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Signal Processing for Intelligent Sensor Systems with
MATLAB Second Edition David C. Swanson Digital
Instant Download
Author(s): David C. Swanson
ISBN(s): 9781420043044, 1420043048
Edition: 2
File Details: PDF, 22.17 MB
Year: 2011
Language: english
Signal
Processing
Processi g foro
Intelligent
Sensor Systems
ms
with MATLAB
T AB ®
Second Edition
David C. Swanson
www.itpub.net
®
www.itpub.net
Signal
Processing for
Intelligent
Sensor Systems
with MATLAB ®
Second Edition
David C. Swanson
CRC Press
Taylor & Francis Group
6000 Broken Sound Parkway NW, Suite 300
Boca Raton, FL 33487-2742
© 2012 by Taylor & Francis Group, LLC
CRC Press is an imprint of Taylor & Francis Group, an Informa business
This book contains information obtained from authentic and highly regarded sources. Reasonable efforts have been
made to publish reliable data and information, but the author and publisher cannot assume responsibility for the valid-
ity of all materials or the consequences of their use. The authors and publishers have attempted to trace the copyright
holders of all material reproduced in this publication and apologize to copyright holders if permission to publish in this
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Visit the Taylor & Francis Web site at
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www.itpub.net
This book is dedicated to all who aspire to deeply understand signal processing
for sensors, not just enough to pass an exam or assignment, or to complete a
project, but deep enough to experience the joy of natural revelation. This takes
more than just effort. You have to love the journey. This was best said by one
of America’s greatest inventors, George Washington Carver, in the quote
“Anything will give up its secrets if you love it enough…”
www.itpub.net
Contents
Preface������������������������������������������������������������������������������������������������������������������������������������������� xiii
Acknowledgments���������������������������������������������������������������������������������������������������������������������������� xv
Author��������������������������������������������������������������������������������������������������������������������������������������������xvii
Chapter 2 z-Transform.................................................................................................................. 19
2.1 Comparison of Laplace and z-Transforms........................................................ 19
2.2 System Theory.................................................................................................. 27
2.3 Mapping of s-Plane Systems to the Digital Domain........................................ 30
2.4 MATLAB® Examples....................................................................................... 39
2.5 Summary..........................................................................................................40
Problems...................................................................................................................... 41
References................................................................................................................... 41
ix
x Contents
www.itpub.net
Contents xi
Problems....................................................................................................................280
References................................................................................................................. 281
www.itpub.net
Contents xiii
www.itpub.net
Preface
The second edition of Signal Processing for Intelligent Sensor Systems enhances many of the unique
features of the first edition with more answered problems, web access to a large collection of
MATLAB® scripts used throughout the book, and the addition of more audio engineering, transduc-
ers, and sensor networking technology. All of the key algorithms and development methodologies
have been kept from the first edition, and hopefully all of the typographical errors have been fixed.
The addition of a chapter on Digital Audio processing reflects a growing interest in digital surround
sound (5.1 audio) techniques for entertainment, home theaters, and virtual reality systems. Also,
new sections are added in the areas of sensor networking, use of meta-data architectures using
XML, and agent-based automated data mining and control. This later information really ties large-
scale networks of intelligent sensors together as a network of thin file servers. Intelligent algorithms,
either resident in the sensor/file-server nodes, or run remotely across the network as intelligent
agents, can then provide an automated situational awareness. The many algorithms presented in
Signal Processing for Intelligent Sensor Systems can then be applied locally or network-based to
realize elegant solutions to very complex detection problems.
It was nearly 20 years ago that I was asked to consider writing a textbook on signal processing
for sensors. At the time I typically had over a dozen textbooks on my desk, each with just a few
small sections bookmarked for frequent reference. The genesis of this book was to bring together
all these key subjects into one text, summarize the salient information needed for design and appli-
cation, and organize the broad array of sensor signal processing subjects in a way to make it acces-
sible to engineers in school as well as those practicing in the field. The discussion herein is somewhat
informal and applied and in a tone of engineer-to-engineer, rather than professor-to-student. There
are many subtle nuggets of critical information revealed that should help most readers quickly
master the algorithms and adapt them to meet their requirements. This text is both a learning
resource and a field reference. In support of this, every data graph in the text has a MATLAB
m-script in support of it and these m-scripts are kept simple, commented, and made available to
readers for download from the CRC Press website for the book (http://www.crcpress.com/product/
isbn/9781420043044). Taylor & Francis Group (CRC Press) acquired the rights to the first edition
and have been relentless in encouraging me to update it in this second edition. There were also a
surprising number of readers who found me online and encouraged me to make an updated second
edition. Given the high cost of textbooks and engineering education, we are excited to cut the price
significantly, make the book available electronically online, as well as for “rent” electronically which
should be extremely helpful to students on a tight budget. Each chapter has a modest list of solved
problems (answer book available from the publisher) and references for more information.
