I
AE
S In
t
er
na
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
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n
(
I
J
RA)
Vo
l.
1
4
,
No
.
2
,
J
u
n
e
20
2
5
,
p
p
.
204
~
2
1
3
I
SS
N:
2722
-
2
5
8
6
,
DOI
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1
0
.
1
1
5
9
1
/i
jr
a
.
v
14
i
2
.
pp
2
0
4
-
213
204
J
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:
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ttp
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Desig
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IR)
fil
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a
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e
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v
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ra
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it
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l
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n
d
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i
o
m
e
d
icin
e
.
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is
n
e
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e
ss
a
ry
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se
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h
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m
p
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tes
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r
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ters
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il
e
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ize
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C)
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d
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s
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tr
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tes
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s
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e
h
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rd
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lex
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d
d
e
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re
a
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d
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m
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th
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t
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s
a
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:
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c
o
m
p
re
ss
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r
is
in
tro
d
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c
e
d
.
T
h
e
o
v
e
ra
ll
d
e
lay
o
f
th
e
p
r
o
p
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se
d
a
p
p
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a
c
h
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2
3
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4
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,
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8
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7
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1
2
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a
n
d
5
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th
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n
th
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t
o
f
th
e
Ra
d
i
x
-
4
Bo
o
t
h
m
u
lt
ip
li
e
r,
CS
A
B
o
o
th
m
u
lt
ip
li
e
r,
h
y
b
rid
m
u
lt
i
p
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r,
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n
d
trad
it
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a
l
Bo
o
t
h
m
u
lt
ip
li
e
r,
re
sp
e
c
ti
v
e
ly
.
K
ey
w
o
r
d
s
:
Ad
d
er
Dela
y
Fin
ite
im
p
u
ls
e
r
esp
o
n
s
e
Mu
ltip
lier
Op
tim
izer
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Ma
n
ju
I
n
asu
Ko
llan
n
u
r
Dep
ar
tm
en
t o
f
E
lectr
o
n
ics an
d
C
o
m
m
u
n
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n
E
n
g
in
ee
r
i
n
g
,
Vel
T
ec
h
R
an
g
ar
ajan
Dr
.
Sag
u
n
th
ala
R
&
D
I
n
s
titu
te
o
f
Scien
ce
an
d
T
ec
h
n
o
lo
g
y
Av
ad
i,
C
h
en
n
ai,
T
a
m
il Na
d
u
,
I
n
d
ia
E
m
ail:
m
an
ju
ik
o
llan
n
u
r
@
g
m
a
il.c
o
m
1.
I
NT
RO
D
UCT
I
O
N
I
n
th
e
cu
r
r
en
t
g
en
er
atio
n
,
tech
n
o
lo
g
y
r
e
q
u
ir
es
r
e
d
u
cin
g
th
e
s
ize
o
f
elec
tr
o
n
ics
eq
u
i
p
m
en
t
as
well
as
en
h
an
cin
g
o
f
s
p
ee
d
o
f
d
ev
ice
s
[
1
]
.
Ap
p
licatio
n
s
th
at
m
a
k
e
u
s
e
o
f
d
ig
ital
f
ilter
s
th
e
m
o
s
t
in
clu
d
e
th
o
s
e
f
o
r
im
ag
e,
v
id
eo
,
an
d
s
p
ee
c
h
p
r
o
ce
s
s
in
g
.
Dig
ital
f
ilter
s
with
f
i
n
ite
im
p
u
ls
e
r
esp
o
n
s
e
(
FIR)
an
d
in
f
in
ite
im
p
u
ls
e
r
esp
o
n
s
e
(
I
I
R
)
ar
e
also
av
ailab
le.
Du
e
to
its
s
u
p
er
io
r
s
tab
ilit
y
an
d
s
im
p
le
d
esig
n
,
th
e
FIR
f
ilter
is
s
u
g
g
ested
f
o
r
t
h
e
p
r
ev
io
u
s
ly
lis
ted
a
p
p
li
ca
tio
n
s
[
2
]
.
T
h
e
lin
ea
r
p
h
ase
p
r
o
p
er
t
y
a
n
d
r
o
b
u
s
tn
ess
o
f
FI
R
f
ilter
s
m
ak
e
t
h
em
wid
ely
u
s
ed
in
d
ig
ital
s
ig
n
al
ap
p
licatio
n
s
.
Desig
n
in
g
DSP
s
y
s
tem
s
r
eq
u
ir
e
s
a
h
ig
h
-
p
er
f
o
r
m
an
ce
s
y
s
tem
;
th
e
m
o
s
t
im
p
o
r
ta
n
t
f
ac
to
r
s
ar
e
lo
w
p
o
wer
co
n
s
u
m
p
tio
n
an
d
r
e
d
u
ce
d
clip
s
ize.
FIR
f
ilter
s
ar
e
cr
u
cial
f
o
r
im
ag
e
p
r
o
ce
s
s
in
g
,
m
o
b
ile
co
m
m
u
n
ic
atio
n
s
,
an
d
au
d
io
p
r
o
ce
s
s
in
g
ap
p
licatio
n
s
d
u
e
to
th
eir
in
h
e
r
en
t
r
eliab
ilit
y
an
d
lin
ea
r
p
h
ase
p
r
o
p
er
ties
[
3
]
,
[
4
]
.
I
n
th
e
p
r
esen
t
d
ay
,
a
n
u
m
b
e
r
o
f
FIR
f
ilter
d
esig
n
s
h
av
e
b
ee
n
r
elea
s
ed
,
s
o
m
e
f
o
r
lo
w
-
s
p
ee
d
,
s
o
m
e
f
o
r
h
i
g
h
-
s
p
ee
d
,
as we
ll a
s
o
th
er
s
f
o
r
lo
w
p
o
wer
co
n
s
u
m
p
tio
n
[
5
]
,
[
6
]
.
