Integration of advanced teleoperation technologies for control of space robots

Teleoperated robots require one or more humans to control actuators, mechanisms, and other robot equipment given feedback from onboard sensors. To accomplish this task, the human or humans require some form of control station. Desirable features of such a control station include operation by a single human, comfort, and natural human interfaces (visual, audio, motion, tactile, etc.). These interfaces should work to maximize performance of the human/robot system by streamlining the link between human brain and robot equipment. This paper describes development of a control station testbed with the characteristics described above. Initially, this testbed will be used to control two teleoperated robots. Features of the robots include anthropomorphic mechanisms, slaving to the testbed, and delivery of sensory feedback to the testbed. The testbed will make use of technologies such as helmet mounted displays, voice recognition, and exoskeleton masters. It will allow tor integration and testing of emerging telepresence technologies along with techniques for coping with control link time delays. Systems developed from this testbed could be applied to ground control of space based robots. During man-tended operations, the Space Station Freedom may benefit from ground control of IVA or EVA robots with science or maintenance tasks. Planetary exploration may also find advanced teleoperation systems to be very useful

Spatial sound for computer games and virtual reality

In this chapter, we discuss spatial sound within the context of Virtual Reality and other synthetic environments such as computer games. We review current audio technologies, sound constraints within immersive multi-modal spaces, and future trends. The review process takes into consideration the wide-varying levels of audio sophistication in the gaming and VR industries, ranging from standard stereo output to Head Related Transfer Function implementation. The level of sophistication is determined mostly by hardware/system constraints (such as mobile devices or network limitations), however audio practitioners are developing novel and diverse methods to overcome many of these challenges. No matter what approach is employed, the primary objectives are very similar—the enhancement of the virtual scene and the enrichment of the user experience. We discuss how successful various audio technologies are in achieving these objectives, how they fall short, and how they are aligned to overcome these shortfalls in future implementations

Augmenting TV Viewing using Acoustically Transparent Auditory Headsets

This paper explores how acoustically transparent auditory headsets can improve TV viewing by intermixing headset and TV audio, facilitating personal, private auditory enhancements and augmentations of TV content whilst minimizing occlusion of the sounds of reality. We evaluate the impact of synchronously mirroring select audio channels from the 5.1 mix (dialogue, environmental sounds, and the full mix), and selectively augmenting TV viewing with additional speech (e.g. Audio Description, Directors Commentary, and Alternate Language). For TV content, auditory headsets enable better spatialization and more immersive, enjoyable viewing; the intermixing of TV and headset audio creates unique listening experiences; and private augmentations offer new ways to (re)watch content with others. Finally, we reflect on how these headsets might facilitate more immersive augmented TV viewing experiences within reach of consumers

The Bird's Ear View: Audification for the Spectral Analysis of Heliospheric Time Series Data.

The sciences are inundated with a tremendous volume of data, and the analysis of rapidly expanding data archives presents a persistent challenge. Previous research in the field of data sonification suggests that auditory display may serve a valuable function in the analysis of complex data sets. This dissertation uses the heliospheric sciences as a case study to empirically evaluate the use of audification (a specific form of sonification) for the spectral analysis of large time series. Three primary research questions guide this investigation, the first of which addresses the comparative capabilities of auditory and visual analysis methods in applied analysis tasks. A number of controlled within-subject studies revealed a strong correlation between auditory and visual observations, and demonstrated that auditory analysis provided a heightened sensitivity and accuracy in the detection of spectral features. The second research question addresses the capability of audification methods to reveal features that may be overlooked through visual analysis of spectrograms. A number of open-ended analysis tasks quantitatively demonstrated that participants using audification regularly discovered a greater percentage of embedded phenomena such as low-frequency wave storms. In addition, four case studies document collaborative research initiatives in which audification contributed to the acquisition of new domain-specific knowledge. The final question explores the potential benefits of audification when introduced into the workflow of a research scientist. A case study is presented in which a heliophysicist incorporated audification into their working practice, and the “Think-Aloud” protocol is applied to gain a sense for how audification augmented the researcher’s analytical abilities. Auditory observations are demonstrated to make significant contributions to ongoing research, including the detection of previously unidentified equipment-induced artifacts. This dissertation provides three primary contributions to the field: 1) an increased understanding of the comparative capabilities of auditory and visual analysis methods, 2) a methodological framework for conducting audification that may be transferred across scientific domains, and 3) a set of well-documented cases in which audification was applied to extract new knowledge from existing data archives. Collectively, this work presents a “bird’s ear view” afforded by audification methods—a macro understanding of time series data that preserves micro-level detail.PhDDesign ScienceUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/111561/1/rlalexan_1.pd

