Table Of ContentLibrary of Congress Cataloging-in-Publication Data
Advanced signal processing handbook : theory and implementation for radar, sonar, and
medical imaging real-time systems / edited by Stergios Stergiopoulos.
p. cm. — (Electrical engineering and signal processing series)
Includes bibliographical references and index.
ISBN 0-8493-3691-0 (alk. paper)
1. Signal processing—Digital techniques. 2. Diagnostic imaging—Digital techniques. 3.
Image processing—Digital techniques. I. Stergiopoulos, Stergios. II. Series.
TK5102.9 .A383 2000
621.382′2—dc21 00-045432
CIP
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Preface
Recent advances in digital signal processing algorithms and computer technology have combined to
provide the ability to produce real-time systems that have capabilities far exceeding those of a few years
ago. The writing of this handbook was prompted by a desire to bring together some of the recent
theoretical developments on advanced signal processing, and to provide a glimpse of how modern
technology can be applied to the development of current and next-generation active and passive real-
time systems.
The handbook is intended to serve as an introduction to the principles and applications of advanced
signal processing. It will focus on the development of a generic processing structure that exploits the
great degree of processing concept similarities existing among the radar, sonar, and medical imaging
systems. A high-level view of the above real-time systems consists of a high-speed Signal Processor to
provide mainstream signal processing for detection and initial parameter estimation, a Data Manager
which supports the data and information processing functionality of the system, and a Display Sub-
System through which the system operator can interact with the data structures in the data manager to
make the most effective use of the resources at his command.
The Signal Processor normally incorporates a few fundamental operations. For example, the sonar and
radar signal processors include beamforming, “matched” filtering, data normalization, and image pro-
cessing. The first two processes are used to improve both the signal-to-noise ratio (SNR) and parameter
estimation capability through spatial and temporal processing techniques. Data normalization is required
to map the resulting data into the dynamic range of the display devices in a manner which provides a
CFAR (constant false alarm rate) capability across the analysis cells.
The processing algorithms for spatial and temporal spectral analysis in real-time systems are based on
conventional FFT and vector dot product operations because they are computationally cheaper and more
robust than the modern non-linear high resolution adaptive methods. However, these non-linear algorithms
trade robustness for improved array gain performance. Thus, the challenge is to develop a concept which
allows an appropriate mixture of these algorithms to be implemented in practical real-time systems.
The non-linear processing schemes are adaptive and synthetic aperture beamformers that have been
shown experimentally to provide improvements in array gain for signals embedded in partially correlated
noise fields. Using system image outputs, target tracking, and localization results as performance criteria,
the impact and merits of these techniques are contrasted with those obtained using the conventional
processing schemes. The reported real data results show that the advanced processing schemes provide
improvements in array gain for signals embedded in anisotropic noise fields. However, the same set of
results demonstrates that these processing schemes are not adequate enough to be considered as a
replacement for conventional processing. This restriction adds an additional element in our generic signal
processing structure, in that the conventional and the advanced signal processing schemes should run
in parallel in a real-time system in order to achieve optimum use of the advanced signal processing
schemes of this study.
©2001 CRC Press LLC
The handbook also includes a generic concept for implementing successfully adaptive schemes with
near-instantaneous convergence in 2-dimensional (2-D) and 3-dimensional (3-D) arrays of sensors, such
as planar, circular, cylindrical, and spherical arrays. It will be shown that the basic step is to minimize
the number of degrees of freedom associated with the adaptation process. This step will minimize the
adaptive scheme’s convergence period and achieve near-instantaneous convergence for integrated active
and passive sonar applications. The reported results are part of a major research project, which includes
the definition of a generic signal processing structure that allows the implementation of adaptive and
synthetic aperture signal processing schemes in real-time radar, sonar, and medical tomography (CT,
MRI, ultrasound) systems that have 2-D and 3-D arrays of sensors.
