DREAM IDEA PLAN IMPLEMENTATION

Matrix Laboratory

Introduction to Matlab
By Dr. Kourosh Kiani

Course Structure

Spread over 8 weeks 1 classes per week 2 hour per class

Introduction

History of MATLAB
Ancestral software to MATLAB Fortran subroutines for solving linear (LINPACK) and eigenvalue (EISPACK) problems In 1970, Cleve Moler, the chairman of the computer science department at University of New Mexico, designed MATLAB to give his students to access LINPACK and EISPACK without requiring knowledge of Fortran

History of MATLAB, cont: 2

Later, when teaching courses in mathematics, Moler wanted his students to be able to use LINPACK and EISPACK without requiring knowledge of Fortran MATLAB developed as an interactive system to access LINPACK and EISPACK

History of MATLAB, cont: 3

It soon spread to other universities and found a strong audience within the applied mathematics community. MATLAB gained popularity primarily through word of mouth because it was not officially distributed In1984, Jack Little, Cleve Moler and Steve Bangert rewrote MATLAB in C with more functionality (such as plotting routines).

History of MATLAB, cont: 4

The Mathworks, Inc. was created in 1984 The Mathworks is now responsible for development, sale, and support for MATLAB The Mathworks is located in Natick, MA

What Is MATLAB? MATLAB (MATrix LABoratory) high-performance language for technical computing computation, visualization, and programming in an easy-to-use environment Typical uses include: Math and computation Algorithm development Modelling, simulation, and prototyping Data analysis, exploration, and visualization Scientific and engineering graphics Application development, including Graphical User Interface building

Why MATLAB

A good choice for vision program development because: Easy to do very rapid prototyping Quick to learn, and good documentation A good library of image processing functions Excellent display capabilities Widely used for teaching and research in universities and industry MATLAB code is optimized to be relatively quick when performing matrix operations MATLAB may behave like a calculator or as a programming language

Why not MATLAB

Has some drawbacks: Slow for some kinds of processes Not geared to the web Not designed for large-scale system development Not a general purpose programming language MATLAB is an interpreted language (making it for the most part slower than a compiled language such as C++)

MATLAB Components

MATLAB consists of:

The MATLAB language a high-level matrix/array language with control flow statements, functions, data structures, input/output, and object-oriented programming features. The MATLAB working environment the set of tools and facilities that you work with as the MATLAB user or programmer, including tools for developing, managing, debugging, and profiling Handle Graphics the MATLAB graphics system. It includes high-level commands for twodimensional and three-dimensional data visualization, image processing, animation, and presentation graphics. (contd)

MATLAB Components

The MATLAB function library. a vast collection of computational algorithms ranging from elementary functions like sum, sine, cosine, and complex arithmetic, to more sophisticated functions like matrix inverse, matrix eigenvalues, Bessel functions, and fast Fourier transforms as well as special image processing related functions The MATLAB Application Program Interface (API) a library that allows you to write C and Fortran programs that interact with MATLAB. It include facilities for calling routines from MATLAB (dynamic linking), calling MATLAB as a computational engine, and for reading and writing MAT-files.

MATLAB
Some facts for a first impression Everything in MATLAB is a matrix ! MATLAB is an interpreted language, no compilation needed (but possible) MATLAB does not need any variable declarations, no dimension statements, has no packaging, no storage allocation, no pointers Programs can be run step by step, with full access to all variables, functions etc.

Opening MatLAB

Open MatLAB by Clicking on the desktop icon or finding MatLAB on the Start menu

MATLAB Environment

To start MATLAB: START PROGRAMS 7.0 MATLAB 7.0

MATLAB

MatLAB window
Contents of CWD Current working Directory (CWD)

Watch and manipulate your variables Write different MATLAB commands, and watch most of the results

Recall your past commands

Command History Window

Command Window

Workspace

Allows access to data Area of memory managed through the Command Window Shows Name, Size (in elements), Number of Bytes and Type of Variable

Current Directory

MATLAB, like Windows or UNIX, has a current directory MATLAB functions can be called from any directory Your programs (to be discussed later) are only available if the current directory is the one that they exist in

To add path
File Set Path

Add Folder

Select the folder where you placed your M-File

Command History

Allows access to the commands used during this session, and possibly previous sessions Clicking and dragging to the Command window allows you to re-execute previous commands

Command Window

Probably the most important part of the GUI Allows you to input the commands that will create variables, modify variables and even (later) execute scripts and functions you program yourself.

