WO2013076612A1 - Fixing tap coefficients in a programmable finite-impulse-response equalizer - Google Patents
Fixing tap coefficients in a programmable finite-impulse-response equalizer Download PDFInfo
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- WO2013076612A1 WO2013076612A1 PCT/IB2012/056274 IB2012056274W WO2013076612A1 WO 2013076612 A1 WO2013076612 A1 WO 2013076612A1 IB 2012056274 W IB2012056274 W IB 2012056274W WO 2013076612 A1 WO2013076612 A1 WO 2013076612A1
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- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B20/00—Signal processing not specific to the method of recording or reproducing; Circuits therefor
- G11B20/10—Digital recording or reproducing
- G11B20/10009—Improvement or modification of read or write signals
- G11B20/10046—Improvement or modification of read or write signals filtering or equalising, e.g. setting the tap weights of an FIR filter
-
- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B20/00—Signal processing not specific to the method of recording or reproducing; Circuits therefor
- G11B20/10—Digital recording or reproducing
- G11B20/10009—Improvement or modification of read or write signals
- G11B20/10046—Improvement or modification of read or write signals filtering or equalising, e.g. setting the tap weights of an FIR filter
- G11B20/10055—Improvement or modification of read or write signals filtering or equalising, e.g. setting the tap weights of an FIR filter using partial response filtering when writing the signal to the medium or reading it therefrom
-
- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B20/00—Signal processing not specific to the method of recording or reproducing; Circuits therefor
- G11B20/10—Digital recording or reproducing
- G11B20/10009—Improvement or modification of read or write signals
- G11B20/10481—Improvement or modification of read or write signals optimisation methods
- G11B20/10509—Improvement or modification of read or write signals optimisation methods iterative methods, e.g. trial-and-error, interval search, gradient descent or feedback loops
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H21/00—Adaptive networks
- H03H21/0012—Digital adaptive filters
- H03H21/0067—Means or methods for compensation of undesirable effects
-
- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B2220/00—Record carriers by type
- G11B2220/90—Tape-like record carriers
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H21/00—Adaptive networks
- H03H21/0012—Digital adaptive filters
- H03H2021/007—Computation saving measures; Accelerating measures
- H03H2021/0072—Measures relating to the coefficients
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H21/00—Adaptive networks
- H03H21/0012—Digital adaptive filters
Definitions
- This invention relates to apparatus and methods for reading data on storage media such as magnetic tape.
- the read-detect channel of the modern tape drive can adjust the equalization of the read-back signal to improve the signal-to-noise ratio. It can also compensate for head asymmetry or modify data detection parameters to improve the detection reliability.
- the equalizer is the primary cause of read-detect channel instability. In many cases, this divergence may be controlled by fixing a certain number of tap coefficients in the adaptable finite-impulse-response (FIR) equalizer (also known as a FIR filter). For example, in a typical FIR equalizer that includes seventeen taps, four tap coefficients out of seventeen may be fixed. If the correct tap coefficients are fixed, then the FIR equalizer will be stable and the FIR equalizer will converge to an optimal configuration (assuming that the initial configuration of the FIR equalizer was reasonable). If the wrong tap coefficients are fixed, then the FIR equalizer will not converge and the equalization will eventually get so bad that the data read will not be usable.
- FIR finite-impulse-response
- the initial configuration (i.e., tap coefficients) of the equalizer may be determined using a calibration procedure.
- the largest tap coefficient of the seventeen may then be fixed.
- Two tap coefficients on one side of the largest tap coefficient and one tap coefficient on the other side of the largest tap coefficient may be fixed.
- the side with the two fixed tap coefficients is typically selected to be in the direction of the next largest tap coefficient of the seventeen coefficients.
- the invention has been developed in response to the present state of the art and, in particular, in response to the problems and needs in the art that have not yet been fully solved by currently available apparatus and methods. Accordingly, the invention has been developed to provide apparatus and methods for more effectively selecting which tap coefficients of a programmable finite-impulse-response (FIR) equalizer to fix.
- FIR finite-impulse-response
- such a method includes performing an initial calibration to determine an initial value for each tap coefficient of a FIR equalizer. These initial values may be used to produce a first waveform. The method then performs an operation on the first waveform to produce a second waveform comprising multiple lobes. The second waveform is then analyzed to determine one or more lobes of the second waveform that have the largest area. The method then fixes coefficients of one or more taps that are closest to the lobe or lobes having the largest area.
