EDERC2010
`European DSP in Education and Research Conference
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`PROCEEDINGS
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`GTL 1008
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`EDERC2010 Organising Committee
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`Organising Committee:
`Prof. J. Soraghan, University of Strathclyde, UK
`Dr. S. Weiss, University of Strathclyde, UK
`Robert Owen, Texas Instruments Europe
`
`Secretariat: Adam Pavey, TI Germany
`
`Manager: Robert Owen – European University Programme Manager
`
` Peter Jung
` Andrew Millar
` Jean-François Nezan
` Mehmed Ozkan
` Alexey Petrovsky
` Tortoli Piero
` Ramesh Pyndiah
` Joseph Ronsin
` Cesar Sanz
` Olli Silvén
` Athanassios Skodras
` John Soraghan
` Jarmo Takala
` Joël Trubuil
` Sergei Vitiazev
` Stephan Weiss
`
`Technical Panel:
`
` Marwan Akaidi
` Ahmed Amein
` Geneviève Baudoin
` Shmuel Ben-Yaakov
` Holger Blume
` Frank Bormann
` Jonathon Chambers
` Naim Dahnoun
` Jacob Fainguelernt
` Woon Seng Gan
` Sharon Gannot
` Pedro Gaspar
` André Goalic
` Atanas Gotchev
` Ulrich Hofmann
` Iain Hunter
` Edward Jones
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`Sponsors:Texas Instruments
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`Co-sponsors: IEEE Region 8, IEEE Signal Processing Chapter UK&RI,
`IEEE ComSoc Chapter, France and the European Association of Signal
`Processing (EURASIP)
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`Proceedings Editors: Professor John Soraghan, Robert Owen and
`Adam Pavey
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`WELCOME TO EDERC2010!
`
`On behalf of the organising committee of the 4th European DSP Education
`and Research Conference (EDERC2010), we welcome you to Nice!
`
`We would like to express our thanks to Texas Instruments who sponsored
`this event, and to the co-sponsors: IEEE Region 8, IEEE Signal Processing
`Chapter UK&RI, IEEE ComSoc Chapter; France, and the European
`Association of Signal Processing (EURASIP)
`
`Following the successful EDERS2008 in Tel Aviv, Israel, we were
`particularly impressed with the quality of submissions that were made to
`EDERC2010. The paper acceptance rate was 85%. It was an especially
`difficult task for our expert technical panel to select the final set of
`submissions. We would like to express our sincere thanks to the referees
`who made it possible to put together such an exciting technical program
`for EDERC2010.
`
`This year, the Keynote Speeches will be delivered by Prof. Patrick Flandrin
`(ENS Lyon), Sanjive Agarwala (TI Fellow & Director of Silicon
`Development DSP Systems), and Gene Frantz (TI's Principal Fellow).
`During the conference we are confident that each delegate will find many
`interesting examples of embedded processing solutions that may be
`appropriate for their own field of use. Furthermore the poster presentation
`and special demo sessions within the conference, offers each delegate an
`excellent opportunity to discuss technical issues on a one to one basis. We
`are also delighted to have a number of excellent hands-on workshops that
`are available to all delegates at no extra charge. We wish to extend
`special thanks to the workshop organisers.
`
`Finally we would like to thank all the authors for keeping to the required
`format and specified deadlines, and to Adam Pavey for managing all the
`correspondence. We are sure you will have a productive EDERC2010 and
`find it very informative. We look forward to your support for the next
`EDERC conference.
`
`Professor John Soraghan
`Organising Committee EDERC2010
`
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`

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`EDERC 2010 Programme
`1-2nd December 2010, Park Inn Hotel, Nice, France
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`Registration will be open from 08:00am
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`09:15 – 20:00 Wednesday 1st December 2010 Agenda
`Time
`Mezzanine
`Mirage
`Murmoz
`St.Exupery
`
`Introduction
`
`
`09:15
`and Welcome
`Keynote 1
`Oral 1:
`Education I
`
`Oral 2: Image
`and Audio
`
`09:30
`10:00
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`11:00
`11:30
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`Coffee Break
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`13.00
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`Lunch
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`Poster Session
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`14:30
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`16:00
`16:30
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`19:30
`20:00
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`
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`Coffee Break
`
`
`Drinks
`Conference
`Dinner
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`Oral 4:
`Applications I
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`Oral 5: Video
`& Image
`Processing
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`11:00
`11:30
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`Coffee Break
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`13:00
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`Lunch
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`15:00
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`17:00
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`
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`Oral 8:
`Applications II
`Closing –
`Remarks and
`Awards of
`Prizes
`
`
` 09:00 – 17:00 Thursday 2nd December 2010 Agenda
`Time
`Mezzanine
`Mirage
`Murmoz
`St.Exupery
`
`Keynote 2
`
`
`09:00
`
`Oral 6:
`
`
`10:00
`Education II
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`Oral 7:
`OMAP/C6437
`Poster Session
`REMOVE???
