Presentation - Signal Processing Group

Recent Developments in Signal Processing for Audio and Music Julius Orion Smith and Kurt James Werner CCRMA, Stanford University 2015 EURASIP Workshop on Recent Trends in Signal Processing (RTSP-2015) Cluj-Napoca, Romania July 6, 2015

Julius Orion Smith and Kurt James Werner

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Enabling Technologies CCRMA Research Tablet Instruments Theory/Architecture Summary

Outline


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New Enabling Technologies 1. Music Tech Snapshot (Recent CCRMA Dissertations) Enabling Technologies CCRMA Research

• Analysis, Spatial Audio, Speech, Audio EEG, Music Information Retrieval, Source Separation, Perception, Interaction, Physical Modeling / Virtual Analog

Tablet Instruments Theory/Architecture Summary

2. Smart-Phones and Tablets

• High-quality audio in (mono) and out (stereo) • Fast multicore processors (exponentially growing speed) • Multitouch display screens (5 for iPhone, 11 for iPad) 3. Theory/Architecture Advances

• • • •

2D Bridge Modeling for Bowed Strings Scattering Delay Networks (SDN) Recent Virtual Analog Dissertations Recent Wave Digital Filter (WDF) research


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Recent CCRMA Research


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Recent CCRMA Research Analysis name Jorge Herrera Craig Sapp Gregory Sell Woon Seung Yeo

year current 2011 2011 2007

Randal Leistikow

2006

Yi-Wen Liu

2005

dissertation title (or topic) “Computational Beat Tracking with Gradient Frequency Neural Networks” “Computational methods for the analysis of musical structure” “Diffusion-Based Music Analysis” “Raster Scanning: A New Approach to Image Sonification, Sound Visualization, Sound Analysis, and Synthesis” “Bayesian Modeling of Musical Expectations via Maximum Entropy Stochastic Grammars” “Audio Watermarking Through Parametric Signal Representation”

Spatial Audio name Franc¸ois Germain ¨ Erlach Bjorn Tim O’Brien Elliot Kermit-Canfield

year current current current current


dissertation title (or topic) (sound field reproduction) (microphone array) (spherical microphone array) (ambisonics)

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Speech name Jieun Oh Sook Young Won

year 2014 2014

Pamornpol Jinachitra Rodrigo Segnini

2007 2006

dissertation title (or topic) “Affective Analysis and Synthesis of Laughter” “Simulating how humans hear themselves vocalize: a two-parameter spectral model” “Robust Structured Voice Extractino for Flexible Expressive Resynthesis” “On the Vocalization of Non-Speech Sounds: Implicit Mechanisms and Musical Applications”

Audio EEG name ´ Roman ´ Iran Madeline Huberth Alexander Chechile Blair Kaneshiro

year current current current current


dissertation title (or topic) (neurological expectation / ERAN) (EEG / polyphony) (otoacoustic emissions) (harmony, meter, tempo; categorical representation)

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Recent CCRMA Research Music Information Retrieval name Jeffrey Smith Juhan Nam Kyogu Lee

year 2014 2013 2007

Parag Chordia Unjung Nam

2006 2004

dissertation title (or topic) “Correlation Analysis of Encoded Music Performance” “Learning Feature Representations for Music Classification” “A System for Chord Transcription, Key Extraction, and Cadence Recognition from Audio Using Hidden Markov Models Trained with Audio-fromSymbolic Data” “Automatic Transcription of Solo Tabla Music” “A method of automatic recognition of structural boundaries in recorded musical signals”

Source Separation name Dennis Sun Nicholas Bryan Gautham Mysore

year current 2014 2010

Aaron Steven Master

2006


dissertation title (or topic) (nonnegative matrix factorization) “Interactive Sound Source Separation” “A Non-negative Framework for Joint Modeling of Spectral Structure and Temporal Dynamics in Sound Mixture” “Stereo Music Source Separation via Bayesian Modeling”

