BaNa: a noise resilient fundamental frequency detection algorithm for speech and music

Fundamental frequency (F0) is one of the essential features in many acoustic related applications. Although numerous F0 detection algorithms have been developed, the detection accuracy in noisy environments still needs improvement. We present a hybrid noise resilient F0 detection algorithm named BaNa that combines the approaches of harmonic ratios and Cepstrum analysis. A Viterbi algorithm with a cost function is used to identify the F0 value among several F0 candidates. Speech and music databases with eight different types of additive noise are used to evaluate the performance of the BaNa algorithm and several classic and state-of-the-art F0 detection algorithms. Results show that for almost all types of noise and signal-to-noise ratio (SNR) values investigated, BaNa achieves the lowest Gross Pitch Error (GPE) rate among all the algorithms. Moreover, for the 0 dB SNR scenarios, the BaNa algorithm is shown to achieve 20% to 35% GPE rate for speech and 12% to 39% GPE rate for music. We also describe implementation issues that must be addressed to run the BaNa algorithm as a real-time application on a smartphone platform.Peer ReviewedPostprint (author's final draft

A survey on fractional order control techniques for unmanned aerial and ground vehicles

In recent years, numerous applications of science and engineering for modeling and control of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems based on fractional calculus have been realized. The extra fractional order derivative terms allow to optimizing the performance of the systems. The review presented in this paper focuses on the control problems of the UAVs and UGVs that have been addressed by the fractional order techniques over the last decade

A High-resolution Scintillating Fiber Tracker With Silicon Photomultiplier Array Readout

We present prototype modules for a tracking detector consisting of multiple layers of 0.25 mm diameter scintillating fibers that are read out by linear arrays of silicon photomultipliers. The module production process is described and measurements of the key properties for both the fibers and the readout devices are shown. Five modules have been subjected to a 12 GeV/c proton/pion testbeam at CERN. A spatial resolution of 0.05 mm and light yields exceeding 20 detected photons per minimum ionizing particle have been achieved, at a tracking efficiency of more than 98.5%. Possible techniques for further improvement of the spatial resolution are discussed.Comment: 31 pages, 27 figures, pre-print version of an article published in Nuclear Instruments and Methods in Physics Research Section A, Vol. 62

Use of Linear Perspective Scene Cues in a Simulated Height Regulation Task

As part of a long-term effort to quantify the effects of visual scene cuing and non-visual motion cuing in flight simulators, an experimental study of the pilot's use of linear perspective cues in a simulated height-regulation task was conducted. Six test subjects performed a fixed-base tracking task with a visual display consisting of a simulated horizon and a perspective view of a straight, infinitely-long roadway of constant width. Experimental parameters were (1) the central angle formed by the roadway perspective and (2) the display gain. The subject controlled only the pitch/height axis; airspeed, bank angle, and lateral track were fixed in the simulation. The average RMS height error score for the least effective display configuration was about 25% greater than the score for the most effective configuration. Overall, larger and more highly significant effects were observed for the pitch and control scores. Model analysis was performed with the optimal control pilot model to characterize the pilot's use of visual scene cues, with the goal of obtaining a consistent set of independent model parameters to account for display effects

A versatile pitch tracking algorithm : from human speech to killer whale vocalizations

Author Posting. © Acoustical Society of America, 2009. This article is posted here by permission of Acoustical Society of America for personal use, not for redistribution. The definitive version was published in Journal of the Acoustical Society of America 126 (2009): 451-459, doi:10.1121/1.3132525.In this article, a pitch tracking algorithm [named discrete logarithmic Fourier transformation-pitch detection algorithm (DLFT-PDA)], originally designed for human telephone speech, was modified for killer whale vocalizations. The multiple frequency components of some of these vocalizations demand a spectral (rather than temporal) approach to pitch tracking. The DLFT-PDA algorithm derives reliable estimations of pitch and the temporal change of pitch from the harmonic structure of the vocal signal. Scores from both estimations are combined in a dynamic programming search to find a smooth pitch track. The algorithm is capable of tracking killer whale calls that contain simultaneous low and high frequency components and compares favorably across most signal to noise ratio ranges to the peak-picking and sidewinder algorithms that have been used for tracking killer whale vocalizations previously.C.W. was supported by DARPA under Contract No. N66001-96-C-8526, monitored through Naval Command, Control, and Ocean Surveillance Center and by the National Science Foundation under Grant No. IRI-9618731. A.D.S. was supported by a National Defense Science and Engineering Graduate Fellowship

PAMPC: Perception-Aware Model Predictive Control for Quadrotors

We present the first perception-aware model predictive control framework for quadrotors that unifies control and planning with respect to action and perception objectives. Our framework leverages numerical optimization to compute trajectories that satisfy the system dynamics and require control inputs within the limits of the platform. Simultaneously, it optimizes perception objectives for robust and reliable sens- ing by maximizing the visibility of a point of interest and minimizing its velocity in the image plane. Considering both perception and action objectives for motion planning and control is challenging due to the possible conflicts arising from their respective requirements. For example, for a quadrotor to track a reference trajectory, it needs to rotate to align its thrust with the direction of the desired acceleration. However, the perception objective might require to minimize such rotation to maximize the visibility of a point of interest. A model-based optimization framework, able to consider both perception and action objectives and couple them through the system dynamics, is therefore necessary. Our perception-aware model predictive control framework works in a receding-horizon fashion by iteratively solving a non-linear optimization problem. It is capable of running in real-time, fully onboard our lightweight, small-scale quadrotor using a low-power ARM computer, to- gether with a visual-inertial odometry pipeline. We validate our approach in experiments demonstrating (I) the contradiction between perception and action objectives, and (II) improved behavior in extremely challenging lighting conditions