California Technical Publishing The Scientist And Engineers Guide To Digital Signal Processing 2nd Edition Jan 1997 ISBN 0966017676 pdf

  

The Scientist and Engineer's Guide to

Digital Signal Processing

  

Second Edition Be sure to visit the book’s website at: www.DSPguide.com

  

The Scientist and Engineer's Guide to

Digital Signal Processing

  

Second Edition

by

Steven W. Smith

  

California Technical Publishing

San Diego, California The Scientist and Engineer's Guide to Digital Signal Processing Second Edition

  by Steven W. Smith copyright © 1997-1999 by California Technical Publishing

  All rights reserved. No portion of this book may be reproduced or transmitted in any form or by any means, electronic or mechanical, without written permission of the publisher.

  ISBN 0-9660176-7-6 hardcover

  ISBN 0-9660176-4-1 paperback

  ISBN 0-9660176-6-8 electronic LCCN 97-80293 California Technical Publishing P.O. Box 502407 San Diego, CA 92150-2407 To contact the author or publisher through the internet: website: DSPguide.com

  Smith@DSPguide.com

  e-mail: Printed in the United States of America First Edition, 1997 Second Edition, 1999

  Important Legal Information: Warning and Disclaimer

This book presents the fundamentals of Digital Signal Processing using examples from common science and

engineering problems. While the author believes that the concepts and data contained in this book are accurate and

correct, they should not be used in any application without proper verification by the person making the application.

Extensive and detailed testing is essential where incorrect functioning could result in personal injury or damage to

property. The material in this book is intended solely as a teaching aid, and is not represented to be an appropriate

or safe solution to any particular problem. For this reason, the author, publisher, and distributors make no

warranties, express or implied, that the concepts, examples, data, algorithms, techniques, or programs contained

in this book are free from error, conform to any industry standard, or are suitable for any application. The author,

publisher, and distributors disclaim all liability and responsibility to any person or entity with respect to any loss

or damage caused, or alleged to be caused, directly or indirectly, by the information contained in this book. If you

  

Contents at a Glance

FOUNDATIONS

  Chapter 1. The Breadth and Depth of DSP . . . . . . . . . . . . . . . . . . . 1 Chapter 2. Statistics, Probability and Noise . . . . . . . . . . . . . . . . . . 11 Chapter 3. ADC and DAC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Chapter 4. DSP Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 FUNDAMENTALS Chapter 5. Linear Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Chapter 6. Convolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 Chapter 7. Properties of Convolution . . . . . . . . . . . . . . . . . . . . . . . 123 Chapter 8. The Discrete Fourier Transform . . . . . . . . . . . . . . . . . . 141 Chapter 9. Applications of the DFT . . . . . . . . . . . . . . . . . . . . . . . . 169 Chapter 10. Fourier Transform Properties . . . . . . . . . . . . . . . . . . . . 185 Chapter 11. Fourier Transform Pairs . . . . . . . . . . . . . . . . . . . . . . . . 209 Chapter 12. The Fast Fourier Transform . . . . . . . . . . . . . . . . . . . . . . 225 Chapter 13. Continuous Signal Processing . . . . . . . . . . . . . . . . . . . . 243 DIGITAL FILTERS Chapter 14. Introduction to Digital Filters . . . . . . . . . . . . . . . . . . . . 261 Chapter 15. Moving Average Filters . . . . . . . . . . . . . . . . . . . . . . . . . 277 Chapter 16. Windowed-Sinc Filters . . . . . . . . . . . . . . . . . . . . . . . . . 285 Chapter 17. Custom Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297 Chapter 18. FFT Convolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311 Chapter 19. Recursive Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319 Chapter 20. Chebyshev Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333 Chapter 21. Filter Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343 APPLICATIONS Chapter 22. Audio Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351 Chapter 23. Image Formation and Display . . . . . . . . . . . . . . . . . . . . 373 Chapter 24. Linear Image Processing . . . . . . . . . . . . . . . . . . . . . . . . 397 Chapter 25. Special Imaging Techniques . . . . . . . . . . . . . . . . . . . . . 423 Chapter 26. Neural Networks (and more!) . . . . . . . . . . . . . . . . . . . . 451 Chapter 27. Data Compression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481 Chapter 28. Digital Signal Processors . . . . . . . . . . . . . . . . . . . . . . . 503 Chapter 29. Getting Started with DSPs . . . . . . . . . . . . . . . . . . . . . . . 535 COMPLEX TECHNIQUES Chapter 30. Complex Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551 Chapter 31. The Complex Fourier Transform . . . . . . . . . . . . . . . . . . 567 Chapter 32. The Laplace Transform . . . . . . . . . . . . . . . . . . . . . . . . . 581 Chapter 33. The z-Transform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 631 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643