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`Oral 3:
`Sensors &
`Control
`Poster and
`Demonstration
`Session
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`Poster and
`Demonstration
`Session
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`Workshop 1
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`Workshop 2
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`Workshop 3
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`Workshop 4
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`Table of Contents
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`
`Paper
`RADAR IMAGING SYSTEM IMPLEMENTATION FOR EDUCATIONAL AND RESEARCH PURPOSES ON THE EVM
`DM6437 BOARDS
`Radio Engineering and Telecommunications Department, Ryazan State Radio Engineering University
`AN EDUCATIONAL BASEBAND SC-FDMA TRANSCEIVER USING MATLAB AND THE TMS320C6713 DSK
`RDTL Laboratory/Department of Electronics, Technological Educational Institution (TEI) of Athens
`GEB1 - A ROBUST DSP PLATFORM FOR AUDIO AND GUITAR SIGNAL PROCESSING IN EDUCATION
`Dept. of Signal Processing and Communications, Helmut Schmidt University Hamburg
`TEACHING SIGNAL PROCESSING WITH A DUAL-CORE EMBEDDED PLATFORM
`Institute for Signal Processing, University of Luebeck
`A NOVEL DSP-BASED ULTRASOUND RESEARCH PLATFORM FOR
`DEVELOPMENT AND TEST OF NEW IMAGING AND DOPPLER METHODS
`Microelectronics Systems Design Laboratory, University of Florence
`A DSP SYSTEM FOR HARDWARE-IN-THE-LOOP TESTING OF HANDS-FREE CAR KITS
`Department of Computer Science, University of Applied Sciences Constance
`DSP BASED MODULAR FACE RECOGNITION SYSTEM
`Electronics Engineering, Gazi University
`REMOTE CONTROLLED DSP BASED IMAGE CAPTURING AND PROCESSING SYSTEM FEATURING TWO-AXIS
`MOTION
`Electronics Laboratory, Electronics and Computers Div., Department of Physics
`REAL-TIME SIMULATION FOR ACOUSTIC FEEDBACK CANCELLATION ALGORITHMS: AN HYBRID PC/C6713-DSK
`BASED IMPLEMENTATION
`A3Lab, Department of Biomedics, Electronics and Telecommunications, Polytechnic University of Marche
`SELF TUNING FUZZY PD APPLICATION ON TI TMS320F28335 FOR AN EXPERIMENTAL STATIONARY
`QUADROTOR
`Yildiz Technical University, Mechatronic Engineering Department
`SPEED SYNCHRONIZATION CONTROL OF MULTIPLE DC MOTORS USING DSP
`Faculty of Electronics and Computing/Department of Electrical Engineering, University of Sciences and Technology
`DIGITAL CONTROL OF A FUEL CELL CONVERTER SYSTEM: VERIFICATION, VALIDATION AND TEST USING A
`MODEL-BASED DESIGN APPROACH
`Department of Engineering, University of Leicester
`REAL-TIME BLDC MOTOR CONTROL USING THE STELLARIS LM3S8962 MICROCONTROLLER
`Automatic Control Department, Applied Electronics Department, Electrical Measurement Department, Technical University
`of Cluj–Napoca
`TMS320F28335-BASED PIEZOSENSOR MONITOR-NODE
`Departement of electronics, Tallinn University of Technology
`
`MSP430 MICROCONTROLLERS ESSENTIALS - A NEW APPROACH FOR THE EMBEDDED SYSTEMS COURSES:
`PART 1 - OVERVIEW AND TOOLS
`Electromechanical Engineering Department, Engineering Faculty, University of Beira Interior
`HARDWARE INTERFACE FOR A 3-DOF SURGICAL ROBOT ARM
`Institute of Biomedical Engineering , Bogazici University
`MSP430 MICROCONTROLLERS ESSENTIALS - A NEW APPROACH FOR THE EMBEDDED SYSTEMS COURSES:
`PART 2 - SYSTEM AND PERIPHERALS
`Electromechanical Engineering Department, Engineering Faculty, University of Beira Interior
`DESIGN AND DEVELOPMENT OF IGBT RESONANT INVERTERS FOR DOMESTIC INDUCTION HEATING
`APPLICATIONS
`Faculty of Electronics and Computing/Department of Electrical Engineering, University of Sciences and Technology
`
`POWER QUALITY MEASUREMENT USING A LOW-COST EMBEDDED SOLUTION
`Automatic Control Department, Technical University of Cluj–Napoca
`APPLICATION OF TMS320C67XX SIGNAL PROCESSORS FOR SONIC - SELF-OPTIMIZING NARROWBAND
`INTERFERENCE CANCELER
`Faculty of Electronics, Telecommunications and Computer Science
`Department of Automatic Control, Gda´nsk University of Technology
`CAMSHIFT OBJECT TRACKING ALGORITHM IMPLEMENTATION ON
`DM6437 EVM
`National Technical University of Ukraine “Kyiv Polytechnic Institute”
`DEVELOPMENT OF AN ORBIT PROPAGATOR INCORPORATING PERTURBATIONS FOR LEO SATELLITES & ITS
`IMPLEMENTATION ON TI DIGITAL SIGNAL PROCESSOR
`Satellite Research and Development Centre
`WIRELESS MUSIC CONTROLLED LEDS: MUSIC COLORZ
`Communication Systems and Networks, INSA Rennes
`A NEW NARROW PHASE COLLISION DETECTION ALGORITHM USING HEIGHT ROJECTION
`Military technical college, Cairo, Egypt
`PORTING CONTIKI TO THE MSP-EXP430F5438
`Department of Computer Engineering, Yildiz Technical University
`HANDS-ON DIGITAL SIGNAL PROCESSING TEACHING USING THE OMAP-L138
`EXPERIMENTER
`
`Page
`1-5
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`6-10
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`11-14
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`15-18
