Nowadays, computers are used in various devices and systems, such as home electric appliances, audio instruments, automobiles,
robots, manufacturing systems and traffic systems etc. In the computer, information is digitized, memorized and processed.
However, signals are analog in the real world. Therefore, it is necessary to deal with the signals through the following sequential
flow. Namely, the analog signal is digitized, the digitized signal is operated with signal processing, and then the final
digital signal is converted to analog signal for output. The digitization, digital signal processing, the instruments and
technology for the signal processing are explained in this course. Especially, the aim of this course is to learn necessary
knowledge and technology to design and implement control systems for robot or various systems. Therefore, the method of A/D
converter, fundamental operation processing for digital signals, characteristic analysis of digital signals are learned and
exercises are provided in the course.
The aim of this course is to learn necessary knowledge and technology to design and implement control systems for robot or
various systems. Therefore, the method of A/D converter, fundamental operation processing for digital signals, characteristic
analysis of digital signals are learned and exercises are provided in the course.
- Can explain characteristics of analog and digital signals, and the advantage and issues of digitization.
- Can design sampling rate and bit count for quantization to digitize analog signals.
- Can understand and explain the process in which sensor signal is converted with A/D converter, operation processing is executed, and then actuator is actuated, and also explain structure of control system using computer.
- Can understand the theory and method of digital filter and digital Fourier transform, and code them with C language.
| Class schedule | HW assignments (Including preparation and review of the class.) | Amount of Time Required | |
|---|---|---|---|
| 1. | Analog signal and digital signal ・ Purpose of the class, analog signal, signal and system, data processing and signal processing, digitization of analog signal |
[Preparation]: Survey 10 examples of digitization of analog signals | 60minutes |
| 2. | Conversion of analog signal and digital signal ・ D/A conversion and A/D conversion, successive comparison A/D converter, principle of other types of A/D convertors, method of D/A convertor |
[Preparation]：Survey types of AD converters and DA converters. | 60minutes |
| ［Review］：summarize principles of AD and DA converters | 120minutes | ||
| 3. | Quantization and sampling, Sampling frequency and sampling theorem ・ quantization and sampling (discretization) , Sampling frequency and sampling theorem, error due to quantization and sampling |
[Preparation]: Survey sampling theorem | 60minutes |
| [Review]: Summarize main cause of the inevitable error in digitization。 | 120minutes | ||
| 4. | Fourier series and Fourier transform ・ Fourier series, Fourier transform, Characteristics of Fourier transform |
[Preparation]：・ Review the Fourier series ・ Look up Fourier transform and power spectrum |
60minutes |
| [Review]：Execute Fourier transform of several types of signals and summarize the results | 180minutes | ||
| 5. | Signal analysis with Discrete Fourier Transform (DFT) ・ Discrete Fourier transform (DFT) , Inverse Transform, Aliasing |
[Review] ・ Pick up arbitrary signals, and calculate their frequency components with Fourier transform |
180minutes |
| 6. | Fast Fourier transform (FFT) ・ FFT, Computational cost of FFT, Window function, Frequency characteristic, Oversampling and interpolation |
[Review]・ Look through sample program of FFT ・ Check out the effect of window functions |
180minutes |
| 7. | Fundamentals of digital filter ・ Components of digital filter, Moving average, Convolution and Multiply-accumulate operation, Linear difference equation |
[Preparation]：Look up the effect of moving average and convolution | 120minutes |
| 8. | Programing exercise—DFT program ・ Programing DFT with C language |
[Preparation]：Review discrete Fourier transform (DFT) and review the basis of C language | 120minutes |
