender, A., Üçgün, H., Yüzgeç, U., & Kesler, M. (2017, October). Voice command controlled mobile vehicle application. In 2017 International Conference on Computer Science and Engineering (UBMK) (pp. 929-933). IEEE.
  • Jiang, J., Ying, S., Fu, W., & Jiang, X. (2023). Structure design and system implementation of a supermarket shopping robot based on deep learning. International Journal of Data Science, 8(1), 1-15.
  • Kannan, K., & Selvakumar, J. (2015). Arduino based voice controlled robot. International Research Journal of Engineering and Technology (IRJET), 2(01), 49-55.
  • Karthik, P. C., Singh, R. P., & Gupta, M. (2020). Voice controlled robot using nodemcu. International Research Journal of Engineering and Technology (IRJET), 7(04), 1921-1925
  • Khan, R. L., Priyanshu, D., & Alsulaiman, F. S. (2021, December). Implementation of human voice controlled robotic car. In 2021 10th International Conference on System Modeling & Advancement in Research Trends (SMART) (pp. 640-646). IEEE.
  • Khawate, S., Prajapati, K., Anand, Y., & Chandodwala, K. (2022). Voice controlled robotic car using arduino. International Journal of Scientific Research in Science, Engineering and Technology (IJSRSET), 9(3), 119-129.
  • Kumar, T. S., & Rao, V. R. (2020). Voice controlled robot using wi-fi module. International Research Journal of Engineering and Technology (IRJET), 7, 423-425.
  • Kuriakose, S., Harshitha, M. M., Keerthana, D. G., Adarsh, S., & Harshitha, K. (2023, March). Wireless voice controlled robot. In 2023 9th International Conference on Advanced Computing and Communication Systems (ICACCS) (Vol. 1, pp. 189-194). IEEE.
  • Kurniawan, A., & Kurniawan, A. (2021). Arduino IoT Cloud. Beginning Arduino Nano 33 IoT: Step-By-Step Internet of Things Projects, 131-155.
  • Manwani, A., Dhirani, J., Baloch, A., & Wasan, R. H. (2022). Design of voice-controlled robot vehicle. Journal of Applied Engineering & Technology (JAET), 6(1), 40-47.
  • Moore, A. D. (2018). Python GUI Programming with Tkinter: Develop responsive and powerful GUI applications with Tkinter. Packt Publishing Ltd.
  • Mnassri, A., Nasri, S., Boussif, M., & Cherif, A. (2022, May). Robust real-time automatic voice command based on raspberry pi for assistance disabled people. In 2022 IEEE 9th International Conference on Sciences of Electronics, Technologies of Information and Telecommunications (SETIT) (pp. 474-478). IEEE.
  • Muda, L., Begam, M., & Elamvazuthi, I. (2010). Voice recognition algorithms using mel frequency cepstral coefficient (MFCC) and dynamic time warping (DTW) techniques. arXiv preprint arXiv:1003.4083.
  • Nguyen, Q. (2019). Hands-on application development with PyCharm: Accelerate your Python applications using practical coding techniques in PyCharm. Packt Publishing Ltd.
  • Pal, D., Kaur, N., Motwani, R., Mane, A. D., & Pal, P. (2023, March). Voice-Controlled robot using arduino and bluetooth. In 2023 3rd International Conference on Smart Data Intelligence (ICSMDI) (pp. 546-549). IEEE.
  • Pinjarkar, S., Khadpe, S., Tavte, A., & Karpe, R. (2017). Voice controlled robot through android application. International Research Journal of Engineering and Technology (IRJET), 4(04), 3266-3268.
  • PyCharm. JetBrains. 2019. https://www.jetbrains.com/pycharm/ Accessed 19.08.23.
  • Python. Python Software Foundation. https://www.python.org/ Accessed 19.08.23.
  • Rasal, S. P. (2014). Voice controlled robotic vehicle. International Journal of New Trends in Electronics and Communication, 2(1), 28-30.
  • Rashid, H., Ahmed, I. U., Osman, S. B., Newaz, Q., Rasheduzzaman, M., & Reza, S. T. (2017, January). Design and implementation of a voice controlled robot with human interaction ability. In International Conference on computer, communication, chemical, materials and electronic engineering (Vol. 65, pp. 148-151).
  • Sachdev, S., Macwan, J., Patel, C., & Doshi, N. (2019). Voice-controlled autonomous vehicle using IoT. Procedia Computer Science, 160, 712-717.
  • Santhakumar, M., Saran, S., Sathishkumar, S., Gunaseelan, M., & Elango, K. (2021). Voice controlled car using android, arduino and bluetooth. J Elect Eng Technol (IJEET), 12(3), 244-251.
  • Saravanan, M., Selvababu, B., Jayan, A., Anand, A., & Raj, A. (2020, December). Arduino based voice controlled robot vehicle. In IOP Conference Series: Materials Science and Engineering (993(1), p. 012125). IOP Publishing.
  • Selvi, C. T., Anishviswa, N., Karthi, G. A., Darshan, K., & Balaji, M. G. (2021, November). Automated voice controlled car using arduino with camera. In 2021 Fifth International Conference on I-SMAC (IoT in Social, Mobile, Analytics and Cloud) (pp. 708-711). IEEE.
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Details

Primary Language Turkish
Subjects Human-Computer Interaction
Journal Section Electrical and Electronics Engineering
Authors

Muhammet Fatih Acun 0009-0004-2118-6868

Metehan Daldal 0009-0004-5277-104X

Kemal Avcı 0000-0001-5040-3594

Publication Date December 3, 2023
Submission Date August 30, 2023
Published in Issue Year 2023Volume: 26 Issue: 4

Cite

APA Acun, M. F., Daldal, M., & Avcı, K. (2023). STM32F407 VE NODEMCU ESP8266 KARTLARI KULLANARAK KABLOSUZ ÇOK YÖNLÜ KONTROLLÜ ROBOTİK ARAÇ SİSTEMİNİN GELİŞTİRİLMESİ. Kahramanmaraş Sütçü İmam Üniversitesi Mühendislik Bilimleri Dergisi, 26(4), 1030-1049. https://doi.org/10.17780/ksujes.1351636
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