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Perception name Hyung-Suk Kim Emily Graber Kitty Shi Miriam Kolar Hiroko Terasawa Ryan James Cassidy

year current current current 2013 2009 2008

Matthew Wright

2007

Harvey Thornburg

2005


dissertation title (or topic) (musical texture) (timbre perception) (computational models of auditory perception and stream segregation) ´ “Archaeological Psychoacoustics at Chavin de Huantar, Peru” ´ “A hybrid model for timbre perception” “Auditory Signal Processing to Improve Impaired Listening Experiences via Efficient, Loudness-Based Algorithms” “The shape of an instant: measuring and modeling perceptual attack time with probability density functions (if a tree falls in the forest, when did 57 people hear it make a sound?)” “Detection and Modeling of Transient audio Signals with Prior Information”

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Interaction name Romain Michon John Granzow Spencer Salazar Luke Dahl Rob Hamilton

year current current current 2014 2014

Hongchan Choi

2014

Ed Berdahl Jonathan Norton

2009 2008

Ge Wang

2008

Lonny Chu

2004


dissertation title (or topic) (interfaces for real-time physical model control, 3D printing) (3D printing for acoustics) “Handwritten Computer Music Composition and Design” “Timing of Discrete Music Air-Gestures” “Perceptually Coherent Mapping Schemata for Virtual Space and Musical Method” “The Design of a collaborative music system: rethinking music creation and production platform through web technology” “Applications of Feedback Control to Musical Instrument Design” “Motion Capture To Build A Foundation For A Computer Controlled Instrument By Study Of Classical Guitar Performance” “The ChucK Audio Programming Language: A Strongly-timed and On-thefly Environ/mentality” “Haptic Interfaces for Audio Navigation”

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Recent CCRMA Research Physical Modeling / Virtual Analog name Kurt James Werner

year current

Jack Perng David Yeh

2012 2009

Michale Gurevich Scott Van Duyne

2007 2007

Tim Stilson

2006

Patricio de la Cuadra

2006

Tamara Smyth

2004

Stefania Serafin

2004


dissertation title (or topic) “Like an 808: Circuit Models and Analog Musicology of the TR-808, including Advances in Wave Digital Filter Theory” “Physical Modeling of the Harpsichord Plectrum-String Interaction” “Digital Implementation of Musical Distortion Circuits by Analysis and Simulation” “Computational Acoustic Modeling of Cetacean Vocalizations” “Digital Filtering Applications to Modeling Wave Propagation in Springs, Strings, Membranes, and Acoustical Space” “Efficiently-Variable Non-Oversampled Algorithms in Virtual-Analog Music Synthesis: a Root-Locus Perspective” “The sound of oscillating air jets: Physics, modeling, and simulation in flutelike instruments” “Applications of Bioacoustics to the Development of Musical Instrument Technology” “The sound of friction: real-time models, playability and musical applications”

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Smart-Phone/Tablet Example: moForte Guitar


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moForte Guitar for iOS and (later) Android Enabling Technologies CCRMA Research Tablet Instruments

• moForte Guitar • CPU Performance • Sound Examples

Real-time on iPhone 4S and iPad 2 (and later) Guitar and effects written in the FAUST language:

• Full physically modeled electric-guitar + effects:

Theory/Architecture Summary

• • •

Six vibrating strings — general excitations Distortion Feedback Compression Wah pedal or Autowah Phaser Flanger Five-band parametric equalizer Reverb Responds to accelerometer, gyros, touches (plucks), swipes (strumming), . . . It is challenging to fully utilize five points of multitouch on the iPhone and eleven on the iPad! Android audio latency is still a significant issue


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All These Guitar Effects Run in Real Time on the iPhone 4S or iPad 2 Enabling Technologies CCRMA Research Tablet Instruments

• moForte Guitar • CPU Performance • Sound Examples Theory/Architecture Summary


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CPU Performance in Phones Enabling Technologies CCRMA Research Tablet Instruments

• moForte Guitar • CPU Performance • Sound Examples Theory/Architecture Summary


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Distortion Guitar Sound Examples on a Tablet Enabling Technologies

GeoShred Demo

CCRMA Research Tablet Instruments

• moForte Guitar • CPU Performance • Sound Examples

• YouTube (./mov/GeoShredPreviewNAMM2015.mov)

Theory/Architecture Summary


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Recent Theory/Architecture Advances


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Overview Enabling Technologies CCRMA Research Tablet Instruments Theory/Architecture

• Overview • 2D Bridge Modeling • Waveguide Reverb • recent VA diss. • WDF Overview • WDF: single NL • WDF: one-port NL • WDF: cross-control • WDF: linearized • WDF: PWL • Simplified Multiports • WDF: iterative • WDF: topologies

1. 2. 3. 4.