   Table of Contents FOUNDATIONS

  Chapter 1. The Breadth and Depth of DSP . . . . . . . . . . . . . 1 The Roots of DSP 1 Telecommunications 4 Audio Processing 5 Echo Location 7 Imaging Processing 9 Chapter 2. Statistics, Probability and Noise . . . . . . . . . . . . . 11 Signal and Graph Terminology 11 Mean and Standard Deviation 13 Signal vs. Underlying Process 17 The Histogram, Pmf and Pdf 19 The Normal Distribution 26 Digital Noise Generation 29 Precision and Accuracy 32 Chapter 3. ADC and DAC . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

  Quantization 35 The Sampling Theorem 39 Digital-to-Analog Conversion 44 Analog Filters for Data Conversion 48 Selecting the Antialias Filter 55 Multirate Data Conversion 58 Single Bit Data Conversion 60

Chapter 4. DSP Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Computer Numbers 67 Fixed Point (Integers) 68 Floating Point (Real Numbers) 70 Number Precision 72 Execution Speed: Program Language 76 Execution Speed: Hardware 80 Execution Speed: Programming Tips 84

  FUNDAMENTALS

  Chapter 5. Linear Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Signals and Systems 87 Requirements for Linearity 89 Static Linearity and Sinusoidal Fidelity 92 Examples of Linear and Nonlinear Systems 94 Special Properties of Linearity 96 Superposition: the Foundation of DSP 98 Common Decompositions 100 Alternatives to Linearity 104 Chapter 6. Convolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 The Delta Function and Impulse Response 107 Convolution 108 The Input Side Algorithm 112 The Output Side Algorithm 116 The Sum of Weighted Inputs 122 Chapter 7. Properties of Convolution . . . . . . . . . . . . . . . . . . 123 Common Impulse Responses 123 Mathematical Properties 132 Correlation 136 Speed 140 Chapter 8. The Discrete Fourier Transform . . . . . . . . . . . . 141 The Family of Fourier Transforms 141 Notation and Format of the real DFT 146 The Frequency Domain's Independent Variable 148 DFT Basis Functions 150 Synthesis, Calculating the Inverse DFT 152 Analysis, Calculating the DFT 156 Duality 161 Polar Notation 161 Polar Nuisances 164 Chapter 9. Applications of the DFT . . . . . . . . . . . . . . . . . . . 169 Spectral Analysis of Signals 169 Frequency Response of Systems 177 Convolution via the Frequency Domain 180 Chapter 10. Fourier Transform Properties . . . . . . . . . . . . . 185 Linearity of the Fourier Transform 185 Characteristics of the Phase 188 Periodic Nature of the DFT 194 Compression and Expansion, Multirate methods 200

  Multiplying Signals (Amplitude Modulation) 204 The Discrete Time Fourier Transform 206 Parseval's Relation 208

  Chapter 11. Fourier Transform Pairs . . . . . . . . . . . . . . . . . . 209 Delta Function Pairs 209 The Sinc Function 212 Other Transform Pairs 215 Gibbs Effect 218 Harmonics 220 Chirp Signals 222 Chapter 12. The Fast Fourier Transform . . . . . . . . . . . . . . . 225 Real DFT Using the Complex DFT 225 How the FFT Works 228 FFT Programs 233 Speed and Precision Comparisons 237 Further Speed Increases 238 Chapter 13. Continuous Signal Processing . . . . . . . . . . . . . . 243

  The Delta Function 243 Convolution 246 The Fourier Transform 252 The Fourier Series 255

DIGITAL FILTERS

  Chapter 14. Introduction to Digital Filters . . . . . . . . . . . . . . 261 Filter Basics 261 How Information is Represented in Signals 265 Time Domain Parameters 266 Frequency Domain Parameters 268 High-Pass, Band-Pass and Band-Reject Filters 271 Filter Classification 274 Chapter 15. Moving Average Filters . . . . . . . . . . . . . . . . . . . 277

  Implementation by Convolution 277 Noise Reduction vs. Step Response 278 Frequency Response 280 Relatives of the Moving Average Filter 280 Recursive Implementation 282

Chapter 16. Windowed-Sinc Filters . . . . . . . . . . . . . . . . . . . 285 Strategy of the Windowed-Sinc 285 Designing the Filter 288 Examples of Windowed-Sinc Filters 292 Pushing it to the Limit 293

  Chapter 17. Custom Filters . . . . . . . . . . . . . . . . . . . . . . . . . . 297

