ECE 4180 Project - Alexa Elmo
Page last updated 11 Dec 2018, by 
Anand Ramanathan.
0
replies
Anand Ramanathan.
0
replies
Idea
This project combines both usage of a Raspberry Pi and mBed microcontroller to create a rudimentary Alexa that controls an Elmo doll attached to servos and LEDs. The code to control the mBed from the Pi is located inside the AVS cpp files so it is fully integrated with Alexa motions.
Materials
- Raspberry Pi 3 kit
- mBed microcontroller
- Servo
- RGB LEDs
- USB Microphone
- Elmo doll
Schematic
Prodcedure
- Set up the AVS on the Raspi using this tutorial
- Add controller code to main.cpp in the AVS folder on Raspi.
- Import this code to mbed:
#include "mbed.h"
#include "Servo.h"
PwmOut led1(p24); //setup PWM output
PwmOut led2(p23); //setup PWM output
PwmOut led3(p22); //setup PWM output
Servo myservo(p21);
DigitalIn listening(p8);
DigitalIn talking(p9);
float red=0.0f;
float green=0.0f;
float blue=1.0f;
void eyes(){
float f=static_cast <float> (rand()) / static_cast <float> (RAND_MAX);
if(f>.75){
if(red<1){red=red+0.001;}
if(green<1){green=green+0.001;}
if(blue>0){blue=blue-0.001;}
}
else if(f>.5){
if(red<1){red=red+0.001;}
if(green>0){green=green-0.001;}
if(blue>0){blue=blue-0.001;}
}
else if(f>.25){
if(red>0){red=red-0.001;}
if(green<1){green=green+0.001;}
if(blue<1){blue=blue+0.001;}
}
else{
if(red>0){red=red-0.001;}
if(green>0){green=green-0.001;}
if(blue<1){blue=blue+0.001;}
srand(time(NULL));
}
}
int main() {
while(1){
eyes();
if(listening){
led1= red; //dim led using PWM
led2= green; //dim led using PWM
led3= blue; //dim led using PWM
}
else if(talking){
led1= red; //dim led using PWM
led2= green; //dim led using PWM
led3= blue; //dim led using PWM
myservo = blue;
}
else{
led1=0.0f;
led2=0.0f;
led3=0.0f;
myservo = 0.0f;
}
wait(0.001); //0.01 second time delay-so a human can see it
}
You can import the program here:
Import programElmo_Alexa
Mbed code for interfacing with Raspberry Pi.
Last commit 06 Dec 2018 by Joseph Samo
Make sure the necessary libraries for the Mbed are imported.
- The LEDs were attached to the Elmo using ping pong balls glued to his head, and then drilled through.
- Add code to main.cpp to control the mBed based on states from the alexa pi from this source
- In main.cpp add
#include <wiringPi.h> #include <cstdlib> #include <string>
- In UImanager.cpp, use
/*
* Copyright 2017-2018 Amazon.com, Inc. or its affiliates. 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.
* A copy of the License is located at
*
* http://aws.amazon.com/apache2.0/
*
* or in the "license" file accompanying this file. This file 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 and limitations under the License.
