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cong ở những thái cực của môi, nhưng những người khác đã cố gắng để phù hợp với môi trong bản vẽ dòng. Thỉnh thoảng, nhăn mặt sợ hãi của Kismet phù hợp với một nụ cười, nụ cười của nó phù hợp để đẩy. Một số misclassifications phát sinh từ phù hợp với biểu hiện của robot để vẽ đường truyền đạt tình cảm đến chủ đề. | 206 Chapter 11 energy NT phoneme 1 ms poll at 40 Hz DECtalk speech synthesizer 1 ms QNX jaw ctrl delay 100 ms DPRAM EỘ speech 250 ms signal latency sound card delay 250 ms jaw motor energy phoneme 1 ms L motor skill system DPRAM emphasis lip posture speaker L face control system X lips face motors Figure 11.5 Schematic of the flow of information for lip synchronization. This figure illustrates the latencies of the system and the compensatory delays to maintain synchrony. The computer network involved in lip synchronization is a bit convoluted but supports real-time performance. Figure 11.5 illustrates the information flow through the system and denotes latencies. Within the NT machine there is a latency of approximately 250 ms from the time the synthesizer generates the speech signal and extracts phoneme information until that speech signal is sent to the sound card. Immediately following the generation and feature extraction phase the NT machine sends this information to the QNX node that controls the jaw motor. The latency of this stage is less than 1 ms. Within QNX the energy signal and phoneme information are used to compute the jaw position. To synchronize jaw movement with sound production from the sound card the jaw command position is delayed by 250 ms. For the same reason the QNX machine delays the transfer of energy and phoneme information by 100 ms to the L-based machines. Dual-ported RAM communication is submillisecond. The lip synchronization processes running on L polls and updates their energy and phoneme values at 40 Hz much faster than the phoneme information is changing and much faster than the actuators can respond. Energy is scaled to control the amount of facial emphasis and the phonemes are mapped to lip postures. The lip synchronization performance is well-coordinated with speech output since the delays and latencies are fairly consistent. Expressive Vocalization System 207 ow uw uh oy yu w aw ix yx ih ey eh eh ah ae nx hx s z lx n l t d el .