Ad
d
er
an
d
m
u
ltip
lier
cir
cu
its
ty
p
ically
h
av
e
th
e
g
r
ea
test
im
p
ac
t
o
n
th
e
d
elay
a
n
d
p
o
wer
p
e
r
f
o
r
m
a
n
ce
o
f
FIR
f
ilter
d
esig
n
s
.
Mu
ltip
li
er
s
ty
p
ically
d
ictate
h
o
w
lo
n
g
th
e
FIR
f
ilter
d
esig
n
tak
es
to
e
x
ec
u
te
[
7
]
.
Fo
r
th
e
p
u
r
p
o
s
e
o
f
d
esig
n
in
g
a
d
elay
with
ef
f
ec
tiv
e
FIR
f
ilter
s
,
h
i
g
h
-
s
p
ee
d
m
u
ltip
lier
s
ar
e
th
er
ef
o
r
e
n
ee
d
ed
.
T
h
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
Desig
n
in
g
h
ig
h
p
o
w
er e
fficien
t fin
ite
imp
u
ls
e
r
esp
o
n
s
e
filt
er
s
…
(
Ma
n
ju
I
n
a
s
u
K
o
lla
n
n
u
r
)
205
m
u
ltip
lier
is
th
e
s
lo
west
b
lo
ck
in
th
e
ad
d
e
r
an
d
h
as
a
s
ig
n
if
i
ca
n
t
im
p
ac
t
o
n
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
FIR
f
ilter
[
8
]
.
T
h
e
laten
cy
will
b
e
d
ec
r
ea
s
ed
b
y
th
e
Fin
ite
I
m
p
u
ls
e
R
e
s
p
o
n
s
e
Fil
ter
's
em
p
lo
y
m
en
t
o
f
th
e
B
o
o
th
Mu
ltip
lier
an
d
ca
r
r
y
ch
o
o
s
e
a
d
d
er
[
9
]
,
[
1
0
]
.
B
y
u
s
in
g
th
is
m
eth
o
d
,
th
e
to
tal
ar
ea
an
d
d
el
ay
ar
e
d
ec
r
ea
s
ed
b
y
h
alf
d
u
e
to
th
e
r
ed
u
ctio
n
o
f
ac
cu
m
u
latio
n
s
[
1
1
]
.
I
n
co
r
p
o
r
at
in
g
th
e
m
u
ltip
licatio
n
,
ad
d
itio
n
,
an
d
s
ig
n
al
d
elay
b
u
ild
in
g
co
m
p
o
n
en
ts
is
n
ec
ess
ar
y
f
o
r
th
e
FIR
f
ilter
[
1
2
]
.
T
h
e
cr
ea
tio
n
o
f
p
a
r
tial
p
r
o
d
u
cts
(
PP
)
,
th
eir
r
ed
u
ctio
n
,
a
n
d
th
eir
u
ltima
te
ad
d
itio
n
ar
e
ty
p
ically
n
ee
d
ed
wh
en
m
u
ltip
ly
i
n
g
two
b
i
n
ar
y
v
alu
es
[
1
3
]
.
A
m
u
ltip
lier
r
eq
u
ir
es a
d
d
itio
n
al
h
ar
d
war
e
a
n
d
a
lo
n
g
er
p
r
o
c
ess
in
g
tim
e
f
o
r
th
ese
o
p
e
r
atio
n
s
[
1
4
]
,
[
1
5
]
.
R
ec
en
tly
,
a
v
a
r
iety
o
f
d
elay
-
ef
f
icien
t
ad
d
e
r
s
h
av
e
b
ee
n
cr
ea
t
ed
to
m
ee
t
th
e
r
eq
u
ir
em
en
ts
o
f
r
ea
l
-
tim
e
ap
p
licatio
n
s
[
1
6
]
.
B
ec
au
s
e
o
f
th
is
,
th
e
tr
ad
itio
n
al
FIR
-
b
ased
d
esig
n
p
er
f
o
r
m
s
p
o
o
r
ly
i
n
ter
m
s
o
f
laten
cy
an
d
s
p
ee
d
[
1
7
]
.
B
u
t
ef
f
icien
cy
a
n
d
ar
ea
o
v
er
h
ea
d
ty
p
ically
p
r
esen
t
co
m
p
etin
g
lim
its
;
th
u
s
,
in
cr
ea
s
in
g
s
p
ee
d
lar
g
ely
b
e
n
ef
its
lar
g
er
ar
ea
s
[
1
8
]
.
Ov
er
th
e
p
ast
ten
y
ea
r
s
,
m
an
y
B
o
o
th
m
u
ltip
lier
an
d
B
o
o
th
-
b
ased
FIR
d
esig
n
s
h
av
e
b
ee
n
in
tr
o
d
u
ce
d
.
R
ad
h
ak
r
is
h
n
a
n
et
a
l
.
[
1
9
]
p
r
o
p
o
s
ed
a
f
ilter
in
g
ap
p
licatio
n
th
at
in
co
r
p
o
r
ated
a
m
u
ltip
le
-
an
d
-
ac
c
u
m
u
late
(
MA
C
)
d
ev
ice
with
a
m
o
d
if
ied
B
o
o
th
m
u
ltip
lier
an
d
h
y
b
r
id
a
d
d
er
in
o
r
d
er
to
b
o
o
s
t
s
p
ee
d
an
d
lo
wer
p
o
wer
c
o
n
s
u
m
p
tio
n
.
Utilizin
g
C
ad
en
ce
Vir
tu
o
s
o
'
s
4
5
n
m
,
1
8
0
n
m
,
an
d
9
0
n
m
T
SMC
co
m
p
u
tin
g
lib
r
ar
y
,
ef
f
icien
cy
m
etr
ics
s
u
ch
as
d
elay
a
n
d
en
er
g
y
u
s
e
ar
e
ass
ess
ed
.
