NDLI: DSP-based audio processing for controlling a mobile robot using a spherical microphone array

Content Provider	IEEE Xplore Digital Library
Author	Gontmacher, J. Yarhi, A. Havkin, P. Michri, D. Fisher, E.
Copyright Year	2012
Description	Author affiliation: Department of Mechanical Engineering, Shamoon College of Engineering (SCE) (Havkin, P.; Michri, D.; Fisher, E.) \|\| Department of Electrical Engineering, Shamoon College of Engineering (SCE) (Gontmacher, J.; Yarhi, A.)
Abstract	Service robots are designed to assist humans in a wide variety of tasks. In order to do this, it may be particularly useful to provide the robot with spatial hearing — the ability to receive commands and understand where they are coming from. This study suggests using a spherical microphone array as the basis for a modular system for spatial audio processing which can be fitted on mobile (or static) service robots. The study relates to a recently developed prototype robot fitted with a low-order spherical microphone array. The robot is a small-scale table-top robot based around an Arduino uno micro-controller. Planar movement is achieved using a two-wheel drive and steering mechanism. Elevation is achieved using a robotic arm. The goal of the study is to reach full spatial control of the robot through spatial audio commands. Localization includes direction and distance using near-field and far-field algorithms. Several approaches to system design are discussed, and a DSP-based stand-alone system is presented. A first-order spherical microphone array was built and various source types were tested. Issues such as reverberation and multiple source tracking are also addressed.
Starting Page	1
Ending Page	5
File Size	778668
Page Count	5
File Format	PDF
ISBN	9781467346825
e-ISBN	9781467346818
DOI	10.1109/EEEI.2012.6377070
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-11-14
Publisher Place	Israel
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Arrays Microphones Robots Harmonic analysis Speech Estimation Azimuth
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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