The IMA Volumes in Mathematics and its Applications Volume 132 Series Editors Douglas N. Arnold Fadil Santosa Springer New York Berlin Heidelberg Hong Kong London Milan Paris Tokyo Institute for Mathematics and its Applications (IMA) The Institute for Mathematics and its Applications was estab lished by a grant from the National Science Foundation to the University of Minnesota in 1982. The primary mission of the IMA is to foster research of a truly interdisciplinary nature, establishing links between mathematics of the highest caliber and important scientific and technological problems from other disciplines and industry. To this end, the IMA organizes a wide variety of programs, ranging from short intense workshops in areas of ex ceptional interest and opportunity to extensive thematic programs lasting a year. IMA Volumes are used to communicate results of these programs that we believe are of particular value to the broader scientific community. Douglas N. Arnold, Director of the IMA * * * * * * * * * * IMA ANNUAL PROGRAMS 1982-1983 Statistical and Continuum Approaches to Phase Transition 1983-1984 Mathematical Models for the Economics of Decentralized Resource Allocation 1984-1985 Continuum Physics and Partial Differential Equations 1985-1986 Stochastic Differential Equations and Their Applications 1986-1987 Scientific Computation 1987-1988 Applied Combinatorics 1988-1989 Nonlinear Waves 1989-1990 Dynamical Systems and Their Applications 1990-1991 Phase Transitions and Free Boundaries 1991-1992 Applied Linear Algebra 1992-1993 Control Theory and its Applications 1993-1994 Emerging Applications of Probability 1994-1995 Waves and Scattering 1995-1996 Mathematical Methods in Material Science 1996-1997 Mathematics of High Performance Computing 1997-1998 Emerging Applications of Dynamical Systems 1998-1999 Mathematics in Biology 1999-2000 Reactive Flows and Transport Phenomena 2000-2001 Mathematics in Multimedia 2001-2002 Mathematics in the Geosciences 2002-2003 Optimization 2003-2004 Probability and Statistics in Complex Systems: Genomics, Networks, and Financial Engineering 2004-2005 Mathematics of Materials and Macromolecules: Multiple Scales, Disorder, and Singularities Continued at the back Michael F. Barnsley Dietmar Saupe Edward R. Vrscay Editors Fractals in Multimedia With 82 Figures Springer Michael F. Barnsley Dietmar Saupe Department of Mathematics and Statistics Institut flir Informatik University of Melbourne Universitat Leipzig Parkville, Victoria 3052, Australia Augustusplatz 10-11 [email protected] Leipzig, Germany [email protected] Edward R. Vrscay Series Editors; Department of Applied Mathematics Douglas N. Arnold Faculty of Mathematics Fadil Santosa University of Waterloo Institute for Mathematics and its Waterloo, Ontario N2L 3GI, Canada Applications [email protected] University of Minnesota Minneapolis, MN 55455, USA http://www .ima. umn.edu Mathematics Subject Classification (2000): 60-xx, 68-xx, 51-xx, 51NlO, 97-xx, 97D40, 28-xx, 28D05, 37-xx, 37-06, 37-04 Library of Congress Cataloging-in-Publication Data Fractals in multimedia /editors, Michael F. Barnsley, Dietmar Saupe, Edward R. Vrscay. p. cm. - (IMA volumes in mathematics and its application; 132) Includes bibliographical references. Based on a meeting held at the IMA in Jan. 2001. I. Fractals-Congresses. I. Barnsley, M.F. (Michael Fielding), 1946- II. Saupe, Dietmar, 1954- III. Vrscay, Edward R. IV. IMA volumes in mathematics and its applications; v. 132. QA614.86 .F7277 2002 514'.742-dc21 2002070733 Printed on acid-free paper. ISBN 978-1-4419-3037-8 ISBN 978-1-4684-9244-6 (eBook) DOl 10.1007/978-1-4684-9244-6 © 2002 Springer-Verlag New York, Inc. Softcover reprint of the hardcover 1s t edition 1989 All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer-Verlag New York, Inc., 175 Fifth Avenue, New York, NY 10010, USA), except for brief excerpts in connection with reviews or scholarly analysis. 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In these cases, specific written permission must first be obtained from the publisher. 