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Three-dimensional sound localization from a compact non-coplanar array of microphones using tree-based learning.

One of the various human sensory capabilities is to identify the direction of perceived sounds. The goal of this work is to study sound source localization in three dimensions using some of the most important cues the human uses. In an attempt to satisfy the requirements of portability and miniaturization in robotics, this approach employs a compact sensor structure that can be placed on a mobile platform. The objective is to estimate the relative sound source position in three-dimensional space without imposing excessive restrictions on its spatio-temporal characteristics and the environment structure. Two types of features are considered, interaural time and level differences. Their relative effectiveness for localization is studied, as well as a practical way of using these complementary parameters. A two-stage procedure was used. In the training stage, sound samples are produced from points with known coordinates and then are stored. In the recognition stage, unknown sounds are processed by the trained system to estimate the 3D location of the sound source. Results from the experiments showed under +/-3 degrees in average angular error and less than +/-20% in average radial distance error.

Computer Systems↗

Instantaneous frequency and short term fourier transforms: application to piano sounds.

For more than 30 years and until nowadays, development of a system reproducing the functioning of human hearing has remained an aim difficult to reach. Recent methods for identification of the fundamental frequency of musical sounds obtain good results using information about the temporal evolution of the amplitude and frequency of individual sound partials. Piano sounds and polyphonic sounds, which can have several partials that are closely spaced in the frequency domain, have not been extensively tested by these procedures. In this paper, the Instantaneous Frequency (IF), as defined by the Hilbert transform, is used to obtain the frequency variations of piano sounds partials. The result implies that, for these sounds, the IF may contain modulations resulting in the separation of an apparent single sinusoid signal into two or more sinusoidal components at various times in the analysis process, which makes it impossible to use the temporal evolution of the frequency of partials for the procedure of note identification. The separation phenomenon also appears when the short term Fourier transform is used and can induce the detection of short-lived parasitic spectral peaks that must be taken into account by any note identification procedure based on the use of spectral information.

Fourier Analysis↗

Broadband transmission noise reduction of smart panels featuring piezoelectric shunt circuits and sound-absorbing material.

The possibility of a broadband noise reduction of piezoelectric smart panels is experimentally studied. A piezoelectric smart panel is basically a plate structure on which piezoelectric patches with electrical shunt circuits are mounted and sound-absorbing material is bonded on the surface of the structure. Sound-absorbing material can absorb the sound transmitted at the midfrequency region effectively while the use of piezoelectric shunt damping can reduce the transmission at resonance frequencies of the panel structure. To be able to reduce the sound transmission at low panel resonance frequencies, piezoelectric damping using the measured electrical impedance model is adopted. A resonant shunt circuit for piezoelectric shunt damping is composed of resistor and inductor in series, and they are determined by maximizing the dissipated energy through the circuit. The transmitted noise-reduction performance of smart panels is tested in an acoustic tunnel. The tunnel is a square cross-sectional tube and a loudspeaker is mounted at one side of the tube as a sound source. Panels are mounted in the middle of the tunnel and the transmitted sound pressure across panels is measured. When an absorbing material is bonded on a single plate, a remarkable transmitted noise reduction in the midfrequency region is observed except for the fundamental resonance frequency of the plate. By enabling the piezoelectric shunt damping, noise reduction is achieved at the resonance frequency as well. Piezoelectric smart panels incorporating passive absorbing material and piezoelectric shunt damping is a promising technology for noise reduction over a broadband of frequencies.

Acoustics↗

The effect of a low-frequency sound source (acoustic thermometry of the ocean climate) on the diving behavior of juvenile northern elephant seals, Mirounga angustirostris.

