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Polarized and unpolarised transverse waves T. Johnson 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 1 Outline • The quarter wave plate • Set up coordinate system suitable for transverse waves • Jones calculus; matrix formulation of how wave polarization changes when passing through polarizing component – Examples: linear polarizer, quarter wave plate, Faraday rotation • Statistical representation of incoherent/unpolarized waves – Stokes vector and polarization tensor • Poincare sphere • Muller calculus; matrix formulation for the transmission of partially polarized waves 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 2 Modifying wave polarization in a quarter wave plate (1) • Last lecture we noted that in birefringent crystals: – there are two modes: O-mode and X-mode ⎧ nO 2 = K⊥ ⎪ ⎨ 2 K⊥K|| ⎪ n X = 2 2 K sin θ + K cos θ ⎩ ⊥ || ⎧⎪eO (k) = (0 , 1 , 0) ⎨ ⎪⎩e X (k) ∝ (K|| cosθ , 0 , K⊥ sinθ) – thus if K⊥ > K|| then nO ≥ n X the O-mode has larger phase velocity € € • Next describe Quarter wave plates – uniaxial crystal; normal in z-direction € c π /2 – length L in the x-direction: L = € ω K|| − K⊥ – Let a wave travel in the x-direction, then k is in the x-direction and θ=π/2 ⎧⎪ n 2 = K O ⊥ ⎨ 2 ⎪⎩ n X = K|| 13-02-15 ⎧eO (k) = (0 , 1 , 0) ⎨€ ⎩e X (k) = (0 , 0 , 1) Electromagnetic Processes In Dispersive Media, Lecture 6 3 Modifying wave polarization in a quarter wave plate (2) • Plane wave ansats has to match dispersion relation – when the wave entre the crystal it will move slow, this corresponds to a change in wave length, or k ωnO ω ωn X ω kO = = K⊥ , k X = = K|| c c c c – since the O- and X-mode travel at different speeds we write € E( t, x ) = ℜ{eO E O exp(ikO x − iωt) + e X E X exp(ikX x − iωt)} • Assume as initial condition a linearly polarized wave € E = [1 1 0] = (eO + e X ) ⇒ E O = E X = 1 ⇒ E( t, x ) = ℜ{eO exp(ikO x − iωt) + e X exp(ikX x − iωt)} = eO cos(kO x − ωt) + e X cos(kO x − ωt + Δkx) , Δk ≡ k X − kO € – the difference in wave number causes the O- and X-mode to drift in and out of phase with each other! 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 4 Modifying wave polarization in a quarter wave plate (3) • The polarization when the wave exits the crystal at x=L E( t, x ) = [eO cos(kO L − ωt) + e X cos(kO L − ωt + ΔkL)] , Δkx = π /2 = [eO cos(kO L − ωt) − e X sin(kO L − ωt)] € L= c π /2 ω K|| − K⊥ – – – – – This is cicular polarization! € The crystal converts linear to circular polarization (and vice versa) Called a quarter wave plate; a common component in optical systems But work only at one wave length – adapted for e.g. a specific laser! In general, waves propagating in birefringent