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The prediction of the temperature distribution and thermal deformation for motorized spindle dependent on time is critical in its design process. The thermo-structural model of a grinding motorized spindle is developed with accurate thermal boundary conditions of the spindle-bearing system based on experimental data and numerical calculation. The following thermal boundary conditions are improved:...
We describe a robot capable of composing and playing traditional Basque impromptu verses — bertsoak. The system, called Bertsobot, is able to construct improvised verses according to given constraints on rhyme and meter, and to perform it in public. Towards this end, several tools and applications have been developed and integrated in Bertsobot, including: speech-based communication system, text applications...
The semantic synthesis of intelligent space, emotional-behavioral modeling and cognitive infocommunications is a promising approach in the multidisciplinary field applied for ambient assisted living. The ambient assisted living application can be regarded as a complex cooperation and communication of different kinds of intelligent entities in a well-limited, semi-structured environment. The intelligent...
A robotic scrub nurse (RSN) designed for safe human-robot collaboration in the operating room (OR) is presented. The RSN assists the surgical staff in the OR by delivering instruments to the surgeon and operates through a multimodal interface allowing instruments to be requested through verbal commands or touchless gestures. A machine vision algorithm was designed to recognize the hand gestures performed...
In this paper we present a method in room transfer function (RTF) estimation, employed specifically for dereverberation in hands-free human-robot communication.We introduce a radial distance compensation scheme which significantly improved the RTF estimate robust to the speech power variation due to changes in speaker's radial position. The proposed method is implemented in two levels; first, waveform-level...
This paper presents an approach for learning environmental knowledge from task-based human-robot dialog. Previous approaches to dialog use domain knowledge to constrain the types of language people are likely to use. In contrast, by introducing a joint probabilistic model over speech, the resulting semantic parse and the mapping from each element of the parse to a physical entity in the building (e...
People tend to unconsciously attribute personality traits to all kinds of technology including robots. But what personality do they want robots to have? Previous research has found support for two contradicting theories: similarity attraction and complementary attraction. The similarity attraction theory implies that people prefer a robot with a similar personality to their own (e.g., an extroverted...
When striving for a cheap implementation of command recognition for speech input today, you may resort to off the shelf tools. In contrast to specific research approaches, such tools by themselves do not take expectations for certain commands in a given situation into account. Such expectations will usually be available both in "intelligent" and more conventional programs using this speech...
This paper proposes a novel way of controllable pitch re-estimation that can produce better pitch contour or provide diverse speaking styles for text-to-speech (TTS) systems. The method is composed of a pitch re-estimation model and a set of control parameters. The pitch re-estimation model is employed to reduce over-smoothing effects which is usually introduced by TTS training. The control parameters...
This paper addresses an active audio-visual integration framework which integrates audio and visual information with a robot's active motion for noise-robust Voice Activity Detection (VAD). VAD is crucial for noise robust Automatic Speech Recognition (ASR) because speech captured by a robot's microphones is usually contaminated with other noise sources. To realize such noise-robust VAD, we propose...
This paper considers blind speech separation and recognition for human robot interaction in reverberant environment. In the proposed system, the speech sources whose number is more than the number of mixtures are separated by MMSE-criteria and recognized by HMM-based speech recognizer. Experimental result shows the superiority of the proposed system.
In this paper we propose the integration of an online audio beat tracking system into the general framework of robot audition, to enable its application in musically-interactive robotic scenarios. To this purpose, we introduced a staterecovery mechanism into our beat tracking algorithm, for handling continuous musical stimuli, and applied different multi-channel preprocessing algorithms (e.g., beamforming,...
This paper presents a system that gives a robot the ability to diminish its own disturbing noise (i.e., ego noise) by utilizing template-based ego noise estimation, an algorithm previously developed by the authors. In pursuit of an autonomous, online and adaptive template learning system in this work, we specifically focus on eliminating the requirement of an offline training session performed in...
To demonstrate the influence of an artificial audition system on speech recognition and dialogue management for a robot, this paper presents a case study involving soft coupling of ManyEars, a sound source localization, tracking and separation system, with the CSLU Dialogue Management system. Trials were conducted in a laboratory and a cafeteria. Results indicate that preprocessing of the audio signals...
The problem of implementing socially intelligent agents has been widely investigated in the field of both Embodied Conversational Agents (ECAs) and Social Robots that have the advantage of offering to people the possibility to relate with computer media at a social level. We focus our study on the recognition of the social response of users to embodied agents in the context of ambient intelligence...
In this paper, the design of a very cost effective Arabic speech language controlled device, with continuous speech recognition is presented. The device has been developed as an integrated prototype (patent pending) with the local center for providing technological solutions for people with disabilities. This system is explained with three case studies; which are computer keyboard and mouse control,...
This paper presents to apply Automatic Speech Recognition (ASR) algorithm to the meal service robot so that the user can be easier to order the meal and increase interaction between the robot and human. The Mel-frequency Cepstral coefficients (MFCC) is used to scratch the feature parameters, and Hidden Markov Model (HMM) is applied as the recognition speech model via Spce3200. It is based on the embedded...
This paper presents an overview of the new version of our multi-model communication face “Mask-Bot”, a rear-projected animated robotic head, including our display system, face animation, speech communication and sound localization.
In this paper, speech recognition accuracy improvement is addressed for ICA-based multichannel noise reduction in spoken-dialogue robot. First, to achieve high recognition accuracy for the early utterance of the target speaker, we introduce a new rapid ICA initialization method combining robot image information and a prestored initial separation filter bank. From this image information, an ICA initial...
The purpose of this study is to explore young children's perception of IrobiQ, the teacher assistive robot. Participants of this study were fifty 5-year-olds from three different kindergarten centers with at least two years of experience in HRI environments. The study was conducted based on the “the hypothesis of speech register”. A researcher read a story from a storybook to each child and asked...
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