Changes in the diving behavior of individual free-ranging juvenile northern elephant seals, Mirounga angustirostris, exposed to the acoustic thermometry of the ocean climate (ATOC) sound source were examined using data loggers. Data loggers were attached to the animals and measured swim speed, maximum depth of dive, dive duration, surface interval, descent and ascent rate, and descent and ascent angle along with sound pressure level (SPL). The ATOC sound source was at a depth of 939 m and transmitted at 195 dB re: 1 microPa at 1 m centered at 75 Hz with a 37.5-Hz bandwidth. Sound pressure levels (SPL) measured at the seal during transmissions averaged 128 dB and ranged from 118 to 137 dB re: 1 microPa for the 60-90 Hz band, in comparison to ambient levels of 87-107 dB within this band. In no case did an animal end its dive or show any other obvious change in behavior upon exposure to the ATOC sound. Subtle changes in diving behavior were detected, however. During exposure, deviations in descent rate were greater than 1 s.d. of the control mean in 9 of 14 seals. Dive depth increased and descent velocity increased in three animals, ascent velocity decreased in two animals, ascent rate increased in one animal and decreased in another, and dive duration decreased in only one animal. There was a highly significant positive correlation between SPL and descent rate. The biological significance of these subtle changes is likely to be minimal. This is the first study to quantify behavioral responses of an animal underwater with simultaneous measurements of SPL of anthropogenic sounds recorded at the animal.

Acoustics↗

Sound focusing in rooms: the time-reversal approach.

New perspectives in audible range acoustics, such as virtual sound space creation and active noise control, rely on the ability of the rendering system to recreate precisely a desired sound field. This ability to control sound in a given volume of a room is directly linked to the capacity to focus acoustical energy both in space and time. However, sound focusing in rooms remains a complicated problem, essentially because of the multiple reflections on obstacles and walls occurring during propagation. In this paper, the technique of time-reversal focusing, well known in ultrasound, is experimentally applied to audible range acoustics. Compared to classical focusing techniques such as delay law focusing, time reversal appears to considerably improve quality of both temporal and spatial focusing. This so-called super-resolution phenomenon is due to the ability of time reversal to take into account all of the different sound paths between the emitting antenna and the focal point, thus creating an adaptive spatial and temporal matched filter for the considered propagation medium. Experiments emphasize the strong robustness of time-reversal focusing towards small modifications in the medium, such as people in motion or temperature variations. Sound focusing through walls using the time-reversal approach is also experimentally demonstrated.

Acoustics↗

Low-frequency whale and seismic airgun sounds recorded in the mid-Atlantic Ocean.

Beginning in February 1999, an array of six autonomous hydrophones was moored near the Mid-Atlantic Ridge (35 degrees N-15 degrees N, 50 degrees W-33 degrees W). Two years of data were reviewed for whale vocalizations by visually examining spectrograms. Four distinct sounds were detected that are believed to be of biological origin: (1) a two-part low-frequency moan at roughly 18 Hz lasting 25 s which has previously been attributed to blue whales (Balaenoptera musculus); (2) series of short pulses approximately 18 s apart centered at 22 Hz, which are likely produced by fin whales (B. physalus); (3) series of short, pulsive sounds at 30 Hz and above and approximately 1 s apart that resemble sounds attributed to minke whales (B. acutorostrata); and (4) downswept, pulsive sounds above 30 Hz that are likely from baleen whales. Vocalizations were detected most often in the winter, and blue- and fin whale sounds were detected most often on the northern hydrophones. Sounds from seismic airguns were recorded frequently, particularly during summer, from locations over 3000 km from this array. Whales were detected by these hydrophones despite its location in a very remote part of the Atlantic Ocean that has traditionally been difficult to survey.

Animal Communication↗

Sensitivity of a tucuxi (Sotalia fluviatilis guianensis) to airborne sound.

