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Auralization of road vehicles using spectral modeling synthesis

Auralization of road vehicles using spectral modeling synthesis

Masters Thesis presentation on auralization of road vehicles using spectral modeling synthesis

Chinmay Pendharkar

April 08, 2013
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  1. Auralization of road
    vehicles using spectral
    modeling synthesis
    Chinmay Pendharkar,
    Applied Acoustics, Chalmers, 2011
    Monday, April 8, 13

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  2. • LISTEN Project
    • Auralization
    • Sound Synthesis
    • Spectral Modeling Synthesis (SMS)
    • SMS Implementation for Vehicle Sounds
    • Listening Test
    • Results and Analysis
    • Q & A
    Organization
    Monday, April 8, 13

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  3. LISTEN Project
    Monday, April 8, 13

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  4. LISTEN Project
    • Collaboration - KTH, Konstfack, SU, II.
    Monday, April 8, 13

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  5. LISTEN Project
    • Collaboration - KTH, Konstfack, SU, II.
    • Software Demonstrator/Simulator
    Monday, April 8, 13

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  6. LISTEN Project
    • Collaboration - KTH, Konstfack, SU, II.
    • Software Demonstrator/Simulator
    • Qualitative listening of urban soundscapes
    Monday, April 8, 13

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  7. LISTEN Demonstrator
    Monday, April 8, 13

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  8. LISTEN Demonstrator
    • Auralization of Urban Soundscapes
    Monday, April 8, 13

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  9. LISTEN Demonstrator
    • Auralization of Urban Soundscapes
    • Qualitative vs Quantitative Analysis
    Monday, April 8, 13

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  10. LISTEN Demonstrator
    • Auralization of Urban Soundscapes
    • Qualitative vs Quantitative Analysis
    Monday, April 8, 13

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  11. Auralization
    • Source + Propagation
    Monday, April 8, 13

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  12. Auralization
    Monday, April 8, 13

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  13. Auralization
    • Source Modeling
    Monday, April 8, 13

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  14. Auralization
    • Source Modeling
    • Vehicles as sound sources.
    • Amplitude / Level
    • Frequency
    • Directivity
    • Non-Stationary sound.
    Monday, April 8, 13

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  15. Auralization
    • Recordings - Large and Inflexible
    • 6 seconds - 853KB
    • For each velocity, vehicle type, ...
    Monday, April 8, 13

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  16. Auralization
    Monday, April 8, 13

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  17. Auralization
    • What if..?
    Monday, April 8, 13

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  18. Auralization
    • What if..?
    • Extract the important ‘features’
    Monday, April 8, 13

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  19. Auralization
    • What if..?
    • Extract the important ‘features’
    • Calculate waveforms ‘on the fly’
    Monday, April 8, 13

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  20. Auralization
    • What if..?
    • Extract the important ‘features’
    • Calculate waveforms ‘on the fly’
    • Parameters to change the sound
    Vehicle
    Model
    Speed
    Monday, April 8, 13

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  21. Sound Synthesis
    Monday, April 8, 13

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  22. Sound Synthesis
    • Electronic Generation of Audio Waveforms
    Monday, April 8, 13

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  23. Sound Synthesis
    • Electronic Generation of Audio Waveforms
    • Model to Waveform
    Monday, April 8, 13

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  24. Sound Synthesis
    • Electronic Generation of Audio Waveforms
    • Model to Waveform
    • Computer Music Origin
    Monday, April 8, 13

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  25. Sound Synthesis
    • Electronic Generation of Audio Waveforms
    • Model to Waveform
    • Computer Music Origin
    • Current Uses
    • Electronic Music Production,
    • Games
    • Interactive Media
    Monday, April 8, 13

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  26. Sound Synthesis
    Monday, April 8, 13

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  27. Sound Synthesis
    • Flexible Model
    Monday, April 8, 13

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  28. Sound Synthesis
    • Flexible
    • Real Time
    Model
    Monday, April 8, 13

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  29. Sound Synthesis
    • Flexible
    • Real Time
    • Low Memory Requirement
    Model
    ~10KB vs 1MB
    Monday, April 8, 13

