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Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE
1
Delivery Astromobile
Simon listens
PIC: 987058033
Grant Agree number: 231143
Project: ASTROMOBILE
In relation to the
(copyright by Stieger Franz, Grasch Peter, Stieger Mathias, Ing. Breznik Alexander)
Task 3: Human-Robot Multimodal Interfaces Development [month 1 - month 12]
Objectives:
1) Development of a visual/touch interface (touch screen)
2) Development of a natural language interface (speech recognition)
Visual/tactile interaction will be implemented by means of a common touch screen monitor anchored
to the robotic platform and an opportunely designed graphical interface produced with C#-like
development software. In addition, user could be provided with a small remote control, with no more
than three or four buttons, to send immediate commands to robot among the ZigBee network.
The Simon open-source speech recognition program, produced by Simon (partner of the project) will
be used to develop Natural language interaction. In particular some actions will be performed: 1)
studying the mobile platforms, 2) definition of conception of an architecture (client/server
architecture) and programming of a version of Simon, which would run with the resources available,
3) preparing and testing the prototype software and the microphone hardware for reaching a
communication between robot and speaker, 4) common definition of the scenarios practicable for
testing, 5) preparing the scenarios defining the treasury of the words and the forms of Human-
Computer Interaction like Command and Control, Control of dialogs, maybe simple forms of artificial
intelligence, 6) creation of the needed speech models in English, Italian and German.
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Sommario

Pagina 1 - Delivery Astromobile

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 1 Delivery Astromobile Simon listens PIC: 987058033 Grant Agre

Pagina 2 - Content

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 10 THE T.BONE LC97 TWS the t.bone LC97 TWS lavalier cardi

Pagina 3

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 11 Headset Samson UB1 93,75% 87,85% Acoustic Magic

Pagina 4

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 12 2.3.7. Excluded Microphones: Sony ECM-MS907 Acoustic Magic 2.

Pagina 5 - 2. Signal processing

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 13 2.3.9.3. 3rd solution: Microphone installation THE T.BONE TB

Pagina 6 - 2.2.3. Comfort zone

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 14  German Voxforge Lexicon  Ralf Herzog German Dictionary 3.

Pagina 7 - 2.3. Microphone tests

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 15 3.3.1. Parameter definition In this part we will have to defi

Pagina 8

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 16 With the great dedication of our partners it was po

Pagina 9

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 17 practical use it´s necessary that the caregiver appoints the r

Pagina 10 - 2.3.6. Results:

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 18 4.1.3. Dialogue: Reminderfunction „drinking“ 4.1.2. Dial

Pagina 11 - LC97 TWS Microphone

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 19 yes no

Pagina 12 - 2.3.9.2. 2

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 2 Content 1. Introduction ...

Pagina 13 - 3. Speech modelling

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 20 4.1.4. Dialogue: Reminderfunction „Drugs“ 4.1.5. Dialog

Pagina 14 - 3.3. Speechmodeldesign

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 21 4.1.6. Dialogue: Reminderfunction „lunch and dinner“

Pagina 15 - 3.3.3. Model compilation

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 22 4.1.7. Dialogue: Reminderfunction „activities“ 4.1.8. Dia

Pagina 16 - 4. Development of dialogues

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 23 no

Pagina 17 - 4.1. Dialogue screenshots

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 24 4.1.9. Dialogue: Reminderfunction „to go to sleep“

Pagina 18 - Breakfast

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 25 4.1. Dialogue specifications in German, English and Italian 4

Pagina 19

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 26 User Ja/yes Sys Das freut mich! Du schaust heute wieder bes

Pagina 20

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 27 minutes I remind you again. b. Körperhygiene und auskleiden

Pagina 21

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 28 Very good! I wish you a pleasent evening and a good sleep! Go

Pagina 22

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 29 c. Erinnerung an die Einnahme von Medikamenten ( Reminder

Pagina 23

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 3 4.1.3. Dialogue: Reminderfunction „drinking“ ...

Pagina 24

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 30 noch einmal daran erinnern. Please take your medications now.

Pagina 25

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 31 I call now a nurse, so she can help you! I call now a nurse f

Pagina 26

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 32 have thought of it Thanks, I’m glad that you have thought o fi

Pagina 27

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 33 mitteilen sagen, dass Sie Dir einen Krug (Syn – Tee – Wasser

Pagina 28

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 34 um in den Aufenthaltsraum zu kommen? Bitte antworte mit ja od

Pagina 29

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 35 h. Mittagessen ( lunch ) Turn DP Text Version/Versions 1 Sys

Pagina 30

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 36 2 User Nein/no Sys Danke, ich finde es toll, dass Du so

Pagina 31

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 37 User Ja/yes Sys Gut dann werde ich (Syn)-Individualisierung

Pagina 32

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 38 every Friday! Should I call for you? Please answer with yes or

Pagina 33

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 39 5.) Erinnerungen ohne Bestätigungsanforderung (Reminder funct

Pagina 34

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 4 6.3.8. Dialogues in the Astromobile project ...