*/
#include <iostream>
#include <sstream>
#include "SampleApp/UIManager.h"
#include <string>
#include <AVSCommon/SDKInterfaces/DialogUXStateObserverInterface.h>
#include "AVSCommon/Utils/SDKVersion.h"
#include <wiringPi.h>
#include "SampleApp/ConsolePrinter.h"
namespace alexaClientSDK {
namespace sampleApp {
using namespace avsCommon::sdkInterfaces;
static const std::string VERSION = avsCommon::utils::sdkVersion::getCurrentVersion();
// clang-format off
static const std::string ALEXA_WELCOME_MESSAGE =
" # # # ##### ##### ###### # # \n"
" # # # # # # # # # # # # \n"
" # # # # # # # # # # \n"
" # # # # ##### ##### # # ### \n"
" ####### # # # # # # # # \n"
" # # # # # # # # # # # # \n"
" # # # ##### ##### ###### # # \n"
" \n"
" ##### # \n"
" # # ## # # ##### # ###### # # ##### ##### \n"
" # # # ## ## # # # # # # # # # # \n"
" ##### # # # ## # # # # ##### # # # # # # \n"
" # ###### # # ##### # # ####### ##### ##### \n"
" # # # # # # # # # # # # # \n"
" ##### # # # # # ###### ###### # # # # \n\n"
" SDK Version " + VERSION + "\n";
// clang-format on
static const std::string HELP_MESSAGE =
"+----------------------------------------------------------------------------+\n"
"| Options: |\n"
#ifdef KWD
"| Wake word: |\n"
"| Simply say Alexa and begin your query. |\n"
#endif
"| Tap to talk: |\n"
"| Press 't' and Enter followed by your query (no need for the 'Alexa').|\n"
"| Hold to talk: |\n"
"| Press 'h' followed by Enter to simulate holding a button. |\n"
"| Then say your query (no need for the 'Alexa'). |\n"
"| Press 'h' followed by Enter to simulate releasing a button. |\n"
"| Stop an interaction: |\n"
"| Press 's' and Enter to stop an ongoing interaction. |\n"
#ifdef KWD
"| Privacy mode (microphone off): |\n"
"| Press 'm' and Enter to turn on and off the microphone. |\n"
"| Echo Spatial Perception (ESP): This is for testing purpose only! |\n"
"| Press 'e' followed by Enter at any time to adjust ESP settings. |\n"
#endif
"| Playback Controls: |\n"
"| Press '1' for a 'PLAY' button press. |\n"
"| Press '2' for a 'PAUSE' button press. |\n"
"| Press '3' for a 'NEXT' button press. |\n"
"| Press '4' for a 'PREVIOUS' button press. |\n"
#ifdef ENABLE_COMMS
"| Comms Controls: |\n"
"| Press 'd' followed by Enter at any time to accept or stop calls. |\n"
#endif
"| Settings: |\n"
"| Press 'c' followed by Enter at any time to see the settings screen. |\n"
"| Speaker Control: |\n"
"| Press 'p' followed by Enter at any time to adjust speaker settings. |\n"
"| Firmware Version: |\n"
"| Press 'f' followed by Enter at any time to report a different |\n"
"| firmware version. |\n"
"| Info: |\n"
"| Press 'i' followed by Enter at any time to see the help screen. |\n"
"| Reset device: |\n"
"| Press 'k' followed by Enter at any time to reset your device. This |\n"
"| will erase any data stored in the device and you will have to |\n"
"| re-register your device. |\n"
"| This option will also exit the application. |\n"
"| Reauthorize device: |\n"
"| Press 'z' followed by Enter at any time to re-authorize your device. |\n"
"| This will erase any data stored in the device and initiate |\n"
"| re-authorization. |\n"
"| Quit: |\n"
"| Press 'q' followed by Enter at any time to quit the application. |\n"
"+----------------------------------------------------------------------------+\n";
static const std::string LIMITED_HELP_HEADER =
"+----------------------------------------------------------------------------+\n"
"| In Limited Mode: |\n"
"+----------------------------------------------------------------------------+\n";
static const std::string AUTH_FAILED_STR =
"| Status : Unrecoverable authorization failure. |\n";
static const std::string REAUTH_REQUIRED_STR =
"| Status : Re-authorization required. |\n";
static const std::string CAPABILITIES_API_FAILED_STR =
"| Status : Unrecoverable Capabilities API call failure. |\n";
static const std::string LIMITED_HELP_MESSAGE =
"+----------------------------------------------------------------------------+\n"
