Design of UAV-Embedded Microphone Array System for Sound Source Localization in Outdoor Environments

Hoshiba, Kotaro; Washizaki, Kai; Wakabayashi, Mizuho; Ishiki, Takahiro; Kumon, Makoto; Bando, Yoshiaki; Gabriel, Daniel; Nakadai, Kazuhiro; Okuno, Hiroshi G.

doi:10.3390/s17112535

Cited by 94 publications

(60 citation statements)

References 15 publications

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“…A baseline method was provided for the competition. The method, implemented in MATLAB, is based on the open source MBSS Locate toolbox 5 and is available on the following GitHub: https://github.com/Chutlhu/SPCUP19. While the 5 http://bass-db.gforge.inria.fr/bss locate/.…”

Section: The Baselinementioning

confidence: 99%

Audio-Based Search and Rescue With a Drone: Highlights From the IEEE Signal Processing Cup 2019 Student Competition [SP Competitions]

Deleforge

Carlo

Strauss

et al. 2019

IEEE Signal Process. Mag.

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Section: The Baselinementioning

confidence: 99%

Audio-Based Search and Rescue With a Drone: Highlights From the IEEE Signal Processing Cup 2019 Student Competition [SP Competitions]

Deleforge

Carlo

Strauss

et al. 2019

IEEE Signal Process. Mag.

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“…This transition band prevents abrupt changes in gains when the sound source position varies. Figure 4 introduces θ(u, d), as defined by (7), the angle between a sound source located at u, and the orientation of the microphone modeled by the unit vector d. Figure 5 illustrates the logistic function that models the gain G(u, D) as a function of the angle θ(u, d), given in (8). The expression D is a set that contains the parameters {d, α, β}, where α stands for the angle where the gain is one while β corresponds to the angle at which the gain is null.…”

Section: Microphone Directivitymentioning

confidence: 99%

“…This process usually relies first on localizing and tracking the perceived sound sources, to then be able to separate them [4] for specific processing such as speech recognition [5,6]. Using sound source localization and tracking methods robust to noise and low computational cost is impor-tant [7], as it is usually the first step to engage speech based human-robot interaction (HRI). A natural speech HRI requires the robot to be able to detect speech commands in noisy environments, while avoiding false detections.…”

Section: Introductionmentioning

confidence: 99%

Lightweight and optimized sound source localization and tracking methods for open and closed microphone array configurations

Grondin

Michaud

2019

Robotics and Autonomous Systems

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Human-robot interaction in natural settings requires filtering out the different sources of sounds from the environment. Such ability usually involves the use of microphone arrays to localize, track and separate sound sources online. Multimicrophone signal processing techniques can improve robustness to noise but the processing cost increases with the number of microphones used, limiting response time and widespread use on different types of mobile robots. Since sound source localization methods are the most expensive in terms of computing resources as they involve scanning a large 3D space, minimizing the amount of computations required would facilitate their implementation and use on robots. The robot's shape also brings constraints on the microphone array geometry and configurations. In addition, sound source localization methods usually return noisy features that need to be smoothed and filtered by tracking the sound sources. This paper presents a novel sound source localization method, called SRP-PHAT-HSDA, that scans space with coarse and fine resolution grids to reduce the number of memory lookups. A microphone directivity model is used to reduce the number of directions to scan and ignore non significant pairs of microphones. A configuration method is also introduced to automatically set parameters that are normally empirically tuned according to the shape of the microphone array. For sound source tracking, this paper presents a modified 3D Kalman (M3K) method capable of simultaneously tracking in 3D the directions of sound sources. Using a 16-microphone array and low cost hardware, results show that SRP-PHAT-HSDA and M3K perform at least as well as other sound source localization and tracking methods while using up to 4 and 30 times less computing resources respectively.

