HUMANOID PROTOTYPE

B. Tech. PROJECT REPORT

Submitted to Kavayaitri Bahinabai Chaudhari North Maharashtra University, Jalgaon in

Partial Fulfillment of theRequirements for the Degree of BACHELOR OF
TECHNOLOGY in Instrumentation Engineering.

Prepared by
PRAMIT P. BADGE (1621002)
HARSHAL S. PATIL (1421041)
ANAND S. IGHAVE (1421019)
UJJWAL THORAT (1521054)

Guide
U.M. THORKAR
(Assistant Professor in Instrumentation)

DEPARTMENT OF INSTRUMENTATION ENGINEERING

(2019-20)

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 GOVERNMENT COLLEGE OF ENGINEERING, JALGAON 425002
An Autonomous Institute of Maharashtra, NAAC Accredited
Department Of Instrumentation Engineering
( NBA Accredited )

CERTIFICATE

This is to certify that the project entitled, “HUMANOID PROTOTYPE”, which

is being submitted here with for the award of B.Tech., is the result of the seminar work
completed by PRAMIT P. BADGE, HARSHAL S. PATIL, ANAND S. IGHAVE,
UJJWAL THORAT under my supervision and guidance within the four walls of the
institute and the same has not been submitted elsewhere for the award of any degree.

Guide Prof. Dr. G. M. Malwatkar

U.M. Thorkar (Head of Instrumentation Department)
(Assistant Professor in
Instrumentation Department)

Dr. R.D. Kokate Examiner

(Principal)

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 DECLARATION

I hereby declare that the project entitled, “HUMANOID PROTOTYPE” was

carried out and written by us under the guidance of U.M. THORKAR SIR Assistant
Professor, Department of Instrumentation Engineering, Govt. College of Engineering,
Jalgaon. This work has not been previously formed the basis for the award of any degree
or diploma or certificate nor has been submitted elsewhere for the award of any degree or
diploma.

Place: Jalgaon
Date:
PRAMIT P.BADGE (1621002)
HARSHAL S. PATIL (1421041)
ANAND S. IGHAVE (1421019)
UJJWAL THORAT (1521054)


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 ACKNOWLEDGMENT

We would like to thank our seminar and project Guide Asst.Prof. U.M. THORKAR SIR,
Assistant Professor in INSTRUMENTATION ENGINEERING DEPT., GOVERNMENT
COLLEGE OF ENGINEERING for their continuous support and valuable suggestions
throughout this work carried out by us.

PRAMIT P.BADGE (1621002)

HARSHAL S. PATIL (1421041)
ANAND S. IGHAVE (1421019)
UJJWAL THORAT (1521054)

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 ABSTRACT
A humanoid robot is a robot with its body shape built to resemble the human body. The
design may be for functional purposes, such as interacting with human tools and environments,
for experimental purposes, such as the study of bipedal locomotion, or for other purposes. In
general, humanoid robots have a torso, a head, two arms, and two legs, though some forms of
humanoid robots may model only part of the body, for example, from the waist up. Some
humanoid robots also have heads designed to replicate human facial features such as eyes and
mouths. Androids are humanoid robots built to aesthetically resemble humans.

Although the initial aim of humanoid research was to build

better orthosis and prosthesis for human beings, knowledge has been transferred between both
disciplines. A few examples are powered leg prosthesis for neuromuscularly impaired, ankle-foot
orthosis, biological realistic leg prosthesis and forearm prosthesis.

Besides the research, humanoid robots are being developed to perform human tasks like
personal assistance, through which they should be able to assist the sick and elderly, and dirty or
dangerous jobs. Humanoids are also suitable for some procedurally-based vocations, such as
reception-desk administrators and automotive manufacturing line workers. In essence, since they
can use tools and operate equipment and vehicles designed for the human form, humanoids could
theoretically perform any task a human being can, so long as they have the proper software.
However, the complexity of doing so is immense.Humanoid robots are currently widely studied
because of the many future applications they could be used for. Many researchers are working on
the locomotion aspects. We are more interested in dual-arm manipulation tasks, because of our
long experience on this topic. In this paper, we consider the task consisting in assembling two
objects, each of them being held by one of the humanoid arms, as human beings often do. In this
framework, we briefly recall methods that we have developed in the past for (i) hybrid position/
force control of a two-arm robot and (ii) relative positioning of the end-effectors of two
manipulators.

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 TABLE OF CONTENT

Chapter no. Title Page no.

