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Course 4Book 4A: Function Spaces and Sobolev SpacesChapter 5
The Fourier Transform
Plancherel, Gaussians, uncertainty, and solving the heat equation by frequencies.
Neither Kreyszig nor Brezis covers the Fourier transform. Read Stein and Shakarchi, Fourier Analysis: An Introduction, chapters 5–6 (the Fourier transform on and on ), which uses the same normalisation as this guidebook; or Evans, Partial Differential Equations, §4.3.1, which uses a different one (see the note below).
2B.7 Fourier Series and the First Heat Equation broke periodic functions into frequencies , , and solved the heat equation on a ring frequency by frequency. On there is no period, so every real frequency is needed, and the Fourier series becomes the Fourier transform
It turns differentiation into multiplication by , so constant-coefficient differential equations become algebra; it turns convolution into multiplication; it is an isometry of (Plancherel); and it maps the Gaussian to itself. With it, the heat equation on is solved in three lines, and "having derivatives in " becomes "having a Fourier transform that decays", the idea behind the Sobolev spaces of 4A.9 Sobolev Spaces.
Normalisation. This guidebook uses , as Stein and Shakarchi do (fixed in the front matter, P.5). With it, Plancherel and the inversion formula have no constants, and is its own transform. Evans uses ; to convert, set , so his equals times ours at . Physicists often omit the in the exponent and put a in front of the inverse transform.
By the end of this chapter you will be able to:
- compute Fourier transforms, including the Gaussian's, and use the dictionary between operations on and on ;
- prove the inversion formula and Plancherel's theorem, and the Poisson summation formula;
- state and prove the uncertainty principle;
- measure smoothness by the decay of , and prove that when ;
- solve the heat equation on by Fourier transform and recover the heat kernel.
An image measured in frequency
A magnetic resonance imaging scanner doesn't photograph the body. In a strong magnetic field, hydrogen nuclei precess at a frequency proportional to the field strength. Adding a magnetic field gradient makes that frequency depend on position, so the signal received from a slice, in the simplest model (ignoring relaxation and noise), is
the Fourier transform of the density of hydrogen nuclei, at a spatial frequency that the scanner steers by switching the gradients. The scanner thus samples on a grid in "-space", and the image is computed by an inverse discrete Fourier transform. Paul Lauterbur and Peter Mansfield shared the 2003 Nobel Prize in Physiology or Medicine for the development of MRI.
The mathematics of this chapter predicts what the images look like. Sampling -space on a grid of spacing makes the reconstructed image periodic with period , so if the field of view is too small, parts of the body outside it wrap around into the image (aliasing, the Poisson summation formula below). Sampling only low frequencies gives a blurred image; sampling only high frequencies keeps the edges and loses the overall brightness (Figure 5.1). And since the scan time is proportional to the number of samples, a large research effort goes into reconstructing images from fewer samples than the grid requires.
The Fourier transform on
For the integral defining converges absolutely, so , and by dominated convergence is continuous. More is true: as (the Riemann–Lebesgue lemma). For the indicator of a box it is a direct computation; for general , approximate in by finite combinations of box indicators (3A.7 Lᵖ Spaces and Jensen’s Inequality) and use .
The transform turns structure on one side into different structure on the other. Each line is a change of variables or an integration by parts (Exercise 5.7):
| (translate) | (modulate) |
| , (dilate) | |
| (differentiate) | |
| (convolve) | (multiply) |
The third line is the reason the transform exists. A constant-coefficient differential operator becomes multiplication by the polynomial , so the equation becomes , wherever that makes sense. The Laplacian becomes multiplication by .
The second line is the scaling of thread S: concentrating (large ) spreads out by the same factor. A function and its transform can't both be concentrated, which is the uncertainty principle below.
The Gaussian
For on , . More generally, for , the transform of is .
Proof. By Tonelli and Fubini (3A.5 Product Measures and Change of Variables), and the transform factorises, so take . Then . Transform both sides using the dictionary: , that is, . So satisfies the same differential equation as , and (3A.5 Product Measures and Change of Variables). By uniqueness for (2B.6 Power Series, Exponentials and Bump Functions), . (Differentiating under the integral sign is justified by domination by , 3A.3 The Lebesgue Integral.) The general case follows by dilation with .
