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Denoising of Speech Signal using Deep Learning

Denoising of Speech Signal using Deep Learning

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2024 IEEE International Conference on Intelligent Systems and Advanced Applications, ICISAA 2024

作者： Wani, Priyanka Uttarwar, Sudhanshu Mote, Abhijeet Dada Chandan, M.N. Katarwar, Vandana Dr. D. Y. Patil Institute of Technology SPPU Department of Electronics and Telecommunication Pune India Mountain Digital TX United States JSPM's Rajashri Shahu College of Engineering Department of Automation and Robotics Pune India

ISBN: (纸本)9798331539948

Speech is the primary vocalized form of natural speech. Speaking is simple, hands-free, quick, and doesn't require any technological expertise. Speech recognition software makes it easy and comfortable for people to communicate with computers. A speech recognition system enabled this. Speech denoising using deep learning involves using neural networks to eliminate destortion from input signals, preserving the clarity of the speech. For this task, deep learning models such as CNNs or RNNs are commonly used. © 2024 IEEE.

关键词： Signal denoising

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GARField: Addressing the Visual Sim-to-Real Gap in Garment Manipulation with Mesh-Attached Radiance Fields

GARField: Addressing the Visual Sim-to-Real Gap in Garment M...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Delehelle, Donatien Caldwell, Darwin Chen, Fei University of Genova Genova Italy Istituto italiano di Tecnologia Hong Kong Hong Kong T-Stone Robotics Institute Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong Hong Kong

ISBN: (纸本)9781665481090

While humans intuitively manipulate garments and other textile items swiftly and accurately, it is a significant challenge for robots. A factor crucial to human performance is the ability to imagine, a priori, the intended result of the manipulation intents and hence develop predictions on the garment pose. That ability allows us to plan from highly obstructed states, adapt our plans as we collect more information and react swiftly to unforeseen circumstances. Conversely, robots struggle to establish such intuitions and form tight links between plans and observations. We can partly attribute this to the high cost of obtaining densely labelled data for textile manipulation, both in quality and quantity. The problem of data collection is a long-standing issue in data-based approaches to garment manipulation. As of today, generating high-quality and labelled garment manipulation data is mainly attempted through advanced data capture procedures that create simplified state estimations from real-world observations. However, this work proposes a novel approach to the problem by generating real-world observations from object states. To achieve this, we present GARField (Garment Attached Radiance Field), the first differentiable rendering architecture, to our knowledge, for data generation from simulated states stored as triangle meshes. Code is available on the project website. © 2024 IEEE.

关键词： Robots

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Shape and Pose Reconstruction of Robotic In-Hand Objects from a Single Depth Camera 1st

Shape and Pose Reconstruction of Robotic In-Hand Objects f...

引用

1st International Conference on Cognitive Computation and Systems, ICCCS 2022

作者： Jin, Xiaoxian Deng, Zhen Zhang, Zhenyu Lu, Liangjun Gao, Ge He, Bingwei Department of Mechanical Engineering and Automation Fuzhou University Fujian350108 China Maynooth International Engineering College Fuzhou University Fujian350108 China Mech-Mind Robotics Technologies Ltd. Beijing110000 China

ISBN: (纸本)9789819927883

This paper tackles the task of estimating the state of an object in a robotic hand. The state of the object includes its shape and posture, which is critically important for robotic in-hand manipulation. However, in-hand objects have self-occlusion, making it challenging to perceive their complete shape and posture. To address this challenge, this work proposed a point-clouds processing framework to achieve shape completion and pose estimation of the in-hand objects. Firstly, the input point cloud are segmented based region growing algorithm to obtain the points belonging to the target object. Then, we design a neural network with the auto-encoder structure to perform shape completion and 6D pose estimation of the in-hand object. The latent feature of the network is used to regress the 6D pose, i.e., position and orientation, of the object. The effectiveness of the proposed framework is evaluated by comparison experiment and real-word experiment. Experimental results show that our approach achieves significantly high accuracy in the shape completion and pose estimation of robotic in-hand objects. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： robotics

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IoTAAMD: Experimental Analysis of IoT Assisted Systematic Medicine Dispenser with Logical Sensors Association

IoTAAMD: Experimental Analysis of IoT Assisted Systematic Me...

