Search results for: signal

Authors: Padmakumar S., Vivek Agarwal, Kallol Roy

Abstract:

With the advent of inexpensive 32 bit floating point digital signal processor-s availability in market, many computationally intensive algorithms such as Kalman filter becomes feasible to implement in real time. Dynamic simulation of a self excited DC motor using second order state variable model and implementation of Kalman Filter in a floating point DSP TMS320C6713 is presented in this paper with an objective to introduce and implement such an algorithm, for beginners. A fractional hp DC motor is simulated in both Matlab® and DSP and the results are included. A step by step approach for simulation of DC motor in Matlab® and “C" routines in CC Studio® is also given. CC studio® project file details and environmental setting requirements are addressed. This tutorial can be used with 6713 DSK, which is based on floating point DSP and CC Studio either in hardware mode or in simulation mode.

Keywords: DC motor, DSP, Dynamic simulation, Kalman Filter

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Authors: J. Costa, M. Ortigueira, A. Batista, T. Paiva

Abstract:

Sleep spindles are the most interesting hallmark of stage 2 sleep EEG. Their accurate identification in a polysomnographic signal is essential for sleep professionals to help them mark Stage 2 sleep. Sleep Spindles are also promising objective indicators for neurodegenerative disorders. Visual spindle scoring however is a tedious workload. In this paper three different approaches are used for the automatic detection of sleep spindles: Short Time Fourier Transform, Wavelet Transform and Wave Morphology for Spindle Detection. In order to improve the results, a combination of the three detectors is presented and comparison with human expert scorers is performed. The best performance is obtained with a combination of the three algorithms which resulted in a sensitivity and specificity of 94% when compared to human expert scorers.

Keywords: EEG, Short Time Fourier Transform, Sleep Spindles, Wave Morphology for Spindle Detection, Wavelet Transform.

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Authors: Liming Zhang

Abstract:

In this paper, a new adaptive Fourier decomposition (AFD) based time-frequency speech analysis approach is proposed. Given the fact that the fundamental frequency of speech signals often undergo fluctuation, the classical short-time Fourier transform (STFT) based spectrogram analysis suffers from the difficulty of window size selection. AFD is a newly developed signal decomposition theory. It is designed to deal with time-varying non-stationary signals. Its outstanding characteristic is to provide instantaneous frequency for each decomposed component, so the time-frequency analysis becomes easier. Experiments are conducted based on the sample sentence in TIMIT Acoustic-Phonetic Continuous Speech Corpus. The results show that the AFD based time-frequency distribution outperforms the STFT based one.

Keywords: Adaptive fourier decomposition, instantaneous frequency, speech analysis, time-frequency distribution.

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Authors: Hwan-Jun Choi, Sung-Bok Choi, Hyoung-Kyu Song

Abstract:

Recently, among the MIMO-OFDM detection techniques, a lot of papers suggested V-BLAST scheme which can achieve high data rate. Therefore, the signal detection of MIMO-OFDM system is important issue. In this paper, efficient iterative V-BLAST detection technique is proposed in wireless communication system. The proposed scheme adjusts the number of candidate symbol and iterative scheme based on channel state. According to the simulation result, the proposed scheme has better BER performance than conventional schemes and similar BER performance of the QRD-M with iterative scheme. Moreover complexity of proposed scheme has 50.6% less than complexity of QRD-M detection with iterative scheme. Therefore the proposed detection scheme can be efficiently used in wireless communication.

Keywords: MIMO-OFDM, V-BLAST, QR-decomposition, QRD-M, DFE, Iterative scheme, Channel condition.

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Authors: Bhaskar Thakker, Anoop Lal Vyas

Abstract:

Wrist pulse analysis for identification of health status is found in Ancient Indian as well as Chinese literature. The preprocessing of wrist pulse is necessary to remove outlier pulses and fluctuations prior to the analysis of pulse pressure signal. This paper discusses the identification of irregular pulses present in the pulse series and intricacies associated with the extraction of time domain pulse features. An approach of Dynamic Time Warping (DTW) has been utilized for the identification of outlier pulses in the wrist pulse series. The ambiguity present in the identification of pulse features is resolved with the help of first derivative of Ensemble Average of wrist pulse series. An algorithm for detecting tidal and dicrotic notch in individual wrist pulse segment is proposed.