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`19-22
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`23-27
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`28-31
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`32-36
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`37-41
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`42-46
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`47-51
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`52-56
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`57-61
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`62-65
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`66-70
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`71-75
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`76-80
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`51-85
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`86-90
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`91-95
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`96-100
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`101-105
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`106-110
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`111-115
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`116-120
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`121-125
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`School of Engineering and Physical Sciences, Heriot-Watt University
`OPTIMIZED ALGORITHMS FOR REAL TIME MEDICAL IMAGE REGISTRATION
`National Authority For Remote Sensing and Space Science NARSS, Biomedical Engineering Cairo University
`IMPACT OF PULSE MODULATION METHOD OF LED DIMMER FOR STREET LIGHTING ON ITS EFFICIENCY
`Institute of Industrial Electronics and Electrical Engineering, Riga Technical University
`A WIRELESS SENSOR NODE FOR RIVER MONITORING USING MSP430 AND ENERGY HARVESTING
`Institute for Technical Informatics, Graz University of Technology, Austria
`ENERGY CLUSTER AGGREGATION IN A WSN BASED ON EZ430-RF2500 T NODES AND SIMPLICITI PROTOCOL
`Università degli Studi di Modena e Reggio Emilia
`DESIGN OF A BRAIN COMPUTER INTERFACE SYSTEM BASED ON ELECTROENCEPHALOGRAM(EEG)
`Institute of Biomedical Engineering , Bogazici University
`MOBILE TRAVEL AID FOR THE BLIND
`Institute of Electronics, Technical University of Lodz
`AN EMBEDDED SMART SURVEILLANCE SYSTEM FOR TARGET TRACKING USING A PTZ CAMERA
`Centre for excellence in Signal and Image Processing (CeSIP), EEE Department, University of Strathclyde, Texas
`Instruments Limited
`IMPLEMENTATION OF A REPROGRAMMABLE DSP/FPGA BASED PLATFORM FOR REAL-TIME HD VIDEO CODING
`Dept. of Electronic and Information Engineering, University of Perugia
`AUTONOMOUS ROBOT CONTROL WITH DSP AND VIDEO CAMERA USING MATLAB STATE-FLOW CHART
`Control and Robotics Lab, Department of Electrical Engineering, Technion – Israel Institute of Technology
`IMPLEMENTATION OF AN IMAGE RECOGNITION ALGORITHM ON THE DM6446 DAVINCI PROCESSOR
`Ecole Polytechnique F´ed´erale de Lausanne, Institute of Microengineering, Electronics and Signal Processing Laboratory
`A NOVEL ALGORITHM FOR DISPARITY CALCULATION BASED ON STEREO VISION
`Department of Electrical and Electronic Engineering, University of Bristol
`MSP430 BASED COFFEE MACHINE CONTROL UNIT WITH HEALTH PROTECTION AS AN INTRODUCTION TO
`EMBEDDED SYSTEMS DEVELOPMENT AND SIGNAL PROCESSING
`Institute for Information Processing Technologies, Karlsruhe Institute of Technology
`
`VIRTUAL INSTRUMENTATION FOR ANALYSYS OF AN ADJUSTABLE SPEED DRIVE PARAMETERS BASED ON DSC
`Centro de Desarrollo e Innovación Tecnológica, Universidad Autónoma de Querétaro
`MSP430 MICROCONTROLLERS ESSENTIALS - A NEW APPROACH FOR THE EMBEDDED SYSTEMS COURSES:
`PART 3 - DATA ACQUISITION AND COMMUNICATIONS
`Electromechanical Engineering Department, Engineering Faculty, University of Beira Interior
`THE C2000 AUTONOMOUS MODEL CAR
`University of Applied Sciences Zwickau
`REAL-TIME SPEAKER DIARIZATION ON TI OMAP3530
`A3LAB, Department of Biomedics, Electronics and Telecommunications, Polytechnic University of Marche
`LOW-POWER CLUSTER USING OMAP3530
`Department of Electrical Engineering, University of Sao Paulo
`DESIGN AND IMPLEMENTATION OF A REAL-TIME SCENE CHANGE DETECTION ALGORITHM ON TI DM6437
`Industrial Technology Research Institute (ITRI), Identification and Security Technology Center (ISTC)
`REAL-TIME OBJECT DETECTION FOR A PANNING/TILTING SURVEILLANCE CAMERA USING AN EMBEDDED DSP
`PLATFORM
`School of Electronics , University of Bristol
`SINGLE STRIPE PROJECTION BASED RANGE SCANNER IMPLEMENTATION ON TI DAVINCI DM6437 EVM
`Yeditepe University
`Department of Electrical and Electronics Engineering
`ACTIVE NOISE CONTROL USING THE TMS320C6713 DSP
`Department of Electrical Engineering and Information Technology, Hochschule Offenburg
`REAL TIME DDS WAVEFORM GENERATOR ON TI DSP
`School of Eengineering and Technology, University of Hertfordshire