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  30. Sound Synthesis
    Monday, April 8, 13

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  31. Sound Synthesis
    • Types
    Monday, April 8, 13

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  32. Sound Synthesis
    • Types
    • Additive Synthesis
    Monday, April 8, 13

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  33. Sound Synthesis
    • Types
    • Additive Synthesis
    • Frequency Modulation Synthesis
    Monday, April 8, 13

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  34. Sound Synthesis
    • Types
    • Additive Synthesis
    • Frequency Modulation Synthesis
    • Physical Synthesis
    Monday, April 8, 13

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  35. Sound Synthesis
    • Types
    • Additive Synthesis
    • Frequency Modulation Synthesis
    • Physical Synthesis
    • Spectral Modeling Synthesis
    Monday, April 8, 13

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  36. Sound Synthesis
    Monday, April 8, 13

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  37. Sound Synthesis
    • Vehicle Sounds
    • Tonal Component - Engine Noise
    • Noise Component - Tyre Noise
    Monday, April 8, 13

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  38. Sound Synthesis
    • Vehicle Sounds
    • Tonal Component - Engine Noise
    • Noise Component - Tyre Noise
    • Non - Stationary
    Monday, April 8, 13

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  39. Spectral Modeling
    Synthesis (SMS)
    Monday, April 8, 13

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  40. Spectral Modeling
    Synthesis (SMS)
    • Xavier Serra and Julius Smith, 1990
    Monday, April 8, 13

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  41. Spectral Modeling
    Synthesis (SMS)
    • Xavier Serra and Julius Smith, 1990
    • Modeling musical instruments
    Monday, April 8, 13

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  42. Spectral Modeling
    Synthesis (SMS)
    • Xavier Serra and Julius Smith, 1990
    • Modeling musical instruments
    • Deterministic + Stochastic Decomposition
    Monday, April 8, 13

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  43. Spectral Modeling
    Synthesis (SMS)
    • Xavier Serra and Julius Smith, 1990
    • Modeling musical instruments
    • Deterministic + Stochastic Decomposition
    • Tonal Sounds + Noise
    Monday, April 8, 13

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  44. SMS Demo
    Monday, April 8, 13

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  45. SMS Demo
    • Original
    • Tonal (Deterministic)
    • Noise (Stochastic)
    • ReSynthesis
    Monday, April 8, 13

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  46. SMS Demo
    • Original
    • Tonal (Deterministic)
    • Noise (Stochastic)
    • ReSynthesis
    Monday, April 8, 13

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  47. SMS Demo
    • Original
    • Tonal (Deterministic)
    • Noise (Stochastic)
    • ReSynthesis
    Monday, April 8, 13

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  48. SMS Demo
    • Original
    • Tonal (Deterministic)
    • Noise (Stochastic)
    • ReSynthesis
    Monday, April 8, 13

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  49. SMS Demo
    • Original
    • Tonal (Deterministic)
    • Noise (Stochastic)
    • ReSynthesis
    Monday, April 8, 13

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  50. • LISTEN Project
    • Auralization
    • Sound Synthesis
    • Spectral Modeling Synthesis (SMS)
    • SMS Implementation for Vehicle Sounds
    • Listening Test
    • Results and Analysis
    • Q & A
    Organization
    Monday, April 8, 13

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  51. SMS Algorithm
    STFT
    Analysis
    Original
    Audio
    Peak
    Detection
    Peak
    Tracking
    Peak
    Trajectories
    Tonal
    ReSynth
    Residual
    Audio
    Residual
    Parameterization
    Residual
    Parameters
    Noise
    ReSynth
    ReSynth
    Audio
    Monday, April 8, 13

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  52. SMS Algorithm
    STFT
    Analysis
    Original
    Audio
    Peak
    Detection
    Peak
    Tracking
    Peak
    Trajectories
    Tonal
    ReSynth
    Residual
    Audio
    Residual
    Parameterization
    Residual
    Parameters
    Noise
    ReSynth
    ReSynth
    Audio
    Tonal Analysis
    Monday, April 8, 13

