IntRoLab - User contributions [en]

Infrastructure

2008-11-14T15:08:47Z

Simon:

= Robots =
{|
|Le laboratoire est aussi équipé pour faire la conception mécanique, électronique, informatique et logicielle de robots mobiles et de systèmes intelligents.
|The laboratory is also equipped for mechanical, hardware, computer and software design of mobile robots and intelligent systems.
|}

<center>

{| align="center"
|[[Image:Reddy.jpg|170px]]
|[[Image:Spartacus_front.jpg|200px]]
|[[Image:Spartacus_back.jpg|190px]]
|[[Image:U2S.jpg|200px]]
|- align="center"
|Reddy
|Spartacus (front)
|Spartacus (back)
|U2S - Robot embassadeur
|}
----
{| align="center"
|[[Image:AZIMUT3.jpg|350px]]
|[[Image:AZIMUT2.jpg|380px]]
|[[Image:AZIMUTMulti.jpg|290px]]
|- align="center"
|[[AZIMUT | Azimut 3]]
|Azimut2
|Azimut1
|}
----
{| align="center"
|[[Image:Telerobot2.jpg|230px]]
|[[Image:Tito.jpg|200px]]
|[[Image:Roball.jpg|300px]]
|- align="center"
|[[Telerobot]]
|[[Tito]]
|[[Roball]]
|}
----
{| align="center"
|[[Image:RobotFleet1.jpg|380px]]
|[[Image:RobotFleet2.jpg|400px]]
|- align="center"
| Robot Fleet #1
| Robot Fleet #2
|}

</center>

File:TelerobotTeleOp.jpg

2008-11-14T15:05:48Z

Simon:

Telerobot

2008-11-14T14:57:15Z

Simon:

Telerobot - Robot mobile de téléprésence à domicile / Mobile Robot for Telepresence in Homes

<center>

{|
|
[[Image:Telerobot2.jpg|250px]]
|
[[Image:TelerobotContext.jpg|500px]]
|
[[Image:TelerobotTeleOp.jpg|300px]]
|}
</center>
= Équipe / Team =
*Daniel Labonté
*Richard Cloutier
*Simon Brière
*Dominic Létourneau
*François Michaud
*Patrick Boissy
*Hélène Corriveau
*Andrew Grant (01/2004)

= Publications =
#Michaud, F., Boissy, P., Labonté, D., Corriveau, H., Grant, A., Lauria, M., Cloutier, R., Roux, M.-A., Iannuzzi, D., Royer, M.-P. (2008) “A telementoring robot for home care,” Technology and Aging, selected papers from the 2007 International Conference on Technology and Aging, vol. 21, Assistive Technology Research Series. (pdf)
#Iannuzzi, D. (2008), "Integrative architecture for clinical information systems : Major study in robotic technology in home care, with minor validation study in oncology," Mémoire de maîtrise en sciences cliniques, Université de Sherbrooke.
#Cloutier, R. (2007), "Conception électronique et informatique d'un robot mobile pour usage dans un environnement domiciliaire", Mémoire de maîtrise, Département de génie électrique et de génie informatique, Université de Sherbrooke, avril.
#Michaud, F., Boissy, P., Corriveau, H., Grant, A., Lauria, M., Labonté, D., Cloutier, R., Roux, M.-A., Royer, M.P., Iannuzzi, D. (2007), "Remote assistance in caregiving using Telerobot", The 2nd International Conference on Technology and Aging (ICTA), Toronto, juin. (pdf)
#Boissy, P., Corriveau, H., Michaud, F., Royer, M.P., Labonté, D. (2007), “Exploring the potential use of home mobile telepresence for telehomecare: a qualitative study with healthcare professionals and community living elderly,” Journal of Telemedecine and Telecare. (pdf)
#Michaud, F., Boissy, P., Corriveau, H., Grant, A., Lauria, M., Labonté, D., Cloutier, R., Roux, M.-A., Royer, M.-P., Iannuzzi, D. (2007), "Telepresence robot for home care assistance", Proceedings American Association for Artificial Intelligence Spring Symposium on Multidisciplinary Collaboration for Socially Assistive Robotics, Stanford, March. (pdf)
#Labonté, D., Michaud, F., Boissy, P., Corriveau, H., Cloutier, R., Roux, M.-A. (2006) “Evaluation methodology of user interfaces for teleoperated mobile robots in home environments,” Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 4466-4471. (pdf)
#Boissy, P., Corriveau, H., Michaud, F., Labonté, D., Royer, M.-P. (2006), “Exploring the potential use of mobile robotics in a home environment for telehomecare interventions: a qualitative study with healthcare professionals and community living elders,” International Conference on Aging, Disability and Independence.
#Boissy, P., Hamel, M., Bonato, P., Michaud, F., Fontaine, R., Corriveau, H. (2005), “Identification of functional motor activities in balance-impaired individuals using an ambulatory activity monitoring system,” 18th World Congress of the International Association of Gerontology.
#Labonté, D., Michaud, F. (2002), "Système de télésurveillance robotique/domotique pour personne à risques maintenues à domicile", Symposium télésanté 2002, Québec.

