AVAL AUDIO-VISUAL ACTIVE LOCATOR. Faculty Sponsor: Professor Kathleen E. Wage Kelly Byrnes Rony Alaghbar Jacob Cohen
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1 AVAL AUDIO-VISUAL ACTIVE LOCATOR Faculty Sponsor: Professor Kathleen E. Wage Kelly Byrnes Rony Alaghbar Jacob Cohen
2 Teleconferencing Issues vs. AVAL Current Teleconferencing Large start-up costs Necessary IT support Lack of system mobility Impersonal AVAL s Solution Affordable Simple PC interfacing Table-top package Focus on individual speaker
3 Requirements Small Table-Top Package Under 9 tall Less than 20lbs Camera Autonomously Locates the Speaker 80 azimuth range per side Simple PC Interface No IT knowledge required Affordable Under $600 (not including PC) Modular package Arrays are not limited to AVAL Test bed for future array processing algorithms Tiered Design Approach
4 System Architecture
5 System Architecture
6 Array Theory Array designed for 400Hz to 1kHz Nyquist: 1kHz considered the limiting frequency Temporal Sampling Sampling rates must be double highest frequency For 1kHz, f s must be 2kHz Data Acquisition System Spatial Sampling Distance between microphones must be half of the minimum wavelength For 1kHz, λ = 34cm Microphones must be a maximum of 17cm apart
7 Array Theory Locations of the microphones along and axis are analogous to a temporal, discrete rectangular filter. Directivity pattern is the Fourier Transform of the microphone locations 1 Array of Aperture L L Directivity Pattern of Each Array Length L Array Length 2L-1 Array Length 3L-1 Array -L/2 -L/4 L/4 L/2 Array of Aperture 2L-1 1 -L -L/2 L/2 L Array of Aperture 3L-1 1-3L/2-3L/4 3L/4 3L/ Angle of Directivity /
8 Array Theory Competing Parameters Spatial Nyquist Distance between microphones: Maximum of 17cm Angular Resolution Longer aperture creates better angular resolution Data Acquisition System 8 channel DAQ meaning only 4 per array Preferential Parameter: Far Field Assumption Maximum array length of 41cm 51cm 17cm
9 Array Theory Each microphone channel has pre-amplification circuit below Filters out DC Components (<60Hz) and High Frequency Noise (>1.5KHz) Noise 0.2Vp-p maximum, Speech Signals 5Vp-p, SNR = 27 db Range of Microphones = 6m (20ft) DC Bias Amplifier LPF HPF
10 System Architecture
11 Algorithm
12 Temporal Fourier Transform Frequency content does not change drastically with change in words spoken Most of the Spectral Content is under 2KHz Every environment has constant noise
13 Spatial Fourier Transform Spatial FFT creates a plot of angled peaks originating from source Spatial Aliasing occurs in frequencies above 1KHz
14 Peak Algorithm/Summing Simplifies a large data set Discretizing angles simplifies amount of processing needed
15 System Architecture
16 Front End Logic Room Calibration Not all rooms are alike (room acoustics) Scans the quiet room when powered on Array Power Detection Calculate which side the speaker is on Determine average power across each array Direction Confirmation Minimize and smooth transitions Consistent side and equal direction for two cycles (¼ second)
17 Camera Hardware Logitech HD C310 Webcam Micro Maestro USB Servo Controller 180 HS-475HB Servo 1:2 Gear Ratio for 360 Range of Motion 3D Printed Camera and Servo Mounts
18 Demonstration Video
19 Angular Location Experimentation Three speakers were used for final testing Experiment 1: Location Accuracy Each spoke at angles from 50 to 130 and 230 to 310 in intervals of 10 Speaker Locating Experimentation Experimental Average Speaker Location 0.00
20 Time (s) Experimentation Experiment 2: Time to Location Camera was started at broadside to the opposite array Each spoke at discretized angles, and time to locate speaker was collected Average Time to Locate Speaker Initial Camera Position: 270 Initial Camera Position: Angle of Speaker (degrees)
21 Hours and Contributions Team Member Total Hours (492 and 493) Kelly Byrnes Rony Alaghbar Jacob Cohen 208 hours 248 hours 215 hours Jacob Cohen, Project Manager System Integration and Software Development Rony Alaghbar, Technical Manager System Integration and Algorithm Development Kelly Byrnes, Financial Manager Array Design and Algorithm Development
22 Funds Spent Part Supplier Quantity Price Total USB-1608FS-Plus Measurement Computing 1 $ $ ND Electrotet Microphone Digi-Key 14 $0.96 $13.44 ICL7660S Voltage Converter Micrel 1 $0.00 $0.00 UA741 Op Amp GMU Store 16 $0.30 $4.80 Passive Components (Approx) GMU Store 20 $0.50 $10.00 Vector Boards ebay 2 $5.95 $11.90 ADA4897-1ARZ Amplifier Analog Devices 2 $0.00 $0.00 AD7609BSTZ ADC Analog Devices 2 $0.00 $0.00 IC Sockets GMU Store 16 $0.40 $6.40 Wall Pluch 12VDC 500mA Amazon 2 $9.79 $19.58 DC Barrell Jack Adapter Sparkfun 2 $2.95 $5.90 Jumpers Pack Amazon 1 $1.60 $1.60 BreadBoard GMU Store 4 $5.00 $20.00 Enclosure Michaels Craft Store 1 $4.99 $4.99 Shelf Trim Home Depot 2 $14.98 $34.95 Shelving Liner Home Depot 1 $7.97 $42.92 Acoustic Foam Aamzon 1 $9.97 $9.97 Screws/Stands Grainger 1 $9.61 $9.61 USB Hub Amazon 1 $16.24 $16.24 HS-475HB Servo N/A 1 Donated $0.00 Web Cam N/A 1 Donated $0.00 Mac Laptop N/A 1 Donated $0.00 Total: $571.40
23 Lessons Learned Technical Teamwork / Project Management Can electronically steer a microphone array using spatiotemporal filtering Compare results with prior stages Don t over-engineer, sometimes the simplest solution is good enough Theoretical calculations can only go so far. Simple experimentation can provide more insight. Always pick up the slack whenever you can. Don t be content with your tasks being completed. Discuss problems with members and other teams. Don t let pride make you stuck. Schedule your deadline a week in advance.
24 Thank You Faculty Sponsor Dr. Kathleen Wage Faculty Mentors Dr. Ephraim Dr. Nelson Dr. Cook Dr. Pachowicz Other Design Teams Friends and Family
25 Questions
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