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  53. SMS Algorithm
    STFT
    Analysis
    Original
    Audio
    Peak
    Detection
    Peak
    Tracking
    Peak
    Trajectories
    Tonal
    ReSynth
    Residual
    Audio
    Residual
    Parameterization
    Residual
    Parameters
    Noise
    ReSynth
    ReSynth
    Audio
    Tonal Analysis
    Noise Analysis
    Monday, April 8, 13

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  54. SMS Algorithm
    STFT
    Analysis
    Original
    Audio
    Peak
    Detection
    Peak
    Tracking
    Peak
    Trajectories
    Tonal
    ReSynth
    Residual
    Audio
    Residual
    Parameterization
    Residual
    Parameters
    Noise
    ReSynth
    ReSynth
    Audio
    Tonal Analysis
    Noise Analysis
    Synthesis
    Monday, April 8, 13

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  55. SMS Algorithm
    Tonal Analysis
    • Original Audio - Peak Trajectories
    STFT
    Analysis
    Original
    Audio
    Peak
    Detection
    Peak
    Tracking
    Peak
    Trajectories
    Monday, April 8, 13

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  56. SMS Algorithm
    STFT
    Monday, April 8, 13

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  57. SMS Algorithm
    STFT
    • Short Term Fourier Transform (STFT)
    Monday, April 8, 13

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  58. SMS Algorithm
    STFT
    • Short Term Fourier Transform (STFT)
    • Fourier Analysis of Short Time Instances
    Monday, April 8, 13

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  59. SMS Algorithm
    STFT
    • Short Term Fourier Transform (STFT)
    • Fourier Analysis of Short Time Instances
    • Sliding Window Analysis
    Monday, April 8, 13

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  60. SMS Algorithm
    Peak Detection
    Monday, April 8, 13

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  61. SMS Algorithm
    Peak Detection
    • Gradient Based Detection
    Monday, April 8, 13

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  62. SMS Algorithm
    Peak Detection
    • Gradient Based Detection
    Monday, April 8, 13

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  63. SMS Algorithm
    Peak Detection
    • Gradient Based Detection
    Monday, April 8, 13

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  64. SMS Algorithm
    Peak Detection
    • Gradient Based Detection
    • Interpolation due to DFT Sampling.
    Monday, April 8, 13

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  65. SMS Algorithm
    Peak Detection
    • Gradient Based Detection
    • Interpolation due to DFT Sampling.
    Monday, April 8, 13

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  66. SMS Algorithm
    Peak Tracking
    Monday, April 8, 13

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  67. SMS Algorithm
    Peak Tracking
    • Frequency Guides - Peak Trajectories
    Monday, April 8, 13

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  68. SMS Algorithm
    Peak Tracking
    • Frequency Guides - Peak Trajectories
    • Gradually Varying Sinusoids
    Monday, April 8, 13

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  69. SMS Algorithm
    Peak Tracking
    • Frequency Guides - Peak Trajectories
    • Gradually Varying Sinusoids
    • Doppler Shift
    Monday, April 8, 13

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  70. SMS Algorithm
    Peak Tracking
    • Frequency Guides - Peak Trajectories
    • Gradually Varying Sinusoids
    • Doppler Shift
    Monday, April 8, 13

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  71. SMS Algorithm
    Peak Trajectories
    Monday, April 8, 13

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  72. SMS Algorithm
    Noise Analysis
    • Original Audio & Tonal Synthesis - Residual
    Parameters
    Original
    Audio
    Peak
    Trajectories
    Tonal
    ReSynth
    Residual
    Audio
    Residual
    Parameterization
    Residual
    Parameters
    Monday, April 8, 13

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  73. SMS Algorithm
    Residual Calculation
    Monday, April 8, 13

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  74. SMS Algorithm
    Residual Calculation
    • Original - Tonal = Residual
    Monday, April 8, 13

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  75. SMS Algorithm
    Residual Calculation
    • Original - Tonal = Residual
    • Spectrum Subtraction
    Monday, April 8, 13

