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>> I would like to begin with our master's student and our 1st Masters finalist Keshav Brembo. Speaking on imparting explosive dynamics to percussive musical robot Shimoda redeeming my name is member and I am a graduate research assistant in that award musicianship lab at the Georgia Tech Center for Music technology and today I'll be presenting on imbibing expressive reading and dynamic range to our one and only music playing robot Shimon So she is a Marine but being robotic with it for different and a different actuators it can play almost anything in the world the we she won't please marimba is by using MIDI protocol which is a very standard music protocol so what happens is that we send an input through MIDI which specifies what Nort Shimon has to hit and with what speed are we lost city it has to hit that particular mark but when we actually carried out experiments and we try to measure that you know if there's some sort of consistency in the amount of force that is applied on that particular Nord given a fixed input we found that it the radiation was not linear at all as a matter of fact the variance was from anywhere between 0 percent to over 100 percent this is not what we need we need something which is consistent we need an actually mechanism which is reliable and lets see if I want to have a particle of force exerted at a particular point in time it should be able to do that so what's the solution here with the event for Bush Sr you see more of this because they have good speed talker to sticks and if we apply good controls over it we'll be able to get what we want that is that exact force which is also consistent.

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So in order to do that the strategy that we're using here is called impedance control so how this works is that you get your speed as well as Flossy values from the mortar Now these values are fed to your impedance control equation now this impedance control equation basically gives you the talk where use corresponding to the speed and velocity bonus now the star isn't actually fortunate of the current which is fed into the motor which in turn is a regular version to the amount of force which will be applied on that particular note so how this will work is that you will get those MIDI signals these midi will extract the medieval loss of the values from this ignorance and then this will be fed to the controller Now this controller is going to send the signal to the murder driver which will in turn send those final value so the motor so that the motor is able to strike that particular north really well so why are we doing this well we actually want robots to be able to play more like humans and not like machines and I believe at a certain stage in this project we will be able to achieve that thank you.