= Liens de projets en robotique d'assistance / Links for Assistive Robotics =
* [http://www-2.cs.cmu.edu/%7enursebot NurseBot, Canergie Mellon University]
* [http://www.htc.honeywell.com/projects/ilsa/ ILSA, Honeywell Research]
* [http://www.morpha.de/ MORPHA, Consortium of german Universities and Industry]
* [http://www.ai.sri.com/teambotica/ Teambotica, SRI International]
* [http://www.dcs.gla.ac.uk/%7ejoy/utopia/ UTOPIA (Usable Technologies for Older People: Inclusive and Appropriate)]

= Liens autres projets / Links to Other Projects =
* [http://www.cs.washington.edu/assistcog Assisted Cognition, University of Washtington]
* [http://www.cc.gatech.edu/fce Aware Home, Georgia Institute of Technology]
* [http://www-2.cs.cmu.edu/%7efire/ FIRE, Canergie Mellon University]

File:TelerobotContext.jpg

2008-11-14T14:55:50Z

Simon:

Telerobot

2008-11-14T14:50:28Z

Simon:

Telerobot - Robot mobile de téléprésence à domicile / Mobile Robot for Telepresence in Homes

<center>

{|
|
[[Image:Telerobot2.jpg|300px]]
|
[[Image:TelerobotContext.jpg|300px]]
|
[[Image:TelerobotTeleOp.jpg|300px]]
|}
</center>
= Équipe / Team =
*Daniel Labonté
*Richard Cloutier
*Simon Brière
*Dominic Létourneau
*François Michaud
*Patrick Boissy
*Hélène Corriveau
*Andrew Grant (01/2004)

= Publications =
#Michaud, F., Boissy, P., Labonté, D., Corriveau, H., Grant, A., Lauria, M., Cloutier, R., Roux, M.-A., Iannuzzi, D., Royer, M.-P. (2008) “A telementoring robot for home care,” Technology and Aging, selected papers from the 2007 International Conference on Technology and Aging, vol. 21, Assistive Technology Research Series. (pdf)
#Iannuzzi, D. (2008), "Integrative architecture for clinical information systems : Major study in robotic technology in home care, with minor validation study in oncology," Mémoire de maîtrise en sciences cliniques, Université de Sherbrooke.
#Cloutier, R. (2007), "Conception électronique et informatique d'un robot mobile pour usage dans un environnement domiciliaire", Mémoire de maîtrise, Département de génie électrique et de génie informatique, Université de Sherbrooke, avril.
#Michaud, F., Boissy, P., Corriveau, H., Grant, A., Lauria, M., Labonté, D., Cloutier, R., Roux, M.-A., Royer, M.P., Iannuzzi, D. (2007), "Remote assistance in caregiving using Telerobot", The 2nd International Conference on Technology and Aging (ICTA), Toronto, juin. (pdf)
#Boissy, P., Corriveau, H., Michaud, F., Royer, M.P., Labonté, D. (2007), “Exploring the potential use of home mobile telepresence for telehomecare: a qualitative study with healthcare professionals and community living elderly,” Journal of Telemedecine and Telecare. (pdf)
#Michaud, F., Boissy, P., Corriveau, H., Grant, A., Lauria, M., Labonté, D., Cloutier, R., Roux, M.-A., Royer, M.-P., Iannuzzi, D. (2007), "Telepresence robot for home care assistance", Proceedings American Association for Artificial Intelligence Spring Symposium on Multidisciplinary Collaboration for Socially Assistive Robotics, Stanford, March. (pdf)
#Labonté, D., Michaud, F., Boissy, P., Corriveau, H., Cloutier, R., Roux, M.-A. (2006) “Evaluation methodology of user interfaces for teleoperated mobile robots in home environments,” Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 4466-4471. (pdf)
#Boissy, P., Corriveau, H., Michaud, F., Labonté, D., Royer, M.-P. (2006), “Exploring the potential use of mobile robotics in a home environment for telehomecare interventions: a qualitative study with healthcare professionals and community living elders,” International Conference on Aging, Disability and Independence.
#Boissy, P., Hamel, M., Bonato, P., Michaud, F., Fontaine, R., Corriveau, H. (2005), “Identification of functional motor activities in balance-impaired individuals using an ambulatory activity monitoring system,” 18th World Congress of the International Association of Gerontology.
#Labonté, D., Michaud, F. (2002), "Système de télésurveillance robotique/domotique pour personne à risques maintenues à domicile", Symposium télésanté 2002, Québec.

= Liens de projets en robotique d'assistance / Links for Assistive Robotics =
* [http://www-2.cs.cmu.edu/%7enursebot NurseBot, Canergie Mellon University]
* [http://www.htc.honeywell.com/projects/ilsa/ ILSA, Honeywell Research]
* [http://www.morpha.de/ MORPHA, Consortium of german Universities and Industry]
* [http://www.ai.sri.com/teambotica/ Teambotica, SRI International]
* [http://www.dcs.gla.ac.uk/%7ejoy/utopia/ UTOPIA (Usable Technologies for Older People: Inclusive and Appropriate)]

= Liens autres projets / Links to Other Projects =
* [http://www.cs.washington.edu/assistcog Assisted Cognition, University of Washtington]
* [http://www.cc.gatech.edu/fce Aware Home, Georgia Institute of Technology]
* [http://www-2.cs.cmu.edu/%7efire/ FIRE, Canergie Mellon University]

