Beyond Chebyshev technology. Alex Townsend MIT
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1 Beyond Chebyshev technology Strthclyde, 25th June th Biennil Numericl Anlysis Conference Alex Townsend MIT Joint work with Nick Hle nd Sheehn Olver
2 Beyond Chebyshev technology Strthclyde, 25th June th Biennil Numericl Anlysis Conference Alex Townsend MIT Joint work with Nick Hle nd Sheehn Olver
3 Beyond Chebyshev technology Strthclyde, 25th June th Biennil Numericl Anlysis Conference Alex Townsend MIT Joint work with Nick Hle nd Sheehn Olver
4 Introduction Chebfun stnds for Chebyshev fun Chebfun = Chebyshev fun Chebyshev technology: A powerful pproch for numericlly computing with functions It is bsed on (piecewise) polynomil interpoltion t Chebyshev points nd Chebyshev polynomils: x j cospjπ{nq, ď j ď n, T k pxq cospk cos xq There exist fst, ccurte lgorithms for integrtion, differentition, rootfinding, minimiztion, solution of ODEs, etc Alex MIT 1/17
5 Introduction Chebyshev technology is powerful Chebyshev interpolnt of fpxq: n ÿ f px q «pn px q ck T k p x q, pn pxj q f pxj q, xj chebpts k Powerful concepts: FFT, brycentric formul, collegue mtrix, colloction SIAM digit chllenge problem v y [Trefethen, 2] Alex MIT Computing sphericl choreogrphies Inverse trnsform smpling x [Olver & T, 14] -2-2 [Montnelli & Gushterov, 15] 2/17
6 Introduction Chebyshev technology cn lso bring us together Chebyshev technology cn lso bring us together My friends: «45 peer-reviewed publictions, «5 essys, nd book clled ATAP Alex MIT 3/17
7 Introduction Chrcters: Stndrd orthogonl polynomils on r, 1s Nme Nottion wpxq Chebyshev polynomils (of 1st kind) T k pxq p1 x 2 q{2 Chebyshev polynomils (of 2nd kind) U k pxq p1 x 2 q 1{2 Legendre polynomils P k pxq 1 Ultrsphericl polynomils C pλq k pxq p1 x 2 q λ{2 Fst trnsforms now vilble for Legendre nd ultrsphericl technology [Hle & T, 214], [Hle & T, 215] Alex MIT 4/17
8 Introduction Tlk overview nd trivil exmple Fct: Chebyshev polynomils stisfy: T j pxqt k pxq 1 x 2 dx $ & π, j k, π{2, j k ą, %, j k Inconvenience: The 1st coeff of Chebyshev series is treted s specil: fpxq 1 2 T pxq ` 8ÿ k T k pxq, k 1 k 2 π Alterntive: Chebyshev polynomils of the 2nd kind: ż # 1 π{2, j k, U j pxqu k pxq 1 x 2 dx, j k Results: Sves your snity nd voids mistkes fpxqt k pxq 1 x 2 dx Alex MIT 5/17
9 Introduction Tlk overview nd trivil exmple Fct: Chebyshev polynomils stisfy: T j pxqt k pxq 1 x 2 dx $ & π, j k, π{2, j k ą, %, j k Inconvenience: The 1st coeff of Chebyshev series is treted s specil: fpxq 1 2 T pxq ` 8ÿ k T k pxq, k 1 k 2 π Alterntive: Chebyshev polynomils of the 2nd kind: ż # 1 π{2, j k, U j pxqu k pxq 1 x 2 dx, j k Results: Sves your snity nd voids mistkes fpxqt k pxq 1 x 2 dx Alex MIT 5/17
10 Introduction Tlk overview nd trivil exmple Fct: Chebyshev polynomils stisfy: T j pxqt k pxq 1 x 2 dx $ & π, j k, π{2, j k ą, %, j k Inconvenience: The 1st coeff of Chebyshev series is treted s specil: fpxq 1 2 T pxq ` 8ÿ k T k pxq, k 1 k 2 π Alterntive: Chebyshev polynomils of the 2nd kind: ż # 1 π{2, j k, U j pxqu k pxq 1 x 2 dx, j k Results: Sves your snity nd voids mistkes fpxqt k pxq 1 x 2 dx Alex MIT 5/17
