You should allow time in between writing and editing. Thorough editing should be done before proofreading (even though they do overlap a little). You shouldn’t do any rewriting or rewording during the proofreading stage. ![]() If you do, you’re still editing, and you risk losing your focus and introducing mistakes. Make sure your writing contains the basic elements of a “5-point essay” even if you don’t use an outline to write or hate outlines. This means an introduction with your main point, 3 supporting points (this can vary widely from one main point with multiple sub-points to 50 or more items in a list), and a conclusion or summary. Almost any type of writing follows this basic structure though it varies. Consider additional elements that might expand the 5-point outline and check that they’re in logical order. Variations include an opposing opinion and evidence against it, comparisons to other ideas that support yours, and background information to support your opinion or advice. Sound source localization is one of the fundamental features of robot audition for human-robot interaction as well as recognition of the environment. The idea of using multiple microphones to localize sound sources has been developed for a long time. Among various kinds of sound localization methods, generalized cross correlation (GCC) was used for robotic applications but it is not robust under multiple sources environment. Improvements on the performance in the multiple sources and reverberant environment have also been discussed. Another approach, proposed by Balan and Rosca, explores the eigenstructure of the correlation matrix of the microphone array by separating speech signals and noise signals into two orthogonal subspaces. The direction-of-arrival (DOA) is then estimated by projecting the manifold vectors onto the noise subspace. MUSIC combined with spatial smoothing is one of the most popular methods for eliminating the coherence problem and it is also applied to the robot audition. ![]() īased on the geometrical relationship among time delay values, Walworth and Mahajan proposed a linear equation formulation for the estimation of the three-dimensional (3D) position of a wave source. gave a simple solution for the linear equation in based on the far-field assumption and developed a novel weighting function method to estimate the time delay. In a real environment, the sound source may move.
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