9 8 7 6 5 432 1 SPIN 10881945 Camera-ready copy provided by the IMA. www.springer-ny.com Springer-Verlag New York Berlin Heidelberg A member of BertelsmannSpringer Science+Business Media GmbH FOREWORD This IMA Volume in Mathematics and its Applications FRACTALS IN MULTIMEDIA is a result of a very successful three-day minisymposium on the same title. The event was an integral part of the IMA annual program on Mathemat ics in Multimedia, 2000-2001. We would like to thank Michael F. Barnsley (Department of Mathematics and Statistics, University of Melbourne), Di etmar Saupe (Institut fUr Informatik, UniversiUit Leipzig), and Edward R. Vrscay (Department of Applied Mathematics, University of Waterloo) for their excellent work as organizers of the meeting and for editing the proceedings. We take this opportunity to thank the National Science Foundation for their support of the IMA. Series Editors Douglas N. Arnold, Director of the IMA Fadil Santosa, Deputy Director of the IMA v PREFACE This volume grew out of a meeting on Fractals in Multimedia held at the IMA in January 2001. The meeting was an exciting and intense one, focused on fractal image compression, analysis, and synthesis, iterated function systems and fractals in education. The central concerns of the meeting were to establish within these areas where we are now and to develop a vision for the future. In this book we have tried to capture not only the material but also the excitement of the meeting. What we do not capture is the considerable effort by Willard Miller in organizing the meeting, raising the funds to pay for it, giving good advice many times, and providing the wonderful resources of the IMA to host the conference. Neither elsewhere do we offer even a nod to his warm and efficient staff, nor to the patient efforts of Patricia V. Brick in preparing this volume, nor do we note the initial impetus and effort of Av ner Friedman. Thank you. Michael F. Barnsley Department of Mathematics and Statistics University of Melbourne Australia E-mail: [email protected] Dietmar Saupe Institut fUr Informatik UniversiUit Leipzig Germany E-mail: [email protected] Edward R. Vrscay Department of Applied Mathematics Faculty of Mathematics University of Waterloo Ontario, Canada N2L 3GI E-mail: [email protected] vii CONTENTS Foreword .............................................................. v Preface .............................................................. vii Introduction to IMA fractal proceedings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 1 Michael F. Barnsley Uniqueness of invariant measures for place-dependent random iterations of functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 13 Orjan Stenjlo Iterated function systems for lossless data compression. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 33 Michael F. Barnsley From fractal image compression to fractal-based methods in mathematics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 65 Edward R. Vrscay Fractal image compression with fast local search. . . . . . . . . . . . . . . . . . . . . . . .. 107 Raoul Hamzaoui and Dietmar Saupe Wavelets are piecewise fractal interpolation functions ............................................................ 121 Douglas P. Hardin Self-affine vector measures and vector calculus on fractals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 137 F. Mendivil and E.R. Vrscay Using the Picard contraction mapping to solve inverse problems in ordinary differential equations ....................... 157 H.E. Kunze and E.R. Vrscay Fractal modulation and other applications from a theory of the statistics of dimension ................................... 175 1.M. Blackledge, S. Mikhailov, and M.J. Turner ix x CONTENTS Signal enhancement based on Holder regularity analysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 197 1. Levy Vehel Iterated data mining techniques on embedded vector modeling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 211 Ning Lu A web-based fractal geometry course for non-science students .................................................. 233 Michael Frame List of mini symposium participants. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 259 INTRODUCTION TO IMA FRACTAL PROCEEDINGS MICHAEL F. BARNSLEY* This volume describes the status of fractal imaging research and looks to future directions. It is to be useful to researchers in the areas of fractal image compression, analysis, and synthesis, iterated function systems, and fractals in education. In particular it includes a vision for the future of these areas. It is intended to provide an efficient means by which researchers can look back over the last decade at what has been achieved, and look forward towards second-generation fractal imaging. The articles in themselves are not supposed to be detailed reviews or expositions, but to serve as signposts to the state-of-the art in their areas. What is important is what they mention and what tools and ideas are seen now to be relevant to the future. The contributors, a number of whom have been involved since the start, are active in fractal imaging, and provide a well-informed viewpoint on both the status and the future. Most were invited participants at a meeting on Fractals in Multimedia held at the IMA in January 2001. Some goals of the mini-symposium, shared with this volume, were to demonstrate that the fractal viewpoint leads to a broad collection of useful mathemat