Telerobot

2008-11-14T14:48:45Z

Simon:

Telerobot - Robot mobile de téléprésence à domicile / Mobile Robot for Telepresence in Homes

<center>

{|
[[Image:Telerobot2.jpg|300px]|[Image:TelerobotContext.jpg|300px]|[Image:TelerobotTeleOp.jpg|300px]]
|}
</center>
= Équipe / Team =
*Daniel Labonté
*Richard Cloutier
*Simon Brière
*Dominic Létourneau
*François Michaud
*Patrick Boissy
*Hélène Corriveau
*Andrew Grant (01/2004)

= Publications =
#Michaud, F., Boissy, P., Labonté, D., Corriveau, H., Grant, A., Lauria, M., Cloutier, R., Roux, M.-A., Iannuzzi, D., Royer, M.-P. (2008) “A telementoring robot for home care,” Technology and Aging, selected papers from the 2007 International Conference on Technology and Aging, vol. 21, Assistive Technology Research Series. (pdf)
#Iannuzzi, D. (2008), "Integrative architecture for clinical information systems : Major study in robotic technology in home care, with minor validation study in oncology," Mémoire de maîtrise en sciences cliniques, Université de Sherbrooke.
#Cloutier, R. (2007), "Conception électronique et informatique d'un robot mobile pour usage dans un environnement domiciliaire", Mémoire de maîtrise, Département de génie électrique et de génie informatique, Université de Sherbrooke, avril.
#Michaud, F., Boissy, P., Corriveau, H., Grant, A., Lauria, M., Labonté, D., Cloutier, R., Roux, M.-A., Royer, M.P., Iannuzzi, D. (2007), "Remote assistance in caregiving using Telerobot", The 2nd International Conference on Technology and Aging (ICTA), Toronto, juin. (pdf)
#Boissy, P., Corriveau, H., Michaud, F., Royer, M.P., Labonté, D. (2007), “Exploring the potential use of home mobile telepresence for telehomecare: a qualitative study with healthcare professionals and community living elderly,” Journal of Telemedecine and Telecare. (pdf)
#Michaud, F., Boissy, P., Corriveau, H., Grant, A., Lauria, M., Labonté, D., Cloutier, R., Roux, M.-A., Royer, M.-P., Iannuzzi, D. (2007), "Telepresence robot for home care assistance", Proceedings American Association for Artificial Intelligence Spring Symposium on Multidisciplinary Collaboration for Socially Assistive Robotics, Stanford, March. (pdf)
#Labonté, D., Michaud, F., Boissy, P., Corriveau, H., Cloutier, R., Roux, M.-A. (2006) “Evaluation methodology of user interfaces for teleoperated mobile robots in home environments,” Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 4466-4471. (pdf)
#Boissy, P., Corriveau, H., Michaud, F., Labonté, D., Royer, M.-P. (2006), “Exploring the potential use of mobile robotics in a home environment for telehomecare interventions: a qualitative study with healthcare professionals and community living elders,” International Conference on Aging, Disability and Independence.
#Boissy, P., Hamel, M., Bonato, P., Michaud, F., Fontaine, R., Corriveau, H. (2005), “Identification of functional motor activities in balance-impaired individuals using an ambulatory activity monitoring system,” 18th World Congress of the International Association of Gerontology.
#Labonté, D., Michaud, F. (2002), "Système de télésurveillance robotique/domotique pour personne à risques maintenues à domicile", Symposium télésanté 2002, Québec.

= Liens de projets en robotique d'assistance / Links for Assistive Robotics =
* [http://www-2.cs.cmu.edu/%7enursebot NurseBot, Canergie Mellon University]
* [http://www.htc.honeywell.com/projects/ilsa/ ILSA, Honeywell Research]
* [http://www.morpha.de/ MORPHA, Consortium of german Universities and Industry]
* [http://www.ai.sri.com/teambotica/ Teambotica, SRI International]
* [http://www.dcs.gla.ac.uk/%7ejoy/utopia/ UTOPIA (Usable Technologies for Older People: Inclusive and Appropriate)]

= Liens autres projets / Links to Other Projects =
* [http://www.cs.washington.edu/assistcog Assisted Cognition, University of Washtington]
* [http://www.cc.gatech.edu/fce Aware Home, Georgia Institute of Technology]
* [http://www-2.cs.cmu.edu/%7efire/ FIRE, Canergie Mellon University]

File:Telerobot2.jpg

2008-11-14T14:45:21Z

Simon:

Telerobot

2008-11-14T14:38:39Z

Simon:

Telerobot - Robot mobile de téléprésence à domicile / Mobile Robot for Telepresence in Homes

<center>

{|
|
[[Image:Telerobot.jpg|300px]]|[[Image:Telerobot2.jpg|300px]]
|}
</center>
= Équipe / Team =
*Daniel Labonté
*Richard Cloutier
*Simon Brière
*Dominic Létourneau
*François Michaud
*Patrick Boissy
*Hélène Corriveau
*Andrew Grant (01/2004)

