Sound¶
Tools¶
Audacity¶
A tool for working with audio files
Pyroomacoustics¶
A software package aimed at the rapid development and testing of audio array processing algorithms. Can be used to simulate the behavior of sound in space.
- https://pypi.org/project/pyroomacoustics/
- https://github.com/LCAV/pyroomacoustics
- https://pyroomacoustics.readthedocs.io/en/pypi-release/pyroomacoustics.room.html
Sound in Logfiles¶
Logfies recorded by the robots during the game can be found here: * https://logs.naoth.de/
- Python tools for working with recorded sounds in the logs https://github.com/BerlinUnited/NaoTH/tree/develop/Utils/py/WhistleDetector
Code¶
Audio data is recorded in the Logfiles in blocks. The format of the block can be found in the message AudioData.proto and the corresponding representation in AudioData.h.
- https://github.com/BerlinUnited/NaoTH/blob/develop/Framework/Commons/Messages/AudioData.proto
- https://github.com/BerlinUnited/NaoTH/blob/develop/Framework/Commons/Source/Representations/Infrastructure/AudioData.h
The recording is controlled with the representation AudioControl in AudioControl.h:
We use pulse-audio to interact with the sound system of the robot. The corresponding interface is implemented in the AudioRecorder:
- https://github.com/BerlinUnited/NaoTH/blob/develop/Framework/Platforms/Source/DCM/NaoRobot/AudioRecorder.h
- https://github.com/BerlinUnited/NaoTH/blob/develop/Framework/Platforms/Source/DCM/NaoRobot/AudioRecorder.cpp
The AudioRecorder can be tested independently with the following test platform
The current modules for whistle detection can be found here:
Recording with PulseAudio¶
Recording RAW audio data¶
parecord -r --raw --format=s16le --rate=8000 --channel-map=rear-left,rear-right,front-left,front-right --channels=4 > test.raw
References¶
- Akustische Ortung im Roboterfußball, Jakob Dübel, Masterthesis (German).
- Acoustic Communication between Two Robots Based on the NAO Robot System, Florian Bergmann, Bachelor Thesis.
- Includes hardware measurement of the NAO V5 (p. 7-10). Loudspeakers are usable between 600 Hz and 7000 Hz. Microphone measurement is unintelligible. Also states transfer bit-rate limit. For moving robots, the Doppler Effect has very small impact.
- Implementation and Evaluation of Audio Based Methods for Robust Inter-Robot Communication, Finn Poppinga, Project Thesis.
- Chirp-signal based acoustic communication on the NAO robotic platform.