`AN EFFICIENT IMPLEMENTATION OF AN FM/RDS SOFTWARE RADIO
`Faculty of Electrical Engineering, University of Applied Sciences Schmalkalden
`DSP IMPLEMENTATION OF ON-BOARD DISTRIBUTED VIDEO CODING
`School of Engineering and Design, University of Sussex
`RSS BASED LOCALIZATION IN A WIRELESS SENSOR NETWORK
`School of Electrical Engineering, Israel
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`126-129
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`130-134
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`135-139
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`140-144
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`145-149
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`150-154
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`155-159
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`160-164
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`165-169
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`170-174
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`175-179
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`180-184
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`185-189
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`190-194
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`195-199
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`200-204
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`205-209
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`210-214
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`215-220
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`221-225
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`226-230
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`231-234
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`235-239
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`240-244
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`245-248
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`Proceedings of the 4th European DSP in Education and Research Conference
`
`
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`REMOTE CONTROLLED DSP BASED IMAGE CAPTURING AND PROCESSING
`SYSTEM FEATURING TWO-AXIS MOTION
`
`
`
`M Gotsopoulos, A. Kalantzopoulos and E. Zigouris
`
`
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`Electronics Laboratory, Electronics and Computers Div., Department of Physics
`
`
`
`
`University of Patras, GR-265 00 Patras, GREECE
`
`
`phone: + (30) 2610997465, fax: + (30) 2610997456, email: ez@physics.upatras.gr
`
`In many cases these systems are controlled through Internet
`
`ABSTRACT
`or Ethernet via Web Pages or suitable designed GUls
`The purpose of this paper is to present the design of a
`
`
`
`(Graphical User Interfaces). Therefore systems that feature
`
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`remote controlled DSP based real-time image processing
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`
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`real-time motion control, image settings adjustments and
`
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`system, equipped with a high resolution CMOS image
`other similar options over the network, hold a major
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`
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`sensor. This system is implemented utilizing the R-DImPr
`
`versatility advantage over those with fixed, non-selectable
`
`API and supports a two axes motion of the image sensor
`settings.
`
`
`
`based on two stepper motors. The remote control of the
`
`
`system is achieved through a Graphical User Interface
`This paper presents a remote controlled DSP based real­
`
`
`
`(GUI) via Internet or Ethernet. The user is able to
`
`time image processing system which is equipped with a
`
`
`configure some parameters of the image sensor such as
`
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`high resolution CMOS image sensor controlled by a
`
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`gain and exposure time. The GU I allows the control of the
`powerful FPGA. The proposed system, which is
`
`
`stepper motors in order to adjust the position of the image
`
`implemented utilizing the R-DlmPr API (Application
`
`
`sensor and the selection of the desired image processing
`
`
`Programming Interface) [3,4], supports a two-axis motion
`
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`algorithm. The proposed system can be used as a base of
`
`
`of the image sensor using a mechanical structure based on
`
`
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`embedded surveillance or machine vision systems because
`
`
`two stepper motors. The remote control and configuration
`
`of its open and flexible structure which allows the
`of the system is achieved through a LabVIEW based user
`
`
`integration of advanced image processing algorithms.
