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Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: Combined perception and control for timing in robotic music performances | EURASIP Journal on Audio Speech and Music Processing SpringerOpen0 This Provisional PDF corresponds to the article as it appeared upon acceptance. Fully formatted PDF and full text HTML versions will be made available soon. Combined perception and control for timing in robotic music performances EURASIP Journal on Audio Speech and Music Processing 2012 2012 8 doi 10.1186 1687-4722-2012-8 Umut Simsekli umutsim@gmail.com Orhan Sonmez orhansonmez@gmail.com Baris Kurt bariskurt@gmail.com Ali TAYLAN Cemgil taylan.cemgil@boun.edu.tr ISSN 1687-4722 Article type Research Submission date 16 April 2011 Acceptance date 3 February 2012 Publication date 3 February 2012 Article URL http asmp.eurasipjournals.com content 2012 1 8 This peer-reviewed article was published immediately upon acceptance. It can be downloaded printed and distributed freely for any purposes see copyright notice below . For information about publishing your research in EURASIP ASMP go to http asmp.eurasipjournals.com authors instructions For information about other SpringerOpen publications go to http www.springeropen.com 2012 Simsekli et al. licensee Springer. This is an open access article distributed under the terms of the Creative Commons Attribution License http creativecommons.org licenses by 2.0 which permits unrestricted use distribution and reproduction in any medium provided the original work is properly cited. Combined perception and control for timing in robotic music performances Umut im ekli Orhan Sonmez Baris Kurt and Ali Taylan Cemgil Department of Computer Engineering Bogazi i University 34342 Bebek Istanbul Turkey Corresponding author umut.simsekli@boun.edu.tr Email addresses OS orhan.sonmez@boun.edu.tr BK baris.kurt@boun.edu.tr ATC taylan.cemgil@boun.edu.tr Abstract Interaction with human musicians is a challenging task for robots as it involves online perception and precise synchronization. In this paper we present a consistent and theoretically sound framework for combining perception