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Imaging and Aberration Theory

Lecture 1: Paraxial optics


2014-11-06
Herbert Gross
Winter term 2014

www.iap.uni-jena.de

Preliminary time schedule


1
2

30.10. Paraxial imaging


Pupils, Fourier optics,
06.11.
Hamiltonian coordinates

13.11. Eikonal

20.11. Aberration expansions

27.11. Representation of aberrations

04.12. Spherical aberration

11.12. Distortion and coma

18.12. Astigmatism and curvature

9
10

paraxial optics, fundamental laws of geometrical imaging, compound systems


pupil definition, basic Fourier relationship, phase space, analogy optics and
mechanics, Hamiltonian coordinates
Fermat principle, stationary phase, Eikonals, relation rays-waves, geometrical
approximation, inhomogeneous media
single surface, general Taylor expansion, representations, various orders, stop
shift formulas
different types of representations, fields of application, limitations and pitfalls,
measurement of aberrations
phenomenology, sph-free surfaces, skew spherical, correction of sph, aspherical
surfaces, higher orders
phenomenology, relation to sine condition, aplanatic sytems, effect of stop
position, various topics, correction options

phenomenology, Coddington equations, Petzval law, correction options


Dispersion, axial chromatical aberration, transverse chromatical aberration,
08.01. Chromatical aberrations
spherochromatism, secondary spoectrum
Sine condition, aplanatism and Sine condition, isoplanatism, relation to coma and shift invariance, pupil
15.01.
aberrations, Herschel condition, relation to Fourier optics
isoplanatism

11

22.01. Wave aberrations

12

29.01. Zernike polynomials

13

05.02. PSF and transfer function

14

12.02. Additional topics

definition, various expansion forms, propagation of wave aberrations


special expansion for circular symmetry, problems, calculation, optimal balancing,
influence of normalization, measurement
ideal psf, psf with aberrations, Strehl ratio, transfer function, resolution and
contrast
Vectorial aberrations, generalized surface contributions, Aldis theorem, intrinsic
and induced aberrations, revertability

Contents

1. Cardinal elements
2. Lens properties
3. Imaging, magnification
4. Afocal systems and telecentricity
5. Paraxial approximation

6. Matrix calculus

Modelling of Optical Systems


Principal purpose of calculations:

System, data of the structure

Imaging model with levels of refinement


Paraxial model
(focal length, magnification, aperture,..)

(radii, distances, indices,...)


linear
approximation

Analysis
imaging
aberration
theorie

Synthesis
lens design

Analytical approximation and classification


(aberrations,..)
Taylor
expansion

Function, data of properties,


quality performance
(spot diameter, MTF, Strehl ratio,...)

Geometrical optics
(transverse aberrations, wave aberration,
distortion,...)
with
diffraction

approximation
--> 0

Wave optics
(point spread function, OTF,...)

Ref: W. Richter

Paraxial Approximation
Paraxiality is given for small angles
relative to the optical axis for all rays
Large numerical aperture angle u
violates the paraxiality,
spherical aberration occurs
Large field angles w violates the
paraxiality,
coma, astigmatism, distortion, field
curvature occurs

Paraxial approximation
sin(x)

Taylor expansion of the


sin-function
Definition of allowed error
10-4

0.8

0.6

Deviation of the various


approximations:
- linear: 5
- cubic: 24
- 5th order: 542

exact sin(x)
linear
cubic
5th order

0.4

0.2

x []
0

10

x = 5

20

x = 24

30

40

50

x = 52

60

70

80

deviation 10-4

90

Paraxial approximation

Law of refraction for finite angles I, I

n sin I n' sin I '


Taylor expansion

x3 x5
sin x x ...
3! 5!

i'- I') / I'


0.05

0.04

Linear formulation of the law of refraction


for small angles i, i

n i n'i'

n' = 1.9
n' = 1.7
n' = 1.5
0.03

0.02

Relative direction error of the paraxial


approximation

n i
i' I '
n'

1
I'
n sin i
arcsin

n
'

0.01

0
0

10

15

20

25

30

35

40

Single Surface

Single surface between two media


Radius r, refractive indices n, n
Imaging condition, paraxial

n' n n'n 1

s' s
r
f'

