INTRODUCTION TO 18-491/691 Digital Signal Processing: Richard M. Stern

INTRODUCTION TO 18-491/691
DIGITAL SIGNAL PROCESSING
Richard M. Stern
18-491/691 lecture
February 1, 2021
Department of Electrical and Computer Engineering

Carnegie Mellon University
Pittsburgh, Pennsylvania 15213
Slide 1 ECE Department

Welcome to 18-491 and 18-691
Digital Signal Processing (DSP)!
 Today will
– Review mechanics of course

– Review course content
– Preview material in 18-491/691 (DSP)

Important people (for this course at least)
 Instructor: Richard Stern

– PH B24, 8-2535, [email protected]
 Course management assistant:

Michele Passerrello
– HH 1112, 8-4951, [email protected]

More important people
 Teaching assistants/teaching interns:
 Vrishab Patrick Carlos

Commuri Conrey Taveras

Some course details
 Meeting time and place:

– Lectures here and now
– Recitations Friday 10:30 – 12:20, 12:50 – 2:40
– You can attend either recitation
– Video recordings will be available on the Canvas Panopto link
 Pre-requisites (you really need these!):

– Signals and Systems 18-290
– Some MATLAB or background (presumably from 18-290)
 18-491 versus 18-691?

– Same lectures and recitations
– Additional assignment(s) for students in 18-691

Does our work get graded?
 Yes!
 Grades based on:

– Homework (including MATLAB problems) (33%)
– Three exams (67%)
» Two midterms (March 17 and April 21), and final exam
» Plan on attending the exams!

Some details on homework
 Issued Thursday evenings
 Due Friday one week later

– Lowest homework grade dropped
– Up to 5 late days of late homework permitted, max 2 per week
 Start your work over the weekend!

Textbooks
 Major text:
– Oppenheim, Schafer, Yoder, and Padgett: Discrete-Time Signal
Processing
– Plan on purchasing a hard copy new or used
 Material to be supplemented by class notes at end of course

 Some other texts are listed in syllabus

Other support sources
 Office hours:
– Two hours per week for instructor and each TA, times TBA
– You can schedule additional times with me as needed
 Course home page:

– http://www.ece.cmu.edu/~ece491
» [Same website for both courses]
 Canvas to be used for:

– Grades (on Grades):
– Discussions (on Piazza)
– Turning in homework (using Gradescope)

Diversity and inclusion
 Engineering is a classic profession for upwardly-mobile people

 Here and elsewhere we suffer from long-term endemic
discrimination based on race, ethnic origin, religion, sexual
preference, gender identity, disability, etc. etc.
 The multiple killings of black and brown people last spring (and
for a long time before, and since) have sparked a good national
discussion, although it is not clear if/when long-term change will
happen.
 It is our collective responsibility to treat everyone fairly and
equally, based on merit
 The ECE Diversity, Inclusion, and Outreach committee’s home
page is
 https://www.ece.cmu.edu/student-resources/dio.html

Academic stress and sources of help
 This is a hard course

 Take good care of yourself
 If you are having trouble, seek help
– Teaching staff
– CMU Counseling and Psychological Services (CaPS)
 We are here to help!

Academic integrity (i.e. cheating and
plagiarism)
 CMU’s take on academic integrity:

– http://www.cmu.edu/policies/documents/Cheating.html
 ECE’s take on academic integrity:
– http://www.ece.cmu.edu/programs-admissions/masters/academic-integri
ty.html
 Most important rule: Don’t cheat!

 But what do we mean by that?
– Discussing general strategies on homework with other students is OK
– Solving homework together is NOT OK
– Accessing material from previous years is NOT OK
– “Collaborating” on exams is REALLY REALLY NOT OK!

18-491/691: major topic areas
 Signal processing in the time domain: convolution

 Frequency-domain processing:
– The DTFT and the Z-transform
– Complementary signal representations
 Sampling and change of sampling rate
 The DFT and the FFT
 Digital filter implementation
 Digital filter design
 Selected applications

Complementary signal representations
 Unit sample response

 Discrete-time Fourier transforms
 Z-transforms
 Difference equations
 Poles and zeros of an LSI system

Some application areas
(we may not get to all of these)
 Linear prediction and lattice filters

 Adaptive filtering
 Optimal Wiener filtering
 Two-dimensional DSP (image processing)
 Short-time Fourier analysis
 Speech processing

Signal representation: why perform signal
processing?
 A speech waveform in time:

“Welcome to DSP I”

A time-frequency representation
of “welcome” is much more informative

Downsampling the waveform
Downsampling the waveform by factor of 2:

Consequences of downsampling by 2
Original:
Downsampled:

Upsampling the waveform
Upsampling by a factor of 2:

Consequences of upsampling by 2
Original:
Upsampled:

Linear filtering the waveform
x[n] y[n]
Filter 1:
y[n] = 3.6y[n–1]+5.0y[n–2]–3.2y[n–3]+.82y[n–4]
+.013x[n]–.032x[n–1]+.044x[n–2]–.033x[n–3]+.013x[n–4]
Filter 2:
y[n] = 2.7y[n–1]–3.3y[n–2]+2.0y[n–3]–.57y[n–4]
+.35x[n]–1.3x[n–1]+2.0x[n–2]–1.3x[n–3]+.35x[n–4]
Filter 1 in the time domain

Output of Filter 1 in the frequency domain
Original:
Lowpass:

