Motion and tilt have long hindered the accuracy, reliability, and response of magnetic detection systems. Perturbations in the magnetic field reading resulting from motion cause degradation of the output signal, compromising the performance and reliability of the magnetometer system. The purpose of this document is to describe the development, construction, and testing of a tilt-stabilized three-axis magnetic field sensor. The sensor is implemented as a three-axis general-purpose magnetic field sensor, with the additional capability of being implemented as a compass. Design and construction of system hardware is discussed, along with software development and implementation. Finite impulse response filters are designed and implemented in hardware to filter the acquired magnetic signals. Various designs of median filters are simulated and tested for smoothing inclination signal irregularities and noise. Trigonometric conversions necessary for tilt-compensation are calculated in software using traditional methods, as well as the Coordinate Rotation Digital Computer (CORDIC) algorithm. Both calculation methods are compared for execution time and efficiency. Successful incorporation of all design aspects leads to detection and output of stable earth magnetic fields, sinusoidal signals, and aperiodic signatures while the magnetometer system is subject to significant tilt motion. Optimized system execution time leads to a maximum detectable signal bandwidth of 410 Hz. Integration of azimuth angle calculation is incorporated and is successfully tested with minimal error, allowing the system to be used as a compass. Results of the compensated system tests are compared to non-compensated results to display system performance, including tilt-compensation effectiveness, noise attenuation, and operational speed. / Master of Science

O objetivo deste trabalho é filtrar sinais corrompidos por ruído Gaussiano ou impulsivo, preservando a amplitude e a morfologia do sinal original. Normalmente, um filtro linear é utilizado nesta tarefa, porém este filtro altera significativamente as amplitudes e as bordas dos sinais, bem como insere atrasos no sinal. Mostra-se neste trabalho que a difusão anisotrópica em conjunto com filtro mediana é muito mais eficaz do que os filtros lineares para esta aplicação. A difusão anisotrópica é uma filtragem iterativa, onde o sinal é filtrado repetidamente. A difusão anisotrópica é controlada por uma função denominada parada-na-aresta, por um parâmetro de escala e pelo número de iterações. Neste trabalho, testamos três bem conhecidas funções parada-na-aresta, concluindo que a função de parada na aresta de Malik e Perona consegue o maior fator de redução de ruído. Infelizmente, esta função é extremamente sensível ao número de iterações, onde o fator de redução de ruído deteriora-se rapidamente antes e depois do ponto ótimo. Como não se conhece o sinal sem ruído, não é possível determinar precisamente qual é o melhor momento de encerrar as iterações do filtro anisotrópico. Desenvolve-se neste trabalho um novo método de parada de difusão baseado na análise da resposta de freqüência do sinal filtrado. Também mostramos como determinar automaticamente um valor de escala adequado. Aplicamos a técnica proposta em eletrocardiograma (ECG). complexo QRS e as Contrações Ventriculares Prematuras (Premature Ventricular Contractions - PVCs) são informações importantes contidas no sinal de ECG. Quando esses sinais são adquiridos no mundo real, eles são freqüentemente corrompidos por eletromiogramas (EMG), artefatos ruidosos provenientes da atividade elétrica associada às contrações musculares. EMG é considerado o ruído de ECG mais difícil de ser eliminado. Ao filtrar o sinal de ECG para remover EMG, não se pode alterar a informação do complexo QRS e anomalia PVC, para não comprometer o diagnóstico clínico. O sinal EMG é modelado como sendo ruído Gaussiano ou, de uma forma mais realística, como ruído com distribuição alfa-estável com características impulsivas. Aplicamos a técnica proposta para filtrar sinais de eletrocardiograma reais do banco de dados de Massachusetts Institute of Technology - Beth Israel Hospital (MIT-BIH). Também é analisada nesta tese a filtragem de sinais provenientes de sensor piezoelétrico. Estes sinais são usados em sistemas reais de corte de aço duro. Em geral uma ferramenta de corte tem sensores piezoelétricos, usados para medição do esforço do corte. Quando a ferramenta de corte se encosta à peça a ser cortada, o sinal do sensor produz uma informação que decai erroneamente ao longo do tempo. Aplicamos a difusão anisotrópica em conjunto com o filtro mediana para determinar o decaimento do sinal do sensor piezoelétrico ao longo do tempo, e assim compensar esta distorção e melhorar o corte de aço duro. / This thesis aims to filter signals corrupted by Gaussian or impulsive noise, preserving the amplitude and the morphology of the original signal. Typically, a linear filter is used for this task, but this filter significantly alters the amplitudes and the edges of the signals and inserts delays in the signal. This work shows that the anisotropic diffusion in conjunction with median filter is much more effective than linear filters for this application. The anisotropic diffusion is an iterative filter, where the signal is filtered repeatedly. An edge-stopping function, a scale parameter and the number of iterations control the anisotropic diffusion. In this study, we tested three well-known edge-stopping functions, concluding that the Perona and Maliks function yields the largest noise reduction factor. Unfortunately, this function is extremely sensitive to the number of iterations, where the noise reduction factor deteriorates quickly before and after the optimal point. As we do not have access to the original noiseless signal, it is not possible to determine precisely the best moment to stop the iterations of the anisotropic filtering. We develop in this paper a new method to determine the best stopping time based on the analysis of the frequency response of the filtered signal. We also show how to determine automatically an adequate scale parameter. We apply the proposed technique to filter electrocardiogram (ECG). The QRS complex and Premature Ventricular Contractions (PVCs) are important information in the ECG signal. When these signals are acquired in the real world, they are often corrupted with noise artifacts from the electrical activity associated with muscle contractions called Electromyography (EMG). EMC is considered the most difficult noise to be eliminated from ECG. When the ECG signal is filtered to remove EMG, the information of the QRS complex and the PVC abnormality must not be altered, to not compromise the clinical diagnosis. We model the EMG signal as Gaussian noise or, more realistically, as alpha stable distribution noise with impulsive characteristics. We apply this technique to filter the real ECG signals from the Massachusetts Institute of Technology - Beth Israel Hospital database (MIT-BIH). This thesis also analyzes the filtering of signals from piezoelectric sensor. These signals are used in real systems for cutting hard steel. In general, a cutting tool has piezoelectric sensors, used to measure the cutting force. When the cutting tool touches the part to be cut, the signal from the sensor produces information that falsely decays over the time. We apply the anisotropic diffusion in conjunction with the median filter to determine the decay of the signal, and therefore offset this distortion and improve the hard steel cutting.

