1. Introduction
A generic problem in optics and electromagnetics is to design objects in a manner
that allows their scattering response to be engineered. That is, for a set of
incident wave fronts we want to obtain a specified scattered field amplitude. A
prominent example is diffractive optics, which is mainly concerned with designing
and fabricating thin optical elements that modulate the incident wave front in a
single plane [
1
J. N. Mait, “Understanding diffractive optic
design in the scalar domain,” J. Opt.
Soc. Am. A
12, 2145–2158
(1995). [CrossRef]
]. The restriction to thin elements is highly suitable for
lithographic fabrication methods, but prohibits angular selectivity of the response
function. While a number of ad hoc solutions for achieving angular selectivity have
been proposed [
2–5
S. K. Case and W. J. Dallas, “Volume holograms constructed from
computer-generated masks,” Appl. Opt.
17, 2537–2540
(1978). [PubMed]
], the extension to volume elements remains
challenging. In principle, multiplex volume holograms can be used to implement
essentially any desired system response. In practice, however, problems such as low
diffraction efficiency and the experimental burden of the recording process limit
the range of applications. More recent efforts to extend the variety of custom
designed system functions are based on photonic crystals and meta-materials [
6
Y. Fink, J. N. Winn, S. Fan, C. Chen, J. Michel, J. D. Joannopoulos, and E. L. Thomas, “A dielectric omnidirectional
reflector,” Science
282, 1679 – 1682
(1998). [CrossRef] [PubMed]
,
7
A. Alú and N. Engheta, “Optical nanotransmission lines:
synthesis of planar left-handed metamaterials in the infrared and visible
regimes,” J. Opt. Soc. Am. B
23, 571 – 583
(2006). [CrossRef]
], where the three-dimensional (3D) permittivity distribution
is sculptured by manipulating the diffracting structure on a nanoscopic scale. While
comprehensive models of the fabrication techniques used to create nano-photonic
structures reveal a variety of challenges [
8
R. C. Rumpf and E. G. Johnson, “Fully three-dimensional modeling of
the fabrication and behavior of photonic crystals formed by holographic
lithography,” J. Opt. Soc. Am. A
21, 1703 – 1713
(2004). [CrossRef]
,
9
R. Rumpf and E. G. Johnson, “Comprehensive modeling of near-field
nano-patterning,” Opt. Express
13, 7198 – 7208
(2005). [CrossRef] [PubMed]
], experimental work as reached the point, where practical
applications can be considered [
10
A. Mehta, R. C. Rumpf, Z. Roth, and E. G. Johnson, “Nanofabrication of a space-variant
optical transmission filter,” Opt. Lett.
31, 2903 – 2905
(2006). [CrossRef] [PubMed]
].
While the ultimate goal of designing structures that transform any incident wave into
any desired scattered field may not be completely possible, control of scattering
for a subset of incident waves remains a realistic focus. This paper is concerned
primarily with electromagnetic cloaks which disguise or render objects invisible to
an observer by encapsulating it inside a special material that sculpts the scattered
field in an appropriate manner to perform the cloaking function.
Research efforts to address these design problems include a proposal for smart
obstacles [
11
L. Fatone, M.C. Recchioni, and F. Zirilli, “A method to solve an acoustic
inverse scattering problem involving smart
obstacles,” Waves in Random and Complex Media
16, 433–455
(2006). [CrossRef]
]. Based on control theory, objects are designed which change
their boundary properties as a function of the incident field. In effect, this
determines a prescribed nonlinear material response which realizes the desired
scattering properties.
Other work based on ray-optical models suggests the design of passive artificial
materials acting as cloaks for embedded objects [
12–15
U. Leonhardt, “Optical Conformal
Mapping”, Science
312, 1777 – 1780
(2006). [CrossRef] [PubMed]
]. Rigorous simulations have confirmed the ray
optical analysis at least qualitatively [
16
S. A. Cummer, B.-I. Popa, D. Schurig, D. R. Smith, and J. B. Pendry, “Full-wave simulations of
electromagnetic cloaking structures,”
Phys. Rev. E
74, 036621 (2006). [CrossRef]
,
17
J. B. Pendry, D. Schurig, and D. R. Smith, “Controlling electromagnetic
fields,” Science
312, 1780 (2006). [CrossRef] [PubMed]
]. In fact, perfect cloaking may not be achievable for rather
fundamental reasons [
18
E. Wolf and T. Habashy, “Invisible bodies and uniqueness of
the inverse scattering problem,” J. Mod.
