A robot uses its own microphone to synchronize its steps to musical beats while scatting and singing

Abstract—Musical beat tracking is one of the effective technologies for human-robot interaction such as musical ses-sions. Since such interaction should be performed in various environments in a natural way, musical beat tracking for a robot should cope with noise sources such as environmental noise, its own motor noises, and self voices, by using its own microphone. This paper addresses a musical beat tracking robot which can step, scat and sing according to musical beats by using its own microphone. To realize such a robot, we propose a robust beat tracking method by introducing two key techniques, that is, spectro-temporal pattern matching and echo cancellation. The former realizes robust tempo estimation with a shorter window length, thus, it can quickly adapt to tempo changes. The latter is effective to cancel self noises such as stepping, scatting, and singing. We implemented the proposed beat tracking method for Honda ASIMO. Experimental results showed ten times faster adaptation to tempo changes and high robustness in beat tracking for stepping, scatting and singing noises. We also demonstrated the robot times its steps while scatting or singing to musical beats. I

Survey of Period Variations of Superhumps in SU UMa-Type Dwarf Novae

We systematically surveyed period variations of superhumps in SU UMa-type dwarf novae based on newly obtained data and past publications. In many systems, the evolution of superhump period are found to be composed of three distinct stages: early evolutionary stage with a longer superhump period, middle stage with systematically varying periods, final stage with a shorter, stable superhump period. During the middle stage, many systems with superhump periods less than 0.08 d show positive period derivatives. Contrary to the earlier claim, we found no clear evidence for variation of period derivatives between superoutburst of the same object. We present an interpretation that the lengthening of the superhump period is a result of outward propagation of the eccentricity wave and is limited by the radius near the tidal truncation. We interpret that late stage superhumps are rejuvenized excitation of 3:1 resonance when the superhumps in the outer disk is effectively quenched. Many of WZ Sge-type dwarf novae showed long-enduring superhumps during the post-superoutburst stage having periods longer than those during the main superoutburst. The period derivatives in WZ Sge-type dwarf novae are found to be strongly correlated with the fractional superhump excess, or consequently, mass ratio. WZ Sge-type dwarf novae with a long-lasting rebrightening or with multiple rebrightenings tend to have smaller period derivatives and are excellent candidate for the systems around or after the period minimum of evolution of cataclysmic variables (abridged).Comment: 239 pages, 225 figures, PASJ accepte

A Biped Robot that Keeps Steps in Time with Musical Beats while Listening to Music with Its Own Ears

Abstract — We aim at enabling a biped robot to interact with humans through real-world music in daily-life environments, e.g., to autonomously keep its steps (stamps) in time with musical beats. To achieve this, the robot should be able to robustly predict the beat times in real time while listening to musical performance with its own ears (head-embedded microphones). However, this has not previously been addressed in most studies on music-synchronized robots due to the difficulty in predicting the beat times in real-world music. To solve this problem, we implemented a beat-tracking method developed in the field of music information processing. The predicted beat times are then used by a feedback-control method that adjusts the robot’s step intervals to synchronize its steps in time with the beats. The experimental results show that the robot can adjust its steps in time with the beat times as the tempo changes. The resulting robot needed about 25 [s] to recognize the tempo change after it and then synchronize its steps. I