CERTIFICATE 2

DECLARATION 3

ABSTRACT 4

1 INTRODUCTION 7

2 LITERATURE SURVEY 8

2.1 MORPHOLOGY 9

3 PROBLEM STATEMENT 11

3.1 CONTRIBUTION TO SOCIETY

3.2 COMPLIANCE TO STANDARDS

4 BASIC THEORY 12

4.1 IDENTIFICATION OF ESSENTIAL CONCEPTS

4.2 EQUIPMENT / COMPONENT LIST

4.3 MODERN TOOLS USED

4.4 ANALYSIS FROM LITERATURE USED

4.5 BUDGET ANANYSIS

4.6 PROJECT REPORT OBJECTIVE AND OUTCOMES

5 DISCUCTION. 20

REFERENCES 21

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 CHAPTER 1
INTRODUCTION

Humanoid robots are now used as research tools in several scientific areas.
Researchers study the human body structure and behavior (biomechanics) to build
humanoid robots. On the other side, the attempt to simulate the human body leads to a
better understanding of it. Human cognition is a field of study which is focused on how
humans learn from sensory information in order to acquire perceptual and motor skills.
This knowledge is used to develop computational models of human behavior and it has
been improving over time.

It has been suggested that very advanced robotics will facilitate the
enhancement of ordinary humans. See transhumanism.Although the initial aim of
humanoid research was to build better orthosis and prosthesis for human beings,
knowledge has been transferred between both disciplines. A few examples are powered leg
prosthesis for neuromuscularly impaired, ankle-foot orthosis, biological realistic leg
prosthesis and forearm prosthesis.Besides the research, humanoid robots are being
developed to perform human tasks like personal assistance, through which they should be
able to assist the sick and elderly, and dirty or dangerous jobs. Humanoids are also suitable
for some procedurally-based vocations, such as reception-desk administrators and
automotive manufacturing line workers. In essence, since they can use tools and operate
equipment and vehicles designed for the human form, humanoids could theoretically
perform any task a human being can, so long as they have the proper software. However,
the complexity of doing so is immense.

They are also becoming increasingly popular as entertainers. For

example, Ursula, a female robot, sings, plays music, dances and speaks to her audiences at
Universal Studios. Several Disney theme park shows utilize animatronic robots that look,
move and speak much like human beings. Although these robots look realistic, they have
no cognition or physical autonomy.

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MOTIVATION:

Today’s robots excel at performing pre-programmed tasks. They work well in

highly controlled environments with well-defined objects. They cannot, however, cope
with the complexities of most real-world environments, which are too nuanced and
complicated to be summarized within a limited set of specifications. Thanks to recent
developments in sensor and networking technology, groups of robots can now be
networked in order to share information, learn from their peers and work together, but
these smart feed forward systems currently operate in isolation from each other. Each
system is built independently, and if it is decommissioned, all its learning is lost.

THEME:

Humanoid robots are now used as research tools in several scientific areas. Researchers
study the human body structure and behavior (biomechanics) to build humanoid robots. On the
other side, the attempt to simulate the human body leads to a better understanding of it. Human
cognition is a field of study which is focused on how humans learn from sensory information in
order to acquire perceptual and motor skills. This knowledge is used to develop computational
models of human behavior and it has been improving over time. It has been suggested that very
advanced robotics will facilitate the enhancement of ordinary humans. See transhumanism.
Although the initial aim of humanoid research was to build better orthosis and prosthesis for
human beings, knowledge has been transferred between both disciplines. A few examples are
powered leg prosthesis for neuromuscularly impaired, ankle-foot orthosis, biological realistic leg
prosthesis and forearm prosthesis. Besides the research, humanoid robots are being developed to
perform human tasks like personal assistance, through which they should be able to assist the
sick and elderly, and dirty or dangerous jobs. Humanoids are also suitable for some procedurally-
based vocations, such as reception-desk administrators and automotive manufacturing line
workers. In essence, since they can use tools and operate equipment and vehicles designed for
the human form, humanoids could theoretically perform any task a human being can, so long as

viii
they have the proper software. However, the complexity of doing so is immense. They are also
becoming increasingly popular as entertainers. For example, Ursula, a female robot, sings, plays
music, dances and speaks to her audiences at Universal Studios. Several Disney theme park
shows utilize animatronic robots that look, move and speak much like human beings. Although
these robots look realistic, they have no cognition or physical autonomy. Various humanoid
robots and their possible applications in daily life are featured in an independent documentary
film called Plug & Pray, which was released in 2010.