The material in the handbook will bridge a number of related fields: detection and estimation theory;
filter theory (Finite Impulse Response Filters); 1-D, 2-D, and 3-D sensor array processing that includes
conventional, adaptive, synthetic aperture beamforming and imaging; spatial and temporal spectral
analysis; and data normalization. Emphasis will be placed on topics that have been found to be particularly
useful in practice. These are several interrelated topics of interest such as the influence of medium on
array gain system performance, detection and estimation theory, filter theory, space-time processing,
conventional, adaptive processing, and model-based signal processing concepts. Moveover, the system
concept similarities between sonar and ultrasound problems are identified in order to exploit the use of
advanced sonar and model-based signal processing concepts in ultrasound systems.
Furthermore, issues of information post-processing functionality supported by the Data Manager and
the Display units of real-time systems of interest are addressed in the relevant chapters that discuss nor-
malizers, target tracking, target motion analysis, image post-processing, and volume visualization methods.
The presentation of the subject matter has been influenced by the authors’ practical experiences, and
it is hoped that the volume will be useful to scientists and system engineers as a textbook for a graduate
course on sonar, radar, and medical imaging digital signal processing. In particular, a number of chapters
summarize the state-of-the-art application of advanced processing concepts in sonar, radar, and medical
imaging X-ray CT scanners, magnetic resonance imaging, and 2-D and 3-D ultrasound systems. The
focus of these chapters is to point out their applicability, benefits, and potential in the sonar, radar, and
medical environments. Although an all-encompassing general approach to a subject is mathematically
elegant, practical insight and understanding may be sacrificed. To avoid this problem and to keep the
handbook to a reasonable size, only a modest introduction is provided. In consequence, the reader is
expected to be familiar with the basics of linear and sampled systems and the principles of probability
theory. Furthermore, since modern real-time systems entail sampled signals that are digitized at the
sensor level, our signals are assumed to be discrete in time and the subsystems that perform the processing
are assumed to be digital.
It has been a pleasure for me to edit this book and to have the relevant technical exchanges with so many
experts on advanced signal processing. I take this opportunity to thank all authors for their responses to
my invitation to contribute. I am also greatful to CRC Press LLC and in particular to Bob Stern, Helena
Redshaw, Naomi Lynch, and the staff in the production department for their truly professional cooperation.
Finally, the support by the European Commission is acknowledged for awarding Professor Uzunoglu and
myself the Fourier Euroworkshop Grant (HPCF-1999-00034) to organize two workshops that enabled the
contributing authors to refine and coherently integrate the material of their chapters as a handbook on
advanced signal processing for sonar, radar, and medical imaging system applications.
Stergios Stergiopoulos
©2001 CRC Press LLC
Editor
Stergios Stergiopoulos received a B.Sc. degree from the University of Athens in 1976 and the M.S. and
Ph.D. degrees in geophysics in 1977 and 1982, respectively, from York University, Toronto, Canada.
Presently he is an Adjunct Professor at the Department of Electrical and Computer Engineering of the
University of Western Ontario and a Senior Defence Scientist at Defence and Civil Institute of Environ-
mental Medicine (DCIEM) of the Canadian DND. Prior to this assignment and from 1988 and 1991, he
was with the SACLANT Centre in La Spezia, Italy, where he performed both theoretical and experimental
research in sonar signal processing. At SACLANTCEN, he developed jointly with Dr. Sullivan from
NUWC an acoustic synthetic aperture technique that has been patented by the U.S. Navy and the Hellenic
Navy. From 1984 to 1988 he developed an underwater fixed array surveillance system for the Hellenic
Navy in Greece and there he was appointed senior advisor to the Greek Minister of Defence. From 1982
to 1984 he worked as a research associate at York University and in collaboration with the U.S. Army
Ballistic Research Lab (BRL), Aberdeen, MD, on projects related to the stability of liquid-filled spin
stabilized projectiles. In 1984 he was awarded a U.S. NRC Research Fellowship for BRL. He was Associate
Editor for the IEEE Journal of Oceanic Engineering and has prepared two special issues on Acoustic
Synthetic Aperture and Sonar System Technology. His present interests are associated with the imple-
mentation of non-conventional processing schemes in multi-dimensional arrays of sensors for sonar and
medical tomography (CT, MRI, ultrasound) systems. His research activities are supported by Canadian-
DND Grants, by Research and Strategic Grants (NSERC-CANADA) ($300K), and by a NATO Collabo-
rative Research Grant. Recently he has been awarded with European Commission-ESPRIT/IST Grants
as technical manager of two projects entitled “New Roentgen” and “MITTUG.” Dr. Stergiopoulos is a
Fellow of the Acoustical Society of America and a senior member of the IEEE. He has been a consultant
to a number of companies, including Atlas Elektronik in Germany, Hellenic Arms Industry, and Hellenic
Aerospace Industry.