Keywords: Wrist Pulse Segment, Ensemble Average, Dynamic Time Warping (DTW), Pulse Similarity Vector.

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Authors: Tsunwai Gary Yip

Abstract:

Phase locked loops in 10 Gb/s and faster data links are low phase noise devices. Characterization of their phase jitter transfer functions is difficult because the intrinsic noise of the PLLs is comparable to the phase noise of the reference clock signal. The problem is solved by using a linear model to account for the intrinsic noise. This study also introduces a novel technique for measuring the transfer function. It involves the use of the reference clock as a source of wideband excitation, in contrast to the commonly used sinusoidal excitations at discrete frequencies. The data reported here include the intrinsic noise of a PLL for 10 Gb/s links and the jitter transfer function of a PLL for 12.8 Gb/s links. The measured transfer function suggests that the PLL responded like a second order linear system to a low noise reference clock.

Keywords: Intrinsic phase noise, jitter in data link, PLL jitter transfer function, high speed clocking in electronic circuit

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Authors: Heroe Wijanto, Sugihartono, Suhartono Tjondronegoro, Kuspriyanto

Abstract:

The use of High Order Statistics (HOS) analysis is expected to provide so many candidates of features that can be selected for pattern recognition. More candidates of the feature can be extracted using simple manipulation through a specific mathematical function prior to the HOS analysis. Feature extraction method using HOS analysis combined with Difference to the Nth-Power manipulation has been examined in application for Automatic Modulation Recognition (AMR) to perform scheme recognition of three digital modulation signal, i.e. QPSK-16QAM-64QAM in the AWGN transmission channel. The simulation results is reported when the analysis of HOS up to order-12 and the manipulation of Difference to the Nth-Power up to N = 4. The obtained accuracy rate of AMR using the method of Simple Decision obtained 90% in SNR > 10 dB in its classifier, while using the method of Voted Decision is 96% in SNR > 2 dB.

Keywords: modulation, automatic modulation recognition, feature analysis, feature manipulation.

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Authors: Nilson Barbieri, Bruno Matos Martins, Gabriel de Sant'Anna Vitor Barbieri

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In more complex systems, such as automotive gearbox, a rigorous treatment of the data is necessary because there are several moving parts (gears, bearings, shafts, etc.), and in this way, there are several possible sources of errors and also noise. The basic objective of this work is the detection of damage in automotive gearbox. The detection methods used are the wavelet method, the bispectrum; advanced filtering techniques (selective filtering) of vibrational signals and mathematical morphology. Gearbox vibration tests were performed (gearboxes in good condition and with defects) of a production line of a large vehicle assembler. The vibration signals are obtained using five accelerometers in different positions of the sample. The results obtained using the kurtosis, bispectrum, wavelet and mathematical morphology showed that it is possible to identify the existence of defects in automotive gearboxes.

Keywords: Automotive gearbox, mathematical morphology, wavelet, bispectrum.

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Authors: Majid Forghani, Michael Khachay

Abstract:

In genetics, the impact of neighboring amino acids on a target site is referred as the nearest-neighbor effect or simply neighbor effect. In this paper, a new method called wavelet particle decomposition representing the one-dimensional neighbor effect using wavelet packet decomposition is proposed. The main idea lies in known dependence of wavelet packet sub-bands on location and order of neighboring samples. The method decomposes the value of a signal sample into small values called particles that represent a part of the neighbor effect information. The results have shown that the information obtained from the particle decomposition can be used to create better model variables or features. As an example, the approach has been applied to improve the correlation of test and reference sequence distance with titer in the hemagglutination inhibition assay.

Keywords: Antigenic variants, neighbor effect, wavelet packet, wavelet particle decomposition.

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Authors: Ali Abdrhman Ukasha

Abstract:

This paper presented two new efficient algorithms for contour approximation. The proposed algorithm is compared with Ramer (good quality), Triangle (faster) and Trapezoid (fastest) in this work; which are briefly described. Cartesian co-ordinates of an input contour are processed in such a manner that finally contours is presented by a set of selected vertices of the edge of the contour. In the paper the main idea of the analyzed procedures for contour compression is performed. For comparison, the mean square error and signal-to-noise ratio criterions are used. Computational time of analyzed methods is estimated depending on a number of numerical operations. Experimental results are obtained both in terms of image quality, compression ratios, and speed. The main advantages of the analyzed algorithm is small numbers of the arithmetic operations compared to the existing algorithms.

