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Sound-based online localization for an in-pipe snake robot

Sound-based online localization for an in-pipe snake robot

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IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)

作者： Yoshiaki Bando Hiroki Suhara Motoyasu Tanaka Tetsushi Kamegawa Katsutoshi Itoyama Kazuyoshi Yoshii Fumitoshi Matsuno Hiroshi G. Okuno Graduate School of Informatics Kyoto University Kyoto Japan Graduate School of Natural Science and Technology Okayama University Okayama Japan Graduate School of Information Science and Engineering The University of Electro-Communications Tokyo Japan Graduate School of Engineering Kyoto University Kyoto Japan Graduate Program for Embodiment Informatics Waseda University Tokyo Japan

ISBN: (纸本)9781509043507

This paper presents a sound-based online localization method for an in-pipe snake robot with an inertial measurement unit (IMU). In-pipe robots, in particular, snake robots need online localization for autonomous inspection and for remote operator supports. The GPS is denied in a pipeline, and conventional odometry-based localization may deteriorate due to slippage and sudden unintended movements. By putting a microphone on the robot and a loudspeaker at the entrance of the pipeline, their distance can be estimated by measuring the time of flight (ToF) of a reference sound emitted from the loudspeaker. Since the sound propagation path in the pipeline is necessary for estimating the robot location, the proposed sound-based online localization method simultaneously estimates the robot location and the pipeline map by combining the distance obtained by the ToF and orientation estimated by the IMU. The experimental results showed that the error of the distance estimation was less than 7% and the accuracy of the pipeline map was more than 68.0%.

关键词： Pipelines Robot sensing systems Estimation Robot kinematics Microphones Loudspeakers

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Robot audition: Its rise and perspectives 40

Robot audition: Its rise and perspectives

引用

40th IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2015

作者： Okuno, Hiroshi G. Nakadai, Kazuhiro Graduate Program for Embodiment Informatics Waseda University Japan Honda Research Institute Japan Co. Ltd. Japan

ISBN: (纸本)9781467369978

The ability of robots to listen to several things at once with their own 'ears', that is, robot audition, is an important factor in improving interaction and symbiosis between humans and robots. The critical issue in robot audition is real-time processing and robustness against noisy environments with high flexibility to support various kinds of robots and hardware configurations. This paper first overviews activities and issues related to robot audition. Then, it presents the 'HARK' robot audition software, which provides three primary functions for robot audition, sound source localization, sound source separation, and separated sound recognition, and then reports their performance. Finally, it discusses future directions in new promising areas as well as robotics. © 2015 IEEE.

关键词： Active audition Ego-noise cancellation Microphone array Robot Audition

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Novel Social Innovation Concept Based on the Viewpoint of the Infrastructure User

Novel Social Innovation Concept Based on the Viewpoint of th...

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International Symposium on Autonomous Decentralized Systems (ISADAS)

作者： Masato Adachi Gonzalo Aguirre Dominguez Takafumi Sasaki Ryosuke Tsumura Tomoya Koshi Kinji Mori Graduate Program for Embodiment Informatics Waseda University Tokyo Japan

Recently, due to the deceleration of the markets in developed economies, the growing demand for infrastructure development in emerging countries has become more important in the global economy. Conventionally, developed countries have improved their infrastructure from government's and supplier's viewpoints. However, this approach has not always been the best when working in emerging countries. In this study, we propose an innovative approach inspired by the concept of social innovation, centered around the social viewpoint. It consists of a system for the successful implementation and sustainable development of new infrastructure projects in emerging countries. We focus on an ongoing railway project in Vietnam by looking at the applicability of this concept there. Finally, the concept is evaluated through rounds of discussion with experts from the government, academia and industry. It was concluded that the project is perceived to have great potential for the region, and it is regarded with high esteem by all stakeholders.

关键词： Industries Technological innovation Training Rail transportation Companies Engineering profession

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Development of a backdrivable magnetorheological hydraulic piston for passive and active linear actuation

Development of a backdrivable magnetorheological hydraulic p...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： G. A. Dominguez M. Kamezaki M. French S. Sugano Graduate Program for Embodiment Informatics for Leading Graduate Schools Japan Research Institute for Science and Engineering (RISE) Waseda University Tokyo Japan Graduate Program for Embodiment Informatics for Leading Graduate Schools Waseda University Tokyo Japan Department of Modern Mechanical Engineering Waseda University Shinjuku-ku Tokyo Japan

A new design of a magnetorheological piston prototype intended for passive or active force control in robotic applications for human robot interaction is introduced. It is based in a novel toroidal array of valves, contained within the piston head, which are used to control the output force of the actuator in order to achieve a high degree of reliability, size efficiency, and safety, by exploiting the material properties of magnetorheological fluids and permalloy metals. This paper describes the main points in the development of the magnetorheological piston prototype, the mathematical modelling of the magnetic circuit, and the results of the experiments conducted using a universal testing machine to evaluate the passive performance of the prototype. Results show the feasibility and performance of the new toroidal magnetic circuit of the magnetorheological hydraulic piston prototype. Improvements in order to be able to test the active performance of the design together with a pump setup are proposed.

