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An Introduction to
Signal Processing for
Non-Engineers
An Introduction to
Signal Processing for
Non-Engineers
Afshin Samani
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does not warrant the accuracy of the text or exercises in this book. This book’s use or discussion of
MATLAB® software or related products does not constitute endorsement or sponsorship by The
MathWorks of a particular pedagogical approach or particular use of the MATLAB® software.
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v
vi Contents
ix
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x Preface
I thought of writing a book to fill this gap and provide a reference book intro-
ducing the basic concepts of signal processing for this targeted group of students
(and perhaps scientists) with minimum use of mathematical formulations and more
emphasis on visual illustrations. I talked with a few colleagues, and they encouraged
me to go down that path. They also had the same experience that many students, and
even occasionally researchers, do not have a basic understanding of the methods,
which compromises their ability to interpret experimental results.
Thus, I aimed at presenting an intuitive approach to understand the basics of sig-
nal processing such that readers achieve basic knowledge and skills in this topic. In
my view, this idea would work if I keep the verbosity of the book to a minimum and
let figures talk more than words. Wherever relevant, I also included MATLAB files
to generate the figures presented in the book. Thus, students get to know some tricks
in MATLAB to make their own figures. This book should not ever be regarded as a
thorough reference book of signal processing, and no mathematical proofs for any of
the theorems should be expected here. However, after reading this book, the reader
should have an informed view about the applied methods and interpretation of the
results. This may even encourage them to dig further in the field and deal with the
existing complexities.
xi
Author
Afshin Samani e arned a PhD in biomedical engineering and science in 2010 at
Aalborg University, Denmark. He earned bachelor’s and master’s degrees in biomed-
ical engineering at Shahid Beheshti Medical University and Polytechnic in Tehran,
Iran, in 2002 and 2004, respectively. He is currently an associate professor in sports
science and ergonomics at the Department of Health Science and Technology at
Aalborg University, Denmark. He is the director of the Laboratory for Ergonomics
and Work-Related Disorders. His specific research field is focused on methods of
quantification of work exposure, risk factors for the development of musculoskel-
etal disorders and interactions between fatigue and motor control in various func-
tional tasks, including computer work. The author has over 65 peer-reviewed journal
articles, mostly related to the application of novel data analysis methods in the field
of ergonomics and sport sciences. Dr. Samani serves as a reviewer in a number of
journals within his fields of expertise and acts as an associate editor for the journal
Medical & Biological Engineering & Computing. The author’s teaching activity is
focused on sport science and sport technology, as well as biomedical engineering
and medical students.
xiii
1 Introduction
This book is not going to be a comprehensive reference for a signal processing course;
however, it does present basic concepts discussed in almost all signal processing books.
I put my emphasis on an intuitive understanding of what these concepts are about and
show some examples of how they are being used in the scientific literature. I try to
refrain from presenting mathematical formulations as much as possible; however, to
get a good grasp of the concepts, some understanding of the math behind the topic is
crucial; therefore, I have tried to keep it to a minimum level. I present some MATLAB1
sample codes to make a case for the application of the concepts. MATLAB is a licensed
software package, which may not be available for all readers of this book; in case read-
ers do not have access to a license for MATLAB, I suggest using Octave,2 whose syntax
is largely compatible with MATLAB. However, I test all my sample codes in MATLAB
and cannot guarantee that they are all translatable to Octave without any modification.
I briefly introduce MATLAB in Appendix A.1, but I also encourage the reader to take
advantage of the huge number of available online resources (mainly from MathWorks)
providing instruction in MATLAB programming.
1
2 An Introduction to Signal Processing for Non-Engineers
FIGURE 1.1 The number of publications with the keywords EMG and sport over the years
analyzed. All of these points have close ties to the theory of signal processing. If
I repeat the same search with physiotherapy as the topic, a marked increase in publi-
cations from 1992 can be seen here too, but maybe not to the same extent as I could
see for sport science. Obviously, this simple search does not qualify a scientific sur-
vey; nevertheless, it may be an indication of the widespread use of signal processing
in various fields that are not necessarily known as branches of engineering science.