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  76. SMS Algorithm
    Residual Calculation
    • Original - Tonal = Residual
    • Spectrum Subtraction
    Monday, April 8, 13

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  77. SMS Algorithm
    Residual Parameterization
    Monday, April 8, 13

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  78. SMS Algorithm
    Residual Parameterization
    • Perceptual Model
    Monday, April 8, 13

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  79. SMS Algorithm
    Residual Parameterization
    • Perceptual Model
    • Noise Energy per Critical Band
    Monday, April 8, 13

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  80. SMS Algorithm
    Residual Parameterization
    • Perceptual Model
    • Noise Energy per Critical Band
    Monday, April 8, 13

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  81. SMS Algorithm -
    Residual Parameters
    Monday, April 8, 13

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  82. SMS Algorithm
    Complete Model
    Monday, April 8, 13

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  83. SMS Algorithm
    Complete Model
    • Peak Trajectories
    Monday, April 8, 13

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  84. SMS Algorithm
    Complete Model
    • Peak Trajectories
    Monday, April 8, 13

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  85. SMS Algorithm
    Complete Model
    • Peak Trajectories
    • Residual Parameters
    Monday, April 8, 13

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  86. SMS Algorithm
    Complete Model
    • Peak Trajectories
    • Residual Parameters
    Monday, April 8, 13

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  87. SMS Algorithm
    Complete Model
    • Peak Trajectories
    • Residual Parameters
    6 seconds - 80KB
    Monday, April 8, 13

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  88. SMS Algorithm
    Synthesis
    • Peak Trajectories - Tonal Sound
    • Residual Parameters - Noise
    Peak
    Trajectories
    Tonal
    ReSynth
    Residual
    Parameters
    Noise
    ReSynth
    ReSynth
    Audio
    Monday, April 8, 13

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  89. SMS Algorithm
    Tonal Synthesis
    Monday, April 8, 13

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  90. SMS Algorithm
    Tonal Synthesis
    • Peak Trajectories - Sinusoid Waveform
    Monday, April 8, 13

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  91. SMS Algorithm
    Tonal Synthesis
    • Peak Trajectories - Sinusoid Waveform
    • x[n] = A[n]*cos(w[n])
    Monday, April 8, 13

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  92. SMS Algorithm
    Tonal Synthesis
    • Peak Trajectories - Sinusoid Waveform
    • x[n] = A[n]*cos(w[n])
    + +
    = =
    Monday, April 8, 13

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  93. SMS Algorithm
    Residual Synthesis
    Monday, April 8, 13

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  94. SMS Algorithm
    Residual Synthesis
    • Residual Parameters - Noise
    Monday, April 8, 13

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  95. SMS Algorithm
    Residual Synthesis
    • Residual Parameters - Noise
    • Interpolation
    Monday, April 8, 13

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  96. SMS Algorithm
    Residual Synthesis
    • Residual Parameters - Noise
    • Interpolation
    • Random Phase Assignment
    Monday, April 8, 13

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  97. SMS Algorithm
    Residual Synthesis
    • Residual Parameters - Noise
    • Interpolation
    • Random Phase Assignment
    • Inverse Fourier Transform
    Monday, April 8, 13

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  98. SMS Algorithm
    Residual Synthesis
    • Residual Parameters - Noise
    • Interpolation
    • Random Phase Assignment
    • Inverse Fourier Transform
    • Overlap and Add Synthesis
    Monday, April 8, 13

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  99. SMS Algorithm
    Residual Synthesis
    • Overlap and Add Synthesis
    Monday, April 8, 13

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  100. SMS Algorithm
    STFT
    Analysis
    Original
    Audio
    Peak
    Detection
    Peak
    Tracking
    Peak
    Trajectories
    Tonal
    ReSynth
    Residual
    Audio
    Residual
    Parameterization
    Residual
    Parameters
    Noise
    ReSynth
    ReSynth
    Audio
    Tonal Analysis
    Noise Analysis
    Synthesis
    Monday, April 8, 13