 MatLAB interface has four important features Current working directory drop-down box Command window (human interface) Command history window Contents of CWD

command files

When you type the name of a command, MatLAB begins looking for a .m file with that name Search begins in the Current Working Directory (CWD) Best Practice is to set CWD to you network (?:) drive

Command files

Command files may be Internal MatLAB functions User-defined script file User-defined function file

Script file vs Function file

Script file Process a series of MatLAB commands Uses global variable space Function file Usually accepts one or more variable arguments Usually returns one or more values determined by the argument(s) supplied Uses its own local variable space

Matlab Programs
Matlab is an extravagant calculator if all we can do is execute commands typed into the Command Window So how can we execute a program? Programs in Matlab are:
Scripts, or Functions

Scripts: Matlab statements that are fed from a file into the Command Window and executed immediately Functions: Program modules that are passed data (arguments) and return a result (i.e., sin(x)) These can be created in any text editor (but Matlab supplies a nice built-in editor)

Global vs. Local variables

Global variables are known everywhere Any variable defined in the command window is global Any variable defined in a script is global Local variables are known only in the current program segment (function file)

Write a simple script file

Open .m editor

Simple Script
Ask user for name Output string welcoming name to Dr. Kiani Lecture Save as welcome.m

M-files
M-files are macros of MATLAB commands that are stored as ordinary text files with the extension "m", that is filename.m example of an M-file that defines a function, create a file in your working directory named yplusx.m that contains the following commands: Write this file: function z = yplusx(y,x) z = y + x; -save the above file(2lines) as yplusx.m x = 2; y = 3; z = yplusx(y,x) 5 Get input by prompting on m-file: T = input('Input the value of T: ')

 A semi-colon ; suppresses echo of MatLAB commands Square brackets [ ] are used to collect or concatenate like items in MatLAB The input() function is used to prompt user for input in the command window The disp() function is used to display strings or variables in the command window

Output from welcome.m

Note that the input value Semnan must be enclosed in single tick marks so MatLAB knows it is a string variable

 MatLAB commands may be either Script or Function type Script file No parameters (arguments) No return value Uses global address space Function file May take parameters Typically returns one or more values Uses local address space

MATLAB program design fundamentals MATLAB variable name conventions Starting with a letter followed by other characters Case sensitive. Abc ABc are different Valid variable names: MYvar12, MY_Var12 and MyVar12_ Invalid variable names: 12MyVar, _MyVar12 MATLAB reserved variables/constants eps, i, j, pi, NaN, Inf, i=sqrt(-1) lastwarn, lasterr

Reserved Words
Matlab has some special (reserved) words that you may not use for end if while function return elsif case otherwise switch continue else try catch global persistent break

Matlab has Some Special Variables

Special Variable Description

ans beep pi eps inf NaN i (or) j realmin, realmax bitmax nargin, nargout varargin varaout

default variable name for results make sound mathematical constant smallest number that can be subtracted from 0 to make a negative infinity not a number imaginary number smallest & largest positive real numbers largest positive integer number of function in (or) out variables variable number of function in args variable number of function out args

The Matlab Environment

Matlab is an interpreted language Commands are typed into the COMMAND Window and executed immediately Variables are allocated in memory as soon as they are first used in an expression Commands must be re-entered to be re-executed All variables created in the Command Window are in what is called the Base Workspace Variables can be reassigned new values as needed Variables can be selectively cleared from the workspace The Workspace can be saved to a data file File extension is .mat (ex: mydata.mat) File is in binary and essentially unreadable by humans .mat files can be reloaded back into the Matlab Workspace