  Arbitrary Frequency Response 297 Deconvolution 300 Optimal Filters 307

  Chapter 18. FFT Convolution . . . . . . . . . . . . . . . . . . . . . . . . 311

  The Overlap-Add Method 311 FFT Convolution 312 Speed Improvements 316

  Chapter 19. Recursive Filters . . . . . . . . . . . . . . . . . . . . . . . . 319 The Recursive Method 319 Single Pole Recursive Filters 322 Narrow-band Filters 326 Phase Response 328 Using Integers 332 Chapter 20. Chebyshev Filters . . . . . . . . . . . . . . . . . . . . . . . 333

  The Chebyshev and Butterworth Responses 333 Designing the Filter 334 Step Response Overshoot 338 Stability 339

  Chapter 21. Filter Comparison . . . . . . . . . . . . . . . . . . . . . . . 343

  Match #1: Analog vs. Digital Filters 343 Match #2: Windowed-Sinc vs. Chebyshev 346 Match #3: Moving Average vs. Single Pole 348

  APPLICATIONS

  Chapter 22. Audio Processing . . . . . . . . . . . . . . . . . . . . . . . . 351

  Human Hearing 351 Timbre 355 Sound Quality vs. Data Rate 358 High Fidelity Audio 359 Companding 362 Speech Synthesis and Recognition 364 Nonlinear Audio Processing 368

  Chapter 23. Image Formation and Display . . . . . . . . . . . . . . 373

  Digital Image Structure 373 Cameras and Eyes 376 Television Video Signals 384 Other Image Acquisition and Display 386 Brightness and Contrast Adjustments 387 Grayscale Transforms 390 Warping 394

  Chapter 24. Linear Image Processing . . . . . . . . . . . . . . . . . . 397

  Convolution 397 3×3 Edge Modification 402 Convolution by Separability 404 Example of a Large PSF: Illumination Flattening 407 Fourier Image Analysis 410 FFT Convolution 416 A Closer Look at Image Convolution 418

  

Chapter 25. Special Imaging Techniques . . . . . . . . . . . . . . . 423

Spatial Resolution 423 Sample Spacing and Sampling Aperture 430 Signal-to-Noise Ratio 432 Morphological Image Processing 436 Computed Tomography 442

Chapter 26. Neural Networks (and more!) . . . . . . . . . . . . . . 451

Target Detection 451 Neural Network Architecture 458 Why Does it Work? 463 Training the Neural Network 465 Evaluating the Results 473 Recursive Filter Design 476 Chapter 27. Data Compression . . . . . . . . . . . . . . . . . . . . . . . 481

  Data Compression Strategies 481 Run-Length Encoding 483 Huffman Encoding 484 Delta Encoding 486 LZW Compression 488 JPEG (Transform Compression) 494 MPEG 501

  Chapter 28. Digital Signal Processors

  . . . . . . . . . . . . . . . . . . . 503 How DSPs are different 503 Circular Buffering 506 Architecture of the Digital Signal Processor 509 Fixed versus Floating Point 514 C versus Assembly 520 How Fast are DSPs? 526 The Digital Signal Processor Market 531

  

Chapter 29. Getting Started with DSPs . . . . . . . . . . . . . . . . 535

The ADSP-2106x family 535 The SHARC EZ-KIT Lite 537 Design Example: An FIR Audio Filter 538 Analog Measurements on a DSP System 542

  Another Look at Fixed versus Floating Point 544 Advanced Software Tools 546

COMPLEX TECHNIQUES

  Chapter 30. Complex Numbers . . . . . . . . . . . . . . . . . . . . . . . 551

  The Complex Number System 551 Polar Notation 555 Using Complex Numbers by Substitution 557 Complex Representation of Sinusoids 559 Complex Representation of Systems 561 Electrical Circuit Analysis 563

  Chapter 31. The Complex Fourier Transform . . . . . . . . . . . 567 The Real DFT 567 Mathematical Equivalence 569 The Complex DFT 570 The Family of Fourier Transforms 575 Why the Complex Fourier Transform is Used 577 Chapter 32. The Laplace Transform . . . . . . . . . . . . . . . . . . . 581

  The Nature of the s-Domain 581 Strategy of the Laplace Transform 588 Analysis of Electric Circuits 592 The Importance of Poles and Zeros 597 Filter Design in the s-Domain 600

  Chapter 33. The z-Transform . . . . . . . . . . . . . . . . . . . . . . . . 605

  The Nature of the z-Domain 605 Analysis of Recursive Systems 610 Cascade and Parallel Stages 616 Spectral Inversion 619 Gain Changes 621 Chebyshev-Butterworth Filter Design 623 The Best and Worst of DSP 630

  Glossary

  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 631

  Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643 Preface Goals and Strategies of this Book