The second edition is organized into five parts, each of which could be used for a semester course
in signal processing, or to supplement a more focused course textbook. The first two parts,
“Fundamentals of Digital Signal Processing” and “Frequency Domain Processing,” are appropriate
for undergraduate courses in Electrical and/or Computer Engineering. Part III “Adaptive System
Identification and Filtering” can work for senior-level undergraduate or a graduate-level course, as
is Part IV on “Wave Number Sensor Systems” that applies the earlier techniques to beamforming,
image processing, and signal detection systems. If you look carefully at the chapter titles, you will
see these algorithm applications grouped differently from most texts. Rather than organizing these
subjects strictly by application, we organize them by the algorithm, which naturally spans several
applications. An example of this is the recursive least-squares algorithm, projection operator sub-
space decomposition, and Kalman filtering of state vectors, which all share the same basic recursive
update algorithm. Another example is in Chapter 13 where we borrow the two-dimensional FFT
xv
Exploring the Variety of Random
Documents with Different Content
BARBERRIES, to preserve in Bunches.
Ingredients.—1 pint of syrup, barberries. Mode.—Prepare some
small pieces of clean white wood, 3 inches long and ¼ inch wide,
and tie the fruit on to these in nice bunches. Have ready some clear
syrup (see Syrup); put in the barberries, and simmer them in it for 2
successive days, boiling them for nearly ½ hour each day, and
covering them each time with the syrup when cold. When the fruit
looks perfectly clear it is sufficiently done, and should be stowed
away in pots, with the syrup poured over, or the fruit may be
candied. Time.—½ hour to simmer each day. Seasonable in autumn.
BARLEY SOUP.
Ingredients.—2 lbs. of shin of beef, ¼ lb. of pearl barley, a large
bunch of parsley, 4 onions, 6 potatoes, salt and pepper, 4 quarts of
water. Mode.—Put in all the ingredients, and simmer gently for 3
hours. Time.—3 hours. Average cost, 2½d. per quart. Seasonable all
the year, but more suitable for winter.
BARLEY-SUGAR, to make.
Ingredients.—To every lb. of sugar allow ½ pint of water, ½ the
white of an egg. Mode.—Put the sugar into a well-tinned saucepan,
with the water, and, when the former is dissolved, set it over a
moderate fire, adding the well-beaten egg before the mixture gets
warm, and stir it well together. When it boils, remove the scum as it
rises, and keep it boiling until no more appears, and the syrup looks
perfectly clear; then strain it through a fine sieve or muslin bag, and
put it back into the saucepan. Boil it again like caramel, until it is
brittle, when a little is dropped in a basin of cold water: it is then
sufficiently boiled. Add a little lemon-juice and a few drops of
essence of lemon, and let it stand for a minute or two. Have ready a
marble slab or large dish, rubbed over with salad-oil; pour on it the
sugar, and cut it into strips with a pair of scissors: these strips
should then be twisted, and the barley-sugar stored away in a very
dry place. It may be formed into lozenges or drops, by dropping the
sugar in a very small quantity at a time on to the oiled slab or dish.
Time.—¼ hour. Average cost, 7d. Sufficient for 5 or 6 sticks.
BARLEY-WATER, to make.
Ingredients.—2 oz. of pearl barley, 2 quarts of boiling water, 1
pint of cold water. Mode.—Wash the barley in cold water; put it into
a saucepan with the above proportion of cold water, and when it has
boiled for about ¼ hour, strain off the water, and add the 2 quarts of
fresh boiling water. Boil it until the liquid is reduced one half; strain
it, and it will be ready for use. It may be flavoured with lemon-peel,
after being sweetened, or a small piece may be simmered with the
barley. When the invalid may take it, a little lemon-juice gives this
pleasant drink in illness a very nice flavour; as does also a small
quantity of port wine. Time.—To boil until the liquid is reduced one
half. Sufficient to make 1 quart of barley-water.
BEEF À LA MODE.