关键词： Pistons Toroidal magnetic fields Magnetomechanical effects Magnetic heads Actuators Magnetic circuits Valves

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Microphone-accelerometer based 3D posture estimation for a hose-shaped rescue robot

Microphone-accelerometer based 3D posture estimation for a h...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Y. Bando K. Itoyama M. Konyo S. Tadokoro K. Nakadai K. Yoshii H. G. Okuno Graduate School of Informatics Kyoto University Kyoto Japan Graduate School of Information Science Tohoku University Miyagi Japan Graduate School of Information Science and Engineering Honda Research Institute Japan Co. Ltd. Saitama Japan Graduate Program for Embodiment Informatics Waseda University Tokyo Japan

3D posture estimation for a hose-shaped robot is critical in rescue activities due to complex physical environments. Conventional sound-based posture estimation assumes rather flat physical environments and focuses only on 2D, resulting in poor performance in real world environments with rubble. This paper presents novel 3D posture estimation by exploiting microphones and accelerometers. The idea of our method is to compensate the lack of posture information obtained by sound-based time-difference-of arrival (TDOA) with the tilt information obtained from accelerometers. This compensation is formulated as a nonlinear state-space model and solved by the unscented Kalman filter. Experiments are conducted by using a 3m hose-shaped robot with eight units of a microphone and an accelerometer and seven units of a loudspeaker and a vibration motor deployed in a simple 3D structure. Experimental results demonstrate that our method reduces the errors of initial states to about 20 cm in the 3D space. If the initial errors of initial states are less than 20 %, our method can estimate the correct 3D posture in real-time.

关键词： Microphones Accelerometers Loudspeakers Estimation Robot sensing systems Three-dimensional displays

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Human-voice enhancement based on online RPCA for a hose-shaped rescue robot with a microphone array

Human-voice enhancement based on online RPCA for a hose-shap...

引用

IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)

作者： Yoshiaki Bando Katsutoshi Itoyama Masashi Konyo Satoshi Tadokoro Kazuhiro Nakadai Kazuyoshi Yoshii Hiroshi G. Okuno Graduate School of Informatics Kyoto University Kyoto Japan Graduate School of Information Science Honda Research Institute Japan Co. Ltd Miyagi Japan Graduate School of Information Science and Engineering Tokyo Institute of Technology Saitama Japan Graduate Program for Embodiment Informatics Waseda University Tokyo Japan

This paper presents an online real-time method that enhances human voices included in severely noisy audio signals captured by microphones of a hose-shaped rescue robot. To help a remote operator of such a robot pick up a weak voice of a human buried under rubble, it is crucial to suppress the loud ego-noise caused by the movements of the robot in real time. We tackle this task by using online robust principal component analysis (ORPCA) for decomposing the spectrogram of an observed noisy signal into the sum of low-rank and sparse spectrograms that are expected to correspond to periodic ego-noise and human voices. Using a microphone array distributed on the long body of a hose-shaped robot, ego-noise suppression can be further improved by combining the results of ORPCA applied to the observed signal captured by each microphone. Experiments using a 3-m hose-shaped rescue robot with eight microphones show that the proposed method improves the performance of conventional ego-noise suppression using only one microphone by 7.4 dB in SDR and 17.2 in SIR.

关键词： Rescue robots Microphone arrays Matrix decomposition Radio frequency Mobile robots

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A robot quizmaster that can localize, separate, and recognize simultaneous utterances for a fastest-voice-first quiz game

A robot quizmaster that can localize, separate, and recogniz...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Izaya Nishimuta Naoki Hirayama Kazuyoshi Yoshii Katsutoshi Itoyama Hiroshi G. Okuno Graduate School of Informatics Kyoto University Sakyo-ku Kyoto Japan Graduate Program for Embodiment Informatics Waseda University Tokyo Japan

This paper presents an interactive humanoid robot that can moderate a multi-player fastest-voice-first-type quiz game by leveraging state-of-the-art robot audition techniques such as sound source localization and separation and speech recognition. In this game, a player who says "Yes" first gets a right to answer a question, and players are allowed to barge in a questionary utterance of the quizmaster. The robot needs to identify which player says "Yes" first, even if multiple players respond at almost exactly the same time, and must judge the correctness of the answer given by the player. To enable natural human-robot interaction, we believe that the robot should use its own microphones (i.e., ears) embedded in the head, rather than having pin microphones attached to individual players. In this paper we use a robot audition system called HARK for separating the mixture of audio signals recorded by the ears into multiple source signals (i.e., almost the simultaneous utterances of "Yes" and the questionary utterance) and estimating the direction of each source. To judge the correctness of an answer, we use a speech recognizer called Julius. Experimental results showed that our robot can correctly identify which player spoke first when the players' utterances differed by 60 msec.