= Publications =
#Michaud, F., Boissy, P., Labonté, D., Corriveau, H., Grant, A., Lauria, M., Cloutier, R., Roux, M.-A., Iannuzzi, D., Royer, M.-P. (2008) “A telementoring robot for home care,” Technology and Aging, selected papers from the 2007 International Conference on Technology and Aging, vol. 21, Assistive Technology Research Series. (pdf)
#Iannuzzi, D. (2008), "Integrative architecture for clinical information systems : Major study in robotic technology in home care, with minor validation study in oncology," Mémoire de maîtrise en sciences cliniques, Université de Sherbrooke.
#Cloutier, R. (2007), "Conception électronique et informatique d'un robot mobile pour usage dans un environnement domiciliaire", Mémoire de maîtrise, Département de génie électrique et de génie informatique, Université de Sherbrooke, avril.
#Michaud, F., Boissy, P., Corriveau, H., Grant, A., Lauria, M., Labonté, D., Cloutier, R., Roux, M.-A., Royer, M.P., Iannuzzi, D. (2007), "Remote assistance in caregiving using Telerobot", The 2nd International Conference on Technology and Aging (ICTA), Toronto, juin. (pdf)
#Boissy, P., Corriveau, H., Michaud, F., Royer, M.P., Labonté, D. (2007), “Exploring the potential use of home mobile telepresence for telehomecare: a qualitative study with healthcare professionals and community living elderly,” Journal of Telemedecine and Telecare. (pdf)
#Michaud, F., Boissy, P., Corriveau, H., Grant, A., Lauria, M., Labonté, D., Cloutier, R., Roux, M.-A., Royer, M.-P., Iannuzzi, D. (2007), "Telepresence robot for home care assistance", Proceedings American Association for Artificial Intelligence Spring Symposium on Multidisciplinary Collaboration for Socially Assistive Robotics, Stanford, March. (pdf)
#Labonté, D., Michaud, F., Boissy, P., Corriveau, H., Cloutier, R., Roux, M.-A. (2006) “Evaluation methodology of user interfaces for teleoperated mobile robots in home environments,” Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 4466-4471. (pdf)
#Boissy, P., Corriveau, H., Michaud, F., Labonté, D., Royer, M.-P. (2006), “Exploring the potential use of mobile robotics in a home environment for telehomecare interventions: a qualitative study with healthcare professionals and community living elders,” International Conference on Aging, Disability and Independence.
#Boissy, P., Hamel, M., Bonato, P., Michaud, F., Fontaine, R., Corriveau, H. (2005), “Identification of functional motor activities in balance-impaired individuals using an ambulatory activity monitoring system,” 18th World Congress of the International Association of Gerontology.
#Labonté, D., Michaud, F. (2002), "Système de télésurveillance robotique/domotique pour personne à risques maintenues à domicile", Symposium télésanté 2002, Québec.

= Liens de projets en robotique d'assistance / Links for Assistive Robotics =
* [http://www-2.cs.cmu.edu/%7enursebot NurseBot, Canergie Mellon University]
* [http://www.htc.honeywell.com/projects/ilsa/ ILSA, Honeywell Research]
* [http://www.morpha.de/ MORPHA, Consortium of german Universities and Industry]
* [http://www.ai.sri.com/teambotica/ Teambotica, SRI International]
* [http://www.dcs.gla.ac.uk/%7ejoy/utopia/ UTOPIA (Usable Technologies for Older People: Inclusive and Appropriate)]

= Liens autres projets / Links to Other Projects =
* [http://www.cs.washington.edu/assistcog Assisted Cognition, University of Washtington]
* [http://www.cc.gatech.edu/fce Aware Home, Georgia Institute of Technology]
* [http://www-2.cs.cmu.edu/%7efire/ FIRE, Canergie Mellon University]

Telerobot

2008-11-14T14:35:49Z

Simon:

Telerobot - Robot mobile de téléprésence à domicile / Mobile Robot for Telepresence in Homes

<center>
[[Image:Telerobot.jpg|300px]|[Image:Telerobot2.jpg|300px]]
</center>
= Équipe / Team =
*Daniel Labonté
*Richard Cloutier
*Simon Brière
*Dominic Létourneau
*François Michaud
*Patrick Boissy
*Hélène Corriveau
*Andrew Grant (01/2004)