- Figure 1 is a high-level block diagram showing one example of a read-detect channel for a tape drive
- FIG. 2 is a high-level block diagram showing a conventional programmable finite-impulse-response (FIR) equalizer
- Figure 3 is a high-level block diagram showing a programmable FIR equalizer that is functionally equivalent to the programmable FIR equalizer illustrated in Figure 2;
- Figure 4 is a flow chart showing one embodiment of an improved method for selecting which tap coefficients of a programmable finite-impulse-response (FIR) equalizer to fix;
- Figure 5 A is a table showing initial tap coefficients for a first exemplary FIR, as well as tap coefficients that are fixed using an improved method in accordance with the invention;
- Figure 5B is a graph showing a first waveform generated for the first exemplary FIR, and a second waveform representing a modified version of the first waveform;
- Figure 5C is a graph showing the magnitude of the second waveform illustrated in Figure 5B;
- Figure 6A is a table showing initial tap coefficients for a second exemplary FIR, as well as tap coefficients that are fixed using an improved method in accordance with the invention
- Figure 6B is a graph showing a first waveform generated for the second exemplary FIR, and a second waveform representing a modified version of the first waveform;
- Figure 6C is a graph showing the magnitude of the second waveform illustrated in Figure 6B;
- Figure 7A is a table showing initial tap coefficients for a third exemplary FIR, as well as tap coefficients that are fixed using an improved method in accordance with the invention
- Figure 7B is a graph showing a first waveform generated for the third exemplary FIR, and a second waveform representing a modified version of the first waveform
- Figure 7C is a graph showing the magnitude of the second waveform illustrated in Figure 7B.
- the present invention may be embodied as an apparatus, system, method, or computer program product. Furthermore, the present invention may be implemented as a hardware embodiment, a software embodiment (including firmware, resident software, microcode, etc.) configured to operate hardware, or an embodiment combining both software and hardware elements.
- embodiments may be represented by one or more modules or blocks.
- present invention may be implemented in a computer-usable storage medium embodied in any tangible medium of expression having computer-usable program code stored therein.
- the computer- usable or computer-readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable storage medium may include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CDROM), an optical storage device, or a magnetic storage device.
- a computer-usable or computer-readable storage medium may be any medium that can contain, store, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
- Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object-oriented programming language such as Java, Smalltalk, C++, or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages.
- Computer program code for implementing the invention may also be written in a low-level programming language such as assembly language.
- the present invention may be described below with reference to flowchart illustrations and/or block diagrams of methods, apparatus, systems, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, may be implemented by computer program instructions or code.
- the computer program instructions may be provided to a processor of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.
- the computer program instructions may also be stored in a computer- readable storage medium that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means which implement the function/act specified in the flowchart and/or block diagram block or blocks.
- the computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.
- FIG. 1 a high-level block diagram showing one example of a read-detect channel circuit 100 for a tape drive is illustrated.
- a tape head 102 is typically passed over data recorded on magnetic tape 104 in order to convert the recorded data into an analog signal.
- a magneto -resistive read head 102 is passed over data that has been previously written as flux reversals on the magnetic tape 104.
- the head 102 converts the flux reversals into an electrical analog signal that represents the data originally stored on the magnetic tape 104.
- An analog-to-digital converter 106 (“ADC") periodically samples the analog signal and converts the sampled analog signal to a digital input signal and creates a digital waveform.
- the output of the analog-to-digital converter 106 may then be sent to a finite- impulse-response (FIR) equalizer 108 to shape the digital waveform.
- the digital waveform may then be sent to a detector 112 by way of a detector interface 110.
- the detector 112 may convert the digital waveform to a binary stream of ones and zeros which ideally reflects the data that was originally written to the magnetic tape 104.
- the detector 112 Upon producing the binary data, the detector 112 produces an error signal which indicates the error between the equalizer output and the desired detector input. This error signal may be sent to a least means square (LMS) engine 116 which uses the error signal to adjust selected taps coefficients of the FIR equalizer 108.
- LMS least means square
- An input buffer 114 may be used to temporally align the error signal with the output received from the analog-to- digital converter 106.
- certain adjacent tap coefficients of the FIR equalizer 108 may be fixed while other tap coefficients may be allowed to adapt (i.e., adjust their values to optimal values) in response to the error signal. This ideally allows the FIR equalizer 108 to remain stable while still allowing it to adapt to the error signal.
- Two examples of FIR equalizer circuits 108 are illustrated in Figures 2 and 3.
- FIG. 2 a high-level block diagram showing an example of a conventional programmable finite-impulse-response (FIR) equalizer 108 is illustrated.
- the output of the FIR equalizer 108 is generated by convolving its input signal with the FIR equalizer's impulse response.