O objetivo deste trabalho é filtrar sinais corrompidos por ruído Gaussiano ou impulsivo, preservando a amplitude e a morfologia do sinal original. Normalmente, um filtro linear é utilizado nesta tarefa, porém este filtro altera significativamente as amplitudes e as bordas dos sinais, bem como insere atrasos no sinal. Mostra-se neste trabalho que a difusão anisotrópica em conjunto com filtro mediana é muito mais eficaz do que os filtros lineares para esta aplicação. A difusão anisotrópica é uma filtragem iterativa, onde o sinal é filtrado repetidamente. A difusão anisotrópica é controlada por uma função denominada parada-na-aresta, por um parâmetro de escala e pelo número de iterações. Neste trabalho, testamos três bem conhecidas funções parada-na-aresta, concluindo que a função de parada na aresta de Malik e Perona consegue o maior fator de redução de ruído. Infelizmente, esta função é extremamente sensível ao número de iterações, onde o fator de redução de ruído deteriora-se rapidamente antes e depois do ponto ótimo. Como não se conhece o sinal sem ruído, não é possível determinar precisamente qual é o melhor momento de encerrar as iterações do filtro anisotrópico. Desenvolve-se neste trabalho um novo método de parada de difusão baseado na análise da resposta de freqüência do sinal filtrado. Também mostramos como determinar automaticamente um valor de escala adequado. Aplicamos a técnica proposta em eletrocardiograma (ECG). complexo QRS e as Contrações Ventriculares Prematuras (Premature Ventricular Contractions - PVCs) são informações importantes contidas no sinal de ECG. Quando esses sinais são adquiridos no mundo real, eles são freqüentemente corrompidos por eletromiogramas (EMG), artefatos ruidosos provenientes da atividade elétrica associada às contrações musculares. EMG é considerado o ruído de ECG mais difícil de ser eliminado. Ao filtrar o sinal de ECG para remover EMG, não se pode alterar a informação do complexo QRS e anomalia PVC, para não comprometer o diagnóstico clínico. O sinal EMG é modelado como sendo ruído Gaussiano ou, de uma forma mais realística, como ruído com distribuição alfa-estável com características impulsivas. Aplicamos a técnica proposta para filtrar sinais de eletrocardiograma reais do banco de dados de Massachusetts Institute of Technology - Beth Israel Hospital (MIT-BIH). Também é analisada nesta tese a filtragem de sinais provenientes de sensor piezoelétrico. Estes sinais são usados em sistemas reais de corte de aço duro. Em geral uma ferramenta de corte tem sensores piezoelétricos, usados para medição do esforço do corte. Quando a ferramenta de corte se encosta à peça a ser cortada, o sinal do sensor produz uma informação que decai erroneamente ao longo do tempo. Aplicamos a difusão anisotrópica em conjunto com o filtro mediana para determinar o decaimento do sinal do sensor piezoelétrico ao longo do tempo, e assim compensar esta distorção e melhorar o corte de aço duro. / This thesis aims to filter signals corrupted by Gaussian or impulsive noise, preserving the amplitude and the morphology of the original signal. Typically, a linear filter is used for this task, but this filter significantly alters the amplitudes and the edges of the signals and inserts delays in the signal. This work shows that the anisotropic diffusion in conjunction with median filter is much more effective than linear filters for this application. The anisotropic diffusion is an iterative filter, where the signal is filtered repeatedly. An edge-stopping function, a scale parameter and the number of iterations control the anisotropic diffusion. In this study, we tested three well-known edge-stopping functions, concluding that the Perona and Maliks function yields the largest noise reduction factor. Unfortunately, this function is extremely sensitive to the number of iterations, where the noise reduction factor deteriorates quickly before and after the optimal point. As we do not have access to the original noiseless signal, it is not possible to determine precisely the best moment to stop the iterations of the anisotropic filtering. We develop in this paper a new method to determine the best stopping time based on the analysis of the frequency response of the filtered signal. We also show how to determine automatically an adequate scale parameter. We apply the proposed technique to filter electrocardiogram (ECG). The QRS complex and Premature Ventricular Contractions (PVCs) are important information in the ECG signal. When these signals are acquired in the real world, they are often corrupted with noise artifacts from the electrical activity associated with muscle contractions called Electromyography (EMG). EMC is considered the most difficult noise to be eliminated from ECG. When the ECG signal is filtered to remove EMG, the information of the QRS complex and the PVC abnormality must not be altered, to not compromise the clinical diagnosis. We model the EMG signal as Gaussian noise or, more realistically, as alpha stable distribution noise with impulsive characteristics. We apply this technique to filter the real ECG signals from the Massachusetts Institute of Technology - Beth Israel Hospital database (MIT-BIH). This thesis also analyzes the filtering of signals from piezoelectric sensor. These signals are used in real systems for cutting hard steel. In general, a cutting tool has piezoelectric sensors, used to measure the cutting force. When the cutting tool touches the part to be cut, the signal from the sensor produces information that falsely decays over the time. We apply the anisotropic diffusion in conjunction with the median filter to determine the decay of the signal, and therefore offset this distortion and improve the hard steel cutting.