| [Review]：Programming DFT and check an arbitrary signals with DFT | 300minutes | ||
| 9. | z Transform, transfer function of digital filter, frequency response ・ z transform, Impulse response and Frequency response, IIR filter and FIR filter |
[Preparation]：Look up the definition of z transform | 60minutes |
| 10. | Pole assignment and stability, design specification of digital filter ・ Pole assignment and stability analysis based on z transform, parameters to design digital filter |
[Preparation]：Survey lowpass filter, highpass filter and bandpass filter and check out their functions[ | 60minutes |
| 11. | Design of digital filter ・ Frequency response of IIR filter, analog protorype filter, impulse invariant transformation, bilinear transformation |
[Preparation]：Review IIR filter | 60minutes |
| [Review]：Design a filter based on given design requirement | 240minutes | ||
| 12. | Programing exercise—multiply-accumulate operation ・ Programing multiply-accumulate operation with C language |
[Preparation]：Review multiply-accumulate operation and the basis of C language | 100minutes |
| [Review]：Complete programing multiply-accumulate operation and execute frequency analysis of a certain signal and analyze the signal after filtered | 360minutes | ||
| 13. | Design of digital controller – design based on equation of state ・ Structure of control system, determination of task, feedforward and feedback controls, theory for discrete control system |
[Preparation]：survey characteristics of feedforward and feedback control systems | 60minutes |
| [Review]：Survey a system which includes digital control and summarize its characteritic | 90minutes | ||
| 14. | Design of digital controller (２) —state feedback, optimal regulator, digital servo ・ state feedback, optimal regulator, digital servo |
[Preparation] ：Survey regulator and servo | 60minutes |
| Total. | - | - | 2650minutes |
| report | midterm report | final report | Total. | |
|---|---|---|---|---|
| 1. | 20% | 20% | ||
| 2. | 20% | 20% | ||
| 3. | 10% | 10% | ||
| 4. | 20% | 30% | 50% | |
| Total. | 50% | 20% | 30% | - |
Exercises in the class and 2 reports .
Over 60 % is required to get a credit.
Understand Fourier Transform and Digital Fourier Transform, and can calculate examples provided in the lectures, 60%
Can design certain filter based on the examples provided in the lectures and make graphs of its characteristics, 80%
Can execute frequency analysis of an certain signal and calculate the output signal after filtered, then can explain what is done in the process, more than 90%
Over 60 % is required to get a credit.
Understand Fourier Transform and Digital Fourier Transform, and can calculate examples provided in the lectures, 60%
Can design certain filter based on the examples provided in the lectures and make graphs of its characteristics, 80%
Can execute frequency analysis of an certain signal and calculate the output signal after filtered, then can explain what is done in the process, more than 90%
Distribute necessary handouts.
As references, e.g.
「ディジタル信号処理 第２版」, 萩原将文, 森北出版株式会社
「MATLAB対応ディジタル信号処理」, 樋口龍雄, 川又政征共著, 森北出版株式会社
「ビギナーズデジタル信号処理」, 中村尚五, 東京電機大学出版局
「信号処理論」, 牧川方昭, コロナ社
etc.
However, all the above are written in Japanese.
Keywords for texts: digital signal processing, digital control.
As references, e.g.
「ディジタル信号処理 第２版」, 萩原将文, 森北出版株式会社
「MATLAB対応ディジタル信号処理」, 樋口龍雄, 川又政征共著, 森北出版株式会社
「ビギナーズデジタル信号処理」, 中村尚五, 東京電機大学出版局
「信号処理論」, 牧川方昭, コロナ社
etc.
However, all the above are written in Japanese.
Keywords for texts: digital signal processing, digital control.
(Required) Review the contents of the mathematical courses
(Required) Set the environment for programing with C language
(Optional) Review Fourier transform
(Optional) Review the experiment text of A/D converter
(Required) Set the environment for programing with C language
(Optional) Review Fourier transform
(Optional) Review the experiment text of A/D converter
- Generally, feel free to ask any questions after the class
- Otherwise, please take an appointment by e-mail.
- Simple questions can be answered by e-mail.
- Course that cultivates a basic self-management skills
| Work experience | Work experience and relevance to the course content if applicatable |
|---|---|
| N/A | N/A |
Last modified : Thu May 30 04:21:57 JST 2019