`friendly GUI. A block diagram of the proposed system is
`in Fig. I.
`presented
`
`1. INTRODUCTION
`
`Lately, digital camera systems have been gaining ground in
`2. SYSTEM HARDWARE
`the market and in various consumer, industry and research
`The system is based on the Spectrum Digital C64 I 6 DSK
`
`
`applications such as surveillance and machine vision
`TMS320C64 I 6T DSP
`systems [1, 2]. These systems are equipped with high
`
`[5] consisting of Texas Instruments
`TMS320C64 I 6T DSP is a very powerful
`
`resolution CCD (Charge Coupled Device) or CMOS
`and peripherals.
`
`
`(Complementary Metal Oxide Semiconductor) image
`DSP and is optimized for image and video processing
`
`
`sensors for real-time image capturing and usually appear in
`applications.
`the form of smart cameras. They cover the needs of object
`
`
`tracking, face recognition and many other application­
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`specific processing requirements.
`
`A great amount of discussion and research is being held on
`
`
`this topic, focusing on embedded image processing system
`
`design using ASICs (Application Specific Integrated
`
`
`Circuits), FPGAs (Field Programmable Gate Arrays) and
`
`
`
`DSPs (Digital Signal Processors) or combinations of them.
`
`The range to which applications are remotely controlled
`
`through a local network or internet is rapidly becoming
`
`wider. Heading to this direction, numerous system
`
`
`designers tend to integrate networking features into their
`
`
`products. This has led to a significant growth in popularity
`ofIP (or Web) Cameras and Smart Camera Systems.
`
`.
`
`-- -I
`.
`
`of the remote controlled DSP
`
`32
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`Many surveillance and machine vision applications require
`
`
`
`the movement of the corresponding image sensor. For this
`reason stepper motors or servo motors undertake the
`Figure I - Architecture
`
`rotation of the image sensor in one or two axes depending
`
`on the needs of each application.
`
`based image processing system.
`
`Interface
`�." �
`Memoryexp.
`Peripheral expo Motion Structure
`
`,
`-
`. .
`.� : --,. .
`DSK C6416
`
`

`
`metal motion mechanism was constructed in order to hold
`
`The utilization of Bitec's DSK-EYE Gigabit [6], a
`
`both of the stepper motors and their motion transmission
`
`daughtercard designed for use with C6416 and C6713
`gear sets. The camera module is also attached to and held
`
`
`DSKs, renders the image capturing capability to the system.
`DSK-EYE, which is built around the ALTERA EP2C8
`
`by the motion mechanism while its connection to DSK­
`EYE board was extended with a 26-pin flat cable. The
`Cyclone II FPGA, is connected to and powered by the
`prototype mechanism including stepper motors, motion
`
`C6416 DSK board Peripheral and Memory expansion
`
`connectors [5].
`
`
`transmission sections and the camera module is depicted in
`Fig. 2.
`
`This board is equipped with the Omnivision OV5610 5.2
`
`MPixel CMOS Image Sensor [7], undertaking high
`A stepper motor driving circuit was designed upon two
`
`Allegro UDN2916 dual full-bridge motor driver ICs and
`
`
`resolution image grabbing and easy adjustability to any
`
`
`application. The configuration of the image sensor is
`
`fabricated on a strip board. The resulting board was
`
`achieved by setting its internal registers, which are
`
`
`equipped with two Santa Cruz compatible connectors as
`
`well as two 6-pin stepper motor connectors and fed by an
`
`
`responsible for image resolution mode, gain and exposure
`control along with many other defmable parameters.
`
`external 12V power supply. Receiving pulses generated on
`
`the FPGA [8], through Santa Cruz interface, the driver
`DSK-EYE's Ethernet adapter renders the daughtercard a
`
`
`board is able to control the rotational stepping of the
`powerful tool for any network oriented image processing
`motors.
`
`application, allowing for full remote control of the system.
`DSK-EYE board offers further expansion capabilities
`3. IMPLEMENTATION - DEVICE PROGRAMMING
`through the AL TERA Santa Cruz Interface [6] which
`
`provides easy external connection to FPGA pins, power and
`clock sources of the board.
