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George W. Woodruff School of Mechanical Engineering
George W. Woodruff School of Mechanical Engineering
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ItemMachine Learning Driven Emotional Musical Prosody for Human-Robot Interaction(Georgia Institute of Technology, 2021-11-18) Savery, RichardThis dissertation presents a method for non-anthropomorphic human-robot interaction using a newly developed concept entitled Emotional Musical Prosody (EMP). EMP consists of short expressive musical phrases capable of conveying emotions, which can be embedded in robots to accompany mechanical gestures. The main objective of EMP is to improve human engagement with, and trust in robots while avoiding the uncanny valley. We contend that music - one of the most emotionally meaningful human experiences - can serve as an effective medium to support human-robot engagement and trust. EMP allows for the development of personable, emotion-driven agents, capable of giving subtle cues to collaborators while presenting a sense of autonomy. We present four research areas aimed at developing and understanding the potential role of EMP in human-robot interaction. The first research area focuses on collecting and labeling a new EMP dataset from vocalists, and using this dataset to generate prosodic emotional phrases through deep learning methods. Through extensive listening tests, the collected dataset and generated phrases were validated with a high level of accuracy by a large subject pool. The second research effort focuses on understanding the effect of EMP in human-robot interaction with industrial and humanoid robots. Here, significant results were found for improved trust, perceived intelligence, and likeability of EMP enabled robotic arms, but not for humanoid robots. We also found significant results for improved trust in a social robot, as well as perceived intelligence, creativity and likeability in a robotic musician. The third and fourth research areas shift to broader use cases and potential methods to use EMP in HRI. The third research area explores the effect of robotic EMP on different personality types focusing on extraversion and neuroticism. For robots, personality traits offer a unique way to implement custom responses, individualized to human collaborators. We discovered that humans prefer robots with emotional responses based on high extraversion and low neuroticism, with some correlation between the humans collaborator’s own personality traits. The fourth and final research question focused on scaling up EMP to support interaction between groups of robots and humans. Here, we found that improvements in trust and likeability carried across from single robots to groups of industrial arms. Overall, the thesis suggests EMP is useful for improving trust and likeability for industrial, social and robot musicians but not in humanoid robots. The thesis bears future implications for HRI designers, showing the extensive potential of careful audio design, and the wide range of outcomes audio can have on HRI.
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ItemComposing and Decomposing Electroacoustic Sonifications: Towards a Functional-Aesthetic Sonification Design Framework(Georgia Institute of Technology, 2021-05-01) Tsuchiya, TakahikoThe field of sonification invites musicians and scientists for creating novel auditory interfaces. However, the opportunities for incorporating musical design ideas into general functional sonifications have been limited because of the transparency and communication issues with musical aesthetics. This research proposes a new design framework that facilitates the use of musical ideas as well as a transparent representation or conveyance of data, verified with two human subjects tests. An online listening test analyzes the effect of the structural elements of sound as well as a guided analytical listening to the perceptibility of data. A design test examines the range of variety the framework affords and how the design process is affected by functional and aesthetic design goals. The results indicate that the framework elements, such as the synthetic models and mapping destinations affect the perceptibility of data, with some contradictions between the designer's general strategies and the listener's responses. The analytical listening nor the listener's musical background show little statistical trends, but instead imply complex relationships of types of interpretations and the structural understanding. There are also several contrasting types in the design and listening processes which indicate different levels of structural transparency as well as the applicability of a wider variety of designs.
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ItemLearning to manipulate latent representations of deep generative models(Georgia Institute of Technology, 2021-01-14) Pati, Kumar AshisDeep generative models have emerged as a tool of choice for the design of automatic music composition systems. While these models are capable of learning complex representations from data, a limitation of many of these models is that they allow little to no control over the generated music. Latent representation-based models, such as Variational Auto-Encoders, have the potential to alleviate this limitation as they are able to encode hidden attributes of the data in a low-dimensional latent space. However, the encoded attributes are often not interpretable and cannot be explicitly controlled. The work presented in this thesis seeks to address these challenges by learning to manipulate and design latent spaces in a way that allows control over musically meaningful attributes that are understandable by humans. This in turn can allow explicit control of such attributes during the generation process and help users realize their compositional goals. Specifically, three different approaches are proposed to investigate this problem. The first approach shows that we can learn to traverse latent spaces of generative models to perform complex interactive music composition tasks. The second approach uses a novel latent space regularization technique which can encode individual musical attributes along specific dimensions of the latent space. The third approach attempts to use attribute-informed non-linear transformations over an existing latent space such that the transformed latent space allows controllable generation of data. In addition, the problem of disentanglement learning in the context of symbolic music is investigated systematically by proposing a tailor-made dataset for the task and evaluating the performance of several different methods for unsupervised and supervised disentanglement learning. Together, the proposed methods will help address critical shortcomings of deep music generative models and pave the path towards intuitive interfaces which can be used by humans in real compositional settings.
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ItemEmpathic Effects of Auditory Heartbeats: A Neurophysiological Investigation(Georgia Institute of Technology, 2020-04-22) Winters, Raymond MichaelI hypothesized that hearing the heartbeat of another person would affect listeners’ empathic state, and designed an experiment to measure changes in behavior and cardiac neurophysiology. In my experiment, participants (N = 27) completed modified versions of the Reading the Mind in the Eyes Task (RMET) in different auditory heartbeat conditions (slow, fast, silence, audio-only). For each trial, participants completed two measures of empathic state: cognitive (“What is this person feeling?”) and affective (“How well could you feel what they were feeling?”). From my results, I found that the presence of auditory heartbeats i) changed cognitive empathy and ii) increased affective empathy, and these responses depended on the heartbeat tempo. I also analyzed two markers of cardiac neurophysiology: i) Heart Rate (HR) and ii) the Heartbeat-Evoked Potential (HEP). I found that the auditory heartbeat decreased listeners’ HR, and there were additional effects due to tempo and affective empathy. Finally, a frontal component of the HEP was more negative in the time-range of 350-500ms, which I attribute to a decrease in cardiac attention (i.e. “interoception”) when listening empathically to the heartbeat of others.