2D Bridge Modeling for Bowed Strings Scattering Delay Networks (SDN) Recent Virtual Analog Dissertations Recent Wave Digital Filter (WDF)research

Summary


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2D Bridge Modeling for Bowed Strings Enabling Technologies CCRMA Research Tablet Instruments Theory/Architecture


Reference: E. Maestre, G. P. Scavone, and J. O. Smith III, “Digital Modeling of String Instrument Bridge Reflectance and Body Radiativity for Sound Synthesis by Digital Waveguides,” 2015 IEEE Workshop on Applications of Signal Processing to Audio and Acoustics, New Paltz, NY, Oct. 18–21. See also SMAC-13 paper:

http://www.speech.kth.se/smac-smc-2013/

Summary

Two-dimensional Bridge Model Julius Orion Smith and Kurt James Werner

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Scattering Delay Networks (SDN) Enabling Technologies

Tablet Instruments

˘ Z. Cvetkovi´c, and J. O. Smith III, Reference: E. De Sena, H. Hacıhabiboglu, “Efficient Synthesis of Room Acoustics via Scattering Delay Networks,” IEEE/ACM Trans. Audio, Speech, Language Process., vol. 23, no. 9, Sept. 2015.

Theory/Architecture

http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7113826

CCRMA Research

• Overview • 2D Bridge Modeling • Waveguide Reverb • recent VA diss. • WDF Overview • WDF: single NL • WDF: one-port NL • WDF: cross-control • WDF: linearized • WDF: PWL • Simplified Multiports • WDF: iterative • WDF: topologies Summary


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Recent Virtual Analog Dissertations

name Tim Stilson

year 2006

David Yeh

2009

Kristjan Dempwolf ´ Jarom´ır Maˇcak, Rafael C. D. de Paiva Julian Parker Jussi Pekonen Stefan D’Angelo Kurt James Werner

2012 2012 2013 2013 2014 2014 2016(?)


dissertation title “Efficiently-Variable Non-Oversampled Algorithms in Virtual-Analog Music Synthesis: a Root-Locus Perspective” “Digital Implementation of Musical Distortion Circuits by Analysis and Simulation” “Modellierung analoger Gitarrenverstrker mit digitaler Signalverarbeitung” “Real-Time Digital Simulation of Guitar Amplifiers as Audio Effects” “Circuit modeling studies related to guitars and audio processing” “Dispersive Systems in Musical Audio Signal Processing” “Filter-Based Oscillator Algorithms for Virtual Analog Synthesis” “Virtual Analog Modeling of Nonlinear Musical Circuits” “Like an 808: Circuit Models and Analog Musicology of the TR-808, including Advances in Wave Digital Filter Theory”

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Wave Digital Filters Enabling Technologies

Wave Digital Filters (WDFs) work by:

CCRMA Research Tablet Instruments Theory/Architecture


• Port-wise consideration of Kirchhoff-domain circuit • Discretize reactive elements w/ Bilinear Transformation (BLT):

1 − z −1 s←c , 1 + z −1

c = 2/T or 1, typically

(1)

• Move into the wave domain, with incident wave an and reflected wave bn , incorporating arbitrary port resistance Rn , at each port

n an = v n + in Rn

(2)

bn = vn − in Rn

(3)

• Scattering matrices at every impedance mismatch (typically •

3-port series and parallel connections) Choose port resistances to cancel delay-free loops


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Wave Digital Filters Enabling Technologies

We’ll review developments in nonlinear WDFs:



1. 2. 3. 4. 5. 6. 7. 8.