`
`The generation of all control signals that dominate the
`
`
`operation of the system is dependent on the DSP. The
`
`
`communication between the hardware components, Fig.3, is
`Santa Cruz Interface was exploited in this specific system
`
`
`
`handled by the DSP with functions that perform read/write
`design in order to connect the prototype stepper motor
`
`
`operations and memory addressing. DSP was programmed
`driver board to add a two-axis motion control.
`with Code Composer Studio 3.1 using the DSPIBIOS real­
`A pair of bipolar stepper motors was used, due to their high
`
`time multi-tasking kernel. The main project includes two
`
`speed and holding torque characteristics, as an accurate and
`
`
`
`sub-projects. One of them controls the camera module and
`
`
`
`effective way to attain controlled two-axis camera motion
`the other one implements the IwlP stack [6] that controls
`[8]. The model used is Nanotec SP2575M0206-A bipolar
`the TCP/IP communication.
`stepper motor with a 7.50 step, leading to 48 full steps per
`The management of the OV 5610 sensor and the stepper
`
`revolution. This was scaled down achieving a 0.10 angle
`
`motor driver device interfacing is carried out through the
`
`step or 3600 full steps per revolution utilizing the proper
`AL TERA EP2C8 Cyclone II FPGA. The FPGA lies on the
`worm wheel set for each motor. A prototype two-shaft
`DSK-EYE board and was programmed using the SOPC
`Y-axis
`X-axis
`Image
`Rot�tion
`Mechanism
`Builder tool of Quartus II 8.0 [9, 10]. The schematic block
`Sensor
`r-----------·
`diagram design in Quartus project combines the
`,
`,
`
`components generated in SOPC Builder. These components
`,
`,
`,
`
`control the synchronization and clock signals of the image
`,
`,
`,
`
`sensor, the EMIF memory address decoding, the raw image
`,
`
`data distribution and the stepper motor driving signal
`
`Y-axis
`
`X-axis Y-axis
`
`DSK C6416
`
`I SDRAM I
`�
`B=
`
`Figure 2 - Prototype metal motion mechanism holding
`
`
`
`stepper motors with motion transmission sets and OV5610
`Figure 3 - Hardware interfacing block diagram
`
`camera module.
`
`
`representing interconnection of main system components.
`
`33
`
`

`
`generation. FPGA also contains an implementation of I2C
`
`
`These functions, running on the DSP, are responsible for
`
`
`
`
`
`(Inter-Integrated Circuit) bus for read/write operations of
`the control of the stepper motor driving logic block which
`
`is implemented in the DSK-EYE FPGA.
`
`
`the internal registers of the camera module. An additional
`16-bit SDRAM memory component that acts as a bridge
`Image Processing API
`between DSP and the stepper motor driving logic block, is
`
`also included. The components that comprise the system
`The Image Processing API is specially designed for fixed
`
`
`
`implementation on the FPGA are memory mapped through
`
`point arithmetic DSPs and contains C functions for the
`
`EMIF bus with regard to the DSK-EYE daughtercard base
`
`
`
`implementation of basic image processing algorithms such
`memory address.
`
`
`
`as colour space conversions, filtering, edge detection etc. In
`
`the modified version of this API, algorithms such as White
`The registers of the OV 5610 sensor are set according to the
`
`
`
`
`Balance Colour Correction and Colour Saturation were also
`
`
`
`gain, exposure, and image resolution parameter settings in
`added. The White Balance Colour Correction function
`
`the GUI. As soon as the user requests image grabbing, a
`corrects the captured image taking into account the color
`TCP/IP connection between the DSP server and client
`
`temperature of the light source, which refers to the relative
`
`
`computer is established and a 25-character command is sent
`warmth or coolness of white light. The Colour Saturation
`
`to the DSP. This command contains all the information
`
`function adjusts the Saturation of the captured image for a
`
`
`about image resolution, gain and exposure settings along
`
`more realistic representation.
`
`with the desired number of steps and motion direction for
`both of the stepper motors. DSP then sets the camera
`4.2 Building an Image Processing System
`
`registers via 12C and writes step data to the 16-bit memory
`The main purpose of the R-DImPr API is to allow the
`
`in order to make it available to the stepper motor driver
`
`researchers and the students to build real-time image
`logic block. This block in turn, generates
`the appropriate
`
`processing applications easily and rapidly. The block
`signals to control the stepper motor driver board, moving
`the camera module to the desired position.