引用

Innovative Computing, Intelligent Communication and Smart Electrical Systems (ICSES), International Conference on

作者： N. Dheerthi A. Kishore Kumar J. M. Priyadharsheni A. Murugarajan Department of Robotics and Automation Sri Ramakrishna Engineering College Vattamalaipalayam Coimbatore

Screening sickness, preserving wellness and treating disease all rely heavily on medications. Distributing medicine to individuals in outlying places is a time-consuming process and key drugs are needed in case of small accidents on roadways. Such a situation calls for the availability of automated medication distribution systems. The idea of computerized medicine dispenser equipment based on the Internet of Things (IoT) is presented in this article. This device is an electronic medicine preservation structure that guarantees the accessibility of the drugs at all times a day, seven days a week; therefore, it can also be called an Anytime Automatic Medicine Dispenser (AAMD) device. Dispenser that is trustworthy, inexpensive and can hold up to 10 prescriptions (enough for two to three weeks' worth) so that the elderly are not dependent on others. The product is now complete. To keep track of how many tablets are to be given out and when. It's a win-win for everyone involved, especially for the children of foreign workers. It also facilitates open and honest communication between the people involved. Both the user and the caretaker benefit from this technology since it alerts the caregiver right away if the user forgets to take their prescription. The resulting section of this paper clearly portrays all the outcomes attained with this new technology as well as the proposed results are more precise as compared to the conventional medicine dispensers. For all the proposed medicine dispenser system called AAMD is fine enough to provide an excellent service to health care industry with proper efficiency.

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Design and development of indoor mobile robot for disabled people

Design and development of indoor mobile robot for disabled p...

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Advancements in Electrical, Electronics, Communication, Computing and automation (ICAECA), International Conference on

作者： M.S. SureshKumar V. Vimal J. Venkatakrishna Udaya Karthic R Daniel Peter R. Dinesh R Rajesh N.S. Akash Department of Robotics and Automation Sri Ramakrishna Engineering College Coimbatore India

The use of wheelchairs is prevalent worldwide, with an estimated 70 million people relying on them for mobility, according to the World Health Organization. A fact sheet from the World Health Organization says that wheelchairs help people move around with or without assistance who have impairments that make them unable to walk. Wheelchair bound people need to be supervised and assisted by someone to move around. Instead of hiring health care employees to assist the impaired patients, we developed a wheelchair assistant robot. In our system, initially, the user will make a request through a webpage to pick up impaired patients. When the robot reaches the wheelchair location, it docks with the wheelchair and navigates autonomously towards its destination. Once the wheelchair reaches the destination point, the robot undocks from the wheelchair. The robot will be idle at the charging station until it receives the next request from the user. The development of this wheelchair assistant robot can improve the mobility and independence of impaired patients while reducing the need for constant supervision and assistance. This technology has the potential to significantly improve the quality of life for millions of individuals worldwide. A minimum number of Autonomous Assistance robots in the health care sector can manage multiple wheelchairs efficiently. So, with the help of this method, we could reduce the cost of purchases with ease. And this article explains how the robot is developed and subjected to real-time situations with or without a payload and helps us understand the further research findings in wheelchair-based mobility.

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Model-Free Large-Scale Cloth Spreading With Mobile Manipulation: Initial Feasibility Study 19

Model-Free Large-Scale Cloth Spreading With Mobile Manipulat...