Opt.
40, 785 – 792
(1993). [CrossRef]
]. We also note the strong relationship between the design of
electromagnetic cloaks and the classic problem of non-radiating sources [
19
G. Gbur, “Nonradiating sources and other
‘invisible’ objects,” in E. Wolf (ed.), Progress in Optics Vol. 45 (Elsevier,
Amsterdam, 2003), pp. 273
– 315.
].
In our work, we address the generalized problem of designing scattering structures as
a problem complementary to inverse scattering. This allows us to classify design
problems and select suitable methods based on concepts developed for imaging
applications. Most importantly, classifying the permittivity contrast function into
weakly scattering and strongly scattering requires rather different strategies for
solving the inverse problem.
For structures with low permittivity contrast, design can be addressed by specifying
the scattered field amplitudes in the Fourier transform domain. In essence, it is
possible to apply the concept of linear diffraction tomography to specify the
desired object distribution [
20
M. A. Fiddy, “Inversion of Optical Scattered Field
Data.” J. Phys. D
19, pp. 301–317,
1986. [CrossRef]
].
For high permittivity contrast functions, the inverse problem is known to be very
difficult. While advances have been made using iterative techniques, long
computational times are necessary and convergence is not guaranteed. To address this
class of inverse problems, we developed a method which is simple to implement and
which can provide a good estimate of the scattering structure [
21
U. Shahid, M. Testorf, and M. A. Fiddy, “Minimum-phase-based inverse
scattering algorithm applied to Institute Fresnel
data,” Inverse Problems
21, S153 – 164
(2005). [CrossRef]
]. More recently, we adapted this method to address the
synthesis problem as well [
22
M. A. Fiddy and M. Testorf, “Inverse scattering method applied to
the synthesis of strongly scattering structures,”
Opt. Express
14, 2037 – 2046,
(2006). [CrossRef] [PubMed]
]. This was motivated by the fact that the structure
synthesis problem is less constrained than the imaging problem. In principle, any
structure which provides the desired scattering characteristics is a solution to the
synthesis problem. The remaining concern is how easily the predicted scattering
structure can be fabricated, i.e. the range of permittivity and the scale of
structural features.
The inversion and synthesis method we use is grounded in diffraction tomography. It
is a Fourier inversion procedure followed by a nonlinear signal processing step that
involves filtering the cepstrum of the secondary source distribution. This obtains a
relationship between the permittivity distribution and the associated
k-space of scattered field amplitudes.
In this paper, we apply cepstral filtering to the problem of designing
electromagnetic cloaks, i.e. covers for objects which are encapsulated by a suitable
dielectric function. While this addresses a problem of widespread interest, it also
allows us to expand the scope of our method as compared to the work presented in
Ref. 22. In order to design cloaks with an isotropic response, we need to control
essentially the entire plane wave spectrum of the scattered field rather than only a
small number of discrete scattering angles. In addition, control over the scattered
field has to be accomplished for any incident plane wave. We demonstrate how the
latter can be accomplished by exploiting the symmetry of the scattered field data
used as the starting point for our design algorithm. A further key point is the use
of rigorously simulated field far field data, rather than experimental data. This
provides greater fidelity and flexibility to our method and results.
We do not claim this method provides a rigorous solution to the design problem.
Instead, it provides us with a fast and efficient method to arrive at an approximate
solution that can be further improved with only a few iterations of a suitable
iterative method. However, validation of the design with a rigorous diffraction
model shows good correspondence between the simulated scattered far field and the
desired scattered field distribution.