<p>A Sliding Mode Control System for a Bidirectional DCDC Converter was designed and a low voltage prototype was constructed. The control system based its decisions solely on the latest available measurements, which improves performance when changing operative quadrant, since no memory needs reinitializing (such as for PI and state prediction methods). A boost control philosophy was presented, based on a current source approximation. The control was found to be stable without steady-state errors when the variance of the input/output dynamics was high.</p><p>The target application for the DCDC Converter is an EV (Electric Vehicle) with a flywheel driveline, which puts additional requirements of the converter. Among these are current and voltage control, bidirectionality, and a broad input voltage range.</p><p>Simulations were performed in Simulink prior to physical implementation, proving functionality of the proposed control system. The physical implementation of the control was done on a digital signal processor with code compiled from C. A median filter was designed to increase measurement efficiency for the current sensors which had shot-like noise distortions.</p>

A Sliding Mode Control System for a Bidirectional DCDC Converter was designed and a low voltage prototype was constructed. The control system based its decisions solely on the latest available measurements, which improves performance when changing operative quadrant, since no memory needs reinitializing (such as for PI and state prediction methods). A boost control philosophy was presented, based on a current source approximation. The control was found to be stable without steady-state errors when the variance of the input/output dynamics was high. The target application for the DCDC Converter is an EV (Electric Vehicle) with a flywheel driveline, which puts additional requirements of the converter. Among these are current and voltage control, bidirectionality, and a broad input voltage range. Simulations were performed in Simulink prior to physical implementation, proving functionality of the proposed control system. The physical implementation of the control was done on a digital signal processor with code compiled from C. A median filter was designed to increase measurement efficiency for the current sensors which had shot-like noise distortions.

During the acquisition and transmission of images, it is important that the information is retained with the highest quality. Occasionally noise from various sources can corrupt an image. In this case, various image processing filtering techniques that are effective in removing noise can be used. Noise removal filters are designed to remove specific types of noise. However, they also degrade the image and detail is lost. This is particularly troublesome in cases where there is very little noise. A number of detail preserving filters have been proposed in the past, but most of the work was focused on monochrome images. With today's technological advancements, most of the images used are in full color, and detail preserving filters that have been designed for monochrome, cannot be directly applied for color. In this work, several detail preserving filters that have been designed to remove impulsive noise from color images are first surveyed and compared. We then consider the extension of detail preserving median filters to color images. At the end, we propose new filters that are capable of removing colored impulsive noise with minimum image degradation. Two user adjustable parameters can vary the strength of the filter for best results. Several comparisons with other previously proposed filters will be presented. Finally, in order to make the filter user friendly, an Adobe Photoshop plug-in is to be developed.

