Course 080806, 080807

Master Program: Robotics & Automation/Process Automation; 2. Semester, 2L + 1T, 4.5 credits

This course provides the students with a solid background in signal processing algorithms and architectures. Various applications in Robotics Control are used as examples.

We assume that the participants have basic knowledge of linear transformations and matrix algebra. Some knowledge on basic signal processing concepts (like filtering, signal transformations as e.g. Fourier Transform) might be advantageous but is not mandatory.

•  News
•  Lectures
•  Tutorial
•  Content
•  Script
•  Tasks
•  Exam
•  Literature

News

The second attempt will be held on 01.10.2013 at 10:00 am in HS 2 - HG II.

The written exam will be held on 05.08.2013 at 08:00 am in HS 7 - HG II.

Please register for the electronic workspace in order to download tasks and slides.

The lecture will start on 11.04.2013.

Practical course
Practical courses take place: At the moment there are no appointments scheduled. Registration for practical courses on seperate page.

Lecures

Lecturer	Place	Time	Start
Prof. Dr. Jürgen Götze	P1-4-207	Thursday 8:15-9:45	Summer Term 2013

Tutorial

Lecturer	Place	Time	Start
M. Sc. Ahmad Mansour	P1-4-207	Thursday 10:00-10:45	Summer Term 2013

Content

Signal Processing for Robotics & Automation

• Signals & Systems
Discretisation, Quantisation, Sampling Theorem, Linear Time Invariant Systems.
• Linear Transformations of Signals
Linear Matrix Transformations, Filtering, Convolution, Discrete Fourier Transformation, Fast Fourier Transformation, Wavelet Transformation.
• Detection & Estimation
Matrix Decompositions, QR-Decomposition, Eigen- and Singular Value Decomposition, signal detection, channel estimation, state space system identification, model reduction.
• Adaptive Signal Processing
Real time environments, QRD-RLS algorithm, LMS algorithm.
• Signal Processing Architectures
Micro processor, digital signal processor, Field Programmable Gate Array (FPGA), Application Specific Integrated Circuit (ASIC).
• Designing a Signal Processing System
Algoritm, Architecture, Implemetation, Hardware/Software Partitioning, System-on-Chip.

All students are requested to solve two take home problems. A practical course ``Digital Signal Processor - Fundamentals and Applications'' (4 hours) is also required, details of which can be found here.

Script

Please register for the electronic workspace in order to download the slides.

Tasks

Please register for the electronic workspace in order to download the tasks.

Exam

The exam will be a written exam.

Please remember to have your student ID card and passport ready!

Please do not forget to register at examination office (Prüfungsamt) two weeks before that exam date.

Literature

Linear Algebra:

• Gilbert Strang, "Introduction to Linear Algebra", Wellesley-Cambridge Press, 1993

• Gilbert Strang, "Linear Algebra and its Apllications", Saunders College Publishing, 1988

• G.H. Golub and C.F. van Loan, "Matrix Computations", The John Hopkins University Press, 3rd edition, 1996

(Digital) Communications:

• A.V. Oppenheim and R.W. Schafer, "Discrete-Time Signal Processing", Prentice Hall, 2nd edition, 1999

• J.G. Proakis, "Digital Communications", McGraw Hill, 3rd edition, 1995

• J.G. Proakis and D.G. Manolakis, "Digital Signal Processing: Principles, Algorithms and Applications", Macmillan, 2nd edition, 1992