Keywords: Polygonal approximation, Ramer, Triangle and Trapezoid methods.

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Authors: Mohamed Othmani, Yassine Khlifi

Abstract:

This paper presents a technique for compact three dimensional (3D) object model reconstruction using wavelet networks. It consists to transform an input surface vertices into signals,and uses wavelet network parameters for signal approximations. To prove this, we use a wavelet network architecture founded on several mother wavelet families. POLYnomials WindOwed with Gaussians (POLYWOG) wavelet families are used to maximize the probability to select the best wavelets which ensure the good generalization of the network. To achieve a better reconstruction, the network is trained several iterations to optimize the wavelet network parameters until the error criterion is small enough. Experimental results will shown that our proposed technique can effectively reconstruct an irregular 3D object models when using the optimized wavelet network parameters. We will prove that an accurateness reconstruction depends on the best choice of the mother wavelets.

Keywords: 3D object, optimization, parametrization, Polywog wavelets, reconstruction, wavelet networks.

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Authors: H. Bagheri, H. Emami, M. R. Pakravan

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Crosstalk is the major limiting issue in very high bit-rate digital subscriber line (VDSL) systems in terms of bit-rate or service coverage. At the central office side, joint signal processing accompanied by appropriate power allocation enables complex multiuser processors to provide near capacity rates. Unfortunately complexity grows with the square of the number of lines within a binder, so by taking into account that there are only a few dominant crosstalkers who contribute to main part of crosstalk power, the canceller structure can be simplified which resulted in a much lower run-time complexity. In this paper, a multiuser power control scheme, namely iterative waterfilling, is combined with previously proposed partial crosstalk cancellation approaches to demonstrate the best ever achieved performance which is verified by simulation results.

Keywords: iterative waterfilling, partial crosstalk cancellation, run-time complexity, VDSL.

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Authors: Haniza N., Md Khambari, M. N, Shahrin S., Adib M.Monzer Habbal, Suhaidi Hassan

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Wireless ad hoc nodes are freely and dynamically self-organize in communicating with others. Each node can act as host or router. However it actually depends on the capability of nodes in terms of its current power level, signal strength, number of hops, routing protocol, interference and others. In this research, a study was conducted to observe the effect of hops count over different network topologies that contribute to TCP Congestion Control performance degradation. To achieve this objective, a simulation using NS-2 with different topologies have been evaluated. The comparative analysis has been discussed based on standard observation metrics: throughput, delay and packet loss ratio. As a result, there is a relationship between types of topology and hops counts towards the performance of ad hoc network. In future, the extension study will be carried out to investigate the effect of different error rate and background traffic over same topologies.

Keywords: NS-2, network topology, network performance, multi-hops

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Authors: L. Tani, N. El Ouzzani

Abstract:

Crosstalk among interconnects and printed-circuit board (PCB) traces is a major limiting factor of signal quality in highspeed digital and communication equipments especially when fast data buses are involved. Such a bus is considered as a planar multiconductor transmission line. This paper will demonstrate how the finite difference time domain (FDTD) method provides an exact solution of the transmission-line equations to analyze the near end and the far end crosstalk. In addition, this study makes it possible to analyze the rise time effect on the near and far end voltages of the victim conductor. The paper also discusses a statistical analysis, based upon a set of several simulations. Such analysis leads to a better understanding of the phenomenon and yields useful information.

Keywords: Multiconductor transmission line, Crosstalk, Finite difference time domain (FDTD), printed-circuit board (PCB), Rise time, Statistical analysis.

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Authors: Spyridon Nikolaidis

Abstract:

A modeling approach for CMOS gates is presented based on the use of the equivalent inverter. A new model for the inverter has been developed using a simplified transistor current model which incorporates the nanoscale effects for the planar technology. Parametric expressions for the output voltage are provided as well as the values of the output and supply current to be compatible with the CCS technology. The model is parametric according the input signal slew, output load, transistor widths, supply voltage, temperature and process. The transistor widths of the equivalent inverter are determined by HSPICE simulations and parametric expressions are developed for that using a fitting procedure. Results for the NAND gate shows that the proposed approach offers sufficient accuracy with an average error in propagation delay about 5%.

Keywords: CMOS gate modeling, Inverter modeling, transistor current model, timing model.