Ingredients.—6 or 7 lbs. of the thick flank of beef, a few slices of
fat bacon, 1 teacupful of vinegar, black pepper, allspice, 2 cloves well
mixed and finely pounded, making altogether 1 heaped teaspoonful;
salt to taste, 1 bunch of savoury herbs, including parsley, all finely
minced and well mixed; 3 onions, 2 large carrots, 1 turnip, 1 head of
celery, 1½ pint of water, 1 glass of port wine. Mode.—Slice and fry
the onions of a pale brown, and cut up the other vegetables in small
pieces, and prepare the beef for stewing in the following manner:—
Choose a fine piece of beef, cut the bacon into long slices, about an
inch in thickness, dip them into vinegar, and then into a little of the
above seasoning of spice, &c., mixed with the same quantity of
minced herbs. With a sharp knife make holes deep enough to let in
the bacon; then rub the beef over with the remainder of the
seasoning and herbs, and bind it up in a nice shape with tape. Have
ready a well-tinned stewpan (it should not be much larger than the
piece of meat you are cooking), into which put the beef, with the
vegetables, vinegar, and water. Let it simmer very gently for 5 hours,
or rather longer, should the meat not be extremely tender, and turn
it once or twice. When ready to serve, take out the beef, remove the
tape, and put it on a hot dish. Skim off every particle of fat from the
gravy, add the port wine, just let it boil, pour it over the beef, and it
is ready to serve. Great care must be taken that this does not boil
fast, or the meat will be tough and tasteless; it should only just
bubble. When convenient, all kinds of stews, &c. should be cooked
on a hot plate, as the process is so much more gradual than on an
open fire. Time.—5 hours, or rather more. Average cost, 7d. per lb.
Sufficient for 7 or 8 persons. Seasonable all the year, but more
suitable for a winter dish.
BEEF, Baked.
[Cold Meat Cookery. 1.] Ingredients.—About 2 lbs. of cold roast
beef, 2 small onions, 1 large carrot or 2 small ones, 1 turnip, a small
bunch of savoury herbs, salt and pepper to taste, quite ½ pint of
gravy, 3 tablespoonfuls of ale, crust or mashed potatoes. Mode.—Cut
the beef in slices, allowing a small amount of fat to each slice; place
a layer of this in the bottom of a pie-dish, with a portion of the
onions, carrots, and turnips, which must be sliced; mince the herbs,
strew them over the meat, and season with pepper and salt. Then
put another layer of meat, vegetables, and seasoning; and proceed
in this manner until all the ingredients are used. Pour in the gravy
and ale (water may be substituted for the former, but it is not so
nice), cover with a crust or mashed potatoes, and bake for ½ hour,
or rather longer. Time.—Rather more than ½ hour. Average cost,
exclusive of the meat, 6d. Sufficient for 5 or 6 persons. Seasonable
at any time.
Note.—It is as well to parboil the carrots and turnips before
adding them to the meat, and to use some of the liquor in which
they were boiled as a substitute for gravy; that is to say, when there
is no gravy at hand. Be particular to cut the onions in very thin
slices.
BEEF-BONES, Broiled.
[Cold Meat Cookery.] Ingredients.—The bones of ribs or sirloin;
salt, pepper and cayenne. Mode.—Separate the bones, taking care
that the meat on them is not too thick in any part; sprinkle them
well with the above seasoning, and broil over a very clear fire. When
nicely browned, they are done; but do not allow them to blacken.
BEEF BUBBLE-AND-SQUEAK.
[Cold Meat Cookery.] Ingredients.—A few thin slices of cold boiled
beef; butter, cabbage, 1 sliced onion, pepper and salt to taste.
Mode.—Fry the slices of beef gently in a little butter, taking care not
to dry them up. Lay them on a flat dish, and cover with fried greens.
The greens may be prepared from cabbage sprouts or green savoys.
They should be boiled till tender, well drained, minced, and placed
till quite hot in a frying-pan, with butter, a sliced onion, and
seasoning of pepper and salt. When the onion is done it is ready to
serve. Time.—Altogether, ½ hour. Average cost, exclusive of the cold
beef, 3d. Seasonable at any time.
BEEF CAKE.
[Cold Meat Cookery.] Ingredients.—The remains of cold roast beef;
to each pound of cold meat allow ¼ lb. of bacon or ham; seasoning
to taste of pepper and salt, 1 small bunch of minced savoury herbs,
1 or 2 eggs. Mode.—Mince the beef very finely (if underdone it will
be better), add to it the bacon, which must also be chopped very
small, and mix well together. Season, stir in the herbs, and bind with
an egg, or 2 should 1 not be sufficient. Make it into small square
cakes, about ½ inch thick, fry them in hot dripping, drain them, and
serve in a dish with good gravy poured round. Time.—10 minutes.
