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Air Force Institute of Technology

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Development Of Object-Based Teleoperator Control For Unstructured Applications, Hyunki Cho Dec 1996

Development Of Object-Based Teleoperator Control For Unstructured Applications, Hyunki Cho

Theses and Dissertations

For multi-fingered end effectors in unstructured applications, the main issues are control in the presence of uncertainties and providing grasp stability and object manipulability. The suggested concept in this thesis is object based teleoperator control which provides an intuitive way to control the robot in terms of the grasped object and reduces the operator's conceptual constraints. The general control law is developed using a hierarchical control structure, i.e., human interface I gross motion control level in teleoperation control and fine motion control/object grasp stability in autonomous control. The gross motion control is required to provide the position/orientation of the Super …

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Analysis Of Multimode Low-Probability-Of-Intercept (Lpi) Communications With Atmospheric Effects, Ala Ghordlo Dec 1996

Analysis Of Multimode Low-Probability-Of-Intercept (Lpi) Communications With Atmospheric Effects, Ala Ghordlo

Theses and Dissertations

This research expanded Low Probability of Intercept (LPI) communications analysis in two areas. First, multimode communication was included to account for ground to ground and air to ground links in addition to the standard air to air links traditionally used in LPI analysis. The propagation equations for the three modes of interest were derived and included in LPI analytic models in the form of a mode quality factor to account for multimode LPI scenarios. This new quality factor was used in studying several communication and interception link combinations. Variations due to differences between the communication and interception modes were presented …

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Performance Analysis Of Preemption Algorithms In An Idnx Circuit Switch Communications Network, Eric C. Gumbs Dec 1996

Performance Analysis Of Preemption Algorithms In An Idnx Circuit Switch Communications Network, Eric C. Gumbs

Theses and Dissertations

Access to communication networks is increasing rapidly. The increase access to these networks results in delays and at times loss of data. At times of peak traffic or when trunks or nodes are down, very important customers' communications requirements are not met. One way to combat this problem is to prioritize the network and provide different levels of grade of service (GOS) for each priority. Call preemption provides an effective method of obtaining different levels of GOS. This research seeks to design the best circuit switch communications network preemption model for the DoD by analyzing previously developed preemption algorithms. Four …

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Application Of A Finite-Volume Time-Domain Maxwell Equation Solver To Three-Dimensional Objects, Frederick G. Harmon Dec 1996

Application Of A Finite-Volume Time-Domain Maxwell Equation Solver To Three-Dimensional Objects, Frederick G. Harmon

Theses and Dissertations

Concurrent engineering approaches for the disciplines of computational fluid dynamics (CFD) and electromagnetics (CEM) are necessary for designing future high-performance, low-observable aircraft. A characteristic-based finite-volume time-domain (FVTD) computational algorithm, developed for CFD and now applied to CEM, is implemented to analyze the radar cross section (RCS) of two three-dimensional objects, the ogive and cone-sphere. The FVTD formulation implements a Monotone Upstream-Centered Scheme for Conservation Laws (MUSCL) algorithm for the flux evaluation and a Runge-Kutta multi-stage scheme for the time integration. Developmental FVTD work for the thesis focused on algorithm development to analyze scattering and obtain RCS data for closed-surface perfect …

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Performance Analysis Of Dynamic Routing Protocols In A Low Earth Orbit Satellite Data Network, Richard F. Janoso Dec 1996

Performance Analysis Of Dynamic Routing Protocols In A Low Earth Orbit Satellite Data Network, Richard F. Janoso

Theses and Dissertations

Modern warfare is placing an increasing reliance on global communications. Currently under development are several Low Earth Orbit (LEO) satellite systems that propose to deliver voice and data traffic to subscribers anywhere on the globe. However, very little is known about the performance of conventional routing protocols under orbital conditions where the topology changes on a scale of minutes rather than days. This thesis compares two routing protocols in a LEO environment. One (Extended Bellman-Ford) is a conventional terrestrial routing protocol, while the other (Darting) is a new protocol which has been proposed as suitable for use in LEO networks. …

