We build and train a machine learning model that can classify a short audio segment into several categories of words. We compress the trained model using TF Lite and deployed the model into a microcontroller.
To make it more interesting and challenging, we train a model that can recognize numbers from zero to nine. We also modify the application code running on the microcontroller so that when it detects a number, it will flash the red light a certain number of times. For example, when we say "three", the LED on the board would flash red light three times with a 200ms interval followed by a green light flash.
Train the model
We use Google Colab as the training environment. Google Colab provides a Jupyter notebook along with a computing environment with GPU support, which would accelerate the training.
The training process took about 1.5 hours to complete.
You can see the accuracy and cross_entropy here:
accuracy
cross_entropy
The final test accuracy is 78.3%, which is pretty decent for a small model.
Convert the model to TF Lite
After training the model, we convert the model into a TensorFlow Lite model, which is fully quantized for use with embedded devices such as microcontrollers.
The quantized model is 50744 bytes in size, which is small enough to be loaded into a microcontroller.
Finally, we get the bytes representation of the model and copy it into our model file.
Application on Microcontroller
Since we change the wake word config of the original example, we have to make some adjustments. Besides, we think it would also be more interesting if we can set the LED light to flash multiple times according to the word it detects.
First, we change kCategoryLabels and kCategoryCount in micro_features_micro_model_settings:
Then, we make some changes to the arduino_commend_responder.cpp.
We add a helper function called blinkyBlinky to make the LED repeatedly blinks a certain amount of times:
voidblinkyBlinky(intrepeats){ for (int i = 0; i < repeats; i++) { digitalWrite(LEDR, LOW); delay(200); digitalWrite(LEDR, HIGH); delay(200); } }
In the RespondToCommand, we adjust the logic of command respond:
if (found_command[0] == 'z') { // zero last_command_time = current_time; digitalWrite(LEDG, LOW); } if (found_command[0] == 'o') { // one last_command_time = current_time; blinkyBlinky(1); digitalWrite(LEDG, LOW); } if (found_command[0] == 't') { // two/three if (found_command[1] == 'w') { // two last_command_time = current_time; blinkyBlinky(2); digitalWrite(LEDG, LOW); } if (found_command[1] == 'h') { // three last_command_time = current_time; blinkyBlinky(3); digitalWrite(LEDG, LOW); } } if (found_command[0] == 'f') { // four/five if (found_command[1] == 'o') { // four last_command_time = current_time; blinkyBlinky(4); digitalWrite(LEDG, LOW); } if (found_command[1] == 'i') { // five last_command_time = current_time; blinkyBlinky(5); digitalWrite(LEDG, LOW); } } if (found_command[0] == 's') { // six/seven if (found_command[1] == 'i' && found_command[2] == 'x') { // six last_command_time = current_time; blinkyBlinky(6); digitalWrite(LEDG, LOW); } if (found_command[1] == 'e') { // seven last_command_time = current_time; blinkyBlinky(7); digitalWrite(LEDG, LOW); } } if (found_command[0] == 'e') { // eight last_command_time = current_time; blinkyBlinky(8); digitalWrite(LEDG, LOW); } if (found_command[0] == 'n') { // nine last_command_time = current_time; blinkyBlinky(9); digitalWrite(LEDG, LOW); } if (found_command[0] == 'u') { last_command_time = current_time; digitalWrite(LEDB, LOW); // Blue for unknown }
Result
We test the application several times. Unfortunately, we find that the accuracy of the model is not quite satisfying. But when it successfully detects the number, it would work as expected.
Here are some video clips we recorded:
speaking "zero", 1 green light
speaking "three", 3 red lights, 1 green light
speaking "six", 6 red lights, 1 green light
From the Arduino IDE Serial Monitor, we can also see some of the numbers get detected:
Arduino IDE Serial Monitor
Conclusion
We built a model to detect single-digit numbers. We deployed the model into a microcontroller and made a small "game".