Mo
r
e
ef
f
ec
tiv
e
B
o
o
t
h
m
u
ltip
lier
b
ased
o
n
a
FIR
ar
ch
itectu
r
e
th
at
is
r
eliab
le
an
d
u
s
es
litt
le
en
er
g
y
in
[
2
0
]
.
T
h
e
s
lices,
n
u
m
b
er
o
f
g
ates,
an
d
L
UT
s
o
f
t
h
e
s
u
g
g
e
s
ted
r
esear
ch
ar
e
b
etter
t
h
an
t
h
o
s
e
o
f
o
t
h
er
ea
r
lier
d
esig
n
s
.
An
en
h
an
ce
d
B
o
o
th
f
o
r
a
1
6
-
T
ap
FIR
f
ilter
a
n
d
a
R
ad
ix
-
4
B
o
o
th
m
u
ltip
lier
we
r
e
em
p
lo
y
ed
i
n
[
2
1
]
.
I
n
2
0
2
2
th
e
W
allac
e
T
r
ee
m
u
ltip
lier
[
2
2
]
,
ac
co
r
d
in
g
to
t
h
e
7
–
3
an
d
8
–
3
co
m
p
r
ess
o
r
s
,
was
cr
ea
ted
to
f
u
r
th
er
r
e
d
u
c
e
d
elay
.
Usi
n
g
7
–
3
an
d
8
–
3
co
m
p
r
ess
o
r
s
,
th
e
s
u
g
g
ested
8
-
b
it
FIR
f
ilter
d
esig
n
with
W
allac
e
tr
ee
m
u
ltip
lier
s
ac
h
iev
es
a
d
elay
o
f
4
.
2
0
2
n
s
an
d
3
.
8
6
1
n
s
,
ac
co
r
d
i
n
g
ly
,
wh
ich
is
2
9
% a
n
d
3
4
% l
o
wer
th
an
th
e
s
tan
d
ar
d
FIR f
il
ter
.
An
o
p
tim
ized
FIR
Fil
ter
is
in
tr
o
d
u
ce
d
in
[
2
3
]
th
at
u
s
es
a
B
o
o
th
m
u
ltip
lier
a
n
d
C
SA
to
cu
t
d
o
wn
o
n
laten
cy
.
T
h
e
p
r
o
p
o
s
ed
m
eth
o
d
u
tili
ze
s
a
Ver
ilo
g
HDL
-
d
esig
n
ed
,
Xilin
x
1
4
.
7
Viv
a
d
o
-
i
m
p
lem
en
ted
1
5
-
tap
lo
wp
ass
f
ilter
.
T
h
e
B
o
o
th
m
u
ltip
lier
'
s
lo
wer
o
p
er
atin
g
f
r
eq
u
en
cy
,
lo
wer
p
o
wer
co
n
s
u
m
p
tio
n
,
an
d
lo
wer
laten
cy
m
ak
e
it
an
ex
ce
llen
t
ch
o
ice
f
o
r
lo
w
-
v
o
ltag
e
an
d
lo
w
-
p
o
wer
VL
SI
s
ce
n
ar
io
s
.
Ad
d
itio
n
ally
,
a
B
o
o
th
m
u
ltip
lier
,
m
u
ltib
it
f
lip
-
f
lo
p
s
,
an
d
d
ata
-
d
r
i
v
en
clo
c
k
g
atin
g
ar
e
in
tr
o
d
u
ce
d
in
[
2
4
]
to
o
p
t
im
ize
clo
ck
d
ela
y
,
co
n
tr
o
l
clo
ck
s
k
ew,
an
d
im
p
r
o
v
e
r
o
u
tin
g
s
o
u
r
ce
u
tili
za
t
io
n
.
Usi
n
g
h
y
b
r
id
ad
d
er
s
an
d
m
u
ltip
lier
s
,
[
2
5
]
p
r
esen
ted
a
h
y
b
r
id
FIR
f
ilter
in
2
0
2
3
to
s
p
ee
d
u
p
th
e
s
ig
n
al
p
r
o
ce
s
s
in
g
s
y
s
tem
.
T
h
e
s
u
g
g
ested
FIR
f
ilter
wa
s
cr
ea
ted
u
s
in
g
th
e
Xilin
x
I
SE
s
im
u
lato
r
,
test
ed
f
u
n
ctio
n
ally
,
an
d
th
e
n
in
teg
r
ated
in
t
o
Sp
ar
t
an
6
FP
GA
b
o
ar
d
s
.
T
h
e
r
esu
lts
in
d
icate
th
at
th
e
s
u
g
g
ested
ad
d
er
with
ar
r
a
y
m
u
ltip
lier
lo
wer
s
th
e
FIR
f
ilter
's
laten
cy
b
y
2
6
.
5
1
%,
1
5
.
5
9
%,
a
n
d
1
5
.
8
3
%,
wh
en
c
o
m
p
ar
ed
to
co
n
v
en
tio
n
al
C
SA,
C
L
A,
an
d
C
SA
-
BK
-
B
E
C
.
Fro
m
r
ec
en
t
r
esear
ch
,
t
h
e
ex
is
tin
g
tech
n
iq
u
es
f
ac
e
c
h
allen
g
e
s
lik
e
p
o
wer
c
o
n
s
u
m
p
tio
n
,
esp
ec
ially
in
lo
w
-
v
o
ltag
e
ap
p
licatio
n
s
th
at
wer
e
m
in
im
izin
g
en
er
g
y
,
en
h
a
n
cin
g
s
ca
lab
ilit
y
with
o
u
t
c
o
m
p
r
o
m
is
in
g
s
p
ee
d
o
r
ar
ea
ef
f
icien
cy
.
Hig
h
er
p
o
wer
co
n
s
u
m
p
tio
n
is
ass
o
ciate
d
wi
th
FIR
f
ilter
s
th
at
u
s
e
tr
ad
itio
n
al
m
u
ltip
lier
s
an
d
ad
d
er
s
,
esp
ec
ially
in
lar
g
e
-
s
ca
le
o
r
h
ig
h
-
p
e
r
f
o
r
m
an
ce
FIR
f
ilter
s
.
