Lecture 1

Introduction

Sinusoids
Digital Signal Processing
Complex
Exponential
Signals
Lecture 1 - Discrete-Time Signals
Spectrum

Applications

Appendix

Electrical Engineering and Computer Science

University of Tennessee, Knoxville

August 24, 2010

 Overview

Lecture 1

Introduction
1 Introduction
Sinusoids

Complex 2 Sinusoids
Exponential
Signals

Spectrum 3 Complex Exponential Signals

Applications

Appendix
4 Spectrum

5 Applications

6 Appendix
 Basic ideas in DSP

Lecture 1

Introduction

Sinusoids

Complex
Exponential
Signals Frequency analysis
Spectrum
Sampling
Applications

Appendix Filtering
 Clarification of terminologies

Lecture 1

Discrete vs. Digital

Introduction Continuous-time vs. Discrete-time signal
Sinusoids Continuous-valued vs. Discrete-valued signal
Complex Digital signal
Exponential
Signals Deterministic vs. Random signal
Spectrum

Applications

Appendix

(c) Digital signal.

(b) Discrete-time sig-
(a) Analog signal.
nal.
 Sinusoid

Lecture 1

Introduction xa (t) = A cos(Ωt + θ), −∞ < t < ∞

Sinusoids

Complex
or
Exponential xa (t) = A cos(2πFt + θ), −∞ < t < ∞
Signals

Spectrum where
Applications
A: amplitude
Appendix
θ: phase (radians) or phase shift
Ω = 2πF : radian frequency (radians per second, rad/s)
F : cyclic frequency (cycles per second, herz, Hz)
Tp = 1/F : fundamental period (sec) such that
xa (t + Tp ) = xa (t)
 More on frequency

Lecture 1
x(t)=10cos(2pi(440)t)
10

0
Introduction

Sinusoids −10
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05
Complex x(t)=10cos(2pi(880)t)
10
Exponential
Signals
0
Spectrum
−10
Applications 0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05
x(t)=10cos(2pi(236)t)
Appendix 10
Amplitude

−10
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05
Time t (sec)

Figure: Sinusoids with different frequencies.

What if F = 0?
 More on frequency - How does it sound?1

Lecture 1

Introduction

Sinusoids

Complex A440
Exponential
Signals A880
Spectrum
C236
Applications

Appendix
A tuning fork demo

1
The multimedia materials are from McClellan, Schafer and Yoder,
DSP FIRST: A Multimedia Approach. Prentice Hall, Upper Saddle River,
New Jersey, 1998. Copyright (c) 1998 Prentice Hall.
 More on frequency - The MATLAB code

Lecture 1

1 % Lecture 1 - Sinusoid
2 % plot a sinusoidal signal and listen to it
Introduction
3 % 440Hz is the frequency of A above middle C on a musical scale
Sinusoids 4 % it is often used as the reference note for tuning purpose
5 %
Complex 6 clear buffer
Exponential 7 clear all;
Signals 8 clf;
9
Spectrum 10 % specify parameters
11 F =440;
Applications 12 t = 0:1/F/30:1/F*5;
Appendix 13 x = 10*cos(2*pi*F*t - 0.4*pi);
14
15 % plot the signal
16 plot(t,x);
17 title(’Sinusoidal signal x(t)’);
18 xlabel(’Time t (sec)’);
19 ylabel(’Amplitude’);
20 grid on;
21
22 % play the signal
23 sound(x)
 More on phase - Phase shift vs. Time shift

Lecture 1

Phase shift θ determines the time location of the

Introduction
maxima and minima of a cosine wave
Sinusoids s(t) vs. s(t − t1 ) vs. s(t + t1 ) when t1 is positive
Complex Delayed in time vs.
Exponential
Signals Advanced in time
Spectrum The phase shift is negative when the time shift is
Applications positive (a delay)
Appendix

xa (t − t1 ) = A cos(Ω(t − t1 )) = A cos(Ωt + θ)

where θ = −Ωt1 , therefore, t1 = −θ/Ω.

