LEARNING OUTCOMES

Signal Processing in Robotics provides the necessary background for the analysis of data typically used in robots, which is useful for many other subjects in the course. Different information types, as well as approaches, techniques, and algorithms, will be introduced.

AIMS AND LEARNING OUTCOMES

It is expected that at the end of this subject the student will be able to design analog and digital filters, starting from assigned technical specifications, and to simulate them. Moreover, he/she should be able to implement and test the kinds of filters physically realized and tested during the lectures. To this end, he/she has to learn the main peculiar features of each class of filters and the corresponding design techniques described during the classroom lectures. Given a specific filter design problem, the student has firstly to decide what class of filters can be (or has to be) used to solve it. Then he/she can start designing the filter, by using not only the techniques specific for filters, but also general concepts coming from other areas, such as signal processing and automatic controls, as illustrated during the lectures. This capacity of solving non-trivial problems is one of the main elements of the scientific cultural baggage of an engineer.

PREREQUISITES

Basic concepts of circuit theory, electronics, signal processing, automatic controls.

TEACHING METHODS

About 30 classroom hours and 30 lab hours.

SYLLABUS/CONTENT

Synthesis of RLC and LC immittances

General concepts about filter synthesis (doubly-terminated filters, frequency transforms, ideal and physical filters, adaptation)

Butterworth filters (design techniques, HW lab activity)

Chebyschev filters (design techniques, HW lab activity)

Elliptic filters (notes on design techniques, HW lab activity)

Bessel filters (notes)

Digital filters (FIR and IIR filters design techniques, Matlab activity)

Adaptive filters (design techniques, Matlab activity)

RC active filters (design techniques, HW lab activity)

Switched-capacitor filters (principles, HW lab activity)

RECOMMENDED READING/BIBLIOGRAPHY

- Notes provided by the lecturer (main reference)

- C. Bowik, "RF circuits design," Newnes, 1997.

- J.G. Proakis, D.G. Manolakis, "Digital signal processing: principles, algorithms, and applications," Prentice Hall, 1996.

- M.E. Van Valkenburg, "Analog Filter Design," Oxford University Press, 1995.

- A. Liberatore, S. Manetti, "La progettazione dei filtri elettronici," Edizione Medicea, 1985.

- L.B. Jackson, "Digital filters and signal processing," Kluwer Academic Publishers, 1996.