- the output of the FIR equalizer 108 is a weighted sum of the current and a finite number of previous values of the input.
- Delay units 200 (which may be implemented using registers, for example) may output the previous values of the input.
- the values (HO, HI , H2, . . . , Hn) are tap coefficients that control the impulse response.
- the FIR equalizer 108 includes seventeen taps and associated tap coefficients. Such FIR equalizers 108 generally provide an optimal balance between cost and stability and thus are used in the read-detect channels 100 of many current tape drives. More taps may increase the cost of the FIR equalizer 108 while providing little additional benefit in terms of signal-to-noise ratio (SNR). Fewer taps may decrease the cost of the FIR equalizer 108 but undesirably reduce the SNR.
- SNR signal-to-noise ratio
- the disclosed FIR equalizer 108 is not limited to seventeen taps but may include more or fewer taps as needed. Furthermore, the methodology disclosed herein is not limited to FIR equalizers 108 having seventeen taps but may be used with FIR equalizers 108 having any number of taps. A FIR equalizer 108 that is physically different from, but functionally equivalent to, the FIR equalizer 108 illustrated in Figure 2 is shown in
- certain tap coefficients of the FIR equalizer 108 may be allowed to vary. Based upon the signals read from the magnetic tape 104, the read-detect channel 100 may adjust the equalization of the read-back signal by modifying the tap coefficients.
- One drawback of this approach is that, if the wrong tap coefficients are allowed to vary, the tap coefficients may vary in a way that actually worsens the signal-to-noise ratio. In some cases, the tap coefficients may vary in such a way that data on the magnetic tape 104 can no longer be detected.
- an improved method is needed to correctly select which tap coefficients of a FIR equalizer 108 to fix, thereby also selecting the tap coefficients of the FIR equalizer 108 that are allowed to vary.
- such a method will enable the FIR equalizer 108 to more consistently converge to an optimal configuration that improves the signal-to-noise ratio of the data being read.
- One embodiment of such a method will be described in association with Figure 4.
- FIG 4 one embodiment of an improved method 400 for selecting which tap coefficients of a FIR equalizer 108 to fix is illustrated. As shown, the method 400 begins by performing 402 an initial calibration procedure to determine initial values for the FIR's tap coefficients.
- the initial calibration is performed 402 by reading calibration data on magnetic tape 104 and setting the tap coefficients to maximize the signal-to-noise ratio of the calibration data. In other embodiments, the initial calibration is performed 402 by simply setting the tap coefficients to values read from the magnetic tape 104 or another location.
- the first waveform may then be convolved 406 with a Sine function to provide a second waveform that is a modified version of the first waveform.
- One or more lobes of the second waveform may then be identified 408 by identifying zero crossings of the second waveform.
- the absolute value (i.e., magnitude) of the second waveform is determined to facilitate computing the power of each lobe.
- the method 400 may then integrate 410 across each lobe to determine each lobe's power (i.e., area).
- the power of each lobe is determined by taking the magnitude of every sample within the lobe and summing them together.
- One or more adjacent lobes having the greatest power may then be selected 412. In one
- two adjacent lobes having the greatest power may be selected 412.
- the method 400 may then determine 414 which tap or taps are closest to the lobe(s) with the greatest power. For example, when applying the methodology 400 to a FIR equalizer 108 having seventeen taps, the method 400 may determine 414 the three or four adjacent taps that are closest to the lobe(s) with the greatest power. The method 400 may then fix 416 the coefficients of these taps while allowing the coefficients of the other taps to vary.
- Figures 5A through 7C show the application of the methodology 400 to a first real- world FIR equalizer 108;
- Figures 6A through 6C show the application of the methodology 400 to a second real- world FIR equalizer 108;
- Figures 7A through 7C show the application of the methodology 400 to a third real-world FIR equalizer 108.
- the methodology 400 successfully identified fixed tap coefficients that resulted in a stable FIR equalizer 108.
- FIG. 5 A a table 510 showing the initial tap coefficients for a first exemplary FIR equalizer 108 is illustrated.
- the initial tap coefficients are listed vertically along the left-hand side of the table 510.
- the initial seventeen tap coefficients were upsampled by eight to yield 136 coefficients. These 136 coefficients were then used to produce a first waveform 500, as shown in Figure 5B.
- the magnitude of the spikes of the first waveform 500 represent the magnitude of the coefficients listed in Figure 5A.
- the portion of the waveform 500 between the spikes is representative of the additional samples (i.e., zeros) generated during the upsampling step 404.
- the first waveform is convolved 406 with a sine function to generate a second waveform 502 that represents a modified version of the first waveform.