Development and Evaluation of a Real-Time Framework for a Portable Assistive Hearing Device

Testing and verification of digital hearing aid devices, and the embedded software and algorithms can prove to be a challenging task especially taking into account time-to-market considerations. This thesis describes a PC based, real-time, highly configurable framework for the evaluation of audio algorithms. Implementation of audio processing algorithms on such a platform can provide hearing aid designers and manufacturers the ability to test new and existing processing techniques and collect data about their performance in real-life situations, and without the need to develop a prototype device. The platform is based on the Eurotech Catalyst development kit and the Fedora Linux OS, and it utilizes the JACK audio engine to facilitate reliable real-time performance Additionally, we demonstrate the capabilities of this platform by implementing an audio processing chain targeted at improving speech intelligibility for people suffering from auditory neuropathy. Evaluation is performed for both noisy and noise-free environments. Subjective evaluation of the results, using normal hearing listeners and an auditory neuropathy simulator, demonstrates improvement in some conditions

The creation of a binaural spatialization tool

The main focus of the research presented within this thesis is, as the title suggests, binaural spatialization. Binaural technology and, especially, the binaural recording technique are not particu-larly recent. Nevertheless, the interest in this technology has lately become substantial due to the increase in the calculation power of personal computers, which started to allow the complete and accurate real-time simulation of three-dimensional sound-fields over headphones. The goals of this body of research have been determined in order to provide elements of novelty and of contribution to the state of the art in the field of binaural spatialization. A brief summary of these is found in the following list: • The development and implementation of a binaural spatialization technique with Distance Simulation, based on the individual simulation of the distance cues and Binaural Reverb, in turn based on the weighted mix between the signals convolved with the different HRIR and BRIR sets; • The development and implementation of a characterization process for modifying a BRIR set in order to simulate different environments with different characteristics in terms of frequency response and reverb time; • The creation of a real-time and offline binaural spatialization application, imple-menting the techniques cited in the previous points, and including a set of multichannel(and Ambisonics)-to-binaural conversion tools. • The performance of a perceptual evaluation stage to verify the effectiveness, realism, and quality of the techniques developed, and • The application and use of the developed tools within both scientific and artistic “case studies”. In the following chapters, sections, and subsections, the research performed between January 2006 and March 2010 will be described, outlining the different stages before, during, and after the development of the software platform, analysing the results of the perceptual evaluations and drawing conclusions that could, in the future, be considered the starting point for new and innovative research projects

A survey on hardware and software solutions for multimodal wearable assistive devices targeting the visually impaired

The market penetration of user-centric assistive devices has rapidly increased in the past decades. Growth in computational power, accessibility, and cognitive device capabilities have been accompanied by significant reductions in weight, size, and price, as a result of which mobile and wearable equipment are becoming part of our everyday life. In this context, a key focus of development has been on rehabilitation engineering and on developing assistive technologies targeting people with various disabilities, including hearing loss, visual impairments and others. Applications range from simple health monitoring such as sport activity trackers, through medical applications including sensory (e.g. hearing) aids and real-time monitoring of life functions, to task-oriented tools such as navigational devices for the blind. This paper provides an overview of recent trends in software and hardware-based signal processing relevant to the development of wearable assistive solutions

Audio Decision Support for Supervisory Control of Unmanned Vehicles : Literature Review

Purpose of this literature review: To survey scholarly articles, books and other sources (dissertations, conference proceedings) relevant to the use of the audio supervisory control of unmanned vehicles.Prepared for Charles River Analytic