Digital Signal Processing 93 (2019) 58–69

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Digital Signal Processing

www.elsevier.com/locate/dsp

Riesz fractional order derivative in Fractional Fourier Transform

domain: An insight
Kanwarpreet Kaur, Neeru Jindal ∗ , Kulbir Singh
Department of Electronics and Communication Engineering, Thapar Institute of Engineering and Technology, Patiala, Punjab, India

a r t i c l e i n f o a b s t r a c t

Article history: This paper presents a novel closed-form analytical expression for Riesz fractional order derivative in the
Available online 23 July 2019 Fractional Fourier domain. The expression is obtained in the terms of higher transcendental functions
such as Parabolic Cylinder Function as well as Confluent Hypergeometric Function. The presented work is
Keywords:
analyzed in the discrete domain by using the properties of Discrete Fractional Fourier Transform (DFrFT).
Fourier Transform
Fractional Fourier Transform
The proposed algorithm is capable of preserving the texture and edge information without any phase
Riesz fractional order derivative distortion. The design example discussed in the paper shows the efficacy of the proposed algorithm for
Parabolic cylinder function a signal with high frequency chirp noise. The design flexibility of the proposed approach is confirmed
Confluent hypergeometric function due to the fact that it provides an optimal value of performance metrics such as Root Mean Square
Error (RMSE) and Mean Absolute Error (MAE) corresponding to the variation of the fractional order of
Riesz derivative and fractional parameter in the rotation angle of Fractional Fourier Transform (FrFT). The
proposed algorithm provides better results in terms of minimum RMSE of 0.115136 and MAE of 0.094223
for the optimal fractional order of 0.43 at a rotation angle of 0.45π .
© 2019 Elsevier Inc. All rights reserved.

1. Introduction detection, image enhancement, image super-resolution, biomedical

Traditionally, the idea of derivatives is usually related to the in-
tegers; a function can be differentiated a whole number of times.
But, the interest of Leibniz to explore the real or non-integer or-
der of differentiation led to the notion of Fractional Order Calculus
(FOC). It basically evolved in 1695 with the discourse between
Leibniz and Bernoulli about the meaning of non-integer deriva-
tive order. Moreover, Leibniz received similar query from L’ Hôpital.
However, it appeared in Lacroix’s writings in the nineteenth cen-
tury. The foundation of the FOC was laid in the mid-nineteenth
century by Liouville, Riemann, Grunwald, Holmgren and many
more [1–3]. FOC is the generalized form of the traditional New-
tonian calculus [1]. The derivative for the integer order is given
as D n p (x) = dn p (x)/dxn whereas, in FOC, it is generalized to the
fractional order D ϑ p (x), where ϑ represents a real number [4].
There has been comprehensive use of fractional derivatives in var-
ious applications in the field of science and engineering involving
Fractional Order Differentiators (FODs) design, which is an active
research area in signal and image processing. It has found applica-
tions in the field of filtering, signal detection, reconstruction, edge
* Corresponding author.
E-mail addresses: kkaur_phd16@thapar.edu (K. Kaur), neeru.jindal@thapar.edu
(N. Jindal), ksingh@thapar.edu (K. Singh).
etc. [5–9]. Various techniques have been employed to design the
Finite Impulse Response (FIR) and Infinite Impulse Response (IIR)
FOD for time and frequency domain. Some of the methods used for
design of FODs include frequency response approximation, contin-
ued fraction expansion, Laguerre series, Discrete Fourier Transform
(DFT) interpolation, Radial Basis Function, Legendre polynomials,
Discrete Cosine Transform (DCT), optimization techniques, Discrete
Sine Transform (DST), Jacobi orthonormal functions [4,8–14]. There
is difficulty in analyzing and calculating the fractional order deriva-
tives in time domain, so, in [8,10] fractional order derivatives are
designed in the frequency domain. The various transforms exist
that can be used for designing fractional order derivatives. But, the
most efficient transforms that can exploit the advantage of time-
frequency plane are Wavelet Transform (WT) and Fractional Fourier
Transform (FrFT). Although WT provides analysis of signal on the
time-frequency plane but its signal analysis capability is limited in
the time-frequency plane. This limitation of WT doesn’t exist in the
FrFT domain as it makes use of the fractional domain. It has drawn
the attention of research community in signal processing since its
introduction in 1980 [15–20]. It is used as a transformation tool
even in combination with some statistical parameters [21,22]. In
order to determine the fractional derivative of a function, two-
sided Riesz fractional order derivative [23–25] in Fractional Fourier
domain has been proposed in this paper. The proposed work aims

https://doi.org/10.1016/j.dsp.2019.07.007
1051-2004/© 2019 Elsevier Inc. All rights reserved.
 K. Kaur et al. / Digital Signal Processing 93 (2019) 58–69 59