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Adaptive Neural Network Controller For Atm Traffic, Jeffrey E. Larson Dec 1996

Adaptive Neural Network Controller For Atm Traffic, Jeffrey E. Larson

Theses and Dissertations

Broadband-Integrated Services Digital Networks (B-ISDN), along with Asynchronous Transfer Mode (ATM), were designed to meet the requirements of modern communication networks to handle multiple users and a wide variety of diverse traffic including voice, data and video. ATM responds to requests for admission to the network by analyzing whether or not the grade of service (GOS) requirement, specified in the admission request, can be guaranteed without violating the GOS guaranteed to traffic already accepted into the network. The GOS is typically a parameter such as cell loss rate (CLR), average delay, or some other measurement associated with network performance. In …

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Analysis And Simulation Of A New Code Tracking Loop For Gps Multipath Mitigation, Mark C. Laxton Dec 1996

Analysis And Simulation Of A New Code Tracking Loop For Gps Multipath Mitigation, Mark C. Laxton

Theses and Dissertations

This thesis proposes a new direct sequence spread spectrum (DS/SS) code phase tracking loop which mitigates the effects of multipath interference on code phase tracking error; such errors can translate to significant range measurement errors in DS/SS ranging systems such as Global Positioning System (GPS). The new code tracking loop, called the modified RAKE delay lock loop (MRDLL), uses maximum likelihood (ML) signal parameter estimation to determine the amplitude, carrier phase, and relative propagation delay of both a direct path and a reflected signal; a multiple correlator code phase tracking loop then exploits these ML signal estimates to remove the …

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Multiple Model Adaptive Estimation And Control Redistribution For The Vista F-16, Robert W. Lewis Sr. Dec 1996

Multiple Model Adaptive Estimation And Control Redistribution For The Vista F-16, Robert W. Lewis Sr.

Theses and Dissertations

Performance characteristics of a Multiple Model Adaptive Estimation and Control Redistribution (MMAE/CR) algorithm are evaluated against single and double actuator and sensor failures. MMAE alone can compensate for sensor failures, whereas Control Redistribution compensates for actuator failures by redistributing commands, initially intended for failed actuators, to the unfailed actuators in such a way that the desired system response is achieved. Both failure detection and compensation capabilities are developed and analyzed through an extensive amount of simulation data, particularly addressing multiple failures. Simulations are performed utilizing the high fidelity, non-linear six degree of freedom Simulation Rapid Prototyping Facility for the VISTA …

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Clustered Microcalcification Detection Using Optimized Difference Of Gaussians, Edward M. Ochoa Dec 1996

Clustered Microcalcification Detection Using Optimized Difference Of Gaussians, Edward M. Ochoa

Theses and Dissertations

The objective of this thesis is to design an automated microcalcification detection system to be used as an aid in radiologic mammogram interpretation. This research proposes the following methodology for clustered microcalcification detection. First, preprocess the digitized film mammogram to reduce digitization noise. Second, spatially filter the image with a difference of Gaussians (DoG) kernel. To detect potential microcalcifications, segment the filtered image using global and local thresholding. Next, cluster and index these detections into regions of interest (ROIs). Identify ROIs on the digitized image (or hardcopy printout) for final radiologic diagnosis.

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Optimization Of A Gps-Based Navigation Reference System, Jason B. Mckay Dec 1996

Optimization Of A Gps-Based Navigation Reference System, Jason B. Mckay

Theses and Dissertations

The development of increasingly accurate new aircraft navigation systems has caused the Air Force to develop a new Navigation Reference System to test them, called the Submeter Accuracy Reference System (SARS). The SARS is an inverted GPS system which consists of an array of GPS receivers on the ground and an airborne pseudolite mounted on the test aircraft. The SARS will provide a proof position estimate that is used to check the navigation system under test. Unfortunately, ground based inverted GPS systems tend to suffer from high geometric sensitivity to measurement errors. This research tackles the problem of optimizing the …

