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Matrices Transformation

Slide number 1
Matrices and transformations
A coordinate system can be used to uniquely
identify points in m-dimensional space as
column vectors (m 1 matrices).
e.g. in 2-dimensional space the points A, B,
and C are represented as:

A=
1
1



(

(
B=
2
3



(

(
C=
1
1



(

(
A
B
C
Slide number 2
Multiple points
The position of n points in space can be
characterised by a grouping of n column
vectors forming an m n matrix.
e.g. in 2-dimensional space the triangle with
vertices A, B, and C can be represented
by the matrix:

1 2 1
1 3 1



(

(
A
B
C
Slide number 3
Matrix transformations
Matrices can also be used to represent
transformations of points.
e.g. the matrix

will transform A, B, and C to A, B, and C.

2 1
1 1



(

(
A
B
C
A
B
C
Slide number 4
Matrix transformations
i.e.
A
B
C
A
B
C

A' =
2 1
1 1



(

(
1
1



(

(
=
3
0



(

(
B' =
2 1
1 1



(

(
2
3



(

(
=
1
5



(

(
C' =
2 1
1 1



(

(
1
1



(

(
=
3
0



(

(
Slide number 5
Matrix transformations
Or, more succinctly in matrix form:
A
B
C
A
B
C

2 1
1 1



(

(
1 2 1
1 3 1



(

(
=
3 1 3
0 5 0



(

(
Slide number 6
Matrix transformations
Note: the determinant of the transformation
matrix gives the scale of the area change.
e.g. area [A, B, C] = 5, area [A, B, C] = 15
A
B
C
A
B
C

det
2 1
1 1



(

(
|
\

|
.
| = 3
Slide number 7
Matrix transformations
e.g. transform the shape with vertices


by the matrix


Note that the determinant gives the scale
factor for the change in area

det
1 1
2 1



(

(
|
\

|
.
| = 3

A=
2
1



(

(
, B=
1
1



(

(
, C=
1
2



(

(
, D=
2
1



(

(
,

1 1
2 1



(

(
Slide number 8
Matrix transformations
All four vertices can be transformed using a
single matrix equation


Negative determinant reverses the ordering of
vertices.

1 1
2 1



(

(
2 1 1 2
1 1 2 1



(

(
=
3 0 3 1
3 3 0 5



(

(
A
B
C
A
B
C
D
D
Slide number 9
The unit square
It is instructive to look at the effect of
transformations on a simple shape such as the
unit square.
The matrix for the unit square is given by
O P
Q R

O P Q R
0 1 0 1
0 0 1 1



(

(
Slide number 10

a
11
a
12
a
21
a
22



(

(
O P Q R
0 1 0 1
0 0 1 1



(

(
=
O' P' Q' R'
0 a
11
a
12
a
11
+a
12
0 a
21
a
22
a
21
+a
22



(

(
Transforming the unit square
Transforming the unit square gives information
about the transformation matrix



i.e. transforming the unit square results in
[zeros, original matrix, sums of rows]
Slide number 11
Transformations: uniform scaling
The general form of uniform scaling by k is:


e.g. uniform scaling by 2 is given by
O P
Q R
O P
Q R

k 0
0 k



(

(

2 0
0 2



(

(
Slide number 12
Transformations: scaling
Slide number 13
Transformations: scaling
Slide number 14
Transformations: stretch
The general form of a stretch by k in the x
direction is:


e.g. xdirection stretch by 2 is given by

k 0
0 1



(

(

2 0
0 1



(

(
O P
Q R
O P
Q R
Slide number 15
Transformations: stretch
The general form of a stretch by k in the y
direction is:


e.g. ydirection stretch by -2 is given by

1 0
0 k



(

(

1 0
0 2



(

(
O P
Q R
O P
Q R
Slide number 16
Transformations: shear
The general form of a shear by k in the x
direction is:


e.g. xdirection shear by 1.5 is given by

1 k
0 1



(

(

1 1.5
0 1



(

(
O P
Q R
O P
Q R
Slide number 17
Transformations: shear
The general form of a shear by k in the y
direction is:


e.g. ydirection shear by -1 is given by

1 0
k 1



(

(

1 0
1 1



(

(
O P
Q R
O
P
Q
R
Slide number 18
Transformations: reflection
The general forms of reflections in the xaxis
and yaxis are:


e.g. an xaxis reflection is given by

1 0
0 1



(

(
and
1 0
0 1



(

(

1 0
0 1



(

(
O P
Q R
O P
Q R
Slide number 19
Transformations: reflection
The general forms of reflections in the y=x are

(

0 1
1 0
Slide number 20
Transformations: reflection
The general forms of reflections in the original
point (0,0) are





(

1 0
0 1
Slide number 21
Transformations: rotation
The general form of a rotation by k about the
origin is:




cos k
( )
sin k
( )
sin k
( )
cos k
( )



(

(
O
R
P
k
Q
cos(k)
sin(k)
k
k
sin(k)
cos(k)
Slide number 22
Transformations: rotation
e.g. the matrices representing rotations of 90
and 30 are:

cos 90
( )
sin 90
( )
sin 90
( )
cos 90
( )