引用

19th IEEE International Conference on automation Science and engineering, CASE 2023

作者： Chu, Xiangyu Wang, Shengzhi Feng, Minjian Zheng, Jiaxi Zhao, Yuxuan Huang, Jing Samuel Au, K.W. The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong Multi-Scale Medical Robotics Center Hong Kong School of Engineering Westlake University China The Hong Kong University of Science and Technology Department of Mechanical and Aerospace Engineering Hong Kong

ISBN: (纸本)9798350320695

Cloth manipulation is common in domestic and service tasks, and most studies use fixed-base manipulators to manipulate objects whose sizes are relatively small with respect to the manipulators' workspace, such as towels, shirts, and rags. In contrast, manipulation of large-scale cloth, such as bed making and tablecloth spreading, poses additional challenges of reachability and manipulation control. To address them, this paper presents a novel framework to spread large-scale cloth, with a single-arm mobile manipulator that can solve the reachability issue, for an initial feasibility study. On the manipulation control side, without modeling highly deformable cloth, a vision-based manipulation control scheme is applied and based on an online-update Jacobian matrix mapping from selected feature points to the end-effector motion. To coordinate the control of the manipulator and mobile platform, Behavior Trees (BTs) are used because of their modularity. Finally, experiments are conducted, including validation of the model-free manipulation control for cloth spreading in different conditions and the large-scale cloth spreading framework. The experimental results demonstrate the large-scale cloth spreading task feasibility with a single-arm mobile manipulator and the model-free deformation controller. © 2023 IEEE.

关键词： Manipulators

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Effect of Pneumatic Based Hybrid Robotic Gripper for Safer Handling of Complex Geometries

Effect of Pneumatic Based Hybrid Robotic Gripper for Safer H...

引用

International Conference on Advanced Computer Control, ICACC

作者： Santhosh Sivaraj Ajay Ravi Bibin Joe Jose Gobinath Velu Kaliyannan Rajkamal Sivakumar Riya Catherine Amalraj Department of Robotics and Automation Easwari Engineering College Chennai TamilNadu India Department of Mechatronics Engineering Kongu Engineering College Perundurai TamilNadu India

ISBN: (数字)9798350379136

ISBN: (纸本)9798350379143

The present research work mainly concentrates on development of hybrid grippers with the integration of hard and soft components for achieving object manipulation. By combining pneumatic actuation with mechanical fingers, complex geometries can be handled effectively. Pneumatic hybrid gripper fabricated with PLA and silicone rubber offers adaptability and versatility. Resistive sensors over silicone surface of gripper lead to cost-effective force detection and tactile sensing. The proposed gripper was designed and analyzed using Fusion 360 and ANSYS. Inflatable silicone rubber and gripper body were fabricated using liquid casting and Fused Deposited Modelling 3D printing techniques. Real-time feedback sensors were employed with fabricated gripper to get better performance. Testing proves its capability to handle loads up to 500g with a force of 3.3N. Finally, the assembled hybrid gripper offers a versatile solution for robotic manipulation, ensuring stability and minimizing damage across various industries.

关键词： Service robots Force Tactile sensors Pneumatic systems Real-time systems Sensors Rubber Grippers Intelligent sensors Testing

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An End-to-End Proprioception Framework for Soft Continuum Robot

An End-to-End Proprioception Framework for Soft Continuum Ro...

引用

2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Cao, Hanwen Chen, Wei Lu, Yiang Huang, Junda Zhou, Jianshu Liu, Yunhui The Chinese University of Hong Kong The T Stone Robotics Institute Department of Mechanical and Automation Engineering Hong Kong Hong Kong

ISBN: (纸本)9781665481090

Soft robots are gaining more and more attention owing to their inherent compliance and excellent flexibility, enabling new potentials for robots to address real-world chal-lenges in the manner of their natural counterparts. The soft con-tinuum robot is one typical example that reflects the successful inspiration achievement from biomimetics to robotics. However, due to the nonlinearity and ultra-high degrees of freedom of soft continuum robots, traditional kinematic modeling methods obtain unsatisfying precision, especially when robots interact with their surroundings. To precisely estimate the kinematic model of soft continuum robots, we propose a novel end-to-end proprioception method. Our method inputs time series data from the soft continuum robot actuators and outputs the end-tip position in three dimensions. The experimental results show that the proposed method can improve the kinematic accuracy compared to the constant curvature model-based method either with contact or in noncontact conditions. © 2022 IEEE.

