Trellis-coded Modulation (TCM) is used in bandlimited communication systems. TCM efficiency improves coding gain by combining modulation and forward error correction coding in one process. In TCM, the bandwidth expansion is not required because it uses the same symbol rate and power spectrum; the differences are the introduction of a redundancy bit and the use of a constellation with double points. <p> In this thesis, a novel TCM encoder/decoder ASIC chip implementation is presented. This ASIC codec not only increases decoding speed but also reduces hardware complexity. The algorithm and technique are presented for a 16-state convolutional code which is used in standard 256-QAM wireless systems. In the decoder, a Hamming distance is used as a cost function to determine output in the maximum likelihood Viterbi decoder. Using the relationship between the delay states and the path state in the Trellis tree of the code, a pre-calculated Hamming distances are stored in a look-up table. In addition, an output look-up-table is generated to determine the decoder output. This table is established by the two relative delay states in the code. The thesis provides details of the algorithm and the structure of TCM codec chip. Besides using parallel processing, the ASIC implementation also uses pipelining to further increase decoding speed. <p> The codec was implemented in ASIC using standard 0.18Ým CMOS technology; the ASIC core occupied a silicon area of 1.1mm2. All register transfer level code of the codec was simulated and synthesized. The chip layout was generated and the final chip was fabricated by Taiwan Semiconductor Manufacturing Company through the Canadian Microelectronics Corporation. The functional testing of the fabricated codec was performed partially successful; the timing testing has not been fully accomplished because the chip was not always stable.

Trellis-coded Modulation (TCM) is used in bandlimited communication systems. TCM efficiency improves coding gain by combining modulation and forward error correction coding in one process. In TCM, the bandwidth expansion is not required because it uses the same symbol rate and power spectrum; the differences are the introduction of a redundancy bit and the use of a constellation with double points. <p> In this thesis, a novel TCM encoder/decoder ASIC chip implementation is presented. This ASIC codec not only increases decoding speed but also reduces hardware complexity. The algorithm and technique are presented for a 16-state convolutional code which is used in standard 256-QAM wireless systems. In the decoder, a Hamming distance is used as a cost function to determine output in the maximum likelihood Viterbi decoder. Using the relationship between the delay states and the path state in the Trellis tree of the code, a pre-calculated Hamming distances are stored in a look-up table. In addition, an output look-up-table is generated to determine the decoder output. This table is established by the two relative delay states in the code. The thesis provides details of the algorithm and the structure of TCM codec chip. Besides using parallel processing, the ASIC implementation also uses pipelining to further increase decoding speed. <p> The codec was implemented in ASIC using standard 0.18Ým CMOS technology; the ASIC core occupied a silicon area of 1.1mm2. All register transfer level code of the codec was simulated and synthesized. The chip layout was generated and the final chip was fabricated by Taiwan Semiconductor Manufacturing Company through the Canadian Microelectronics Corporation. The functional testing of the fabricated codec was performed partially successful; the timing testing has not been fully accomplished because the chip was not always stable.

Optical encoders are being widely suggested for precise mobile navigation. Combining such sensor information with Global Positioning System (GPS) is a practical solution for reducing the accumulated errors from encoders and moving the navigational base into global coordinates with high accuracy. This thesis presents integration methods of GPS and optical encoders for a mobile vehicle that is controlled by microcontroller. The system analyzed includes a commercial GPS receiver, dsPIC microcontroller and mobile vehicle with optical encoders. Extended kalman filtering (EKF), real time curve matching, GPS filtering methods are compared and contrasted which are used for integrating sensors data. Moreover, computer interface, encoder interface and motor control module of dsPIC microprocessor have been used and explained. Navigation quality on low speeds highly depends greatly upon the processing of GPS data. Integration of sensor data is simulated for both EKF and real time curve matching technique and different behaviors are observed. Both methods have significantly improved the accuracy of the navigation. However, EKF has more advantages on solving the localization problem where it is also dealing with the uncertainties of the systems.

In this master thesis, control algoritms using arm side sensors are investigated for an industrial robot. The sensors can be position encoders placed after the gearbox and accelerometers on the robot arms. Control strategies are discussed and evaluated for different models of the robot, after which chosen strategies are applied to a realistic model. Control algoritms using arm side sensors (LQ, dual-loop and PD-PID) are compared to a PID-controller that only uses measurements of motor position for feedback control. The comparison are done with respect to disturbance rejection, oscillation damping, robustness and tracking performance of a reference trajectory. Results from tests with the realistic robot modell shows that disturbance rejection was improved a factor 2 to 5 while tracking performance was improved a factor 4 to 5 according to maximum deviation from the reference path. At the same time good re-sults are achieved regarding oscillation damping and robustness.