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“…More complex methods have also been developed, using neural networks to analyze centrifugal pump vibration under different conditions [25,26], resulting in promising results in associating the vibration frequency with a certain defect and abnormal pump operation. As an alternative method, the noise measurement is correlated with the operation of the centrifugal pump, enabling the determination of conditions when cavitation occurs in a centrifugal pump by using sound analysis [8,[10][11][12][13][14][27][28][29]. Alfayeza et al [27] used an application of acoustic emission to detect incipient cavitation.…”

Section: Introductionmentioning

confidence: 99%

“…This paper shows the concept of how the pump characteristic curves transform from the normal state to the conditions of circulating a two-phase mixture. Several papers have shown and demonstrated the ability of vibrations measurement as an effective solution to identify improper machine state (such as valve opening or pump vibrations) [8][9][10][11][12][13][14] and therefore is studied in conjunction with changes of the pump characteristic curve [4]. Data acquisition of vibration and sound is directly related to large data volumes that must be transferred, stored, and processed, and therefore this technology became available with current developments in computing power.…”

mentioning

confidence: 99%

Centrifugal Pump Monitoring and Determination of Pump Characteristic Curves Using Experimental and Analytical Solutions

et al. 2018

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Centrifugal pumps are widely used in the industry, especially in the oil and gas sector for fluids transport. Classically, these are designed to transfer single phase fluids (e.g., water) at high flow rates and relatively low pressures when compared with other pump types. As part of their constructive feature, centrifugal pumps rely on seals to prevent air entrapment into the rotor during its normal operation. Although this is a constructive feature, water should pass through the pump inlet even when the inlet manifold is damaged. Modern pumps are integrated in pumping units which consist of a drive (normally electric motor), a transmission (when needed), an electronic package (for monitoring and control), and the pump itself. The unit also has intake and outlet manifolds equipped with valves. Modern systems also include electronic components to measure and monitor pump working parameters such as pressure, temperature, etc. Equipment monitoring devices (vibration sensors, microphones) are installed on modern pumping units to help users evaluate the state of the machinery and detect deviations from the normal working condition. This paper addresses the influence of air-water two-phase mixture on the characteristic curve of a centrifugal pump; pump vibration in operation at various flow rates under these conditions; the possibilities of using the results of experimental investigations in the numerical simulations for design and training purposes, and the possibility of using vibration and sound analysis to detect changes in the equipment working condition. Conclusions show that vibration analysis provides accurate information about the pump's functional state and the pumping process. Moreover, the acoustic emission also enables the evaluation of the pump status, but needs further improvements to better capture and isolate the usable sounds from the environment.Processes 2018, 6, 18 2 of 15 refers to the difficulty of finding a general analytical model that explains the changes of the pump characteristic curve [3,6].The development in materials and pump construction have led to an increased life time and better reliability of the products. The pump application may limit the access of personnel for a thorough visual pump inspection, so that under these conditions, the use of non-intrusive sensors can replace humans for detecting pump failure. Sometimes, air entrapment does not necessarily lead to a major failure, hence the pump may work under two-phase flow until a replacement/solution is found. However, as the pump characteristic is changing, the control system needs to know how to adjust the pumping parameters accordingly, so that the pump runs under safe conditions. This paper shows the concept of how the pump characteristic curves transform from the normal state to the conditions of circulating a two-phase mixture. Several papers have shown and demonstrated the ability of vibrations measurement as an effective solution to identify improper machine state (such as valve opening or pump vibrations) [8][9][10][11][12...

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Design of UAV-Embedded Microphone Array System for Sound Source Localization in Outdoor Environments

Cited by 94 publications

References 15 publications

Audio-Based Search and Rescue With a Drone: Highlights From the IEEE Signal Processing Cup 2019 Student Competition [SP Competitions]

Audio-Based Search and Rescue With a Drone: Highlights From the IEEE Signal Processing Cup 2019 Student Competition [SP Competitions]

Lightweight and optimized sound source localization and tracking methods for open and closed microphone array configurations

Centrifugal Pump Monitoring and Determination of Pump Characteristic Curves Using Experimental and Analytical Solutions

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