Problem

To add noise from a robot fan or motor for simulation.

Solution

To apply the robot audition system to the real world, noise from the surrounding environment, the system itself, and/or a recording device must be considered. By recording these noises in advance and adding them to the original sounds, you can evaluate your system more realistically. Adding noise is simple; First, synthesize multichannel sounds using the recipe: Synthesizing multichannel sounds from impulse responses. Then, add the recorded noise. Matlab pseudo codes are shown below.

x=wavread('signal.wav');