Average cost, exclusive of the cold meat, 6d. Seasonable at any
time.
BEEF, Collared.
COLLARED BEEF.
BEEF COLLOPS.
Ingredients.—2 lbs. of rump-steak, ¼ lb. of butter, 1 pint of gravy
(water may be substituted for this), salt and pepper to taste, 1
shalot, finely minced, ½ pickled walnut, 1 teaspoonful of capers.
Mode.—Have the steak cut thin, and divide it in pieces about 3
inches long; beat these with the blade of a knife, and dredge with
flour. Put them in a frying-pan with the butter, and let them fry for
about 3 minutes; then lay them in a small stewpan, and pour over
them the gravy. Add a piece of butter kneaded with a little flour, put
in the seasoning and all the other ingredients, and let the whole
simmer, but not boil, for 10 minutes. Serve in a hot covered dish.
Time.—10 minutes. Average cost, 1s. per lb. Sufficient for 4 or 5
persons. Seasonable at any time.
BEEF CARVING.
Beef, Aitchbone of.—A boiled aitchbone of beef is not a difficult
joint to carve, as will be seen on reference to the accompanying
engraving. By following with the knife the direction of the line from 1
to 2, nice slices will be easily cut. It may be necessary, as in a round
of beef, to cut a thick slice off the outside before commencing to
serve.
Beef, Brisket of.—There is but little description necessary to add
to show the carving of a boiled brisket of beef beyond the engraving
here inserted. The only point to be observed is, that the joint should
be cut evenly and firmly quite across the bones, so that on its
reappearance at table it should not have a jagged and untidy look.
Beef, Ribs of.—This dish resembles the sirloin, except that it has
no fillet or undercut. As explained in the recipes, the end piece is
often cut off, salted and boiled. The mode of carving is similar to
that of the sirloin, viz., in the direction of the dotted line from 1 to 2.
This joint will be the more easily cut if the plan be pursued which is
suggested in carving the sirloin; namely, the inserting of the knife
immediately between the bone and the meat, before commencing to
cut it into slices. All joints of roast beef should be cut in even and
thin slices. Horseradish, finely scraped, may be served as a garnish;
but horseradish sauce is preferable for eating with the beef.
Beef, a Round of.—A round of beef is more easily carved than
any other joint of beef, but, to manage it properly, a thin-bladed and
very sharp knife is necessary. Off the outside of the joint, at its top,
a thick slice should first be cut, so as to leave the surface smooth:
then thin and even slices should be cleverly carved in the direction of
the line 1 to 2; and with each slice of the lean a delicate morsel of
the fat should be served.
BEEF, Curried.
[Cold Meat Cookery.] Ingredients.—A few slices of tolerably lean
cold roast or boiled beef, 3 oz. of butter, 2 onions, 1 wineglassful of
beer, a dessertspoonful of curry powder. Mode.—Cut up the beef into
pieces about 1 inch square, put the butter into a stewpan with the
onions sliced, and fry them of a light-brown colour. Add all the other
ingredients, and stir gently over a brisk fire for about 10 minutes.
Should this be thought too dry, more beer, or a spoonful or two of
gravy or water, may be added; but a good curry should not be very
thin. Place it in a deep dish, with an edging of dry boiled rice, in the
same manner as for other curries. Time.—10 minutes. Average cost,
exclusive of the meat, 4d. Seasonable in winter.
BEEF FRITTERS.
[Cold Meat Cookery.] Ingredients.—The remains of cold roast beef,
pepper and salt to taste, ¾ lb. of flour, ½ pint of water, 2 oz. of
butter, the whites of 2 eggs. Mode.—Mix very smoothly, and, by
degrees, the flour with the above proportion of water; stir in 2 oz. of
butter, which must be melted but not oiled, and, just before it is to
be used, add the whites of two well-whisked eggs. Should the batter
be too thick, more water must be added. Pare down the cold beef
into thin shreds, season with pepper and salt, and mix it with the
batter. Drop a small quantity at a time into a pan of boiling lard, and
fry from 7 to 10 minutes, according to the size. When done on one
side, turn and brown them on the other. Let them dry for a minute
or two before the fire, and serve on a folded napkin. A small
quantity of finely-minced onions, mixed with the batter, is an
improvement. Time.—From 7 to 10 minutes. Average cost, exclusive
of the meat, 6d. Seasonable at any time.