A lack of basic knowledge in this field may cause fallacious interpretation of the
results obtained in a scientific investigation. Therefore, gaining a basic knowledge of
signal processing for non-engineers turns out to be very important.
1.2 WHAT IS A SIGNAL?
If one looks up the word in the Merriam-Webster dictionary,4 there will be one defini-
tion that is very close to what is implied by a signal in the theory of signal processing,
“a detectable physical quantity or impulse (such as a voltage, current, or magnetic
field strength) by which messages or information can be transmitted”. There is one
very important keyword in this definition, and that is “information”. However, a sig-
nal does not necessarily need to be a physical quantity; for example, a financial time
series may contain the rating of a stock market over a certain period of time. Having
said that, most often we deal with some sort of physical quantity in signal processing.
As mentioned earlier, “information” is the key word, as it provides the content
of communication between humans or between humans and machines. Here, the
term “machine” is being used in a broad context in which even the human body is a
machine. For example, when we record biological signals (e.g., EMG) and process
them, we essentially extract desired information from the complex machine of the
human body.
1.3 WHAT IS NOISE?
When capturing signals in practical applications, what we acquire is not purely the
signal (what we are interested in). There will be an undesired part that contaminates
Introduction 3
our signal and therefore is undesirable. This undesirable part is called “noise”.
Knowing the relationship between what we acquire, signal and noise is crucial to
effectively remove the noise and keep the signal. For example, if one is interested in
studying the level of muscle activity during a specific physical activity, the interfer-
ence from the power line to the measured signal is not of interest, and therefore that
interference is a part of the noise.
In many applications, a simple additive relationship is not quite far from reality,
and very often this model is assumed to describe the relationship between what we
measured (m), signal (s) and noise (n).
Thus, we may have:
m=s+n
This is called a model of an “additive noise”, meaning that the noise is simply added
to the signal, and the measurement is simply the summation of the noise and the
signal. However, in a general case, the relationship between signal and noise can be
more complex, and the measurement can be an unknown function of the signal and
noise. In an experimental design, special precautions are taken such that the noise
is as minimal as possible, and an additive model of noise could be often assumed.
In certain cases, even though the noise model is not essentially additive, using a
little mathematical trickery, an equivalent additive noise model can be found. For
example, if m = s.n (m equals s times n), the noise is productive, but if we simply take
the logarithm of both sides of the equation, this case can be a transformed into an
additive noise model as logm = logs + logn.
The quality of the measurement refers to a question about how big the noise term
in the equation is with respect to the signal term. In technical documents and papers,
one may come across a term called signal-to-noise ratio (SNR), which simply carries
this piece of information about the magnitude of a signal with respect to the noise.
In physics, this is expressed in terms of the ratio between the power of the signal and
noise, and because the range of signal and noise power can be quite wide, a logarith-
mic scale is used. The power of the signal and noise implies how much energy in a
unit of time is being transferred by the signal and noise.
Thus:
P
SNR = 10. log10 sig nal
noise
P
As the signal and noise are often measured in voltage or current, it may seem more
convenient to express the SNR in terms of the magnitude of voltage or current. If one
remembers the basic physics of electrical circuits—for example, for a resistor—the
power is proportional to the square of voltage across the resistor or the current pass-
ing through it. Thus, if the SNR is calculated in terms of voltage or current ampli-
tude, one can write:
A2 A
SNR = 10 . log10 si2g nal = 20.log10 sig nal
Anoise Anoise
4 An Introduction to Signal Processing for Non-Engineers
This relative index is expressed in decibels (db) and because, in a general case, the
current or the voltage varies across time, the amplitude is calculated in terms of the
root mean square (RMS). RMS of a signal in a limited time window is calculated by
taking the average of the samples of the signal to the power of 2 and then taking the
square root of the average.
