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Supported Hardware



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Recording Environment

  • Room
    • Room size : 7m x 4m
    • Reverberation time : 0.2 seconds
  • Recorded signal
    • Signal type : Time Stretched Pulse (TSP)
    • TSP length : 16384
    • Sampling rate : 16 kHz
    • Bit depth : 16bit or 24bit (Hardware specific)
    • Number of repetition : 16

Other Information (Common for TSP recording and geometric calculation transfer function)

  • Microphone device
    • Locations of Microphones : Please refer to each device item
  • Sound source locations
    • Source Location Shape : Circle
    • Source Resolutions
      • Source Radius : 1.0 m
      • Source Azimuth : 72 directions (every 5 degrees)
      • Source Elevation : 16.7 degrees
  • Transfer function file format
    • old format (for HARK 1.0 to 2.0)
      • For localization (.dat)
      • For separation (.tff)
    • current format (for HARK 2.1 or later)
      • Includes both localization and separation (.zip)

 Sensor devices

TAMAGO-01/02/03 (System in Frontier Inc.)

RASP-24 (System in Frontier Inc.)

RASP-LC (System in Frontier Inc.)

  • Installation and Documentation

RASP-ZX (System in Frontier Inc.)

  • Installation and Documentation

PlayStation Eye (Sony Computer Entertainment Inc.)

  • Website

Kurage-kun (System in Frontier Inc.)

  • Website



We finished supporting the devices listed here. The software for them will not be updated.


  • Website

Kinect (Microsoft Corporation)

  • Website

Xbox One Kinect (Kinect v2 : Microsoft Corporation)

  • Website

Microcone (Dev-Audio Pty Ltd.)

  • Website

Turtlebot (Willow Garage)

  • Website