at utilizing the advantage of extra degrees of freedom provided by tion of the proposed work is discussed in Section 7. The limitation
varying order of fractional derivative (ϑ) and the fractional FrFT analysis of proposed work is presented in Section 8. Section 9
parameter (a) in FrFT rotation angle (φ). The motivation to work finally concludes and presents the future scope of the proposed
in the field of fractional is provided by Tseng et al. [8,9], Kumar work.
et al. [18] and Singh et al. [19]. Fractional derivative in the Fourier
Transform (FT) is computed using Cauchy integral by Tseng et al. 2. Preliminaries
[8,9]. The design problems of Riesz fractional order derivative are
discussed in [9]. Kumar et al. [18] provided a novel analytical ex- This section describes the definitions of various functions of
pression in the FrFT domain for the Riemann Liouville (RL) based fractional calculus used in the paper. It also briefly describes the
fractional order differentiation. Caputo based fractional differenti- Fractional Fourier Transform.
ation expression is provided in the FT as well as FrFT domain by
A. Riesz Fractional order derivative
Singh et al. [19]. But, RL and Caputo fractional derivatives in [18,
19] are dependent on the initial conditions. It is very difficult to The commonly used fractional order derivatives are RL, GL, Ca-
determine the initial conditions as they are system dependent that
puto, and Riesz. The proposed work is based on the Riesz fractional
may further lead to accuracy issues [3,26]. So, Riesz fractional or-
order derivative. The Riesz kernel κ (t ) is given as [3,23,24]:
der derivative is used in the proposed work that doesn’t depend on
any initial conditions. Moreover, it possesses the advantage of be- |t |−ϑ−1
ing two-sided in comparison to RL and Caputo fractional derivative
κ (t ) = ϑ > −1 (1)
2(−ϑ) cos( ϑ2π )
[3]. The ideal frequency response obtained by the FT of RL and Ca-
puto is ( j ω)ϑ that may introduce the phase shift which can further where, (.) denotes Euler’s gamma function and ϑ represents the
|t |−2
lead to phase distortion [9]. So, in order to avoid the unwanted order of fractional operator. The Eq. (1) reduces to κ (t ) = − π
phase shift, Tseng et al. [9] recommended the utilization of Riesz for ϑ = 1. The expression will be Riesz fractional operator D ϑ b(t )
fractional order derivative to design the FOD. So, in order to avoid of order ϑ > −1 on the real axis defined as [3,23,24]:
the unwanted phase shifts that exist in RL [18] and Caputo [19],
this paper proposes the analysis of Riesz fractional order deriva- D ϑ b(t ) = κ (t ) ∗ b(t )
tive in the FrFT domain that has the ability to preserve texture and ∞
1
edge information. But, the proposed system consists of unknown = |t − τ |−ϑ−1 b(τ )dτ (2)
parameters and it is not possible that these unknown system pa- 2(−ϑ) cos( ϑ2π )
−∞
rameters should be known a priori [27]. The estimation of optimal
value for these parameters can be done using various methods de- where, ∗ denotes the convolution operation between two signals
fined in [27–30] otherwise it may lead to the outliers (inconsistent κ (t ) and b(t ). It is interpreted at all the instances from τ = 0 to
observations with the largest part of population of observations) in τ = t. It is known as Riesz potential for the fractional order −1 <
the systems due to which non-Gaussian noises occur. ϑ < 0 and Riesz fractional order derivative (hypersingular integral)
The contributions of this paper are as follows: for ϑ > 0. The proposed work is done by considering one of the
two types of fractional derivatives [2,3].
• The closed-form analytical expression for the two-sided Riesz
B. Confluent Hypergeometric Function
fractional order derivative has been derived in the FrFT do-
main whereas, the existing solutions have been derived only The Gauss hypergeometric function 2 F 1 (a, b ; c ; z) is given as
for one-sided derivatives in FrFT domain. [31,32]:
• The discrete counterpart for Riesz fractional order derivative
∞ 
  k 
in the FrFT domain is obtained by utilizing the properties of (a)k (b)k z
DFrFT. 2 F 1 (a, b ; c ; z ) = (3)
(c )k k!
• The concept of multivalued expressions is discussed in this pa- k =0

per by considering branch cuts and Riemann sheets. where, (a)k = a(a + 1)(a + 2) · · · (a + k − 1) represents the rising fac-
• The proposed algorithm is capable of preserving the texture torial, which is the Pochhammer symbol and (a)0 = 1 [31,32]. The
and edge information without any phase distortion. above series in Eq. (3) converges if c is a non-negative integer for
• The Riesz fractional order differentiator designed in FrFT do- all | z| < 1 and on unit circle | z| = 1 if Re[c − a − b] > 0. The degen-
main confirms the capability of the proposed work in terms erate form of Eq. (3) provides Confluent Hypergeometric Function
of Root Mean Square Error (RMSE) and Mean Absolute Error (CHF) of the first kind 1 F 1 (a; b; z) as:
∞   k 
(MAE) by performing intensive simulations in Wolfram Math-
ematica.  (a)k z
1 F 1 (a; b ; z ) = (4)
• The proposed Riesz fractional order derivative provides an- (b)k k!
k =0
other advantage over the existing RL and Caputo algorithms
that it does not require any initial conditions. The series in Eq. (4) is generally not defined when b =
• The proposed algorithm provides improved RMSE in compari- 0, −1, −2, .... , and if a is a negative integer, series will truncate.
son to the existing techniques. By the ratio test, it is observed that above series converge for all
• The two-dimensional image enhancement application shows (finite) values of z. The above series is the solution of Kummer
the efficacy of the proposed method. confluent hypergeometric equation for z ∈ (−∞, ∞) which is de-
fined in complex plane with a regular singularity at z = 0 and
The remaining article is organized as follows: Section 2 de- irregular singularity at z = ∞ given by [31,32]:
scribes various functions used in the presented work. The expres-
sion obtained in the closed-form for FrFT based Riesz fractional d2 x dx
z + (b − z) − ax = 0 (5)
order derivative is presented in Section 3. Section 4 computes the dz2 dz
Riesz fractional order derivative in FrFT in the discrete domain. Generally used Hermite functions, Bessel functions, etc. are the
Section 5 provides the FrFT based Riesz FOD. The design example special cases of CHF. It has found its application in various fields
of the proposed algorithm is investigated in Section 6. An applica- such as mathematics, physics, electromagnetic theory, etc.
60 K. Kaur et al. / Digital Signal Processing 93 (2019) 58–69