  The technical world is changing very rapidly. In only 15 years, the power of personal computers has increased by a factor of nearly one-thousand. By all accounts, it will increase by another factor of one-thousand in the next 15 years. This tremendous power has changed the way science and engineering is done, and there is no better example of this than Digital Signal Processing. In the early 1980s, DSP was taught as a graduate level course in electrical engineering. A decade later, DSP had become a standard part of the undergraduate curriculum. Today, DSP is a basic skill needed by scientists and engineers in many fields. Unfortunately, DSP education has been slow to adapt to this change. Nearly all DSP textbooks are still written in the traditional electrical engineering style of detailed and rigorous mathematics. DSP is incredibly powerful, but if you can't understand it, you can't use it! This book was written for scientists and engineers in a wide variety of fields: physics, bioengineering, geology, oceanography, mechanical and electrical engineering, to name just a few. The goal is to present practical techniques while avoiding the barriers of detailed mathematics and abstract theory. To achieve this goal, three strategies were employed in writing this book: First, the techniques are explained, not simply proven to be true through mathematical derivations. While much of the mathematics is included, it is not used as the primary means of conveying the information. Nothing beats a few well written paragraphs supported by good illustrations.

  Second, complex numbers are treated as an advanced topic, something to be learned after the fundamental principles are understood. Chapters 1-29 explain all the basic techniques using only algebra, and in rare cases, a small amount of elementary calculus. Chapters 30-33 show how complex math extends the power of DSP, presenting techniques that cannot be implemented with real numbers alone. Many would view this approach as heresy! Traditional DSP textbooks are full of complex math, often starting right from the first chapter.

  Third, very simple computer programs are used. Most DSP programs are written in

  C, Fortran, or a similar language. However, learning DSP has different requirements than using DSP. The student needs to concentrate on the algorithms and techniques, without being distracted by the quirks of a particular language. Power and flexibility aren't important; simplicity is critical. The programs in this book are written to teach DSP in the most straightforward way, with all other factors being treated as secondary. Good programming style is disregarded if it makes the program logic more clear. For instance:

  ‘ a simplified version of BASIC is used ‘ line numbers are included ‘ the only control structure used is the FOR-NEXT loop ‘ there are no I/O statements

  This is the simplest programming style I could find. Some may think that this book would be better if the programs had been written in C. I couldn't disagree more.

  The Intended Audience

  This book is primarily intended for a one year course in practical DSP, with the students being drawn from a wide variety of science and engineering fields. The suggested prerequisites are:

  ‘ A course in practical electronics: (op amps, RC circuits, etc.) ‘ A course in computer programming (Fortran or similar) ‘ One year of calculus

  This book was also written with the practicing professional in mind. Many everyday DSP applications are discussed: digital filters, neural networks, data compression, audio and image processing, etc. As much as possible, these chapters stand on their own, not requiring the reader to review the entire book to solve a specific problem.

  Support by Analog Devices

  The Second Edition of this book includes two new chapters on Digital Signal

  Processors , microprocessors specifically designed to carry out DSP tasks. Much of

  the information for these chapters was generously provided by Analog Devices, Inc., a world leader in the development and manufacturing of electronic components for signal processing. ADI's encouragement and support has significantly expanded the scope of this book, showing that DSP algorithms are only useful in conjunction with the appropriate hardware.

  Acknowledgements

  A special thanks to the many reviewers who provided comments and suggestions on this book. Their generous donation of time and skill has made this a better work:

  Magnus Aronsson (Department of Electrical Engineering, University of Utah); Bruce B. Azimi

  (U.S. Navy); Vernon L. Chi (Department of Computer Science, University of North Carolina); Manohar Das, Ph.D. (Department of Electrical and Systems Engineering, Oakland University); Carol A. Dean (Analog Devices, Inc.);

  Fred DePiero, Ph.D. (Department of Electrical Engineering, CalPoly State University); Jose Fridman, Ph.D. (Analog Devices, Inc.); Frederick K. Duennebier, Ph. D. (Department of Geology and Geophysics, University of Hawaii, Manoa); D. Lee Fugal (Space & Signals Technologies); Filson H. Glanz, Ph.D.

  (Department of Electrical and Computer Engineering, University of New Hampshire);

  Kenneth H. Jacker , (Department of Computer Science, Appalachian State

  University); Rajiv Kapadia, Ph.D. (Department of Electrical Engineering, Mankato State University); Dan King (Analog Devices, Inc.); Kevin Leary (Analog Devices, Inc.); A. Dale Magoun, Ph.D. (Department of Computer Science, Northeast Louisiana University); Ben Mbugua (Analog Devices, Inc.); Bernard J. Maxum, Ph.D.

  (Department of Electrical Engineering, Lamar University); Paul Morgan, Ph.D. (Department of Geology, Northern Arizona University); Dale H.