T
o
o
v
er
co
m
e
th
ese
is
s
u
es,
a
th
r
ee
-
f
o
u
r
in
ex
ac
t a
d
d
er
-
b
ased
B
o
o
th
m
u
ltip
lier
in
an
FIR f
ilter
h
as b
ee
n
p
r
o
p
o
s
ed
.
T
h
e
p
r
o
p
o
s
ed
m
eth
o
d
u
tili
ze
s
th
e
s
p
o
tted
h
y
en
a
o
p
tim
iz
er
(
SHO)
to
d
eter
m
in
e
th
e
b
est
f
ilter
co
ef
f
icien
t (
FC
)
b
y
r
ed
u
cin
g
p
ass
p
o
wer
u
s
ag
e
an
d
tr
a
n
s
itio
n
b
an
d
wid
th
.
Sp
o
tted
h
y
e
n
a
o
p
t
im
izer
(
SHO)
will
b
e
u
s
ed
to
d
is
co
v
e
r
th
e
b
est
FC
s
b
y
lo
wer
in
g
th
e
tr
an
s
itio
n
b
an
d
wid
t
h
an
d
p
o
wer
co
n
s
u
m
p
tio
n
.
T
h
e
h
ig
h
-
p
er
f
o
r
m
an
ce
th
r
ee
-
f
o
u
r
in
e
x
ac
t
ad
d
er
(
T
I
FE
ad
d
er
)
h
as
b
ee
n
p
r
o
p
o
s
ed
,
wh
ich
u
s
es
f
ewe
r
XOR
g
ates
f
o
r
s
u
m
an
d
ca
r
r
y
g
e
n
er
atio
n
,
in
d
icat
in
g
th
at
th
e
lo
g
ic
h
as
b
ee
n
s
im
p
lifie
d
to
r
e
d
u
ce
h
ar
d
w
ar
e
co
m
p
le
x
ity
.
A
m
o
d
if
ied
B
o
o
th
m
u
ltip
lier
is
i
n
tr
o
d
u
ce
d
th
at
m
ak
es
u
s
e
o
f
a
5
:2
co
m
p
r
ess
o
r
to
r
ed
u
ce
th
e
n
u
m
b
er
o
f
p
ar
tial
p
r
o
d
u
cts
b
its
m
o
r
e
ef
f
icie
n
tly
b
y
e
n
h
an
ci
n
g
s
p
ee
d
an
d
r
e
d
u
cin
g
t
h
e
cr
itical
p
ath
d
ela
y
o
f
t
h
e
FIR
f
ilter
.
Ad
d
itio
n
ally
,
p
o
wer
c
o
n
s
u
m
p
tio
n
is
m
u
ch
d
ec
r
ea
s
ed
b
y
th
e
im
p
r
o
v
ed
B
o
o
th
m
u
ltip
lier
th
at
u
s
es
an
ad
d
er
in
th
e
FIR
d
esig
n
.
T
h
e
k
ey
f
in
d
in
g
o
f
th
e
p
r
o
p
o
s
ed
s
tr
ateg
y
i
s
th
at,
in
co
m
p
ar
is
o
n
to
tr
ad
itio
n
al
an
d
ex
is
tin
g
m
u
ltip
lier
d
esig
n
s
,
it
g
r
ea
tly
en
h
an
ce
s
th
e
p
er
f
o
r
m
a
n
ce
o
f
FIR
f
ilter
s
b
y
lo
wer
in
g
p
o
w
er
co
n
s
u
m
p
tio
n
b
y
6
9
.
5
%,
ar
ea
u
s
ag
e
b
y
u
p
to
5
8
.
4
5
%,
an
d
d
elay
b
y
7
3
.
8
%.
T
h
e
r
esear
ch
q
u
esti
o
n
s
f
o
r
th
e
p
r
o
p
o
s
ed
m
et
h
o
d
ar
e
:
i)
Ho
w
ca
n
FIR
f
ilter
d
esig
n
b
e
o
p
tim
ized
f
o
r
h
ig
h
er
s
p
ee
d
,
lo
wer
d
elay
,
an
d
p
o
wer
ef
f
icien
c
y
?
ii)
C
an
a
th
r
ee
-
f
o
u
r
in
ex
ac
t
ad
d
e
r
-
b
ase
d
B
o
o
th
m
u
ltip
lier
(
T
FIE
-
B
M)
with
SHO
s
ig
n
if
ican
tly
im
p
r
o
v
e
ar
ea
,
d
elay
,
a
n
d
p
o
wer
co
n
s
u
m
p
tio
n
in
FI
R
f
ilter
s
?
iii)
Ho
w
d
o
es th
e
p
r
o
p
o
s
ed
m
u
ltip
lier
a
r
ch
itectu
r
e
im
p
r
o
v
e
c
r
itical
p
ath
d
elay
an
d
r
ed
u
ce
p
a
r
tial p
r
o
d
u
ct
g
en
e
r
atio
n
?
T
h
e
r
e
m
ain
in
g
task
s
ar
e
ar
r
a
n
g
ed
;
s
ec
tio
n
2
ex
p
lo
r
es
t
h
e
ex
is
tin
g
m
eth
o
d
u
tili
ze
d
f
o
r
FIR
d
esig
n
.
T
h
e
s
p
ec
if
ics
o
f
th
e
s
u
g
g
ested
f
ilter
s
tr
u
ctu
r
e
ar
e
co
v
er
e
d
in
s
ec
tio
n
3
.
I
n
s
ec
tio
n
4
,
th
e
d
esig
n
'
s
r
esu
lt
is
ev
alu
ated
an
d
ex
p
l
o
r
ed
.
Sectio
n
5
f
in
ally
co
n
clu
d
es th
e
p
a
p
e
r
.
2.