Principal value of the phase shift: −π and +π

|t1 | ≤ Tp /2 =⇒ −π < θ ≤ π
 Complex exponential signals

Lecture 1
According to Euler’s formula

Introduction xa (t) = A cos(Ωt + θ) = <{Aej(Ωt+θ) }

Sinusoids = <{Aejθ ejΩt } = <{XejΩt }
Complex
Exponential
Signals The rotating phasor interpretation
Spectrum Complex amplitude (or Phasor): X = ejθ
Applications Rotating phasor: multiplying the fixed phasor X by ejΩt
Appendix causes the phasor to rotate. If Ω is positive, the
direction of rotation is counterclockwise; when Ω is
negative, clockwise.
The phase shift θ defines where the phasor is pointing
when t = 0
A rotating phasor demo2
2
The multimedia materials are from McClellan, Schafer and Yoder,
DSP FIRST: A Multimedia Approach. Prentice Hall, Upper Saddle River,
New Jersey, 1998. Copyright (c) 1998 Prentice Hall.
 Spectrum and Time-frequency spectrum

Lecture 1

Spectrum: frequency domain representation of the

Introduction signal that reveals the frequency content of the signal
Sinusoids
Two-sided spectrum: According to inverse Euler’s
Complex
Exponential formula
Signals

Spectrum A jθ jΩt A −jθ −jΩt

xa (t) = A cos(Ωt + θ) = e e + e e
Applications 2 2
Appendix
such that the sinusoid can be interpreted as made up of
2 complex phasors

1 1
{( X , F ), ( X ∗ , −F )}
2 2
Spectrogram: frequency changes over time
 Application 1: Phasor addition

Lecture 1

When adding several sinusoids having the same

Introduction
frequency but different amplitudes and phases, the
Sinusoids
resulting signal is a complex exponential signal with the
Complex
Exponential same frequency
Signals

Spectrum N
X
Applications
Ak cos(Ωt + θk ) = A cos(Ωt + θ)
Appendix
k =1

Proof
Exercise:

1.7 cos(2π(10)t+70π/180)+1.9 cos(2π(10)t+200π/180)

 Application 2: Producing new signals from
sinusoids
Lecture 1

Additive linear combination

xa (t) = A0 + N
Introduction
P
A cos(2πFk t + θk )
Sinusoids PkN=1 k
= X0 + k =1 <{Xk ej2πFk t }
Complex
Xk∗ −j2πFk t
= X0 + N Xk j2πFk t
P
Exponential
Signals
{
k =1 2 e + 2 e }
Spectrum

Applications
where Xk = Aejθk .
Appendix 2N + 1 complex phasors

1 1 1 1
{(X0 , 0), ( X1 , F1 ), ( X1∗ , −F1 ), ( X2 , F2 ), ( X2∗ , −F2 ), · · · }
2 2 2 2
Exercise

xa (t) = 10 + 14 cos(200πt − π/3) + 8 cos(500πt + π/2)

 Application 3: Adding two sinusoids with nearly
identical frequencies - Beat notes
Lecture 1

Adding two sinusoids with frequencies, F1 and F2 , very

Introduction close to each other
Sinusoids

Complex xa (t) = cos(2πF1 t) + cos(2πF2 t)

Exponential
Signals

Spectrum
where
Applications F1 = Fc − F∆ and F2 = Fc + F∆ .
Appendix Fc = 12 (F1 + F2 ) is the center frequency
F∆ = 12 (F2 − F1 ) is the deviation frequency
In general, F∆ << Fc
Two-sided spectrum representation,

1 1 1 1
{( , F1 ), ( , −F1 ), ( , F2 ), ( , −F2 )}
2 2 2 2
 Adding two sinusoids with nearly identical
frequencies - Beat notes (cont’)
Lecture 1