1
∑ x2
N
RMS =
N i =1 i
Where N is the number of signal samples in the limited time window and xi is the
i-th sample of the signal in that time window. The notation ∑ i =1 simply means a
N
summation when i changes from 1 to N. For example, a 20-db SNR implies that the
RMS of the signal is 10 times larger than that of the noise; similarly, a 0-db SNR
means that signal and noise have equal RMS, and negative values of SNR mean that
the noise is even greater than the signal. SNR in biological signals such as EMG can
be estimated based on a part of the signal spectrum (this concept will be introduced
in chapter 6), which is expected not to contain the signal power related to the signal
(Sinderby, Lindstrom, and Grassino, 1995).
Now, I established a very brief definition of what signal and noise are in general
terms. Throughout the rest of this book, first, I introduce the main building blocks for
recording signals, and then I continue with an introduction to the time and frequency
domains of the signals, and a brief introduction to the sampling theorem and power
spectrum of signals will follow. After touching on the most basic topics related to the
signals, discuss systems that include, for example, filters and any blocks acting on
input signals and that produce output signals. When I provide examples throughout
this book, I mostly refer to examples in the field of biological signals, kinesiology,
sport science, biomechanics and ergonomics. However, the main part of what I write
here encompasses general concepts of signal processing, which are to a large extent
applicable to other fields.
NOTES
1. These MATLAB files are available at https://www.crcpress.com/9780367207557.
2. www.gnu.org/software/octave/
3. http://apps.webofknowledge.com/WOS_AdvancedSearch_input.do?SID=C2Ykq83coa
AC4oJ92Ru&product=WOS&search_mode=AdvancedSearch, (TS=(EMG AND sport))
AND LANGUAGE: (English) AND DOCUMENT TYPES: (Article)
4. www.merriam-webster.com/
REFERENCES
K. Bromley and H. J. Whitehouse, “Signal processing technology overview,” Real-Time
Signal Process. IV., vol. 298, pp. 102–107, 1982.
C. Sinderby, L. Lindstrom, and A. E. Grassino, “Automatic assessment of electromyogram
quality,” J. Appl. Physiol., vol. 79, no. 5, pp. 1803–1815, 1995.
2 The Measurement
Pipeline
Working with signals involves some sort of measurement. Sometimes this measure-
ment does not require any complicated hardware—for example, if one wants to
record the worth of the stock market over a certain period, access to the registered
values of the stock prices may be sufficient to start the work. However, recording
biological signals (bio-potentials), such as electromyography (EMG), first requires
some hardware in order to capture the signal. Here, I am going to briefly describe
the basic blocks of the measurement systems that we often use in the lab to record
bio-potentials. If the reader is already familiar with these basic concepts, this chapter
can be skipped over.
2.1 SENSORS
Sensors are essentially some sort of a convertor of various energy forms to electri-
cal energy (Webster, 1998) (page 6 therein). Why are we even talking about energy
forms? Very often, the pieces of information lie in physical quantities, which are
produced by transforming energy from one form to another. For example, chang-
ing the velocity of an object requires that some source of energy be transformed
into mechanical energy. To measure the velocity, we generally prefer to convert the
mechanical energy to electrical energy because handling electrical energy is easier
for us. Given the widespread use of computers, it is easier for us to store the measured
values on the computers and process them (Areny and Webster, 2001). Therefore,
the development of sensors would depend on understanding the physics relating to
the variations of a “measurand” (what is to be measured) to an electrical quantity
(charge, current or voltage). For example, if the displacement of an object is what one
wants to measure, the displacement may be linked to the resistance, capacitance or
inductance of an element in an electrical circuit. Then, the circuit can be designed
such that the voltage across that element or the current which passes through it is
proportional to the amount of displacement. Thus, measuring the voltage or current
enables measuring the displacement. The sensor world is a very huge and exciting
world. Depending on their precision, linearity, range of work and other specifica-
tions, sensors can be quite cheap or very expensive and strategic.