With this ability built into microcontrollers, we can build more complex applications such as a phone number dialer that can dial numbers for you by listening to your voice.
From this project, we learned that machine learning models can be converted and compressed to a small size without losing much of their accuracy. These small models can be deployed into microcontrollers and we can build many interesting applications upon that.
/* Copyright 2018 The TensorFlow Authors. All Rights Reserved.Licensed under the Apache License, Version 2.0 (the "License");you may not use this file except in compliance with the License.You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0Unless required by applicable law or agreed to in writing, softwaredistributed under the License is distributed on an "AS IS" BASIS,WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.See the License for the specific language governing permissions andlimitations under the License.==============================================================================*/#include"micro_features_micro_model_settings.h"constchar*kCategoryLabels[kCategoryCount]={"silence","unknown","zero","one","two","three","four","five","six","seven","eight","nine"};
micro_features_micro_model_settings.h
C/C++
/* Copyright 2020 The TensorFlow Authors. All Rights Reserved.Licensed under the Apache License, Version 2.0 (the "License");you may not use this file except in compliance with the License.You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0Unless required by applicable law or agreed to in writing, softwaredistributed under the License is distributed on an "AS IS" BASIS,WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.See the License for the specific language governing permissions andlimitations under the License.==============================================================================*/#ifndef TENSORFLOW_LITE_MICRO_EXAMPLES_MICRO_SPEECH_MICRO_FEATURES_MICRO_MODEL_SETTINGS_H_#define TENSORFLOW_LITE_MICRO_EXAMPLES_MICRO_SPEECH_MICRO_FEATURES_MICRO_MODEL_SETTINGS_H_// Keeping these as constant expressions allow us to allocate fixed-sized arrays// on the stack for our working memory.// The size of the input time series data we pass to the FFT to produce the// frequency information. This has to be a power of two, and since we're dealing// with 30ms of 16KHz inputs, which means 480 samples, this is the next value.constexprintkMaxAudioSampleSize=512;constexprintkAudioSampleFrequency=16000;// The following values are derived from values used during model training.