Single Nonlinearity Consolidated One-Port Combinations Cross-Controlled Multiport Simplified Multiports Linearized Piecewise Linear Models Iterative Schemes Topological Aspects

Summary


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WDFs: Single Nonlinearity I Enabling Technologies

¨ Reference: K. Meerkotter and R. Scholz, “Digital simulation of nonlinear circuits by

CCRMA Research

wave digital filter principles,” Proc. IEEE Int. Symp. Circuits Syst. June 1989.

Tablet Instruments Theory/Architecture


• Accomodate ONE one-port NL element, e.g.:

◦ Ideal rectifier (ideal diode) ◦ Piecewise linear resistance

• Can view as lookup table with interpolation or piece-wise linear segments


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WDFs: Single Nonlinearity II Enabling Technologies

¨ Reference: K. Meerkotter and R. Scholz, “Digital simulation of nonlinear circuits by

CCRMA Research

wave digital filter principles,” Proc. IEEE Int. Symp. Circuits Syst. June 1989.




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WDFs: Single Nonlinearity III Enabling Technologies

Reference: A. Sarti and G. De Sanctis, “Systematic methods for the

CCRMA Research

implementation of nonlinear wave-digital structures,” IEEE Trans. Circuits Syst. I:

Tablet Instruments

Reg. Papers, vol. 56, no. 2, pp. 460–472, 2009.

Theory/Architecture


• Binary connection tree (BCT)

• •

•

systematizes WDF with only series and parallel connections Up to one nonlinearity N -port series (parallel) implemented with N − 2 3-port adaptors see: A. Fettweis and K. ¨ Meerkotter, “On adaptors for wave digital filters,” 1975.


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WDFs: Single Nonlinearity IV Enabling Technologies

Reference: A. Sarti and G. De Poli, “Toward nonlinear wave digital filters,” IEEE

CCRMA Research

Trans. Signal Process., vol. 47, no. 6, pp. 1654–1668, 1999.



• Use “mutators” from classical

•

•

network theory to enable, e.g., nonlinear q –v relationships These are needed for nonlinear elements “with memory” For example, nonlinear capacitors and inductors where flux or charge can saturate


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WDFs: One-Port Combinations I Enabling Technologies

Reference: D. T. Yeh and J. O. Smith III, “Simulating guitar distortion circuits using

CCRMA Research

wave digital and nonlinear state-space formulations,” Proc. Int. Conf. Digital Audio

Tablet Instruments

Effects (DAFx-08), pp. 19–26, 2008.

Theory/Architecture


b−a = Is e 2R

a+b 2VT

a+b − − 1 − Is e 2VT − 1

(4)

• Multiple nonlinearities

•

handled by combining into a single one-port Implicit nonlinear function solved as b = f (a) with numerical methods


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WDFs: One-Port Combinations II Enabling Technologies

¨ aki, ¨ “Emulation Reference: R. C. D. Paiva, S. D’Angelo, J. Pakarinen, and V. Valim

CCRMA Research

of operational amplifiers and diodes in audio distortion circuits,” IEEE Tran. Circuits

Tablet Instruments

Syst. II: Expr. Briefs, vol. 59, no. 10, pp. 688-692, 2012.

Theory/Architecture


b = f (a) for diode pair solved using Lambert W function, assuming one diode dominates:

• One diode (Kirchhoff): i = Is e • One diode (wave, implicit): e

a+b 2VT

v VT

−1

=

a−b 2RIs

+1

• One diode (wave, explicit):

b = f (a) = a + 2RIs − 2VT W

Summary

RIs VT e

RIs +a VT

• Diode pair (approx., assuming one diode dominates):

b = sgn(a) · f (|a|)


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WDFs: One-Port Combinations III Enabling Technologies

Reference: K. J. Werner, V. Nangia, A. Bernardini, J. O. Smith III, and A. Sarti, “An

CCRMA Research

Improved and Generalized Diode Clipper Model for Wave Digital Filters,” Proc.