= Publications =
#Michaud, F., Boissy, P., Labonté, D., Corriveau, H., Grant, A., Lauria, M., Cloutier, R., Roux, M.-A., Iannuzzi, D., Royer, M.-P. (2008) “A telementoring robot for home care,” Technology and Aging, selected papers from the 2007 International Conference on Technology and Aging, vol. 21, Assistive Technology Research Series. (pdf)
#Iannuzzi, D. (2008), "Integrative architecture for clinical information systems : Major study in robotic technology in home care, with minor validation study in oncology," Mémoire de maîtrise en sciences cliniques, Université de Sherbrooke.
#Cloutier, R. (2007), "Conception électronique et informatique d'un robot mobile pour usage dans un environnement domiciliaire", Mémoire de maîtrise, Département de génie électrique et de génie informatique, Université de Sherbrooke, avril.
#Michaud, F., Boissy, P., Corriveau, H., Grant, A., Lauria, M., Labonté, D., Cloutier, R., Roux, M.-A., Royer, M.P., Iannuzzi, D. (2007), "Remote assistance in caregiving using Telerobot", The 2nd International Conference on Technology and Aging (ICTA), Toronto, juin. (pdf)
#Boissy, P., Corriveau, H., Michaud, F., Royer, M.P., Labonté, D. (2007), “Exploring the potential use of home mobile telepresence for telehomecare: a qualitative study with healthcare professionals and community living elderly,” Journal of Telemedecine and Telecare. (pdf)
#Michaud, F., Boissy, P., Corriveau, H., Grant, A., Lauria, M., Labonté, D., Cloutier, R., Roux, M.-A., Royer, M.-P., Iannuzzi, D. (2007), "Telepresence robot for home care assistance", Proceedings American Association for Artificial Intelligence Spring Symposium on Multidisciplinary Collaboration for Socially Assistive Robotics, Stanford, March. (pdf)
#Labonté, D., Michaud, F., Boissy, P., Corriveau, H., Cloutier, R., Roux, M.-A. (2006) “Evaluation methodology of user interfaces for teleoperated mobile robots in home environments,” Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 4466-4471. (pdf)
#Boissy, P., Corriveau, H., Michaud, F., Labonté, D., Royer, M.-P. (2006), “Exploring the potential use of mobile robotics in a home environment for telehomecare interventions: a qualitative study with healthcare professionals and community living elders,” International Conference on Aging, Disability and Independence.
#Boissy, P., Hamel, M., Bonato, P., Michaud, F., Fontaine, R., Corriveau, H. (2005), “Identification of functional motor activities in balance-impaired individuals using an ambulatory activity monitoring system,” 18th World Congress of the International Association of Gerontology.
#Labonté, D., Michaud, F. (2002), "Système de télésurveillance robotique/domotique pour personne à risques maintenues à domicile", Symposium télésanté 2002, Québec.

= Liens de projets en robotique d'assistance / Links for Assistive Robotics =
* [http://www-2.cs.cmu.edu/%7enursebot NurseBot, Canergie Mellon University]
* [http://www.htc.honeywell.com/projects/ilsa/ ILSA, Honeywell Research]
* [http://www.morpha.de/ MORPHA, Consortium of german Universities and Industry]
* [http://www.ai.sri.com/teambotica/ Teambotica, SRI International]
* [http://www.dcs.gla.ac.uk/%7ejoy/utopia/ UTOPIA (Usable Technologies for Older People: Inclusive and Appropriate)]

= Liens autres projets / Links to Other Projects =
* [http://www.cs.washington.edu/assistcog Assisted Cognition, University of Washtington]
* [http://www.cc.gatech.edu/fce Aware Home, Georgia Institute of Technology]
* [http://www-2.cs.cmu.edu/%7efire/ FIRE, Canergie Mellon University]

AUDIBLE

2008-11-14T14:18:28Z

Simon:

AUDIBLE - Artificial audition for mobile robots

{|
|
[[Image:AudibleSpartacus.jpg|300px]]
|
[[Image:AudiblePioneer.jpg|250px]]
|
[[Image:AudibleCub.jpg|300px]]
|}

Artificial auditory system that gives a robot the ability to locate and track sounds, as well as the possibility of separating simultaneous sound sources and recognising simultaneous speech. We demonstrate that it is possible to implement these capabilities using an array of microphones, without trying to imitate the human auditory system. The sound source localisation and tracking algorithm uses a steered beamformer to locate sources, which are then tracked using a multi-source particle filter. Separation of simultaneous sound source is achieved using a variant of the Geometric Source Separation (GSS) algorithm, combined with a multi-source post-filter that further reduces noise, interference and reverberation. Speech recognition is performed on separated sources, either directly or by using Missing Feature Theory (MFT) to estimate the reliability of the speech features. The results obtained show that it is possible to track up to four simultaneous sound sources, even in noisy and reverberant environments. Real-time control of the robot following a sound source is also demonstrated. The sound source separation approach we propose is able to achieve a 13.7 dB improvement in signal-to-noise ratio compared to a single microphone when three speakers are present. In these conditions, the system demonstrates more than 80% accuracy on digit recognition, higher than most human listeners could obtain in our evaluation when recognising only one of these sources. All these new capabilities make it possible for humans to interact more naturally with a mobile robot in real life settings.
----
Voir aussi / See also :
* [http://manyears.sourceforge.net ManyEars : GPL implementation of AUDIBLE]
----

= Équipe / Team =
*Jean-Marc Valin
*François Michaud
*Jean Rouat
*Simon Brière
*Dominic Létourneau

= Video =
* [[Media:AUDIBLE_Localization.mov|AUDIBLE Localization video (2005)]]
* [[Media:AUDIBLE_PIONEER.mpg|AUDIBLE Localization video (2003)]]

= Separation =
* [[AUDIBLE_Graphs | Résultats graphiques / Graphical results]]
* [[Media:AUDIBLE_Hall.wav | Entrée: 3 personnes récitant 4 chiffres en séquence / Inputs: 3 persons saying 4 digits]]
* [[Media:AUDIBLE_Hall_Source1.wav| Sortie séparée 1 / Separated sound source 1]]
* [[Media:AUDIBLE_Hall_Source2.wav|Sortie séparée 2 / Separated sound source 2]]
* [[Media:AUDIBLE_Hall_Source3.wav|Sortie séparée 3 / Separated sound source 3]]
* [[Media:AUDIBLE_DSP_Digits.zip|Results DSP (digit) March 2007]]
* [[Media:AUDIBLE_DSP_Voices.zip|Results DSP (voices) March 2007]]