ORGANISATION OF REPORT:

Chapter 1-

In this chapter basically we are discussing the introduction of our project. And also we
are including the motivation and the theme related to our project.

Chapter 2-

The literature survey is given in this chapter (previously done researches related to the
project).

Chapter 3-

The problem statement and the work schedule distributed among the group members is
given in this chapter.

Chapter 4-

The Basic Theory related to our project and the detail characteristics of components
which we are using in our project is given in this chapter.

Chapter 5-

Discussion of the project is given in this chapter.

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 CHAPTER 2

LITERATURE SURVEY

2.1 The poppy project

Poppy: Open Source 3D Printed Robot for Experiments in Developmental

Robotics.

Matthieu Lapeyre, Pierre Rouanet, Jonathan Grizou, Steve N’Guyen, Alexandre

Le Falher, Fabien Depraetre, Pierre-Yves Oudeyer Flowers Laboratory, Inria / ENSTA-
Paristech Bordeaux, France.

The Poppy project aims at building an open-source humanoid platform based on

robust, flexible, easy-to-use and reproduce hardware and software. Two key points are
describing the project. First, due to the need of exploring morphology alternatives, the use of
3D printing and rapid prototyping techniques are a central aspect of the project. They allow
really considering the morphology as an experimental variable. Indeed, thanks to the
democratization of such technologies, exploring morphological variants is now both cheap
and fast. Associated with a modular structure and the use of off-the-shell components, we can
reconfigure the robot in minutes.

2. Implementation of Google Assistant on Rasberry Pi

Septimiu Mischie Faculty of Electronics, Telecommunications and Information

Technologies Politehnica University of Timisoara Timisoara, Romania septimiu.mischie@upt.ro

Liliana Mâțiu-Iovan Faculty of Electronics, Telecommunications and Information

Technologies Politehnica University of Timisoara Timisoara, Romania liliana.matiu-
iovan@upt.ro.

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 DISCUSSION OF ABSTRACTS—This paper investigates the implementation of
the voice Google assistant on a Raspberry Pi microcomputer. First, the Voice Kit of Google is
presented. This device can be attached to a Raspberry Pi and a voice Google assistant is
obtained. The necessary steps to implement the voice Google assistant on a system that contains
among the Raspberry Pi only a microphone and a speaker, instead of the Voice Kit, are presented.
In this way a voice Google assistant can be made more easily and flexible. This newly created
device has several working modes that are analyzed. Finally, a speech recognition system that
works in Romanian language is presented and evaluated.

2.3 Voice Controlled Personal Assistant Using Raspberry Pi

Ass. Prof. Emad S. Othman, Senior Member IEEE - Region 8, High Institute for
Computers and Information Systems, AL-Shorouk Academy, Cairo – Egypt, PH-
0020-010-25830256.

Abstract–The purpose of this paper is to illustrate the implementation of a Voice

Command System as an Intelligent Personal Assistant (IPA) that can perform numerous tasks or
services for an individual. These tasks or services are based on user input, location awareness,
and the ability to access information from a variety of online sources (such as weather or traffic
conditions, news, stock prices, user schedules, retail prices, telling time, local traffic, travel
assistant, events, notification from social applications plus one can ask questions to the system,
invoke its machine learning otherwise get it from Wikipedia… etc…..). Using Raspberry Pi as a
main hardware to implement this model which works on the primary input of a user’s voice.
Using voice as an input to convert into text using a speech to text engine.

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 2.4 STUDY OF MORPHOLOGY

FIG 2.1: POPPY STRUCTURE

The role of the morphology appears as a fascinating open field. Exploring the interaction
between body properties and cognition could lead to both a better understanding of animals
behaviour (human being in particular) and to build robot more adapted and robust to an open
environment with unpredictable interaction. In particular we can highlight the acquisition of
sensorimotor task and the exploration of adapted bodies for natural physical and social
interaction with humans.In this context, we should not only take care of the robot body design
but both introduce the morphology as an experimental variable and conduct experiments in the
real world, indeed the best model of the world is the world itself .
However such experiments raised two major issues researchers tried to avoid for years by using
simulation. First, having a robot moving in the real world leads to problems linked to the
platform robustness against mistake. An efficient experimental platform should not break itself
while acting in the real world and at least, it should be easy to repair it in case of problem.