P
RO
P
O
SE
D
NO
VE
L
F
I
R
M
E
T
H
O
D
I
n
th
is
s
ec
tio
n
,
a
n
o
v
el
T
FIE
-
B
M
in
th
e
FIR
f
ilter
h
as
b
ee
n
p
r
o
p
o
s
ed
to
en
h
an
ce
s
p
ee
d
a
n
d
r
ed
u
ce
th
e
cr
itical
p
ath
d
elay
.
Sig
n
al
p
r
o
ce
s
s
in
g
f
ield
s
lik
e
im
a
g
e,
au
d
io
,
a
n
d
v
id
eo
p
r
o
ce
s
s
in
g
,
as
well
as
m
ed
ical
p
r
o
ce
s
s
in
g
,
u
s
e
th
e
FIR
f
ilter
,
wh
ich
is
d
ev
elo
p
ed
f
r
o
m
th
e
im
p
u
ls
e
r
esp
o
n
s
e
with
a
f
in
it
e
tim
e
p
er
io
d
.
W
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
2
,
J
u
n
e
20
2
5
:
204
-
2
1
3
206
aim
to
u
s
e
a
ca
r
r
y
s
k
ip
ad
d
er
in
o
u
r
s
u
g
g
ested
wo
r
k
,
an
d
th
e
m
ain
f
o
cu
s
is
o
n
d
esig
n
in
g
a
h
ig
h
-
s
p
ee
d
,
lo
w
-
p
o
wer
f
ilter
.
T
h
e
ca
p
ac
ity
o
f
a
FIR
f
ilter
to
r
em
o
v
e
u
n
n
ec
e
s
s
ar
y
n
o
is
e
f
r
o
m
s
ig
n
als,
wh
i
ch
ca
n
b
e
g
e
n
er
ated
in
d
is
cr
ete
o
r
co
n
tin
u
o
u
s
tim
e,
is
its
p
r
im
ar
y
ad
v
a
n
tag
e.
T
h
e
s
tan
d
ar
d
f
o
r
m
u
la
f
o
r
a
FIR f
ilt
er
is
as (
1
)
.
=
∑
(
)
(
−
1
)
−
1
=
1
(
1
)
I
n
th
is
ca
s
e,
s
tan
d
s
f
o
r
th
e
in
p
u
t
d
ata
p
ass
ed
th
r
o
u
g
h
th
e
f
il
ter
,
in
d
icate
s
th
e
f
ilter
o
u
tp
u
t,
is
th
e
f
ilter
co
ef
f
icien
t,
an
d
n
u
m
b
er
o
f
FC
.
T
Fig
u
r
e
1
s
h
o
ws
th
e
FIR
f
ilter
'
s
co
n
s
tr
u
ctio
n
with
th
e
r
ec
o
m
m
en
d
ed
m
u
ltip
lier
,
d
ela
y
,
an
d
a
d
d
er
s
.
T
h
e
f
r
eq
u
en
cy
r
esp
o
n
s
e
o
f
th
e
FIR
f
ilter
m
u
s
t
h
av
e
as
m
in
im
al
r
ip
p
le
as
f
ea
s
ib
le
in
th
e
p
ass
a
n
d
s
to
p
b
an
d
s
.
I
n
o
r
d
er
to
m
i
n
im
ize
r
ip
p
les,
th
e
wo
r
k
f
o
cu
s
e
s
o
n
d
esig
n
in
g
FIR
f
ilter
s
b
ased
o
n
th
e
d
if
f
er
e
n
c
e
b
etwe
en
th
e
an
ticip
ated
an
d
ac
tu
al
f
r
eq
u
en
cy
r
esp
o
n
s
e.
B
y
u
s
in
g
f
ewe
r
FIR
FC
s
,
th
e
FIR
f
ilter
'
s
p
o
wer
co
n
s
u
m
p
tio
n
s
h
o
u
l
d
b
e
r
ed
u
ce
d
.
T
o
f
in
d
th
e
b
est
FC
s
,
r
ese
ar
ch
er
s
cr
ea
ted
th
e
SHO.
Pro
v
id
in
g
id
ea
l
FC
s
b
y
r
ed
u
cin
g
p
o
wer
co
n
s
u
m
p
tio
n
an
d
r
ip
p
les
in
th
e
p
ass
an
d
s
to
p
b
an
d
s
is
th
e
m
ain
o
b
jectiv
e
o
f
th
is
tech
n
i
q
u
e.
Du
e
to
t
h
eir
p
a
r
tial
p
r
o
d
u
ct
(
PP
)
-
d
ep
e
n
d
en
t
d
elay
,
FIR
f
ilter
s
r
eq
u
ir
e
m
o
r
e
p
o
wer
b
ec
au
s
e
th
ey
ar
e
p
r
o
g
r
am
m
e
d
in
an
FP
GA
with
o
p
tim
al
co
ef
f
icien
ts
.
Fig
u
r
e
1
.
Pro
p
o
s
ed
n
o
v
el
FIR
d
esig
n
2
.
1
.
SH
O
ba
s
ed
F
I
R
f
ilte
rs desi
g
n
T
h
e
FIR
f
ilter
h
ad
to
a
d
d
r
es
s
th
e
is
s
u
e
o
f
b
an
d
r
i
p
p
le
a
n
d
h
alt
p
ass
b
an
d
wh
ile
k
ee
p
i
n
g
p
o
wer
co
n
s
u
m
p
tio
n
lo
w.
T
h
e
r
ef
o
r
e
,
ch
o
o
s
in
g
th
e
b
est FC
i
s
n
ec
es
s
ar
y
to
cr
ea
te
a
d
is
to
r
tio
n
-
f
r
ee
FIR f
ilter
d
es
ig
n
.