Abbe invariant
alternative representation of the
imaging equation

1 1
1 1
Qs n n'
r s
r s'

arbitrary
ray
object

n'
y'

s
vertex S

y
ray through center of
curvature C

principal
plane

surface

s'

image

Notations of a lens

P principal point
S vertex of the surface
F

focal point

intersection point
of a ray with axis

y
N

N'

focal length PF

F'

u'

S'
P'

y'

radius of surface
curvature

d thickness SS

O'
s

s'
f'

f
f

n refrative index

f'

BFL

sP
a

BFL

s'P'
d

a'

10

Cardinal elements of a lens

Focal points:
1. incoming parallel ray
intersects the axis in F
2. ray through F is leaves the lens
parallel to the axis

y
u'

P'
f'

Principal plane P:
location of apparent ray bending

principal
plane

F'
focal plane

s BFL

nodal planes

s P'

N
u

N'

u'

Nodal points:
Ray through N goes through N
and preserves the direction

11

Main properties of a lens

Main notations and properties of a lens:


- radii of curvature r1 , r2
curvatures c
sign: r > 0 : center of curvature
is located on the right side
- thickness d along the axis
- diameter D
- index of refraction of lens material n

c1

1
r1

yF '
tan u

Focal length (paraxial)

Optical power

Back focal length


intersection length,
measured from the vertex point

sF ' f ' sP '

n n'

f
f'

c2

1
r2

f '

y
tan u '

12

Lens shape
Different shapes of singlet lenses:
1. bi-, symmetric
2. plane convex / concave, one surface plane
3. Meniscus, both surface radii with the same sign
Convex: bending outside
Concave: hollow surface
Principal planes P, P: outside for mesicus shaped lenses

P'

P'

P'

P P'
bi-convex lens

plane-convex lens

positive
meniscus lens

bi-concave lens

P P'

plane-concave
lens

P P'

negative
meniscus lens

13

Lens bending und shift of principal plane


Ray path at a lens of constant focal length and different bending
The ray angle inside the lens changes
The ray incidence angles at the surfaces changes strongly
The principal planes move
For invariant location of P, P the position of the lens moves
P

P'

F'

X = -4

X = -2

X=0

X = +2

X = +4

14

Bending of a Lens
Bending: change of shape for
invariant focal length

X < -1
meniscus lens

Parameter of bending

R1 R2

X = -1

planconvex lens
planconcave lens

R2 R1

Principal planes are moving

X=0

Incidence angles and most aberrations


are changing
X = +1

biconvex lens
biconcave lens

planconvex lens
planconcave lens

X > +1
meniscus lens

15

Incidence of Bended Lens


Changes of the incidence angles at the front and the rear surface of a bended lens
Figure without sign of incidence angle
Angle at the second surface depends on the refractive index

i []
30
27

i2 (n=1.5)

24
21

i1

18
15
12
9
6

i2 (n=4)

3
0

c1 [mm-1]
-0.1

-0.08

-0.06

-0.04

-0.02

0.02

0.04

0.06

0.08

0.1

16

Magnification Parameter

Magnification parameter M:
defines ray path through the lens

U 'U 1 m 2 f
2f
M

1
1
U 'U 1 m
s
s'
Special cases:
1. M = 0 : symmetrical 4f-imaging setup
2. M = -1: object in front focal plane
3. M = +1: object in infinity

M<-1

M=-1

M=0

The parameter M strongly influences the aberrations


M=+1

M>+1

17

Optical imaging

Optical Image formation:


All ray emerging from one object point meet in the perfect image point
Region near axis:
gaussian imaging
ideal, paraxial
Image field size:
Chief ray
Aperture/size of
light cone:
marginal ray
defined by pupil
stop

pupil
stop

field
O2
point
chief
ray
object

axis

O1

marginal
ray

optical
system
O'1

image

O'2

18

Imaging by a Lens

Imaging with a lens


Location of the image:
lens equation
1 1 1

s' s f

Size of the image:


y' s'
Magnification
m
y s
system
lens

object

image

y
y'

-s

f
+s'

19

Formulas for surface and lens imaging

Single surface
imaging equation

n' n n'n 1

s' s
r
f'

