The human voice may convey meaningful information about socially and evolutionarily relevant characteristics of the vocalizer. In turn, listeners may readily evaluate personal characteristics, such as body size, on the basis of nonverbal voice features. Research investigating vocal communication of physical size in humans has focused on two salient and largely independent voice features, fundamental frequency and/or corresponding harmonics (perceived as voice pitch) and formant frequencies (resonance frequencies of the supralaryngeal vocal tract). However, the degree to which fundamental and formant frequencies reliably predict variation in body size controlling for sex and age, and their relative role in the perception or accurate estimation of body size, has to date been unclear. In the current thesis, using meta-analysis, I establish that formants reliably predict variation in men’s and women’s heights and weights. In contrast, fundamental frequency only weakly predicts men’s heights and women’s weights. These findings corroborate work on many other mammals whose vocal production, like humans, follows the source-filter model. Despite the lack of a robust physical relationship between fundamental frequency and size within sexes, I further demonstrate that listeners utilize voice pitch to accurately gauge men’s relative height. My research suggests that voice pitch indirectly facilitates accurate size assessment by providing a carrier signal (i.e., dense harmonics) for formants. This is the first evidence that pitch does not confound accurate size estimation. Finally, I demonstrate that voices with lowered pitch, but not raised pitch, are perceived as larger when projected from a low than high spatial location. These results suggest that strong cross-modal perceptual biases linking low pitch to low elevation and large size may, in some contexts, cause errors in size estimation. Taken together, this thesis provides a detailed account of human vocal communication of body size, which can play a meaningful role in sexual and social contexts. / Dissertation / Doctor of Philosophy (PhD)

This thesis project aims to learn and understand more about implementing a path planner to the unmanned ground vehicle (UGV), UGV Husky, specifically its traversability algorithm, and investigate how it could be further improved. A surrounding grid is generated around the UGV where each cell contains information connected to its traversability. The traversability filter is given this information to score how possible it is to traverse to the cell with regard to angular slope, terrain roughness, and step height. The three parameters have each a critical value that works as a limit where if one of the three parameters were to exceed the critical value then the cell would not be estimated to be traversable. The current problem is that their critical value for angular slope, step height, and terrain roughness are decided arbitrarily and mostly through simulation. To solve this problem, formulas are derived that focus on geometrical aspects of a UGV to define the limits in focus on slope and step. The formulas give threshold values applied to the code and are run in simulation. To validate this, hardware experiments are done to compare simulation and reality. This is to observe and learn if the simulations are good representations of reality and if the threshold values are correct. The results show that the thresholds are good estimations of the UGV Husky's limits. This is if one takes into consideration that other important factors are not included or known, such as the ground conditions in the actual experiments. The simulation studies also prove that Gazebo simulations are not good representations of reality to test terrain difficulties because of simplified physical representation, giving unreliable limits. Based on the successful implementation of the geometrically derived threshold values for slope and step, further work could include similarly derived threshold values for terrain roughness, and attempt to optimize the variables that are in the traversability formula. / Syftet med detta examensabete är attutveckla förståelsen av en ruttplaneringsalgoritm, specifikt dess framkomlighets analays, och kolla hur det går att förbättra den. Problemet som diskuteras i denna rapport är hur tröskelvärdena för vinkellutning, högsta steghöjd och terrängens grovhet är godtyckligt valda och i flesta fall från simuleringsmiljöer eller flera verklighetstester. För att lösa detta problem foukseras det på att utveckla en formel som endast kollar på de geometriska aspekterna av fordonets vinkelgräns och steghöjd. Denna formel blir testad genom att applicera de framräknade tröskelvärdena till simuleringsmiljön och observera ifall det stämmer att UGVn som användts (UGV Husky) har dessa begränsningar. För validering görs tester också i verkligheten för att se hur relationen mellan simulering och verklighet är. Resultaten visar att värdena är bra uppskattningar till vad UGV Husky klarar i verkligheten om man tar i åtanke att viktiga faktorer har inte tagits med exempelvis markförhållanden. Simulering i förhållande till verklighet är inte en bra representation på grund av dålig upplösning av modeleringen av UGVn vilket ger opålitliga gränser. Nästa steg skulle framöver vara att ta med terrängförhållanden i beräkningarna och optimera flera variabler i formeln.