crystal change polarization back and forth between linear to circular polarization – Switchable wave plates can be made from liquid crystal • angle of polarization can be switched by electric control system • Similar effect is Faraday effect in magnetoactive media – but the eigenmode are the circularly polarized components 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 5 Optical systems • In optics, interferometry, polarometry, etc, there is an interest in following how the wave polarization changes when passing through e.g. an optical system. • For this purpose two types of calculus have been developed; – Jones calculus; only for coherent (polarized) wave – Muller calculus; for both coherent, unpolarised and partially polarised • In both cases the wave is given by vectors E and S (defined later) and polarizing elements are given by matrixes J and M E out = J • E in Sout = M • Sin 13-02-15 € Electromagnetic Processes In Dispersive Media, Lecture 6 6 The polarization of transverse waves • Lets first introduce a new coordinate system representing vectors in the transverse plane, i.e. perpendicular to the k. – Construct an orthonormal basis for {e1,e2,κ}, where κ=k/|k| – The transverse plane is then given by {e1,e2}, where e2 α α i i e =e e k e1 – where α=1,2 and ei , i=1,2,3 is any basis for R3 – denote e1 the horizontal and e2 the vertical directions €• The electric field then has different component representations: Ei (for i=1,2,3) and Eα (for α=1,2) E i = eαi E α – similar for the polarization vector, eM eM ,i = eαi eαM € € The new coordinates provides 2D representations 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 7 Some simple Jones Matrixes • In the new coordinate system the Jones matrix is 2x2: J ⎡ J11 = ⎢ ⎣J 21 αβ J12 ⎤ ⎥ J 22 ⎦ α E out = J αβ E inβ • Example: Linear polarizer transmitting horizontal polarization € J αβ L,V ⎡1 0 ⎤ ⎡1 0 ⎤ ⎡ E H ⎤ ⎡ E H ⎤ = ⎢ ⎥ → ⎢ ⎥ ⎢ ⎥ = ⎢ ⎥ ⎣0 0 ⎦ ⎣0 0 ⎦ ⎣ E V ⎦ ⎣ 0 ⎦ • Example: Attenuator transmitting a fraction ρ of the energy € – Note: energy ~ ε0|E|2 ⎡1 0 ⎤ J Att (ρ) = ρ ⎢ ⎥ → ⎣0 1 ⎦ αβ 13-02-15 ⎡1 0 ⎤⎡ E H ⎤ ⎡ E H ⎤ ρ ⎢ ⎥⎢ ⎥ = ρ ⎢ ⎥ ⎣0 1 ⎦⎣ E V ⎦ ⎣ E V ⎦ Electromagnetic Processes In Dispersive Media, Lecture 6 8 Jones matrix for a quarter wave plate • Quarter wave plates are birefringent (have two different refractive index) – align the plate such that horizontal / veritical polarization (corresponding to O/X-mode) has wave numbers k1 / k2 ⎡ E H (x) ⎤ ⎡ E H (0)exp(ik1 x) ⎤ ⎥ ⎢ ⎥ = ⎢ 2 ⎣ E V (x) ⎦ ⎣ E V (0)exp(ik x) ⎦ – let the light entre the plate start at x=0 and exit at x=L ⎡e ik1 L E(L) = ⎢ ⎣ 0 € 0 ⎤ ⎡ E H (0) ⎤ ⎥ ⎥ ≡ J Ph E(L) ik 2 L ⎢ e ⎦ ⎣ E V (0) ⎦ – where Ph stands for phaser • Quarter wave plates chages the