Thin lens in air


focal length

1 1
1
n 1
f'
r1 r2

Thin lens in air with one plane


surface, focal length

f '

r
n 1

Thin symmetrical bi-lens

f'

r
2 n 1

Thick lens in air


focal length

1 1 n 12 d
1
n 1
f'
r1 r2 n r1r2

20

Imaging equation
s'

Imaging by a lens in air:


lens makers formula

4f'
real object
real image

1 1 1

s' s f

virtual object
real image
2f'

Magnification

s'
m
s

2f'
- 4f'

-2f'

Real imaging:
s < 0 , s' > 0
Intersection lengths s, s'
measured with respective to the
principal planes P, P'

real object
virtual image

4f'

-2f'
virtual object
virtual image

- 4f'

21

Imaging by a Lens
Ranges of imaging
Location of the image for a single
lens system
Change of object loaction
Image could be:
1. real / virtual
2. enlarged/reduced
3. in finite/infinite distance

|s| < f'


image virtual
magnified

F'
image

Objekt

s
image

F'

|s| = f'
image at
infinity

F object
s

2f' > |s| > f'


image real
magnified

F'
object

image

F
s

|s| = 2f'

F'

object

image real
1:1

image

F
s

object

F'

|s| > 2f'


image real
reduced

F
s

image

22

Multi-Surface Systems
d F1 F2
n

Two lenses with distance d

F F1 F2

Focal length
distance of inner focal points e

f1 f 2
f1 f 2
f

f1 f 2 d
e

Sequence of thin lenses close


together

F Fk

Sequence of surfaces with relative


ray heights hj, paraxial

Magnification

hk
1
n'k nk
h1
rk

s '1 s '2 s 'k n1



s1 s2
sk n'k

23

Two-Lens System
Focal length
e: tube length

f '1 f '2
f '1 f '2
f '

f '1 f '2 d
e

Image location

s '2

( f '1 d ) f '2 ( f '1 d ) f '

f '1 f '2 d
f '1

lens 1
lens 2

e
f2
s

s'

f'1
d

24

Magnification

Lateral magnification for finite imaging

Scaling of image size

y'
f tan u

y
f ' tan u '

principal planes

y
object

focal point
F
f

focal point
F'

P'
f'

image
z'
y'

s
s'

25

Angle Magnification

Afocal systems with object/image in infinity


Definition with field angle w
angular magnification

tan w' nh

tan w n' h'

h
w'

h'

Relation with finite-distance magnification

f
f'

26

Axial Magnification

Axial magnification
Approximation for small z and n = n

z'
f'
1
m2
z
f 1 m z
f
tan 2 u
2
m 2
tan u '

z'

27

Definition of Field of View and Aperture

Imaging on axis: circular / rotational symmetry


Only spherical aberration and chromatical aberrations
Finite field size, object point off-axis:
- chief ray as reference

yp

y'

y'p

- skew ray bundels:


coma and distortion

O'

marginal/rim
ray

- Vignetting, cone of ray bundle


not circular symmetric

R'AP
chief ray

w'

u'

- to distinguish:
tangential and sagittal
plane

chief ray

O
object
plane

entrance
pupil

exit
pupil

image
plane

28

The Special Infinity Cases


Simple case:
- object, image and pupils are lying in a finite
distance
- non-telecentric relay systems
Special case 1:
- object at infinity
- object sided afocal
- example: camera lens for distant objects
Special case 2:
- image at infinity
- image sided afocal
- example: eyepiece
Special case 3:
- entrance pupil at infinity
- object sides telecentric
- example: camera lens for metrology
Special case 4:
- exit pupil at infinity
- image sided telecentric
- example: old fashion lithographic lens

29

The Special Infinity Cases


Very special: combination of above cases
Examples:
- both sided telecentric: 4f-system, lithographic lens

- both sided afocal: afocal zoom

- object sided telecentric, image sided afocal:


microscopic lens

Notice: telecentricity and afocality can not be combined on the same side of a system