"| Info: |\n"
"| Press 'i' followed by Enter at any time to see the help screen. |\n"
"| Stop an interaction: |\n"
"| Press 's' and Enter to stop an ongoing interaction. |\n"
#ifdef KWD
"| Privacy mode (microphone off): |\n"
"| Press 'm' and Enter to turn on and off the microphone. |\n"
#endif
"| Speaker Control: |\n"
"| Press 'p' followed by Enter at any time to adjust speaker settings. |\n"
"| Reset device: |\n"
"| Press 'k' followed by Enter at any time to reset your device. This |\n"
"| will erase any data stored in the device and you will have to |\n"
"| re-register your device. |\n"
"| This option will also exit the application. |\n"
"| Reauthorize device: |\n"
"| Press 'z' followed by Enter at any time to re-authorize your device. |\n"
"| This will erase any data stored in the device and initiate |\n"
"| re-authorization. |\n"
"| Quit: |\n"
"| Press 'q' followed by Enter at any time to quit the application. |\n"
"+----------------------------------------------------------------------------+\n";
static const std::string SETTINGS_MESSAGE =
"+----------------------------------------------------------------------------+\n"
"| Setting Options: |\n"
"| Change Language: |\n"
"| Press '1' followed by Enter to see language options. |\n"
"+----------------------------------------------------------------------------+\n";
static const std::string LOCALE_MESSAGE =
"+----------------------------------------------------------------------------+\n"
"| Language Options: |\n"
"| |\n"
"| Press '1' followed by Enter to change the language to US English. |\n"
"| Press '2' followed by Enter to change the language to UK English. |\n"
"| Press '3' followed by Enter to change the language to German. |\n"
"| Press '4' followed by Enter to change the language to Indian English. |\n"
"| Press '5' followed by Enter to change the language to Canadian English. |\n"
"| Press '6' followed by Enter to change the language to Japanese. |\n"
"| Press '7' followed by Enter to change the language to Australian English. |\n"
"| Press '8' followed by Enter to change the language to French. |\n"
"| Press '9' followed by Enter to change the language to Italian. |\n"
"| Press 'a' followed by Enter to change the language to Spanish. |\n"
"+----------------------------------------------------------------------------+\n";
static const std::string SPEAKER_CONTROL_MESSAGE =
"+----------------------------------------------------------------------------+\n"
"| Speaker Options: |\n"
"| |\n"
"| Press '1' followed by Enter to modify AVS_SPEAKER_VOLUME typed speakers. |\n"
"| AVS_SPEAKER_VOLUME Speakers Control Volume For: |\n"
"| Speech, Content, Notification, Bluetooth. |\n"
"| Press '2' followed by Enter to modify AVS_ALERTS_VOLUME typed speakers. |\n"
"| AVS_ALERTS_VOLUME Speakers Control Volume For: |\n"
"| Alerts. |\n"
"+----------------------------------------------------------------------------+\n";
static const std::string FIRMWARE_CONTROL_MESSAGE =
"+----------------------------------------------------------------------------+\n"
"| Firmware Version: |\n"
"| |\n"
"| Enter a decimal integer value between 1 and 2147483647. |\n"
"+----------------------------------------------------------------------------+\n";
static const std::string VOLUME_CONTROL_MESSAGE =
"+----------------------------------------------------------------------------+\n"
"| Volume Options: |\n"
"| |\n"
"| Press '1' followed by Enter to increase the volume. |\n"
"| Press '2' followed by Enter to decrease the volume. |\n"
"| Press '3' followed by Enter to mute the volume. |\n"
"| Press '4' followed by Enter to unmute the volume. |\n"
"| Press 'i' to display this help screen. |\n"
"| Press 'q' to exit Volume Control Mode. |\n"
"+----------------------------------------------------------------------------+\n";
static const std::string ESP_CONTROL_MESSAGE =
"+----------------------------------------------------------------------------+\n"
"| ESP Options: |\n"
"| |\n"