Numerical type data structure

Double precision numerical variable IEEE standard, 64 bits (8 bytes), 11 bits for exponential and 53 bits for numerical and a sign bit. Use double() to convert other types to double. Other data types. Uint8, unsigned 8 bit integer commonly used in image presentation and processing int8(), int16(), int32(),uint16(), uint32()

Managing MATLAB Environment

who or whos -- See the current runtime environment clear -- remove all variables from memory clc -- clear the command window clf -- clear the graphics window save -- save the workspace environment load -- restore workspace from a disk file abort -- CTRL-C help -- help command

Really good help command

Using MATLAB functions

MATLAB functions come built in to MATLAB, sqrt, sin, abs, max, exp, etc. MATLAB functions come in specialized toolboxes for special fields of work; the financial toolbox, statistical toolbox, symbolic math toolbox are examples. And, you will be able to write your own functions and use them just like built in ones.

Some Elementary Math Functions

abs(x) absolute value sqrt(x) square root round(x) rounds to nearest fix(x) truncates toward 0 floor(x) rounds down ceil(x) rounds up

sign(x) sign of x rem(x,y) remainder of x/y exp(x) e raised to x power log(x) natural log of x log10(x) log to the base 10 log2(x) log to the base 2

Some Trigonometric Functions

sin(x) cos(x) tan(x) asin(y) atan(y) computes the sine of x, x in radians, computes the cosine of x, x in radians computes the tangent of x, x in radians computes the inverse sine, -1 < x < +1 computes the inverse tangent, i.e., computes the angle whose tangent is y

Notice that MATLAB wants angles to be expressed in radians, not degrees. To convert use the relationship 1 degree = pi/180 radians angle_radians = angle_degrees*(pi/180) angle_degrees = angle_radians*(180/pi)

Other Useful Elementary Analysis Functions

max(x), min(x), mean(x), median(x), std(x), sum(x), prod(x), cumsum(x), cumprod(x), sort(x), size(x), length(x) are just a few. Note that x may be a vector (row or column) or a matrix. For matrices, functions typically work on the columns of the matrix to yield their results.

Random Number Generators

MATLAB contains two random number generators, rand(n,m) for uniformly distributed random numbers and randn(n,m) for normal or Gaussian distributed random numbers. Random number sequences can be scaled for different mean and standard deviation requirements. Sequences of random numbers are often used in engineering problem solving. x = 10*rand(1,100) 5; creates a row vector x with 100 random numbers uniformly distributed between -5 and 5. Enter the above command followed by the command plot (x) to see what happens.

Simple Commands
who whos save clear load

who

who lists the variables currently in the workspace. As we learn more about the data structures available in MATLAB, we will see more uses of who

whos

whos is similar to who, but also gives size and storage information s = whos(...) returns a structure with these fields name variable name size variable size bytes number of bytes allocated for the array class class of variable and assigns it to the variable s. (We will discuss structures more).

Save

save saves workspace variables on disk save filename stores all workspace variables in the current directory in filename.mat save filename var1 var2 ... saves only the specified workspace variables in filename.mat. Use the * wildcard to save only those variables that match the specified pattern.

Clear

clear removes items from workspace, freeing up system memory Examples of syntax:
clear clear name clear name1 name2 name3 ...

clc

Not quite clear clc clears only the command window, and has no effect on variables in the workspace.

Load

load - loads workspace variables from disk Examples of Syntax:

load load filename load filename X Y Z

MATLAB Basics: Data Files

save filename var1 var2 save homework.mat x y save x.dat x ascii load filename load filename.mat load x.dat ascii

p binary p ascii p binary p ascii

Matlab Help

Some Simple Calculations

Matlab capable of simple mathematical operations analogous to a calculator: >> 9.3 + 5.6 ans = 14.9000 >> 13.1 - 4.113 ans = 8.9870 >> 10.1 * 890.99 ans = 8.9990e+03

Some Simple Calculations-2

>> 9.6 / 3.2 ans = 3.0000 >> 9.9 ^ 3.1 ans = 1.2203e+03

The ans variable

The results of calculations do not need to be saved to a variable explicitly.
If no variable is specified then the result is automatically saved to the ans (answer) variable.

