Autonomous mobile systems (AMS) are systems capable of some mobility and equipped with advanced sensor devices in order to flexibly respond to changing environmental situations, thus achieving some degree of autonomy. The purpose of this book is to contribute to some essential topics in this broad research area related to sensing and control, but not to present a complete design of an AMS. Subjects conceming knowledge based control and decision, such as moving around obstacles, task planning and diagnosis are left for future publications in this series. Research in the area of AMS has grown rapidly during the last decade, see e.g. WAXMAN et al. 87], DICKMANNS, ZAPP 87]. The requirements of an AMS strongly depends on the desired tasks the system should execute, its operational environment and the expected speed of the AMS. For instance, road vehicles obtain velocities of 10 m/s and more, therefore the processing of sensor data such as video image sequences has to be very fast and simple, while indoor mobile robots deal with shorter distances and lower speeds, thus more sophistcated techniques are applicable and -as is done in our approach- additional sensors can be integrated to allow for multi sensor processing.

This volume contains the papers selected for presentation at the Second International Conference on Parallel Image Analysis (ICPIA '92), held in Ube, Japan, December 21-23, 1992. The conference topics are data structures, parallel algorithms and architectures, neural networks, computational vision, syntactic generation and recognition, and multidimensional models. The first meeting with these topics was theInternational Colloquium on Parallel Image Processing, which took place in Paris in June 1991. The aim of the meetings is to bring together specialistsfrom various countries who are interested in the topics and to stimulatetheoretical and practical research in the field of parallel image processingand analysis. The volume contains three invited papers, a summary of a tutorial lecture, and twenty selected and refereed communications.

This book contains the 61 papers that were accepted for presenta tion at the 1992 British Machine Vision Conference. Together they provide a snapshot of current machine vision research throughout the UK in 24 different institutions. There are also several papers from vision groups in the rest of Europe, North America and Australia. At the start of the book is an invited paper from the first keynote speaker, Robert Haralick. The quality of papers submitted to the conference was very high and the programme committee had a hard task selecting around half for presentation at the meeting and inclusion in these proceedings. It is a positive feature of the annual BMV A conference that the entire process from the submission deadline through to the conference itself and publication of the proceedings is completed in under 5 months. My thanks to members of the programme committee for their essential contribution to the success of the conference and to Roger Boyle, Charlie Brown, Nick Efford and Sue Nemes for their excellent local organisation and administration of the conference at the University of Leeds."

Industrial processes such as long-wall coal cutting and me- tal rolling, together with certain areas of 2D signal and image processing, exhibit a repetitive, or multipass struc- ture characterized by a series of sweeps of passes through a known set of dynamics. The output, or pass profile, produced on each pass explicitly contributes to that produced on the text. This interpass interaction can lead to the growth of oscillations, and hence a form of instability, in the se- quence of pass profiles which require control strategies that explicitly incorporate the essential repetitive struc- ture of the process in their decision making. This monograph is unique in developing the new techniques necessary for sy- stematic control systems design in the form of a stability theory and computationally feasible stability tests based on finite simulations and polynomial analysis. Its development requires a basic knowledge of linear frequency domain and state-space theory and a knowledge of basic functional ana- lysis would be beneficial. The text is aimed at researchers in the area of control and systems theory and should also be of interest to those working in the related area of signal and image processing.

Image processing is a fascinating applications area, not a fundamental science of sufficient generality to warrant studying it for its own sake. In this area, there are many opportunities to apply art and experience, as well as knowledge from a number of sciences and engineering disciplines, to the creation of products and processes for which society has an expressed need. Without this need, work in the field would be sterile, but with it, image processing can readily provide the interested scientist or engineer with a professioilal lifetime of challenging problems and corresponding rewards. This point of view motivates this book and has influenced the selection and treatment of topics. I have not attempted to 1 be encyclopedic; this service has already been performed by others. It will be noted that the word "digital" is not in the title of this book. While much of present-day image processing is implemented digitally, this work is not intended for those who think of image processing as a branch of digital signal processing, except, perhaps, to try to change their minds. Image gathering and image display, vital parts of the field with strong effects on image quality, are inherently analog, as are all of the channels and media now used, or likely to be used in the future, to record TV signals and to transmit them to the home.