BEEF, Hashed.
[Cold Meat Cookery. 1.] Ingredients.—Gravy saved from the meat,
1 teaspoonful of tomato sauce, one teaspoonful of Harvey’s sauce,
one teaspoonful of good mushroom ketchup, ½ glass of port wine or
strong ale, pepper and salt to taste, a little flour to thicken, 1 onion
finely minced, a few slices of cold roast beef. Mode.—Put all the
ingredients but the beef into a stewpan with whatever gravy may
have been saved from the meat the day it was roasted; simmer
these gently for 10 minutes, then take the stewpan off the fire; let
the gravy cool and skim off the fat. Cut the beef into thin slices,
dredge them with flour, and lay them in the gravy; let the whole
simmer gently for 5 minutes, but not boil, or the meat will be tough
and hard. Serve very hot, and garnish with sippets of toasted bread.
Time.—20 minutes. Average cost, exclusive of the cold meat, 4d.
Seasonable at any time.
BEEF, Hunter’s.
Ingredients.—For a round of beef weighing 25 lbs. allow 3 oz. of
saltpetre, 3 oz. of coarse sugar, 1 oz. of cloves, 1 grated nutmeg, ½
oz. of allspice, 1 lb. of salt, ½ lb. bay-salt. Mode.—Hang the beef for
2 or 3 days, and remove the bone. Pound spices, salt, &c. in the
above proportion, and let them be reduced to the finest powder. Put
the beef into a pan, rub all the ingredients well into it, and turn and
rub it every day for rather more than a fortnight. When it has been
sufficiently long in pickle, wash the meat, bind it up securely with
tape, and put it into a pan with ½ pint of water at the bottom;
mince some suet, cover the top of the meat with it, and over the
pan put a common crust of flour and water; bake for 6 hours, and
when cold remove the paste. Save the gravy that flows from it, as it
adds greatly to the flavour of hashes, stews, &c. The beef may be
glazed and garnished with meat jelly. Time.—6 hours. Seasonable all
the year.
Note.—In salting or pickling beef or pork for family consumption,
it not being generally required to be kept for a great length of time,
a less quantity of salt and a larger quantity of other matters more
adapted to retain mellowness in meat, may be employed, which
could not be adopted by the curer of the immense quantities of
meat required to be preserved for victualling the shipping of this
maritime country. Sugar, which is well known to possess the
preserving principle in a very great degree, without the pungency
and astringency of salt, may be, and is, very generally used in the
preserving of meat for family consumption. Although it acts without
corrugating or contracting the fibres of meat, as is the case in the
action of salt, and, therefore, does not impair its mellowness, yet its
use in sufficient quantities for preservative effect, without the
addition of other antiseptics, would impart a flavour not agreeable to
the taste of many persons. It may be used, however, together with
salt, with the greatest advantage in imparting mildness and
mellowness to cured meat, in a proportion of about one part by
weight to four of the mixture; and, perhaps, now that sugar is so
much lower in price than it was in former years, one of the
obstructions to its more frequent use is removed.
BEEF, Minced.
[Cold Meat Cookery.] Ingredients.—1 oz. of butter, 1 small onion,
12 tablespoonfuls of gravy left from the meat, 1 tablespoonful of
strong ale, 1 teaspoonful of flour, salt and pepper to taste, a few
slices of lean roast beef. Mode.—Put into a stewpan the butter with
an onion chopped fine; add the gravy, ale, and a teaspoonful of flour
to thicken; season with pepper and salt, and stir these ingredients
over the fire until the onion is a rich brown. Cut (but do not chop)
the meat very fine, add it to the gravy, stir till quite hot, and serve.
Garnish with sippets of toasted bread. Be careful in not allowing the
gravy to boil after the meat is added, as it would render it hard and
tough. Time.—About ½ hour. Average cost, exclusive of the meat,
3d. Seasonable at any time.
BEEF OLIVES.
Ingredients.—2 lbs. of rump-steak, 1 egg, 1 tablespoonful of
minced savoury herbs, pepper and salt to taste, 1 pint of stock, 2 or
3 slices of bacon, 2 tablespoonfuls of any kind of store sauce, a
slight thickening of butter and flour. Mode.—Have the steaks cut
rather thin, beat them to make them level, cut them into 6 or 7
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