Dither control is a method of introducing high frequency control efforts into a system to suppress a lower frequency disturbance. Dither control is an effective means of suppressing automotive brake squeal. Brake squeal is a problem that has plagued the automotive industry for years. In fact many makers of materials for brake pads spend up to 50% of their engineering budgets on noise, vibration and harshness issues. A normal dither signal may be introduced to an automotive braking system by placing a piezoceramic stack actuator in the piston of a floating caliper brake. Many theoretical models indicate a reduction in the braking torque due to the dither signal. Under the assumption of Hertzian contact stiffness the loss in braking torque is due to lowering of the average normal force. There are also theories that the dither signal eliminates the stick-slip oscillation causing an effective decrease in the friction force. Yet another theory indicates that the effective contact area is reduced, lowering the mean coefficient of friction. It is not apparent whether any of these models accurately portrays the interaction of the brake pads and rotor.

International Telemetering Conference Proceedings / October 17-20, 1994 / Town & Country Hotel and Conference Center, San Diego, California / A significant problem in the processing chain of a low resolution quantization system is the Analog to Digital converter quantization error. The classical model of quantization treats the error generated as a random additive process that is independent of the input and uniformly distributed. This model is valid for complex or random input signals that are large relative to a least significant bit. But the model fails catastrophically for small, simple signals applied to high resolution quantization systems, and in addition, the model fails for simple signals applied to low resolution quantization systems, i.e. one to 6 bits resolution. This paper will discuss a means of correcting this problem by the application of dither. Two methods of dither will be discussed as well as a real-life implementation of the techniques.

Dithered quantization and noise shaping is well known in the audio community. The image processing community seems to be aware of this same theory only in bits and pieces, and frequently under conflicting terminology. This thesis attempts to show that dithered quantization of images is an extension of dithered quantization of audio signals to higher dimensions. Dithered quantization, or ``threshold modulation'', is investigated as a means of suppressing undesirable visual artifacts during the digital quantization, or requantization, of an image. Special attention is given to the statistical moments of the resulting error signal. Afterwards, noise shaping, or ``error diffusion'' methods are considered to try to improve on the dithered quantization technique. We also take time to develop the minimum-phase property for two-dimensional systems. This leads to a natural extension of Jensen's Inequality and the Hilbert transform relationship between the log-magnitude and phase of a two-dimensional system. We then describe how these developments are relevant to image processing.

Dithered quantization and noise shaping is well known in the audio community. The image processing community seems to be aware of this same theory only in bits and pieces, and frequently under conflicting terminology. This thesis attempts to show that dithered quantization of images is an extension of dithered quantization of audio signals to higher dimensions. Dithered quantization, or ``threshold modulation'', is investigated as a means of suppressing undesirable visual artifacts during the digital quantization, or requantization, of an image. Special attention is given to the statistical moments of the resulting error signal. Afterwards, noise shaping, or ``error diffusion'' methods are considered to try to improve on the dithered quantization technique. We also take time to develop the minimum-phase property for two-dimensional systems. This leads to a natural extension of Jensen's Inequality and the Hilbert transform relationship between the log-magnitude and phase of a two-dimensional system. We then describe how these developments are relevant to image processing.

Friction-induced oscillations occur in many engineering systems, often resulting in noise, vibration, and excessive or uneven wear. This research addresses the suppression of such oscillations, especially with application to braking systems, through the use of high-frequency dither signals. Brake squeal is an annoying and elusive problem too often present in braking systems of automobiles, trucks and aircraft. In previous work, the effectiveness of high-frequency dither to eliminate squeal in an automotive disc brake assembly was demonstrated experimentally. The main features of the dither-squeal cancellation system was the application of a high frequency variation in the brake pressure force accomplished by means of a piezoelectric stack placed behind one of the brake pads. This thesis contains a theoretical and numerical treatment of the application of dither to frictional systems. Two types of systems are investigated. The first is a classic, mass-on-a-moving belt problem, which experiences friction-induced oscillations similar to those encountered in brake applications. The system is first studied using an analytical technique based on the method of averaging. It is shown that, depending on the system, friction, dither-waveform, and belt-speed parameters, dither can stabilize an unstable system. However, in some cases, dither can destabilize an initially stable system. These results are verified numerically using time integration. The second type of system analyzed in this thesis is an annular plate with a rotating frictional device. The method of multiple scales is used to predict subcritical regions of instability; the results are validated using Floquet theory. The thesis treats both tangential and normal dither, the latter being closer to the brake application. It is found that normal dither, in addition to being harder to analyze, is much less effective than tangential dither.