- the second waveform 502 includes multiple "lobes."
- a "lobe” is defined to be a portion of a waveform between zero crossings.
- Figure 5C shows the magnitude of the lobes of the second waveform 502.
- the methodology 400 integrates each lobe to determine its power. It should be recognized that the integration may be performed on the second waveform 502 illustrated in Figure 5B or the waveform representing the magnitude of the second waveform 502 as illustrated in Figure 5C (for the purposes of this
- each of the waveforms illustrated in Figures 5B and 5C are considered to be different variations of the "second waveform 502").
- One of more lobes having the greatest power may then be selected 412.
- the two largest lobes 504a, 504b are selected.
- the methodology 400 determines which tap or taps are closest to the lobes with the greatest power.
- the four taps that are closest to the lobes 504a, 504b include taps 7, 8, 9, and 10.
- the coefficients H7, H8, H9, and H10 would be fixed using the methodology 400 described in Figure 4, as indicated in bold.
- the instant inventors tested the first real- world FIR equalizer 108 and found that the FIR equalizer 108 converged (i.e., was stable) for three sets of four fixed tap coefficients.
- the three sets of coefficients are shown in the table 510 of Figure 5 A. More specifically, the sets [H7, H8, H9, H10], [H8, H9, H10, Hl l], and [H9, H10, Hl l, H12] were each found to produce a stable FIR equalizer 108 when fixed. As shown, one of the sets ([H7, H8, H9, H10]) was the same as that determined by the methodology 400. Thus, the test confirmed the ability of the above-described methodology 400 to select a correct set of fixed tap coefficients for the first FIR equalizer 108.
- FIG. 6 A a table 610 showing the initial tap coefficients for a second exemplary FIR equalizer 108 is illustrated.
- the initial tap coefficients are listed vertically along the left-hand side of the table 610.
- the initial seventeen tap coefficients were upsampled by eight to yield 136 coefficients.
- the 136 coefficients were then used to produce a first waveform 600, as shown in Figure 6B.
- the first waveform 600 was then convolved 406 with a sine function to generate a second waveform 602 comprising multiple lobes. Each lobe was then integrated to determine its power (i.e., area).
- the two largest lobes 604a, 604b were selected and the four taps closest to the lobes 604a, 604b were determined.
- the four taps closest to the lobes 604a, 604b were taps 4, 5, 6, and 7.
- the coefficients H4, H5, H6, and H7 were fixed using the methodology 400, as indicated in bold.
- the three sets of tap coefficients are shown in the table 610 of Figure 6A. More specifically, the sets [H4, H5, H6, H7], [H5, H6, H7, H8], and [H6, H7, H8, H9] were each found to produce a stable FIR equalizer 108. As shown, one of the sets ([H4, H5, H6, H7]) was the same as that determined by the methodology 400. Thus, this test confirmed the ability of the above-described methodology 400 to select a correct set of fixed tap coefficients for the second exemplary FIR equalizer 108.
- FIG. 7 A a table 710 showing the initial tap coefficients for a third exemplary FIR equalizer 108 is illustrated.
- the initial tap coefficients are listed vertically along the left-hand side of the table 710.
- the initial seventeen tap coefficients were upsampled by eight to yield 136 coefficients.
- the 136 coefficients were then used to produce a first waveform 700, as shown in Figure 7B.
- the first waveform 700 was then convolved 406 with a sine function to generate a second waveform 702 comprising multiple lobes. Each lobe was then integrated to determine its power (i.e., area).
- the two largest lobes 704a, 704b were selected and the four taps closest to the largest lobes 704a, 704b were determined.
- the four taps that were closest to the lobes 704a, 704b were taps 2, 3, 4, and 5.
- the coefficients H2, H3, H4, and H5 were fixed using the methodology 400, as indicated in bold type.
- the three sets of tap coefficients are shown in the table 710 of Figure 7 A. More specifically, the sets [H2, H3, H4, H5], [H3, H4, H5, H6], and [H4, H5, H6, H7] were each found to stabilize the FIR equalizer 108. As shown, one of the sets ([H2, H3, H4, H5]) was the same as that determined by the methodology 400. Thus, this test also confirmed the ability of the above-described methodology 400 to select a correct set of fixed tap coefficients for the third exemplary FIR equalizer 108.
- the methodology 400 determines the single largest lobe and fixes the coefficients of the closest three or four taps with respect to the single largest lobe. In another embodiment, more than two adjacent largest lobes are determined and the coefficients of a tap or group of taps closest to the group of largest lobes are fixed. Other variations are possible and within the scope of the invention.
- each block in the flowcharts and/or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).