"| By Default ESP support is off and the implementation in the SampleApp is |\n"
"| for testing purpose only! |\n"
"| |\n"
"| Press '1' followed by Enter to toggle ESP support. |\n"
"| Press '2' followed by Enter to enter the voice energy. |\n"
"| Press '3' followed by Enter to enter the ambient energy. |\n"
"| Press 'q' to exit ESP Control Mode. |\n";
static const std::string RESET_CONFIRMATION =
"+----------------------------------------------------------------------------+\n"
"| Device Reset Confirmation: |\n"
"| |\n"
"| This operation will remove all your personal information, device settings, |\n"
"| and downloaded content. Are you sure you want to reset your device? |\n"
"| |\n"
"| Press 'Y' followed by Enter to reset the device. |\n"
"| Press 'N' followed by Enter to cancel the device reset operation. |\n"
"+----------------------------------------------------------------------------+\n";
static const std::string REAUTHORIZE_CONFIRMATION =
"+----------------------------------------------------------------------------+\n"
"| Device Re-authorization Confirmation: |\n"
"| |\n"
"| This operation will remove all your personal information, device settings, |\n"
"| and downloaded content. Are you sure you want to reauthorize your device? |\n"
"| |\n"
"| Press 'Y' followed by Enter to reset the device. |\n"
"| Press 'N' followed by Enter to cancel re-authorization. |\n"
"+----------------------------------------------------------------------------+\n";
static const std::string RESET_WARNING =
"Device was reset! Please don't forget to deregister it. For more details "
"visit https://www.amazon.com/gp/help/customer/display.html?nodeId=201357520";
static const std::string ENTER_LIMITED = "Entering limited interaction mode.";
UIManager::UIManager() :
m_dialogState{DialogUXState::IDLE},
m_capabilitiesState{CapabilitiesObserverInterface::State::UNINITIALIZED},
m_capabilitiesError{CapabilitiesObserverInterface::Error::UNINITIALIZED},
m_authState{AuthObserverInterface::State::UNINITIALIZED},
m_authCheckCounter{0},
m_connectionStatus{avsCommon::sdkInterfaces::ConnectionStatusObserverInterface::Status::DISCONNECTED} {
}
static const std::string COMMS_MESSAGE =
"+----------------------------------------------------------------------------+\n"
"| Comms Options: |\n"
"| |\n"
"| Press 'a' followed by Enter to accept an incoming call. |\n"
"| Press 's' followed by Enter to stop an ongoing call. |\n"
"+----------------------------------------------------------------------------+\n";
void UIManager::onDialogUXStateChanged(DialogUXState state) {
m_executor.submit([this, state]() {
if (state == m_dialogState) {
return;
}
m_dialogState = state;
printState();
});
}
void UIManager::onConnectionStatusChanged(const Status status, const ChangedReason reason) {
m_executor.submit([this, status]() {
if (m_connectionStatus == status) {
return;
}
m_connectionStatus = status;
printState();
});
}
void UIManager::onSettingChanged(const std::string& key, const std::string& value) {
m_executor.submit([key, value]() {
std::string msg = key + " set to " + value;
ConsolePrinter::prettyPrint(msg);
});
}
void UIManager::onSpeakerSettingsChanged(
const SpeakerManagerObserverInterface::Source& source,
const SpeakerInterface::Type& type,
const SpeakerInterface::SpeakerSettings& settings) {
m_executor.submit([source, type, settings]() {
std::ostringstream oss;
oss << "SOURCE:" << source << " TYPE:" << type << " VOLUME:" << static_cast<int>(settings.volume)
<< " MUTE:" << settings.mute;
ConsolePrinter::prettyPrint(oss.str());
});
}
void UIManager::onSetIndicator(avsCommon::avs::IndicatorState state) {
m_executor.submit([state]() {
std::ostringstream oss;
oss << "NOTIFICATION INDICATOR STATE: " << state;
ConsolePrinter::prettyPrint(oss.str());
});
}
void UIManager::onRequestAuthorization(const std::string& url, const std::string& code) {
m_executor.submit([this, url, code]() {
m_authCheckCounter = 0;
ConsolePrinter::prettyPrint("NOT YET AUTHORIZED");
std::ostringstream oss;