In our aging society, the design and implementation of a high-performance autonomous distributed vision information system for autonomous physical services become ever more important. In line with this development, the proposed Intelligent Vision Agent System, IVAS, is able to automatically detect and identify a target for a specific task by surveying a human activities space. The main subject of this thesis is the optimal configuration of a sensor system meant to capture the target objects and their environment within certain required specifications. The thesis thus discusses how a discrete sensor causes a depth spatial quantisation uncertainty, which significantly contributes to the 3D depth reconstruction accuracy. For a sensor stereo pair, the quantisation uncertainty is represented by the intervals between the iso-disparity surfaces. A mathematical geometry model is then proposed to analyse the iso-disparity surfaces and optimise the sensors’ configurations according to the required constrains. The thesis also introduces the dithering algorithm which significantly reduces the depth reconstruction uncertainty. This algorithm assures high depth reconstruction accuracy from a few images captured by low-resolution sensors. To ensure the visibility needed for surveillance, tracking, and 3D reconstruction, the thesis introduces constraints of the target space, the stereo pair characteristics, and the depth reconstruction accuracy. The target space, the space in which human activity takes place, is modelled as a tetrahedron, and a field of view in spherical coordinates is proposed. The minimum number of stereo pairs necessary to cover the entire target space and the arrangement of the stereo pairs’ movement is optimised through integer linear programming. In order to better understand human behaviour and perception, the proposed adaptive measurement method makes use of a fuzzily defined variable, FDV. The FDV approach enables an estimation of a quality index based on qualitative and quantitative factors. The suggested method uses a neural network as a tool that contains a learning function that allows the integration of the human factor into a quantitative quality index. The thesis consists of two parts, where Part I gives a brief overview of the applied theory and research methods used, and Part II contains the five papers included in the thesis.

In our society with its aging population, the design and implementation of a highperformance distributed multi-sensor and information system for autonomous physical services become more and more important. In line with this, this thesis proposes an Intelligent Multi-Sensor System, IMSS, that surveys a human activities space to detect and identify a target for a specific service. The subject of this thesis covers three main aspects related to the set-up of an IMSS: an improved depth measurement and reconstruction method and its related uncertainty, a surveillance and tracking algorithm and finally a way to validate and evaluate the proposed methods and algorithms. The thesis discusses how a model of the depth spatial quantisation uncertainty can be implemented to optimize the configuration of a sensor system to capture information of the target objects and their environment with required specifications. The thesis introduces the dithering algorithm which significantly reduces the depth reconstruction uncertainty. Furthermore, the dithering algorithm is implemented on a sensor-shifted stereo camera, thus simplifying depth reconstruction without compromising the common stereo field of view. To track multiple targets continuously, the Gaussian Mixture Probability Hypothesis Density, GM-PHD, algorithm is implemented with the help of vision and Radio Frequency Identification, RFID, technologies. The performance of the tracking algorithm in a vision system is evaluated by a circular motion test signal. The thesis introduces constraints to the target space, the stereo pair characteristics and the depth reconstruction accuracy to optimize the vision system and to control the performance of surveillance and 3D reconstruction through integer linear programming. The human being within the activity space is modelled as a tetrahedron, and a field of view in spherical coordinates are used in the control algorithms. In order to integrate human behaviour and perception into a technical system, the proposed adaptive measurement method makes use of the Fuzzily Defined Variable, FDV. The FDV approach enables an estimation of the quality index based on qualitative and quantitative factors for image quality evaluation using a neural network. The thesis consists of two parts, where Part I gives an overview of the applied theory and research methods used, and Part II comprises the eight papers included in the thesis.