C. Parabolic Cylinder Function where, n = 0, 1, 2, ...., m − 1 and −π ≤ θ p < π . Thus, m Riemann

sheets exist in case of ( z)1/m . Since, in Eq. (7), the multivalued
Parabolic cylinder functions (PCF) are a class of functions expressions are (− jz)1/4 and ( jz)1/4 . According to the symmetry
known as Weber functions. The PCF is the solution of the We- f (iz) = − f ( z) the branch cuts can be mapped to branch cuts by a
ber differential equation given as [33,34]: rotation of π /2. So, the branch cuts for the expressions (− jz)1/4
and ( jz)1/4 are lower and upper imaginary axis respectively.
√ The
 
d2 y 1 1 expression (− jz)1/4 ( jz)1/4 = ( z)1/2 will simplify with z in the
+ ν + − z2 y ( z) = 0 (6) denominator in the right half-plane Re[ z] > 0 [34].
dz2 2 4
It can also be expressed in the form of Hermite polynomials,
D. Fractional Fourier Transform
Bessel functions, etc. PCF can be used in physical and mathematical
applications. The solution to Eq. (6) i.e. PCF is defined in terms of
It is a significant tool of signal processing that rotates the signal
CHF as [33,34]:
with an angle φ in the time-frequency plane [17]. B (u φ ) represents
  
2ϑ/2 exp( −4z )(− jz)1/4 ( jz)1/4
2
−ν 1 z2 the FrFT for signal b(t ) determined by [17]:
D ν ( z) = √ 1 F1 ; ; (7)
z 2 2 2 ∞
which in the right half-plane Re [ z] > 0 is equivalent to: B (u φ ) = b(t )kφ (t , u φ )dt (15)
 2   2 
−∞
−z −ν 1 z
D ν ( z) = 2ϑ/2 exp 1 F1 ; ; (8) where, 0 < |a| < 2, φ = aπ /2 and kφ (t , u φ ) represents the Kernel
4 2 2 2
function described as:
where, 1 F 1 ( −2ν ; 12 ; 12 z2 ) is the first kind of CHF. Here, the branch ⎧
cut of multivalued expressions ( jz)1/4 and (− jz)1/4 needs to be ⎪
⎪ 1− j cot(φ) t 2 +u 2φ
) cot(φ) − ju φ t csc(φ))
⎪
⎪ π exp ( j (
fixed in Eq. (7). So, the case of ( z)1/4 is considered here for fixing ⎪
⎪
2 2
⎪ if φ = nπ
⎨
the branch cuts. The branch points for ( z)1/4 are 0 and ∞. The
kφ (t , u φ ) = δ(t − u φ )
polar form representation of ( z)1/4 is (re j θ )1/4 , and θ = θ p + 2nπ , ⎪
⎪ if φ = 2nπ
where −π ≤ θ p < π ,
⎪
⎪
⎪
⎪ δ(t + uφ )
⎪
⎩
1 1 if φ + π = 2nπ
w = z 4 = r 4 e j θ p /4 e j π n/2 (9)
(16)
where, (r )1/4 > 0 and n is an integer.
For n = 0; and δ(t ) represents the Dirac’s delta function, csc is the cosecant
function. The signal is restored by taking the FrFT with the rotation
1 1
when θ p = −π , w = r 4 e − j π /4 and θ p = π , w = r 4 e j π /4 (10) angle of ‘−φ ’, i.e., by replacing ‘φ ’ with ‘−φ ’ in Eq. (15) and (16).

Since, n = 0 and θ p is restricted to −π ≤ θ p < π , so, negative 3. Mathematical expression for Riesz fractional order derivative
real half axis is considered as a branch cut because the function in FrFT domain
is discontinuous in the case of multivalued function. Therefore, to
deal with this issue, the concept of Riemann sheets (Riemann sur-
This section computes the novel analytical expression for the
face) is introduced [35]. On this particular Riemann sheet, only one
Riesz fractional order derivative in FrFT as well as FT domain. The
value of multi-valued function exists. When the cycle gets com-
expression is obtained in the closed-form by taking advantage of
pleted from −π to π , at θ p = π the point shifts to the next sheet
in the surface. Similarly, the cycle gets repeated in this sheet and the fundamental properties of FOC. For generalized fractional dif-
the point is shifted to the subsequent sheet. This process will go ferintegral, the presented work is confined to the two-sided def-
on till it reaches the original value. For instance, in case of ( z)1/4 , inition of Riesz fractional order derivative [3,24,25]. Let D ϑ b(t )
four Riemann sheets exist to resolve the issue of multivalued func- denote the Riesz fractional order derivative for order ϑ [3,24,25]:
tions as shown below:
For n = 1; D ϑ b(t ) = κ (t ) ∗ b(t )
1 1
∞
when θ p = −π , w = r 4 e j π /4 and θ p = π , w = r 4 e j3π /4 1
(11) = |t − τ |−ϑ−1 b(τ )dτ (17)
2(−ϑ) cos( ϑ2π )
For n = 2; −∞
1 1 where, ∗ denotes the convolution operation between κ (t ) and b(t ).
when θ p = −π , w = r 4 e j3π /4 and θ p = π , w = r 4 e j5π /4 (12)
The FT of Riesz fractional order derivative for the signal b(t ) is
For n = 3; expressed as [3,9]:
1 
when θ p = −π , w = r 4 e j5π /4 and F T D ϑ b(t ) = |ω|ϑ B (ω) (18)
1 1
j7π /4 − j π /4
θp = π , w = r e 4 =r e 4 (13) where, F T [.] represents Fourier Transform operation. B (ω) repre-
1/ 4 sents the FT of b(t ). The FT of Riesz fractional order derivative of a
The similar process is followed in the case of (− z) . The positive
signal b(t ) with the fractional order ϑ is |ω|ϑ times the FT of the
real half axis is considered as a branch cut in this case. In case of
signal b(t ) whereas, it is ( j ω)ϑ in case of RL and Caputo [18,19].
mth roots of z such that z = 0 where m is a positive integer. Then,
Considering the Riesz fractional order derivative for signal b(t ) in
its branch is given by [35]:
the FrFT domain by taking FrFT of Eq. (17):
  