11 Introduction Tlk overview nd trivil exmple Fct: Chebyshev polynomils stisfy: T j pxqt k pxq 1 x 2 dx $ & π, j k, π{2, j k ą, %, j k Inconvenience: The 1st coeff of Chebyshev series is treted s specil: fpxq 1 2 T pxq ` 8ÿ k T k pxq, k 1 k 2 π Alterntive: Chebyshev polynomils of the 2nd kind: ż # 1 π{2, j k, U j pxqu k pxq 1 x 2 dx, j k Results: Sves your snity nd voids mistkes fpxqt k pxq 1 x 2 dx Alex MIT 5/17
12 Introduction Tlk overview nd trivil exmple Fct: Chebyshev polynomils stisfy: T j pxqt k pxq 1 x 2 dx $ & π, j k, π{2, j k ą, %, j k Inconvenience: The 1st coeff of Chebyshev series is treted s specil: fpxq 1 2 T pxq ` 8ÿ k T k pxq, k 1 k 2 π Alterntive: Chebyshev polynomils of the 2nd kind: ż # 1 π{2, j k, U j pxqu k pxq 1 x 2 dx, j k Results: Sves your snity nd voids mistkes fpxqt k pxq 1 x 2 dx Alex MIT 5/17
13 Introduction Tlk overview nd trivil exmple Fct: Chebyshev polynomils stisfy: T j pxqt k pxq 1 x 2 dx $ & π, j k, π{2, j k ą, %, j k Inconvenience: The 1st coeff of Chebyshev series is treted s specil: fpxq 1 2 T pxq ` 8ÿ k T k pxq, k 1 k 2 π Alterntive: Chebyshev polynomils of the 2nd kind: ż # 1 π{2, j k, U j pxqu k pxq 1 x 2 dx, j k Results: Sves your snity nd voids mistkes fpxqt k pxq 1 x 2 dx Alex MIT 5/17
14 Introduction Tlk overview nd trivil exmple Fct: Chebyshev polynomils stisfy: T j pxqt k pxq 1 x 2 dx $ & π, j k, π{2, j k ą, %, j k Inconvenience: The 1st coeff of Chebyshev series is treted s specil: fpxq 1 2 T pxq ` 8ÿ k T k pxq, k 1 k 2 π Alterntive: Chebyshev polynomils of the 2nd kind: ż # 1 π{2, j k, U j pxqu k pxq 1 x 2 dx, j k Results: Sves your snity nd voids mistkes fpxqt k pxq 1 x 2 dx Alex MIT 5/17
15 Introduction Tlk overview nd trivil exmple Fct: Chebyshev polynomils stisfy: T j pxqt k pxq 1 x 2 dx $ & π, j k, π{2, j k ą, %, j k Inconvenience: The 1st coeff of Chebyshev series is treted s specil: fpxq 1 2 T pxq ` 8ÿ k T k pxq, k 1 k 2 π Alterntive: Chebyshev polynomils of the 2nd kind: ż # 1 π{2, j k, U j pxqu k pxq 1 x 2 dx, j k Results: Sves your snity nd voids mistkes fpxqt k pxq 1 x 2 dx Alex MIT 5/17
16 Introduction Tlk overview nd trivil exmple Fct: Chebyshev polynomils stisfy: T j pxqt k pxq 1 x 2 dx $ & π, j k, π{2, j k ą, %, j k Inconvenience: The 1st coeff of Chebyshev series is treted s specil: fpxq 1 2 T pxq ` 8ÿ k T k pxq, k 1 k 2 π Alterntive: Chebyshev polynomils of the 2nd kind: ż # 1 π{2, j k, U j pxqu k pxq 1 x 2 dx, j k Results: Sves your snity nd voids mistkes fpxqt k pxq 1 x 2 dx Alex MIT 5/17
17 Exmple 1 Convolution Fct: The Fourier trnsform of T k pxq is complicted: T k pxqe iωx dx complicted, [Foks & Smithemn, 12] Inconvenience: Convolution cnnot be bsed on the convolution theorem: hpxq pf gqpxq ż minp1,x`1q mxp,xq fptqgpx tqdt 1 t ÝÑ ÝÑ x 2 2 Qudrture is expensive Alex MIT 6/17
18 Exmple 1 Convolution Fct: The Fourier trnsform of T k pxq is complicted: T k pxqe iωx dx complicted, [Foks & Smithemn, 12] Inconvenience: Convolution cnnot be bsed on the convolution theorem: hpxq pf gqpxq ż minp1,x`1q mxp,xq fptqgpx tqdt 1 t ÝÑ ÝÑ x 2 2 Qudrture is expensive Alex MIT 6/17