// If you change the way you preprocess the input, update all these constants.constexprintkFeatureSliceSize=40;constexprintkFeatureSliceCount=49;constexprintkFeatureElementCount=(kFeatureSliceSize*kFeatureSliceCount);constexprintkFeatureSliceStrideMs=20;constexprintkFeatureSliceDurationMs=30;// Variables for the model's output categories.constexprintkSilenceIndex=0;constexprintkUnknownIndex=1;// If you modify the output categories, you need to update the following values.constexprintkCategoryCount=12;externconstchar*kCategoryLabels[kCategoryCount];#endif // TENSORFLOW_LITE_MICRO_EXAMPLES_MICRO_SPEECH_MICRO_FEATURES_MICRO_MODEL_SETTINGS_H_
arduino_command_responder.cpp
C/C++
/* Copyright 2019 The TensorFlow Authors. All Rights Reserved.Licensed under the Apache License, Version 2.0 (the "License");you may not use this file except in compliance with the License.You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0Unless required by applicable law or agreed to in writing, softwaredistributed under the License is distributed on an "AS IS" BASIS,WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.See the License for the specific language governing permissions andlimitations under the License.==============================================================================*/#if defined(ARDUINO) && !defined(ARDUINO_ARDUINO_NANO33BLE)#define ARDUINO_EXCLUDE_CODE#endif // defined(ARDUINO) && !defined(ARDUINO_ARDUINO_NANO33BLE)#ifndef ARDUINO_EXCLUDE_CODE#include"command_responder.h"#include"Arduino.h"voidblinkyBlinky(intrepeats){for(inti=0;i<repeats;i++){digitalWrite(LEDR,LOW);delay(200);digitalWrite(LEDR,HIGH);delay(200);}}// Toggles the built-in LED every inference, and lights a colored LED depending// on which word was detected.voidRespondToCommand(tflite::ErrorReporter*error_reporter,int32_tcurrent_time,constchar*found_command,uint8_tscore,boolis_new_command){staticboolis_initialized=false;if(!is_initialized){pinMode(LED_BUILTIN,OUTPUT);// Pins for the built-in RGB LEDs on the Arduino Nano 33 BLE SensepinMode(LEDR,OUTPUT);pinMode(LEDG,OUTPUT);pinMode(LEDB,OUTPUT);// Ensure the LED is off by default.// Note: The RGB LEDs on the Arduino Nano 33 BLE// Sense are on when the pin is LOW, off when HIGH.digitalWrite(LEDR,HIGH);digitalWrite(LEDG,HIGH);digitalWrite(LEDB,HIGH);is_initialized=true;}staticint32_tlast_command_time=0;staticintcount=0;staticintcertainty=220;if(is_new_command){TF_LITE_REPORT_ERROR(error_reporter,"Heard %s (%d) @%dms",found_command,score,current_time);// If we hear a command, light up the appropriate