√ θ p + 2nπ  
F m ( z) =
m
r exp j (14) F φ D ϑ b(t ) = F φ κ (t ) ∗ b(t ) (19)
m
 K. Kaur et al. / Digital Signal Processing 93 (2019) 58–69 61

   
where, F φ [.] denotes the FrFT operation and φ represents the ro- − jϑ π  −j 2 ϑ/2
= exp (−ϑ) exp cot(φ)
u φ csc(2φ)
tation angle for FrFT. Using the convolution property of FrFT, the 4 2
above expression becomes [36]:     
 × D ϑ − −2 ju φ csc(2φ) + D ϑ −2 ju φ csc(2φ)
2 2
(26)
 2π  
F φ D ϑ b(t ) = exp − ju φ 2 cot(φ) The parabolic function in terms of CHF is given as [33]:
1 − j cot(φ)    
  √ − z2 1 −ν 1 z2
|t |−ϑ−1  D ν ( z) = 2ν /2 π exp 1 F1 ; ;
×F φ F φ
b(t ) (20) 4 ( 1−2 ν ) 2 2 2
2(−ϑ) cos( ϑ2π ) √  
 2z 1 − ν 3 z2
B (u φ) − 1 F1 ; ; (27)
F φ D ϑ b(t ) = ( −2ν ) 2 2 2
2(−ϑ) cos( ϑ2π )
∞   Using the above Eq. (27) in Eq. (26), expression comes out to
−ϑ−1 jt 2 be,
× |t | exp cot(φ) − ju φ t csc(φ) dt
2
−∞ 0  
−ϑ−1 jt 2
(21) (−t ) exp cot(φ) − ju φ t csc(φ) dt
2
where, B (u φ) = F φ [b(t )] denotes FrFT of the signal b(t ). −∞

 ∞  
F φ D ϑ b(t ) jt 2
+ (t )−ϑ−1 exp − cot(φ) − ju φ t csc(φ) dt
2
B (u φ)
= 0
 
2(−ϑ) cos( ϑ2π ) − jϑ π  ϑ/2 (−ϑ)
ϑ/2+1 √
  =2 π exp cot(φ)
0 −ϑ−1 exp( jt 2 cot(φ) − ju φ t csc(φ))dt 4 ( 1−ϑ )
× −∞ (−t )  
2
 ∞ −ϑ−1 2
jt 2
(22)
+ (t ) exp( cot(φ) − ju φ t csc(φ))dt −ϑ 1
0 2 ×1 F 1 ; ; − ju 2φ csc(2φ) (28)
2 2
To solve the integral in Eq. (22), following Eq. will be consid-
ered that results in terms of parabolic cylinder function [33]: Using the Legendre’s duplication formula [32], Eq. (28) be-
comes,
∞
 
xν −1 exp −β x2 − γ x dx 0  
−ϑ−1 jt 2
0 (−t ) exp cot(φ) − ju φ t csc(φ) dt
    2
γ2 γ −∞
−(ν /2)
= (2β) (ν ) exp D −ν √ (23) ∞  
8β 2β jt 2
−j
+ (t )−ϑ−1 exp − cot(φ) − ju φ t csc(φ) dt
Considering the integrals and assuming, ν = −ϑ, β = 2
cot(φ) 2
0
and γ = − ju φ t csc(φ)    
−ϑ/2 − jϑ π 
ϑ/2 −ϑ
0   =2 exp cot(φ) 
jt 2 4 2
(−t )−ϑ−1 exp cot(φ) − ju φ t csc(φ) dt  
2 −ϑ 1
−∞ ×1 F 1 ; ; − ju 2φ csc(2φ) (29)
  2 2
− jϑ π  ϑ/2
= exp cot(φ) (−ϑ) Using the above Eq. (29) in Eq. (22),
4  
 
−j 2    F φ

D b(t ) =
ϑ B (u φ)
2 −ϑ/2−1
exp
− jϑ π  ϑ/2
cot(φ)
× exp u φ csc(2φ) D ϑ − −2 ju 2φ csc(2φ) (24)
(−ϑ) cos( 2 ) ϑπ 4
2
   
∞   −ϑ −ϑ 1
jt 2 × 1 F1 ; ; − ju 2φ csc(2φ) (30)
(t )−ϑ−1 exp − cot(φ) − ju φ t csc(φ) dt 2 2 2
2
0 The expression in Eq. (30) provides the Riesz fractional order
 
− jϑ π  ϑ/2 derivative for the input signal in the FrFT domain. In order to ob-
= exp cot(φ) (−ϑ)
4 tain the FT, substitute φ = π2 in the Eq. (22),
 
−j 2   ∞
× exp u φ csc(2φ) D ϑ −2 ju 2φ csc(2φ) (25)  B (u π /2 )
2 F π /2 D ϑ b(t ) = |t |−ϑ−1 exp(− ju π /2 t )dt
The results obtained by combining Eq. (24) and Eq. (25) are in
2(−ϑ) cos( ϑ2π )
−∞
terms of parabolic cylinder function, (31)
0    0
jt 2  B (u π /2 )
(−t )−ϑ−1 exp cot(φ) − ju φ t csc(φ) dt F π /2 D ϑ b(t ) = (−t )−ϑ−1 exp(− ju π /2 t )dt
2 2(−ϑ) cos( ϑ2π )
−∞ −∞
∞   ∞ 
−ϑ−1 jt 2 −ϑ−1
+ (t ) exp − cot(φ) − ju φ t csc(φ) dt + (t ) exp(− ju π /2 t )dt (32)
2
0 0
62 K. Kaur et al. / Digital Signal Processing 93 (2019) 58–69

Fig. 1. Coefficient sequence gkϑ (k) for different fractional orders (ϑ). (For interpretation of the colors in the figure(s), the reader is referred to the web version of this article.)