Inversion and Plancherel
The natural setting is the Schwartz class : smooth functions that, together with all their derivatives, decay faster than any power of . Gaussians and smooth compactly supported functions belong to it. By the dictionary, the Fourier transform maps to itself: decay of gives smoothness of , and smoothness of gives decay of .
The key lemma moves the transform from one factor to another: for ,
(both equal , by Fubini).
For , .
Proof. Insert a Gaussian damping factor and remove it in the limit. For let . By the Gaussian computation and the dictionary, , a Gaussian approximate identity centred at (3A.8 Convolution and Mollifiers). By ,
As the left side tends to by dominated convergence (), and the right side to , since is continuous and bounded.
So the inverse transform is the same operation with the sign of the exponent changed. Combined with and the conjugation rule , inversion gives the most important property of the transform.
For , , and in particular . The Fourier transform therefore extends uniquely to a bijective isometry of .
Proof. Apply with replaced by , whose transform is by inversion. Then the transform is an isometry on the dense subspace of (3A.8 Convolution and Mollifiers), so it extends by continuity to (Exercise 5.9); the inverse transform extends the same way, so the extension is onto.
For that isn't integrable, is defined as an limit, for instance in , not by the integral formula. Plancherel is the continuous analogue of Parseval's identity for Fourier series (2B.7 Fourier Series and the First Heat Equation), and like it says that energy can be computed in either domain.
Poisson summation
The Fourier series of 2B.7 Fourier Series and the First Heat Equation and the transform of this chapter are linked by a formula that was promised there.
For , , and in particular .
Proof. The left side converges uniformly with all derivatives (rapid decay), and is -periodic. Its Fourier coefficients are
splitting into the intervals . A smooth periodic function equals its Fourier series (2B.7 Fourier Series and the First Heat Equation).
Applied to the heat kernel , whose transform is (Gaussian with ), it gives
the periodic heat kernel of 2B.7 Fourier Series and the First Heat Equation is the Gaussian heat kernel of the line wrapped around the circle, and in particular it is positive. The same formula, in -space, explains MRI aliasing: sampling at spacing reconstructs , the image plus its translates.
The uncertainty principle
For ,
with equality exactly for Gaussians , .
Proof. Integrate by parts: , so by Cauchy–Schwarz. By Plancherel and the dictionary, . Equality in Cauchy–Schwarz requires for a real , which gives Gaussians.
If and are thought of as probability densities (after normalising), and measure their spreads about , and the inequality says the spreads can't both be small. In quantum mechanics, with restoring the units, it is the uncertainty relation between position and momentum.
A pure tone lasting a long time is a long wave train, and its transform is concentrated near one frequency: we hear a definite pitch. A short click, lasting a millisecond, has a transform spread over a band of width about a kilohertz, so it has no definite pitch: we hear a percussive sound. Musicians meet the same limit as a trade-off between rhythm and pitch: a note too short can't be heard as clearly in tune. Spectrogram software, which shows how the frequency content of a sound changes in time, has to choose a window length, and the uncertainty principle says it can't have fine resolution in time and in frequency at once. Dennis Gabor analysed this trade-off for communication signals in 1946 and showed that Gaussian-windowed wave packets achieve the minimum.
Smoothness is decay
The dictionary says , so by Plancherel, has derivatives in exactly when . That suggests measuring smoothness, even fractional smoothness, by decay:
For this is equivalent to (exactly, ). The Sobolev spaces of 4A.9 Sobolev Spaces are defined by derivatives; for this Fourier definition agrees with them, and makes some of their properties a one-line computation.
If and , then , and is (equal almost everywhere to) a bounded continuous function, with .
Proof. By Cauchy–Schwarz, , and the first integral converges exactly when (polar coordinates, 3A.5 Product Measures and Change of Variables). Then is the inverse transform of an integrable function, which is bounded by and continuous by dominated convergence.
The threshold is dimensional: in more dimensions, more derivatives are needed to guarantee continuity. That is the first instance of the scaling exponents of 4A.10 Sobolev Embeddings and Critical Exponents, where the same question is answered for -based spaces without Fourier methods.
