Two dimensional recursive digital filters for near real time image processing

A program was designed toward the demonstration of the feasibility of using two dimensional recursive digital filters for subjective image processing applications that require rapid turn around. The concept of the use of a dedicated minicomputer for the processor for this application was demonstrated. The minicomputer used was the HP1000 series E with a RTE 2 disc operating system and 32K words of memory. A Grinnel 256 x 512 x 8 bit display system was used to display the images. Sample images were provided by NASA Goddard on a 800 BPI, 9 track tape. Four 512 x 512 images representing 4 spectral regions of the same scene were provided. These images were filtered with enhancement filters developed during this effort

Digit-slicing architectures for real-time digital filters

One of the many important algorithmic techniques in digital signal processing is real-time digital filtering. Modular sliced structures for digital filters have been proposed before, but the nature of implementation has been mainly constrained to non-recursive second order digital filters with positive values of coefficients. The aim of this research project is to extend this modular digit slicing concept to more practical higher order digital filters which are recursive and are of many forms (direct, nondirect, canonic, non-canonic). [Continues.

The design and implementation of a microprocessor controlled adaptive filter

This thesis describes the construction and implementation of a microprocessor controlled recursive adaptive filter applied as a noise canceller. It describes the concept of the adaptive noise canceller, a method of estimating the received signal corrupted with additive interference (noise). This canceller has two inputs, the primary input containing the corrupted signal and the reference input consisting of the additive noise correlated in some unknown way to the primary noise. The reference input is filtered and subtracted from the primary input without degrading the desired components of the signal. This filtering process is adaptive and based on Widrow-Hoff Least-Mean-Square algorithm. Adaptive filters are programmable and have the capability to adjust their own parameters in situations where minimum piori knowledge is available about the inputs. For recursive filters, these parameters include feed-forward (non-recursive) as well as feedback (recursive) coefficients. A new design and implementation of the adaptive filter is suggested which uses a high speed 68000 microprocessor to accomplish the coefficients updating operation. Many practical problems arising in the hardware implementation are investigated. Simulation results illustrate the ability of the adaptive noise canceller to have an acceptable performance when the coefficients updating operation is carried out once every N sampling periods. Both simulation and hardware experimental results are in agreement

Low power, reduced complexity filtering and improved tracking accuracy for GNSS

This thesis addresses the power consumption problems resulting from the advent of multiple GNSS satellite systems which create the need for receivers supporting multi-frequency, multi-constellation GNSS systems. Such a multi-mode receiver requires a substantial amount of signal processing power which translates to increased hardware complexity and higher power dissipation which reduces the battery life of a mobile platform. During the course of the work undertaken, a power analysis tool was developed in order to be able to estimate the hardware utilisation as well as the power consumption of a digital system. By using the power estimation tool developed, it was established that most of the power was dissipated after the Analog to Digital Converter (ADC)by the filters associated with the decimation process. The power dissipation and the hardware complexity of the decimator can be reduced substantially by using a minimum-phase Infinite Impulse Response (IIR) filter. For Global Positioning System (GPS) civilian signals, the use of IIR filters does not deleteriously affect the positional accuracy. However, in the case where an IIR filter was deployed in a GLObalnaya NAvigatsionnaya Sputnikovaya Sistema (GLONASS) receiver, the pseudorange measurements of the receiver varied by up to 200 metres. The work undertaken proposes various methods that overcomes the pseudorange measurement variation and reports on the results that are on par with linear-phase Finite Impulse Response (FIR) filters. The work also proposes a modified tracking loop that is capable of tracking very low Doppler frequencies without decreasing the tracking performance

Continuous-time adaptive control applied to rf amplifier linearization

A new approach to the RF power amplifier linearization problem is presented. The proposed solution applies non-linear theories (Lyapunov direct method) to adaptive filtering in order to improve the linearity of the RF amplifiers. The obtained design requires lower circuit complexity than the LINC amplifier, and is not based on iterative algorithms nor sub-system identification. Up to 100 MHz these functions could be implemented, at present, with operational amplifiers and integrated analog multipliers (four quadrants). The adjusting algorithm convergence or the interruption of the communication are not problems in the proposed adaptive solution. The canceller structure design is based on model reference adaptive systems (MRAS): to cancel the error between the plant output (distortion output of the RF amplifier) and reference model (the desired signal obtained from a linear and low-power amplifier) by using continuous-time techniques. The proposed structure is studied by computer simulation (SPICE program) in a class-A RF power amplifier, The behaviour of the adapted amplifier is studied when power transistors approach nonlinear operating zones (saturation state).Peer ReviewedPostprint (published version