According to the integration formula [33], s(n) = b(nt ) and S φ (m) = B (mu φ ) (36)
∞ where, n = − Q , − Q + 1, ..., Q − 1, Q and m = − P , − P + 1, ..., P −
1
xν −1 exp(−μx)dx = (ν ) (33) 1, P . Here, (2P + 1, 2Q + 1) represent the frequency and time do-
μν
0 main points such that P ≥ Q ,

Considering the formula in Eq. (33) and assuming ν = −ϑ and u φ t = 2π S sin(φ)/(2P + 1) (37)
μ = ju π /2 , Eq. (32) becomes
  such that | S | is an integer prime to 2P + 1 but, S = sgn(sin(φ)) =
F π /2 D ϑ b(t ) = (−ϑ) ( ju π /2 )ϑ + (− ju π /2 )ϑ ±1, sgn is the signum function. The kernel for the DFrFT is given
  
ϑπ by [37]:
= (−ϑ) 2|u π /2 |ϑ cos (34) 
2
sgn(sin(φ))(sin(φ) − cos(φ))
Substituting above Eq. (34) in Eq. (32), T φ (m, n) =
2P + 1
    
F π /2 D ϑ b(t ) = |u π /2 | B (u π /2 )
ϑ
(35) j j
× exp cot(φ)m2 u 2φ exp cot(φ)n2 t 2
2 2
The FT of Riesz fractional order derivative for the input signal  
b(t ) is presented by Eq. (35) by using FrFT representation. The FrFT sgn(sin(φ))2π nm
× exp − j
of the Type 1 Riesz fractional order derivative will be |u φ |ϑ for 2P + 1
B (u φ ) = 1 and φ = π2 i.e. b(t ) should be impulse function centered
(38)
at t = 0.
The formula for DFrFT obtained using the above kernel is given
4. Computation of proposed approach in discrete domain as [37]:
  
This section provides the discrete counterpart of the proposed sgn(sin(φ))(sin(φ) − cos(φ)) j
S φ (m) = exp cot(φ)m2 u 2φ
expression in the Eq. (30). Numerous discrete versions of contin- 2P + 1 2
uous FrFT exists but DFrFT of Type I will be used due to its low

Q  
complexity. It doesn’t match with the continuous FrFT because it sgn(sin(φ))2π nm
× exp − j
lacks many of the characteristics of continuous FrFT [37]. The dis- 2P + 1
n=− Q
crete FrFT (DFrFT) provides the benefit of efficient calculation and  
implementation as it has two chirp multiplications in addition to j
× exp cot(φ)n2 t 2 s(n) (39)
one FFT, thus, requiring a total number of multiplications to be 2
[2N + ( N /2) log2 N], where, N = 2Q + 1 is the length of output. where, φ ∈ 2V π + (0, π ), V is an integer.
It possesses the minimum computational complexity in compari- The DFrFT domain based Riesz fractional order derivative for
son to different kinds of DFrFT that work in a similar manner to the discrete-time signal s(n) is evaluated by considering the defi-
continuous FrFT. DFrFT has been used in the various applications nition of Riesz fractional operation [23] given as:
of signal and image processing such as filtering, edge detection,
∞

pattern recognition, image compression, etc. [18,21,37]. The Riesz 2
fractional order derivative of a discrete domain signal is obtained D ϑ s(t ) = lim gkϑ (k)s(t − kt ) (40)
t →0 (t )ϑ
using the DFrFT presented in [37]. In order to obtain the frac- k =0

tional derivative in the discrete domain for continuous-time signal, where, the coefficient gkϑ (k) is computed by:
uniform sampling of the input signal b(t ) and the output signal
B (u φ) = F φ [b(t )] will be done with interval t and u φ , such (ϑ + 1)
gkϑ (k) = (−1)k (41)
that, ( 2 − k + 1)( ϑ2 + k + 1)
ϑ
 K. Kaur et al. / Digital Signal Processing 93 (2019) 58–69 63

Fig. 2. Proposed Algorithm for FrFT based fractional order differentiating filter.

The variation of coefficient sequence gkϑ (k) with the fractional it while attenuating the higher frequencies. The presented algo-
order ϑ is illustrated in Fig. 1. It is perceived from Fig. 1 that the rithm uses FrFT based weighted convolution theorem [36] when
sequence gkϑ (k) decays rapidly for different orders of ϑ . the impulse response filter of fractional order in the φ th domain
By truncating the Eq. (40) to truncation length L, it becomes: of FrFT, H ϑ (u φ ) is applied to the transformed input signal. Then,
the derivative of the convoluted signal is computed in the φ th do-
2 
L
main. The output signal ž(n) is obtained in the time domain by
D ϑ s(t ) ≈ lim gkϑ (k)s(t − kt ) (42) taking inverse Fractional Fourier Transform of the resulting wave-
t →0 (t )ϑ
k =0 form with a rotation angle “−φ ”.
Then, removing the limit, Eq. (42) is approximated to: The computational complexity of the proposed algorithm shown
in Fig. 2 can be divided into three stages. The first stage includes
2 
L
complexity for computation of FrFT given as 2N + N /2 log2 N [37].
D ϑ s(t ) ≈ gkϑ (k)s(t − kt ) (43) The second stage includes the computational complexity of convo-
(t )ϑ
k =0 lution operation in the FrFT domain that also involves multiplica-
The computation of D ϑ s(t ) at t = nt is done by: tion with chirp function which is given as N + O ( N log N ) [5]. The
third stage involves the computation of time complexity of deriva-
2 
L tive in the FrFT domain which is given as 2N + 3O ( N (log N )2 )
D ϑ s(t )|t =nt = D ϑ s(nt ) ≈ gkϑ (k)s(nt − kt ) (44) [5]. Thus, the overall computational complexity for the proposed
(t )ϑ
k =0 approach is 5N + N /2 log2 N + O ( N log N ) + 3O ( N (log N )2 ). The
Then, the DFrFT of above Eq. (44) is determined by: existing methods [18] and [19] also possess the same computa-
tional complexity as the proposed approach.
 