Auditory systems of cetaceans are considered highly specialized for underwater sound processing, whereas the extent of their hearing capacity in air is still a point of issue. In this study, the sensitivity to airborne sound in a male tucuxi (Sotalia fluviatilis guianensis) was tested by means of a go/no go response paradigm. Auditory thresholds were obtained from 2 to 31.5 kHz. Compared to the hearing thresholds of other dolphins as well as of amphibian mammals, the sensitivity to airborne sound of the test subject is low from 2 to 8 kHz, with the highest threshold at 4 kHz. Thresholds at 16 and 31.5 kHz reveal a sharp increase in hearing sensitivity. Thus, although not obtained in this study, the upper aerial hearing limit is in the ultrasonic range. A comparison of the present data with the underwater audiogram of the same test subject referred to sound intensity indicates that the sensitivity of Sotalia to underwater sound is generally better than to airborne sound.

Air↗

Comparison of an analytic horn equation approach and a boundary element method for the calculation of sound fields in the human ear canal.

The sound field inside a model human ear canal has been computed, to show both longitudinal variations along the canal length and transverse variations through cross-sectional slices. Two methods of computation were used. A modified horn equation approach parametrizes the sound field with a single coordinate, the position along a curved center axis-this approach can accommodate the curvature and varying cross-sectional area of the ear canal but cannot compute transverse variations of the sound field. A boundary element method (BEM) was also implemented to compute the full three-dimensional sound field. Over 2000 triangular mesh elements were used to represent the ear canal geometry. For a plane piston source at the entrance plane, the pressure along the curved center axis predicted by the two methods is in good agreement, for frequencies up to 15 kHz, for four different ear canals. The BEM approach, though, reveals spatial variations of sound pressure within each canal cross section. These variations are small below 4 kHz, but increase with frequency, reaching 1.5 dB at 8 kHz and 4.5 dB at 15 kHz. For source configurations that are more realistic than a simple piston, large transverse variations in sound pressure are anticipated in the vicinity of the source.

Acoustic Stimulation↗

The relationship between the cross-correlation coefficient of two-channel acoustic signals and sound image quality.

In order to investigate sound image quality, white and bandlimited noises with various cross-correlation coefficients are reproduced from two loudspeakers placed in anechoic or echoic chambers. Subjects are asked to make similarity judgments and some subjective evaluations of pairs of the noises. The experimental data are analyzed by Kruskal's multidimensional scaling (MDS) program. The analysis of the experimental data shows the following: (1) sound image quality depends mostly on the width and the distance of the sound image, (2) the width of the sound image depends on the absolute value of the cross-correlation coefficient, (3) the distance of the sound image depends on the cross-correlation coefficient itself, (4) with respect to physical and psychological factors governing sound image quality, there is no fundamental difference between anechoic and echoic chambers.

Acoustic Stimulation↗

An investigation of the sound field above the audience in large lecture halls with a scale model.

Measurements of steady-state sound pressure levels above the audience in large lecture halls show that the classical equation for predicting the sound pressure level is not accurate. The direct field above the seats was measured on a 1:10 scale model and was found to be dependent on the incidence angle and direction of sound propagation across the audience. The reverberant field above the seats in the model was calculated by subtracting the direct field from the measured total field and was found to be dependent on the magnitude and particularly on the placement of absorption. The decrease of sound pressure level versus distance in the total field depends on the angle (controlled by absorption placement) at which the strong reflections are incident upon the audience area. Sound pressure level decreases at a fairly constant rate with distance from the sound source in both the direct and reverberant field, and the decrease rate depends strongly on the absorption placement. The lowest rate of decay occurs when the side walls are absorptive, and both the ceiling and rear wall are reflective. These consequences are discussed with respect to prediction of speech intelligibility.

Climate↗

Two-dimensional sound localization by human listeners.

This study measured the ability of subjects to localize broadband sound sources that varied in both horizontal and vertical location. Brief (150 ms) sounds were presented in a free field, and subjects reported the apparent stimulus location by turning to face the sound source; head orientation was measured electromagnetically. Localization of continuous sounds also was tested to estimate errors in the motor act of orienting with the head. Localization performance was excellent for brief sounds presented in front of the subject. The smallest errors, averaged across subjects, were about 2 degrees and 3.5 degrees in the horizontal and vertical dimensions, respectively. The sizes of errors increased, for more peripheral stimulus locations, to maxima of about 20 degrees. Localization performance was better in the horizontal than in the vertical dimension for stimuli located on or near the frontal midline, but the opposite was true for most stimuli located further peripheral. Front/back confusions occurred in 6% of trials; the characteristics of those responses suggest that subjects derived horizontal localization information principally from interaural difference cues. The generally high level of performance obtained with the head orientation technique argues for its utility in continuing studies of sound localization.