LEDif(found_command[0]=='z'){// zerolast_command_time=current_time;digitalWrite(LEDG,LOW);}if(found_command[0]=='o'){// onelast_command_time=current_time;blinkyBlinky(1);digitalWrite(LEDG,LOW);}if(found_command[0]=='t'){// two/threeif(found_command[1]=='w'){// twolast_command_time=current_time;blinkyBlinky(2);digitalWrite(LEDG,LOW);}if(found_command[1]=='h'){// threelast_command_time=current_time;blinkyBlinky(3);digitalWrite(LEDG,LOW);}}if(found_command[0]=='f'){// four/fiveif(found_command[1]=='o'){// fourlast_command_time=current_time;blinkyBlinky(4);digitalWrite(LEDG,LOW);}if(found_command[1]=='i'){// fivelast_command_time=current_time;blinkyBlinky(5);digitalWrite(LEDG,LOW);}}if(found_command[0]=='s'){// six/sevenif(found_command[1]=='i'&&found_command[2]=='x'){// sixlast_command_time=current_time;blinkyBlinky(6);digitalWrite(LEDG,LOW);}if(found_command[1]=='e'){// sevenlast_command_time=current_time;blinkyBlinky(7);digitalWrite(LEDG,LOW);}}if(found_command[0]=='e'){// eightlast_command_time=current_time;blinkyBlinky(8);digitalWrite(LEDG,LOW);}if(found_command[0]=='n'){// ninelast_command_time=current_time;blinkyBlinky(9);digitalWrite(LEDG,LOW);}if(found_command[0]=='u'){last_command_time=current_time;digitalWrite(LEDB,LOW);// Blue for unknown}}// If last_command_time is non-zero but was >3 seconds ago, zero it// and switch off the LED.if(last_command_time!=0){if(last_command_time<(current_time-3000)){last_command_time=0;digitalWrite(LED_BUILTIN,LOW);digitalWrite(LEDR,HIGH);digitalWrite(LEDG,HIGH);digitalWrite(LEDB,HIGH);}// If it is non-zero but <3 seconds ago, do nothing.return;}// Otherwise, toggle the LED every time an inference is performed.++count;if(count&1){digitalWrite(LED_BUILTIN,HIGH);}else{digitalWrite(LED_BUILTIN,LOW);}}#endif // ARDUINO_EXCLUDE_CODE
micro_features_model.cpp
C/C++
/* Copyright 2020 The TensorFlow Authors. All Rights Reserved.Licensed under the Apache License, Version 2.0 (the "License");you may not use this file except in compliance with the License.You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0Unless required by applicable law or agreed to in writing, softwaredistributed under the License is distributed on an "AS IS" BASIS,WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.See the License for the specific language governing permissions andlimitations under the License.==============================================================================*/// This is a standard TensorFlow Lite FlatBuffer model file that has been// converted into a C data array, so it can be easily compiled into a binary// for devices that don't have a file system. It was created using the command:// xxd -i model.tflite > model.cc#include"micro_features_model.h"// We need to keep the data array aligned on some architectures.