Tablet Instruments

Audio Eng. Soc. (AES), New York, NY, Oct.–Nov. 2015.


abs(reflected voltage wave (b) error)

Theory/Architecture

10 10 10 10 10 10

−8

−10

−12

Paiva Improved Model

−14

−16

−18

−10

Summary

−5 0 5 incident voltage wave (a)

10

Explicit b = f (a) model improved by cancelling some approximation error of Paiva et al. (2013) model with additional Lambert W term. Julius Orion Smith and Kurt James Werner

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WDFs: One-Port Combinations IV Reference: K. J. Werner and J. O. Smith III, “An Energetic Interpretation of Enabling Technologies

Nonlinear Wave Digital Filter Lookup Table Error,” Proc. Int. Symp. Signals, Circuits,

CCRMA Research

Syst. (ISSCS), Iasi, Romani, July 2015.



Linear secant interpolation and tangent extrapolation can be incrementally (gray) or globally (thatched) non-passive.

Summary

Choosing table points and secant/tangent properly (considering sgn(a) and a′′ ) yields interpolation methods that respect passivity. Julius Orion Smith and Kurt James Werner

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WDFs: Cross-Control Multiport I Reference: M. Karjalainen and J. Pakarinen, “Wave digital simulation of a Enabling Technologies

vacuum-tube amplifier,” Proc. IEEE Int. Conf. Acoust., Speech Signal Process.

CCRMA Research Tablet Instruments

(ICASSP), Toulouse, France, May 14–19 2006.

Theory/Architecture


• Grid–Cathode voltage “cross-control” w/ ad-hoc delay to aid •

realizability. Refined in J. Pakarinen and M. Karjalainen, “Enhanced wave digital triode model for real-time tube amplifier emulation,” IEEE Trans. Audio, Speech, Language Process., vol. 18, no. 4, pp. 738–746, May 2010.


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WDFs: Cross-Control Multiport II Enabling Technologies

Reference: G. De Sanctis and A. Sarti, “Virtual analog modeling in the wave-digital

CCRMA Research

domain,” IEEE Trans. Audio, Speech, Language Process., vol. 18, no. 4, pp.

Tablet Instruments

715–727, 2010.

Theory/Architecture


• Frame BJT as two-port nonlinear element • Two linear WDF subtrees • Emitter voltage VE proposed as “cross-control” on BJT


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WDFs: Linearized Enabling Technologies

Reference: G. De Sanctis and A. Sarti, “Virtual analog modeling in the wave-digital

CCRMA Research

domain,” IEEE Trans. Audio, Speech, Language Process., vol. 18, no. 4, pp.

Tablet Instruments

715–727, 2010.

Theory/Architecture


• Proposes linearized Hybrid-π model of BJT • Three linear WDF subtrees

Summary


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WDFs: Multiple NLE, Piecewise Linear Model I Enabling Technologies

Reference: S. Petrausch, R. Rabenstein, “Wave digital filters with multiple

CCRMA Research

nonlinearities,” Proc. European Signal Process. Conf. (EUSIPCO), vol. 12. Vienna,

Tablet Instruments

Austria, Sept. 2004.

Theory/Architecture


• Represent vector of nonlinear root elements with piecewise linear •

approximations Limited to vector parallel relationship between “internal” (a and b) and “external” (al and bl ) root ports


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WDFs: Piecewise Linear Model II Enabling Technologies

Reference: A. Bernardini, K. J. Werner, A. Sarti, and J. O. Smith III, “Multi-Port

CCRMA Research

NonLinearities in Wave Digital Structures,” IEEE Int. Symp. Signals, Circuits, Syst.

Tablet Instruments

(ISSCS), Iasi, Romania, July 9–10 2015. 0.04

P − 1 = [i − 1, v − 1]

0.02 0.01 0 -0.01

P 0 = [0, 0]

0.03

voltage v (volts)


P 1 = [i 1 , v 1 ]

Theory/Architecture

line s e gme nt s v v v v

= = = =

λ 1 ( i) i + λ 0 ( i) i + λ − 1( i) i + λ − 2( i) i +

q 1 ( i) q 0 ( i) q − 1( i) q − 2( i)

-0.02 Shockley PWL approx.