2. Nonlinear inverse scattering algorithm
Consider a penetrable scattering object, V(r) in free
space. The target V(r) is related to the permittivity
by V(r) =
k
2[ε(r)
-1]. The scattered field Ψ
s
(r,k
r^0), due
to the interaction of an incident wave
Ψ0(r,k
r^0)
with the target is given in two dimensions by the integral equation
where
r^
0 is a unit vector in the direction of the
incident field. The solution to this equation requires knowledge of the total field
Ψ(
r,
k
r^
0)
within the object volume D, but this is not possible when
V(
r) is unknown. Using the first Born approximation [
20
M. A. Fiddy, “Inversion of Optical Scattered Field
Data.” J. Phys. D
19, pp. 301–317,
1986. [CrossRef]
], one assumes the total field
Ψ(
r,
k
r^
0)
in the integral can be replaced by the known incident field
Ψ
0(
r,
k
r^
0).
This makes the inversion problem linear and permits one to find a solution. The
integral in Eq. (
1) reduces to a Fourier transform relation between the
scattered field Ψ
s
(
r,
k
r^
0) and
the target
V(
r). Consequently, each measurement sample
taken of the scattered far field can be related to one sample in
k-space of the Fourier transform of
V(
r) by applying the data mapping illustrated in
Fig. 1. Physically this requires that the scattering from the
object be extremely weak in order for the total field everywhere within the object
to be well approximated by the incident field. When this requirement is not valid,
the same data inversion step yields information about the secondary sources, or the
so-called contrast source function
V
B(
r).
This is
This first Born reconstruction is modulated by the field pattern within D, which will
be different for every illumination direction r
0. In
diffraction tomography, the scattered field data for all incident field directions
is combined in k-space and a Fourier inversion of that data
provides an estimate for V(r). This is possible because
Ψ(r,k
r^0)≈Ψ0(r,k
r^0)
and
VB
(r)≈V(r)
to at least within low-pass spatial filtering limits resulting from the available
k-space coverage. When the first Born approximation is not
valid, then
VB
(r)≈V(r)〈Ψ(r)〉
where 〈Ψ(r)〉 is a complex noise-like
term with a characteristic range of spatial frequencies determined by the bandwidth
of the source.
Fig. 1. k-space interpretation of scattering in the first order Born approximation:
(a) geometry for plane wave scattering of a permittivity distribution; (b)
k-space representation of the incident wave and one scattered plane wave
component. The scattering amplitude is proportional to the object spectrum
at the Ewald circle.
The image of the product
V∙〈Ψ〉 exhibits spatial
fluctuations characteristic of the wavelengths being employed as well as the spatial
fluctuations of the permittivity. For incremental illumination wavelength changes,
the 〈Ψ〉 term will change quite considerably but
V(r) need not. The first step in the nonlinear or
homomorphic filtering procedure is to take the logarithm of the product of
V∙〈Ψ〉 and perform a
spatial filtering operation in the Fourier domain to remove the field component.
Since
there are numerical problems when the magnitude of the
V∙〈Ψ〉 is close to zero
where its logarithm becomes singular. In addition, when the phase of
V∙〈Ψ〉 has a range that
exceeds 2π, the resulting wrapped phase introduces spurious spatial
frequencies in the log-Fourier space, or cepstrum. Phase unwrapping is exceedingly
difficult, especially in two and higher dimensional problems, because zeros in the
field are associated with phase or wavefront dislocations. Phase discontinuities
correspond to broad spatial frequency features which make successful homomorphic
filtering impossible. We mitigate these problems by preprocessing the data to
satisfy a minimum phase condition.
3. Minimum-phase based homomorphic filtering
The concept of minimum phase is well understood for one-dimensional problems. A
one-dimensional signal is minimum phase if, and only if,
F(x + iy) has a
zero-free upper half-plane. That is, it has no zeros for y
> 0. The meaning of a zero-free half-plane in two dimensions is less
easily conveyed but an important feature of a minimum phase function is that the
phase is continuous and bounded between -π and
π. The function has “minimum
phase” in the sense that phase is not wrapped.
It is possible to enforce the minimum phase condition on a function by applying
Rouche’s theorem [
14
D. Schurig, J. J. Mock, B. J. Justice, S. A. Cummer, J. B. Pendry, A. F. Starr, and D. R. Smith, “Metamaterial electromagnetic cloak
at microwave frequencies,” Science
Express Manuscript Number
113362 (2006).