= Publications =

#Brière, S., Valin, J.-M., Michaud, F., Létourneau, D. (2008) “Embedded auditory system for small mobile robots,” to be presented at IEEE International Conference on Robotics and Automation. (pdf)
#Valin, J.-M., Yamamoto, S., Rouat, J., Michaud, F., Nakadai, K., Okuno, H. (2007), “Robust recognition of simultaneous speech by a mobile robot,” IEEE Transactions on Robotics, 23(4):742-752. (pdf)
#Valin, J.-M., Michaud, F., Rouat, J. (2007), “Robust localization and tracking of simultaneous moving sound sources using beamforming and particle filtering,” Robotics and Autonomous Systems Journal, 55: 216-228. (pdf)
#Brière, S., Létourneau, D., Fréchette, M., Valin, J.-M., Michaud, F. (2006), “Embedded and integration audition for a mobile robot,” Proceedings AAAI Fall Symposium Workshop Aurally Informed Performance: Integrating Machine Listening and Auditory Presentation in Robotic Systems, FS-06-01, 6-10. (pdf)
#Valin, J.-M., Michaud, F., Rouat, J., (2006), “Robust 3D localization and tracking of sound sources using beamforming and particle filtering”, Proceedings International Conference on Acoustics, Speech, and Signal Processing, 841-844.
#Valin, J.-M.. (2005), "Auditory system for a mobile robot", Ph.D. Thesis, Department of Electrical Engineering and Computer Engineering, Université de Sherbrooke, August. (pdf)
#Yamamoto, S., Nakadai, K., Valin, J.M., Rouat, J., Michaud, F., Komatani, K., Ogata, T., Okuno, H. (2005), “Making a robot recognize three simultaneous sentences in real-time,” Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 897-902. (pdf)
#Yamamoto, S., Valin, J.M., Nakadai, K., Rouat, J., Michaud, F., Ogata, T., Okuno, H. (2005), “Enhanced robot speech recognition based on microphone array source separation and missing feature theory,” IEEE International Conference on Robotics and Automation, 1489-1494.
#Valin, J.-M., Rouat, J., Michaud, F. (2004), "Enhanced robot audition based on microphone array source separation with post-filter", Proceedings IEEE/RSJ International Conference on Robots and Intelligent Systems, 2123-2128. (pdf)
#Valin, J.-M., Michaud, F., Hadjou, B., Rouat, J. (2004), "Localization of simultaneous moving sound sources for mobile robot using a frequency-domain steered beamformer approach", Proceedings IEEE International Conference on Robotics and Automation, 1033-1038. (pdf)
#Valin, J.-M., Rouat, J., Michaud, F. (2004), "Microphone array post-filter for separation of simultaneous non-stationary sources", accepted ICASSP. (pdf)
#Valin, J.-M., Michaud, F., Létourneau, D., Rouat, J. (2003), "Robust sound source localization using a microphone array on a mobile robot", Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 1228-1233. (pdf)
#Robust localization and tracking of simultaneous moving sound sources using beamforming and particle filtering. Valin, J.M., Michaud, F., Rouat, J. Demande de brevet déposée / Patent pending, 27 avril 2005, US 11/116,117.

File:AudibleCub.jpg

2008-11-14T14:02:35Z

Simon:

AUDIBLE

2008-11-14T14:00:04Z

Simon:

AUDIBLE - Artificial audition for mobile robots

{|
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[[Image:AudibleSpartacus.jpg|300px]]
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[[Image:AudiblePioneer.jpg|250px]]
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[[Image:AudibleCub.jpg]]
|}

Artificial auditory system that gives a robot the ability to locate and track sounds, as well as the possibility of separating simultaneous sound sources and recognising simultaneous speech. We demonstrate that it is possible to implement these capabilities using an array of microphones, without trying to imitate the human auditory system. The sound source localisation and tracking algorithm uses a steered beamformer to locate sources, which are then tracked using a multi-source particle filter. Separation of simultaneous sound source is achieved using a variant of the Geometric Source Separation (GSS) algorithm, combined with a multi-source post-filter that further reduces noise, interference and reverberation. Speech recognition is performed on separated sources, either directly or by using Missing Feature Theory (MFT) to estimate the reliability of the speech features. The results obtained show that it is possible to track up to four simultaneous sound sources, even in noisy and reverberant environments. Real-time control of the robot following a sound source is also demonstrated. The sound source separation approach we propose is able to achieve a 13.7 dB improvement in signal-to-noise ratio compared to a single microphone when three speakers are present. In these conditions, the system demonstrates more than 80% accuracy on digit recognition, higher than most human listeners could obtain in our evaluation when recognising only one of these sources. All these new capabilities make it possible for humans to interact more naturally with a mobile robot in real life settings.
----
Voir aussi / See also :
* [http://manyears.sourceforge.net ManyEars : GPL implementation of AUDIBLE]
----