19 Exmple 1 Convolution Fct: The Fourier trnsform of T k pxq is complicted: T k pxqe iωx dx complicted, [Foks & Smithemn, 12] Inconvenience: Convolution cnnot be bsed on the convolution theorem: hpxq pf gqpxq ż minp1,x`1q mxp,xq fptqgpx tqdt 1 t ÝÑ ÝÑ x 2 2 Qudrture is expensive Alex MIT 6/17
20 Exmple 1 Convolution Fct: The Fourier trnsform of T k pxq is complicted: T k pxqe iωx dx complicted, [Foks & Smithemn, 12] Inconvenience: Convolution cnnot be bsed on the convolution theorem: hpxq pf gqpxq ż minp1,x`1q mxp,xq fptqgpx tqdt 1 t ÝÑ ÝÑ x 2 2 Qudrture is expensive Alex MIT 6/17
21 Exmple 1 Convolution Fct: The Fourier trnsform of T k pxq is complicted: T k pxqe iωx dx complicted, [Foks & Smithemn, 12] Inconvenience: Convolution cnnot be bsed on the convolution theorem: hpxq pf gqpxq ż minp1,x`1q mxp,xq fptqgpx tqdt 1 t ÝÑ ÝÑ x 2 2 Qudrture is expensive Alex MIT 6/17
22 Exmple 1 Convolution (cont) Alterntive: The Fourier trnsform of P k pxq is convenient [Hle & T, 214]: P k pxqe iωx dx 2p iq k j k pωq, where j k pωq sphericl Bessel function Theorem (Convolution theorem) Let m nd n be integers Then, rdlmf, p181719qs, pp m P n qpxq 2p iqm`n π ż 8 8 f nd g in P k bsis j m pωqj n pωqe iωx, Fourier trnsform j m pωq sphericl Bessel ˆf nd ĝ in j k bsis f g in P k bsis Inverse trnsform ˆf ˆ ĝ in j k bsis Alex MIT 7/17
23 Exmple 1 Convolution (cont) Alterntive: The Fourier trnsform of P k pxq is convenient [Hle & T, 214]: P k pxqe iωx dx 2p iq k j k pωq, where j k pωq sphericl Bessel function Theorem (Convolution theorem) Let m nd n be integers Then, rdlmf, p181719qs, pp m P n qpxq 2p iqm`n π ż 8 8 f nd g in P k bsis j m pωqj n pωqe iωx, Fourier trnsform j m pωq sphericl Bessel ˆf nd ĝ in j k bsis f g in P k bsis Inverse trnsform ˆf ˆ ĝ in j k bsis Alex MIT 7/17
24 Exmple 1 Convolution (cont) Alterntive: The Fourier trnsform of P k pxq is convenient [Hle & T, 214]: P k pxqe iωx dx 2p iq k j k pωq, where j k pωq sphericl Bessel function Theorem (Convolution theorem) Let m nd n be integers Then, rdlmf, p181719qs, pp m P n qpxq 2p iqm`n π ż 8 8 f nd g in P k bsis j m pωqj n pωqe iωx, Fourier trnsform j m pωq sphericl Bessel ˆf nd ĝ in j k bsis f g in P k bsis Inverse trnsform ˆf ˆ ĝ in j k bsis Alex MIT 7/17
25 Exmple 1 Convolution (cont) Alterntive: The Fourier trnsform of P k pxq is convenient [Hle & T, 214]: P k pxqe iωx dx 2p iq k j k pωq, where j k pωq sphericl Bessel function Theorem (Convolution theorem) Let m nd n be integers Then, rdlmf, p181719qs, pp m P n qpxq 2p iqm`n π ż 8 8 f nd g in P k bsis j m pωqj n pωqe iωx, Fourier trnsform j m pωq sphericl Bessel ˆf nd ĝ in j k bsis f g in P k bsis Inverse trnsform ˆf ˆ ĝ in j k bsis Alex MIT 7/17
26 Exmple 1 Convolution (cont) Alterntive: The Fourier trnsform of P k pxq is convenient [Hle & T, 214]: P k pxqe iωx dx 2p iq k j k pωq, where j k pωq sphericl Bessel function Theorem (Convolution theorem) Let m nd n be integers Then, rdlmf, p181719qs, pp m P n qpxq 2p iqm`n π ż 8 8 f nd g in P k bsis j m pωqj n pωqe iωx, Fourier trnsform j m pωq sphericl Bessel ˆf nd ĝ in j k bsis f g in P k bsis Inverse trnsform ˆf ˆ ĝ in j k bsis Alex MIT 7/17