φ ϑ  φ 2 
L
DF D s(nt ) ≈ D F gk (k)s(n − k)
ϑ
6. Design example
(t )ϑ
k =0
The simulation of the proposed algorithm depicted in Fig. 2 is
2 
L
φ 
≈ gkϑ (k)D F s(n − k) (45) done on the Wolfram Mathematica with a system having Intel®
(t )ϑ CPU 2.7 GHz processor with 16 GB RAM. In this algorithm, the
k =0
computation of Fractional Fourier domain based fractional order
φ
where, D F denotes the DFrFT operator. Using the shifting property derivative of a signal is done. The input signal and other param-
of DFrFT [38], above Eq. (45) becomes, eters such as fractional parameters, time, and truncation length
 must be initialized to begin the algorithm. The values of these pa-
φ ϑ  2 
L
j rameters are selected on the basis of preliminary experiments. The
DF D s(n) = ϑ
gk (k) exp (kt )2 sin(φ) cos(φ) input signal z(n) = 0.667 exp(18 jnπ /32) + 0.33 exp(−8 jnπ /32)
(t )ϑ 2
k =0 corrupted with chirp noise of ψ(n) = 0.1 exp(0.06 j (n − 1)3 ) − 7 jn

  is applied to the filter that is shown in the form of real and imagi-
− j (mu φ )(kt ) sin(φ) S φ m − k cos(φ) (46)
nary parts in Fig. 3a(a) and Fig. 3a(b). The signal z(n) +ψ(n) is then
processed as described in Fig. 2. The output of the filtering per-
where, S φ (m) is given by Eq. (39). formed in the time domain (φ = 0, ϑ = 0.43), frequency domain
Hence, Eq. (46) presents the Riesz fractional order derivative for (φ = π /2, ϑ = 0.43), and the FrFT domain (φ = 0.45π , ϑ = 0.43)
discrete time signal s(n) for varying fractional order and different is shown in Fig. 3a(c)-(h) respectively.
rotation angles φ in the DFrFT domain.
It is observed from Fig. 3b that in comparison to time and
frequency domain, FrFT domain filtered signal provides maximum
5. Fractional Fourier domain based fractional order
similarity with the original signal even though, some shift exists
differentiator
in the obtained filtered signal with reference to the original signal.
The proposed algorithm for the FrFT based fractional order dif- RMSE is used as the evaluation parameter for the proposed algo-
ferentiating filter is given in Fig. 2. Firstly, the input signal contain- rithm. RMSE is the measure of difference between the predicted
ing noise z(n) + ψ(n) is obtained in the φ th domain of FrFT. Sub- values of model and actual observations of the model. It is defined
sequently, the impulse response filter of fractional order (hϑ (n)) is as the square root of the mean squared error given as [39]:
obtained in the φ th domain of FrFT. Here, the impulse response 
n
filter hϑ (n) considered is the Low Pass Filter (LPF) that allows i =1 ( Z actual,i − Z predicted,i )2
only the frequencies lower than cut-off frequency to pass through RMSE = (47)
n
64 K. Kaur et al. / Digital Signal Processing 93 (2019) 58–69

Fig. 3a. Results of FrFT based fractional order differentiating filter: (a), (b) input signal corrupted with noise z(n) + ψ(n) in the time domain; (c), (d) time domain filtered
output signal ž(n); (e), (f) frequency domain filtered output signal ž(n); (g), (h) FrFT-domain filtered output signal ž(n).

Fig. 3b. Results of FrFT based fractional order differentiating filter: (i), (j) FrFT filtered signal ž(n) with reference to original signal.
 K. Kaur et al. / Digital Signal Processing 93 (2019) 58–69 65

Fig. 4. Surface Plot for RMSE as a function of order of fractional derivative (ϑ) and FrFT parameter (a) for the rotation angle.

Table 1
RMSE and MAE for filtering in various domains for varying order of fractional derivative (ϑ).

Sr. Order of Time domain Fourier domain FrFT domain

No. fractional (φ = 0) (φ = π /2) (φ = 0.45π )
derivative (ϑ) RMSE MAE RMSE MAE RMSE MAE
1. 0 2.90371 2.47412 2.90125 2.47255 2.90155 2.47281
2. 0.1 0.24375 0.23592 0.369596 0.350486 0.21846 0.199133
3. 0.2 0.658737 0.60468 0.457328 0.432465 0.175728 0.155533
4. 0.3 1.60164 1.48671 0.52503 0.497132 0.139704 0.118853
5. 0.4 3.20366 2.97642 0.576369 0.546346 0.116481 0.097094
6. 0.5 5.93074 5.50190 0.615521 0.583994 0.12629 0.100904
7. 0.6 10.5857 9.79659 0.645535 0.612949 0.174276 0.144682
8. 0.7 18.5526 17.1209 0.668645 0.635317 0.248227 0.210448
9. 0.8 32.2221 29.6454 0.686505 0.652658 0.340363 0.296594
10. 0.9 55.7296 51.1157 0.700351 0.666145 0.448345 0.402713
11. 1 106.212 88.0077 0.711113 0.676660 0.572146 0.524231