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 CHAPTER 3

PROBLEM STATEMENT

3.1 CONTRIBUTION TO SOCIETY , CONCERN FOR ENVIRONMENT

3.1.1 Answers to questions using wifi

2. To assist and to reduce workload

3.1.3 Does not harm to living creatures (hassleless pollution free)

3.1.4 Designed to study robotics

3.2 COMPLIANCE TO STANDARDS

• Our aim is to design ,a prototype to having ::

Number Of actuators 20_25

Controllers 02

• Easy setup:Poppy is designed to conduct robotic experiments and integrate

several key abilities in an easy-to-use robotic platform.

• Easy To Duplicate: The overall time to assemble all mechanic components of

Poppy takes about 2 days. Adding extra sensors is simplified by the use of Arduino
components.

• Robustness & Lifelong Learning: Poppy is designed to be robust to falls and to

allow long experimentations (e.g. several hours). Also, its conception prevents it from
destructing itself if wrong moves occur.

• Easy To Setup: We try to keep Poppy as Plugn’Play as possible.

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 • Affordable: To make Poppy widely accessible, we keep the cost relatively low.
Price components for 7500-8000.

Problem Statement

1. To reduce overall weight of robot

2. To make replica of human structure

3. To reduce overall cost of prototype

4. To make prototype easy to carry

Project Scheduling and work Delegation

M E M B E R JULY AUGUST SEPTEMBER OCTOBER N O V E M B E

S R

HARSHAL COMPONENT 2 0 % POSTER

S PLANNING R E P O R T MAKING
MAKING
PRAMIT DESIGN OF S O F T WA R E M O T O R S 2 0 % P O S T E R
R A W HANDLING CALLIBRATIO R E P O R T MAKING
MATERIALS N MAKING
ANAND COMPONENTS 2 0 % P O S T E R
R E C E I V I N G R E P O R T MAKING
AND ANALYSIS MAKING
UJJWAL ONLINE 2 0 % POSTER
P R I C E R E P O R T MAKING
CHECKING MAKING

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 CHAPTER 4

BASIC THEORY

4.1 IDENTIFICATION OF ESSENTIAL CONCEPTS

4.1.1 Installation of raspbian in raspberry pi 3(model b)

Step 1: Download Raspbian

Step 2: Unzip the file
Step 3: Write the disc image to your microSD card
Step 4: Put the microSD card in your Pi and boot up

4.1.2 Hardware Implementation

Microphone is used to take the audio input of the sound. This audio input when
further passed through the system would be searched for keywords. These keywords are
essential for the functioning of the voice command system as our modules work on the essence
of searching for keywords and giving output by matching keywords as shown in Figure 1.
Keyboard acts as an input interface mainly for the developers, providing access
to make edits to the program code.
Mouse also acts an interface between the system and the developer and does not
have a direct interaction with the end user.
Raspberry Pi is the heart of the voice command system as it is involved in every
step of processing data to connecting components together [8]. The Raspbian OS is mounted
onto the SD card which is then loaded in the card slot to provide a functioning operating system.
The Raspberry Pi needs a constant 5V, 2.1 mA power supply. This can either be
provided through an AC supply using a micro USB charger or through a power bank.

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 Ethernet is being used to provide internet connection to the voice command
system. Since the system relies on online text to speech conversion, online query processing and
online speech to text conversion hence we need a constant connection to achieve all this.
Monitor provides the developer an additional way to look at the code and make
any edits if any. It is not required for any sort of communication with the end user.
Speakers, once the query put forward by the user has been processed, the text
output of that query is converted to speech using the online text to speech converter. Now this
speech which is the audio output is sent to the user using the speakers which are running on
audio out.

"

Figure 4.1. Hardware setup of voice command system

Flow of Events in Voice Command System

First, when the user starts the system, he uses a microphone to send in the input.
Basically, what it does is that it takes sound input from the user and it is fed to the computer to
process it further. Then, that sound input if fed to the speech to text converter, which converts
audio input to text output which is recognizable by the computer and can also be processed by it.
Then that text is parsed and searched for keywords. Our voice command system is
built around the system of keywords where it searches the text for key words to match. And once
key words are matched then it gives the relevant output.

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 This output is in the form of text. This is then converted to speech output using a
text to speech converter which involves using an optical character recognition system. OCR
categorizes and identifies the text and then the text to speech engine converts it to the audio
output. This output is transmitted via the speakers which are connected to the audio jack of the
raspberry pi as shown in Figure 2.