Digital communication systems which use Orthogonal Frequency Division Multiplexing (OFDM) are now widely used and have many advantages. The main disadvantage is the requirement for highly linear analogue electronics including the high power amplifier (HPA). This requirement cannot be met in all circumstances because of the occurrence of symbols with high peak to average power ratio (PAPR). Such symbols may be non-linearly distorted by limiting. Approaches to solve this problem have been either to reduce the PAPR at the transmitter or to try to mitigate the effect of the non-linearity at the receiver. Soft-limiting, i.e. applying limiting in software prior to the HPA is a simple way to reduce the PAPR. It produces non-linear distortion which will cause an increase in the bit-error-rate (BER) at the receiver. This thesis surveys existing alternatives ways of reducing the effect of non-linearity and proposes some new ones. Two iterative receiver techniques, based on statistical analysis of the nature of the non-linearity, have been implemented and investigated. These are the ‘Bussgang Noise Cancellation’ (BNC) technique and the ‘Decision Aided Reconstruction’ (DAR) techniques. As these techniques are valid for any memory-less nonlinearity, an alternative form of limiting, named as Inverted-Wraparound (IWRAP) has been included in the BNC investigation. A new method is proposed which is capable of correcting the received time-domain samples that are clipped, once they have been identified. This is named the ‘Equation-Method’ and it works by identifying constellation symbols that are likely to be correct at the receiver. If there are a sufficient number of these and they are correctly identified, the FFT may be partitioned to produce a set of equations that may be solved for the clipped time-domain samples. The thesis proposes four enhancements to this new method which improve its effectiveness. It is shown that the best form of this method outperforms conventional techniques especially for severe clipping levels. The performance of these four enhancements is evaluated over channels with additive white Gaussian noise (AWGN) in addition to clipping distortion. A technique based on a ‘margin factor’ is designed to make these methods work more effectively in the presence of AWGN noise. A new combining algorithm referred as ‘HARQ for Clipping’ is presented where soft bit decisions are combined from multiple transmissions. ‘HARQ for Clipping’ has been combined with the best version of the Equation-Method, and the performance of this approach is evaluated in terms of the BER with different levels of AWGN. It has been compared to other approaches from the literature and was found to out-perform the BNC iterative receiver by 3dB at signal to noise ratios around 10dB. Without HARQ, the best version of the Equation-Method performs better than the BNC receiver, at signal-to-nose ratios above about 17dB.

<p>U tezi je rešavan centralni problem &ndash; detekcija nule dvobitnom<br />stohastičkom digitalnom mernom metodom (SDMM). Formulisane su<br />dve metode detekcije nule primenom dvobitne SDMM. Po prvoj metodi<br />dinamička rezerva je oko 100 dB a po drugoj ne manje od 160 dB. Obe<br />metode su proverene teorijski, simulaciono i eksperimentalno. Pored<br />rešenja centralnog problema, dato je i nekoliko rešenja problema<br />koji su sa njim vezani. Hipoteza ove teze &ndash; &bdquo;dvobitna SDMM je u opsegu<br />0 % - 10% FS bolja od standardne sempling metode (SSM)&ldquo; &ndash; je potpuno<br />potvrđena u svim razmatranim slučajevima.</p> / <p>The main goal of this thesis was null-detection using a two-bit stochastic<br />digital measurement method (SDMM). Two methods of null-detection, using<br />two-bit SDMM, were formulated. Using the first method around 100 dB of<br />dynamic reserve was achieved and using the second one no less than<br />160 dB. Both methods were theoretically, using simulation and experimentally<br />confirmed. In addition to the solution of the main problem, several other<br />related problems were also solved. The hypothesis of this thesis &ndash; &ldquo;two-bit<br />SDMM in range from 0 % - 10 % FS is better than the standard sampling<br />method (SSM)&rdquo; has been fully confirmed in all considered cases.</p>