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Authors: Abdelaziz Sahbani, Kamel Ben Saad, Mohamed Benrejeb

Abstract:

This paper proposes a Fuzzy Sliding Mode Control (FSMC) as a control strategy for Buck-Boost DC-DC converter. The proposed fuzzy controller specifies changes in the control signal based on the knowledge of the surface and the surface change to satisfy the sliding mode stability and attraction conditions. The performances of the proposed fuzzy sliding controller are compared to those obtained by a classical sliding mode controller. The satisfactory simulation results show the efficiency of the proposed control law which reduces the chattering phenomenon. Moreover, the obtained results prove the robustness of the proposed control law against variation of the load resistance and the input voltage of the studied converter.

Keywords: Buck Boost converter, Sliding Mode Control, Fuzzy Sliding Mode Control, robustness, chattering.

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Authors: Ali Akbar Attari, Ali Asghar Beheshti Shirazi

Abstract:

In this paper, we propose a blind and robust audio watermarking scheme based on spread spectrum in Discrete Wavelet Transform (DWT) domain. Watermarks are embedded in the low-frequency coefficients, which is less audible. The key idea is dividing the audio signal into small frames, and magnitude of the 6^th level of DWT approximation coefficients is modifying based upon the Direct Sequence Spread Spectrum (DSSS) technique. Also, the psychoacoustic model for enhancing in imperceptibility, as well as Savitsky-Golay filter for increasing accuracy in extraction, is used. The experimental results illustrate high robustness against most common attacks, i.e. Gaussian noise addition, Low pass filter, Resampling, Requantizing, MP3 compression, without significant perceptual distortion (ODG is higher than -1). The proposed scheme has about 83 bps data payload.

Keywords: Audio watermarking, spread spectrum, discrete wavelet transform, psychoacoustic, Savitsky-Golay filter.

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Authors: Nermine Ahmed Hendy, Hania Farag

Abstract:

Emotion recognition is an important research field that finds lots of applications nowadays. This work emphasizes on recognizing different emotions from speech signal. The extracted features are related to statistics of pitch, formants, and energy contours, as well as spectral, perceptual and temporal features, jitter, and shimmer. The Artificial Neural Networks (ANN) was chosen as the classifier. Working on finding a robust and fast ANN classifier suitable for different real life application is our concern. Several experiments were carried out on different ANN to investigate the different factors that impact the classification success rate. Using a database containing 7 different emotions, it will be shown that with a proper and careful adjustment of features format, training data sorting, number of features selected and even the ANN type and architecture used, a success rate of 85% or even more can be achieved without increasing the system complicity and the computation time

Keywords: Classification, emotion recognition, features extraction, feature selection, neural network

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Authors: Saad Al-Baddai, Karema Al-Subari, Elmar Lang, Bernd Ludwig

Abstract:

Empirical mode decomposition (EMD), a new data-driven of time-series decomposition, has the advantage of supposing that a time series is non-linear or non-stationary, as is implicitly achieved in Fourier decomposition. However, the EMD suffers of mode mixing problem in some cases. The aim of this paper is to present a solution for a common type of signals causing of EMD mode mixing problem, in case a signal suffers of an intermittency. By an artificial example, the solution shows superior performance in terms of cope EMD mode mixing problem comparing with the conventional EMD and Ensemble Empirical Mode decomposition (EEMD). Furthermore, the over-sifting problem is also completely avoided; and computation load is reduced roughly six times compared with EEMD, an ensemble number of 50.

Keywords: Empirical mode decomposition, mode mixing, sifting process, over-sifting.

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Authors: S. Esakkirajan, T. Veerakumar, V. Senthil Murugan, P. Navaneethan

Abstract:

The existing image coding standards generally degrades at low bit-rates because of the underlying block based Discrete Cosine Transform scheme. Over the past decade, the success of wavelets in solving many different problems has contributed to its unprecedented popularity. Due to implementation constraints scalar wavelets do not posses all the properties such as orthogonality, short support, linear phase symmetry, and a high order of approximation through vanishing moments simultaneously, which are very much essential for signal processing. New class of wavelets called 'Multiwavelets' which posses more than one scaling function overcomes this problem. This paper presents a new image coding scheme based on non linear approximation of multiwavelet coefficients along with multistage vector quantization. The performance of the proposed scheme is compared with the results obtained from scalar wavelets.