]. This states that if a band limited function
H(
r) has
N zeros within some
contour, another band limited function
F(
r) has
M zeros in the same contour, and |
H|
> |
F| on that contour, then
H
+
F will have
N zeros within the
contour. In other words, the sum of two functions will have the number of zeros
equal to the number of zeros of the larger magnitude function. Consequently, adding
a sufficiently large minimum phase background or reference wave
H
to a band limited function
F, guarantees that the sum will be a
minimum phase function. It is therefore possible to preprocess
V∙〈Ψ〉 by introducing a
reference point in
k-space around where the scattered field data
resides to make a minimum phase function prior to calculating its logarithm.
As a practical first step, the data in k-space is made causal by
moving it to one quadrant of k-space and adding a reference point
at the origin. This is equivalent to adding a reference wave to
V∙〈Ψ〉 which needs an
amplitude just large enough to ensure that the phase of
V∙〈Ψ〉 is continuous and
lies within the bounds of -π and
+π. This is readily determined by
inspecting the phase of the modified V
∙〈Ψ〉 calculated by inverse Fourier
transforming the k-space data. Second, implementation of the
homomorphic filtering algorithm requires a low pass filter to be applied in the
log-Fourier, or cepstral, domain to suppress the wavelike features in the resulting
image associated with 〈Ψ〉. This spatial filtering
is successful to the extent to which the field internal to the scattering structure
has spatial frequencies that are distinct from those of log
(V).
4. Structure synthesis by k-space manipulation
The method can now be applied to structure synthesis. For weakly scattering
permittivity distributions we could engineer the scattering behavior by filling
k-space with the associated k-space amplitude
distribution and obtain the permittivity, at least in an approximate sense from
Fourier inversion. Numerical optimization may help to meet additional constraints
imposed on the spatial distribution and its spectrum.
For objects with a strong permittivity contrast we use the inverse scattering method
as outlined. To ensure a physically realizable solution, we illustrate our method by
modifying the scattered field of a known scattering object. For example, in
Fig. 2(a), we show the exact scattered field for a cylinder
of refractive index n=√ε=2.0 and diameter
4
λ when illuminated from below. This data lies on a
single Ewald circle in
k-space. When many illumination directions
circumscribing the cylinder are used to fill
k-space, as shown in
Fig. 2(b), the data can be inverted to recover an image of
the cylinder. This is a straightforward inverse Fourier transform for a weakly
scattering cylinder, but in our case, the inverse Fourier transform from this
strongly scattering cylinder produces the field image shown in
Fig. 3. After cepstral filtering, a much improved
Fig. 4(a) is obtained. This can be compared with the ideal
result from
spectral filtering of a similarly sized cylinder,
modified by the same low-pass filter in
Fig. 4(b).
Fig. 2. (a) Rigorous solution of plane wave scattering off a homogeneous cylinder,
(b) k-space constructed from the far field for a set of
different incident field directions.
Starting with the
k-space data depicted in
Fig. 2(b), scattering in specific directions can be
suppressed by reducing the amplitude of corresponding points in
k-space. For example, a disc centered at the
k-space origin with greatly reduced magnitude corresponds to
constructing a scattering distribution of a cylindrical object modified to no longer
scatter in any direction as long as the incident wave vector satisfies
|
k|/2<
K. Reintroducing a non-zero
amplitude at
k=0 permits incident waves to scatter in forward
direction only, thereby approximating an invisible object instead of a completely
non-scattering object.
Fig. 3. Magnitude of the inverse Fourier transform of the
k-space
distribution shown in
Fig. 2(b).
We show in
Fig. 5, an example of modifying
k-space as
described above. To design an invisible object where scattering is observed only in
the forward direction, the
k-space signal was removed within a
circle centered at the
k-space origin out to a radius of
k
0/2, where
k
0 is the
wave number of the input data set. All other spatial frequencies of the
k-space data set were left unchanged as well as the point at the
k-space origin. The later represents the direction of the
incident plane wave. The reason for zeroing
k-space out to
k
0/2 was to allow illumination by a plane wave with
at least twice the wavelength of the input data set for which no scattering should
occur since the corresponding Ewald sphere lies entirely within the zeroed region.
We note that a clean and precise nulling of the forward scattered field was not
imposed because of the highly nonphysical nature of our
k-space
constraint. It is reasonable, however, to impose very small amplitudes in the chosen
k-space regions to avoid errors and non-physical attributes.