  Mugler, Ph.D.

  (Department of Mathematical Science, University of Akron);

  Christopher L. Mullen, Ph.D. (Department of Civil Engineering, University of

  Mississippi); Cynthia L. Nelson, Ph.D. (Sandia National Laboratories);

  Branislava Perunicic-Drazenovic, Ph.D. (Department of Electrical Engineering,

  Lamar University); John Schmeelk, Ph.D. (Department of Mathematical Science, Virginia Commonwealth University); Richard R. Schultz, Ph.D. (Department of Electrical Engineering, University of North Dakota); David Skolnick (Analog Devices, Inc.); Jay L. Smith, Ph.D. (Center for Aerospace Technology, Weber State University); Jeffrey Smith, Ph.D. (Department of Computer Science, University of Georgia); Oscar Yanez Suarez, Ph.D. (Department of Electrical Engineering, Metropolitan University, Iztapalapa campus, Mexico City); and other reviewers who wish to remain anonymous.

  This book is now in the hands of the final reviewer, you. Please take the time to give me your comments and suggestions. This will allow future reprints and editions to serve your needs even better. All it takes is a two minute e-mail message to: Smith@DSPguide.com. Thanks; I hope you enjoy the book.

  Steve Smith January 1999 CHAPTER The Breadth and Depth of DSP

1 Digital Signal Processing is one of the most powerful technologies that will shape science and

  engineering in the twenty-first century. Revolutionary changes have already been made in a broad range of fields: communications, medical imaging, radar & sonar, high fidelity music reproduction, and oil prospecting, to name just a few. Each of these areas has developed a deep DSP technology, with its own algorithms, mathematics, and specialized techniques. This combination of breath and depth makes it impossible for any one individual to master all of the DSP technology that has been developed. DSP education involves two tasks: learning general concepts that apply to the field as a whole, and learning specialized techniques for your particular area of interest. This chapter starts our journey into the world of Digital Signal Processing by describing the dramatic effect that DSP has made in several diverse fields. The revolution has begun.

  The Roots of DSP

  Digital Signal Processing is distinguished from other areas in computer science by the unique type of data it uses: signals. In most cases, these signals originate as sensory data from the real world: seismic vibrations, visual images, sound waves, etc. DSP is the mathematics, the algorithms, and the techniques used to manipulate these signals after they have been converted into a digital form. This includes a wide variety of goals, such as: enhancement of visual images, recognition and generation of speech, compression of data for storage and transmission, etc. Suppose we attach an analog-to-digital converter to a computer and use it to acquire a chunk of real world data. DSP answers the question: What next? The roots of DSP are in the 1960s and 1970s when digital computers first became available. Computers were expensive during this era, and DSP was limited to only a few critical applications. Pioneering efforts were made in four key areas: radar & sonar, where national security was at risk; oil exploration, where large amounts of money could be made; space exploration, where the

  

The Scientist and Engineer's Guide to Digital Signal Processing

  data are irreplaceable; and medical imaging, where lives could be saved. The personal computer revolution of the 1980s and 1990s caused DSP to explode with new applications. Rather than being motivated by military and government needs, DSP was suddenly driven by the commercial marketplace. Anyone who thought they could make money in the rapidly expanding field was suddenly a DSP vender. DSP reached the public in such products as: mobile telephones, compact disc players, and electronic voice mail. Figure 1-1 illustrates a few of these varied applications.

  This technological revolution occurred from the top-down. In the early 1980s, DSP was taught as a graduate level course in electrical engineering. A decade later, DSP had become a standard part of the undergraduate curriculum. Today, DSP is a basic skill needed by scientists and engineers

• Space photograph enhancement
• Data compression

  Space

• Intelligent sensory analysis by remote space probes
• Diagnostic imaging (CT, MRI, ultrasound, and others)

  Medical

• Electrocardiogram analysis
• Medical image storage/retrieval
• Image and sound compression for multimedia presentation

  Commercial

• Movie special effects
• Video conference calling
• Voice and data compression
• Echo reduction

  DSP Telephone

• Signal multiplexing
• Filtering
• Radar
• Sonar

  Military

• Ordnance guidance
• Secure communication
• Oil and mineral prospecting
• Process monitoring & control

  Industrial

• Nondestructive testing
• CAD and design tools
• Earthquake recording & analysis
• Data acquisition

  Scientific

• Spectral analysis
• Simulation and modeling FIGURE 1-1

Chapter 1- The Breadth and Depth of DSP

  in many fields. As an analogy, DSP can be compared to a previous technological revolution: electronics. While still the realm of electrical engineering, nearly every scientist and engineer has some background in basic circuit design. Without it, they would be lost in the technological world. DSP has the same future. This recent history is more than a curiosity; it has a tremendous impact on your ability to learn and use DSP. Suppose you encounter a DSP problem, and turn to textbooks or other publications to find a solution. What you will typically find is page after page of equations, obscure mathematical symbols, and unfamiliar terminology. It's a nightmare! Much of the DSP literature is baffling even to those experienced in the field. It's not that there is anything wrong with this material, it is just intended for a very specialized audience. State-of-the-art researchers need this kind of detailed mathematics to understand the theoretical implications of the work.