Rewrite xa (t) as a product of two cosines

Introduction

Sinusoids xa (t) = <{ej2πF1 t } + <{ej2πF2 t }

Complex
Exponential
= <{ej2π(Fc −F∆ )t + ej2π(Fc +F∆ )t }
Signals
= <{ej2πFc t (e−j2πF∆ t + ej2πF∆ t )}
Spectrum
= <{ej2πFc t (2 cos(2πF∆ t))}
Applications
= 2 cos(2πF∆ t) cos(2πFc t)
Appendix

Adding two sinusoids with nearly identical frequencies

= Multiplying two sinusoids with frequencies far apart
What is the effect of multiplying a higher-frequency
sinusoid (e.g., 2000 Hz) by a lower-frequency sinusoid
(e.g., 20 Hz)? The “beating” phenomenon.
 Adding two sinusoids with nearly identical
frequencies - Beat notes (cont’)
Lecture 1
Components of a beat note
2

1
Introduction

Sinusoids Amplitude 0

Complex −1
Exponential
Signals
−2
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Spectrum

Applications Waveform of a beat note

2
Appendix
1
Amplitude

−1

−2
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Time t (sec)

A demo
 Adding two sinusoids with nearly identical
frequencies: Beat notes (cont’)
Lecture 1
Beat signal with fc=2000, fdel=2
1
1400
0.5 1200
Introduction
1000

Time
Sinusoids 0
800
Complex 600
−0.5
Exponential 400
Signals
−1 200
Spectrum 0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
Normalized Frequency (×π rad/sample)
Applications Beat signal with fc=2000, fdel=200
1
Appendix 1400
0.5 1200
1000
Time
0
800
600
−0.5
400
−1 200
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
Normalized Frequency (×π rad/sample)

Figure: Beat notes and the spectrogram.

 Application 4: Multiplying sinusoids - Amplitude
modulation
Lecture 1
Modulation for communication systems: multiplying a
low-frequency signal by a high-frequency sinusoid
Introduction

Sinusoids xa (t) = va (t) cos(2πFc t)

Complex
Exponential
Signals

Spectrum va (t): the modulation signal to be transmitted, must be

Applications
a sum of sinusoids
Appendix
cos(2πFc t): the carrier signal
Fc : the carrier frequency
Fc should be much higher than any frequencies
contained in the spectrum of va (t).
Exercise:

va (t) = 5 + 2 cos(40πt), Fc = 200 Hz

Difference between a beat note and an AM signal?

 Multiplying sinusoids - Amplitude modulation
(cont’)
Lecture 1
Waveform of the AM signal
8

Introduction 6

Sinusoids
4
Complex
Exponential
Signals 2
Amplitude

Spectrum
0
Applications

Appendix −2

−4

−6

−8
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Time t (sec)

A demo
 Application 5: Adding cosine waves with
harmonically related frequencies - Periodic
waveforms
Lecture 1

Fourier Series Theorem: Any periodic signal can be

Introduction

Sinusoids
approximated with a sum of harmonically related
Complex
sinusoids, although the sum may need an infinite
Exponential
Signals
number of terms.
Spectrum
xa (t) = A0 + N
P
Applications =1 Ak cos(2πkF0 t + θk )
kP
Appendix
= X0 + <{ N k =1 Xk e
j2πkF0 t }

Fk = kF0 : the harmonic of F0

F0 : the fundamental frequency
Estimate interesting waveforms by clever choice of
Xk = Ak ejθk
 Adding cosine waves with harmonically related
frequencies - Periodic waveforms (cont’)
Lecture 1
Fourier analysis: starting from xa (t) and calculate Xk .
Xk can be calculated using the Fourier integral
Introduction

Sinusoids
Z T0 Z T0
2 −j2πkt/T0 1
Complex Xk = xa (t)e dt, X0 = xa (t)dt
Exponential T0 0 T0 0
Signals

Spectrum

Applications T0 : the fundamental period of xa (t)

Appendix
X0 : the DC component
Fourier synthesis: starting from Xk and calculate xa (t)
Demo: synthetic vowel (’ah’), F0 = 100 Hz

xa (t) = <{X2 ej2π2F0 t + X4 ej2π4F0 t + X5 ej2π5F0 t +

X16 ej2π16F0 t + X17 ej2π17F0 t }

Exercise: How to approximate a square wave?