©2001 CRC Press LLC
Contributors
Dimos Baltas Konstantinos K. Delibasis Simon Haykin
Department of Medical Physics Institute of Communication Communications Research
and Engineering and Computer Systems Laboratory
Strahlenklinik, Städtische National Technical University McMaster University
Kliniken Offenbach of Athens Hamilton, Ontario, Canada
Offenbach, Germany Athens, Greece
Grigorios Karangelis
Institute of Communication
Amar Dhanantwari Department of Cognitive
and Computer Systems
Defence and Civil Institute of Computing and Medical
National Technical University
Environmental Medicine Imaging
of Athens
Toronto, Ontario, Canada Fraunhofer Institute
Athens, Greece
for Computer Graphics
Reza M. Dizaji Darmstadt, Germany
Klaus Becker
School of Earth and Ocean Sciences
FGAN Research Institute
University of Victoria R. Lynn Kirlin
for Communication,
Victoria, British Columbia, Canada School of Earth and Ocean Sciences
Information Processing,
University of Victoria
and Ergonomics (FKIE)
Donal B. Downey Victoria, British Columbia, Canada
Wachtberg, Germany
The John P. Robarts
Research Institute Wolfgang Koch
James V. Candy
University of Western Ontario FGAN Research Institute
Lawrence Livermore National
London, Ontario, Canada for Communciation,
Laboratory
Information Processing,
University of California
Geoffrey Edelson and Ergonomics (FKIE)
Livermore, California, U.S.A.
Advanced Systems and Technology Wachtberg, Germany
Sanders, A Lockheed
G. Clifford Carter
Martin Company Christos Kolotas
Naval Undersea Warfare Center
Nashua, New Hampshire, U.S.A. Department of Medical Physics
Newport, Rhode Island, U.S.A.
and Engineering
Aaron Fenster Strahlenklinik, Städtische
N. Ross Chapman
The John P. Robarts Kliniken Offenbach
School of Earth and Ocean Sciences
Research Institute Offenbach, Germany
University of Victoria
University of Western Ontario
Victoria, British Columbia, Canada
London, Ontario, Canada Harry E. Martz, Jr.
Lawrence Livermore
Ian Cunningham
Dimitris Hatzinakos National Laboratory
The John P. Robarts
Department of Electrical University of California
Research Institute
and Computer Engineering Livermore, California, U.S.A.
University of Western Ontario
University of Toronto
London, Ontario, Canada
Toronto, Ontario, Canada
©2001 CRC Press LLC
George K. Matsopoulos Arnulf Oppelt Daniel J. Schneberk
Institute of Communication Siemens Medical Engineering Group Lawrence Livermore
and Computer Systems Erlangen, Germany National Laboratory
National Technical University University of California
of Athens Kostantinos N. Plataniotis Livermore, California, U.S.A.