Block pulse functions have been studied and applied extensively in the past fifteen years as a basic set of functions for signal characterizations in systems science and control. Written for staff, students and engineers in industry interested in digital signal processing for system analysis and design, this book presents the principles and techniques ofblock pulse functions in a systematic and uniform manner. Readers who are interested in using these functions in their own problems can obtain an overview of the existing methods and the developing tendency of this area. In comparison with other basic functions or polynomials, block pulse functions can lead more easily to recursive computations to solve concrete problems.

The four chapters of this volume, written by prominent workers in the field of adaptive processing and linear prediction, address a variety of problems, ranging from adaptive source coding to autoregressive spectral estimation. The first chapter, by T.C. Butash and L.D. Davisson, formulates the performance of an adaptive linear predictor in a series of theorems, with and without the Gaussian assumption, under the hypothesis that its coefficients are derived from either the (single) observation sequence to be predicted (dependent case) or a second, statistically independent realisation (independent case). The contribution by H.V. Poor reviews three recently developed general methodologies for designing signal predictors under nonclassical operating conditions, namely the robust predictor, the high-speed Levinson modeling, and the approximate conditional mean nonlinear predictor. W. Wax presents the key concepts and techniques for detecting, localizing and beamforming multiple narrowband sources by passive sensor arrays. Special coding algorithms and techniques based on the use of linear prediction now permit high-quality voice reproduction at remorably low bit rates. The paper by A. Gersho reviews some of the main ideas underlying the algorithms of major interest today.

Lewis Carroll once wrote a story about a king who wanted a very accurate map of his kingdom. The king had a pathologically fastidious eye for detail and consequently decided that the map was to be produced at a scale of 1:1. The scribes dutifully set to and, in time, the map was made. The map carried details of every tree, every rock and every blade of grass throughout the entire land. The problem occurred when they tried to use -it. First of all, the map was extraordinarily difficult to open out and line up with the countryside. Its sheer bulk meant that it took whole armies to carry it and a great host of bureaucrats and technicians to maintain the information. Such was the detail of the map that as soon as the wind blew strongly, whole sections needed to be redrawn. What was worse was that all the farmers protested because the map completely cut out the light from the sun and all the crops died. Eventually the howls of protest became so strong that the king was forced to take action. He did away with the old paper copy and decided to use the kingdom itself as the map. All lived happily ever after. There are, at least, two morals to this tale. First, you are almost certainly doomed to failure if you do not get the representation of the problem right.

This textbook gives details of recent developments in the field of image processing, machine vision and analysis. Based on the original book published in Czech, this English edition has been expanded to include 3D vision, neural networks and invariants.

The 1990 Grainger Lectures delivered at the University of Illinois, Urbana-Champaign, September 28 - October 1, 1990 were devoted to a critical reexamination of the foundations of adaptive control. In this volume the lectures are expanded by most recent developments and solutions for some long-standing open problems. Concepts and approaches presented are both novel and of fundamental importance for adaptive control research in the 1990s. The papers in Part I present unifications, reappraisals and new results on tunability, convergence and robustness of adaptive linear control, whereas the papers in Part II formulate new problems in adaptive control of nonlinear systems and solve them without any linear constraints imposed on the nonlinearities.

One of the most challenging problems in electrical engineering is the detection and localization of target in underwater acoustics. In particular, bearing estimation is usually obtained by the classical array processing method, beamforming. High-resolution methods have been introduced to overcome the main limitation of beamforming, poor resolution. This volume is composed of tutorials and state-of-the-art research papers on high-resolution methods applied to underwater acoustics. Most of these papers are related to the bearing estimation problem (detailed presentation of methods of their performances, both theoretical and at-sea, their use with an array of unknown geometry, etc) but extensions to the temporal and spectral domains are also included. This monograph on signal processing, underwater acoustics is intended for the use of electrical engineers, advanced students, researchers, industry engineers and scientists, technical navy people.