Adult↗

Use of sound-pressure level in auditory distance discrimination by 6-month-old infants and adults.

Six-month-old infants have been found to respond differentially to sounding objects placed within reach and beyond reach when no visual cues were available. The goal of the present study was to investigate whether sound-pressure level (SPL) serves as an auditory cue in distance discrimination. Thirty-two 6-month-olds were presented with recordings of sounding objects first in the light at midline position, then in the dark at 45 degrees to the right and left. On half of the dark trials the object was near (15 cm), and on half it was far (100 cm). For the control group the near sound was naturally 7 dB louder than the far. The experimental group had SPL counterbalanced across near and far locations to provide an inconsistent cue. Measures of infant reaching were scored from videotape. Two groups of adults were run under similar conditions; adults were tested on reaching as well as verbal reports of distance judgment. All infants reached more for the near object, regardless of the sound's SPL, suggesting that infants did not rely on this as a major distance cue. In contrast, adults' verbal judgments of distance were based heavily on SPL, a strategy that produced higher error rates in the group with SPL counterbalanced across distance. A followup study in which adults were instructed to move their heads before judging the sound's distance did not support the hypothesis that infants' head movements were responsible for their overcoming the misleading SPL information.

Adult↗

Acoustic information available to bats using frequency-modulated sounds for the perception of insect prey.

Through the present study, the acoustic information available to an echolocating bat that uses brief frequency-modulated (FM) sonar sounds for the pursuit and capture of insect prey has been characterized. Computer-generated sonar pulses were broadcast at tethered insects, and the returning echoes were recorded on analog tape at high speed for off-line analyses. Echoes from stationary and fluttering insects were displayed using time waveform, spectrogram, power spectrum, and cross-correlation representations. The results show echo signatures for the different insect species studied, which change with the angle of incident sound. Sequences of echoes from fluttering insects show irregular changes in sound amplitude and time-frequency structure, reflecting a random temporal relation between the changing wing position and the arrival of incident sound. A set of recordings that controlled the temporal relation between incident sound and insect wing position suggests that information about the spatial profile of a flying insect could be enhanced if the bat were to produce a sequence of sounds that synchronized briefly with the moving target's wing-beat cycle. From this study, it has been proposed that the FM bat receives stroboscopic-like glimpses of fluttering prey whose spatial representation depends on the operation of the bat's sonar receiver.

Animals↗

Monaural sound localization revisited.

Research reported during the past few decades has revealed the importance for human sound localization of the so-called "monaural spectral cues." These cues are the result of the direction-dependent filtering of incoming sound waves accomplished by the pinnae. One point of view about how these cues are extracted places great emphasis on the spectrum of the received sound at each ear individually. This leads to the suggestion that an effective way of studying the influence of these cues is to measure the ability of listeners to localize sounds when one of their ears is plugged. Numerous studies have appeared using this monaural localization paradigm. Three experiments are described here which are intended to clarify the results of the previous monaural localization studies and provide new data on how monaural spectral cues might be processed. Virtual sound sources are used in the experiments in order to manipulate and control the stimuli independently at the two ears. Two of the experiments deal with the consequences of the incomplete monauralization that may have contaminated previous work. The results suggest that even very low sound levels in the occluded ear provide access to interaural localization cues. The presence of these cues complicates the interpretation of the results of nominally monaural localization studies. The third experiment concerns the role of prior knowledge of the source spectrum, which is required if monaural cues are to be useful. The results of this last experiment demonstrate that extraction of monaural spectral cues can be severely disrupted by trial-to-trial fluctuations in the source spectrum. The general conclusion of the experiments is that, while monaural spectral cues are important, the monaural localization paradigm may not be the most appropriate way to study their role.