Keywords: Image compression, Multiwavelets, Multi-stagevector quantization.

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Authors: Bhavana Prakash Shrivastava, Kavita Khare

Abstract:

This paper presents a synthesis and simulation of proposed enhanced buffer. The design provides advantages of both buffer and bufferless network for that two cross bar switches are used. The concept of virtual channel (VC) is eliminated from the previous design by using an efficient flow-control scheme that uses the storage already present in pipelined channels in place of explicit input VCBs. This can be addressed by providing enhanced buffers on the bufferless link and creating two virtual networks. With this approach, VCBs act as distributed FIFO buffers. Without VCBs or VCs, deadlock prevention is achieved by duplicating physical channels. An enhanced buffer provides a function of hand shaking by providing a ready valid handshake signal and two bit storage. Through this design the power is reduced to 15.65% and delay is reduced to 97.88% with respect to virtual channel router.

Keywords: Enhanced buffer, Gate delay, NOC, VCs, VCB.

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Authors: Ibrahim A. El rube, Mohamad Abou El Nasr , Mostafa M. Naim, Mahmoud Farouk

Abstract:

In this paper, a watermarking algorithm that uses the wavelet transform with Multiple Description Coding (MDC) and Quantization Index Modulation (QIM) concepts is introduced. Also, the paper investigates the role of Contourlet Transform (CT) versus Wavelet Transform (WT) in providing robust image watermarking. Two measures are utilized in the comparison between the waveletbased and the contourlet-based methods; Peak Signal to Noise Ratio (PSNR) and Normalized Cross-Correlation (NCC). Experimental results reveal that the introduced algorithm is robust against different attacks and has good results compared to the contourlet-based algorithm.

Keywords: image watermarking; discrete wavelet transform, discrete contourlet transform, multiple description coding, quantization index modulation

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Authors: Helen Zhang

Abstract:

Accurate segmentation of the airways from CT scans is crucial for early diagnosis of lung cancer. However, the existing airway segmentation algorithms often rely on thin-slice CT scans, which can be inconvenient and costly. This paper presents a set of machine learning-based 3D super-resolution algorithms along heterogenous dimensions to improve the resolution of thicker CT scans to reduce the reliance on thin-slice scans. To evaluate the efficacy of the super-resolution algorithms, quantitative assessments using PSNR (Peak Signal to Noise Ratio) and SSIM (Structural SIMilarity index) were performed. The impact of super-resolution on airway segmentation accuracy is also studied. The proposed approach has the potential to make airway segmentation more accessible and affordable, thereby facilitating early diagnosis and treatment of lung cancer.

Keywords: 3D super-resolution, airway segmentation, thin-slice CT scans, machine learning.

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Authors: Zahra Yaghoubi, Nooshin Bigdeli, Karim Afshar

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This paper at first presents approximate analytical solutions for systems of fractional differential equations using the differential transform method. The application of differential transform method, developed for differential equations of integer order, is extended to derive approximate analytical solutions of systems of fractional differential equations. The solutions of our model equations are calculated in the form of convergent series with easily computable components. After that a drive-response synchronization method with linear output error feedback is presented for “generalized projective synchronization" for a class of fractional-order chaotic systems via a scalar transmitted signal. Genesio_Tesi and Duffing systems are used to illustrate the effectiveness of the proposed synchronization method.

Keywords: Generalized projective synchronization; Fractionalorder;Chaos; Caputo derivative; Differential transform method

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Authors: Hajer Rahali, Zied Hajaiej, Noureddine Ellouze

Abstract:

The goal of speech parameterization is to extract the relevant information about what is being spoken from the audio signal. In speech recognition systems Mel-Frequency Cepstral Coefficients (MFCC) and Relative Spectral Mel-Frequency Cepstral Coefficients (RASTA-MFCC) are the two main techniques used. It will be shown in this paper that it presents some modifications to the original MFCC method. In our work the effectiveness of proposed changes to MFCC called Modified Function Cepstral Coefficients (MODFCC) were tested and compared against the original MFCC and RASTA-MFCC features. The prosodic features such as jitter and shimmer are added to baseline spectral features. The above-mentioned techniques were tested with impulsive signals under various noisy conditions within AURORA databases.

Keywords: Auditory filter, impulsive noise, MFCC, prosodic features, RASTA filter.