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Interference Suppression For Spread Spectrum Signals Using Adaptive Beamforming And Adaptive Temporal Filter, Wonjin Park Dec 1996

Interference Suppression For Spread Spectrum Signals Using Adaptive Beamforming And Adaptive Temporal Filter, Wonjin Park

Theses and Dissertations

Interference and jamming signals are a serious concern in an operational military communication environment. This thesis examines the utility and performance of combining adaptive temporal filtering with adaptive spatial filtering (i.e. adaptive beamforming) to improve the signal-to-jammer ratio (SJR) in the presence of narrowband and wideband interference. Adaptive temporal filters are used for narrowband interference suppression while adaptive beamforming is used to suppress wideband interference signals. A procedure is presented for the design and implementation of a linear constraints minimum variance generalized sidelobe canceler (LCMV-GSC) beamformer. The adaptive beamformer processes the desired signal with unity gain while simultaneously and adaptively …

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Performance Analysis Of A Hartman Wavefront Sensor Used For Sensing Atmospheric Turbulence Statistics, Toby D. Reeves Dec 1996

Performance Analysis Of A Hartman Wavefront Sensor Used For Sensing Atmospheric Turbulence Statistics, Toby D. Reeves

Theses and Dissertations

Atmospheric turbulence parameters, such as Fried's coherence diameter, the outer scale of turbulence, and the turbulence power law, are related to the wavefront slope structure function (SSF). The SSF is defined as the second moment of the wavefront slope difference as a function of both time and position. Knowledge of the SSF allows turbulence parameters to be estimated. Hartmann wavefront sensor (H-WFS) slope measurements composed of both signal and noise, allow the SSF to be estimated by computing a mean square difference of H-WFS slope measurements. The quality of the SSF estimate is quantified by the signal-to-noise ratio (SNR) of …

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Evaluation Of Design Tools For Rapid Prototyping Of Parallel Signal Processing Algorithms, James C. Savage Dec 1996

Evaluation Of Design Tools For Rapid Prototyping Of Parallel Signal Processing Algorithms, James C. Savage

Theses and Dissertations

Digital signal processing (DSP) has become a popular method for handling not only signal processing, but communications, and control system applications. A DSP application of interest to the Air Force is high speed avionics processing. The real time computing requirements of avionics processing exceed the capabilities of current single chip DSP processors, and parallelization of multiple DSP processors is a solution to handle such requirements. Designing and implementing a parallel DSP algorithm has been a lengthy process often requiring different design tools and extensive programming experience. Through the use of integrated software development tools, rapid prototyping becomes possible by simulating …

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Experimental Investigation Of Radar Cross Section Spatial Correlation Properties For A Point Scattering Target, John D. Shannon Dec 1996

Experimental Investigation Of Radar Cross Section Spatial Correlation Properties For A Point Scattering Target, John D. Shannon

Theses and Dissertations

This research investigates the spatial correlation of RCS. In pulsed radar systems, probability of detection for partially correlated signals depends on the autocovariance of the target's RCS. The RCS changes pulse to pulse due to spatial and time fluctuations. Spatial fluctuation are due to the motion of all scatterers relative to the radar (i.e. changing aspect angle). Time fluctuations are due to relative motion of scatterers to each other (i.e. wings flexing, engines spinning). Theory developed at AFIT [9] can generate autocovariance estimates from a distribution of scatterers. Theory based autocovariance estimates are compared to static measurement based autocovariance estimates …

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Mmae Detection Of Interference/Jamming And Spoofing In A Dpgs-Aided Inertial System, Nathan A. White Dec 1996

Mmae Detection Of Interference/Jamming And Spoofing In A Dpgs-Aided Inertial System, Nathan A. White

Theses and Dissertations

Previous research at AFIT has resulted in the development of a DGPS-aided INS-based precision landing system (PLS) capable of meeting the FAA precision requirements for instrument landings. The susceptibility of DGPS transmissions to interference/jamming and spoofing must be addressed before DGPS may be used in such a safety-of-flight critical role. This thesis applies multiple model adaptive estimation (MMAE) techniques to the problem of detecting and identifying interference/jamming and spoofing failures in the DGPS signal. Such an MMAE is composed of a bank of parallel filters, each hypothesizing a different failure status, along with an evaluation of the current probability of …