Remote experimentation and control have led researchers to develop new technologies as well as implement existing techniques. The multidisciplinary nature of research in electromechanical systems has led to the synergy of mechanical engineering, electrical engineering and computer science. This work describes the design of a model of a Gantry Mechanism, which maneuvers a web-cam. The user controls virtually the position of end-effecter of the Gantry Mechanism using a Graphical User Interface. The GUI is accessed over the Internet. In order to reduce the unbalanced vibrations of the Gantry Mechanism, we investigate the development of an algorithm of input shaping. A model of the Gantry Mechanism is built, and it is controlled over the Internet to view experimentation of the SCARA Robot. The system performance is studied by comparing the inputs such as distances and angles with outputs, and methods to improve the performance are suggested.

In this thesis, the VLSI implementation of Viterbi decoder using a design and simulation platform called SystemC is studied. For this purpose, the architecture of Viterbi decoder is tried to be optimized for VLSI implementations. Consequently, two novel area efficient structures for reconfigurable Viterbi decoders have been suggested. The traditional and SystemC design cycles are compared to show the advantages of SystemC, and the C++ platforms supporting SystemC are listed, installation issues and examples are discussed. The Viterbi decoder is widely used to estimate the message encoded by Convolutional encoder. For the implementations in the literature, it can be found that special structures called trellis have been formed to decrease the complexity and the area. In this thesis, two new area efficient reconfigurable Viterbi decoder approaches are suggested depending on the rearrangement of the states of the trellis structures to eliminate the switching and memory addressing complexity. The first suggested architecture based on reconfigurable Viterbi decoder reduces switching and memory addressing complexity. In the architectures, the states are reorganized and the trellis structures are realized by the usage of the same structures in subsequent instances. As the result, the area is minimized and power consumption is reduced. Since the addressing complexity is reduced, the speed is expected to increase. The second area efficient Viterbi decoder is an improved version of the first one and has the ability to configure the parameters of constraint length, code rate, transition probabilities, trace-back depth and generator polynomials.

Connected Me is a Human Body Communication (HBC) system, which is used fortransferring data through human body. The working principle is based on theorycalled Body Coupled Communication (BCC), which uses electrostatic couplingfor transferring data between device and human body. Capacitance between bodyand electrode acts as an electrical interface between devices. BCC has become aprominent research area in the field of Personal Area Network (PAN), introducedby Zimmerman in 1995. Until now there have been significant amount of paperspublished on human body models and Analog Front End (AFE), but only fewreports are available in digital baseband processing. The proposed Human Body Communication (HBC) system consists ofdigital baseband and AFE. Digital baseband is used for transferring data packets.AFE is designed for reconstructing signal shape after signal degradation causedby the human body. This thesis implements high speed serial digital communicationsystem for a human body channel. Available modulation schemes andcharacteristics of the Physical layer (PHY) with respect to human body channelare analyzed before implementing the system. The outcome of this thesis is aFPGA demonstrator that shows the possibility of communication through thehuman body. / Connected Me

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We consider two different problems in quantization theory. During the first part we discuss the so called Bennett's White Noise Hypothesis, introduced to study quantization errors of different schemes. Under this hypothesis, one assumes that the reconstruction errors of different channels can be considered as uniform, independent and identically distributed random variables. We prove that in the case of uniform quantization errors for frame expansions, this hypothesis is in fact false. Nevertheless, we also prove that in the case of fine quantization, the errors of different channels are asymptotically uncorrelated, validating, at least partially, results on the computation of the mean square error of reconstructions that were obtained through the assumption of Bennett's hypothesis. On the second part, we will introduced a new scalar quantization scheme, called a Beta Alpha Encoder. We analyze its robustness with respect to the quantizer imperfections. This scheme also induces a challenging dynamical system. We give partial results dealing with the ergodicity of this system.

When distributing multiple TV programs on a fixed bandwidth channel, the bit rate of each video stream is often constant. Since video sent at a constant quality is typically wildly varying, this is a very unoptimal solution. By instead sharing the total bit rate among all programs, the video quality can be increased by allocating bit rate where it is needed. This thesis explores the statistical multiplexing problem for a specific hardware platform with the limitations and advantages of that platform. A solution for statistical multiplexing is proposed and evaluated using the major codecs used for TV distribution today. The main advantage of the statistical multiplexer is a lot more even quality and a higher minimum quality achieved across all streams. While the solution will need a faster method for bit rate approximation for a more practical solution in terms of performance, the solution is shown to work as intended.