Proyect Name

ARA (Autonomous Robot for Autism)

General Info

ARA is intended to serve as a therapeutic solution for children in the Autism Spectrum Disorder. ARA implements an emotion recognition, face and hand tracking algorithm called Autism Learning through Vision (ALV) which is a cascade classifier + convNN classifier based, which aims to work toghether with an OAC (Output Adaptive Controller) implementing a High Order Sliding Mode (HOSM) observer to control ARA's trajectories and interactions with children.

Technologies

Husarion CORE2 - ROS w/Raspberry Pi 3 B+ & Ubuntu 16.04

Python 2.7

Installation Requirements

Install the following packages on the Husarion CORE2 - ROS board:

#ROS Kinetick KEY update
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116

#update & upgrade packages, OpenCV will be installed with the ROS update
sudo apt-get update && apt-get upgrade

#install pip v19   
curl "https://bootstrap.pypa.io/get-pip.py" -o "get-pip.py"
sudo python get-pip.py

#install numpy requirements
sudo apt-get install python-dev
sudo apt install libatlas-base-dev

#virtualenv system-wide install
sudo pip install -U virtualenv

#tensorflow virtualenv creation
vitutalenv --system-site-packages -p python tensorflow

#deploy tensorflow virtualenv
source ~/tensorflow/bin/activate

#install tensorflow
pip install --upgrade pip
sudo pip install 'https://github.com/lhelontra/tensorflow-on-arm/releases/download/v1.14.0-buster/tensorflow-1.14.0-cp27-none-linux_armv7l.whl'

#install keras
sudo pip install keras

#deactivate tensorflow virtualenv
deactivate

#Try install tensorflow solving the swap problem https://gist.github.com/EKami/9869ae6347f68c592c5b5cd181a3b205 problem solution with bazel https://github.com/bazelbuild/bazel/commit/cc8e7166e29fee39d44e578cf98a06486084a6bd

Setup

cd ARA-3
python ReconocerCara.py