Auditory Perception↗

Environmental constraints on sound transmission by humpback whales.

Singing humpback whales in Hawaii produce a variety of sounds at high source levels (ca. 185 dB re: 1 microPa), in coastal waters 15-500 m deep. These sounds are attenuated and distorted as they propagate away from a singer, limiting the utilizable range of the sounds. In the current study, simulations based on normal-mode theory were used to investigate how the effects of shallow-water propagation constrain humpback whales' use of sound. It is shown that humpbacks can greatly affect transmission range by adjusting their positions and sounds in response to environmental factors. Source depth, in particular, is shown to be a major determinant of which frequencies propagate the farthest. A preliminary analysis of range-dependent distortion suggests that spectral cues can potentially provide listening whales with information about how far a sound has traveled.

Animals↗

Informational masking by everyday sounds.

Tone-in-noise detection is severely degraded when only a few spectral components of the noise are presented at random on each trial [Neff and Green, Percept. Psychophys. 41, 409-415 (1987)]. The elevations in threshold are attributed to uncertainty regarding the noise caused by sparse sampling of noise components-informational masking is the term used to describe the result. The present experiment was undertaken to determine how informational masking is affected when sparse sampling is from a set of common everyday sounds instead of noise. On each presentation a different masker waveform of constant total power was synthesized from the magnitude and phase of a fixed number, m, of spectral components (m = 2-921 across blocks of trials). The components were selected at random from 1 of 50 common environmental sounds (e.g., baby crying, door slamming, phone ringing), or 1 of 50 samples of Gaussian noise. Masked thresholds for a 1.0-kHz signal in the presence of both types of maskers were obtained using an adaptive, two-interval, forced-choice procedure. Results with noise replicated earlier, results showing largest elevations in threshold for 10-20 sampled components. Results with everyday sounds showed a similar pattern with thresholds elevated above those for noise by as much as 10 dB at the larger values of m. The differences in masked thresholds were systematically related to differences in the ensemble variance of masker spectra, as predicted by a model previously applied to noise [Lutfi, J. Acoust. Soc. Am. 94, 748-758 (1993)]. Not predicted was the result of a subsequent trial-by-trial analysis in which 9-11 dB less masking was observed for samples from everyday sounds rated as easily recognized by listeners. The results suggest that listeners fail to exploit lawful dependencies among spectral components of everyday sounds to aid detection, unless enough information is available for the sound to be easily recognized.

Adult↗

On the combined effects of early- and late-arriving sound on spatial impression in concert halls.

This paper describes six new experiments involving subjective ratings of the listener envelopment, LEV, and the apparent source width, ASW, of simulated sound fields. Previous work has identified LEV and ASW as the principal components of spatial impression in concert halls and has shown that ASW is primarily influenced by the level of early lateral reflections and LEV by late-arriving lateral reflections. The new results in this paper show that LEV can result from nonlateral late-arriving sounds and demonstrate the conflicting effects of early- and late-arriving lateral sound on ASW and LEV when both are present, as would occur in real halls. While it is possible to create simulated sound fields with only either LEV or ASW, in typical concert halls, the balance between early- and late-arriving lateral sound will determine the relative importance of LEV and ASW. LEV and ASW are shown to be perceived when the critical components of the sound field are salient relative to other components. The results of the new subjective studies were used to estimate expected ASW and LEV in 16 halls. In these halls LEV is predicted to be the stronger component of spatial impression.

Acoustics↗

Perceptual restoration of missing speech sounds.

When an extraneous sound (such as a cough or tone) completely replaces a speech sound in a recorded sentence, listeners believe they hear the missing sound. The extraneous sound seems to occur during another portion of the sentence without interfering with the intelligibility of any phoneme. If silence replaces a speech sound, the gap is correctly localized and the absence of the speech sound detected.

Auditory Perception↗