This thesis is composed of three main parts / displaying an analog composite video input by via converting to digital VGA format, license plate localization on a video image and image enhancement on FPGA. Analog composite video input, either PAL or NTSC is decoded on a video decoder board / then on FPGA, video data is converted from 4:2:2 YCbCr format to RGB. To display RGB data on the screen, line doubling de-interlacing algorithm is used since it is efficient considering computational complexity and timing. When taking timing efficiency into account, image enhancement is applied only to beneficial part of the image. In this thesis work, beneficial part of the image is considered as numbered plates. Before image enhancement process, the location of the plate on the image must be found. In order to find the location of plate, a successful method, edge finding is used. It is based on the idea that the plate is found on the rows, where the brightness variation is largest. Because of its fast execution, band-pass filtering with finite response (FIR) is used for highlighting the high contrast areas. Image enhancement with rank order filter method is chosen to remove the noise on the image. Median filter, a rank order filter, is designed and simulated. To improve image quality while reducing the process time, the filter is applied only to the part of the image where the plate is. Design and simulation is done using hardware design language VHDL. Implementations of the chosen approaches are done on MATLAB and Xilinx Virtex-2 Pro FPGA. Improvement of the implementation considering speed and area is evaluated.

Orientador: Maurílio Boaventura / Banca: Adilson Gonzaga / Banca: Eliana Xavier Linhares de Andrade / Resumo: Neste trabalho propõe-se um filtro mediano seletivo e um filtro híbrido para eliminação de ruído impulsivo em imagens digitais monocromáticas. O primeiro é baseado em uma modificação do filtro mediano por meio de um detector de ruído impulsivo. O segundo é obtido combinando-se o filtro mediano seletivo com um modelo de retoque digital. A remoção de ruído impulsivo em uma imagem colorida é realizada por meio da extensão dos filtros propostos para cada canal de cor da imagem. Os experimentos realizados indicam que os métodos propostos são eficazes na restauração de imagens com grandes densidades de ruído. / Abstract: In this paper a selective median filter and a hybrid filter for removing impulsive noise in digital grayscale images are proposed. The first is a median filter modification based on impulsive noise detector. The second is obtained by combining the selective median filter with a digital inpainting model. The noise removal in color image is obtained by extending the proposed filters for each color channel of the image. The experiments indicated that the proposed methods are powerful in restoring images with high densities noise. / Mestre

Made available in DSpace on 2014-06-11T19:26:55Z (GMT). No. of bitstreams: 0 Previous issue date: 2010-02-26Bitstream added on 2014-06-13T19:47:27Z : No. of bitstreams: 1 almeida_mp_me_sjrp.pdf: 4937582 bytes, checksum: 4d9c67bc8dda1a2e1a742ee59be238fa (MD5) / Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq) / Neste trabalho propõe-se um filtro mediano seletivo e um filtro híbrido para eliminação de ruído impulsivo em imagens digitais monocromáticas. O primeiro é baseado em uma modificação do filtro mediano por meio de um detector de ruído impulsivo. O segundo é obtido combinando-se o filtro mediano seletivo com um modelo de retoque digital. A remoção de ruído impulsivo em uma imagem colorida é realizada por meio da extensão dos filtros propostos para cada canal de cor da imagem. Os experimentos realizados indicam que os métodos propostos são eficazes na restauração de imagens com grandes densidades de ruído. / In this paper a selective median filter and a hybrid filter for removing impulsive noise in digital grayscale images are proposed. The first is a median filter modification based on impulsive noise detector. The second is obtained by combining the selective median filter with a digital inpainting model. The noise removal in color image is obtained by extending the proposed filters for each color channel of the image. The experiments indicated that the proposed methods are powerful in restoring images with high densities noise.

This master's thesis introduces the areas of approximate computing, image filtering in hardware and evolutionary algorithms. It proposes a new design solution to the problem of the evolutionary approximation of median filters, where the objective is to reduce computational and implementation requirements and simultaneously minimize the error of filtering. Based on the gained knowledge and proposals, the necessary programs have been implemented. Experimental evaluation shows that the proposed method can provide good tradeoffs between the quality of filtering and the implementation cost for median filters.