= Équipe / Team =
*Jean-Marc Valin
*François Michaud
*Jean Rouat
*Simon Brière
*Dominic Létourneau

= Video =
* [[Media:AUDIBLE_Localization.mov|AUDIBLE Localization video (2005)]]
* [[Media:AUDIBLE_PIONEER.mpg|AUDIBLE Localization video (2003)]]

= Separation =
* [[AUDIBLE_Graphs | Résultats graphiques / Graphical results]]
* [[Media:AUDIBLE_Hall.wav | Entrée: 3 personnes récitant 4 chiffres en séquence / Inputs: 3 persons saying 4 digits]]
* [[Media:AUDIBLE_Hall_Source1.wav| Sortie séparée 1 / Separated sound source 1]]
* [[Media:AUDIBLE_Hall_Source2.wav|Sortie séparée 2 / Separated sound source 2]]
* [[Media:AUDIBLE_Hall_Source3.wav|Sortie séparée 3 / Separated sound source 3]]
* [[Media:AUDIBLE_DSP_Digits.zip|Results DSP (digit) March 2007]]
* [[Media:AUDIBLE_DSP_Voices.zip|Results DSP (voices) March 2007]]

= Publications =

#Brière, S., Valin, J.-M., Michaud, F., Létourneau, D. (2008) “Embedded auditory system for small mobile robots,” to be presented at IEEE International Conference on Robotics and Automation. (pdf)
#Valin, J.-M., Yamamoto, S., Rouat, J., Michaud, F., Nakadai, K., Okuno, H. (2007), “Robust recognition of simultaneous speech by a mobile robot,” IEEE Transactions on Robotics, 23(4):742-752. (pdf)
#Valin, J.-M., Michaud, F., Rouat, J. (2007), “Robust localization and tracking of simultaneous moving sound sources using beamforming and particle filtering,” Robotics and Autonomous Systems Journal, 55: 216-228. (pdf)
#Brière, S., Létourneau, D., Fréchette, M., Valin, J.-M., Michaud, F. (2006), “Embedded and integration audition for a mobile robot,” Proceedings AAAI Fall Symposium Workshop Aurally Informed Performance: Integrating Machine Listening and Auditory Presentation in Robotic Systems, FS-06-01, 6-10. (pdf)
#Valin, J.-M., Michaud, F., Rouat, J., (2006), “Robust 3D localization and tracking of sound sources using beamforming and particle filtering”, Proceedings International Conference on Acoustics, Speech, and Signal Processing, 841-844.
#Valin, J.-M.. (2005), "Auditory system for a mobile robot", Ph.D. Thesis, Department of Electrical Engineering and Computer Engineering, Université de Sherbrooke, August. (pdf)
#Yamamoto, S., Nakadai, K., Valin, J.M., Rouat, J., Michaud, F., Komatani, K., Ogata, T., Okuno, H. (2005), “Making a robot recognize three simultaneous sentences in real-time,” Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 897-902. (pdf)
#Yamamoto, S., Valin, J.M., Nakadai, K., Rouat, J., Michaud, F., Ogata, T., Okuno, H. (2005), “Enhanced robot speech recognition based on microphone array source separation and missing feature theory,” IEEE International Conference on Robotics and Automation, 1489-1494.
#Valin, J.-M., Rouat, J., Michaud, F. (2004), "Enhanced robot audition based on microphone array source separation with post-filter", Proceedings IEEE/RSJ International Conference on Robots and Intelligent Systems, 2123-2128. (pdf)
#Valin, J.-M., Michaud, F., Hadjou, B., Rouat, J. (2004), "Localization of simultaneous moving sound sources for mobile robot using a frequency-domain steered beamformer approach", Proceedings IEEE International Conference on Robotics and Automation, 1033-1038. (pdf)
#Valin, J.-M., Rouat, J., Michaud, F. (2004), "Microphone array post-filter for separation of simultaneous non-stationary sources", accepted ICASSP. (pdf)
#Valin, J.-M., Michaud, F., Létourneau, D., Rouat, J. (2003), "Robust sound source localization using a microphone array on a mobile robot", Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 1228-1233. (pdf)
#Robust localization and tracking of simultaneous moving sound sources using beamforming and particle filtering. Valin, J.M., Michaud, F., Rouat, J. Demande de brevet déposée / Patent pending, 27 avril 2005, US 11/116,117.

File:AudibleSpartacus.jpg

2008-11-14T13:56:57Z

Simon: uploaded a new version of "Image:AudibleSpartacus.jpg"

AUDIBLE

2008-11-14T13:52:27Z

Simon:

AUDIBLE - Artificial audition for mobile robots

{|
|
[[Image:AudibleSpartacus.jpg]]
|
[[Image:AudiblePioneer.jpg|250px]]
|
[[Image:Test.jpg]]
|}