relative phase by π/2 ⎡1 0 ⎤ € 1 2 ik 1 L k L − k L = ±π /2 →JQ = e ⎢ ⎥ ⎣0 ±i ⎦ – usually we considers only relative phase and skip factor exp(ik1L) 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 9 Jones matrix for a rotated birefringent media • If a birefringent media (e.g. quarter wave plates) is not aligned with the axis of our coordinate system with axis of the media – then we may use a rotation matrix ⎡cos(θ) −sin(θ) ⎤ −1 R(θ) = ⎢ → R (θ) = R(−θ) ⎥ ⎣ sin(θ) cos(θ) ⎦ EM2 e2 – Eigenmode have directions as in the fig.: € ⎡cos(θ) ⎤ ⎡−sin(θ) ⎤ E(x) = E M 1 (x) ⎢ ⎥ + E M 2 (x) ⎢ ⎥ sin(θ) cos(θ) ⎣ ⎦ ⎣ ⎦ EM1 θ e1 – apply two rotation: first -θ and then +θ, i.e. no net rotation: € ⎛ ⎡ E M 1 (x) ⎤ ⎡cos(θ) ⎤ ⎡−sin(θ) ⎤⎞ E(x) = R(θ)R(−θ)⎜ E M 1 (x) ⎢ ⎥ = ⎥ + E M 2 (x) ⎢ ⎥⎟ = R(θ) ⎢ ⎣ sin(θ) ⎦ ⎣ cos(θ) ⎦⎠ ⎣ E M 2 (x) ⎦ no net rotation ⎝ ik 1 x ⎡e ik 1 x ⎤ ⎡ ⎡ ⎤ E M 1 (0) 0 e 0 ⎤ = R(θ) ⎢ ⎥⎢ ⎥ ⎥ → J Ph = R(θ) ⎢ ik 2 x ik 2 x ⎣ 0 e ⎦⎣ E M 2 (0) ⎦ ⎣ 0 e ⎦ 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 10 Jones matrix for a Faraday rotation • Faraday rotation is similar to birefrigency, except that eigenmodes have circularly polarized eigenvector 1 ⎡1⎤ 1 ⎡ 1 ⎤ E(x) = E M 1 (x) ⎢ ⎥ + E M 2 (x) ⎢ ⎥ i 2 ⎣ ⎦ 2 ⎣ −i ⎦ – there is no useful rotation matrix – instead use a unitary matrix 1 ⎡1 −i ⎤ 1 ⎡1 i ⎤ −1 U= ⎢ ⎥ → U = ⎢ ⎥ 1 i 1 −i 2 ⎣ 2 ⎣ ⎦ ⎦ € ⎛ ⎡ ⎤ ⎡1⎤ ⎡ 1 ⎤⎞ −1 E M 1 (x) E(x) = U U⎜ E M 1 (x) ⎢ ⎥ + E M 2 (x) ⎢ ⎥⎟ = U ⎢ ⎥ = ⎣i ⎦ ⎣−i ⎦⎠ ⎣ E M 2 (x) ⎦ ⎝ ik 1 x ⎡e ik 1 x ⎤ ⎡ ⎤ ⎡ ⎤ E (0) 0 e 0 M1 −1 = U −1 ⎢ → J = U ⎢ ⎥ ⎥ 2 ⎥ ⎢ FR ik x ik 2 x ⎣ 0 e ⎦⎣ E M 2 (0) ⎦ ⎣ 0 e ⎦ −1 € 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 11 Outline • The quarter wave plate • Set up coordinate system suitable for transverse waves • Jones calculus; matrix formulation of how wave polarization changes when passing through polarizing component – Examples: linear polarizer, quarter wave plate, Faraday rotation • Statistical representation of incoherent/unpolarized waves – Stokes vector and polarization tensor • Poincare sphere • Muller calculus; matrix formulation for the transmission of partially polarized waves 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 12 Incoherent/unpolarised • Many sources of electromagnetic radiation are not coherent – they do not radiate perfect harmonic oscillations (sinusoidal wave) • over short time scales the oscillations look harmonic • but over longer periods the wave look incoherent, or even stochastic – such waves are often referred to as unpolarised • To model such waves we will consider the electric field to be a stochastic process, i.e. it has – an average: < Eα (t,x) > – a variance: < Eα (t,x) Eβ (t,x) > – a covariance: < Eα (t,x) Eβ (t+s,x+y) > • In this