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Paul Milenkovic

Paul Milenkovic

Associate Professor

Our research effort is to pursue several different techniques for measuring physiological quantities from acoustic data. In one project, we are developing a “mouth sonar” apparatus for measuring the vocal tract shape. An externally generated acoustic signal is applied to the vocal tract at the lips, and the acoustic reflection is analyzed to determine the vocal tract area function.

Another project concerns the measurement of the pattern of vocal fold vibration occurring at the larynx. Linear Predictive Coding (LPC) analysis can be applied to the acoustic speech signal to determine an inverse filter. This filter serves to remove the influence of the vocal tract resonances to reveal the underlying train of airflow pulses produced by the opening and closing of the vocal folds. We are studying the use of parametric models of the glottal airflow pulses signal as a means of detecting modes of vocal fold vibration that are characteristic of the normal larynx and the larynx of individuals with voice disorders.

To conduct experimental studies on the acoustic signal recorded from speech, we have developed the CSpeech software package for digitizing, editing, and analyzing audio signals on the IBM Personal Computer. This software package is being used campus wide in the Departments of Electrical and Computer Engineering, Communicative Disorders, Otolaryngology, Linguistics, English, Communication Arts, and East Asian Languages and Literature. This common software package facilitates interdisciplinary projects in the study of speech.

Department

Electrical & Computer Engineering

Contact

2356, Engineering Hall
1415 Engineering Dr
Madison, WI

  • PhD 1980, California Institute of Technology
  • MS 1978, California Institute of Technology
  • BS 1976, Northwestern University

  • digital signal processing
  • acoustic analysis of speech
  • speech synthesis
  • kinematics (motion) of mechanical linkages
  • dynamics (motion with inertia)
  • path planning
  • avoidance of manipulator singularities

  • 1991 EDUCOM/EUIT, “Joe Wyatt Challenge” Success Story Award
  • 1988 ASHA Annual Convention, First Place, Scientific Merit

  • Milenkovic, P., Wang, Z., & Rodriguez, J. I. (2023). Encountering singularities of a serial robot along continuous paths at high precision. Mechanism and Machine Theory, 181, 105224.
  • Milenkovic, P. (2022). Optimal path crossing the orientation exclusion zone of a robot with offset wrist. Robotica, 40(1), 191--212.
  • Milenkovic, P. (2021). Serial-robot wrist-singularity mitigation along alternative optimally adjusted paths. Journal of Dynamic Systems, Measurement, and Control, 143(11), 111002.
  • Milenkovic, P. (2021). Wrist singularity avoidance with a robot end-effector adding an oblique, redundant axis. Mechanism and Machine Theory, 162, 104355.
  • Milenkovic, P., Wagner, M., Kent, R. D., Story, B. H., & Vorperian, H. K. (2020). Effects of sampling rate and type of anti-aliasing filter on linear-predictive estimates of formant frequencies in men, women, and children. The Journal of the Acoustical Society of America, 147(3), EL221--EL227.
  • Milenkovic, P. (2019). Continuous path control for optimal wrist singularity avoidance in a serial robot. Mechanism and Machine Theory, 140, 809--824.
  • Milenkovic, P. (2019). Effect of the coordinate frame on high-order expansion of serial-chain displacement. Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 233(4), 840--855.
  • Wagner, M., Paul, M., Kent, R. D., & Vorperian, H. K. (2017). Effects of sampling rate of speech waveform acoustic measurements. In Undergraduate Research Symposium.
  • Milenkovic, P. (2014). Numerical solution of stiff multibody dynamic systems based on kinematic derivatives. Journal of Dynamic Systems, Measurement, and Control, 136(6), 061001.
  • Milenkovic, P. (2013). Multi-integral method for solving the forward dynamics of stiff multibody systems. Journal of Dynamic Systems, Measurement, and Control, 135(5), 051014.

  • E C E 399 - Independent Study (Spring 2025)
  • E C E 431 - Digital Signal Processing (Spring 2025)
  • E C E 437 - Communication Systems II (Spring 2025)
  • E C E 890 - Pre-Dissertator's Research (Spring 2025)
  • E C E 399 - Independent Study (Fall 2024)
  • E C E 436 - Communication Systems I (Fall 2024)
  • E C E 730 - Probability and Random Processes (Fall 2024)
  • E C E 890 - Pre-Dissertator's Research (Fall 2024)
  • E C E 890 - Pre-Dissertator's Research (Summer 2024)
  • E C E 431 - Digital Signal Processing (Spring 2024)
  • E C E 437 - Communication Systems II (Spring 2024)
  • E C E 890 - Pre-Dissertator's Research (Spring 2024)
  • E C E 990 - Dissertator's Research (Spring 2024)
  • E C E 436 - Communication Systems I (Fall 2023)
  • E C E 730 - Probability and Random Processes (Fall 2023)
  • E C E 990 - Dissertator's Research (Fall 2023)