- the functions noted in a block may occur in a different order than that illustrated in the Figures.
- two blocks shown in succession may, in fact, be implemented in the reverse order, depending upon the functionality involved.
Abstract
Description
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Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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DE112012004886.5T DE112012004886B4 (en) | 2011-11-23 | 2012-11-09 | Setting Tap Coefficients on a Programmable Equalizer with Finite Impulse Response |
JP2014542959A JP2014534785A (en) | 2011-11-23 | 2012-11-09 | Method, apparatus and computer program product for selecting which tap coefficients of a programmable finite impulse response equalizer should be fixed (fixing tap coefficients of a programmable finite impulse response equalizer) |
CN201280056865.9A CN103959378B (en) | 2011-11-23 | 2012-11-09 | For fixing the method and apparatus of tap coefficient in finite impulse response equalizer |
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US13/304,227 US8625226B2 (en) | 2011-11-23 | 2011-11-23 | Fixing tap coefficients in a programmable finite-impulse-response equalizer |
US13/304,227 | 2011-11-23 |
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PCT/IB2012/056274 WO2013076612A1 (en) | 2011-11-23 | 2012-11-09 | Fixing tap coefficients in a programmable finite-impulse-response equalizer |
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JP (1) | JP2014534785A (en) |
CN (1) | CN103959378B (en) |
DE (1) | DE112012004886B4 (en) |
GB (1) | GB2496935B (en) |
WO (1) | WO2013076612A1 (en) |
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US8867154B1 (en) * | 2013-05-09 | 2014-10-21 | Lsi Corporation | Systems and methods for processing data with linear phase noise predictive filter |
US9159358B1 (en) | 2014-07-14 | 2015-10-13 | International Business Machines Corporation | Asynchronous asymmetry compensation for data read from a storage medium |
US9236084B1 (en) | 2014-07-17 | 2016-01-12 | International Business Machines Corporation | Dynamic gain control for use with adaptive equalizers |
US9324364B2 (en) | 2014-07-17 | 2016-04-26 | International Business Machines Corporation | Constraining FIR filter taps in an adaptive architecture |
US10669091B2 (en) | 2015-03-06 | 2020-06-02 | International Business Machines Corporation | Automated health product dispensary library |
TWI699090B (en) * | 2019-06-21 | 2020-07-11 | 宏碁股份有限公司 | Signal processing apparatus, signal processing method and non-transitory computer-readable recording medium |
US20210126764A1 (en) * | 2019-10-29 | 2021-04-29 | International Business Machines Corporation | Time dependent line equalizer for data transmission systems |
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CN1860546A (en) * | 2003-09-29 | 2006-11-08 | 索尼株式会社 | Itr data reproduction device, recording/reproduction system, and interpolation filter |
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EP0363551B1 (en) * | 1988-10-17 | 1994-12-07 | International Business Machines Corporation | Adaptive equalization for recording systems using partial-response signaling |
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US6523052B1 (en) | 1998-12-31 | 2003-02-18 | Texas Instruments Incorporated | Method and architecture to facilitate achieving a fast EPR4 equalization start-up in a magnetic recording read channel |
JP3611472B2 (en) | 1999-02-02 | 2005-01-19 | 松下電器産業株式会社 | Adaptive equalization circuit |
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JP3928332B2 (en) * | 2000-05-11 | 2007-06-13 | 株式会社日立製作所 | Adaptive equalization circuit |
KR20060107536A (en) | 2003-11-18 | 2006-10-13 | 소니 가부시끼 가이샤 | Reproduction device and method, recording medium, and program |
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- 2012-11-09 DE DE112012004886.5T patent/DE112012004886B4/en active Active
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- 2012-11-09 CN CN201280056865.9A patent/CN103959378B/en active Active
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CN1306703A (en) * | 1999-05-31 | 2001-08-01 | 松下电器产业株式会社 | Receiving device and method of generating replica signal |
CN1860546A (en) * | 2003-09-29 | 2006-11-08 | 索尼株式会社 | Itr data reproduction device, recording/reproduction system, and interpolation filter |
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JP2014534785A (en) | 2014-12-18 |
DE112012004886T5 (en) | 2014-09-11 |
CN103959378A (en) | 2014-07-30 |
GB2496935B (en) | 2014-01-29 |
GB201214206D0 (en) | 2012-09-19 |
US8625226B2 (en) | 2014-01-07 |
GB2496935A (en) | 2013-05-29 |
DE112012004886B4 (en) | 2016-06-23 |
CN103959378B (en) | 2016-11-16 |
US20130128374A1 (en) | 2013-05-23 |
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