  A basic premise of this book is that most practical DSP techniques can be learned and used without the traditional barriers of detailed mathematics and theory. The Scientist and Engineer’s Guide to Digital Signal Processing is written for those who want to use DSP as a tool, not a new career.

  The remainder of this chapter illustrates areas where DSP has produced revolutionary changes. As you go through each application, notice that DSP is very interdisciplinary, relying on the technical work in many adjacent fields. As Fig. 1-2 suggests, the borders between DSP and other technical disciplines are not sharp and well defined, but rather fuzzy and overlapping. If you want to specialize in DSP, these are the allied areas you will also need to study.

  Communication Theory

  Digital

  Numerical Analysis

  Signal

  Probability

  Processing

  and Statistics Analog Signal Processing

  Analog Digital Decision Theory

  Electronics Electronics

  FIGURE 1-2 Digital Signal Processing has fuzzy and overlapping borders with many other

  

The Scientist and Engineer's Guide to Digital Signal Processing

Telecommunications

  Telecommunications is about transferring information from one location to another. This includes many forms of information: telephone conversations, television signals, computer files, and other types of data. To transfer the information, you need a channel between the two locations. This may be a wire pair, radio signal, optical fiber, etc. Telecommunications companies receive payment for transferring their customer's information, while they must pay to establish and maintain the channel. The financial bottom line is simple: the more information they can pass through a single channel, the more money they make. DSP has revolutionized the telecommunications industry in many areas: signaling tone generation and detection, frequency band shifting, filtering to remove power line hum, etc. Three specific examples from the telephone network will be discussed here: multiplexing, compression, and echo control.

  Multiplexing

  There are approximately one billion telephones in the world. At the press of a few buttons, switching networks allow any one of these to be connected to any other in only a few seconds. The immensity of this task is mind boggling! Until the 1960s, a connection between two telephones required passing the analog voice signals through mechanical switches and amplifiers. One connection required one pair of wires. In comparison, DSP converts audio signals into a stream of serial digital data. Since bits can be easily intertwined and later separated, many telephone conversations can be transmitted on a single channel. For example, a telephone standard known as the T-carrier system can simultaneously transmit 24 voice signals. Each voice signal is sampled 8000 times per second using an 8 bit companded (logarithmic compressed) analog-to-digital conversion. This results in each voice signal being represented as 64,000 bits/sec, and all 24 channels being contained in 1.544 megabits/sec. This signal can be transmitted about 6000 feet using ordinary telephone lines of 22 gauge copper wire, a typical interconnection distance. The financial advantage of digital transmission is enormous. Wire and analog switches are expensive; digital logic gates are cheap.

  Compression

  When a voice signal is digitized at 8000 samples/sec, most of the digital information is redundant. That is, the information carried by any one sample is largely duplicated by the neighboring samples. Dozens of DSP algorithms have been developed to convert digitized voice signals into data streams that require fewer bits/sec. These are called data compression algorithms. Matching uncompression algorithms are used to restore the signal to its original form. These algorithms vary in the amount of compression achieved and the resulting sound quality. In general, reducing the data rate from 64 kilobits/sec to 32 kilobits/sec results in no loss of sound quality. When compressed to a data rate of 8 kilobits/sec, the sound is

Chapter 1- The Breadth and Depth of DSP

  sound that is highly distorted, but usable for some applications such as military and undersea communications.

  Echo control Echoes are a serious problem in long distance telephone connections.

  When you speak into a telephone, a signal representing your voice travels to the connecting receiver, where a portion of it returns as an echo. If the connection is within a few hundred miles, the elapsed time for receiving the echo is only a few milliseconds. The human ear is accustomed to hearing echoes with these small time delays, and the connection sounds quite normal. As the distance becomes larger, the echo becomes increasingly noticeable and irritating. The delay can be several hundred milliseconds for intercontinental communications, and is particularity objectionable. Digital Signal Processing attacks this type of problem by measuring the returned signal and generating an appropriate antisignal to cancel the offending echo. This same technique allows speakerphone users to hear and speak at the same time without fighting audio feedback (squealing). It can also be used to reduce environmental noise by canceling it with digitally generated antinoise.