-0.03

Summary

-1

-0.5

0

0.5 1 1.5 current i (amps)

2

2.5

3 -12

x 10

Addresses Petrausch & Rabenstein limit to vector parallel case for multiple one-port nonlinearities. Julius Orion Smith and Kurt James Werner

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WDFs: Simplified Multiports Enabling Technologies

Reference: A. Bernardini, “Modeling NonLinear Circuits with Multi-Port Elements in

CCRMA Research

the Wave Digital Domain,” M. S. thesis, Politecnico di Milano, 2015.



• Depending on operating

•

Summary

•


point, transport across particular p–n junctions in a BJT can be reasonably neglected Introduces some approximation error, but renders equations tractable using the Lambert W , as in Paiva et al., 2013 Opportunities for treating feedback cases

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WDFs: Iterative Schemes I Enabling Technologies

¨ aki, ¨ “New Family of Wave-Digital Reference: S. D’Angelo, J. Pakarinen, and V. Valim

CCRMA Research

Triode Models,” IEEE Trans. Audio, Speech, Language Process., vol. 21, no. 2, pp.

Tablet Instruments

313–321, 2013.

Theory/Architecture


• Entire triode nonlinearity contained in root element • Three linear WDF subtrees • Root solved with customized secant method (specific to triode model)


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WDFs: Iterative Schemes II Enabling Technologies

Reference: T. Schwerdtfeger and A. Kummert, “A Multidimensional Approach to

CCRMA Research

Wave Digital Filters with Multiple Nonlinearities,” Proc. European Signal Process.

Tablet Instruments

Conf. (EUSIPCO), Lisbon, Portugal, Sept. 1–5 2014.

Theory/Architecture


• Multiple nonlinearities create delay-free loops • Resolved by inserting extra delay elements as second time • •

dimension (T2 ) Framed as extension to multidimensional case T2 solved by iteration


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WDFs: Iterative Schemes III Enabling Technologies

Reference: T. Schwerdtfeger and A. Kummert, “A multidimensional signal

CCRMA Research

processing approach to wave digital filters with topology-related delay-free loops,”

Tablet Instruments

Proc. IEEE Int. Conf. Acoust., Speech, Signal Process. (ICASSP), Florence, Italy,

Theory/Architecture


May 4–9 2014, pp. 389–393.

Same technique applied to topological problems in linear circuits (bridged-T).

Summary


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WDFs: Topologically Problematic circuits Enabling Technologies

• Any circuit that can’t be decomposed completely into series and



• • • •

parallel connections This includes some linear circuits Especially problematic for circuits with multiple or multiport nonlinearities Especially problematic for circuits with controlled sources (VCVS, VCCS, CCCS, CCVS, op-amps, etc.) in feedback configuration Issues arise in deceptively simple circuits (simple amplifiers, bridged-T, tone stack)

Summary


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WDFs: Topological Insights Enabling Technologies

¨ Reference: D. Franken, J. Ochs, K. Ochs, “Generation of wave digital structures for

CCRMA Research

connection networks containing mutiport elements,” IEEE Trans. Circuits Syst. I:

Tablet Instruments

Reg. Papers, vol. 52, no. 3, pp. 586–596, 2005.

Theory/Architecture



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WDFs: New Use of SPQR Tree Reference: K. J. Werner, V. Nangia, J. O. Smith III, and J. S. Abel, “A General and Enabling Technologies

Explicit Formulation for Wave Digital Filters with Multiple/Multiport Nonlinearities


and Complicated Topologies,” Proc. IEEE Workshop on Applications of Signal Processing to Audio and Acoustics (WASPAA), New Paltz, NY, Oct. 18–21.



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Summary


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Summary Enabling Technologies

1.

CCRMA Research Tablet Instruments Theory/Architecture Summary

2. 3.

Hardware advances enable efficient and complex implementations of older theory Software advances ease implementation effort and portability Theory advances continue to improve models and render elegant formulations (WDF) applicable to a wider class of reference systems

Thank you for listening! :)

http://ccrma.stanford.edu/~jos/pdf/RTSP-2015.pdf


RTSP-2015 – 44 / 44

Presentation - Signal Processing Group

Presentation - Signal Processing Group

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