where, Z actual,i is the actual value at time i and Z predicted,i is the
predicted value at time i. RMSE is a good measure to compute the
accuracy of a model, but only when the comparison is performed
between the prediction errors of different models for a particular
variable and not between variables, because it is scale-dependent.
Here, RMSE is computed among the original (ground true) sig-
nal z(n) and filtered signals ž(n) in time, Fourier and FrFT domain
shown in Fig. 3a(c)-(h). In the case of FrFT domain, the filtered
signal ž(n) is obtained by varying the order of fractional derivative
(ϑ) for different rotation angles by varying the FrFT parameter (a)
in rotation angle (φ). RMSE is dependent on two varying param-
eters, so, to achieve the optimal value of these fractional param-
eters, surface plot is obtained. The three-dimensional surface plot
for RMSE is shown in Fig. 4.
The optimal value of fractional parameters is obtained from the
minimum RMSE. Here, Fig. 4 is considered only for the positive
non-integer orders of fractional derivative i.e. ϑ ∈ (0, 1) because
the RMSE computed for the fractional derivative of order ϑ ∈ (1, 2)
is more in comparison to ϑ ∈ (0, 1) and for negative non-integers
it acts as an integrator [9]. As observed from Fig. 4, the RMSE
is maximum for the time-domain filtered signal for varying or-
der of fractional derivative. This has happened because of the less
similarity among the results of a filtered and original signal. The
signal filtered in the Fourier domain is almost similar to the origi-
nal signal but there is less similarity as compared to FrFT domain
filtered signal. It is confirmed that the filtering in the FrFT domain
(φ = 0.45π ) provides minimum RMSE for the optimal fractional
order of (ϑ = 0.43) in comparison to filtering in time-domain and
frequency-domain. Since, RMSE is sensitive to outliers and it is
most commonly used when data is assumed to be normally dis-
tributed. So, another parameter measure namely MAE is used as
performance metric. MAE gives same weight to all the values while
RMSE gives more weight to errors with larger absolute values and
less weight to smaller absolute values thus, being less sensitive to
outliers. It is defined as the average of the absolute errors given as
[39]:
n
i =1 | Z actual,i − Z predicted,i |
M AE = (48)
n
where, Z actual,i is the actual value at time i and Z predicted,i is the
predicted value at time i. The proposed method copes with the
non-Gaussian noises in a way that it finds the optimal parameters
for order of fractional derivative (ϑ) and FrFT parameter (a) so that
the effect of measurement noise can be minimized in the proposed
design. Since, the trend is same as for RMSE, so three-dimensional
surface plot is not plotted for MAE. Table 1 provides the RMSE and
MAE values for the filtering results in various domains.
The efficacy of the FrFT domain based fractional order differen-
tiation is confirmed from Table 1. The RMSE and MAE increases in
case of time domain, while it attains minimum value and then
66 K. Kaur et al. / Digital Signal Processing 93 (2019) 58–69

Table 2 Table 3
RMSE of fractional derivatives in the FrFT domain for varying order Computational cost.
of fractional derivative (ϑ).
Sr. No. Method Time (seconds)
Sr. Order of RMSE
1. RL [18] 571
No. fractional RL [18] Caputo [19] Riesz 2. Caputo [19] 578
derivative (ϑ) [proposed] 3. Riesz [Proposed] 567
1. 0 0.251 0.188 2.90155
2. 0.1 0.246 0.179 0.21846
3. 0.2 0.243 0.177 0.175728
4. 0.3 0.242 0.176 0.139704
of the average computation time taken by different methods. The
5. 0.4 0.241 0.1758 0.116481
6. 0.5 0.2432 0.176 0.12629 computational cost of the proposed and existing methods is de-
7. 0.6 0.244 0.1762 0.174276 picted in Table 3. It is observed that the execution time of the
8. 0.7 0.246 0.1775 0.248227 proposed method is almost comparable to the existing methods
9. 0.8 0.2482 0.179 0.340363
because the proposed method also requires adjustment of only
10. 0.9 0.252 0.18 0.448345
11. 1 0.257 0.187 0.572146 two parameters i.e. the order of fractional derivative (ϑ) and frac-
tional FrFT parameter (a) as required in RL [18] and Caputo [19]
method.
again rises for frequency and FrFT domain. The proposed Riesz
fractional order derivative in FrFT domain attained minimum RMSE 7. Application
of 0.115136 and MAE of 0.094223 for the fractional derivative of
order ϑ = 0.43. FrFT based Riesz fractional order derivative is com-
pared with RL [18] and Caputo [19] fractional derivatives in terms This section describes the benefit of the proposed method in
of RMSE. The minimum value of RMSE is obtained for Riesz frac- the application of image enhancement. There are numerous im-
tional order derivative when compared with the existing methods. age processing operations such as mean, median, gaussian filtering
Table 2 illustrates the RMSE for RL [18], Caputo [19] and the pro- etc. used for image enhancement purposes but in some cases, ex-
posed method. The comparison of RMSE for different fractional tra smoothing leads to the decrease in the image quality [40]. So,
derivatives is shown in Fig. 5. the proposed Riesz fractional order derivative is used in the FrFT
It is perceived from Fig. 5 that RMSE for RL and Caputo frac- domain because the phase function of FrFT preserves the texture
tional derivatives remains almost constant but Riesz derivative and edge information in an image, thus, improving the image vi-
drops to minimum RMSE and then, rises again with increasing sual quality [41]. Thus, the proposed method avoids the problem of
fractional order at the optimal rotation angle of FrFT. Riesz frac- phase distortion while preserving the image texture and edges. The
tional order derivative provides optimal results for the order of proposed method is implemented for the images of different sizes
fractional derivative (ϑ) between 0.2 and 0.6 with minimum RMSE from the standard datasets as shown in Fig. 6. The zoomed portion
of 0.115136 for the fractional derivative of order ϑ = 0.43. The of the enhanced images for the proposed method at φ = 0.495π
computational cost is of great significance for the implementa- is shown in Fig. 7. The hat of the Lena image is zoomed for more
tion of the practical applications. Here, it is measured in terms clarity, while the sweater in the Rabbit image shows the enhance-

Fig. 5. Comparison of the proposed algorithm with other fractional derivatives in terms of RMSE.

Fig. 6. Test images used for simulation.