Filter 2 in the time domain

Output of Filter 2 in the frequency domain
Original:
Highpass:

Let’s look at the lowpass filter from different
points of view …
x[n] y[n]
Difference equation for Lowpass Filter 1:

y[n] = 3.6y[n–1]+5.0y[n–2]–3.2y[n–3]+.82y[n–4]
+.013x[n]–.032x[n–1]+.044x[n–2]–.033x[n–3]+.013x[n–4]

Lowpass filtering in the time domain:
the unit sample response

Lowpass filtering in the frequency domain:
magnitude and phase of the DTFT

The z-transform representation…
x[n] y[n]
Difference equation for Lowpass Filter 1:
The corresponding z-transform of the system:

The poles and zeros of the lowpass filter

Lowpass filtering in the frequency domain:
magnitude and phase of the DTFT

Another type of modeling:
the source-filter model of speech
A useful model for representing the generation of speech sounds:
Pitch Amplitude
Pulse train source

p[n]
Vocal tract model

Noise source

Signal modeling: let’s consider the “uh” in
“welcome:”

The raw spectrum

All-pole modeling: the LPC spectrum

An application of LPC modeling: separating the
vocal tract excitation and and filter
Original speech:
Speech with 75-Hz excitation:
Speech with 150 Hz excitation:
Speech with noise excitation:
Comment: this is a major techniques used in speech coding

Classical signal enhancement: compensation of
speech for noise and filtering
 Approach of Acero, Liu, Moreno, et al. (1990-1997)…

“Clean” speech Degraded speech
x[m]
h[m] z[m]
Linear filtering n[m]

Additive noise
 Compensation achieved by estimating parameters of noise and

filter and applying inverse operations

“Classical” combined compensation improves
accuracy in stationary environments
Complete
retraining
–7 dB 13 dB Clean
VTS (1997)
Original
CDCN (1990)
“Recovered”
CMN (baseline)
 Threshold shifts by ~7 dB
 Accuracy still poor for low SNRs

Another type of signal enhancement:
adaptive noise cancellation
 Speech + noise enters primary channel, correlated noise enters

reference channel
 Adaptive filter attempts to convert noise in secondary channel to best
resemble noise in primary channel and subtracts
 Performance degrades when speech leaks into reference channel and
in reverberation

Simulation of noise cancellation for a PDA
using two mics in “endfire” configuration
 Speech in cafeteria noise, no noise cancellation

 Speech with noise cancellation
 But …. simulation assumed no reverb

Signal separation: speech is quite intelligible,
even when presented only in fragments
 Procedure:
– Determine which time-frequency time-frequency components appear to
be dominated by the desired signal
– Reconstruct signal based on “good” components
 A Monaural example:
– Mixed signals -
– Separated signals -

Practical signal separation: Audio samples
using selective reconstruction based on ITD
RT60 (ms) 0 300
No Proc
Delay-sum
ZCAE-bin
ZCAE-cont

Phase vocoding: changing time scale and pitch
 Changing the time scale:

– Original speech
– Faster by 4:3
– Slower by 1:2
 Transposing pitch:
– Original music
– After phase vocoding
– Transposing up by a major third
– Transposing down by a major third
Comment: this is one of several techniques used to perform
autotuning

Summary
 Lots of interesting topics that teach us how to understand

signals and design filters
 An emphasis on developing a solid understanding of
fundamentals
 Will introduce selected applications to demonstrate utility of
techniques
 I hope that you have as much fun in signal processing as I
have had!


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INTRODUCTION TO 18-491/691

DIGITAL SIGNAL PROCESSING

Department of Electrical and Computer Engineering

Slide 1 ECE Department

– Review mechanics of course

Slide 2 ECE Department

 Instructor: Richard Stern

 Course management assistant:

Slide 3 ECE Department

 Teaching assistants/teaching interns:

 Vrishab Patrick Carlos

Slide 4 ECE Department

 Meeting time and place:

 Pre-requisites (you really need these!):

 18-491 versus 18-691?

Slide 5 ECE Department

 Grades based on:

Slide 6 ECE Department

 Issued Thursday evenings

 Due Friday one week later

 Start your work over the weekend!

Slide 7 ECE Department

 Material to be supplemented by class notes at end of course

Slide 8 ECE Department

 Course home page:

 Canvas to be used for:

Slide 9 ECE Department

 Engineering is a classic profession for upwardly-mobile people

Slide 10 ECE Department

 This is a hard course

Slide 11 ECE Department

 CMU’s take on academic integrity:

 Most important rule: Don’t cheat!

Slide 12 ECE Department

 Signal processing in the time domain: convolution

Slide 13 ECE Department

 Unit sample response

Slide 14 ECE Department

 Linear prediction and lattice filters

Slide 15 ECE Department

 A speech waveform in time:

Slide 16 ECE Department

Slide 17 ECE Department

Downsampling the waveform by factor of 2:

Slide 18 ECE Department

Slide 19 ECE Department

Slide 20 ECE Department

Slide 21 ECE Department

Slide 23 ECE Department

Slide 24 ECE Department

Slide 25 ECE Department

Slide 26 ECE Department

Difference equation for Lowpass Filter 1:

Slide 27 ECE Department

Slide 28 ECE Department

Slide 29 ECE Department

Difference equation for Lowpass Filter 1:

The corresponding z-transform of the system:

Slide 30 ECE Department