Acoustic simultaneous localization and mapping (A-SLAM) of a moving microphone array and its surrounding speakers

Acoustic scene mapping creates a representation of positions of audio sources such as talkers within the surrounding environment of a microphone array. By allowing the array to move, the acoustic scene can be explored in order to improve the map. Furthermore, the spatial diversity of the kinematic array allows for estimation of the source-sensor distance in scenarios where source directions of arrival are measured. As sound source localization is performed relative to the array position, mapping of acoustic sources requires knowledge of the absolute position of the microphone array in the room. If the array is moving, its absolute position is unknown in practice. Hence, Simultaneous Localization and Mapping (SLAM) is required in order to localize the microphone array position and map the surrounding sound sources. In realistic environments, microphone arrays receive a convolutive mixture of direct-path speech signals, noise and reflections due to reverberation. A key challenge of Acoustic SLAM (a-SLAM) is robustness against reverberant clutter measurements and missing source detections. This paper proposes a novel bearing-only a-SLAM approach using a Single-Cluster Probability Hypothesis Density filter. Results demonstrate convergence to accurate estimates of the array trajectory and source positions

Towards Informative Path Planning for Acoustic SLAM

Acoustic scene mapping is a challenging task as microphone arrays can often localize sound sources only in terms of their directions. Spatial diversity can be exploited constructively to infer source-sensor range when using microphone arrays installed on moving platforms, such as robots. As the absolute location of a moving robot is often unknown in practice, Acoustic Simultaneous Localization And Mapping (a-SLAM) is required in order to localize the moving robot’s positions and jointly map the sound sources. Using a novel a-SLAM approach, this paper investigates the impact of the choice of robot paths on source mapping accuracy. Simulation results demonstrate that a-SLAM performance can be improved by informatively planning robot paths

Bearing-only acoustic tracking of moving speakers for robot audition

This paper focuses on speaker tracking in robot audition for human-robot interaction. Using only acoustic signals, speaker tracking in enclosed spaces is subject to missing detections and spurious clutter measurements due to speech inactivity, reverberation and interference. Furthermore, many acoustic localization approaches estimate speaker direction, hence providing bearing-only measurements without range information. This paper presents a probability hypothesis density (PHD) tracker that augments the bearing-only speaker directions of arrival with a cloud of range hypotheses at speaker initiation and propagates the random variates through time. Furthermore, due to their formulation PHD filters explicitly model, and hence provide robustness against, clutter and missing detections. The approach is verified using experimental results

Eskimos, Reindeer, and Land

The following report is based on an interdisciplinary research study undertaken to investigate the social, economic, and cultural aspects of reindeer herding in northwestern Alaska. The primary purpose of the research project was to gather data on the past and present reindeer herding practices of the region, but also to seek information on herding and land uses, the future potential of this essentially Native industry, and its impacts on the people and economy of the area.National Park Service, U.S. Department of the Interior, and carried out by staff of the University of Alaska, Fairbanks

Does TV Col Have the longest Recorded Positive Superhumps?

Re-examination of extensive photometric data of TV Col reveals evidence for a permanent positive superhump. Its period (6.4 h) is 16 percent longer than the orbital period and obeys the well known relation between superhump period excess and binary period. At 5.5-h, TV Col has an orbital period longer than any known superhumping cataclysmic variable and, therefore, a mass ratio which might be outside the range at which superhumps can occur according to the current theory. We suggest several solutions for this problem.Comment: 5 pages, 2 eps. figures, Latex, proceedings of `Evolution of Binary and Multiple Star Systems', a Meeting in Celebration of Peter Eggleton's 60th Birthday, Bormio, Italy, ASP Conference Series, eds. Ph. Podsiadlowski et al., ASP, San Francisc

Plant strategies, dispersal and origins of flora at the northern Coral Sea Islands Territory, Australia

A checklist of vascular plants of Coringa-Herald National Nature Reserve (CHNNR) (17º 11’S, 149º 00’ E to 16º 23’S, 150º 30’E and Willis Island (16º 24’S, 149º 58’E) at the northern Coral Sea Islands Territory of Australia compiled during 2006/07 surveys, recorded 30 species including 18 species indigenous to the Coral Sea Islands (60%), 10 exotic species (33%) and two that were planted (7%). Plant life-forms included: 5 species of trees and tall shrubs (17%), 2 species of low shrubs (6.5%), 21 herbs (70%), and 2 vine/creepers (6.5%). Plant dispersal for the 30 species is predominantly by human activities (40%), ocean currents (33%) and seabirds (27%). The garden species and dispersal modes at Willis Island indicate that non-residential casual human visitation at CHNNR has at present had little effect on establishment of exotic weeds. Resilience of leverage flora, floristic diversity and species origins of CHNNR are discussed in relation to its connectivity with the Melanesian region due to the South Equatorial Current operating in the region. Colubrina asiatica was recorded as a new record for oceanic islands in Australian territories. Previously recorded Ximenia americana and Digitaria ctenantha are considered locally extinct. Pattern analyses indicate that cays of similar size and vegetation structure are the most similar in floristic composition. Willis Island flora is relatively dissimilar to the CHNNR cays, due to the influence of anthropogenic activities associated with a staffed weather station

Bright soliton to quantum droplet transition in a mixture of Bose-Einstein condensates

Attractive Bose-Einstein condensates can host two types of macroscopic self-bound states of different nature: bright solitons and quantum liquid droplets. Here, we investigate the connection between them with a Bose-Bose mixture confined in an optical waveguide. We develop a simple theoretical model to show that, depending on atom number and interaction strength, solitons and droplets can be smoothly connected or remain distinct states coexisting only in a bi-stable region. We experimentally measure their spin composition, extract their density for a broad range of parameters and map out the boundary of the region separating solitons from droplets.Comment: 9 pages, 6 figures, includes supplementary materia