Pagina 35

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 40 b. Persönliche Termine ( Personal deadlines ) Kommunikationsd

Pagina 36

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 41 4.1.2. Italian dialogue specifications 1. [IT/BP] Abendessen/

Pagina 37

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 42 Buon giorno, sono astro Sono $time$, ti sei gia lavato o hai

Pagina 38

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 43 Version 3: Ciao qui è astro. Sono $time$. Ciao ti ricordi che

Pagina 39

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 44 Version 1: Buona sera, qui e astro. Sono $time$. Vorrei chiede

Pagina 40

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 45 Ciao qui è astro Sono $time$. Vorrei ricordarti alle tue medic

Pagina 41 - Buon giorno, sono astro

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 46 4. [IT/BP] Mittagessen/Pranzo Erinnerung 1: Begrueszung - Buon

Pagina 42

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 47 3: Nicht anrufen - telefonare no Version 1: Non vuoi parlare c

Pagina 43

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 48 Allora chiederò alla badante di portarti il te nella camera.

Pagina 44

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 49 controlled from optical experts to make it ready to use too fr

Pagina 45

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 5 1. Introduction To fulfil the mentioned task within the project

Pagina 46

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 50  The indication of touchscreen commands it´s necessary

Pagina 47

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 51 Robot - User: - Reminder functions with request of help

Pagina 48 - 8. [IT/HB] Skype/Si annehmen

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 52  Caregiver can sent an appointment to convene with the user

Pagina 49

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 53 a. Command structure b. Development of different function

Pagina 50 - User - Robot:

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 54 6. Programming 6.1. Programming the D-Bus interface bet

Pagina 51 - Robot - User:

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 55 • AstroUI: Graphical interface to the robot The indi

Pagina 52

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 56 6.1.3. Setting Up the Principal Architecture based on D-Bus T

Pagina 53

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 57 6.1.5. Deciding on Source Control and Licenses After a shor

Pagina 54 - 6. Programming

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 58 microphone at the same time. This is very important too for th

Pagina 55

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 59 6.2.5. simonskype With simonskype we created a bridge between

Pagina 56

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 6 2.1.3. Using installed microphone network in the environment A

Pagina 57

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 60 6.3.2. Avatar A state can be linked with an avatar (e.g. the

Pagina 58 - 6.2.4. afaras

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 61 6.3.7. Output options A dialogue can be shown graphicall

Pagina 59 - 6.3.1. States

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 62 6.3.8.3. States The three states can be applied directly as

Pagina 60 - 6.3.6. QtScript

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 63 var minutes = currentTime.getMinutes(); var output = hours + &

Pagina 61 - 6.3.7. Output options

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 64 6.3.8.4. Trigger The dialogue shall be started at a s

Pagina 62 - 6.3.8.3. States

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 65 Iteratives events will be supported and can be used for daily

Pagina 63

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 66 The akonadi command executes the dialogue after ten minutes a

Pagina 64 - 6.3.8.4. Trigger

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 67 During our initial prototyping stage it soon became ap

Pagina 65 - 6.3.8.5. Options

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 68 To enable users to use simone without setting up thei

Pagina 66

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 69  Answer an incoming call  Open the navigation screen  St

Pagina 67 - 6.4.1. simone for MeeGo

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 7 2.3. Microphone tests 2.3.1. Description: In the following t

Pagina 68 -  Abort dialing

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 70 All device actions can be individually disab

Pagina 69 -  Answer an incoming call

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 71 connect to the server both with his notebook and with

Pagina 70 - 6.4.2. simond Modifications

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 72  Several experiments, similar to exemplum of previous point

Pagina 71 - 7. Intermediate Conclusions

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 73 8. Attachments 8.1. SIMON Microphone preselection

Pagina 72

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 74 ▪ YAMAHA play Speakers for reference image (Headset-Aufnahme)

Pagina 73 - 8. Attachments

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 75 ◦ 1 Spokesman ◦ Headset-recordings (Sennheiser PC-25 USB)

Pagina 74 - Experiments

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 76 Experiment 0 ASR-Model from headset recordings tested trough h

Pagina 75

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 77 POS3 85.29 98.55 79.71 98.55 89.86 98.55 78.26 97.10 70.59 Ta

Pagina 76

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 78 Table 8: Word error rate for Experiment 4 with microphones 1-5

Pagina 77

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 79 8.2. Analysis of microphones for speech recognition from

Pagina 78 - Conclusion

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 8  Sony ECM-MS907 Battery Life : Approx. 100 hours with

Pagina 79

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 80 Sony ECM-CZ10 94,96% 90,35% 90,13% SAMSON CM12C hanging

Pagina 80

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 81 THE T.BONE TB312S gooseneck microphone 0° 99,83% 90,35%

Pagina 81

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 82 Samson Q1U 90° 99,61% 80,65% THE T.BONE wireless m

Pagina 82 - Samson Q1U 90°

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 83 23 interrompere 24 interrompi 25 smetti 26 piú in su 27 piú in

Pagina 83

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 84 49 chiudere 50 chiudi 51 aprire 52 apri 53 spegnere 54 spegni 5

Pagina 84

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 85 75 veloce 76 computer 77 inglese 78 tedesco 79 italiano 80 alla

Pagina 85

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 86 101 porta 102 finestra 103 serranda 104 tapparella 105 tenda 10

Pagina 86

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 87 127 premere 128 premi 129 astro 130 controlla 131 vieni qui 13

Pagina 87

Simon listens PIC: 987058033 Grant Agree number: 231143 Project: ASTROMOBILE 9 Impedance ~2 kΩ Sensitivity as per 121 TR 9-5 -38 dBV/Pa 

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