This paper deals with speaker localization in two dimensions from a mobile binaural head. A bootstrap particle filtering scheme is used to perform active localization, i.e. to infer source location by fusing the binau...
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ISBN:
(纸本)9781467363563
This paper deals with speaker localization in two dimensions from a mobile binaural head. A bootstrap particle filtering scheme is used to perform active localization, i.e. to infer source location by fusing the binaural perception with the sensor motor commands. It relies on an original pseudo-likelihood of the source azimuth which captures both the inter-aural level and phase differences. Since the pseudo-likelihood is discrete, it is fitted with a mixture of circular distributions in order to enhance its resolution. For the fitting task two mixtures are compared and evaluated, namely the mixture of von Mises and wrapped Cauchy distributions. Furthermore, a solution is presented for calculating the von Mises curvefitting with low uncertainty, since the direct implementation can quickly surpass double precision floating number representation. The performance of the filter is compared using both the raw and fitted pseudo-likelihoods on experiments recorded in an acoustically prepared room with ground-truth obtained from a motion capture system. The results show that the proposed algorithm successfully localizes the speaker with an advantage in the direction of the fitted von Mises mixture likelihood.
作者：
Marko BunicStjepan BogdanUniversity of Zagreb
Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia
This paper presents the extension of the previously proposed method for multi-agent formation control based on potential function. The method derived for 2D space is extended to 3D. It has been shown that the control ...
This paper presents the extension of the previously proposed method for multi-agent formation control based on potential function. The method derived for 2D space is extended to 3D. It has been shown that the control algorithm keeps all the properties of the original scheme in case of multi-agent formation moving in 3D. An adaptation mechanism that assures avoidance of unwanted stable equilibria, used in 2D, is implemented in the same form for 3D formations. The obtained simulation results demonstrate stable behavior of the system for various sets of parameters - the desired 3D formation is reached in finite time and maintained during trajectory execution.
Two-axis pan and tilt systems are widely used in surveillance applications for high accuracy positioning of sensor payloads such as cameras and laser pointers. In order to develop advanced control algorithms to improv...
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Cloud computing can offer a very powerful, reliable, predictable and scalable computing infrastructure for the execution of MAS （multi-agent systems） implementing complex agent-based applications such when modelling...
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Cloud computing can offer a very powerful, reliable, predictable and scalable computing infrastructure for the execution of MAS （multi-agent systems） implementing complex agent-based applications such when modelling, simulation and real-time running of complex systems must be provided. Multi-agent systems appears as an adequate approach to current challenges in many areas. Between important qualities of MAS also belongs to, that they are open, interoperable, and heterogenous systems. The agent is active, a program entity, has its own ideas how to perform the tasks of the own agenda. Agents： perceive, behave ＂reasonably＂, act in the environment, communicate with other agents. Cloud infrastructures can offer an ideal platform where run MAS systems simulations, applications and real-time running because of its large amount of processing and memory resources that can be dynamically configured for executing large agent-based software at unprecedented scale. Cloud computing can help chemical and food companies drive operational excellence; meet growing and changing customer demands; accelerate new product innovation and ramp-to-volume manufacturing in key markets; reduce IT spending; manage and mitigate supply chain risks; and enable faster and more flexible delivery of new IT system. Production type of SOC （service-oriented computing） can be inspired by a ＂Cloud＂, for the production of ＂Cloud＂ offers an attractive and natural solutions in several computing trends such as delivery system over the Internet, use of utilities, flexibility, virtualization, a ＂grid＂ distributed computing, outsourcing, Web 2.0, etc.. Production of the ＂Cloud＂ is also considered as a new multidisciplinary field that includes ＂network＂ production, virtual manufacturing, agile manufacturing, and of course cloud computing. Examples of cloud computing and MAS applications in food and chemistry development and industry, proposition of using multi-agent systems in the control of batch processes, modif
P systems (PSs) are powerful computing models based on the structure of a biological cell and on the way chemicals interact in complex biochemical reactions which take place in various compartments (or membranes) of t...
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This paper investigates the problem of stability for a class of linear uncertain Markovian jump systems over networks via the delta operator approach. The sensor-to-controller random network-induced delay and arbitrar...
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Distributed computer systems of microcontrollers with environmental sensors, known as wireless sensor networks, allow real time monitoring of complex events. Over the last ten years this technology is slowly being app...
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Distributed computer systems of microcontrollers with environmental sensors, known as wireless sensor networks, allow real time monitoring of complex events. Over the last ten years this technology is slowly being applied in many areas such as: agriculture, environmental monitoring and urban planning. However, the technology has yet to see a strong commercial application because of a: lack of universal norms, short lifetime cycle and security concerns. This paper will describe the basic characteristics of a wireless sensor network, followed by a list of different types of security problems that wireless sensor networks face. For each problem, a recommended method for improving security is given, along with all the downsides of such a method. After reviewing the current state of the technology we will propose a new method to improve security and intruder detection for certain types of networks.
The framework is designed to provide a simple and powerful way of Web application component development. Components of the framework can nest, and the framework is designed to be easy to reuse as a component, thus pro...
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The framework is designed to provide a simple and powerful way of Web application component development. Components of the framework can nest, and the framework is designed to be easy to reuse as a component, thus providing its components to be used by the host application. We explain the interfaces required to make this possible - what they provide, what issues they solve, and how their requirement was discovered. We also identify shortcomings of this approach, and issues that will be addressed by future work.
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