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Weighted Mahalanobis Distance For Hyper-Ellipsoidal Clustering, Khaled S. Younis Dec 1996

Weighted Mahalanobis Distance For Hyper-Ellipsoidal Clustering, Khaled S. Younis

Theses and Dissertations

Cluster analysis is widely used in many applications, ranging from image and speech coding to pattern recognition. A new method that uses the weighted Mahalanobis distance (WMD) via the covariance matrix of the individual clusters as the basis for grouping is presented in this thesis. In this algorithm, the Mahalanobis distance is used as a measure of similarity between the samples in each cluster. This thesis discusses some difficulties associated with using the Mahalanobis distance in clustering. The proposed method provides solutions to these problems. The new algorithm is an approximation to the well-known expectation maximization (EM) procedure used to …

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The New Logic Of Hypertext: Electronic Documents, Literary Theory, And Air Force Publications, Gordon G. Geison Dec 1996

The New Logic Of Hypertext: Electronic Documents, Literary Theory, And Air Force Publications, Gordon G. Geison

Theses and Dissertations

Hypertext systems offer electronic links that can instantly join related documents with the click of a mouse. Some observers predict that in the next few years hypertext will become the predominate technology of communication. Such a revolutionary transformation of our culture's basic system for sharing information is bound to have a profound and wide-ranging impact. At this early stage in hypertext's evolutionary development, no empirical study can be expected to capture the long-term implications of this new technology. An exploratory survey was distributed to 100 large corporations to gather their initial assessment of the revolutionary implications of hypertext. The results …

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Digital Rosetta Stone: A Conceptual Model For Maintaining Long-Term Access To Digital Documents, Steven B. Robertson Dec 1996

Digital Rosetta Stone: A Conceptual Model For Maintaining Long-Term Access To Digital Documents, Steven B. Robertson

Theses and Dissertations

Due to the rapid evolution of technology, future digital systems may not be able to read and/or interpret the digital recordings made by older systems, even if those recordings are still in good condition. This thesis addresses the problem of maintaining long-term access to digital documents and provides a methodology for overcoming access difficulties due to technological obsolescence. A review was conducted to determine the long-term access methods that have already been suggested by other researchers. These previously suggested methods are then combined with other ideas that were encountered and conceived while performing research for this project. The combination of …

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A Preliminary Study Of Using The Sei's Capability Maturity Model To Set Statistical Control Bounds On Dod Contractor Cost And Schedule Performance, Jeffrey A. Schaefer Dec 1996

A Preliminary Study Of Using The Sei's Capability Maturity Model To Set Statistical Control Bounds On Dod Contractor Cost And Schedule Performance, Jeffrey A. Schaefer

Theses and Dissertations

Current methods for monitoring the performance of Department of Defense (DOD) software development contractors have not been successful in reversing the current trend of over budget and behind schedule software development. The DOD has adopted the Software Engineering Institute's (SEI's) Capability Maturity Model (CMM) as a method of determining the process maturity of a software developer with the idea that a more mature process will lead to improved cost and schedule performance. The goal of this research was to determine if a model based on the CMM rating level of a contractor could be developed and used in conjunction with …

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Personnel Airdrop Risk Assessment Using Bootstrap Sampling, Wonsik Kim Dec 1996

Personnel Airdrop Risk Assessment Using Bootstrap Sampling, Wonsik Kim

Theses and Dissertations

Previous work on personnel airdrop problems involving jumpers has been (1) event-oriented entanglement rates, (2) number of canopy bumps, (3) landing injuries, and (4) deaths. The thesis expands this area of research by developing cumulative distribution functions of maximum possible chute entanglement risk for the C-17 using bootstrap techniques. By comparing the effects of various C-17 aircraft configurations on the entanglement CDF, this thesis shows that under certain configurations the risk of centerline entanglement for the C-17 is less than for the C-141.