Quantitative information about the permittivity is lost in our cepstral inverse
scattering method. However, the refractive index modulation can be calibrated from
the knowledge of the refractive index of the original cylinder which was used to
calculate the scattering data that serve as input to our algorithm. In this case,
the refractive index was n=2.0.
Fig. 4. (a) Reconstruction of object permittivity contrast based on (a) cepstral
filtering, and (b) spectral filtering.
Verification that the synthesized structure has the anticipated scattering properties
is performed by computing the scattered fields in the forward direction using a
rigorous method such as finite-difference time-domain (FDTD) [
23
K. S. Yee, “Numerical solution of initial
boundary value problems involving Maxwell’s equations in
isotropic media,” IEEE Trans. Antennas
Propag.
14, pp. 302–307,
1966.. [CrossRef]
,
24
A. Taflove and S. C. Hagness, Computational Electrodynamics the Finite-Difference
Time-Domain Method, 3rd ed , Artech
House, 2005. [PubMed]
] or finite-difference frequency-domain (FDFD) [
25
R. C. Rumpf, “Design and optimization of
nano-optical elements by coupling fabrication to optical
behavior,” PhD dissertation,
University of Central Florida, pp.
60–81,
2006.
] algorithm. We would expect the scattering objects predicted
by our cepstral filtering approach to at least provide a good initial structure that
can be further optimized using a more rigorous method.
Fig. 5. Reconstruction of object permittivity contrast after k-space
engineering based on (a) cepstral filtering, and (b) spectral filtering.
5. Rigorous simulation results
To verify the nonlinear signal processing technique described above, rigorous
simulations were performed using a FDFD method [
25
R. C. Rumpf, “Design and optimization of
nano-optical elements by coupling fabrication to optical
behavior,” PhD dissertation,
University of Central Florida, pp.
60–81,
2006.
]. This method was chosen over the more popular FDTD method
to more efficiently accommodate scattering objects that may be highly resonant or
incorporate materials with refractive index near zero.
Figure 6 summarizes scattering from a perfect dielectric
cylinder (
n=1.5) in free space. The object itself is depicted in
Fig. 6(a) where the size scale has been normalized to the
free space wavelength. Scattering was simulated using FDFD where a plane wave was
incident from the left. The total-field is depicted in
Fig. 6(b), while
Fig. 6(c) shows the scattered field. From the scattered-field
data, the pattern in
Fig. 6(d) was computed to illustrate the preferred directions
of scattered energy. Each lobe corresponds to a preferred direction.
Fig. 6. (a) Refractive index distribution of scattering object. Here the object is a
perfect cylinder with n=2.0. (b) (Movie 2403kb) Total-field computed by FDFD
simulation. [
Media 1] (c) Scattered-field computed by FDFD simulation. (d) Pattern of
energy scattered from object. Lobes correspond to preferred directions of
scattering.
Using cepstral filtering, the homogenous cylinder was then modified to suppress
scattering in all but the forward direction. The new object and its scattering
behavior is depicted in
Fig. 7. Direct comparison between
Fig. 6(d) and
Fig. 7(d) demonstrates the performance of our design method.
Forward scattering clearly dominates the angular spectrum and scattering in all
other directions is suppressed by over 95%. The circular symmetry, which we have
chosen for the design problem further ensures that the response of the structure
does not depend on the direction of the incident field.
Fig. 7. (a) Refractive index distribution of filtered scattering object. (b) (Movie
2219kb) Total-field computed by FDFD simulation. [
Media 2] (c) Scattered-field
computed by FDFD simulation. (d) Pattern of energy scattered from object.
Lobes correspond to preferred directions of scattering.
The performance of the design we obtained with the cepstral method is further
highlighted by comparing the angular spread in
Fig. 7(d) with that of
Fig. 8(b) which shows the spread computed for the case of a
perfect plane wave. The finite width of the lobe in
Fig. 8 is caused by the finite window size used to compute
the scattering pattern. Window size was limited by the memory requirements of the
rigorous diffraction model. The similar width of the lobes in
Fig. 7 and
8 thus allows us to conclude that within the bounds of
accuracy provided by the rigorous diffraction model, the design in
Fig. 7(d) indeed shows only the desired behavior, i.e. a
single scattered field mode in forward direction.