#ifdef __has_attribute#define HAVE_ATTRIBUTE(x) __has_attribute(x)#else#define HAVE_ATTRIBUTE(x) 0#endif#if HAVE_ATTRIBUTE(aligned) || (defined(__GNUC__) && !defined(__clang__))#define DATA_ALIGN_ATTRIBUTE __attribute__((aligned(4)))#else#define DATA_ALIGN_ATTRIBUTE#endifconstunsignedcharg_model[]DATA_ALIGN_ATTRIBUTE={0x20,0x00,0x00,0x00,0x54,0x46,0x4c,0x33,0x00,0x00,0x00,0x00,0x00,0x00,0x12,0x00,0x1c,0x00,0x04,0x00,0x08,0x00,0x0c,0x00,0x10,0x00,0x14,0x00,0x00,0x00,0x18,0x00,0x12,0x00,0x00,0x00,0x03,0x00,0x00,0x00,0xb4,0xc5,0x00,0x00,0x54,0xbf,0x00,0x00,0x3c,0xbf,0x00,0x00,0x3c,0x00,0x00,0x00,0x04,0x00,0x00,0x00,0x01,0x00,0x00,0x00,0x0c,0x00,0x00,0x00,0x08,0x00,0x0c,0x00,0x04,0x00,0x08,0x00,0x08,0x00,0x00,0x00,0x08,0x00,0x00,0x00,0x0b,0x00,0x00,0x00,0x13,0x00,0x00,0x00,0x6d,0x69,0x6e,0x5f,0x72,0x75,0x6e,0x74,0x69,0x6d,0x65,0x5f,0x76,0x65,0x72,0x73,0x69,0x6f,0x6e,0x00,0x0c,0x00,0x00,0x00,0xf4,0xbe,0x00,0x00,0xb4,0xbe,0x00,0x00,0x24,0x03,0x00,0x00,0xf4,0x02,0x00,0x00,0xec,0x02,0x00,0x00,0xe4,0x02,0x00,0x00,0xc4,0x02,0x00,0x00,0xbc,0x02,0x00,0x00,0x2c,0x00,0x00,0x00,0x24,0x00,0x00,0x00,0x1c,0x00,0x00,0x00,0x04,0x00,0x00,0x00,0xf6,0x3f,0xff,0xff,0x04,0x00,0x00,0x00,0x05,0x00,0x00,0x00,0x31,0x2e,0x35,0x2e,0x30,0x00,0x00,0x00,0x74,0x3d,0xff,0xff,0x78,0x3d,0xff,0xff,0x12,0x40,0xff,0xff,0x04,0x00,0x00,0x00,0x80,0x02,0x00,0x00,0xca,0x7f,0x05,0xde,0xdb,0x0b,0x60,0xd3,0xde,0x5d,0x31,0xfd,0x00,0xfe,0x1a,0xf4,0xa4,0x31,0xb3,0x1f,0x9d,0xfe,0x50,0xf8,0xda,0xfd,0xe7,0x0f,0x55,0x0a,0x0a,0xed,0x91,0xd1,0xb1,0x1f,0x85,0xf3,0x35,0x1d,0xe8,0xce,0xff,0x32,0x1e,0x32,0x26,0xe6,0xc2,0xc8,0xdf,0x34,0xca,0x3d,0x39,0xe2,0x04,0xd3,0x15,0x2f,0xfd,0x2f,0x7f,0xc7,0xf0,0x56,0xd1,0xc6,0xf5,0x02,0x29,0xe8,0xeb,0x40,0xea,0xeb,0xf8,0xf6,0xe1,0xdc,0xb2,0xf4,0xc6,0x19,0xa9,0xfe,0x40,0x24,0xd2,0xeb,0xda,0xf8,0x60,0x00,0xc5,0x96,0xbd,0xbb,0xcd,0x2a,0x9a,0xfd,0x2f,0xea,0xef,0xd2,0xe6,0x0c,0x16,0x19,0xfd,0x26,0xe6,0xda,0xd7,0x40,0xe2,0x46,0x15,0x31,0x08,0xde,0xfc,0x12,0x1b,0x17,0x15,0x2e,0x1a,0x35,0xc7,0xb0,0x01,0xf1,0xf7,0xf7,0x15,0x24,0xd8,0xe3,0xe6,0xe9,0xbf,0xe4,0xe8,0xcb,0xc4,0x12,0xd8,0xf5,0x07,0xf5,0x01,0xd5,0xd8,0xe9,0x4d,0xf9,0x9c,0xee,0xe0,0xd0,0xf3,0x2f,0xc3,0x01,0x19,0xa5,0xdc,0xe7,0xd4,0xfc,0x1a,0xfa,0xb9,0x00,0x14,0xf3,0xdd,0x42,0x06,0x47,0xff,0x0d,0x08,0x05,0xd9,0x00,0x21,0xf6,0xf1,0xe9,0x49,0x0f,0xe1,0xb0,0x09,0xd1,0xe1,0xe1,0x4e,0x09,0xed,0xd9,0xf3,0xdf,0x9d,0x18,0x18,0xba,0x00,0x07,0xd6,0xf5,0xda,0xed,0x37,0xd2,0x02,0xe9,0x53,0xfc,0xa7,0xc3,0x21,0xd4,0x10,0x34,0xd2,0x0f,0xd3,0x3d,0x2d,0xfa,0x0d,0x07,0x1b,0x12,0xb6,0xd1,0x2b,0x04,0x01,0x4f,0x0c,0x68,0xd4,0x2f,0x2a,0x28,0xe5,0x11,0x16,0x1d,0xb2,0x11,0x44,0xcc,0xd9,0xb5,0x13,0xbb,0x23,0x2f,0x53,0xd7