ical tools, common themes, new ways of looking at and thinking about existing algorithms and applications in multimedia; and to consider future developments. The fractal viewpoint has developed out of the observation that in the real world and in the scientific measurement of it, there can occur patterns that repeat at different scales. It upholds the intuition that the mathe matical world of geometry and the infinitely divisible Euclidean plane are relevant to the understanding of the physical world; and in particular that geometrical entities such as lines, ferns, and other fractal attractors are related to actual pictures. This viewpoint is captured in fractal mathe matics, which consists of some basic tools and theorems, such as iterated function systems (IFS) theory and Hutchinson's theorem, and is centered in real analysis, geometry, measure theory, dynamical systems, and stochas tic processes. Its application to multimedia lies principally in the attempt to bridge the divide between the discrete world of digital representation and the natural continuum world in which we seem to live. It has served as inspiration for algorithms that try to recreate sounds, pictures, motion video and textures, and to organize databases in computer environments. In the papers in this volume we outline ways in which this bridge, between intuition and reality, has been built, mainly in the area of imaging. We *Department of Mathematics and Statistics, University of Melbourne, Parkville, Victoria 3052, Australia. Currently at 335 Pennbrooke Trace, Duluth, GA 30097 (Mbarnsley@aol. com). 1 M. F. Barnsley et al. (eds.), Fractals in Multimedia © Springer-Verlag New York, Inc. 2002 2 MICHAEL F. BARNSLEY try to further define the set of those intuitions and insights that constitute the fractal viewpoint, the mathematics that sustains it, and to identify areas where it has potential to increase understanding and lead to new discoveries. For completeness we include mention here of material related to the Fractals in Multimedia meeting that is not in the contributed papers. This volume does not contain papers corresponding to: a review of block-based fractal image compression by Dietmar Saupe (Leipzig); a presentation by Jean-Luc Dugelay (Institut EUROCOM) on fractal image indexing, wa termarking and recognition; and a discussion of a Lagrangian approach to fractal video coding by Lyman Hurd (Mediabin Inc., formerly Iterated Systems Inc.). Also, the meeting would have liked to hear from Geoffrey Davis (Microsoft) with regard to how he now sees the relationship between fractals and wavelets in compression, see [1], and to have had a discus sion of space-filling curves, see [2]. Another unfulfilled hope was that there would be a presentation or paper by Stephen Demko, who has worked for a number of years on research and product development at Mediabin Inc. based on fractal image recognition, see [25]. On the subject of fractals in education, Vicki Fegers and Mary Beth Johnson of the Broward County School Board in Florida, who have been working with Heinz-Otto Peitgen and Richard Voss (Florida Atlantic U.) over a number of years to develop curriculum content to enrich pre-university education, treated the confer ence to a presentation of their approach, which we mention further below. This volume also does not have a paper corresponding to Ken Musgrave's presentation on fractal graphics. 1. Iterated function systems. An IFS is a mathematical means for producing, analyzing and describing complex geometrical sets and pictures. The fractals illustrated in Figures 1 and 2 are examples of sets made by simple IFS's. The theory of IFS is used to design algorithms for computer graphics, digital image compression and data compression; to construct synthetic data, for example for stock price simulation in economics and oil well modeling in geophysics; to analyze strings of symbols occurring in data analysis, from DNA [3] to Markov chains [4]; and in education, to introduce in a unified, intuitive, and visually appealing way, probability, geometry, iteration, and chaos [3,5]. John Hutchinson introduced the basic mathematical theory of IFS [6] in 1981 to describe deterministic fractals [7]. The term "Iterated Function System" was introduced in [8]. The subject was developed and popular ized during the 1980's by the author and co-workers [9]. The study of associated invariant measures and stochastic processes predates the recent fractal literature, having begun in 1937 with [10], see [4]. The field con tinues to be developed both mathematically, see for example [11-16] and practically, see for example [5,16]. The exact phrase "Iterated Function System" in the search engine at www.hotbot. com produced more than 200 links in November 2000.