Athens, Greece Department of Electrical
and Computer Engineering Stergios Stergiopoulos
Charles A. McKenzie University of Toronto Defence and Civil Institute
Cardiovascular Division Toronto, Ontario, Canada of Environmental Medicine
Beth Israel Deaconess Medical Center Toronto, Ontario, Canada
and Harvard Medical School Andreas Pommert
Department of Electrical
Boston, Massachusetts, U.S.A. Institute of Mathematics and
and Computer Engineering
Computer Science in Medicine
University of Western Ontario
Bernard E. McTaggart University Hospital Eppendorf
London, Ontario, Canada
Naval Undersea Warfare Center Hamburg, Germany
(retired)
Edmund J. Sullivan
Newport, Rhode Island, U.S.A. Frank S. Prato
Naval Undersea Warfare Center
Lawson Research Institute
Newport, Rhode Island, U.S.A.
Sanjay K. Mehta and Department
Naval Undersea Warfare Center of Medical Biophysics
Rebecca E. Thornhill
Newport, Rhode Island, U.S.A. University of Western Ontario
Lawson Research Institute and
London, Ontario, Canada
Department of Medical
Natasa Milickovic
Biophysics
Department of Medical Physics John M. Reid
University of Western Ontario
and Engineering Department of Biomedical
London, Ontario, Canada
Strahlenklinik, Städtische Engineering
Kliniken Offenbach Drexel University
Nikolaos Uzunoglu
Offenbach, Germany Philadelphia, Pennsylvania, U.S.A.
Department of Electrical
Department of Radiology and Computer Engineering
Gerald R. Moran
Thomas Jefferson University National Technical University
Lawson Research Institute and
Philadelphia, Pennsylvania, U.S.A. of Athens
Department of Medical
Athens, Greece
Biophysics Department of Bioengineering
University of Western Ontario University of Washington
Nikolaos Zamboglou
London, Ontario, Canada Seattle, Washington, U.S.A.
Department of Medical Physics
and Engineering
Nikolaos A. Georgios Sakas
Strahlenklinik, Städtische
Mouravliansky Department of Cognitive Computing
Kliniken Offenbach
Institute of Communication and Medical Imaging
Offenbach, Germany
and Computer Systems Fraunhofer Institute
National Technical University for Computer Graphics Institute of Communication
of Athens Darmstadt, Germany and Computer Systems
Athens, Greece National Technical University
of Athens
Athens, Greece
©2001 CRC Press LLC
Dedication
To my lifelong companion Vicky, my son Steve, and my daughter Erene
©2001 CRC Press LLC
Contents
1
Signal Processing Concept Similarities among Sonar, Radar,
and Medical Imaging Systems Stergios Stergiopoulos
1.1 Introduction
1.2 Overview of a Real-Time System
1.3 Signal Processor
1.4 Data Manager and Display Sub-System
SECTION I General Topics on Signal Processing
2
Adaptive Systems for Signal Process Simon Haykin
2.1 The Filtering Problem
2.2 Adaptive Filters
2.3 Linear Filter Structures
2.4 Approaches to the Development of Linear
Adaptive Filtering Algorithms
2.5 Real and Complex Forms of Adaptive Filters
2.6 Nonlinear Adaptive Systems: Neural Networks
2.7 Applications
2.8 Concluding Remarks
3
Gaussian Mixtures and Their Applications to Signal Processing
Kostantinos N. Plataniotis and Dimitris Hatzinakos
3.1 Introduction
3.2 Mathematical Aspects of Gaussian Mixtures
3.3 Methodologies for Mixture Parameter Estimation
3.4 Computer Generation of Mixture Variables
3.5 Mixture Applications
3.6 Concluding Remarks
4
Matched Field Processing — A Blind System Identification Technique
N. Ross Chapman, Reza M. Dizaji, and R. Lynn Kirlin
4.1 Introduction
4.2 Blind System Identification
4.3 Cross-Relation Matched Field Processor
4.4 Time-Frequency Matched Field Processor
©2001 CRC Press LLC