This variable may be subsequently used >> 91.3 14 ans = 77.3 >> z=ans * 2 z= 154.6

The ans variable - 2

In general you should not use ans but your own meaningfully named variables Examining a VariablesValue
Simply typing a variables name alone is interpreted as a command to show the value stored in that variable

>>z z= 144.6

Semicolon, Comma & Period

By default Matlab interprets the end of a line as the end of a statement/expression Semicolon Semicolon ; terminates the current expression and suppresses output (to the screen) of the result volume = pi * radius^2 * height;
The value is calculated and stored in volume but not echoed back to the screen.

A semicolon should be used on most lines of code as we are not interested in intermediary results

Semicolon, Comma & Period - 2

Comma The comma , can be used to separate multiple statements on the same line. The value of any variables will be echoed to the screen. x=5.7, y=89.12
will echo those variables and their names back on the screen.

Semicolon, Comma & Period - 3

Period Long statements can be split over lines by 3 periods Z = x-d+t+g+h+d-3+b+r+m+n+j - p;

Complex Numbers
Matlab implicitly supports complex numbers
no requirement for special functions to manipulate

For example: z1=sqrt(-4)+3 z1 = 3.0000+ 2.0000i z2=z1*(1-i)

z2 = 5.0000- 1.0000i

Complex Numbers - 2
z3=5.6*sin(1.55)*i z3 = 0+ 5.5988i r1=imag(z3) r1 = 5.5988 z4=mean([z1 z2 z3]) z4 = 2.6667+ 2.1996i

Complex Numbers - 3
Note: mathematical and built-in function usage is exactly the same as for non-complex complex expressions yield complex values

NaN & Inf

Mathematical operations can often yield undefined results or those beyond the storage capability of the machine In many languages these type of operation (e.g., division by zero) cause the running program to crash
not particularly desirable

Matlab has two special "constants" which are substituted when such operations occur:
NaN Inf Not a Number Infinity

NaN & Inf - 2

This allows recovery or continuation >> undef=0/0 Warning: Divide by zero. undef = NaN

>> big=1/0 Warning: Divide by zero. big = Inf

NaN & Inf - 3

>> big2=2^realmax big2 = Inf

Strings
Not all real-world objects are best represented by numbers e.g., names, addresses, units of measurement A common type supported by most languages (including Matlab) is the String a collection of characters Indicated by the single-quote '

Strings
A string is an array of characters s = 'abc' is equivalent to s = [ 'a' 'b' 'c' ] All operations that apply to vectors and arrays can be used together with strings as well s(1) p 'a' s( [ 1 2 ] ) = 'XX' p s = 'XXc' s(end) p 'c'

String Conversion
Conversion of strings to numerical arrays double( 'abc xyz' ) ans = 97 98 99 32 120 121 122 double( 'ABC XYZ' ) ans = 65 66 67 32 88 89 90 Conversion of numerical arrays to strings char( [ 72 101 108 108 111 33 ] ) ans = Hello!

Character Arrays
2-D character arrays s = [ 'my first string'; 'my second string' ] ??? Error s = char( 'my first string', 'my second string' ) s= char function my first string automatically my second string pads strings size(s) p [ 2 16 ] size( deblank( s(1,:) ) ) p [ 1 15 ]

String Tests
ischar() : returns 1 for a character array ischar ( 'CS 111' ) ans = 1 isletter() : returns 1 for letters of the alphabet isletter( 'CS 111' ) ans = 1 1 0 0 0 0 isspace() : returns 1 for whitespace (blank, tab, new line) isspace( 'CS 111' ) ans = 0 0 1 0 0 0

String Comparison
Comparing two characters 'a' < 'e' ans = 1 Comparing two strings character by character 'fate' == 'cake' ans = 0 1 0 1 'fate' > 'cake' ans = 1 0 1 0