 Application 6: Frequency modulation - the
Chirp signal
Lecture 1
A “chirp” signal is a swept-frequency signal whose
frequency changes linearly from some low value to a
Introduction high one.
Sinusoids How to generate it?
Complex concatenate a large number of short
Exponential
Signals constant-frequency sinusoids, whose frequencies step
Spectrum from low to high
Applications time-varying phase ψ(t) as a function of time
Appendix
xa (t) = <{Aejψ(t) } = A cos(ψ(t))
instantaneous frequency: the derivative (slope) of the
phase
d
Ω(t) = ψ(t), F (t) = Ω(t)/(2π)
dt
Frequency modulation: frequency variation produced
by the time-varying phase. Signals of this class are
called FM signals
 Frequency modulation - the Chirp signal (cont’)

Lecture 1

Introduction Linear FM signal: chirp signal

Sinusoids
Exercise: quadratic phase
Complex
Exponential
Signals ψ(t) = 2πµt 2 + 2πF0 t + θ, F (t) = 2µt + F0
Spectrum

Applications Reverse process: If a certain linear frequency sweep is

Appendix
desired, the actual phase can be obtained from the
integral of Ω(t).
Exercise: synthesize a frequency sweep from F1 = 220
Hz to F2 = 2320 Hz over the time interval t = 0 to
t = T2 = 3 sec.
 Frequency modulation - the Chirp signal

Lecture 1
A linear−FM chirp signal with f1=200 Hz, f2=2000 Hz
1

amplitude
Introduction 0

Sinusoids
−1
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Complex 4
time x 10
Exponential
Signals 1

Spectrum 0
Applications
−1
Appendix 0 1000 2000 3000 4000 5000 6000 7000 8000 9000

2500
2000
Time

1500
1000
500
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Normalized Frequency (×π rad/sample)

A demo
 Euler’s formula and Inverse Euler’s formula

Lecture 1

Introduction
Euler’s formula
Sinusoids

Complex
Exponential ejθ = cos θ + j sin θ
Signals

Spectrum
Inverse Euler’s formula
Applications

Appendix ejθ + e−jθ

cos θ =
2
ejθ − e−jθ
sin θ =
2j
 Basic trignometric identities

Lecture 1

Introduction

Sinusoids

Complex sin2 θ + cos2 θ = 1

Exponential
Signals

Spectrum
cos 2θ = cos2 θ − sin2 θ
Applications sin 2θ = 2 sin θ cos θ
Appendix
sin(α ± β) = sin α cos β ± cos α sin β
cos(α ± β) = cos α cos β ∓ sin α sin β
 Basic properties of the sine and cosine
functions
Lecture 1

Equivalence
Introduction

Sinusoids
sin θ = cos(θ − π/2) or cos θ = sin(θ + π/2)
Complex
Exponential Periodicity
Signals

Spectrum
cos(θ + 2k π) = cos θ, when k is an integer
Applications

Appendix
Evenness of cosine

cos(−θ) = cos θ

Oddness of sine

sin(−θ) = − sin θ
 Basic properties of the sine and cosine
functions (cont’)
Lecture 1
Zeros of sine

Introduction sin(πk ) = 0, when k is an integer

Sinusoids

Complex
Exponential
Ones of cosine
Signals

Spectrum cos(2πk ) = 1, when k is an integer

Applications

Appendix Minus ones of cosine

1
cos[2π(k + )] = −1, when k is an integer
2
Derivatives
d sin θ d cos θ
= cos θ, = − sin θ
dθ dθ