第22回 ロボット聴覚特集 - 奥乃研究室 - 京都大学

ICAy FCy FCy SIMO-ICAs 1(t)x 1(t)1( )A 11 (z)s 1(t)tA 11 (z)s 1(t- D/2)(z)s A 1 21(t)A 12 (z)s 2(t)ICA+ -- + ICA( ) y21t( )tA 21 (z)s 1 (t- D/2)A 12 (z)s 2(t- D/2)A 22 (z)s 2(t)2( )A 22 (z)s 2(t- D/2)tx 2(t)Fidelitys 2(t)ControllerFigure 2: SIMO-ICA (4) , (5) , .. , [ ]yICA1 (t)y2 ICA (t)[ ]y1 FC (t)y2 FC(t)[[y1 ICA (t)y2 ICA (t)y FC1 (t)y FC2 (t)]]==or==[A11 (z)s 1 (t − D/2)[[[A 22 (z)s 2 (t − D/2)A 12 (z)s 2 (t − D/2)A 21 (z)s 1 (t − D/2)A 12 (z)s 2 (t − D/2)A 21 (z)s 1 (t − D/2)A 11 (z)s 1 (t − D/2)A 22 (z)s 2 (t − D/2)]]]], (9), (10), (11). (12)ICA (3) (5) KLD w ICA (n) naturalgradient[4] nonholonomic [16] .w [j+1](ICA) (n)D−1= w [j ](ICA) (n) − α ∑ [{ 〈off-diag ϕ ( y [j](ICA) (t))d=0}y [j](ICA) (t − n + d)T〉 w [j ](ICA) (d)t{ 〈 (− off-diag ϕ x(t − D )2 ) − y[j] (ICA) (t)(x(t − n + d − D ) T2 ) − y[j] (ICA)〉t(t − n + d) (Iδ(d − D 2 ) − w[j] (ICA))], (d) (13)4 4.1 Brüel & Kjær Head AndTorso Simulator (HATS) }Figure3 2 2 θ 1 = {−90 ◦ , −75 ◦ , −60 ◦ , −45 ◦ , −30 ◦ , −15 ◦ , 0 ◦ }, θ 2 ={0 ◦ , 15 ◦ , 30 ◦ , 45 ◦ , 60 ◦ , 75 ◦ , 90 ◦ } HATS 1.5 m SNR 0dB 200 ms ASJ 2 4 12 8kHz 3 512 , 5000 . (3) ICA ±60 ◦ [5] SIMO SIMO-model Accuracy (SA) SA .SA = 1 ‖ A 11 (z)s 1 (t − {10log D 2 ) ‖24 10‖ y (ICA)1 (t)−A 11 (z)s 1 (t − D 2 ) ,‖24.2 ‖ A 21 (z)s 1 (t − D 2+10log ) ‖210‖ y (FC)2 (t)−A 21 (z)s 1 (t − D 2 ) ,‖2‖ A 12 (z)s 2 (t − D 2+10log ) ‖210‖ y (FC)1 (t)−A 12 (z)s 2 (t − D 2 ) ,‖2‖ A 22 (z)s 2 (t − D 2+10log ) ‖2 }10‖ y (ICA)2 (t)−A 22 (z)s 2 (t − D 2 ) .‖2(14)Figure 4, 5 . , , SIMO-ICA SA SA . , SIMO-ICA ICA 12