This volume contains papers presented during a four-day Workshop that took place at Rutgers University from 29 April to 2 May, 1991. The purpose of this workshop was to promote interaction among specialists in these areas byproviding for all an up-to-date picture of current issues and outstanding problems. The topics covered include singular stochasticcontrol, queuing networks, the mathematical theory of stochastic optimization and filtering, adaptive control and the estimation for random fields and its connections with simulated annealing, statistical mechanics, and combinatorial optimization.

The 1991 International Conference on Information Processing in Medical Imaging (IPMI '91) is the twelfth in the series and was held in Wye College, part of the University of London. The purpose of IPMI is to provide a forum for the detailed examination of methodological issues in computing which are at the heart of advances in medical image formation, manipulation and interpretation. This volume presents the proceedings of IPMI '91. Full-length scientific papers describing the latest techniques and results are organized into the following nine sections: - Image formation and reconstruction - Incorporation of priors in tomographic reconstruction - Multi-modal registration - Segmentation: specific applications - Segmentation: multi-scale, surfaces and topology - Anatomical models and variability - Factor analysis - Rule based systems and learning - Image quality, display and interaction. The volume also includes a set of color plates and a subject index. The book provides an up-to-date account of current work in the expanding and fast-moving area of image processing and medical imaging, and gives an overview of work at all the key centers researching in this area. It will prove an invaluable asset to all researchers working in the area and to the libraries of organizations involved in imaging research.

This book offers readers a broad view of research in some Western and Eastern European countries on pattern and signal analysis, and on coding, handling and measurement of images. It is a selection of refereed papers from two sources: first, a satellite conference within the biannual International Conference on Pattern Recognition held in Rome, November 14-17, 1988, and second, work done at the International Basic Laboratory on Image Processing and Computer Graphics, Berlin, GDR. The papers are grouped into three sections. The first section contains new proposals for the specific computation of particular features of digital images and the second section is devoted to the introduction and testing of general approaches to the solution of problems met in digital geometry, image coding, feature extraction and object classification. The third section illustrates some recent practical results obtained on real images specifically in character and speech recognition as well as in biomedicine. All the techniques illustrated in this book will find direct application in the near future. This book should interest and stimulate the reader, provoke new thoughts and encourage further research in this widely appealing field.

In this volume the author gives an introduction to the theory of group representations and their applications in image science. The main feature of the presentation is a systematic treatment of the invariance principle in image processing and pattern recognition with the help of group theoretical methods. The invariance properties of a problem often largely define the solution to the problem. Invariance principles are well known in theoretical physics but their use in image processing is only a few years old. The reader will find that group theory provides a unifying framework for many problems in image science. The volume is based on graduate-level lectures given by the author, and the book is intended for students and researchers interested in theoretical aspects of computer vision.

This textbook presents an introduction to communication systems with an emphasis on signal design and modulation. The book carefully develops the mathematical principles upon which such systems are based, using examples from a wide variety of current communications systems wherever possible. These range from commercial broadcasting and telephone systems to satellite telemetry and radar.

In addition to its thorough coverage of DSP design and programming techniques, Smith also covers the operation and usage of DSP chips. He uses Analog Devices' popular DSP chip family as design examples. Also included on the companion website is technical info on DSP processors from the four major manufacturers (Analog Devices, Texas Instruments, Motorola, and Lucent) and other DSP software.
*Covers all major DSP topics
*Full of insider information and shortcuts
*Basic techniques and algorithms explained without complex numbers

This largely self-contained book on the theory of quantum information focuses on precise mathematical formulations and proofs of fundamental facts that form the foundation of the subject. It is intended for graduate students and researchers in mathematics, computer science, and theoretical physics seeking to develop a thorough understanding of key results, proof techniques, and methodologies that are relevant to a wide range of research topics within the theory of quantum information and computation. The book is accessible to readers with an understanding of basic mathematics, including linear algebra, mathematical analysis, and probability theory. An introductory chapter summarizes these necessary mathematical prerequisites, and starting from this foundation, the book includes clear and complete proofs of all results it presents. Each subsequent chapter includes challenging exercises intended to help readers to develop their own skills for discovering proofs concerning the theory of quantum information.