(

(
=
0 1
1 0



(

(
cos 30
( )
sin 30
( )
sin 30
( )
cos 30
( )



(

(
=
3
2
1
2

1
2
3
2






(

(
(
(
(
Slide number 23
Transformation:Rotation
For rotation by an angle anticlockwise about
the origin, the functional form is
x' = xcos ysin
y' = xsin + ycos
The matrix form is:

(


=
(

y
x
y
x
u u
u u
cos sin
sin cos
'
'
Slide number 24
Transformation:Rotation
for a rotation clockwise about the origin, the
functional form is
x' = xcos + ysin
y' = xsin + ycos and
the matrix form is

(

=
(

y
x
y
x
u u
u u
cos sin
sin cos
'
'
Slide number 25
Combined transformations
If the matrices A and B represent two
transformations, then the matrix product AB
represents the combined transformation of first
applying B and then applying A.
i.e. let the matrix U represent the unit square.
Then BU represents the transformation B
applied to the unit square.
Now A(BU) represents the transformation A
applied to the unit square transformed by B.
This sequence of transformations is the same
as the combined transformation (AB) applied
to U (matrix multiplication is associative)
ABU = A(BU) = (AB)U
Slide number 26
Combined transformations
e.g. let the matrices A and B represent x
shear by 1 and ystretch by 2 transformations

A=
1 1
0 1



(

(
, B=
1 0
0 2



(

(
BU=
1 0
0 2



(

(
0 1 0 1
0 0 1 1



(

(
=
0 1 0 1
0 0 2 2



(

(
A BU
( )
=
1 1
0 1



(

(
0 1 0 1
0 0 2 2



(

(
=
0 1 2 3
0 0 2 2



(

(
AB=
1 1
0 1



(

(
1 0
0 2



(

(
=
1 2
0 2



(

(
AB
( )
U=
1 2
0 2



(

(
0 1 0 1
0 0 1 1



(

(
=
0 1 2 3
0 0 2 2



(

(
Slide number 27
Combined transformations
Note that combined transformations are not
commutative.
i.e. AB BA
e.g.

A=
1 1
0 1



(

(
, B=
1 0
0 2



(

(
AB=
1 1
0 1



(

(
1 0
0 2



(

(
=
1 2
0 2



(

(
, BA=
1 0
0 2



(

(
1 1
0 1



(

(
=
1 1
0 2



(

(
ABU=
0 1 2 3
0 0 2 2



(

(
, BAU=
0 1 1 2
0 0 2 2



(

(
Slide number 28
Inverse transformations
Let A be a transformation, so AU = V
represents the transformation A applied to the
unit square.
Now if we premultiply the equation by A
-1
, the
inverse of A, we get
A
-1
AU = A
-1
V
But A
-1
A = I , so U = A
-1
V. In other words A
-1
reverses the transformation A.
A
-1
(if it exists) is thus the inverse
transformation of A.

Slide number 29
Inverse transformations
e.g. yshear by -1 is given by

A=
1 0
1 1



(

(

AU =
1 0
1 1



(

(
0 1 0 1
0 0 1 1



(

(
=
0 1 0 1
0 1 1 0



(

(
A
1
AU =
1 0
1 1



(

(
0 1 0 1
0 1 1 0



(

(
=
0 1 0 1
0 0 1 1



(

(
O P
Q R
O
P
Q
R
Slide number 30
Inverse transformations: singular
What if the transformation is singular?
e.g.

A=
1 2
1 2



(

(
, det A
( )
= 0

AU=
1 2
1 2



(

(
0 1 0 1
0 0 1 1



(

(
=
0 1 2 1
0 1 2 1



(

(
O P
Q R
O
P
Q
R
Slide number 31
Inverse transformations: singular
Singular transformations collapses the unit
square into a straight line (or a single point).
Singular transformations cannot be reversed
because there isnt a one-to-one mapping
between the original and transformed spaces.
O P
Q R
O
P
Q
R
Slide number 32
Transition matrices
Consider a system that can be characterised
by a set of m variables, called state variables.
Furthermore, these state variables are allowed
to change value only at discrete time points,
called transitions.
If the system state variables at transition i are
linearly related related to the state variables at
transition (i 1) the transition can be
described using a transition matrix.
Examples of such systems include Markov
chains, where the transition matrix elements
represent probabilities of changing from one
state to another.
Slide number 33
Transition matrices: example 1
e.g. A railway has 600 wagons carrying
goods from point A to point B. At the end of
each week it finds that 30% of the wagons
that started the week at A are at B and 20%
of the wagons that have started at B are now
at A.
1) How many wagons are at A and B at the end of two
weeks if 300 wagons started at A and 300 started at
B?
2) If there are 400 wagons at A and 200 at B at the end
of a week, how many wagons were there at A and at B
at the start of the week?
3) How many wagons would need to be at A and at B at
the start of the week if there were to be the same
numbers at the end of the week?
Slide number 34
Transition matrices: example 1
The transition matrix describes the way the
distribution of wagons changes from the start
to the end of each week. It does not describe
all the changes that may take place during the
week.
Think of the columns of the matrix
representing from and the rows representing
to

from A from B
to A
to B
a
11
a
12
a
21
a
22



(

(
Slide number 35
Transition matrices: example 1
A railway has 600 wagons carrying goods from
point A to point B. At the end of each week it
finds that 30% of the wagons that started the
week at A are at B and 20% of the wagons
that have started at B are now at A.
Fill in the elements of the matrix remembering
that if 0.3 of A's wagons end up at B then 0.7
remain at A (i.e. go from A to A).

