Agterberg, Zheng, and Mukherjee Reply

Reply to Ikeda (arXiv:0712.3341).Comment: To appear in Phys. Rev. Let

Motion coordination and programmable teleoperation between two industrial robots

Tasks for two coordinated industrial robots always bring the robots in contact with a same object. The motion coordination among the robots and the object must be maintained all the time. To plan the coordinated tasks, only one robot's motion is planned according to the required motion of the object. The motion of the second robot is to follow the first one as specified by a set of holonomic equality constraints at every time instant. If any modification of the object's motion is needed in real-time, only the first robot's motion has to be modified accordingly in real-time. The modification for the second robot is done implicitly through the constraint conditions. Thus the operation is simplified. If the object is physically removed, the second robot still continually follows the first one through the constraint conditions. If the first robot is maneuvered through either the teach pendant or the keyboard, the second one moves accordingly to form the teleoperation which is linked through the software programming. Obviously, the second robot does not need to duplicate the first robot's motion. The programming of the constraints specifies their relative motions

Effects of noise suppression and envelope dynamic range compression on the intelligibility of vocoded sentences for a tonal language

Vocoder simulation studies have suggested that the carrier signal type employed affects the intelligibility of vocoded speech. The present work further assessed how carrier signal type interacts with additional signal processing, namely, single-channel noise suppression and envelope dynamic range compression, in determining the intelligibility of vocoder simulations. In Experiment 1, Mandarin sentences that had been corrupted by speech spectrum-shaped noise (SSN) or two-talker babble (2TB) were processed by one of four single-channel noise-suppression algorithms before undergoing tone-vocoded (TV) or noise-vocoded (NV) processing. In Experiment 2, dynamic ranges of multiband envelope waveforms were compressed by scaling of the mean-removed envelope waveforms with a compression factor before undergoing TV or NV processing. TV Mandarin sentences yielded higher intelligibility scores with normal-hearing (NH) listeners than did noise-vocoded sentences. The intelligibility advantage of noise-suppressed vocoded speech depended on the masker type (SSN vs 2TB). NV speech was more negatively influenced by envelope dynamic range compression than was TV speech. These findings suggest that an interactional effect exists between the carrier signal type employed in the vocoding process and envelope distortion caused by signal processing