 K. Kaur et al. / Digital Signal Processing 93 (2019) 58–69 67

Fig. 7. Simulation results for the proposed Riesz method.

ment. Similarly, the sharp features in the Vase image show the
efficacy of the proposed approach in image enhancement applica-
tion.
The quantitative results for the proposed method are depicted
in terms of parameters such as information entropy, average gra-
dient and Enhancement Measure (EME). Information entropy tells
about the amount of information in the image whereas the average
gradient shows the clarity of the image. The enhancement in the
image is computed with the EME. Table 4 shows the various im-
age assessment parameters for the proposed method with respect
to the original image.
Thus, it is observed from the above table that the image as-
sessment parameters are better in comparison to the original im-
ages for the order of fractional derivative ϑ = 1.2 and FrFT rota-
tion angle φ = 0.495π . Thus, it is observed that images enhanced
with the proposed method contain more information and clar-
ity.
8. Limitation analysis
There are few limitations of the proposed Riesz fractional order
derivative in FrFT domain on the basis of experimental results and
image processing applications.
It is a challenging task to find the optimal fractional orders that
are suitable for the practical applications in various fields. Due to
the various parameters and conditions involved in the design of
various practical applications, it is difficult to design the model
with optimum fractional orders. So, metaheuristic optimization al-
gorithms can be used to select the optimal value of fractional
orders.
It provides minimum RMSE and MAE only for a particular range
of order of fractional derivative (ϑ) as in considered design exam-
ple, it is between 0.2 and 0.6 in comparison to existing techniques.
Thus, it is required to design a fractional order differentiator that
provides optimal results for all the fractional orders.
68 K. Kaur et al. / Digital Signal Processing 93 (2019) 58–69

Table 4
Image assessment parameters for images of different sizes.

Sr. Order of Lena (256×256) Rabbit (341×455) Vase (321×481)

No. fractional Entropy Average EME Entropy Average EME Entropy Average EME
derivative (ϑ) gradient gradient gradient
1. Original 7.4429 7.1958 5.7958 7.5846 4.9488 3.2772 6.9043 2.9807 2.3797
2. 0.3 7.5325 8.4393 8.0181 7.6851 5.6189 3.9486 7.4100 4.8984 3.5153
3. 0.6 7.5348 8.4783 8.1308 7.6849 5.6288 3.9578 7.4091 4.9024 3.5174
4. 0.9 7.5354 8.4918 8.1396 7.6851 5.6316 3.9609 7.4087 4.9033 3.5175
5. 1.2 7.5355 8.4958 8.1526 7.6852 5.6325 3.9617 7.4086 4.9036 3.5176
6. 1.5 7.5354 8.4917 8.1396 7.6852 5.6316 3.9609 7.4087 4.9033 3.5176
7. 1.8 7.5334 8.4609 8.0745 7.6851 5.6243 3.9537 7.4094 4.9002 3.5158

The computational cost of the proposed method is almost com-
parable to the existing methods. So, there is need to reduce the
computational cost of the proposed method.
9. Conclusion and future work
A novel closed-form analytical expression is obtained in the
FrFT domain for Riesz fractional order derivative. It provides the
advantage of two extra parameters associated with the order of
fractional derivative and fractional parameter in the rotation an-
gle of FrFT. The discrete counterpart of the derived expression is
also obtained using the properties of DFrFT. The robustness of the
proposed work is confirmed by considering a suitable design ex-
ample for one-dimensional FrFT based fractional order derivative
and two-dimensional image enhancement application. The pro-
posed approach outperforms the existing techniques in terms of
minimum RMSE of 0.115136 for the fractional FrFT parameter of
0.43 at a rotation angle of 0.45π . The proposed algorithm effi-
ciently preserves the texture and edge information without any
phase distortion. Moreover, it provides the benefit of two extra de-
grees of freedom that could be advantageous in the applications of
signal and image processing. The effect of non-Gaussian noise on
the proposed work can be analyzed in the future. Furthermore, the
use of metaheuristic algorithms in the proposed method can also
be considered in future.
Declaration of Competing Interest
The authors declare that they have no known competing finan-
cial interests or personal relationships that could have appeared to
influence the work reported in this paper.
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Kanwarpreet Kaur received B. Tech and M. Tech
degree in Electronics and Communication Engineer-
ing from Guru Nanak Dev Engineering College, Lud-
hiana in 2014 and 2016 respectively. She is currently
pursuing the Ph.D. degree in Electronics and Commu-
nication Engineering Department at Thapar Institute
of Engineering and Technology, Patiala. Her research
interests include signal processing and fractional cal-
culus.
69
Neeru Jindal received the B. Tech. and M. Tech. de-
gree in Electronics and Communication in 2002 and
2007 respectively from Punjab Technical University,
Jalandhar, Punjab, India. She has received Ph.D. de-
gree in 2014 from the Department of Electronics and
Communication Engineering, Thapar Institute of En-
gineering and Technology, Patiala, Punjab, India. She
has been involved in various research activities in the
area of Image processing, Signal Processing, Machine
Learning. She is Assistant Professor in the department of Electronics and
Communication Engineering, Thapar Institute of Engineering and Technol-
ogy, Patiala, Punjab, India.
Kulbir Singh was born in Batala, Punjab, India. He
completed his B. Tech. degree in 1997 at PTU, Jaland-
har. He received his M.E. and Ph.D. degrees from Tha-
par Institute of Engineering and Technology, Patiala in
2000 and 2006, respectively. He is currently working
as a Professor in the Department of Electronics and
Communication Engineering, Thapar Institute of En-
gineering and Technology, Patiala. He has published
more than 70 research papers in national and inter-
national journals/conference proceedings. He is recipient of the Best Paper
Award of the IETE Journal of Education for the year 2008. His research inter-
ests include Fractional Transforms, Signal Processing and Image Forensics.