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Spoofing speech detection aims to differentiate spoofing speech from natural speech. Frame-based features are usually used in most of previous works. Although multiple frames or dynamic features are used to form a super-vector to represent the temporal information, the time span covered by these features are not sufficient. Most of the systems failed to detect the non-vocoder or unit selection based...
Spectral information represents short-term speech information within a frame of a few tens of milliseconds, while temporal information captures the evolution of speech statistics over consecutive frames. Motivated by the findings that human speech comprehension relies on the integrity of both the spectral content and temporal envelope of speech signal, we study a spectro-temporal transform framework...
Motivated by applications in robot-assisted physical rehabilitation, this paper presents an adaptive control design for robot manipulators operating in an ellipsoidal constrained region. The ellipsoidal constraint problem is more challenging than the box constraint problem tackled in previous works, since the nonlinear constraint boundary cannot be handled in a decoupled manner along the dimensions...
In this paper, we propose a framework for joint normalization of spectral and temporal statistics of speech features for robust speech recognition. Current feature normalization approaches normalize the spectral and temporal aspects of feature statistics separately to overcome noise and reverberation. As a result, the interaction between the spectral normalization (e.g. mean and variance normalization,...
We present adaptive admittance control of a robotic manipulator, with uncertain dynamic parameters, operating in a constrained task space. To provide compliance to external forces, we generate a differentiable reference trajectory that remains in the constrained task space. Then, adaptive backstepping control, based on a time-varying asymmetric Barrier Lyapunov Function (BLF), is designed to achieve...
In this paper, we present adaptive tracking control of uncertain robotic manipulators that operate in a constrained region of the task space. An asymmetric barrier Lyapunov function (BLF) is employed to ensure constraint satisfaction in the control design. By allowing the asymmetric barrier limits to vary with the desired trajectory in time, rather than fixing the barrier limit according to a worst...
This paper presents output tracking control for strict feedback nonlinear systems with time-varying output constraint. A Barrier Lyapunov Function (BLF), which depends explicitly on time, is employed at the outset to prevent the output from violating the time-varying constraint. Specifically, we allow the barrier limit to vary with the desired trajectory in time. Through a change of coordinates for...
This paper describe an implemented robot lion dance system, developed by a multi-disciplinary team of researchers over the past three years. We aim to use advance robotic technology to develop a mechatronic system that can perform life-size lion dancing with the traditional lion dance outfit. We intend to experiment the fusion of traditional art form and robotic technology so as to stimulate people's...
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