from A from B
to A
to B
0.7 0.2
0.3 0.8



(

(
Slide number 36
Transition matrices: example 1
1) How many wagons are at A and B at the end
of two weeks if 300 wagons started at A and
300 started at B?
Construct a vector representing the numbers
of wagons:

Calculate the numbers of wagons at the end
of week 1:

Calculate the numbers of wagons at the end
of week 2:

i.e. there are 255 wagons at A and 345 at B.

0.7 0.2
0.3 0.8



(

(
300
300



(

(
=
270
330



(

(

at A
at B
300
300



(

(

0.7 0.2
0.3 0.8



(

(
270
330



(

(
=
255
345



(

(
Slide number 37
Transition matrices: example 1
2) If there are 400 wagons at A and 200 at B at
the end of a week, how many wagons were
there at A and at B at the start of the week?
If the transition matrix represents the forward
process, the inverse represents the reverse
process.
Calculate the inverse of the transition matrix:


Apply the inverse transformation:


i.e. there were 560 wagons at A and 40 at B.

0.7 0.2
0.3 0.8



(

(
1
=
1
0.560.06
0.8 0.2
0.3 0.7



(

(
=
1.6 0.4
0.6 1.4



(

(

1.6 0.4
0.6 1.4



(

(
400
200



(

(
=
560
40



(

(
Slide number 38
Transition matrices: example 1
3) How many wagons would need to be at A and
at B at the start of the week if there were to
be the same numbers at the end of the week?
This is called the steady state problem:


0.7 0.2
0.3 0.8



(

(
x
y



(

(
= I
x
y



(

(
where I =
1 0
0 1



(

(
0.7 0.2
0.3 0.8



(

(
x
y



(

(
I
x
y



(

(
=
0
0



(

(
0.7 0.2
0.3 0.8



(

(
I
|
\

|
.
|
x
y



(

(
=
0
0



(

(
0.3 0.2
0.3 0.2



(

(
x
y



(

(
=
0
0



(

(

find
x
y



(

(
such that
0.7 0.2
0.3 0.8



(

(
x
y



(

(
=
x
y



(

(
Slide number 39
Transition matrices: example 1
3) How many wagons would need to be at A and
at B at the start of the week if there were to
be the same numbers at the end of the week?




Since the total number of wagons is 600, the
steady state distribution is:


0.3 0.2
0.3 0.2



(

(
x
y



(

(
=
0
0



(

(
gives
x
y
=
2
3
, or
x
x + y
=
2
5
and
y
x + y
=
3
5

2
5
600 = 240 at A
3
5
600 = 360 at B
Slide number 40
Transition matrices: example 1
3) How many wagons would need to be at A and
at B at the start of the week if there were to
be the same numbers at the end of the week?
Check that the answer is the steady state
solution:


0.7 0.2
0.3 0.8



(

(
240
360



(

(
=
240
360



(

(
Slide number 41
Transition matrices: example 2
e.g. A company has 2 warehouses with initial
stock 20,000 and 10,000 in warehouse A and
B, respectively. At the end of each week 70%
of stock in A is sold and 2% transferred to B,
while 85% of stock in B is sold and 1%
transferred to A. How much stock is left in
each warehouse at the end of 2 weeks?
Construct the transition matrix:



Note: we need an extra row and column to
track movement between A, B, and outside.

from A from B from out
to A
to B
to out
0.28 0.01 0.00
0.02 0.14 0.00
0.70 0.85 1.00



(

(
Slide number 42
Transition matrices: example 2
How much stock is left in each warehouse at
the end of 2 weeks?
Construct a vector representing the stock:



Calculate the stock at the end of week 1:



Calculate the stock at the end of week 2:

0.28 0.01 0.00
0.02 0.14 0.00
0.70 0.85 1.00



(

(
20, 000
10, 000
0




(

(
(
=
5, 700
1, 800
22, 500




(

(
(

at A
at B
at out
20, 000
10, 000
0




(

(
(

0.28 0.01 0.00
0.02 0.14 0.00
0.70 0.85 1.00



(

(
5, 700
1, 800
22, 500




(

(
(
=
1, 614
366
28, 020




(

(
(
Slide number 43
Matrices lecture objectives
After this lecture you should have a clear
understanding of:
Representing sets of points in matrix form;
What the unit square is;
Performing and classifying matrix transformations;
Performing combined matrix transformations;
The effect of an inverse matrix;
The relationship between the the determinant of a
transformation and the change in area of a shape;
The effect of a transformation using a singular matrix.

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