chapter we will focus on the variance, which we will refer to as the intensity tensor Iαβ = < Eα (t,x) Eβ (t,x) > and the polarization tensor (where eM=E / |E| is the polarization vector) pαβ = < eMα (t,x) eMβ (t,x) > 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 13 The Stokes vector • It can be shown that the intensity tensor is hermitian – thus it can be described by four Stokes parameter {I,Q,U,V} : 1 ⎡ I + Q U − iV ⎤ αβ I = ⎢ ⎥ U + iV I − Q 2 ⎣ ⎦ • A basis for hermitian matrixes is a set of unitary four matrixes: € αβ 1 τ ⎛1 0⎞ ⎛1 0 ⎞ ⎛0 1⎞ ⎛0 −i⎞ αβ αβ αβ = ⎜ ⎟ , τ2 = ⎜ ⎟ , τ3 = ⎜ ⎟ , τ4 = ⎜ ⎟ 0 1 0 −1 1 0 i 0 ⎝ ⎠ ⎝ ⎠ ⎝ ⎠ ⎝ ⎠ – where the last three matrixes are the Pauli matrixes € • Define the Stokes vector: SA=[I,Q,U,V] I αβ I αβ 13-02-15 ⎛ 1 0 ⎞ ⎛ 0 1⎞ ⎛0 −i⎞ ⎤ 1 ⎡ ⎛1 0⎞ = ⎢I⎜ ⎟ + Q⎜ ⎟ + U⎜ ⎟ + V ⎜ ⎟ ⎥ 2 ⎣ ⎝0 1⎠ ⎝ 0 −1⎠ ⎝ 1 0⎠ ⎝ i 0 ⎠ ⎦ 1 αβ αβ = ταβ A S A with inverse : S A = τ A I 2 Electromagnetic Processes In Dispersive Media, Lecture 6 14 Representations for the polarization tensor • The polarization tensor has similar representation – Note: trace(pαβ)=1, thus it is described by three parameter {q,u,v} : αβ p 1 ⎡⎛ 1 0⎞ ⎛1 0 ⎞ ⎛0 1⎞ ⎛ 0 −i⎞⎤ = ⎢⎜ ⎟ + q⎜ ⎟ + u⎜ ⎟ + v⎜ ⎟⎥ 2 ⎣⎝ 0 1⎠ ⎝0 −1⎠ ⎝1 0⎠ ⎝ i 0 ⎠⎦ • As we will show in the following slides the four terms above € represents different types of polarization – unpolarised (incoherent) – linear polarization – circular polarization 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 15 Examples • For example consider: – linearly polarised wave eMα=[1,0] αβ p ⎡1 ⎤ ⎡1 0 ⎤ 1 ⎛ ⎡1 0 ⎤ ⎡1 0 ⎤⎞ = e e = ⎢ ⎥[1 0] = ⎢ ⎥ = ⎜ ⎢ ⎥ +1⎢ ⎥⎟ ⎣0 ⎦ ⎣0 0 ⎦ 2 ⎝ ⎣0 1 ⎦ ⎣0 −1⎦⎠ α M β* M • i.e. {q,u,v}={1,0,0} – rotate linearly polarization by 45o, eMα=[1,1] / 21/2 € ⎡1 1⎤ 1 ⎛ ⎡1 0 ⎤ ⎡0 1 ⎤⎞ 1 ⎡1⎤ αβ α β* p = eM eM = ⎢ ⎥[1 1] = ⎢ ⎥ = ⎜ ⎢ ⎥ +1⎢ ⎥⎟ 2 ⎣1⎦ ⎣1 1⎦ 2 ⎝ ⎣0 1 ⎦ ⎣1 0 ⎦⎠ • i.e. {q,u,v}={0,1,0} – a circularly polarised wave, eMα=[1,-i] / 21/2 € p αβ 1 ⎡1⎤ 1 ⎡1 −i ⎤ 1 ⎛ ⎡1 0 ⎤ ⎡0 −i ⎤⎞ = e e = ⎢ ⎥[1 −i] = ⎢ ⎥ = ⎜ ⎢ ⎥ +1⎢ ⎥⎟ 2 ⎣i ⎦ 2 ⎣i 1 ⎦ 2 ⎝ ⎣0 1 ⎦ ⎣ i 0 ⎦⎠ α M β* M • i.e. {q,u,v}={0,0,1} 13-02-15 € Electromagnetic Processes In Dispersive Media, Lecture 6 16 The polarization tensor for unpolarized waves (1) • What are the Stokes parameters for unpolarised waves? – Let the eM1 and eM2 be independent stochastic variable pαβ ⎛ e1M ⎞* =< ⎜ 2 ⎟ (e1M ⎝ eM ⎠ ⎡ < e1 *e1 > < e1 *e 2 >⎤ M M ⎥ eM2 ) >= ⎢ M2 * 1M * 2 2 ⎣ < eM eM > < eM eM >⎦ – Since eM1 and eM2 are uncorrelated the offdiagonal term vanish pαβ € ⎡<| e1M |2 > 0 ⎤ = ⎢ 2 2 ⎥ <| eM | > ⎦ ⎣ 0 1 2 M 2 2 M =1 – The vector eM is normalised: e + e – By symmetry (no physical difference between eM1 and eM2 ) € € 1 2 M 2 2 M e =e = 1/2 – the polarization tensor € then reads 1 ⎡1 0 ⎤ αβ p = ⎢ ⎥ 2 ⎣0 1 ⎦ – i.e. unpolarised have {q,u,v}={0,0,0}! 