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In this study, we proposed an electric gripper jaw with tactile sensor array for wire harness applications. The tactile sensor is made of piezoresistive material through screen printing technology. The array is fabricated on a flexible film (20mm × 20mm × 250µm) and contains 100 sensor cells (1.3mm × 1.3mm). The pressure range of the tactile sensor is 10 to 580 psi. The sensors were modularized and...
The performance of the Capon beamforming is known to degrade dramatically in the presence of model mismatches, especially when the desired signal is present in the training data. To improve the robustness, the diagonal loading technique was introduced. However, the major drawback is the selection of the diagonal loading level, which is related to the unknown signal powers. Another way to alleviate...
In this paper, we propose a method to detect the wake-up-word (WUW) using microphone array for human-robot interaction. The consistency of the spatial eigenspaces formed by the speech source at different frequencies and the resonant curve similarity of the WUW are used as the features for detection. These features are processed and detected separately and the result is determined by cascading individual...
Sound source localization is an important feature in robot audition. This work proposes a sound source number and directions estimation method by using the delay information of microphone array. An eigenstructure-based generalized cross correlation method is proposed to estimate time delay between microphones. Upon obtaining the time delay information, the sound source direction and velocity can be...
Human machine interface for speech processing often suffers from interferences which contain nonstationary signal, stationary signal and reverberation. In this paper, we consider two speech sources in the reverberant and noisy environment and we develop a speech enhancement approach to extract desired speech signal from the corrupt observations. The proposed method uses transfer function ratio beamformer,...
Sound source localization is an important feature in robot audition. This work proposes an eigenstructure-based generalized cross correlation method for estimating time delay between microphones. From experiments, it shows that this method is more robust as compared with conventional GCC using PHAT weighting. By knowing the delays among microphones, both the sound source location and sound speed can...
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