32-Channel Omni-Directional Microphone Array Design and Implementation

Yoko Sasaki; Tomoaki Fujihara; Satoshi Kagami; Hiroshi Mizoguchi; Kyoichi Oro

doi:10.20965/jrm.2011.p0378

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JRM Vol.23 No.3 pp. 378-385

doi: 10.20965/jrm.2011.p0378

(2011)

Paper:

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32-Channel Omni-Directional Microphone Array Design and Implementation

Yoko Sasaki^*, Tomoaki Fujihara^**, Satoshi Kagami^,
Hiroshi Mizoguchi^, and Kyoichi Oro^

^*Digital Human Research Center, National Institute of Advanced Science and Technology (AIST), 2-3-26 Aomi, Kouto-ku, Tokyo 135-0064, Japan

^**Dept. of Mechanical Engineering, Tokyo University of Science, 2641 Yamazaki, Noda-shi, Chiba 278-8510, Japan

^***The Kansai Electric Power Co. Inc., 3-11-20 Nakoji, Amagasaki, Hyogo 661-0974, Japan

Received:

September 30, 2010

Accepted:

February 22, 2011

Published:

June 20, 2011

Keywords:

microphone array, sound localization, beamforming

Abstract

This paper presents the design and evaluation of a microphone array. The proposed evaluation index is the directional characteristic of delay and sum beamforming, which is used to optimize the microphone array design. Using beamforming simulation, a microphone arrangement that minimizes sidelobes and improves the basic performance of beamforming is selected. The new hardware has omni-directional directivity and high tolerance for exogenous noise. It has 32 microphones on a 335-mm diameter disk designed to be mounted on a mobile robot. The microphone array performance is verified in different real environments. Experimental results in indoor/outdoor sound localization show the effectiveness of the array in reverberant environments and its robustness against different pressure sound sources for covering larger areas.

Cite this article as:

Y. Sasaki, T. Fujihara, S. Kagami, H. Mizoguchi, and K. Oro, “32-Channel Omni-Directional Microphone Array Design and Implementation,” J. Robot. Mechatron., Vol.23 No.3, pp. 378-385, 2011.

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References

[1] H. Asoh, I. Hara, and F. Asano, “Tracking Human Speech Events Using a Particle Filter,” In Proc. of IEEE Int. Conf. on Acoustics, Speech, Signal Processing (ICASSP 2005), pp. MSP–P2.6, Philadelphia, USA, 2005.
[2] C. T. Ishi, S. Matsuda, T. Kanda, T. Jitsuhiro, H. Ishiguro, S. Nakamura, and N. Hagita, “Robust Speech Recognition System for Communication Robots in Real Environments,” In Proc. of IEEE-RAS Int. Conf. on Humanoid Robots (HUMANOIDS 2006), pp. 340-345, Genova, Italy, December 2006.
[3] H.-D. Kim, J.-S. Choi, and M. Kim, “Speaker Localization among multi-faces in noisy environment by audio-visual Integration,” In Proc. of IEEE-RAS Int. Conf. on Robots and Automation (ICRA2006), pp. 1305-1310, Orlando, Florida, May 2006.
[4] K. Nakadai, S. Yamamoto, H. G. Okuno, H. Nakajima, Y. Hasegawa, and H. Tsujino, “A Robot Referee for Rock-Paper-Scissors Sound Games,” In Proc. of IEEE-RAS Int. Conf. on Robots and Automation (ICRA2008), pp. 3469-3474, California, USA, May 2008.
[5] D. H. Johnson and D. E. Dugeon, “Array Signal Processing: Concepts and Techniques,” Prentice Hall PTR, 1993.
[6] H. F. Silverman, W. R. Patterson III, and J. Sachar, “Factors Affectioning the Performance of Large-Aperture Microphone Array,” The J. of the Acoustical Society of America, Vol.111, No.1, pp. 2144-2157, May 2002.
[7] E.Weinstein, K. Steele, A. Agarwal, and J. Glass, “LOUD: A 1020-Node Microphone Array and Acoustic Beamformer,” In Proc. of Int. Congress on Sound and Vibration (ICSV), Cairns, Australia, July 2007.
[8] W. Liu, D.McLernon, and M. Ghogho, “Frequency invariant beamforming without tapped delay-lines,” In Proc. of Int. Conf. on Acoustics, Speech, and Signal Processing 2007, Vol.II, pp. 997-1000, April 2007.]
[9] X. Zhang, W. Ser, Z. Zhang, and A. K. Krishna, “Selective Frequency Invariant Uniform Circular Broadband Beamformer,” EURASIP J. on Advances in Signal Processing, 2010, February 2010.
[10] R. A. Kennedy and T. D. Abhayapala, “Nearfield Beamforming Using Radial Reciprocity,” IEEE Trans. on Signal Processing, Vol.47, pp. 33-40, 1999.
[11] Y. Sasaki, S. Thompson, M. Kaneyoshi, and S. Kagami, “Map-Generation and Identification of Multiple Sound Sources from Robot in Motion,” In Proc. of 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2010), pp. 437-443, Taipei, Taiwan, October 2010.
[12] Y. Tamai, Y. Sasaki, S. Kagami, and H. Mizoguchi, “Three Ring Microphone Array for 3D Sound Localization and Separation for Mobile Robot Audition,” In Proc. of 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2005), pp. 903-908, Edmonton, Canada, August 2005.
[13] M. Aoki, M. Okamoto, S. Aoki, H. Matsui, T. Sakurai, and Y. Kaneda, “Sound source Segregation based on estimating incident angle of each frequency component of input signals acquired by multiple microphones,” Acoustical Science and Technology, Vol.22, No.2 pp. 149-157, 2001.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] H. Asoh, I. Hara, and F. Asano, “Tracking Human Speech Events Using a Particle Filter,” In Proc. of IEEE Int. Conf. on Acoustics, Speech, Signal Processing (ICASSP 2005), pp. MSP–P2.6, Philadelphia, USA, 2005.