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Deconvolution From Wavefront Sensing Using Optimal Wavefront Estimators, Scott R. Maethner Dec 1996

Deconvolution From Wavefront Sensing Using Optimal Wavefront Estimators, Scott R. Maethner

Theses and Dissertations

A cost effective method to improve the space surveillance mission performance of United States Air Force (USAF) ground-based telescopes is investigated and improved. A minimum variance wavefront estimation technique is used to improve Deconvolution from Wavefront Sensing (DWFS), a method to mitigate the effects of atmospheric turbulence on imaging systems that does not require expensive adaptive optics. Both least-squares and minimum variance wavefront phase estimation techniques are investigated, using both Gaussian and Zernike polynomial elementary functions. Imaging simulations and established performance metrics are used to evaluate these wavefront estimation techniques for a one-meter optical telescope. Performance metrics include the average …

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Estimation Of Satellite Orientation From Space Surveillance Imagery Measured With An Adaptive Optics Telescope, Gregory E. Wood Dec 1996

Estimation Of Satellite Orientation From Space Surveillance Imagery Measured With An Adaptive Optics Telescope, Gregory E. Wood

Theses and Dissertations

The use of the matched filter to automatically estimate the pose of a Low Earth Orbiting satellite from imagery taken with an adaptive optics telescope is explored. This work represents the first effort to solve the satellite pose estimation problem while considering the broad range of atmospheric turbulence levels and target visual magnitudes that are encountered in ground based space surveillance operations. Several Algorithms are examined in an effort to determine the performance bounds on the matched filter for this application. Results are given over an extremely wide range of seeing conditions. These results are weighted based on historical data …

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The Capacity Of The Air Force Satellite Control Network, Kwangho Jang Dec 1996

The Capacity Of The Air Force Satellite Control Network, Kwangho Jang

Theses and Dissertations

The daily mission objective of the Air Force Satellite Control Network (AFSCN) is to support communication with satellite systems. It is critical that the AFSCN operate 24 hours a day, seven days a week. Previous work on the satellite range scheduling problem has successfully scheduled over 90 percent of the satellite support requests. This research investigates the capacity of the AFSCN using an available satellite scheduling algorithm. This research has three objectives. The first objective is to be able to generate sample data sets which represent a day of satellite support requests for low, medium, and high altitude satellites. The …

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Countering The Effects Of Measurement Noise During The Identification Of Dynamical Systems, Odell R. Reynolds Dec 1996

Countering The Effects Of Measurement Noise During The Identification Of Dynamical Systems, Odell R. Reynolds

Theses and Dissertations

Sensor noise is an unavoidable fact of life when it comes to measurements on physical systems, as is the case in feedback control. Therefore, it must be properly addressed during dynamic system identification. In this work, a novel approach is developed toward the treatment of measurement noise in dynamical systems. This approach hinges on proper stochastic modeling, and it can be adapted easily to many different scenarios, where it yields consistently good parameter estimates. The Generalized Minimum Variance algorithm developed and used in this work is based on the theory behind the minimum variance identification process, and the estimate produced …

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Using Kriging To Interpolate Spatially Distributed Volumetric Medical Data, Stephen M. Matechik Dec 1996

Using Kriging To Interpolate Spatially Distributed Volumetric Medical Data, Stephen M. Matechik

Theses and Dissertations

Routine cases in diagnostic radiology require the interpolation of volumetric medical imaging data sets. Inaccurate renditions of interpolated volumes can lead to the misdiagnosis of a patient's condition. It is therefore essential that interpolated modality space estimates accurately portray patient space. Kriging is investigated in this research to interpolate medical imaging volumes. Kriging requires data to be spatially distributed. Therefore, magnetic resonance imaging (MRI) data is shown to exhibit spatially regionalized characteristics such that it can be modeled using regionalized variables and subsequently be interpolated using kriging. A comprehensive, automated, three-dimensional structural analysis of the MRI data is accomplished to …