oss << "To authorize, browse to: '" << url << "' and enter the code: " << code;
ConsolePrinter::prettyPrint(oss.str());
});
}
void UIManager::onCheckingForAuthorization() {
m_executor.submit([this]() {
std::ostringstream oss;
oss << "Checking for authorization (" << ++m_authCheckCounter << ")...";
ConsolePrinter::prettyPrint(oss.str());
});
}
void UIManager::onAuthStateChange(AuthObserverInterface::State newState, AuthObserverInterface::Error newError) {
m_executor.submit([this, newState, newError]() {
if (m_authState != newState) {
m_authState = newState;
switch (m_authState) {
case AuthObserverInterface::State::UNINITIALIZED:
break;
case AuthObserverInterface::State::REFRESHED:
ConsolePrinter::prettyPrint("Authorized!");
break;
case AuthObserverInterface::State::EXPIRED:
ConsolePrinter::prettyPrint("AUTHORIZATION EXPIRED. RETRYING...");
break;
case AuthObserverInterface::State::UNRECOVERABLE_ERROR:
switch (newError) {
case AuthObserverInterface::Error::SUCCESS:
case AuthObserverInterface::Error::UNKNOWN_ERROR:
case AuthObserverInterface::Error::AUTHORIZATION_FAILED:
case AuthObserverInterface::Error::UNAUTHORIZED_CLIENT:
case AuthObserverInterface::Error::SERVER_ERROR:
case AuthObserverInterface::Error::INVALID_REQUEST:
case AuthObserverInterface::Error::INVALID_VALUE:
case AuthObserverInterface::Error::UNSUPPORTED_GRANT_TYPE:
case AuthObserverInterface::Error::AUTHORIZATION_PENDING:
case AuthObserverInterface::Error::SLOW_DOWN:
case AuthObserverInterface::Error::INTERNAL_ERROR:
case AuthObserverInterface::Error::INVALID_CBL_CLIENT_ID: {
std::ostringstream oss;
oss << "UNRECOVERABLE AUTHORIZATION ERROR: " << newError;
ConsolePrinter::prettyPrint({oss.str(), ENTER_LIMITED});
setFailureStatus(AUTH_FAILED_STR);
break;
}
case AuthObserverInterface::Error::AUTHORIZATION_EXPIRED:
ConsolePrinter::prettyPrint(
{"AUTHORIZATION FAILED", "RE-AUTHORIZATION REQUIRED", ENTER_LIMITED});
setFailureStatus(REAUTH_REQUIRED_STR);
break;
case AuthObserverInterface::Error::INVALID_CODE_PAIR:
ConsolePrinter::prettyPrint(
{"AUTHORIZATION CODE EXPIRED", "(RE)-AUTHORIZATION REQUIRED", ENTER_LIMITED});
setFailureStatus(REAUTH_REQUIRED_STR);
break;
}
break;
}
}
});
}
void UIManager::onCapabilitiesStateChange(
CapabilitiesObserverInterface::State newState,
CapabilitiesObserverInterface::Error newError) {
m_executor.submit([this, newState, newError]() {
if ((m_capabilitiesState != newState) && (m_capabilitiesError != newError)) {
m_capabilitiesState = newState;
m_capabilitiesError = newError;
if (CapabilitiesObserverInterface::State::FATAL_ERROR == m_capabilitiesState) {
std::ostringstream oss;
oss << "UNRECOVERABLE CAPABILITIES API ERROR: " << m_capabilitiesError;
ConsolePrinter::prettyPrint({oss.str(), ENTER_LIMITED});
setFailureStatus(CAPABILITIES_API_FAILED_STR);
}
}
});
}
void UIManager::printWelcomeScreen() {
digitalWrite(0,LOW);
m_executor.submit([]() { ConsolePrinter::simplePrint(ALEXA_WELCOME_MESSAGE); });
}
void UIManager::printHelpScreen() {
m_executor.submit([]() { ConsolePrinter::simplePrint(HELP_MESSAGE); });
}
void UIManager::printLimitedHelp() {
m_executor.submit(
[this]() { ConsolePrinter::simplePrint(LIMITED_HELP_HEADER + m_failureStatus + LIMITED_HELP_MESSAGE); });
}
void UIManager::printSettingsScreen() {
m_executor.submit([]() { ConsolePrinter::simplePrint(SETTINGS_MESSAGE); });
}
void UIManager::printLocaleScreen() {
m_executor.submit([]() { ConsolePrinter::simplePrint(LOCALE_MESSAGE); });
}
void UIManager::printSpeakerControlScreen() {
m_executor.submit([]() { ConsolePrinter::simplePrint(SPEAKER_CONTROL_MESSAGE); });
}
void UIManager::printFirmwareVersionControlScreen() {
m_executor.submit([]() { ConsolePrinter::simplePrint(FIRMWARE_CONTROL_MESSAGE); });
}
void UIManager::printVolumeControlScreen() {
m_executor.submit([]() { ConsolePrinter::simplePrint(VOLUME_CONTROL_MESSAGE); });
}
void UIManager::printESPControlScreen(bool support, const std::string& voiceEnergy, const std::string& ambientEnergy) {
m_executor.submit([support, voiceEnergy, ambientEnergy]() {