关键词： Robots

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Implementing New Features in CIMON Robot for Providing Therapeutic Assistance to Astronauts in Situations of Extreme Stress and Depression 73

Implementing New Features in CIMON Robot for Providing Thera...

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73rd International Astronautical Congress, IAC 2022

作者： Das, Pallabi Arevalo, Francisco A.P. Spaceonova India Department of Automation and Robotics Engineering Faculty of Engineering Andrés Bello University 880 Antonio Varas Avenue Providencia Santiago Chile

Long-term space flights can exhibit negative effects on an astronaut's mind due to factors such as isolation, confinement, and microgravity. Prolonged separation from their home planet and family have an adverse effect on space crews' psychological and social well-being. Moreover, additional factors such as anxiety, anger, depression and stress can add to strain and behavioural changes. With these degrading psychological conditions, the increase in human factors leading to unintentional failures takes place. This study focuses on resolving such psychological conditions by implementing new features in the existing CIMON robot for improved efficiency and assistance towards astronauts with true results related to mood, motivation, and self-monitoring strategies. The objective is to improve CIMON in providing better assistance not only as an interactive, social and therapeutic assistance robot, but also to provide a personalised company and active assistance in day-to-day activities as a partner. Therefore, this paper includes detailed information about new features, such as the proposal of an intelligent system that can be used to understand the different needs of the crew members and integrate personalized assistance, questionnaires for mood tracking, heart rate data for recognizing emotional changes and also various tools and techniques to improve emotional balance through breathing techniques and humour. Additionally, existing front cameras can be used as a mode of behavioural data collection. The findings and data collected through these new implementations will help study the fluctuations of the emotional stages that occur in a human mind in outer space and will also help prevent potential human error throughout long-duration missions in the coming years. Copyright © 2022 by the International Astronautical Federation (IAF). All rights reserved.

关键词： Robots

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Human Robot Interaction: Identifying Resembling Emotions Using Dynamic Body Gestures of Robot 3

Human Robot Interaction: Identifying Resembling Emotions Usi...

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3rd IEEE International Conference on Artificial Intelligence, ICAI 2023

作者： Ali, Sara Mehmood, Faisal Iqbal, Khawaja Fahad Ayaz, Yasar Sajid, Muhammad Sial, Muhammad Baber Malik, Muhammad Faiq Javed, Kashif Department of Robotics and Artificial Intelligence Islamabad Pakistan National University of Sciences and Technology H-12 Department of Robotics and Artificial Intelligence Islamabad Pakistan National University of Sciences and Technology H-12 Islamabad Pakistan School of Automation Science and Electrical Engineering Beihang University Beijing100191 China

ISBN: (纸本)9798350322125

Natural social interaction between a human and robot requires perception ability of robot for complex social behaviors and in turn displaying the learnt emotional behavior during interaction. The emotions expressed with body language are one of the key parameters during Human-Robot Interaction (HRI). This research focuses on extending the concept of affective non-verbal human-robot interaction using full body gestures for closely resembling emotion in absence of intricate facial expressions. The movements of head, torso, legs, and arms are used to link body movements and gestures of a bi-pedal humanoid robot with 28 closely resembling emotions. Variation of speed, frequency, and joint angles of the robot are the key features used for expressing a specific emotion. This research uses Russell's circumplex model to define 8 primary emotional categories which are further grouped into closely associated emotions resembling each other. 33 participants were involved in experimentation to authenticate different emotions using body gestures of robot. Each participant performed 28 trials in which emotions were displayed at random to recognize the state of robot. The results showed an average accuracy of 79.69%. The study authenticates that perceived emotions are highly dependent on body movements, postures, and selected features. This design model can therefore be used for even conveying the closely resembling emotions. © 2023 IEEE.

关键词： Anthropomorphic robots

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