An important working resource for engineers and researchers involved in the design, development, and implementation of signal processing systems The last decade has seen a rapid expansion of the use of field programmable gate arrays (FPGAs) for a wide range of applications beyond traditional digital signal processing (DSP) systems. Written by a team of experts working at the leading edge of FPGA research and development, this second edition of FPGA-based Implementation of Signal Processing Systems has been extensively updated and revised to reflect the latest iterations of FPGA theory, applications, and technology. Written from a system-level perspective, it features expert discussions of contemporary methods and tools used in the design, optimization and implementation of DSP systems using programmable FPGA hardware. And it provides a wealth of practical insights along with illustrative case studies and timely real-world examples of critical concern to engineers working in the design and development of DSP systems for radio, telecommunications, audio-visual, and security applications, as well as bioinformatics, Big Data applications, and more. Inside you will find up-to-date coverage of: * FPGA solutions for Big Data Applications, especially as they apply to huge data sets * The use of ARM processors in FPGAs and the transfer of FPGAs towards heterogeneous computing platforms * The evolution of High Level Synthesis tools including new sections on Xilinx's HLS Vivado tool flow and Altera's OpenCL approach * Developments in Graphical Processing Units (GPUs), which are rapidly replacing more traditional DSP systems FPGA-based Implementation of Signal Processing Systems, 2nd Edition is an indispensable guide for engineers and researchers involved in the design and development of both traditional and cutting-edge data and signal processing systems. Senior-level electrical and computer engineering graduates studying signal processing or digital signal processing also will find this volume of great interest.

"In 1971 Dr. Paul C. Lauterbur pioneered spatial information encoding principles that made image formation possible by using magnetic resonance signals. Now Lauterbur, ""father of the MRI,"" and Dr. Zhi-Pei Liang have co-authored the first engineering textbook on magnetic resonance imaging. This long-awaited, definitive text will help undergraduate and graduate students of biomedical engineering, biomedical imaging scientists, radiologists, and electrical engineers gain an in-depth understanding of MRI principles. The authors use a signal processing approach to describe the fundamentals of magnetic resonance imaging. You will find a clear and rigorous discussion of these carefully selected essential topics: * Mathematical fundamentals Signal generation and detection principles* Signal characteristics* Signal localization principles* Image reconstruction techniques* Image contrast mechanisms Image resolution, noise, and artifacts* Fast-scan imaging* Constrained reconstruction. Complete with a comprehensive set of examples and homework problems, PRINCIPLES OF MAGNETIC RESONANCE IMAGING is the must-read book to improve your knowledge of this revolutionary technique. For more information on the IEEE Press Series in Biomedical Engineering edited by Metin Akay, go to http://www caip.rutgers.edu/ per cent7Eakay/book/ Professors: To request an examination copy simply e-mail [email protected]." Sponsored by: IEEE Engineering in Medicine and Biology Society.

This extraordinary three-volume work, written in an engaging and rigorous style by a world authority in the field, provides an accessible, comprehensive introduction to the full spectrum of mathematical and statistical techniques underpinning contemporary methods in data-driven learning and inference. This first volume, Foundations, introduces core topics in inference and learning, such as matrix theory, linear algebra, random variables, convex optimization and stochastic optimization, and prepares students for studying their practical application in later volumes. A consistent structure and pedagogy is employed throughout this volume to reinforce student understanding, with over 600 end-of-chapter problems (including solutions for instructors), 100 figures, 180 solved examples, datasets and downloadable Matlab code. Supported by sister volumes Inference and Learning, and unique in its scale and depth, this textbook sequence is ideal for early-career researchers and graduate students across many courses in signal processing, machine learning, statistical analysis, data science and inference.