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QFormat="true" Name="Intense Emphasis"/> <w:LsdException Locked="false" Priority="31" SemiHidden="false" UnhideWhenUsed="false" QFormat="true" Name="Subtle Reference"/> <w:LsdException Locked="false" Priority="32" SemiHidden="false" UnhideWhenUsed="false" QFormat="true" Name="Intense Reference"/> <w:LsdException Locked="false" Priority="33" SemiHidden="false" UnhideWhenUsed="false" QFormat="true" Name="Book Title"/> <w:LsdException Locked="false" Priority="37" Name="Bibliography"/> <w:LsdException Locked="false" Priority="39" QFormat="true" Name="TOC Heading"/> </w:LatentStyles></xml><![endif]--><!--[if gte mso 10]><style> /* Style Definitions */ table.MsoNormalTable{mso-style-name:"Table Normal";mso-tstyle-rowband-size:0;mso-tstyle-colband-size:0;mso-style-noshow:yes;mso-style-priority:99;mso-style-qformat:yes;mso-style-parent:"";mso-padding-alt:0in 5.4pt 0in 5.4pt;mso-para-margin:0in;mso-para-margin-bottom:.0001pt;mso-pagination:widow-orphan;font-size:11.0pt;font-family:"Calibri","sans-serif";mso-ascii-font-family:Calibri;mso-ascii-theme-font:minor-latin;mso-fareast-font-family:"Times New Roman";mso-fareast-theme-font:minor-fareast;mso-hansi-font-family:Calibri;mso-hansi-theme-font:minor-latin;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi;}</style><![endif]-->U tezi se razmatra kriterijum optimalnosti stohastičkog fleš A/D konvertora (SFADC) koji predstavlja osnovu stohastičke digitalne metode merenja (SDMM). Razvijen je matematički i simulacioni model višebitnog SFADC i određen optimum broja bita rezolucije. Napravljen je hardverski prototip 4-bitnog stohastičkog mernog instrumenta (SMI), koji je ispitan brojnim eksperimentima i upoređen sa teorijski određenim vrednostima performansi merenja. Hipoteza ove teze &ndash; da postoji optimalni broj bita rezolucije SMI pri kome se ostvaruje maksimalna dobit u preciznosti merenja po ceni dupliranja potrebnog hardvera &ndash; potpuno je potvrđena.</p> / <p><!--[if gte mso 9]><xml> <w:WordDocument> <w:View>Normal</w:View> <w:Zoom>0</w:Zoom> <w:TrackMoves/> <w:TrackFormatting/> <w:PunctuationKerning/> <w:ValidateAgainstSchemas/> <w:SaveIfXMLInvalid>false</w:SaveIfXMLInvalid> <w:IgnoreMixedContent>false</w:IgnoreMixedContent> <w:AlwaysShowPlaceholderText>false</w:AlwaysShowPlaceholderText> <w:DoNotPromoteQF/> <w:LidThemeOther>EN-US</w:LidThemeOther> <w:LidThemeAsian>X-NONE</w:LidThemeAsian> <w:LidThemeComplexScript>X-NONE</w:LidThemeComplexScript> <w:Compatibility> <w:BreakWrappedTables/> <w:SnapToGridInCell/> <w:WrapTextWithPunct/> <w:UseAsianBreakRules/> <w:DontGrowAutofit/> <w:SplitPgBreakAndParaMark/> <w:DontVertAlignCellWithSp/> <w:DontBreakConstrainedForcedTables/> <w:DontVertAlignInTxbx/> <w:Word11KerningPairs/> 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Normal";mso-tstyle-rowband-size:0;mso-tstyle-colband-size:0;mso-style-noshow:yes;mso-style-priority:99;mso-style-qformat:yes;mso-style-parent:"";mso-padding-alt:0in 5.4pt 0in 5.4pt;mso-para-margin:0in;mso-para-margin-bottom:.0001pt;mso-pagination:widow-orphan;font-size:11.0pt;font-family:"Calibri","sans-serif";mso-ascii-font-family:Calibri;mso-ascii-theme-font:minor-latin;mso-fareast-font-family:"Times New Roman";mso-fareast-theme-font:minor-fareast;mso-hansi-font-family:Calibri;mso-hansi-theme-font:minor-latin;mso-bidi-font-family:"Times New Roman";mso-bidi-theme-font:minor-bidi;}</style><![endif]--><span style="font-size:9.0pt;mso-bidi-font-size:10.0pt;font-family:&quot;Arial&quot;,&quot;sans-serif&quot;;mso-fareast-font-family:&quot;Times New Roman&quot;;mso-font-kerning:10.0pt;mso-ansi-language:EN-US;mso-fareast-language:EN-US;mso-bidi-language:AR-SA">The thesis considers the criterion of optimality of the stochastic flash A/D converter (SFADC), which is the basis of the stochastic digital measurement method (SDMM). The mathematical and simulation model of the multibit SFADC was developed and the optimal number of bits of resolution was determined. A hardware prototype of a 4-bit stochastic measuring instrument (SMI) was made, tested in numerous experiments and compared with theoretically determined measurement performance values. The hypothesis of this thesis - that there is an optimal number of SMI resolution bits in which the maximum benefit of the measurement precision is achieved at the price of duplication of the required hardware - is fully confirmed</span></p>