1. Sound Source Localization based Robot Navigation Group 13 Supervised By: Dr. A. G. Buddhika P. Jayasekara Dr. A. M. Harsha S. Abeykoon 13-1 :R.U.G.Punchihewa 080392X 13-2 :R.M.T.O.Rajapaksha 080398V 13-3 :R.S.Ranjitha 080414U 13-4 :R.M.D.D.B.Rasnayake 080416D Presenter: R.M.T.O.Rajapaksha (13-2 )

2. Application of Acoustic Sound localization 1.Estimation the point of sound source (e.g:-Military Applications) 2.Separation of signals from multiple sources 3.Teleconferencing Voice control. 4.Robotic navigation.

3. Project Objectives 1.Localize an instantaneous Sound in a obstacle free room 2.Communicate the location co-ordinates with a Robot 3.Navigating the robot

4. Approaches Algorithm Time Domain Frequency Domain

5. Time Domain Approach The main concept is calculating the delay of arrival of sound to the mics

7. Time Domain Approach cont. Estimate the time delay is to compute the cross correlation (xCorr) between the received signals at two microphones. Cross Correlation Peak Detector

8. Peak Detecting Signal 1 Signal 2 Cross Correlation Cross Correlation cont.

9. Matlab Code for Cross Correlation

10. Cross Correlation

11. Laptops Test Sound SourceLaptop 3Laptop 2Laptop 1 a aa We tried to observe whether the laptops sound graphs give significant time difference Using Laptop’s MIC

12. Methodology 1. Selecting sound source with Fix Amplitude and Frequency 2.The sound spread from the sound source is captured by four microphones. 3.Isolate the frequency using filters. 4.Then the signals are amplified using pre amplifier circuits. 5.Input signal is processed & calculate the amplitude and time difference values using microcontroller and sent to PC.

13. Data Acquisition We used two Condenser mics and connected those into same laptop Since one laptop is having one mic input We had to use USB Sound Card. We had to check whether the both mics are working simultaneously. It worked.

14. The Sound Spectrum of 2 delayed signals Results Even with the delay same output signal observed

15. Microphone Arrangement Laptop Normal MIC input USB MIC input b Graphs

16. Matlab Simulation

17. Drawbacks Since the condenser mic is giving low output We used Amplifying Circuit for enhance the Condenser mic output. UA741 Amplifier’s been used.

18. Testing the OpAmp Circuit for the Condensor Mike

19. Java Simulation

20. Problems Faced in Localizing Vibration & Noise effects Equipment errors & human errors. Reflection of Sound If height of the sound Source vary Microphones used were not identical

21. StepDecJanFebMarAprMayJuneJulyAug Progressive report 1 X Literature Survey X Data Acquisition using Different methods X Software Simulation X Hardware Implementtaion Testing and Tunning Final Presentaion Time Plan

22. How to prevents errors synchronize all four microphones at the beginning before getting data to the PC Increase number of microphones

23. Questions?