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  101. • LISTEN Project
    • Auralization
    • Sound Synthesis
    • Spectral Modeling Synthesis (SMS)
    • SMS Implementation for Vehicle Sounds
    • Listening Test
    • Results and Analysis
    • Q & A
    Organization
    Monday, April 8, 13

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  102. SMS for Vehicle Sounds
    • Multi Pass Analysis
    • Trajectory Energy Filtering
    • Residual parameter smoothing
    Monday, April 8, 13

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  103. SMS for Vehicle Sounds
    • Multi Pass Analysis
    • Analysis Window - Frequency Dependence
    Monday, April 8, 13

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  104. SMS for Vehicle Sounds
    • Multi Pass Analysis - Pyramid Analysis
    • Vary window length for each ‘Pass’
    Monday, April 8, 13

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  105. SMS for Vehicle Sounds
    Monday, April 8, 13

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  106. SMS for Vehicle Sounds
    • Multi Pass Analysis
    Monday, April 8, 13

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  107. SMS for Vehicle Sounds
    • Multi Pass Analysis
    • Frequency band - Pass
    Monday, April 8, 13

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  108. SMS for Vehicle Sounds
    • Multi Pass Analysis
    • Frequency band - Pass
    Pass 1
    Pass 2
    Pass 3
    Monday, April 8, 13

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  109. SMS for Vehicle Sounds
    • Trajectory Energy Filtering
    • Too many trajectories - Filter by ‘Importance’
    Monday, April 8, 13

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  110. SMS for Vehicle Sounds
    Monday, April 8, 13

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  111. SMS for Vehicle Sounds
    • Fluctuating Residual Parameter
    Monday, April 8, 13

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  112. SMS for Vehicle Sounds
    • Fluctuating Residual Parameter
    • Smoothen
    Monday, April 8, 13

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  113. SMS for Vehicle Sounds
    • Fluctuating Residual Parameter
    • Smoothen
    Monday, April 8, 13

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  114. SMS on Vehicle Sounds
    • Bus (39km/h)
    • Original
    • Tonal
    • Noise
    • ReSynth
    Monday, April 8, 13

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  115. SMS on Vehicle Sounds
    • Bus (39km/h)
    • Original
    • Tonal
    • Noise
    • ReSynth
    Monday, April 8, 13

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  116. SMS on Vehicle Sounds
    • Bus (39km/h)
    • Original
    • Tonal
    • Noise
    • ReSynth
    Monday, April 8, 13

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  117. SMS on Vehicle Sounds
    • Bus (39km/h)
    • Original
    • Tonal
    • Noise
    • ReSynth
    Monday, April 8, 13

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  118. SMS on Vehicle Sounds
    • Bus (39km/h)
    • Original
    • Tonal
    • Noise
    • ReSynth
    Monday, April 8, 13

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  119. SMS on Vehicle Sounds
    • Open Astra (45 km/h)
    • Volvo V70 (50 km/h)
    • IV Medium-Heavy (40km/h)
    • Bus (86km/h)
    Monday, April 8, 13

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  120. SMS on Vehicle Sounds
    • Open Astra (45 km/h)
    • Volvo V70 (50 km/h)
    • IV Medium-Heavy (40km/h)
    • Bus (86km/h)
    Monday, April 8, 13

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  121. SMS on Vehicle Sounds
    • Open Astra (45 km/h)
    • Volvo V70 (50 km/h)
    • IV Medium-Heavy (40km/h)
    • Bus (86km/h)
    Monday, April 8, 13

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  122. SMS on Vehicle Sounds
    • Open Astra (45 km/h)
    • Volvo V70 (50 km/h)
    • IV Medium-Heavy (40km/h)
    • Bus (86km/h)
    Monday, April 8, 13

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  123. SMS on Vehicle Sounds
    • Open Astra (45 km/h)
    • Volvo V70 (50 km/h)
    • IV Medium-Heavy (40km/h)
    • Bus (86km/h)
    Monday, April 8, 13

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  124. • LISTEN Project
    • Auralization
    • Sound Synthesis
    • Spectral Modeling Synthesis (SMS)
    • SMS Implementation for Vehicle Sounds
    • Listening Test
    • Results and Analysis
    • Q & A
    Organization
    Monday, April 8, 13