Recent advancements in signal processing and computerised methods are expected to underpin the future progress of biomedical research and technology, particularly in measuring and assessing signals and images from the human body. This book focuses on singular spectrum analysis (SSA), an effective approach for single channel signal analysis, and its bivariate, multivariate, tensor based, complex-valued, quaternion-valued and robust variants. SSA currently has numerous applications in detecting abnormalities in quasi-periodic biosignals, such as electrocardiograms, (ECGs or EKGs), oxygen levels, arterial pressure, and electroencephalograms (EEGs). Singular Spectrum Analysis of Biomedical Signals presents relatively newly applied concepts for biomedical applications of SSA, including: Signal source separation, extraction, decomposition, and factorization Physiological, biological, and biochemical signal processing A new SSA grouping algorithm for filtering and noise reduction of genetics data Prediction of various clinical events The book introduces a new mathematical and signal processing technique for the decomposition of widely available single channel biomedical data. It also provides illustrations of new signal processing results in the form of signals, graphs, images, and tables to reinforce understanding of the related concepts. Singular Spectrum Analysis of Biomedical Signals enhances current clinical knowledge and aids physicians in improving diagnosis, treatment and monitoring some clinical abnormalities. It also lays groundwork for progress in SSA by making suggestions for future research.

With its intuitive yet rigorous approach to machine learning, this text provides students with the fundamental knowledge and practical tools needed to conduct research and build data-driven products. The authors prioritize geometric intuition and algorithmic thinking, and include detail on all the essential mathematical prerequisites, to offer a fresh and accessible way to learn. Practical applications are emphasized, with examples from disciplines including computer vision, natural language processing, economics, neuroscience, recommender systems, physics, and biology. Over 300 color illustrations are included and have been meticulously designed to enable an intuitive grasp of technical concepts, and over 100 in-depth coding exercises (in Python) provide a real understanding of crucial machine learning algorithms. A suite of online resources including sample code, data sets, interactive lecture slides, and a solutions manual are provided online, making this an ideal text both for graduate courses on machine learning and for individual reference and self-study.

Exploring the interrelation between information theory and signal processing theory, the book contains a new algebraic approach to signal processing theory. Readers will learn this new approach to constructing the unified mathematical fundamentals of both information theory and signal processing theory in addition to new methods of evaluating quality indices of signal processing. The book discusses the methodology of synthesis and analysis of signal processing algorithms providing qualitative increase of signal processing efficiency under parametric and nonparametric prior uncertainty conditions. Examples are included throughout the book to further emphasize new material.

When "Speech and Audio Signal Processing" published in 1999, it stood out from its competition in its breadth of coverage and its accessible, intutiont-based style. This book was aimed at individual students and engineers excited about the broad span of audio processing and curious to understand the available techniques. Since then, with the advent of the iPod in 2001, the field of digital audio and music has exploded, leading to a much greater interest in the technical aspects of audio processing.

This "Second Edition" will update and revise the original book to augment it with new material describing both the enabling technologies of digital music distribution (most significantly the MP3) and a range of exciting new research areas in automatic music content processing (such as automatic transcription, music similarity, etc.) that have emerged in the past five years, driven by the digital music revolution.

New chapter topics include: Psychoacoustic Audio Coding, describing MP3 and related audio coding schemes based on psychoacoustic masking of quantization noiseMusic Transcription, including automatically deriving notes, beats, and chords from music signals.Music Information Retrieval, primarily focusing on audio-based genre classification, artist/style identification, and similarity estimation.Audio Source Separation, including multi-microphone beamforming, blind source separation, and the perception-inspired techniques usually referred to as Computational Auditory Scene Analysis (CASA).