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 17 € The polarization tensor for unpolarized waves (2) • Alternative derivation; polarization vector for unpolarized waves – Note first that the polarization vector is normalised eM 2 2 = e1M + eM2 2 = 1 ~ cos2 (θ) + sin 2 (θ) ⎛e1M ⎞ ⎛e iφ 1 cos(θ)⎞ – the polarization is complex and stochastic: ⎜ 2 ⎟ = ⎜ iφ ⎟ 2 ⎝eM ⎠ ⎝ e sin(θ) ⎠ • where θ, φ and φ are 1 2 uniformly distibuted in [0,2π] € • The corresponding polarization tensor pαβ ⎛ e1M ⎞* =< ⎜ 2 ⎟ (e1M ⎝ eM ⎠ −iφ 1 +iφ 2 € ⎛e −iφ 1 +iφ 1 cos(θ)cos(θ) e cos(θ)sin(θ)⎞ 2 eM ) >=< ⎜ −iφ 2 +iφ 1 ⎟ > −iφ 2 +iφ 2 sin(θ)cos(θ) e sin(θ)sin(θ) ⎠ ⎝ e – here the average is over the three random variables θ, φ1 and φ2 € 1 pαβ = (2π) 3 ⎛ cos2 (θ) e −iφ 1 +iφ 2 cos(θ)sin(θ)⎞ 1 ⎛1 0⎞ ⎟ = ⎜ ⎟ ∫ dθ ∫ dφ1 ∫ dφ 2⎜e −iφ 2 +iφ 1 sin(θ)cos(θ) 2 0 1 2 sin (θ) ⎝ ⎠ ⎝ ⎠ 0 0 0 2π 2π 2π – i.e. unpolarised have {q,u,v}={0,0,0}! 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 18 Poincare sphere • The polarised part of a wave field describes the normalised vector {q/r,u/r,v/r} where r = q 2 + u 2 + v 2 is the degree of polarization – since this vector is real and normalised it will represent points on a sphere, the so called Poincare sphere € u r • Thus, any transverse wave field can be described by – a point on the Poincare sphere – a degree of polarization, r q v Poincare sphere • A polarizing element induces a motion on the sphere – e.g. when passing though a birefringent crystal we trace a circle on the Poincare sphere 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 19 Outline • Set up coordinate system suitable for transverse waves • Jones calculus; matrix formulation of how wave polarization changes when passing through polarizing component – Examples: linear polarizer, quarter wave plate, Faraday rotation • Statistical representation of incoherent/unpolarized waves – Stokes vector and polarization tensor • Poincare sphere • Muller calculus; a matrix formulation for the transmission of arbitrarily polarized waves 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 20 Weakly anisotropic media • Next we will study Muller calculus for partially polorized waves • We will do so for weakly anisotropic media: K αβ = n 0 2δαβ + ΔK αβ € – where ΔKαβ is a small perturbation – although Muller calculus is not restricted to weak anisotropy • The wave equation (n 2 ) − n 0 2 E α = ΔK αβ E α – when ΔKij is a small, the 1st order dispersion relation reads: n2≈n02 – the left hand side can then be expanded to give € small, <<1 ⎡ (n − n 0 ) ⎤ x n − n = (n − n 0 )(n + n 0 ) = (n − n 0 )n 0 ⎢2 + ⎥ ≈ 2n 0 (n − n 0 ) n 0 ⎦ ⎣ 2 2 0 2n 0 (n − n 0 )E