Image sequence restoration by median filtering

Median filters are non-linear filters that fit in the generic category of order-statistic filters. Median filters are widely used for reducing random defects, commonly characterized by impulse or salt and pepper noise in a single image. Motion estimation is the process of estimating the displacement vector between like pixels in the current frame and the reference frame. When dealing with a motion sequence, the motion vectors are the key for operating on corresponding pixels in several frames. This work explores the use of various motion estimation algorithms in combination with various median filter algorithms to provide noise suppression. The results are compared using two sets of metrics: performance-based and objective image quality-based. These results are used to determine the best motion estimation / median filter combination for image sequence restoration. The primary goals of this work are to implement a motion estimation and median filter algorithm in hardware and develop and benchmark a flexible software alternative restoration process. There are two unique median filter algorithms to this work. The first filter is a modification to a single frame adaptive median filter. The modification applied motion compensation and temporal concepts. The other is an adaptive extension to the multi-level (ML3D) filter, called adaptive multi-level (AML3D) filter. The extension provides adaptable filter window sizes to the multiple filter sets that comprise the ML3D filter. The adaptive median filter is capable of filtering an image in 26.88 seconds per frame and results in a PSNR improvement of 5.452dB. The AML3D is capable of filtering an image in 14.73 seconds per frame and results in a PSNR improvement of 6.273dB. The AML3D is a suitable alternative to the other median filters

Trajectory optimization based on recursive B-spline approximation for automated longitudinal control of a battery electric vehicle

Diese Arbeit beschreibt ein neuartiges Verfahren zur linearen und nichtlinearen gewichteten Kleinste-Quadrate-Approximation einer unbeschränkten Anzahl von Datenpunkten mit einer B-Spline-Funktion. Das entwickelte Verfahren basiert auf iterativen Algorithmen zur Zustandsschätzung und sein Rechenaufwand nimmt linear mit der Anzahl der Datenpunkte zu. Das Verfahren ermöglicht eine Verschiebung des beschränkten Definitionsbereichs einer B-Spline-Funktion zur Laufzeit, sodass der aktuell betrachtete Datenpunkt ungeachtet des anfangs gewählten Definitionsbereichs bei der Approximation berücksichtigt werden kann. Zudem ermöglicht die Verschiebeoperation die Reduktion der Größen der Matrizen in den Zustandsschätzern zur Senkung des Rechenaufwands sowohl in Offline-Anwendungen, in denen alle Datenpunkte gleichzeitig zur Verarbeitung vorliegen, als auch in Online-Anwendungen, in denen in jedem Zeitschritt weitere Datenpunkte beobachtet werden. Das Trajektorienoptimierungsproblem wird so formuliert, dass das Approximationsverfahren mit Datenpunkten aus Kartendaten eine B-Spline-Funktion berechnet, die die gewünschte Geschwindigkeitstrajektorie bezüglich der Zeit repräsentiert. Der Rechenaufwand des resultierenden direkten Trajektorienoptimierungsverfahrens steigt lediglich linear mit der unbeschränkten zeitlichen Trajektorienlänge an. Die Kombination mit einem adaptiven Modell des Antriebsstrangs eines batterie-elektrischen Fahrzeugs mit festem Getriebeübersetzungsverhältnis ermöglicht die Optimierung von Geschwindigkeitstrajektorien hinsichtlich Fahrzeit, Komfort und Energieverbrauch. Das Trajektorienoptimierungsverfahren wird zu einem Fahrerassistenzsystem für die automatisierte Fahrzeuglängsführung erweitert, das simulativ und in realen Erprobungsfahrten getestet wird. Simulierte Fahrten auf der gewählten Referenzstrecke benötigten bis zu 3,4 % weniger Energie mit der automatisierten Längsführung als mit einem menschlichen Fahrer bei derselben Durchschnittsgeschwindigkeit. Für denselben Energieverbrauch erzielt die automatisierte Längsführung eine 2,6 % höhere Durchschnittsgeschwindigkeit als ein menschlicher Fahrer

Modular decomposition techniques for stored-logic digital filters

Digital filtering is an important signal processing technique whose theory is now well established. At present, however, there are no well-defined and systematic methods available for realising digital filters in hardware. This project aims to develop such methods which are general and technology independent, and adopts a systems and sub-systems design philosophy. The realisation problem is approached in a new way using concepts from finite-automata theory and implementing complete digital filter sections as stored-logic units. Two methods are introduced and developed. [Continues.

Parameter estimation in linear discrete system : new algorithms for stochastic approximation scheme

The application of modern control theory to solve dynamic optimization problem requires that the equation and parameters characterizing the system dynamics be known. This work is devoted to the on-line identification of linear discrete-time systems from noise corrupted input and output data, by the method of stochastic approximation. Criteria have been established on the gain matrix for the convergence of system identification algorithm by stochastic approximation. By minimizing the estimated error at each stage, expressions for the gain sequence namely (a) scalar gain (b) diagonal matrix gain and (c) square matrix gain are developed. A condition has been established under which these gain matrices satisfy the convergence criteria. The basic algorithm suggested in the past was restricted to \u27white\u27 measurement error and further required that the noise variances be known. This thesis extends the algorithms to overcome these limitations. The extensions are based on the following three techniques a) use of Instrumental Variables (Wong and Polak, 1967), b) use of a noise whitening filter (Hasting-James and Sage, 1969), c) subtraction of correlated part of residuals (Talman and Van den Boom, 1973). Finally, the algorithms are extended to multiple input-output systems and time varying systems. The proposed algorithms have been applied to the identification of simulated systems. The convergence,storage and computational requirement have been compared