2.2 AMPLIFICATION
Very often, the output of sensors is a weak electrical voltage (it could be an electrical
current too, but often we have to deal with voltage signals), so in order for us to be
able to process and store it on a computer, higher voltage is required. Therefore, ide-
ally speaking, an amplification block is a block to multiply the signal by a constant
5
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6 An Introduction to Signal Processing for Non-Engineers
factor. To be more precise, we may also have amplification with an automatic gain
control in which the gain can be changed depending on the voltage level of an input
signal, but in many experimental devices to record biological signals, we use an
amplifier with a constant “gain”. Figure 2.1 shows a typical symbol that is drawn
on the schematic of electrical circuits to show an amplifier with a constant gain of
“K”. Thus, if the input to the amplifier is x, then the output would simply be K.x (K
times x).
The amplifier used to record biological signals is a specific class of amplifier,
which is known as a “differential amplifier” (Figure 2.2). This type of amplifier has
two input leads, and the output is the amplification of the difference between the
two input leads. In this case, the output is simply K (x+ − x−) = K . Vd where Vd is the
differential input.
The input voltage on each of the input leads (i.e., x+, x−) can be reformulated as:
x+ − x− x+ + x−
x+ = +
2 2
Vd+ Vc
x− − x+ x+ + x−
x− = +
2 2
Vd− Vc
( ) ( )
It is very straightforward to verify that x + − x − = Vd+ − Vd− = Vd . This is the dif-
ferential input to the amplifier, but as one can see, there is another term in the equa-
tion, that is Vc being a common term for x+ and x−. This term is called the “common
mode” input. In an ideal scenario, this term is irrelevant because it does not affect the
difference between x+ and x−. However, in a practical case, this term is quite relevant,
as I explain next.
K
CMRR = 20 . log10 d
Kc
The established guideline of data recording urges scientists to notice these techni-
cal characteristics of their experimental setup and report them in their publications
(Merletti and Torino, 1999). Often, the CMRR should be greater than 80 db.
A practical example of the relevance of the CMRR may be when one records
a bipolar surface EMG from the upper trunk (e.g., trapezius activity). Two EMG
electrodes are placed on the muscle, and they are supposed to capture the electrical
activity underlying the electrodes and then differentially amplify them. However,
because the site of recording is close to the heart, the electrical activity of the
heart also contributes to what each electrode captures. Part of this contribution
is common on both EMG electrodes, which can be seen as the common mode.
One expects that this common mode will be removed when the EMG is amplified
differentially; however, it is quite common for the heart’s electrical activity to be
seen on the recorded EMG, and this source of contamination should be specifically
removed (Marker and Maluf, 2014) (Figure 2.3). Note that what can be seen in
Figure 2.3 is not solely due to the amplification of the common mode, as the inter-
ference of the heart rate is not exactly the same across the EMG electrodes, and a
big fraction of the peaks seen in Figure 2.3 is simply due to the amplification of the
differential component.
Another example may be the interference of the power line on the measurement
of a biological signal (say EMG). When electrical circuits are fed by the power line,
an alternating current with 50 Hz (in North America 60 Hz) is flowing in cables
and wires, and this may cause electromagnetic interference with a measurement
8 An Introduction to Signal Processing for Non-Engineers
FIGURE 2.3 A typical recording of bipolar EMG on the lower trapezius at the resting state;
interfering heart activity on the EMG signal is quite visible
setup. Depending on the quality of isolation and the grounding of the measurement
devices, this interference can be considerable, and sometimes a notch filter (defined
in Chapter 8) is applied to the signal to reduce the effect of this interfering noise. The
interference effect on each of the electrodes is supposedly the same; thus, ideally, the
differential amplification should cancel this term, but in some experimental condi-
tions, the interference may still be seen.
voltage, output voltage cannot exceed a certain limit that is lower than the supply
voltage.
2.2.3 Input Impedance
I assume most readers of this book are familiar with the term of resistance in elec-
trical circuits from high school physics. Resistance refers to opposition against the
electrical current in an electrical circuit. Again from high school physics, one could
remember the relationship between resistance, current and voltage, known as “Ohm’s
law”, is voltage across a resistor (V) equals the multiplication of the electrical current
passing through it (I) and its resistance (V = R.I).