String Comparison
strcmp() : returns 1 if two strings are identical a = 'Bilkent'; strcmp( a, 'Bilkent' ) ans = 1 strcmp( 'Hello', 'hello' ) ans = 0 strcmpi() : returns 1 if two strings are identical ignoring case strcmpi( 'Hello', 'hello' ) ans = 1

String Comparison
>> str1='My first string' str1 = My first string >> findstr(str1,'first') ans = 4 >> strcmp(str1,'My') ans = 0

Strings
>> strncmp(str1,'My',2) ans = 1 >> str2='45.6' str2 = 45.6 >> str2num(str2) ans = 45.6000

Strings
>> str1 str1 = My first string >> str2 str2 = 45.6 >> strcat(str1,str2) ans = My first string45.6

String Case Conversion

Lowercase-to-uppercase a = upper( 'This is test 1!' ) a= THIS IS TEST 1! Uppercase-to-lowercase a = lower( 'This is test 1!' ) a= this is test 1!

Searching in Strings
findstr() : finds one string within another one test = 'This is a test!'; pos = findstr( test, 'is' ) pos = 3 6 pos = findstr( test, ' ' ) pos = 5 8 10

Replacing in Strings
strrep() : replaces one string with another s1 = 'This is a good example'; s2 = strrep( s1, 'good', 'great' ) s2 = This is a great example

String Conversion
Recall num2str() for numeric-to-string conversion str = [ 'Plot for x = ' num2str( 10.3 ) ] str = Plot for x = 10.3 str2num() : converts strings containing numbers to numeric form x = str2num( '3.1415' ) x= 3.1415

Managing Variables
The variables created during a Matlab session are not persistent objects: they cease to exist when the session is over endure for the duration of the session Matlab provides the following command for managing the workspace clear delete a variable now

Managing Variables - 2
>> x=7.9 x = 7.9000 >> clear x >> x ??? Undefined function or variable 'x'. Useful if you wish to ensure that a variable starts with no value
initialisation

Managing Workspace: load

Load in a variable that has previously been saved from Matlab or another source >> linear=1:10 linear = 1 2 3

10

>> save linear >> clear linear >> linear ??? Undefined function or variable 'linear'.

Managing Workspace: load -2

>> load linear >> linear linear = 1 2 3 4 5 6 7 8 9 Useful for large and/or important data

10

Managing Workspace: save

Save a matlab variable to a file for usage in a later session >> squares=linear.^2 squares = 1 4 9 16 25

36 49 64 81 100

>> save mydata linear squares >> clear linear squares >> squares ??? Undefined function or variable 'squares'.

Managing Workspace: save -2

>> load mydata >> squares squares = 1 4 9 16 25 36 49 64 81 100

The format command

Matlab has a default behavior when outputting numeric values: if value is a whole number then display as an integer otherwise if theres about 5 significant digits or less then display as a float otherwise display it in scientific notation

The format command - 2

Matlab provides a number of different possible formats for showing numeric values
specified with the format instruction applies for all disp (and variable name) output until the format is changed with another format instruction. format by itself returns to the default format

Command Explanation

The format command - 3

format short format long format short e format long e format short g format long g format hex format bank format + format rat 5 digits, also the default format 16 digits 5 digits in exponential form 16 digits in exponential form better of short or short e better of long or long e As a hexadecimal number To 2 decimal places (like currency) Sign of value only As a rational approximation

Format Examples
format instructions should be used in conjunction with disp to ensure the output answers are in the most appropriate form. Note: format does not change the actual value of the variable being displayed, it simply alters the display format. >> format short; disp(pi); 3.1416 >> format long; disp(pi); 3.14159265358979

Format Examples - 2
>> format short e; disp(pi); 3.1416e+00 >> format long e; disp(pi); 3.141592653589793e+00 >> format short g; disp(pi); 3.1416 >> format long g; disp(pi); 3.14159265358979

Format Examples - 3
>> format hex; disp(pi); 400921fb54442d18 >> format bank; disp(pi); 3.14 >> format +; disp(pi); + >> format rat; disp(pi); 355/113

Questions?