30

Telecentricity
Special stop positions:
1. stop in back focal plane: object sided telecentricity
2. stop in front focal plane: image sided telecentricity
3. stop in intermediate focal plane: both-sided telecentricity
Telecentricity:
1. pupil in infinity
2. chief ray parallel to the optical axis
object

object sides chief rays


parallel to the optical axis

telecentric
stop

image

31

Telecentricity
Double telecentric system: stop in intermediate focus
Realization in lithographic projection systems
lens f1

object

telecentric
stop

f1

image

lens f2

f2
f1

f2

32

Field-Aperture-Diagram
Classification of systems with
field and aperture size
Scheme is related to size,
correction goals and etendue
of the systems

w
photographic
Biogon

40
lithography
Braat 1987

36
32
Triplet
Distagon

28

Aperture dominated:
Disk lenses, microscopy,
Collimator
Field dominated:
Projection lenses,
camera lenses,
Photographic lenses
Spectral widthz as a correction
requirement is missed in this chart

24
Sonnar

20
projection

16
12

double
Gauss

split
triplet

projection

projection
Gauss

lithography
2003

diode
collimator

achromat

0.2

0.4

micro
100x0.9

micro
40x0.6

micro
10x0.4

4
0

constant
etendue

Petzval

disc

0.6

0.8

microscopy
collimator
focussing

NA

33

Microscopic Objective Lens


microscope objective lens

Incidence angles for chief and


marginal ray

marginal ray

Aperture dominant system


Primary problem is to correct
spherical aberration

chief ray
incidence angle
60
40
20
0
20
40
60

10

15

20

25

34

Photographic lens
Photographic lens

Incidence angles for chief and


marginal ray
Field dominant system
Primary goal is to control and correct
field related aberrations:
coma, astigmatism, field curvature,
lateral color

marginal
ray
chief
ray
incidence angle
60
40
20
0
20
40
60

10 11 12 13 14 15

35

Matrix Formulation of Paraxial Optics


x

Linear relation of ray transport

x'
u'

Simple case: free space


propagation

ray
u

Advantages of matrix calculus:


1. simple calculation of component
combinations
2. Automatic correct signs of
properties
3. Easy to implement

x'
x
B

x'

General case:
paraxial segment with matrix
ABCD-matrix :
u'
u

x' A B x
x

M
u
'
C
D

u
u

A B
C D

ray

x'

x
z

36

Matrix Calculus
Paraxial raytrace transfer

y j y j 1 d j 1 U j 1

Matrix formulation

y ' j 1 d j 1 y j



U
'
0
1
U j
j

Matrix formalism for finite angles

Paraxial raytrace refraction

U j ' U j 1

y' j A B y j


tan
u
'
tan
u
D
j C
j

y j y j 1

i j j y j U j 1

U j ' U j 1 i j i j '
Inserted

Matrix formulation

U j'

j n' j n j
nj

yj

1
y ' j n' n
j
j

U
'
j
nj

nj
n' j

U j 1

0 y
n j j

n' j U j

ij '

nj
nj'

ij

37

Matrix Formulation of Paraxial Optics

Linear transfer of spation coordinate x


and angle u

x' AxBu
u ' C xDu

Matrix representation

x' A B x
x

M
u' C D u
u

Lateral magnification for u=0

A x'/ x

Angle magnification of conjugated planes

D u'/u

Refractive power for u=0

C u'/ x

Composition of systems

M M k M k 1 ... M 2 M1

Determinant, only 3 variables

n
det M ADBC
n'

38

Matrix Formulation of Paraxial Optics

System inversion

Transition over distance L

Thin lens with focal length f

Dielectric plane interface

Afocal telescope

D B

C
A

1 L

M
0 1
1

M 1
f

1 0
n
M
0

n'

1
M

39

Ideal lens
Ideal lens
- one principal plane
P = P'

Aplanatic lens
- principal surfaces are spheres
- the marginal ray heights in the vortex plane are different for larger angles
- inconsistencies in the layout drawings

P'

40

What is Ideal ?
The notation ideal imaging is not unique
ideal
vertex
plane

Ideal is in any case the location of the image point


The geometrical ray paths can be different for
1. paraxial
2. ideal / linear collineation
3. aplanatic
The photometric properties are different
due to non-equidistant sampling
If a perfect lens is idealized in a software
as one surface, there are principal
discrepances in the location of the
intersection points

paraxial
system

aperture
angles
optical
axis

object
point

image
point
ideal
system

ellipsoidal
mirror

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