,0xe5,0xd5,0xde,0xdb,0xc0,0x9b,0x40,0xbd,0x06,0xf0,0xd0,0xe3,0x1e,0xf3,0x49,0xca,0xf1,0xe0,0x39,0xf3,0xd1,0xf2,0x3b,0xea,0x18,0x24,0xd8,0x11,0xff,0x3d,0x30,0xf8,0xfb,0xff,0x1e,0x06,0xd8,0x11,0x4c,0x15,0xf0,0x45,0xf5,0x73,0xe4,0xe0,0x2a,0x2d,0xb4,0x0a,0x0f,0x17,0xf8,0x04,0x17,0xb9,0xd8,0xbf,0x11,0xa8,0x33,0xfe,0x1e,0xd2,0xe4,0xd0,0x0a,0xcb,0xfd,0xeb,0x1b,0xd6,0x04,0xe1,0xd8,0xd2,0x39,0xf1,0x03,0xd5,0x04,0xe5,0x5f,0xe7,0x14,0x0f,0x38,0xfc,0x50,0x0e,0xd2,0x0e,0x26,0x0f,0xec,0x09,0xfe,0x08,0x06,0x01,0x28,0x7f,0x45,0x29,0x07,0x3a,0xf5,0x7f,0x2a,0x09,0xfd,0x3c,0xbb,0x0d,0x06,0x1a,0x0a,0xd4,0xf5,0xc1,0xd1,0xdc,0xfd,0xb7,0x3b,0xf0,0xe7,0xc5,0xe9,0xd5,0x19,0xd0,0x3e,0xdf,0x09,0xe0,0x12,0xe5,0xc8,0xbd,0x3c,0xb4,0xeb,0xda,0x0e,0xdc,0x76,0xcd,0x4a,0xd0,0x20,0x19,0x5c,0xf5,0xd4,0xf3,0x1d,0x9e,0xde,0x19,0xfe,0x03,0x30,0xf7,0x44,0xf2,0x1a,0x48,0x1d,0x1b,0xe5,0x78,0x25,0xab,0xed,0x57,0xc3,0x0a,0xfa,0x1f,0x51,0x4c,0xce,0xbd,0xd3,0xf1,0xff,0xc1,0x05,0x40,0xe0,0xc1,0xe6,0xdb,0xfa,0xea,0x02,0x28,0xe9,0xea,0xfc,0xe5,0xe0,0xc8,0xf5,0x24,0xf0,0xce,0x1d,0xd2,0x54,0xdc,0x04,0x0f,0xf5,0x27,0x40,0xdb,0xec,0xdf,0x1a,0xd4,0xf4,0x06,0x1e,0xf2,0x16,0x16,0x4c,0xe3,0xf2,0x60,0x0c,0xf9,0xf7,0x5e,0x10,0x51,0xf0,0x40,0xbf,0xfe,0xf3,0x37,0x64,0x08,0xa5,0xc4,0xcf,0xec,0xc5,0xd3,0xc6,0xdd,0xec,0xc0,0xfe,0xbc,0x01,0xeb,0xe5,0x23,0xab,0x0a,0x3b,0xde,0xb8,0xd0,0xc6,0x39,0xf2,0xd8,0x4c,0xa0,0x7f,0xb9,0xd1,0x02,0xbb,0x44,0x4d,0xc4,0xd2,0xbe,0xe2,0xa7,0x01,0x18,0x3b,0xb1,0x20,0xf3,0xe7,0x21,0xb6,0x69,0x0c,0xca,0xca,0x3c,0xbb,0xf8,0xe1,0x3e,0xf3,0xc4,0xef,0x26,0x01,0xfb,0xbd,0xf6,0x1f,0xf2,0x9b,0xe1,0xaa,0xef,0xf7,0xd2,0x4b,0xa6,0xe7,0xf2,0x85,0x2c,0x88,0x33,0x32,0xd9,0x85,0xd1,0x96,0xc6,0xec,0xf7,0x7f,0x86,0x6e,0xa5,0x9c,0xd7,0x9f,0x69,0x6e,0xc4,0x9a,0xab,0xb3,0xf7,0xf5,0x11,0x62,0x81,0x17,0xd1,0x95,0xec,0x81,0x65,0x2c,0xbd,0x9e,0x13,0x99,0x18,0xd4,0x25,0x0a,0x8d,0x05,0xfe,0xa7,0xa5,0x08,0x40,0xff,0xff,0xa2,0x42,0xff,0xff,0x04,0x00,0x00,0x00,0x10,0x00,0x00,0x00,0xff,0xff,0xff,0xff,0x31,0x00,0x00,0x00,0x28,0x00,0x00,0x00,0x01,0x00,0x00,0x00,0x28,0x40,0xff,0xff,0x2c,0x40,0xff,0xff,0xc6,0x42,0xff,0xff,0x04,0x00,0x00,0x00,0x20,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x6f,0x00,0x00,0x00,0x78,0xff,0xff,0xff,0x92,0xfe,0xff,0xff,0x00,0x00,0x00,0x00,0xd2,0xfd,0xff,0xff,0x1e,0x02,0x00,0x00,0x21,0x00,0x00,0x00,0xf2,0x42,0xff,0xff,0x04,0x00,0x00,0x00,0x80,0xbb,0x00,0x00,0xf3,0xf7,0xf8,0xd5,0x0b,0x08,0xfd,0x2d,0x01,0xe7,0xee,0x13,0xe8,0xec,0x07,0x05,0xd5,0xe4,0xe1,0x09,0x16,0x08,0xf3,0x0e,0xfa,0x00,0xf4,0xe3,0xce,0xee,0x02,0xfe,0xd8,0x04,0x05,0xed,0x1e,0x2f,0x01,0x02,0xfa,0xde,0xef,0xfd,0xf3,0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