27 Exmple 1 Convolution (cont) Results: Computtionl timings Qudrture New Mollifiction of rough signls Computtion time OpN 3 q OpN 2 q N Now used in the conv(f, g) commnd in Chebfun Alex MIT 8/17
28 Exmple 2 Solving differentil equtions Fct: The derivtive of Chebyshev polynomil stisfies: T 1 k pxq # 2k ř k j odd T jpxq, k even, 2k ř k j even T jpxq 1, k odd Inconvenience: The Chebyshev-tu spectrl method leds to dense mtrices For exmple, du dx ` 4xu upq c, ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ u u 1 u 2 u n c Alex MIT 9/17
29 Exmple 2 Solving differentil equtions Fct: The derivtive of Chebyshev polynomil stisfies: T 1 k pxq # 2k ř k j odd T jpxq, k even, 2k ř k j even T jpxq 1, k odd Inconvenience: The Chebyshev-tu spectrl method leds to dense mtrices For exmple, du dx ` 4xu upq c, ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ u u 1 u 2 u n c Alex MIT 9/17
30 Exmple 2 Solving differentil equtions Fct: The derivtive of Chebyshev polynomil stisfies: T 1 k pxq # 2k ř k j odd T jpxq, k even, 2k ř k j even T jpxq 1, k odd Inconvenience: The Chebyshev-tu spectrl method leds to dense mtrices For exmple, du dx ` 4xu upq c, ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ u u 1 u 2 u n c Alex MIT 9/17
31 Exmple 2 Solving differentil equtions Fct: The derivtive of Chebyshev polynomil stisfies: T 1 k pxq # 2k ř k j odd T jpxq, k even, 2k ř k j even T jpxq 1, k odd Inconvenience: The Chebyshev-tu spectrl method leds to dense mtrices For exmple, du dx ` 4xu upq c, ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ u u 1 u 2 u n c Alex MIT 9/17
32 Exmple 2 Solving differentil equtions (cont) Alterntive: Let differentition convert to ultrsphericl bses [Olver & T, 213] T 1 k pxq kcp1q k pxq, T 2 k pxq 2kCp2q k 2 pxq, T 3 k pxq 8kCp3q k 3 pxq For exmple, du dx ` 4xu upq c, pq n n 3 1 n 2 1 n 1 u u 1 u 2 u n c Alex MIT 1/17
33 Exmple 2 Solving differentil equtions (cont) Alterntive: Let differentition convert to ultrsphericl bses [Olver & T, 213] T 1 k pxq kcp1q k pxq, T 2 k pxq 2kCp2q k 2 pxq, T 3 k pxq 8kCp3q k 3 pxq For exmple, du dx ` 4xu upq c, pq n n 3 1 n 2 1 n 1 u u 1 u 2 u n c Alex MIT 1/17
34 Exmple 2 Solving differentil equtions (cont) Alterntive: Let differentition convert to ultrsphericl bses [Olver & T, 213] T 1 k pxq kcp1q k pxq, T 2 k pxq 2kCp2q k 2 pxq, T 3 k pxq 8kCp3q k 3 pxq For exmple, du dx ` 4xu upq c, pq n n 3 1 n 2 1 n 1 u u 1 u 2 u n c Alex MIT 1/17
35 Exmple 2 Solving differentil equtions (cont) Results: [Olver & T, 213], [T & Olver, 215] u 1 pxq ` x 3 upxq 1 sinp2,x 2 q, upq 2 u ` 5p2 yqu, u BΩ u(x) degree(u) = 2391 time = 155s time 121s x Alex MIT 11/17
36 Exmple 2 Solving differentil equtions (future work) Results (in the pipeline, perhps?): 2 u ` 5p1 yqu, Ω penrose, u BΩ Using n extension of Hierrchicl Poincre Steklov scheme [Mrtinsson 212] Alex MIT 12/17
37 Exmple 3 Best low rnk pproximtion Fct: Chebyshev polynomils re not orthogonl in the L 2 inner-product: T j pxqt k pxqdx, j k Inconvenience: Tsks connected to L 2 -orthogonlity re wkwrd nÿ Best lest squres poly pprox: }fpxq c k T k pxq} L 2 min Best low-rnk pproximtion: }f px, yq k rÿ σ j u j pyqv j pxq} L 2 min j 1 Alex MIT 13/17