We emphasis again, however, that the cepstral algorithm will provide only an
approximate solution to the design problem. The comparison between
Fig. 6(c) and
Fig. 7(c) clearly illustrates the improvement with respect to
the desired response. In
Fig. 6(c) the scattered near field clearly separates into the
three dominant components that can be identified in the far field pattern. In
contrast,
Fig. 7(c) can be interpreted as the scattered field
distribution merging slowly into a single plane wave mode in the forward direction.
Nevertheless, the near field in 7(c) clearly shows aberrations from the perfect
shape of a plane wave. In other words, if a sufficiently large simulation window is
used to compute the far field patterns, the aberrations would manifest as small side
lobes very closely spaced to the main forward side lobe.
We also note that while our investigation is aimed at designing electromagnetic
cloaks, the corresponding design problem is different from the approach discussed in
Refs. [
12–17
U. Leonhardt, “Optical Conformal
Mapping”, Science
312, 1777 – 1780
(2006). [CrossRef] [PubMed]
]. The latter proposes an electromagnetic
structure which is guiding the electromagnetic wave around the objects to be phase
matched with the incident wave in the near field. In contrast, our method is only
concerned with the magnitude of the scattered far field. This includes as acceptable
solutions scattered plane waves which propagate in forward direction, but which are
phase shifted relative to the incident field.
Fig. 8. Angular spread of the far field for plane wave. The finite simulation window
for the near field in (a) results in a finite angular spread of the far
field pattern predicted by the numerical diffraction model.
6. Conclusions
In this paper we presented the reconstruction of strongly scattering objects,
designed to exhibit scattering behavior that generates the incident field (a plane
wave) in the forward scatter direction. To solve the synthesis problem, an inverse
scattering method based on homomorphic filtering was adopted. This nonlinear
filtering technique allows one to recover an estimate of the scattering object
V(r) from the image of V ∙
〈Ψ〉 obtained using conventional diffraction
tomography. The quality of the reconstruction depends on a number of factors,
including the quantity and quality of the data made available. Note that simple
low-pass filtering of the spectrum of V ∙
〈Ψ〉 as opposed to the cepstrum, will do nothing.
In principle, when solving the scattering-object synthesis problem, one can specify
the entire volume of k-space provided that choice corresponds to a
physically meaningful set of scattered field data. In the examples presented here,
annuli of zeros were imposed in the k-space of a known scatterer
corresponding to zero scattering being required over a range of scattering angles
and wavelengths. Inversion of the resulting k-space data set
generates object structures which are modifications of the original object from
which the data was originally acquired. The synthesized structures were validated
using the FDFD method to rigorously compute their scattered-fields.
Our interest for this investigation was particularly focused on the design of
invisible scatterers, which could act as electromagnetic cloaks. The design method
does not result in a structure which suppresses the scattered field, but which
scatters only in the forward direction. Rigorous simulation of the designed
structure confirms the desired response within the accuracy provided by the
simulation model. An isotropic response is achieved by exploiting the cylindrical
symmetry of the scattered field data used as a starting point of the algorithm and
the spatial filter in the cepstral domain. While it is clear that our results for
designing invisible structures of circular symmetry cannot easily be realized, we
note that this constitutes the first attempt where our method was used to design
structures with a response that is specified over the entire plane wave spectrum,
rather than for a small number of discrete scattered field angles. This suggests a
large variety of potential applications for cepstral filtering as a design method.
As one further example we mention objects, which emulate scattering from a quite
different shape, i.e. shape-shifters. While the fabrication and experimental
demonstration of both electromagnetic cloaking as well as of shape-shifting objects
will require additional progress, cepstral filtering provides us with a unique
framework for addressing the nonlinear relationship between the desired response and
the structure of the scatterer.
Acknowledgments
The authors gratefully acknowledge the support of DARPA/ARL grant W911NF-04-1-0319.
M. Testorf also acknowledges the support of the Institute for Security Technology
Studies (ISTS), grant 2005-DD-BX-1091 awarded by the Bureau of Justice Assistance
(U.S. Department of Justice).
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