关键词： Robots Games Speech recognition Noise Speech Loudspeakers Microphones

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A sound-based online method for estimating the time-varying posture of a hose-shaped robot 12

A sound-based online method for estimating the time-varying ...

引用

12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014

作者： Bando, Yoshiaki Itoyama, Katsutoshi Konyo, Masashi Tadokoro, Satoshi Nakadai, Kazuhiro Yoshii, Kazuyoshi Okuno, Hiroshi G. Graduate School of Informatics Kyoto Univ. Kyoto606-8501 Japan Graduate School of Information Science Tohoku Univ. Miyagi980-8579 Japan Honda Research Institute Japan Co. Ltd. Saitama351-0114 Japan Graduate Program for Embodiment Informatics Waseda Univ. Tokyo169-0072 Japan

ISBN: (纸本)9781479941995

This paper presents an online method that can accurately estimate the time-varying posture of a moving hose-shaped robot having multiple microphones and loudspeakers. Sound-based posture estimation has been considered to be promising for circumventing the cumulative error problem of conventional integral-type methods using differential information obtained by inertial sensors. Our robot emits a reference signal from a loud-speaker one by one and estimates its posture by measuring the time differences of arrival (TDOAs) at the microphones. To accurately estimate the posture of the robot (the relative positions of the microphones and loudspeakers) even when the robot moves, we propose a novel state-space model that represents the dynamics of not only the posture itself but also its change rate in the state space. This model is used for predicting the current posture by using an unscented Kalman filter. The experiments using a 3m moving hose-shaped robot with eight microphones and seven loudspeakers showed that our method achieved less than 20 cm error at the tip position even after the robot moved over a long time, whereas the estimation error obtained by a conventional integral-type method increased monotonically over time. © 2014 IEEE.

关键词： Microphones

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Development of a robot quizmaster with auditory functions for speech-based multiparty interaction

Development of a robot quizmaster with auditory functions fo...

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IEEE/SICE International Symposium on System Integration

作者： Izaya Nishimuta Kazuyoshi Yoshii Katsutoshi Itoyama Hiroshi G. Okuno Graduate School of Informatics Kyoto University Sakyo-ku Kyoto Japan Graduate Program for Embodiment Informatics Waseda University Shinjuku Tokyo Japan

This paper presents a robot quizmaster that has auditory functions (i.e., ears) for moderating a multiplayer quiz game. The most basic form of oral interaction in a quiz game is that a quizmaster reads aloud a question, and each player is allowed to answer it whenever the answer comes to his or her mind. A critical problem in such oral interaction is that if multiple players speak almost simultaneously for answering, it is difficult for a “human” quizmaster to recognize overlapping answers and judge the correctness of each answer. To avoid this problem, players have conventionally been required to push a button, raise a hand, or say “Yes” to just get a right to answer a question before doing it. This requirement, however, inhibits natural oral interaction. In this paper we propose a “robot” quizmaster that can identify a player who correctly answers a question first, even when multiple players utter answers almost at the same time. Since our robot uses its own microphones (ears) embedded in the head, individual players are not required to wear small pin microphones close to their mouths. To localize, separate, and recognize overlapping utterances captured by the ears, we use a robot audition software called HARK and an automatic speech recognizer called Julius. Experimental results showed the effectiveness of our approach.

关键词： Robots Games Speech recognition Speech Noise Microphones Ear

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Sound Annotation Tool for Multidirectional Sounds based on spatial information extracted by HARK robot audition software

Sound Annotation Tool for Multidirectional Sounds based on s...

引用

IEEE International Conference on Systems, Man, and Cybernetics

作者： Osamu Sugiyama Katsutoshi Itoyama Kazuhiro Nakada Hiroshi G. Okuno Graduate School of Information Science and Engineering Tokyo Institute of Technology Graduate School of Informatics Kyoto University Grad. Sch. of Inf. Science and Engineering Honda Research Institute Japan Co. Ltd Graduate Program for Embodiment Informatics Waseda University

With the rise of inexpensive microphone array products and the robot audition software called HARK, we can record and analyze multidirectional sound sources easily. The combination of microphone array and the software enables us to separate, localize, and track multidirectional sound sources. Most of the solutions for accessing these separated sound source information provide clients for interpreting simplified information about the separated sources, but not to directly execute the semantic annotations. Since the multidirectional sound annotation requires simultaneous labeling of separated sound sources and a multidirectional overview of the sources, it is essential to have an efficient way of annotation and an intuitive view of multidirectional sounds. Our proposed sound annotation tool provides drag & drop operation of annotation with a 3D sound source view and also provides annotation autocompletion with a SVM trained with the user's annotation history. The proposed features enable users to do the annotation task intuitively and confirm its result. We also conducted an evaluation demonstrating the efficiency of annotation done using the tool.

关键词： Accuracy Orbits Software Three-dimensional displays Microphones Support vector machines Robots

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