The term impedance is a generalized concept of resistance and can also refer
to electrical elements other than resistors, such as capacitors and inductors. Unlike
resistors, which consume active power, capacitors and inductors only store energy;
nevertheless, they can affect the relationship between voltage and current. For the
simplicity of the text in this chapter, whenever I refer to impedance, the reader may
assume that resistance and impedance are referring to the same concept, but to be
precise these two terms are not the same thing.
Now imagine that one has an electrical circuit shown in Figure 2.4 and wants to
measure the voltage across a resistance (R2). The voltmeter is placed parallel to R2.
In an ideal case, the measurement device should have no effect on the main circuit,
as if the measurement device is not connected. In practice, the measurement device
has an effect on the main circuit, but this effect should be minimized. What should
be done to reduce the effect of the measurement device on the main circuit? If the
resistance of the voltmeter against the electrical current is much higher than that of
R2, the current that passes through the voltmeter will be negligible in comparison
with the current flowing through R2, and one could assume with reasonable cer-
tainty that the measured voltage across R2 is very close to the voltage without the
presence of the measurement system. The resistance of the measurement system
against the electrical current is known as the input impedance.
Because biological signals are voltage signals in many cases, the story of their
measurement resembles the previously mentioned scenario. One does not want the
amplifier system to interfere with the recordings; therefore, the input impedance
should be high. Very often, the input impedance is greater than 1 megaohm.
There are other important properties of an amplifier, like linearity and the band-
width, which will be addressed when system properties are discussed in Chapter 7.
R1
DC
R2
2.3 ANALOG-TO-DIGITAL CONVERSION
Let us imagine that one has amplified a signal properly and now needs to store it on a
computer or wants to do some real-time analysis of the signal on the computer. How
does one access the signal in a computer? These days many people are familiar with
analog-to-digital convertors (ADC), but let us assume that we did not know about
them. How would one intuitively store signals on a computer? Once I asked this
question of my students in a lecture, and one of them responded, “I touch the signal;
if it hurts, it is high. Otherwise, it is low”. I replied, “Well, I do not recommend doing
it like that, but conceptually you are essentially not horribly wrong”. Next, I outline
the function of an ADC, but what follows is not an exact description of what is actu-
ally implemented at the hardware level of an ADC.
The first step would be to have a bunch of voltage thresholds and compare the
input voltage level with those thresholds. Say one has 10 voltage thresholds sorted
ascendingly. Now imagine if one input voltage is higher than the third threshold and
lower than the fourth one. One could then infer that the input voltage is between the
third and fourth voltage thresholds. Now the question is this: How much is the differ-
ence between the third and fourth thresholds? If the difference is very low, we have
actually measured our input voltage with an acceptable level of uncertainty. A term
of uncertainty is an inherent part of any measurement, and the difference between
the two threshold levels in an ADC could also be counted towards the uncertainty of
measurement. Suppose that one is measuring an input voltage that is about 1 mV and
the difference between two successive thresholds is about 2 µV—for example, the
voltage of the third threshold is 999 µV and the fourth threshold is 1001 µV. Having
found that the input voltage is between the third and fourth thresholds means that
the input voltage is something between 999 and 1001 µV. Finding this information
is very important to us because we may not care about 2 µV of uncertainty when
working with a voltage of 1 mV. In other words, the resolution of the measurement
is sufficiently fine.
Now imagine that one knows that the input voltage is within a specified range.
For example, one may know that the amplified signal will never get an amplitude
outside the range of ±5 V. This piece of information is crucial to have when working
with a specific type of signal. Often, this information can be found in the scientific
literature investigating that specific type of signal. For example, surface EMG can
vary from ±5 mV (Konrad, 2005) (including extreme cases among athletes), and if
the applied amplification gain is 1000, one knows that the input range will be ±5 V.
If one works with another type of signal, this information should be retrieved from
the literature. If one starts working with a type of signal with no prior information,
one can start from a very conservative guess of the range and then modify this piece
of information with experience.