"

4.1.3 MODULES IMPLEMENTED

• Speech To Text Engine

• (AVS) is a Speech-To-Text (STT) engine which is used to convert the commands
given by the user in audio input to text form, so that these commands can be
interpreted by the modules properly. To use (AVS) engine, an application has to
be created in the Amazon developers console and the generated API key has to be
used to access the speech engine. It requires continuous internet connection as
data is sent over the Amazon servers.

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• Text To Speech Engine
• (AVS) is a Text-To-Speech (TTS) engine is used to create a spoken sound version
of the text in a computer document, such as a help file or a Web page. TTS can
enable the reading of computer display information for the visually challenged
person, or may simply be used to augment the reading of a text message. To use
(AVS) engine, an application has to be created in the Amazon developers console
and the generated API key has to be used to access the speech engine. It requires
continuous internet connection as data is sent over the Amazon servers.

• Query Processor
• The Voice Command System has a module for query processing which works in
general like many query processors do. That means, taking the input from the
users, searching for relevant outputs and then presenting the user with the
appropriate output. In this system we are using the site wolfram alpha as the
source for implementing query processing in the system. The queries that can be
passed to this module include retrieving information about famous personalities,
simple mathematical calculations, description of any general object etc

• Wikipedia
• This module works on the keyword of “wiki”. The system asks for what you
would like to learn about. Then the request is made to the Wikipedia API for the
required query. It generates the summary of the information regarding the query
and the data is output through the microphone to the listener in audio form. In
case of failure, the error message is generated saying “unable to reach dictionary
of wiki”.

• News
• News module can be executed by using the keyword “news”. The headlines of top
articles are retrieved from the internet using Google news. The system tells the

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 user all these headlines and asks the user if any of these articles should be sent to
the user’s email address. If the user specifies the number of the article to be sent,
the article is sent to the specified email address. Otherwise, no further action is
taken. If any failure occurs in retrieving headlines or sending articles, a
corresponding error message is generated.

2. EQUIPMENT/COMPONENT LIST

4.2.1 Raspberry Pi 3 Model B

FIG 4.2: Raspberry Pi 3 Model B

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 Technical Specification:

▪ RASPBERRYPI-MODB-1GB RPI-MODB-16GB-RASBIAN

▪ Broadcom BCM2837 64bit ARMv7 Quad Core Processor powered Single

Board Computer running at 1.2GHz 1GB RAM

▪ BCM43143 WiFi on board

▪ Bluetooth Low Energy (BLE) on board

▪ 40pin extended GPIO x USB 2 ports

▪ Full size HDMI (High-Definition Multimedia Interface)

▪ CSI camera port for connecting the Raspberry Pi camera

▪ DSI display port for connecting the Raspberry Pi touch screen display

▪ Micro SD port for loading your operating system and storing data

▪ Upgraded switched Micro USB power source (now supports up to 2.4

Amps)

▪ Expected to have the same form factor has the Pi 2 Model B, however the
LEDs will change position

4.2.2 ARDUINO UNO R3 BASED USB 18 SERVO CONTROLLER

" FIG 4.2:

ARDUINO UNO 18 SERVO CONTROLLER

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Features:

• Control 18 hobby servos from PC and Microcontroller

• USB interface
• Comes Pre-loaded Arduino Uno bootloader
• Software exports servo sequences to Arduino Uno for running servo
sequences

• Independent range setting for each servo

• Independent offset, Maximum, Minimum and Direction setting for each servo
• 0.5-microsecond resolution

• 50 Hz update rate

• Small size of 80 X 47 mm

• Plug and Play, Auto detection of hardware

• Easy to use software

• Servo sequencer with speed, delay, goto and many other features

• Home and neutral position setting

• Easy to install USB driver and Application software

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4.2.3 TOWER PRO MG995 SERVO MOTORS

FIG 4.3: MG995 SERVO MOTOR

FEATURES :

1. The connection cable is thicker.

2. Equips high-quality motor.

3. High resolution

4. Accurate positioning

5. Fast control response

6. Constant torque throughout the servo travel ran

SPECIFICATIONS

1. Model: MG995

2. Weight: 55 gm

3. Operating voltage: 4.8V~ 7.2V

4. Servo Plug: JR

5. Stall torque @4.8V : 10 kg-cm

6. Stall torque @6.6V : 12 kg-cm

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4.2.4 TOWER PRO MG90

FIG 4.4: MG90S Metal Gear Mini Servo

SPECIFICATIONS

• Modulation: Analog
• Torque: 4.8V: 30.60 oz-in (2.20 kg-cm)