[2] [2] C. T. Ishi, S. Matsuda, T. Kanda, T. Jitsuhiro, H. Ishiguro, S. Nakamura, and N. Hagita, “Robust Speech Recognition System for Communication Robots in Real Environments,” In Proc. of IEEE-RAS Int. Conf. on Humanoid Robots (HUMANOIDS 2006), pp. 340-345, Genova, Italy, December 2006.

[3] [3] H.-D. Kim, J.-S. Choi, and M. Kim, “Speaker Localization among multi-faces in noisy environment by audio-visual Integration,” In Proc. of IEEE-RAS Int. Conf. on Robots and Automation (ICRA2006), pp. 1305-1310, Orlando, Florida, May 2006.

[4] [4] K. Nakadai, S. Yamamoto, H. G. Okuno, H. Nakajima, Y. Hasegawa, and H. Tsujino, “A Robot Referee for Rock-Paper-Scissors Sound Games,” In Proc. of IEEE-RAS Int. Conf. on Robots and Automation (ICRA2008), pp. 3469-3474, California, USA, May 2008.

[5] [5] D. H. Johnson and D. E. Dugeon, “Array Signal Processing: Concepts and Techniques,” Prentice Hall PTR, 1993.

[6] [6] H. F. Silverman, W. R. Patterson III, and J. Sachar, “Factors Affectioning the Performance of Large-Aperture Microphone Array,” The J. of the Acoustical Society of America, Vol.111, No.1, pp. 2144-2157, May 2002.

[7] [7] E.Weinstein, K. Steele, A. Agarwal, and J. Glass, “LOUD: A 1020-Node Microphone Array and Acoustic Beamformer,” In Proc. of Int. Congress on Sound and Vibration (ICSV), Cairns, Australia, July 2007.

[8] [8] W. Liu, D.McLernon, and M. Ghogho, “Frequency invariant beamforming without tapped delay-lines,” In Proc. of Int. Conf. on Acoustics, Speech, and Signal Processing 2007, Vol.II, pp. 997-1000, April 2007.]

[9] [9] X. Zhang, W. Ser, Z. Zhang, and A. K. Krishna, “Selective Frequency Invariant Uniform Circular Broadband Beamformer,” EURASIP J. on Advances in Signal Processing, 2010, February 2010.

[10] [10] R. A. Kennedy and T. D. Abhayapala, “Nearfield Beamforming Using Radial Reciprocity,” IEEE Trans. on Signal Processing, Vol.47, pp. 33-40, 1999.

[11] [11] Y. Sasaki, S. Thompson, M. Kaneyoshi, and S. Kagami, “Map-Generation and Identification of Multiple Sound Sources from Robot in Motion,” In Proc. of 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2010), pp. 437-443, Taipei, Taiwan, October 2010.

[12] [12] Y. Tamai, Y. Sasaki, S. Kagami, and H. Mizoguchi, “Three Ring Microphone Array for 3D Sound Localization and Separation for Mobile Robot Audition,” In Proc. of 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2005), pp. 903-908, Edmonton, Canada, August 2005.

[13] [13] M. Aoki, M. Okamoto, S. Aoki, H. Matsui, T. Sakurai, and Y. Kaneda, “Sound source Segregation based on estimating incident angle of each frequency component of input signals acquired by multiple microphones,” Acoustical Science and Technology, Vol.22, No.2 pp. 149-157, 2001.

32-Channel Omni-Directional Microphone Array Design and Implementation

Yoko Sasaki*, Tomoaki Fujihara**, Satoshi Kagami*, Hiroshi Mizoguchi**, and Kyoichi Oro***

Yoko Sasaki^*, Tomoaki Fujihara^**, Satoshi Kagami^,
Hiroshi Mizoguchi^, and Kyoichi Oro^