I
n
o
u
r
p
r
o
p
o
s
ed
s
tu
d
y
,
th
e
id
ea
l
FC
to
im
p
r
o
v
e
th
e
f
u
n
ctio
n
al
o
b
jectiv
e
h
as
b
ee
n
id
en
tifie
d
b
y
b
u
ild
in
g
th
e
f
ilter
with
SHO
in
ter
m
s
o
f
ab
s
o
lu
te
r
esp
o
n
s
e
to
th
e
f
r
eq
u
en
cy
o
f
t
h
e
FIR f
ilter
.
An
o
p
tim
izatio
n
m
eth
o
d
in
s
p
i
r
ed
b
y
s
p
o
tted
h
y
e
n
as'
h
u
n
tin
g
h
ab
its
is
ca
lled
t
h
e
SHO.
Mu
ltimo
d
al
o
p
tim
izatio
n
an
d
co
n
v
er
g
e
n
ce
s
p
ee
d
ar
e
two
d
if
f
icu
lt
o
p
tim
izatio
n
is
s
u
es
th
at
SHO
ca
n
h
an
d
le.
T
o
g
et
th
e
o
p
tim
al
f
ilter
co
ef
f
icien
t,
o
n
e
ca
n
ex
p
r
ess
o
b
jectiv
e
f
u
n
ctio
n
s
lik
e
p
o
wer
co
n
s
u
m
p
tio
n
a
n
d
t
r
an
s
itio
n
wid
th
(
T
r
W
)
in
ter
m
s
o
f
a
FIR
f
ilter
th
at
h
as
b
ee
n
co
n
s
tr
u
cted
a
n
d
d
esire
d
.
T
h
e
FIR
f
ilter
d
esig
n
r
ed
u
ce
s
p
o
wer
b
y
d
ef
in
in
g
t
h
e
o
b
jectiv
e
f
u
n
ctio
n
in
r
elatio
n
t
o
Ham
m
in
g
d
is
tan
ce
.
1
=
∑
(
,
+
1
)
=
1
(
2
)
I
n
th
is
ca
s
e,
(
,
+
1
)
u
s
es
b
in
ar
y
n
u
m
b
er
s
to
d
is
p
lay
th
e
HD
b
etwe
en
ea
ch
FC
,
with
P
s
tan
d
in
g
f
o
r
th
e
f
ilter
o
r
d
er
.
T
h
e
p
ass
an
d
r
ip
p
le
b
an
d
ca
n
b
e
u
s
ed
to
d
ec
lar
e
th
e
o
b
ject
iv
e
f
u
n
ctio
n
o
f
T
W
,
wh
ich
is
ass
es
s
ed
as
(
3
)
:
1
=
∑
[
(
|
(
)
|
−
1
)
−
]
=
1
+
(
−
)
+
∑
[
(
|
(
)
|
−
1
)
−
]
=
1
(
3
)
wh
er
e
T
r
W
is
g
iv
en
a
weig
h
t
b
ased
o
n
an
u
n
ch
a
n
g
ed
v
alu
e,
C
.
Usi
n
g
th
e
o
p
tim
izatio
n
p
r
o
ce
s
s
,
th
e
FC
is
f
o
u
n
d
u
s
in
g
(
2
)
an
d
(
3
)
.
T
h
e
p
o
p
u
latio
n
'
s
f
in
est
F
C
is
f
ir
s
t
id
en
tifie
d
,
an
d
o
th
er
p
eo
p
le
ad
ju
s
t
th
eir
p
er
s
p
ec
tiv
es in
ac
co
r
d
an
ce
wit
h
it.
E
q
u
atio
n
(
4
)
m
o
d
els th
e
s
u
r
r
o
u
n
d
in
g
m
ec
h
a
n
is
m
.
⃗
⃗
⃗
⃗
⃗
=
|
⃗
⃗
⃗
∙
⃗
⃗
⃗
⃗
⃗
⃗
⃗
(
)
−
⃗
(
)
|
(
4
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
Desig
n
in
g
h
ig
h
p
o
w
er e
fficien
t fin
ite
imp
u
ls
e
r
esp
o
n
s
e
filt
er
s
…
(
Ma
n
ju
I
n
a
s
u
K
o
lla
n
n
u
r
)
207
⃗
(
+
1
)
=
⃗
⃗
⃗
⃗
⃗
⃗
⃗
(
)
−
∙
⃗
⃗
⃗
⃗
⃗
(
5
)
⃗
(
+
1
)
d
en
o
tes
th
e
FC
cu
r
r
en
t
lo
ca
ti
o
n
in
t
h
e
cu
r
r
en
t
c
o
ef
f
icien
t.
T
h
e
alg
o
r
ith
m
iter
atio
n
is
,
an
d
h
y
e
n
as
u
s
e
th
is
eq
u
atio
n
to
g
au
g
e
th
e
d
is
tan
ce
to
th
eir
p
r
ey
,
s
u
r
r
o
u
n
d
ed
b
y
s
p
ec
if
ic
m
ec
h
an
is
m
s
.
E
q
u
atio
n
s
(
6
)
a
n
d
(
7
)
ca
lcu
late
v
ec
t
o
r
co
e
f
f
icien
t
s
⃗
⃗
⃗
an
d
,
u
s
in
g
p
o
s
itio
n
v
ec
to
r
s
an
d
elem
en
t
-
wis
e
m
u
ltip
licatio
n
.
⃗
⃗
⃗
=
2
∙
1
⃗
⃗
⃗
⃗
⃗
⃗
(
6
)
=
2
∙
2
⃗
⃗
⃗
⃗
⃗
⃗
⃗
−
(
7
)
E
q
u
atio
n
(
5
)
s
h
o
ws
th
at
1
⃗
⃗
⃗
⃗
⃗
⃗
an
d
2
⃗
⃗
⃗
⃗
⃗
⃗
⃗
ar
e
r
an
d
o
m
v
ec
to
r
s
in
th
e
in
ter
v
al
(
0
,
1
)
,
an
d
th
at
h
d
r
o
p
s
lin
ea
r
ly
f
r
o
m
5
to
0
d
u
r
in
g
t
h
e
iter
atio
n
tim
e.