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Model Predictive Control Of Aerospace Systems, Derek W. Ebdon Dec 1996

Model Predictive Control Of Aerospace Systems, Derek W. Ebdon

Theses and Dissertations

The primary objective of this thesis is to explore the fault tolerance capabilities of a state space formulation of MPC. Subsequent to a simulated control surface failure on the F-18 High Alpha Research Vehicle (HARV), the MPC controller will attempt to maintain stability and nominal performance while tracking a setpoint. Secondary objectives include studying the effect of data sample rate and MPC horizon lengths on system performance. These objectives will be accomplished using Matlab to develop the MPC controller and Simulink to demonstrate its effectiveness through simulation.

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Pulse Coupled Neural Networks For The Segmentation Of Magnetic Resonance Brain Images, Shane L. Abrahamson Dec 1996

Pulse Coupled Neural Networks For The Segmentation Of Magnetic Resonance Brain Images, Shane L. Abrahamson

Theses and Dissertations

This research develops an automated method for segmenting Magnetic Resonance (MR) brain images based on Pulse Coupled Neural Networks (PCNN). MR brain image segmentation has proven difficult, primarily due to scanning artifacts such as interscan and intrascan intensity inhomogeneities. The method developed and presented here uses a PCNN to both filter and segment MR brain images. The technique begins by preprocessing images with a PCNN filter to reduce scanning artifacts. Images are then contrast enhanced via histogram equalization. Finally, a PCNN is used to segment the images to arrive at the final result. Modifications to the original PCNN model are …

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Dynamic Relevance Filtering In Asynchronous Transfer Mode-Based Distributed Interactive Simulation Exercises, David T. Hightower Dec 1996

Dynamic Relevance Filtering In Asynchronous Transfer Mode-Based Distributed Interactive Simulation Exercises, David T. Hightower

Theses and Dissertations

As Distributed Interactive Simulation (DIS) exercises continue to grow in scale, the need to support a large number of players has become apparent. The demands on the network and the simulation hosts in large exercises, though, have proved to be prohibitive, requiring significant computational overhead to filter through the information and extract what is relevant to a particular simulation. Some mechanism is needed to reduce irrelevant network traffic received by a system, while increasing the bandwidth available for the DIS exercise. Previous research efforts in this area have centered primarily on fixed geographic partitions of the battlespace to reduce the …

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The Biodegradation Characteristics Of Proposed Fuel Systems Icing Inhibitors (Fsii), Charles E. Meshako Dec 1996

The Biodegradation Characteristics Of Proposed Fuel Systems Icing Inhibitors (Fsii), Charles E. Meshako

Theses and Dissertations

The biodegradation characteristics of three fuel system icing ihhibitors (FSII) were evaluated. FSII are jet fuel additives that partition into water readily and are present in the water drained from storage tank bottoms in concentrations approaching 40%. These concentrations raise concerns as to the disposal and handling of these wastes. The current FSII, DiEGME was evaluated along with two new candidates, dipropylene glycol and glycerol formal. DiEGME appeared to be moderately but not completely biodegradable. It is likely that much of it would be removed in a wastewater treatment plant. Dipropylene glycol only showed signs of degradation after more than …

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A Two-Phase Damped-Exponential Model For Speech Synthesis, H. Allan Arb Dec 1996

A Two-Phase Damped-Exponential Model For Speech Synthesis, H. Allan Arb

Theses and Dissertations

It is well known that there is room for improvement in the resultant quality of speech synthesizers in use today. This research focuses on the improvement of speech synthesis by analyzing various models for speech signals. An improvement in synthesis quality will benefit any system incorporating speech synthesis. Many synthesizers in use today use linear predictive coding (LPC) techniques and only use one set of vocal tract parameters per analysis frame or pitch period for pitch-synchronous synthesizers. This work is motivated by the two-phase analysis-synthesis model proposed by Krishnamurthy. In lieu of electroglottograph data for vocal tract model transition point …

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