std::string screen = ESP_CONTROL_MESSAGE;
screen += "|\n";
screen += "| support = ";
screen += support ? "true\n" : "false\n";
screen += "| voiceEnergy = " + voiceEnergy + "\n";
screen += "| ambientEnergy = " + ambientEnergy + "\n";
screen += "+----------------------------------------------------------------------------+\n";
ConsolePrinter::simplePrint(screen);
});
}
void UIManager::printCommsControlScreen() {
m_executor.submit([]() { ConsolePrinter::simplePrint(COMMS_MESSAGE); });
}
void UIManager::printErrorScreen() {
m_executor.submit([]() { ConsolePrinter::prettyPrint("Invalid Option"); });
}
void UIManager::microphoneOff() {
digitalWrite(0,HIGH);
m_executor.submit([]() { ConsolePrinter::prettyPrint("Microphone Off!"); });
}
void UIManager::printResetConfirmation() {
m_executor.submit([]() { ConsolePrinter::simplePrint(RESET_CONFIRMATION); });
}
void UIManager::printReauthorizeConfirmation() {
m_executor.submit([]() { ConsolePrinter::simplePrint(REAUTHORIZE_CONFIRMATION); });
}
void UIManager::printResetWarning() {
m_executor.submit([]() { ConsolePrinter::prettyPrint(RESET_WARNING); });
}
void UIManager::microphoneOn() {
digitalWrite(0,LOW);
m_executor.submit([this]() { printState(); });
}
void UIManager::printState() {
if (m_connectionStatus == avsCommon::sdkInterfaces::ConnectionStatusObserverInterface::Status::DISCONNECTED) {
ConsolePrinter::prettyPrint("Client not connected!");
} else if (m_connectionStatus == avsCommon::sdkInterfaces::ConnectionStatusObserverInterface::Status::PENDING) {
ConsolePrinter::prettyPrint("Connecting...");
} else if (m_connectionStatus == avsCommon::sdkInterfaces::ConnectionStatusObserverInterface::Status::CONNECTED) {
switch (m_dialogState) {
case DialogUXState::IDLE:
digitalWrite(0,LOW);
digitalWrite(1,LOW);
ConsolePrinter::prettyPrint("Alexa is currently idle!");
return;
case DialogUXState::LISTENING:
digitalWrite(1,HIGH);
ConsolePrinter::prettyPrint("Listening...");
return;
case DialogUXState::EXPECTING:
ConsolePrinter::prettyPrint("Expecting...");
return;
case DialogUXState::THINKING:
digitalWrite(1,LOW);
ConsolePrinter::prettyPrint("Thinking...");
return;
case DialogUXState::SPEAKING:
digitalWrite(0,HIGH);
ConsolePrinter::prettyPrint("Speaking...");
return;
/*
* This is an intermediate state after a SPEAK directive is completed. In the case of a speech burst the
* next SPEAK could kick in or if its the last SPEAK directive ALEXA moves to the IDLE state. So we do
* nothing for this state.
*/
case DialogUXState::FINISHED:
return;
}
}
}
void UIManager::printESPDataOverrideNotSupported() {
m_executor.submit([]() { ConsolePrinter::simplePrint("Cannot override ESP Value in this device."); });
}
void UIManager::printESPNotSupported() {
m_executor.submit([]() { ConsolePrinter::simplePrint("ESP is not supported in this device."); });
}
void UIManager::printCommsNotSupported() {
m_executor.submit([]() { ConsolePrinter::simplePrint("Comms is not supported in this device."); });
}
void UIManager::setFailureStatus(const std::string& status) {
if (!status.empty() && status != m_failureStatus) {
m_failureStatus = status;
printLimitedHelp();
}
}
} // namespace sampleApp
} // namespace alexaClientSDK
- The servo was attached to his mouth using strings attached to the sides of his head and wrapped around the rotor.
- By this point the bulk of this project is complete. Edit the LED effects to the user's liking.
Improvements
The intention was to use a much larger elmo doll so the parts could be hidden in the doll and not controlled so externally as demonstrated in the video. If possible we would have liked to add some type of voice modulation intermediate so that Alexa's voice would sound closer to Elmo, but this idea proved difficult to do and was abandoned.
Images
Short Video Demos
Makers
Joseph Samo
Anand Ramanathan
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ECE 4180 Project - Alexa Elmo
Page owner: Anand Ramanathan
Created 06 Dec 2018.
Last updated 11 Dec 2018