38 Exmple 3 Best low rnk pproximtion Fct: Chebyshev polynomils re not orthogonl in the L 2 inner-product: T j pxqt k pxqdx, j k Inconvenience: Tsks connected to L 2 -orthogonlity re wkwrd nÿ Best lest squres poly pprox: }fpxq c k T k pxq} L 2 min Best low-rnk pproximtion: }f px, yq k rÿ σ j u j pyqv j pxq} L 2 min j 1 Alex MIT 13/17
39 Exmple 3 Best low rnk pproximtion Fct: Chebyshev polynomils re not orthogonl in the L 2 inner-product: T j pxqt k pxqdx, j k Inconvenience: Tsks connected to L 2 -orthogonlity re wkwrd nÿ Best lest squres poly pprox: }fpxq c k T k pxq} L 2 min Best low-rnk pproximtion: }f px, yq k rÿ σ j u j pyqv j pxq} L 2 min j 1 Alex MIT 13/17
40 Exmple 3 Best low rnk pproximtion Fct: Chebyshev polynomils re not orthogonl in the L 2 inner-product: T j pxqt k pxqdx, j k Inconvenience: Tsks connected to L 2 -orthogonlity re wkwrd nÿ Best lest squres poly pprox: }fpxq c k T k pxq} L 2 min Best low-rnk pproximtion: }f px, yq k rÿ σ j u j pyqv j pxq} L 2 min j 1 Alex MIT 13/17
41 Exmple 3 Best low rnk pproximtion (cont) Alterntive: The P k pxq bsis is orthogonl wrt the L 2 inner-product: P j pxqp k pxqdx, j k For best lest squres poly pprox of degree n: fpxq 8ÿ k For best low-rnk pproximtion: fpx, yq mÿ j k leg k P k pxq ñ }f nÿ k nÿ C jk P j pyqp k pxq ñ fpx, yq leg P k k pxq} L 2 min rÿ σ j u j pyqv j pxq j 1 loooooooomoooooooon Computed vi the discrete svd of C Alex MIT 14/17
42 Exmple 3 Best low rnk pproximtion (cont) Alterntive: The P k pxq bsis is orthogonl wrt the L 2 inner-product: P j pxqp k pxqdx, j k For best lest squres poly pprox of degree n: fpxq 8ÿ k For best low-rnk pproximtion: fpx, yq mÿ j k leg k P k pxq ñ }f nÿ k nÿ C jk P j pyqp k pxq ñ fpx, yq leg P k k pxq} L 2 min rÿ σ j u j pyqv j pxq j 1 loooooooomoooooooon Computed vi the discrete svd of C Alex MIT 14/17
43 Exmple 3 Best low rnk pproximtion (cont) Alterntive: The P k pxq bsis is orthogonl wrt the L 2 inner-product: P j pxqp k pxqdx, j k For best lest squres poly pprox of degree n: fpxq 8ÿ k For best low-rnk pproximtion: fpx, yq mÿ j k leg k P k pxq ñ }f nÿ k nÿ C jk P j pyqp k pxq ñ fpx, yq leg P k k pxq} L 2 min rÿ σ j u j pyqv j pxq j 1 loooooooomoooooooon Computed vi the discrete svd of C Alex MIT 14/17
44 Exmple 3 Best low rnk function pproximtion (cont) Results: Best lest squres pprox of degree 15 Best rnk 3 pprox fpxq 1 1`1x 2 Alex MIT 15/17
45 Bonus exmple Guss qudrture The rce for high order Guss Legendre qudrture, in SIAM News [T, 14] tic, [x, w] = legpts( 1 ); toc Elpsed time is 1256 seconds tic, [x, w] = legpts( 1 ); toc Elpsed time is 1289 seconds tic, [x, w] = legpts( 1 ); toc Elpsed time is 1418 seconds Similr dvnces in jcpts(), hermpts(), nd lgpts() [Hle & T, 14], [T, Trogdon, & Olver, 15], [Glser, Lui, & Rokhlin, 7] Ignce Bogert Alex MIT 16/17
46 Conclusion nd thnk you using Legendre technology 8% of the time use T k, otherwise use something else Alex MIT 17/17
47 Conclusion nd thnk you using Legendre technology Rnk 1 Rnk 2 Rnk 3 8% of the time use T k, otherwise use something else Rnk 4 Rnk 5 Rnk 15 Alex MIT 17/17
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