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  125. Listening Test
    Monday, April 8, 13

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  126. Listening Test
    • Perceptual Similarity of Sounds
    Monday, April 8, 13

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  127. Listening Test
    • Perceptual Similarity of Sounds
    • 18 Sounds - 72 Combination
    Monday, April 8, 13

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  128. Listening Test
    • Perceptual Similarity of Sounds
    • 18 Sounds - 72 Combination
    • Paired Sound Test
    Monday, April 8, 13

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  129. Listening Test
    • Perceptual Similarity of Sounds
    • 18 Sounds - 72 Combination
    • Paired Sound Test
    • 3 Questions
    • Realism
    • Annoyance
    • Speed
    Monday, April 8, 13

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  130. Listening Test
    • Perceptual Similarity of Sounds
    • 18 Sounds - 72 Combination
    • Paired Sound Test
    • 3 Questions
    • Realism
    • Annoyance
    • Speed
    • 27 Participants
    Monday, April 8, 13

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  131. Listening Test Results
    Monday, April 8, 13

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  132. Listening Test Results
    • Significant Difference Match Pair t-test - 90%
    Monday, April 8, 13

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  133. Spectral Analysis
    Monday, April 8, 13

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  134. • LISTEN Project
    • Auralization
    • Sound Synthesis
    • Spectral Modeling Synthesis (SMS)
    • SMS Implementation for Vehicle Sounds
    • Listening Test
    • Results and Analysis
    • Q & A
    Organization
    Monday, April 8, 13

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  135. Analysis - Applications
    Monday, April 8, 13

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  136. Analysis - Applications
    • Applying propagation to Sound Model
    Monday, April 8, 13

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  137. Analysis - Applications
    • Applying propagation to Sound Model
    • Direct Frequency-Domain Changes
    Monday, April 8, 13

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  138. Analysis - Applications
    • Applying propagation to Sound Model
    • Direct Frequency-Domain Changes
    • Less Memory Requirement
    Monday, April 8, 13

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  139. Analysis - Applications
    • Applying propagation to Sound Model
    • Direct Frequency-Domain Changes
    • Less Memory Requirement
    • Interaction Real-Time Synthesis
    Monday, April 8, 13

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  140. Analysis - Applications
    Monday, April 8, 13

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  141. Analysis - Applications
    • Binaural calculation of propagation
    Monday, April 8, 13

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  142. Analysis - Applications
    • Binaural calculation of propagation
    • Multiple source height - issue
    Monday, April 8, 13

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  143. Analysis - Applications
    • Binaural calculation of propagation
    • Multiple source height - issue
    • SMS can ‘separate’ engine and tyre
    Monday, April 8, 13

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  144. Conclusion
    Monday, April 8, 13

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  145. Conclusion
    • SMS works great for vehicle sounds.
    Monday, April 8, 13

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  146. Conclusion
    • SMS works great for vehicle sounds.
    • Less memory and more flexible
    Monday, April 8, 13

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  147. Conclusion
    • SMS works great for vehicle sounds.
    • Less memory and more flexible
    • Fine tuning for effectively and efficiency.
    Monday, April 8, 13

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  148. Conclusion
    • SMS works great for vehicle sounds.
    • Less memory and more flexible
    • Fine tuning for effectively and efficiency.
    • Can produce perceptually similar sounds.
    Monday, April 8, 13

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  149. Future Work
    Monday, April 8, 13

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  150. Future Work
    • Automated Parameter Estimation
    Monday, April 8, 13

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  151. Future Work
    • Automated Parameter Estimation
    • Improved Noise Model
    Monday, April 8, 13

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  152. Future Work
    • Automated Parameter Estimation
    • Improved Noise Model
    • Transients Modeling
    Monday, April 8, 13

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  153. Future Work
    • Automated Parameter Estimation
    • Improved Noise Model
    • Transients Modeling
    • Support for Binaural Propagation
    calculation
    Monday, April 8, 13

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  154. Thanks!
    Monday, April 8, 13

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