`
`Following camera motion completion, OV5610 captures an
`
`
`image and starts data transfer to a FIFO (First In First Out)
`
`stack implemented on the FPGA which packs the raw data
`
`
`
`to DSK's to start EDMA transfer and triggers an interrupt
`memory. Raw image data is then converted to RGB with a
`
`
`demosaicing algorithm and re-organized in memory by
`
`colour component. A function is used to create a Bitmap
`header which together with the RGB data array constitutes
`the BMP image file. The BMP file is then sent via TCP/IP
`and stored on the client computer. When image processing
`is requested by the user, the existing RGB data is
`
`processed, converted to a BMP file and sent to the client
`computer likewise.
`
`4. APPLICATION PROGRAMMING INTERFACE
`(API)
`
`The DSP code of the presented system was designed and
`
`
`
`developed exploiting the features of the extended R-DImPr
`
`API [3 ,4] . This API contains C functions which are divided
`
`in two sections, the System Design API and the Image
`
`Processing API.
`
`4.1 System Design API
`
`,
`'----------' i
`._. -, _. -, -, _. -, _. _. -, _. -, _. _. _. _._'
`Processing Procedure
`
`r'-----'-'
`
`The functions of the System Design API are derived from
`
`the DSK-EYE Gigabit API and enable the design and
`testing of image processing systems for research and
`
`
`educational purposes. This API contains C functions which
`allow DSP to handle the hardware of the proposed system
`
`
`
`and undertake the system initialization, the configuration of
`
`the IP address, port and Gateway. It also includes functions
`which set the values of the CMOS Image Sensor registers
`and transfer the captured image through TCP/IP. In
`
`addition, the modified version of the System Design API
`contains C functions for the control of the stepper motors.
`
`
`Figure 4 - Block diagram of the DSP code architecture.
`
`Not a Valid Command
`
`34
`
`

`
`diagram of the DSP code architecture is presented in Fig. 4.
`
`
`According to this block diagram, the execution of the
`0AlITOCN/OFF
`IMA RfSOL ON
`
`program starts with the system initialization procedure
`� VGA (64OX4OO
`
`which includes functions from the R-DImPr System Design
`EXPOSl.RE
`
`
`API. This procedure sets TCP/IP parameters of the system,
`GAIN
`
`resets the parameters of the image sensor and creates a
`
`TCP/IP socket for the communication with the GUI. Next,
`the Command Decoding procedure enters a wait state until
`
`a command from the GUI is received. This command
`
`
`contains information about the execution of one of the two
`
`following procedures.
`
`GET IMAGE
`
`�Otlsteps
`�200;�400
`..., --
`The Capturing Procedure is executed in order to capture a
`
`new image through the image sensor. Initially it configures
`MotOf2steps
`-2000 zoo
`the image sensor by setting parameters such as image
`-4OO.�/ ;400
`...,I I __
`
`resolution, exposure time and gain. In the next step, rotation
`of the image sensor to the proper angle takes place and a
`
`new image is captured. The image is then converted to
`BMP format and is sent to the GUI through TCP/IP.
`
`Eventually the program returns to the Command Decoding
`procedure.
`
`GET IMAGE
`
`The Processing Procedure performs the application of the
`
`
`
`
`desired image processing algorithm to the captured image.
`
`Initially it processes the captured image using an image
`
`processing algorithm which is designed and developed by
`
`
`the user. The developed image processing algorithm might
`
`
`contain functions from the R-DImPr Image Processing API.
`Figure 5 - GUI window with initial
`Finally the processed image is sent to the GUI in BMP
`
`and processed with
`format and the program returns to the Command Decoding
`
`Sobel Edge Detection images displayed.
`procedure.
`
`In order to meet the needs of each application, the user is
`
`
`free to modify the Capturing and the Processing procedures
`
`
`of the basic code architecture. The integration of user-made
`EXPOSl.RE
`
`
`procedures could easily and rapidly expand the features of
`the system.
`
`GAIN
`
`5. REMOTE SYSTEM CONTROL
`
`The GUI, Fig. 5 and 6, that handles the whole procedure of
`
`image grabbing and processing was designed in LabVIEW
`[11]. The GUI has controls for the camera settings and
`
`image attributes. A pop-up menu enables the user to switch
`
`between four image resolution modes (HF, VGA, SXGA
`
`and QSXGA) while two sliders are responsible for the gain
`and exposure settings of the CMOS image sensor. Two
`
`rotational knobs ranged from -900 to +900 are used to
`
`select the direction and number of steps for each stepper
`
`motor, bearing in mind that 900 steps corresponds to a right
`angle motion (0.10 per step) of the image sensor.