In the first step, the ADC applies a set of thresholds to the input range and finds
the two successive thresholds, which determine an interval containing the input volt-
age. Now the question is how many thresholds does an ADC apply to the input range?
The ADC datasheet contains information on how many “bits” this ADC uses for the
conversion. For example, one may use a 12-bit ADC or 16-bit ADC in a data recording
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Hence the head of John the Baptist [236]could only be presented to
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contradiction here apparent is not to be removed by the
consideration, that it is not expressly said in the Gospels that John’s
head was brought in during the meal, for this is necessarily inferred
from the entire narrative. Not only are the commission of the
executioner and his return with the head, detailed in immediate
connexion with the incidents of the meal; but only thus has the
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resided with his court at that period.
Thus we see that the life of John in the evangelical narratives is,
from easily conceived reasons, overspread with mythical lustre on
the side which is turned towards Jesus, while on the other its
historical lineaments are more visible. [237]
Comp. also the words of the Baptist v. 31 , with Joh. iii. 6 . 12 f. viii. 23 ; v.
32 with viii. 26 ; v. 33 with vi. 27 ; v. 34 with xii. 49 , 50 ; v. 35 with v.
22 , 27 , x. 28 f. xvii. 2 . ↑
Bibl. Comm. 2, p. 105. ↑
57
Paulus, Olshausen, in loc. ↑
58
E.g. here, v. 32 , it is said: τὴν μαρτυρίαν αὐτοῦ οὐδεὶς λαμβάνει, but in
59
the Prolog. v. 11 : καὶ οἱ ἴδιοι αὐτὸν οὐ παρέλαβον. Comp. Lücke, s.
501. ↑
Ut sup. ↑
60
De Wette, de morte Christi expiatoria, in s. Opusc. theol. p. 81; biblische
61
Dogmatik, § 209; Winer, bibl. Realwörterbuch 1, s. 692. ↑
Neander, p. 75. This author erroneously supposes that there is an indication of
62
the Baptist having directed his disciples to Jesus in Acts xviii. 25 , where it is
said of Apollos: ἐδίδασκεν ἀκριβῶς τὰ περὶ τοῦ Κυρίου, ἐπιστάμενος τὸ βάπτισμα
Ἰωάννου. For on comparing the following chapter, we find that Paul had to teach
the disciples of John, that by the ερχόμενος announced by their master, they were
to understand Jesus; whence it is clear that the things of the Lord expounded by
Apollos, consisted only in the messianic doctrine, purified by John into an
expectation of one who was to come, and that the more accurate instruction
which he received from the Christians, Aquila and Priscilla, was the doctrine of its
fulfilment in the person of Jesus. ↑
Gesenius, Probeheft der Ersch und Gruber’schen Encyclopädie, d. A. Zabier. ↑
63
Bretschneider, Probab., s. 46 f.; comp. Lücke, s. 493 f.; De Wette, Opusc a.
64
a. O. ↑
Greiling, Leben Jesu von Nazaret, s. 132 f. ↑
65
66
2 Sam. iii. 1 . John iii. 30 .
ְוָד ִוד ֹהֵלְך ְוָחֵזק ἐκεῖνον δεῖ αὐξάνειν.
: ּוֵבית ָׁשאּול ֹהְלִכם ְוַד ּלים ἐμὲ δὲ ἐλαττοῦσθαι.
§ 49.