Artificial auditory system that gives a robot the ability to locate and track sounds, as well as the possibility of separating simultaneous sound sources and recognising simultaneous speech. We demonstrate that it is possible to implement these capabilities using an array of microphones, without trying to imitate the human auditory system. The sound source localisation and tracking algorithm uses a steered beamformer to locate sources, which are then tracked using a multi-source particle filter. Separation of simultaneous sound source is achieved using a variant of the Geometric Source Separation (GSS) algorithm, combined with a multi-source post-filter that further reduces noise, interference and reverberation. Speech recognition is performed on separated sources, either directly or by using Missing Feature Theory (MFT) to estimate the reliability of the speech features. The results obtained show that it is possible to track up to four simultaneous sound sources, even in noisy and reverberant environments. Real-time control of the robot following a sound source is also demonstrated. The sound source separation approach we propose is able to achieve a 13.7 dB improvement in signal-to-noise ratio compared to a single microphone when three speakers are present. In these conditions, the system demonstrates more than 80% accuracy on digit recognition, higher than most human listeners could obtain in our evaluation when recognising only one of these sources. All these new capabilities make it possible for humans to interact more naturally with a mobile robot in real life settings.
----
Voir aussi / See also :
* [http://manyears.sourceforge.net ManyEars : GPL implementation of AUDIBLE]
----

= Équipe / Team =
*Jean-Marc Valin
*François Michaud
*Jean Rouat
*Simon Brière
*Dominic Létourneau

= Video =
* [[Media:AUDIBLE_Localization.mov|AUDIBLE Localization video (2005)]]
* [[Media:AUDIBLE_PIONEER.mpg|AUDIBLE Localization video (2003)]]

= Separation =
* [[AUDIBLE_Graphs | Résultats graphiques / Graphical results]]
* [[Media:AUDIBLE_Hall.wav | Entrée: 3 personnes récitant 4 chiffres en séquence / Inputs: 3 persons saying 4 digits]]
* [[Media:AUDIBLE_Hall_Source1.wav| Sortie séparée 1 / Separated sound source 1]]
* [[Media:AUDIBLE_Hall_Source2.wav|Sortie séparée 2 / Separated sound source 2]]
* [[Media:AUDIBLE_Hall_Source3.wav|Sortie séparée 3 / Separated sound source 3]]
* [[Media:AUDIBLE_DSP_Digits.zip|Results DSP (digit) March 2007]]
* [[Media:AUDIBLE_DSP_Voices.zip|Results DSP (voices) March 2007]]

= Publications =

#Brière, S., Valin, J.-M., Michaud, F., Létourneau, D. (2008) “Embedded auditory system for small mobile robots,” to be presented at IEEE International Conference on Robotics and Automation. (pdf)
#Valin, J.-M., Yamamoto, S., Rouat, J., Michaud, F., Nakadai, K., Okuno, H. (2007), “Robust recognition of simultaneous speech by a mobile robot,” IEEE Transactions on Robotics, 23(4):742-752. (pdf)
#Valin, J.-M., Michaud, F., Rouat, J. (2007), “Robust localization and tracking of simultaneous moving sound sources using beamforming and particle filtering,” Robotics and Autonomous Systems Journal, 55: 216-228. (pdf)
#Brière, S., Létourneau, D., Fréchette, M., Valin, J.-M., Michaud, F. (2006), “Embedded and integration audition for a mobile robot,” Proceedings AAAI Fall Symposium Workshop Aurally Informed Performance: Integrating Machine Listening and Auditory Presentation in Robotic Systems, FS-06-01, 6-10. (pdf)
#Valin, J.-M., Michaud, F., Rouat, J., (2006), “Robust 3D localization and tracking of sound sources using beamforming and particle filtering”, Proceedings International Conference on Acoustics, Speech, and Signal Processing, 841-844.
#Valin, J.-M.. (2005), "Auditory system for a mobile robot", Ph.D. Thesis, Department of Electrical Engineering and Computer Engineering, Université de Sherbrooke, August. (pdf)
#Yamamoto, S., Nakadai, K., Valin, J.M., Rouat, J., Michaud, F., Komatani, K., Ogata, T., Okuno, H. (2005), “Making a robot recognize three simultaneous sentences in real-time,” Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 897-902. (pdf)
#Yamamoto, S., Valin, J.M., Nakadai, K., Rouat, J., Michaud, F., Ogata, T., Okuno, H. (2005), “Enhanced robot speech recognition based on microphone array source separation and missing feature theory,” IEEE International Conference on Robotics and Automation, 1489-1494.
#Valin, J.-M., Rouat, J., Michaud, F. (2004), "Enhanced robot audition based on microphone array source separation with post-filter", Proceedings IEEE/RSJ International Conference on Robots and Intelligent Systems, 2123-2128. (pdf)
#Valin, J.-M., Michaud, F., Hadjou, B., Rouat, J. (2004), "Localization of simultaneous moving sound sources for mobile robot using a frequency-domain steered beamformer approach", Proceedings IEEE International Conference on Robotics and Automation, 1033-1038. (pdf)
#Valin, J.-M., Rouat, J., Michaud, F. (2004), "Microphone array post-filter for separation of simultaneous non-stationary sources", accepted ICASSP. (pdf)
#Valin, J.-M., Michaud, F., Létourneau, D., Rouat, J. (2003), "Robust sound source localization using a microphone array on a mobile robot", Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 1228-1233. (pdf)
#Robust localization and tracking of simultaneous moving sound sources using beamforming and particle filtering. Valin, J.M., Michaud, F., Rouat, J. Demande de brevet déposée / Patent pending, 27 avril 2005, US 11/116,117.