  Audio Processing

  The two principal human senses are vision and hearing. Correspondingly, much of DSP is related to image and audio processing. People listen to both music and speech. DSP has made revolutionary changes in both these areas.

  Music

  The path leading from the musician's microphone to the audiophile's speaker is remarkably long. Digital data representation is important to prevent the degradation commonly associated with analog storage and manipulation. This is very familiar to anyone who has compared the musical quality of cassette tapes with compact disks. In a typical scenario, a musical piece is recorded in a sound studio on multiple channels or tracks. In some cases, this even involves recording individual instruments and singers separately. This is done to give the sound engineer greater flexibility in creating the final product. The complex process of combining the individual tracks into a final product is called mix down. DSP can provide several important functions during mix down, including: filtering, signal addition and subtraction, signal editing, etc. One of the most interesting DSP applications in music preparation is

  artificial reverberation

  . If the individual channels are simply added together, the resulting piece sounds frail and diluted, much as if the musicians were playing outdoors. This is because listeners are greatly influenced by the echo or reverberation content of the music, which is usually minimized in the sound studio. DSP allows artificial echoes and reverberation to be added during mix down to simulate various ideal listening environments. Echoes with

  

The Scientist and Engineer's Guide to Digital Signal Processing

  locations. Adding echoes with delays of 10-20 milliseconds provide the perception of more modest size listening rooms.

  Speech generation

  Speech generation and recognition are used to communicate between humans and machines. Rather than using your hands and eyes, you use your mouth and ears. This is very convenient when your hands and eyes should be doing something else, such as: driving a car, performing surgery, or (unfortunately) firing your weapons at the enemy. Two approaches are used for computer generated speech: digital recording and vocal tract simulation. In digital recording, the voice of a human speaker is digitized and stored, usually in a compressed form. During playback, the stored data are uncompressed and converted back into an analog signal. An entire hour of recorded speech requires only about three megabytes of storage, well within the capabilities of even small computer systems. This is the most common method of digital speech generation used today.

  Vocal tract simulators are more complicated, trying to mimic the physical mechanisms by which humans create speech. The human vocal tract is an acoustic cavity with resonate frequencies determined by the size and shape of the chambers. Sound originates in the vocal tract in one of two basic ways, called voiced and fricative sounds. With voiced sounds, vocal cord vibration produces near periodic pulses of air into the vocal cavities. In comparison, fricative sounds originate from the noisy air turbulence at narrow constrictions, such as the teeth and lips. Vocal tract simulators operate by generating digital signals that resemble these two types of excitation. The characteristics of the resonate chamber are simulated by passing the excitation signal through a digital filter with similar resonances. This approach was used in one of the very early DSP success stories, the Speak & Spell, a widely sold electronic learning aid for children.

  Speech recognition

  The automated recognition of human speech is immensely more difficult than speech generation. Speech recognition is a classic example of things that the human brain does well, but digital computers do poorly. Digital computers can store and recall vast amounts of data, perform mathematical calculations at blazing speeds, and do repetitive tasks without becoming bored or inefficient. Unfortunately, present day computers perform very poorly when faced with raw sensory data. Teaching a computer to send you a monthly electric bill is easy. Teaching the same computer to understand your voice is a major undertaking. Digital Signal Processing generally approaches the problem of voice recognition in two steps: feature extraction followed by feature matching. Each word in the incoming audio signal is isolated and then analyzed to identify the type of excitation and resonate frequencies. These parameters are then compared with previous examples of spoken words to identify the closest match. Often, these systems are limited to only a few hundred words; can

Chapter 1- The Breadth and Depth of DSP

  applications, these limitations are humbling when compared to the abilities of human hearing. There is a great deal of work to be done in this area, with tremendous financial rewards for those that produce successful commercial products.

  Echo Location

  A common method of obtaining information about a remote object is to bounce a wave off of it. For example, radar operates by transmitting pulses of radio waves, and examining the received signal for echoes from aircraft. In sonar, sound waves are transmitted through the water to detect submarines and other submerged objects. Geophysicists have long probed the earth by setting off explosions and listening for the echoes from deeply buried layers of rock. While these applications have a common thread, each has its own specific problems and needs. Digital Signal Processing has produced revolutionary changes in all three areas.

  Radar

  Radar is an acronym for RAdio Detection And Ranging. In the simplest radar system, a radio transmitter produces a pulse of radio frequency energy a few microseconds long. This pulse is fed into a highly directional antenna, where the resulting radio wave propagates away at the speed of light. Aircraft in the path of this wave will reflect a small portion of the energy back toward a receiving antenna, situated near the transmission site. The distance to the object is calculated from the elapsed time between the transmitted pulse and the received echo. The direction to the object is found more simply; you know where you pointed the directional antenna when the echo was received.