An
in
cr
ea
s
ed
n
u
m
b
e
r
o
f
iter
atio
n
s
is
n
ec
ess
ar
y
to
in
cr
ea
s
e
ef
f
icien
cy
.
I
n
o
r
d
er
to
i
d
en
tify
th
e
to
p
s
ea
r
ch
a
g
en
t,
o
t
h
er
s
e
ar
ch
ag
en
ts
’
b
a
n
d
to
g
eth
er
a
n
d
u
p
d
ate
th
e
b
est FC
th
ey
h
av
e
f
o
u
n
d
wh
ic
h
ar
e
g
iv
en
in
(
8
)
.
⃗
⃗
⃗
⃗
⃗
⃗
=
⃗
+
⃗
+
1
+
⋯
+
⃗
+
(
8
)
wh
er
ea
s
th
e
o
th
er
f
ilter
c
o
ef
f
i
cien
t
lo
ca
tio
n
is
in
d
icate
d
b
y
⃗
.
E
q
u
atio
n
(
1
0
)
is
u
s
ed
to
ca
lc
u
late
th
e
n
u
m
b
er
o
f
h
y
e
n
as,
wh
ich
is
d
is
p
lay
ed
in
Par
am
eter
M.
=
(
⃗
+
⃗
+
1
+
⃗
+
2
,
…
.
.
,
(
⃗
+
⃗
⃗
)
)
(
9
)
T
h
e
p
ar
am
eter
in
(
2
5
)
s
p
ec
if
ies
th
e
to
tal
n
u
m
b
er
o
f
s
o
l
u
tio
n
s
as
well
as
all
f
ea
s
ib
le
s
o
l
u
tio
n
s
.
,
wh
er
e
⃗
⃗
is
a
r
an
d
o
m
v
ec
to
r
in
t
h
e
in
ter
v
al
(
0
.
5
,
1
)
.
T
h
e
p
ar
am
eter
ℎ
⃗
⃗
⃗
⃗
⃗
⃗
r
ep
r
esen
ts
a
s
et
o
f
th
e
id
ea
l
s
o
lu
tio
n
'
s
n
u
m
b
er
M.
T
h
e
wo
r
th
o
f
th
e
p
ath
is
d
ec
r
ea
s
ed
with
th
e
p
u
r
p
o
s
e
o
f
cr
ea
tin
g
a
m
ath
em
a
tical
m
o
d
el
f
o
r
th
e
tar
g
et
attac
k
.
T
h
e
v
ec
to
r
ca
n
h
av
e
its
v
alu
e
r
ed
u
c
ed
f
r
o
m
5
to
0
d
u
r
in
g
an
iter
atio
n
b
y
r
ed
u
cin
g
th
e
c
h
an
g
e
i
n
th
e
v
ec
to
r
C
.
T
h
e
p
ac
k
o
f
u
n
ta
in
ted
h
y
e
n
as is
f
o
r
ce
d
to
o
u
tb
r
ea
k
th
e
tar
g
et
if
th
e
v
alu
e
o
f
C
is
|
C
|
<
1
,
⃗
(
+
1
)
=
⃗
⃗
⃗
⃗
⃗
⃗
⃗
⃗
(
1
0
)
T
h
e
b
est
ag
en
t'
s
p
o
s
itio
n
d
e
ter
m
in
es
h
o
w
th
e
o
th
er
s
ea
r
ch
ag
en
ts
ar
e
p
o
s
itio
n
ed
.
D
u
r
in
g
ea
ch
iter
atio
n
,
th
e
alg
o
r
ith
m
ev
alu
ates
th
e
f
itn
ess
o
f
ea
ch
f
ilter
co
ef
f
icie
n
t.
T
h
e
b
est
s
o
lu
tio
n
f
o
u
n
d
s
o
f
ar
is
u
p
d
ated
b
y
co
m
p
ar
in
g
th
e
f
itn
ess
v
alu
es.
Un
til
th
e
w
o
r
ld
wid
e
o
p
tim
al
FC
s
ar
e
s
elec
ted
,
th
e
s
am
e
p
r
o
ce
s
s
will
b
e
p
e
r
f
o
r
m
ed
n
tim
es
af
ter
e
v
alu
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g
th
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b
est
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r
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n
tly
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s
e.
Af
te
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m
in
in
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ased
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s
h
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ce
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2
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2
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ultiplier
Sin
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p
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I
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s
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p
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2
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2
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b
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u
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2
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q
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atio
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te
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Sum
=
(
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e
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m
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ay
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ates
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d
a
m
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AND/OR
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ates
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th
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r
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.
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I
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ased
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ep
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Fig
u
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3
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:2
co
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ch
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Pu
r
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ep
r
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5
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c
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wh
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iv
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r
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R
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icate
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ce
s
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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209
3.
RE
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AND
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n
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ar
e
p
r
o
v
id
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b
y
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e
p
r
o
p
o
s
ed
T
FIE
-
B
M,
wh
ich
p
er
f
o
r
m
s
b
est
with
ju
s
t
3
9
s
lices,
6
3
L
UT
s
,
th
e
s
h
o
r
test
laten
cy
o
f
4
.
2
1
7
n
s
,
a
n
d
th
e
lo
west
p
o
wer
co
n
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m
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tio
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o
f
0
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0
7
5
W
.
Ad
d
itio
n
ally
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th
e
d
elay
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u
s
ed
b
y
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e
ad
v
an
ce
m
e
n
t o
f
h
ig
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-
s
p
ee
d
ad
d
itio
n
an
d
m
u
ltip
licatio
n
is
d
ec
r
ea
s
ed
b
y
th
e
s
u
g
g
ested
FIR f
ilter
d
esig
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.