• 6.0V: 34.70 oz-in (2.50 kg-cm)

• Speed: 4.8V: 0.11 sec/60°

• 6.0V: 0.10 sec/60°

• Weight: 0.49 oz (14.0 g)

• Dimensions: Length:0.91 in (23.1 mm)

• Width: 0.48 in (12.2 mm)

• Height: 1.14 in (29.0 mm)

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 • Gear Type: Metal

• Rotation/Support: Dual Bearings

• Rotational Range: 180°

• Pulse Cycle: 20 ms
• Pulse Width: 400-2400 µs

4.2.5 TOWER PRO SG90

FIG 4.5: SG90 SERVO MOTOR

TowerPro SG-90 Features

• Operating Voltage is +5V typically

• Torque: 2.5kg/cm

• Operating speed is 0.1s/60°

• Gear Type: Plastic

• Rotation : 0°-180°

• Weight of motor : 9gm

• Package includes gear horns and screws

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 3. TOOLS USED
RASPBIAN
ARDUINO IDE

4.4 ANALYSIS FROM LITERATURE USED

4.4.1 SUPPORTING RAW HARDWARE IS SELF MADE
4.4.2 INSTALLED RASPBIAN AND ARDUINO IDE

4.5 BUDGET ANALYSIS PRICE(IN RUPEES)

RASPBERRY PI 3(MODEL 3) 3150
ARDUINO UNO 18 SERVO CONTROLLER 2000
TOWER PRO MG995 SERVO MOTORS (450 X8) 3600
TOWER PRO MG90 (183X6) 1101
TOWER PRO SG90 (194X100) 1940
SPEAKERS WITH INBUILT MIC 700
POWER BANK 700

4.6 PROJECT REPORT OBJECTIVE AND OUTCOMES

▪ MIMICS LIKE HUMAN
▪ ANSWERS LIKE GOOGLE ASSISTANT
▪ CAN PICK AND PLACE LIGHT WEIGHT OBJECTS

xxv
 CHAPTER 5

DISCUSSION

• Starting from scratch, all the details, software and hardware are presented. Google
assistant is available on smartphones, but using it on Raspberry Pi has the advantage that
this microcomputer can be interfaced with other hardware devices. We presented a
simple example that turns on/off some LEDS by voice commands. However, this
application can be extended to any smart home or assistive devices for impaired
individuals.
Most importantly, this application can work in practice in any language, however, only
one at a time.
• In terms of future work, we would like to implement an application that will use the voice
command to interact with a DC motor that can be integrated in a smart home device.
• Also we want to conduct a speech recognizer experiment that does not require internet
access. In addition, we would like to incorporate a text to speech function on Raspberry
Pi that uses Romanian as its default language.

xxvi
 REFERENCES

[1] Poppy: Open Source 3D Printed Robot for Experiments in Developmental Robotics.
Matthieu Lapeyre, Pierre Rouanet, Jonathan Grizou, Steve N’Guyen, Alexandre Le
Falher, Fabien Depraetre, Pierre-Yves Oudeyer Flowers Laboratory, Inria / ENSTA-
Paristech
Bordeaux, France
Email: matthieu.lapeyre@inria.fr
[2] Implementation of Google Assistant on Rasberry Pi
Septimiu Mischie Faculty of Electronics, Telecommunications and Information
Technologies Politehnica University of Timisoara Timisoara, Romania
septimiu.mischie@upt.ro Liliana Mâțiu-Iovan Faculty of Electronics,
Telecommunications and Information Technologies Politehnica University of Timisoara
Timisoara, Romania liliana.matiu-iovan@upt.ro Gabriel Gășpăresc Faculty of
Electronics, Telecommunications and Information Technologies Politehnica University
of Timisoara Timisoara, Romania gabriel.gasparesc@upt.ro

[3] Voice Controlled Personal Assistant Using Raspberry Pi

Ass. Prof. Emad S. Othman, Senior Member IEEE - Region 8, High Institute for Computers
and Information Systems, AL-Shorouk Academy, Cairo – Egypt, PH- 0020-010-25830256. E-
mail: emad91@hotmail.com IJSER © 2017 http://www.ijser.org

xxvii