  The operating range of a radar system is determined by two parameters: how much energy is in the initial pulse, and the noise level of the radio receiver. Unfortunately, increasing the energy in the pulse usually requires making the pulse longer. In turn, the longer pulse reduces the accuracy and precision of the elapsed time measurement. This results in a conflict between two important parameters: the ability to detect objects at long range, and the ability to accurately determine an object's distance. DSP has revolutionized radar in three areas, all of which relate to this basic problem. First, DSP can compress the pulse after it is received, providing better distance determination without reducing the operating range. Second, DSP can filter the received signal to decrease the noise. This increases the range, without degrading the distance determination. Third, DSP enables the rapid selection and generation of different pulse shapes and lengths. Among other things, this allows the pulse to be optimized for a particular detection problem. Now the impressive part: much of this is done at a sampling rate comparable to the radio frequency used, at high as several hundred megahertz! When it comes to radar, DSP is as much about high-speed hardware design as

  

The Scientist and Engineer's Guide to Digital Signal Processing

Sonar

  Sonar is an acronym for SOund NAvigation and Ranging. It is divided into two categories, active and passive. In active sonar, sound pulses between 2 kHz and 40 kHz are transmitted into the water, and the resulting echoes detected and analyzed. Uses of active sonar include: detection & localization of undersea bodies, navigation, communication, and mapping the sea floor. A maximum operating range of 10 to 100 kilometers is typical. In comparison, passive sonar simply listens to underwater sounds, which includes: natural turbulence, marine life, and mechanical sounds from submarines and surface vessels. Since passive sonar emits no energy, it is ideal for covert operations. You want to detect the other guy, without him detecting you. The most important application of passive sonar is in military surveillance systems that detect and track submarines. Passive sonar typically uses lower frequencies than active sonar because they propagate through the water with less absorption. Detection ranges can be thousands of kilometers. DSP has revolutionized sonar in many of the same areas as radar: pulse generation, pulse compression, and filtering of detected signals. In one view, sonar is simpler than radar because of the lower frequencies involved. In another view, sonar is more difficult than radar because the environment is much less uniform and stable. Sonar systems usually employ extensive arrays of transmitting and receiving elements, rather than just a single channel. By properly controlling and mixing the signals in these many elements, the sonar system can steer the emitted pulse to the desired location and determine the direction that echoes are received from. To handle these multiple channels, sonar systems require the same massive DSP computing power as radar.

  Reflection seismology

  As early as the 1920s, geophysicists discovered that the structure of the earth's crust could be probed with sound. Prospectors could set off an explosion and record the echoes from boundary layers more than ten kilometers below the surface. These echo seismograms were interpreted by the raw eye to map the subsurface structure. The reflection seismic method rapidly became the primary method for locating petroleum and mineral deposits, and remains so today. In the ideal case, a sound pulse sent into the ground produces a single echo for each boundary layer the pulse passes through. Unfortunately, the situation is not usually this simple. Each echo returning to the surface must pass through all the other boundary layers above where it originated. This can result in the echo bouncing between layers, giving rise to echoes of echoes being detected at the surface. These secondary echoes can make the detected signal very complicated and difficult to interpret. Digital Signal Processing has been widely used since the 1960s to isolate the primary from the secondary echoes in reflection seismograms. How did the early geophysicists manage without DSP? The answer is simple: they looked in easy places, where multiple

Chapter 1- The Breadth and Depth of DSP

  Image Processing

  Images are signals with special characteristics. First, they are a measure of a parameter over space (distance), while most signals are a measure of a parameter over time. Second, they contain a great deal of information. For example, more than 10 megabytes can be required to store one second of television video. This is more than a thousand times greater than for a similar length voice signal. Third, the final judge of quality is often a subjective human evaluation, rather than an objective criteria. These special characteristics have made image processing a distinct subgroup within DSP.

  Medical

  In 1895, Wilhelm Conrad Röntgen discovered that x-rays could pass through substantial amounts of matter. Medicine was revolutionized by the ability to look inside the living human body. Medical x-ray systems spread throughout the world in only a few years. In spite of its obvious success, medical x-ray imaging was limited by four problems until DSP and related techniques came along in the 1970s. First, overlapping structures in the body can hide behind each other. For example, portions of the heart might not be visible behind the ribs. Second, it is not always possible to distinguish between similar tissues. For example, it may be able to separate bone from soft tissue, but not distinguish a tumor from the liver. Third, x-ray images show anatomy, the body's structure, and not physiology, the body's operation. The x-ray image of a living person looks exactly like the x-ray image of a dead one! Fourth, x-ray exposure can cause cancer, requiring it to be used sparingly and only with proper justification.