`
`GETlMAGE
`
`MotorIst"""
`.��� �400
`I •
`..,,---
`
`Motor Z steps
`
`_2000200
`=_ \ I';:
`
`When the user hits the "GET IMAGE" button a TCP/IP
`connection with the system is opened. A command,
`
`
`
`containing the selected settings, is sent and stored in DSK's
`
`external memory. At the same time, the GUI calculates the
`
`image size and resizes the corresponding image indicators.
`When the capturing procedure is completed the initial
`
`image is displayed in the upper image indicator and the
`
`TCP/IP connection is closed. The image in BMP format is
`stored in the PC.
`
`Figure 6 - GUI window with initial
`
`and processed with
`
`Colour Correction images displayed.
`
`35
`
`

`
`Fig. 5 and 6 represent the system's GUI after the
`
`
`completion of the processing procedure for two different
`
`
`image processing algorithms. The result of the Sobel Edge
`
`Detection algorithm is displayed in Fig.5 and the result of
`
`the Colour Correction algorithm is appeared in Fig.6.
`
`Following consideration of the displayed image, the user
`
`REFERENCES
`can go over the above procedure revising parameter
`[1] M. Bramberger, A. Doblander, A. Maier, B. Rinner
`
`
`settings, camera position or apply one of the available
`
`and H. Schwabach, "Distributed Embedded Smart
`
`
`processing algorithms to the captured image. This is done
`
`Cameras for Surveillance Applications",
`Computer,
`by pressing the lower "GET IMAGE" button after selecting
`vol. 39, No 2, pp. 68-75, Feb 2006.
`
`the desired algorithm from the related pop-up menu. Finally
`
`[2] E. Norouznezhad, A. Bigdeli, A Postula and B. C.
`the processed image is displayed in the corresponding
`
`Lovell, "A high resolution smart camera with GigE
`image indicator.
`
`
`Vision extension for surveillance applications", in
`
`
`Proc. 2nd ACM/IEEE International Conference on
`Stanford,
`
`Distributed Smart Cameras (ICDSC'08),
`CA, USA, pp. 337-344, Sept. 2008.
`[3] D. Markonis and E. Zigouris, Design and
`
`Implementation of an API for Digital Image
`
`Processing Systems Based on DSPs, Internal Report,
`
`
`Electronics Lab, Electronics and Computers Div.,
`
`Physics Dept., Patras University, 2009.
`In this paper a DSP based remote image capturing and
`[4] A. Kalantzopoulos, D. Markonis and E. Zigouris, "A
`
`
`
`processing system capable of camera position adjustment
`Remote Laboratory for Real-Time Digital Image
`
`was presented. This is achieved with a robust prototype
`Processing on Embedded Systems", International
`metal mechanism promising accurate motion transmission
`Vol. 5, No.4, pp. 24-
`
`Journal of Online Engineering,
`from its two stepper motors through a worm wheel set to
`29,2009.
`the CMOS image sensor. The stepper motor pair is driven
`
`by a prototype board connected to the DSK-EYE
`2004.
`Reference,
`
`
`daughtercard exploiting its Santa Cruz expansion interface.
`2007.
`[6] Bitec, DSK-EYE Gigabit
`User's Manual,
`
`Motion control, image capturing and processing requests
`[7] OmniVision, OV5610 Color CMOS QSXGA (5.17
`
`are handled by a GUI in which the resulting images are also
`MPixel) CAMERACHIPTM with OmniPixelTM
`
`displayed. The control of the system and data exchange is
`Mar. 2005.
`Technology,
`
`carried out over a network connection using TCP/IP
`[8] V.V. Athani, Stepper Motors: Fundamentals,
`
`
`protocol. All of the above operations are performed by
`
`Applications and Design, New Age, 1997.
`II Version
`
`
`calling specially designed functions which constitute the
`[9] Altera, Quartus
`2009.
`8.0 Handbook,
`
`modified R-DlmPr API. A great advantage of the system
`[10] Z. Navabi, Embedded Core Design with FPGAs,
`
`
`design lies in its adaptability to specific applications mainly
`
`McGraw-Hili Professional, 2006.
`
`due to the structure of the open source API. In conclusion,
`[11] N. Kehtarnavaz, Digital Signal Processing System
`
`
`
`the presented work constitutes a highly efficient network
`
`Design: Lab VIEW-Based Hybrid Programming,
`
`
`controlled image processing system that can be used in
`Academic Press, 2008.
`
`
`applications such as remote laboratories, communication
`
`and surveillance systems, or as a standalone image
`
`processing station.
`
`6. CONCLUSIONS
`
`[5] Spectrum Digital, TMS320C6416T DSK Technical
`
`36