α ≈ ΔK αβ E α 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 21 The wave equation as an ODE • Make an eikonal ansatz (assume k is in the x-direction): ⎛ ω ⎞ ⎛ ω ⎞ E = E (t)exp(ikx ) = E (t)exp⎜i n 0 x ⎟ exp⎜i ( n − n 0 ) x ⎟ ⎝ c ⎠ ⎝ c ⎠ α α 0 α 0 dE α ω ω α = i n 0 E + i (n − n 0 ) E α dx c c same expression as on previous page! • The wave equation can then be written as dE α n 0ω α ω = −i E +i ΔK αβ E α dx c 2cn 0 € – describe how the wave changes when propagating through a media! € • Wave equation for the intensity tensor: dI αβ d iω * * = < E α E β >= ... = ΔK αρδβσ − ΔK βσ δαρ I ρσ dx dx 2cn 0 ( € 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 ) 22 The wave equation as an ODE • The wave equation the intensity tensor is not very convinient αβ αβ • Instead, rewrite it in terms of the Stokes vector: SA = τA I dSA = (ρ AB − µ AB ) SB dx € ⎧ iω H ,αρ βα ρβ βρ τA τB − ΔK H ,σβ τρσ A τB ) ⎪⎪ρ AB = 4cn ( ΔK 0 ⎨ ⎪µ = iω ΔK€H ,αρ τβα τρβ − ΔK H ,σβ τρσ τβρ A B A B ) ⎪⎩ AB 4cn 0 ( – we may call this the differential formulation of Muller calculus – symmetric matrix ρAB describes non-dissipative changes in polarization € – and the antisymmetric matrix µAB describes dissipation (absorption) • The ODE for SA has the analytic solution (cmp to the ODE y’=ky) [ ] SA (x) = δ AB + (ρ AB − µ AB ) x +1/2(ρ AC − µ AC )(ρCB − µCB ) x 2 + ... SB (0) = [ ] = exp (ρ AB − µ AB ) x SB (0) = M AB SB (0) – where MAB is called the Muller matrix – MAB represents entire optical components € • we have a component based Muller calculus 13-02-15 Electromagnetic Processes In Dispersive Media, Lecture 6 23 Examples of Muller matrixes • For illustration only – don’t memorise! Linear polarizer (45o transmission) Linear polarizer (Horizontal Transmission) L, H M AB 1 1 0 0 0 0 0 0 0 ⎤ ⎥ 0 ⎥ 0 ⎥ ⎥ 0 ⎦ Quarter wave plate (fast axis horizontal) € Q, H M AB 13-02-15 € ⎡1 ⎢ 1 ⎢1 = 2 ⎢0 ⎢ ⎣0 ⎡1 ⎢ 0 ⎢ = ⎢0 ⎢ ⎣0 0 ⎤ € ⎥ 0 ⎥ 0 0 −1⎥ ⎥ 0 1 0 ⎦ 0 0 1 0 L,45 M AB ⎡ 1 ⎢ 1 ⎢ 0 = 2 ⎢ −1 ⎢ ⎣ 0 0 −1 0 ⎤ ⎥ 0 0 0 ⎥ 0 1 0 ⎥ ⎥ 0 0 0 ⎦ Attenuating filter (30% Transmission) ⎡1 ⎢ 0 Att ⎢ M AB (0.3) = 0.3 ⎢0 ⎢ ⎣0 Electromagnetic Processes In Dispersive Media, Lecture 6 0 1 0 0 0 0 1 0 0 ⎤ ⎥ 0 ⎥ 0 ⎥ ⎥ 1 ⎦ 24 Examples of Muller matrixes • In optics it is common to connect a series of optical elements • consider a system with: – a linear polarizer and – a quarter wave plate Q, H L,45 in SAout = M AB M BC SC • Insert unpolarised light, SAin=[1,0,0,0] – Step 1: Linear polariser transmit linear polarised light € T L,45 S step1 = M BC [1 0 0 0] = [1 0 −1 0] T – Step 2: Quarter wave plate transmit circularly polarised light € 13-02-15 S out =M Q, H [1 T 0 −1 0] = [1 0 0 −1] T Electromagnetic Processes In Dispersive Media, Lecture 6 25