T
h
e
p
r
o
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s
ed
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ilter
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a
f
ea
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le
o
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tio
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r
h
ig
h
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r
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as,
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r
d
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g
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m
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ar
ativ
e
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tu
d
ies,
it
r
ed
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ce
s
ar
ea
b
y
5
8
.
4
5
%
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d
im
p
r
o
v
e
s
laten
cy
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y
7
3
.
8
%
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en
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o
m
p
ar
ed
to
tr
ad
itio
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al
B
o
o
th
m
u
ltip
lier
s
.
Fig
u
r
es
5
,
6
,
an
d
7
s
h
o
w
t
h
e
ar
ea
an
al
y
s
is
at
v
ar
io
u
s
lev
els
(
8
×8
,
1
6
×1
6
,
a
n
d
3
2
×3
2
)
,
wh
ich
s
h
o
ws
th
e
s
ig
n
if
ican
t
d
ec
r
ea
s
e
in
r
eso
u
r
ce
u
s
ag
e
attain
ed
b
y
th
e
p
r
o
p
o
s
ed
T
FIE
-
B
M
d
esig
n
.
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er
all
,
th
e
n
u
m
er
ical
s
tu
d
y
d
em
o
n
s
tr
ates
th
at
th
e
T
FIE
-
B
M
ar
ch
it
ec
tu
r
e
p
er
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o
r
m
s
b
etter
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ter
m
s
o
f
s
ca
lab
ilit
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d
ef
f
icien
cy
.
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h
e
o
u
tco
m
es
c
o
n
f
ir
m
th
e
p
r
o
p
o
s
ed
m
eth
o
d
'
s
r
esil
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ce
an
d
its
ca
p
ac
ity
to
r
eso
lv
e
is
s
u
es
with
co
n
v
en
tio
n
al
FIR f
ilter
d
esig
n
s
in
p
r
ac
tical
s
ettin
g
s
.
4.
CO
NCLU
SI
O
N
I
n
th
is
r
esear
ch
,
a
n
o
v
el
T
FIE
-
B
M
m
u
ltip
lier
in
FIR
f
ilter
d
e
s
ig
n
h
as
b
ee
n
p
r
o
p
o
s
ed
to
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e
d
u
ce
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o
wer
co
n
s
u
m
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tio
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d
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elay
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n
d
s
av
e
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o
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e
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ize
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ass
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o
wer
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n
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m
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r
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s
itio
n
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an
d
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th
e
s
u
g
g
ested
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eth
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d
m
ak
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s
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o
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th
e
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eter
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C
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ad
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er
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tr
o
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ce
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s
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ewe
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ates
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r
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m
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r
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in
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icatin
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y
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p
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d
d
ec
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g
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ilter
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cr
itical
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ath
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a
m
o
d
if
ied
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o
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m
u
ltip
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h
at
u
s
es
a
5
:2
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m
p
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r
is
in
tr
o
d
u
ce
d
.
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h
is
r
ed
u
ce
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th
e
n
u
m
b
er
o
f
p
ar
tial
p
r
o
d
u
cts
b
its
m
o
r
e
ef
f
ec
tiv
ely
.
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d
it
io
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ally
,
th
e
p
o
wer
co
n
s
u
m
p
tio
n
is
m
u
ch
r
e
d
u
ce
d
b
y
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e
im
p
r
o
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d
B
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o
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m
u
ltip
lier
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at
u
s
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n
ad
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er
i
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th
e
F
I
R
ar
ch
itectu
r
e.
T
o
ev
alu
ate
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f
ec
tiv
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o
f
t
h
e
s
u
g
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ested
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p
r
o
ac
h
,
ar
ea
,
p
o
wer
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d
laten
c
y
s
im
u
latio
n
s
wer
e
p
er
f
o
r
m
e
d
u
s
in
g
th
e
Xilin
x
I
SE
1
4
.
5
to
o
l
.
B
ased
o
n
ar
ea
,
p
o
wer
,
s
p
ee
d
,
an
d
laten
c
y
,
th
e
s
im
u
latio
n
f
in
d
in
g
s
d
ep
ict
t
h
at
th
e
s
u
g
g
ested
T
FIE
-
FIR
f
ilte
r
p
er
f
o
r
m
s
b
etter
t
h
an
th
e
d
e
s
ig
n
s
.
Ov
er
all,
th
e
r
ec
o
m
m
en
d
ed
m
eth
o
d
h
as
a
s
h
o
r
ter
laten
cy
th
an
th
e
R
a
d
ix
-
4
B
o
o
th
m
u
ltip
lier
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C
S
A
an
d
B
o
o
th
m
u
ltip
lier
,
h
y
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r
id
m
u
ltip
lier
,
an
d
tr
ad
itio
n
al
B
o
o
th
m
u
ltip
lier
b
y
2
3
.
4
%,
1
8
.
7
%,
1
2
.
3
%,
an
d
5
.
7
%,
r
esp
ec
tiv
ely
.
Fu
tu
r
e
r
esear
ch
will
f
u
r
th
er
r
ed
u
ce
t
h
e
en
e
r
g
y
co
n
s
u
m
p
ti
o
n
o
f
th
e
FIR
f
ilter
b
y
c
o
m
b
in
in
g
th
e
B
o
o
th
m
u
ltip
lier
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th
ad
v
a
n
ce
d
p
o
wer
r
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u
ctio
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s
tr
ateg
ies lik
e
clo
c
k
g
atin
g
an
d
d
y
n
am
ic
v
o
ltag
e
s
ca
lin
g
(
DVS)
.
ACK
NO
WL
E
DG
E
M
E
NT
S
T
h
e
au
th
o
r
w
o
u
ld
lik
e
to
ex
p
r
ess
h
is
h
ea
r
tf
elt
g
r
atitu
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to
th
e
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u
p
er
v
is
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r
h
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i
d
an
ce
an
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er
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p
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o
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f
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d
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F
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DATA AV
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Data
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RE
F
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R
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NC
E
S
[
1
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.
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