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Authors: Essam S. Altubaishi

Abstract:

The motivation for adaptive modulation and coding is to adjust the method of transmission to ensure that the maximum efficiency is achieved over the link at all times. The receiver estimates the channel quality and reports it back to the transmitter. The transmitter then maps the reported quality into a link mode. This mapping however, is not a one-to-one mapping. In this paper we investigate a method for selecting the proper modulation scheme. This method can dynamically adapt the mapping of the Signal-to- Noise Ratio (SNR) into a link mode. It enables the use of the right modulation scheme irrespective of changes in the channel conditions by incorporating errors in the received data. We propose a Markov model for this method, and use it to derive the average switching thresholds and the average throughput. We show that the average throughput of this method outperforms the conventional threshold method.

Keywords: Adaptive modulation and coding, CDMA, Markov model.

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Authors: Mark Watson, J.-F. Bousquet, Adam Forget

Abstract:

A magnetic induction based underwater communication link is evaluated using an analytical model and a custom Finite-Difference Time-Domain (FDTD) simulation tool. The analytical model is based on the Sommerfeld integral, and a full-wave simulation tool evaluates Maxwell’s equations using the FDTD method in cylindrical coordinates. The analytical model and FDTD simulation tool are then compared and used to predict the system performance for various transmitter depths and optimum frequencies of operation. To this end, the system bandwidth, signal to noise ratio, and the magnitude of the induced voltage are used to estimate the expected channel capacity. The models show that in seawater, a relatively low-power and small coils may be capable of obtaining a throughput of 40 to 300 kbps, for the case where a transmitter is at depths of 1 to 3 m and a receiver is at a height of 1 m.

Keywords: Magnetic Induction, FDTD, Underwater Communication, Sommerfeld.

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Authors: Vishal Awasthi, Krishna Raj

Abstract:

In many communication and signal processing systems, it is highly desirable to implement an efficient narrow-band filter that decimate or interpolate the incoming signals. This paper presents hardware efficient compensated CIC filter over a narrow band frequency that increases the speed of down sampling by using multiplierless decimation filters with polyphase FIR filter structure. The proposed work analyzed the performance of compensated CIC filter on the bases of the improvement of frequency response with reduced hardware complexity in terms of no. of adders and multipliers and produces the filtered results without any alterations. CIC compensator filter demonstrated that by using compensation with CIC filter improve the frequency response in passed of interest 26.57% with the reduction in hardware complexity 12.25% multiplications per input sample (MPIS) and 23.4% additions per input sample (APIS) w.r.t. FIR filter respectively.

Keywords: Multirate filtering, Narrow-band Signaling, Compensation Theory, CIC filter, Decimation, Compensation filter.

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Authors: S. Boonpoke, B. Marungsri

Abstract:

This paper presents the effectiveness of artificial intelligent technique to apply for pattern recognition and classification of Partial Discharge (PD). Characteristics of PD signal for pattern recognition and classification are computed from the relation of the voltage phase angle, the discharge magnitude and the repeated existing of partial discharges by using statistical and fractal methods. The simplified fuzzy ARTMAP (SFAM) is used for pattern recognition and classification as artificial intelligent technique. PDs quantities, 13 parameters from statistical method and fractal method results, are inputted to Simplified Fuzzy ARTMAP to train system for pattern recognition and classification. The results confirm the effectiveness of purpose technique.

Keywords: Partial discharges, PD Pattern recognition, PDClassification, Artificial intelligent, Simplified Fuzzy ARTMAP

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Authors: V. K. Singh, P. K. Padhy

Abstract:

This paper describes identification of the two poles unstable SOPDT process, especially with large time delay. A new modified relay feedback identification method for two poles unstable SOPDT process is proposed. Furthermore, for the two poles unstable SOPDT process, an additional Derivative controller is incorporated parallel with relay to relax the constraint on the ratio of delay to the unstable time constant, so that the exact model parameters of unstable processes can be identified. To cope with measurement noise in practice, a low pass filter is suggested to get denoised output signal toimprove the exactness of model parameter of unstable process. PID Lead-lag tuning formulas are derived for two poles unstable (SOPDT) processes based on IMC principle. Simulation example illustrates the effectiveness and the simplicity of the proposed identification and control method.

Keywords: IMC structure, PID Lead-lag controller, Relayfeedback, SOPDT

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