The heat equation by Fourier transform
Solve on with . Transforming in , the equation becomes, for each frequency separately, the ODE , so
By the Gaussian proposition (with ), is the transform of the heat kernel , and a product of transforms is the transform of a convolution. So , the solution found directly in 3A.8 Convolution and Mollifiers. Every property of heat flow is visible in the factor : high frequencies decay fastest, so the solution is smooth for (Exercise 5.13); the norm decreases (Plancherel); and running the equation backwards would multiply high frequencies by huge factors, so it is ill-posed (2B.7 Fourier Series and the First Heat Equation, 3A.8 Convolution and Mollifiers).
Audio equalisers, spectrum analysers, radio receivers and image compressors compute discrete Fourier transforms of sampled signals millions of times a second. That is possible because of the fast Fourier transform, published by James Cooley and John Tukey in 1965, which computes the transform of samples in about operations instead of . (Gauss had found the same idea around 1805, in unpublished work on asteroid orbits.) An equaliser is exactly the dictionary's convolution rule: boosting or cutting frequency bands is multiplication of by a chosen function, which is convolution of the signal with that function's inverse transform.
The Sobolev spaces (4A.9 Sobolev Spaces, 4A.10 Sobolev Embeddings and Critical Exponents); the heat equation and its kernel on (6A.3 The Heat Equation on ℝⁿ), and the principal symbol of a differential operator, the polynomial of its highest-order terms, which decides whether it is elliptic or parabolic (6A.1 What a PDE Is). In 11A.3 Short-Time Existence and Uniqueness, computing the principal symbol of the Ricci operator shows exactly which directions fail to be parabolic (the directions generated by diffeomorphisms), which is what DeTurck's trick repairs. On a compact manifold there is no Fourier transform, and its role is played by the eigenfunction expansion of the Laplacian (4A.7 Compact Operators and Spectra, 9B.7 The Heat Equation on a Manifold).
History
Fourier introduced integral transforms for heat flow on infinite domains in his 1807 memoir and his 1822 book. Michel Plancherel proved his theorem in 1910. Poisson's summation formula appears in his work of the 1820s. The uncertainty principle was formulated by Werner Heisenberg in 1927 and proved as an inequality by Earle Kennard and Hermann Weyl in 1927–28. Laurent Schwartz introduced the class of rapidly decreasing functions in his theory of distributions around 1950 (4A.8 Distributions and Weak Derivatives). Cooley and Tukey published the fast Fourier transform in 1965. Lauterbur (1973) and Mansfield (in the 1970s) developed spatial encoding by magnetic field gradients, the basis of MRI.
The Fourier transform turns derivatives into multiplications, convolutions into products, and dilations into inverse dilations. The Gaussian is its own transform. On the Schwartz class the transform is inverted by flipping the sign, and it extends to an isometry of (Plancherel). Poisson summation links it to Fourier series. A function and its transform can't both be concentrated (uncertainty). Smoothness is decay of , and for . The heat equation multiplies by , recovering the Gaussian heat kernel. 4A.6 Weak Convergence and the Direct Method returns to the problem of compactness, and recovers it in a weaker sense.
Exercises
Prove the translation, dilation and differentiation rules of the table for , and the convolution rule for .
Show that the transform of is , which is not in . Use Plancherel to show . Explain why a sharp cutoff in frequency (a "brick-wall" filter) produces ringing in time.
Let be a dense subspace of a Banach space , a Banach space, and linear with . Show extends uniquely to an isometry .
Apply Poisson summation to to show for . (This is the functional equation of Jacobi's theta function, which Riemann used to prove the functional equation of the zeta function.) Check it numerically at and .
Solution
by the Gaussian proposition. At the identity is trivially true. At : left ; right .
Show that (with a smooth cutoff equal to near ) is in but is unbounded. So can't be weakened to . (Compute in polar coordinates.)
Check directly that gives equality in the uncertainty principle: compute and .
Let with . Using Plancherel and , show that for every
by maximising over . The factor is forced by parabolic scaling (thread S): scales like , so each derivative costs a factor . Shi's derivative estimates for Ricci flow (11A.3 Short-Time Existence and Uniqueness) have exactly this form, , for exactly this reason.
Solution
. With , the supremum is .
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