Our former inquiries have shown that John’s baptism related partly
εἰς τὸν ἐρχόμενον, its recipients promising a believing preparation
for the expected Messiah; how then could Jesus, if he was conscious
of being himself the ἐρχόμενος, submit himself to this baptism? The
usual answer from the orthodox point of view is, that Jesus,
although conscious of his Messiahship, yet, so long as it was not
publicly attested by God, spoke and acted, not as Messiah, but
merely as an Israelite, who held himself bound to obey every divine
ordinance relative to his nation. 2 But, here, there is a distinction to
be made. Negatively, it became Jesus to refrain from performing any
messianic deeds, or using any of the Messiah’s prerogatives, before
his title was solemnly attested; even positively, it became him to
submit himself to the ordinances which were incumbent on every
Israelite; but to join in a new rite, which symbolized the expectation
of another and a future Messiah, could never, without dissimulation,
be the act of one who was conscious of being the actual Messiah
himself. More recent theologians have therefore wisely admitted,
that when Jesus came to John for baptism, he had not a decided
conviction of his Messiahship. 3 They indeed regard this uncertainty
as only the struggle of modesty. Paulus, for instance, observes that
Jesus, notwithstanding he had heard from his parents of his
messianic destination, and had felt this first intimation confirmed by
many external incidents, as well as by his own spiritual development,
was yet not over eager to appropriate [238]the honour, which had
been as it were thrust upon him. But, if the previous narratives
concerning Jesus be regarded as a history, and therefore, of
necessity, as a supernatural one; then must he, who was heralded
by angels, miraculously conceived, welcomed into the world by the
homage of magi and prophets, and who in his twelfth year knew the
temple to be his Father’s house, have long held a conviction of his
Messiahship, above all the scruples of a false modesty. If on the
contrary it be thought possible, by criticism, to reduce the history of
the childhood of Jesus to a merely natural one, there is no longer
anything to account for his early belief that he was the Messiah; and
the position which he adopted by the reception of John’s baptism
becomes, instead of an affected diffidence, a real ignorance of his
messianic destiny.—Too modest, continue these commentators, to
declare himself Messiah on his own authority, Jesus fulfilled all that
the strictest self-judgment could require, and wished to make the
decisive experiment, whether the Deity would allow that he, as well
as every other, should dedicate himself to the coming Messiah, or
whether a sign would be granted, that he himself was the
ἐρχόμενος. But to do something seen to be inappropriate, merely to
try whether God will correct the mistake, is just such a challenging
of the divine power as Jesus, shortly after his baptism, decidedly
condemns. Thus it must be allowed that, the baptism of John being
a baptism εἰς τὸν ἐρχόμενον, if Jesus could submit himself to it
without dissimulation or presumption, he could not at the time have
held himself to be that ἐρχόμενος, and if he really uttered the words
οὕτω πρέπον ἐστὶ, κ.τ.λ., Suffer it to be so now, etc. (which,
however, could only be called forth by the refusal of the Baptist—a
refusal that stands or falls with his previous conviction of the
Messiahship of Jesus), he could only mean by them, that it became
him, with every pious Israelite, to devote himself by anticipation to
the expected Messiah, in baptism, although the Evangelist,
instructed by the issue, put on them a different construction.
[Contents]
§ 50.
At the moment that John had completed his baptism of Jesus, the
synoptical gospels tell us that the heavens were opened, the Holy
Spirit descended on Jesus in the form of a dove, and a voice from
heaven designated him the Son of God, in whom the Father was well
pleased. The fourth Evangelist (i. 32 ff. ) makes the Baptist narrate
that he saw the Holy Spirit descend like a dove, and remain on
Jesus; but as in the immediate context John says of his baptism,
that it was destined for the manifestation of the Messiah, and as the
description of the descending dove corresponds almost verbally with
the synoptical accounts, it is not to be doubted that the same event
is intended. The old and lost Gospels of Justin and the Ebionites
give, as concomitants, a heavenly light, and a flame bursting out of
the Jordan; 6 in the dove and heavenly voice also, they have
alterations, hereafter to be [240]noticed. For whose benefit the
appearance was granted, remains doubtful on a comparison of the
various narratives. In John, where the Baptist recites it to his
followers, these seem not to have been eye-witnesses; and from his
stating that he who sent him to baptize, promised the descent and
repose of the Spirit as a mark of the Messiah, we gather that the
appearance was designed specially for the Baptist. According to
Mark it is Jesus, who, in ascending from the water, sees the heavens
open and the Spirit descend. Even in Matthew it is the most natural
to refer εἶδε, he saw, and ἀνεῴχθησαν αὐτῷ, were opened to him,
to ὁ Ἰησοῦς, Jesus, the subject immediately before; but as it is said,
in continuation, that he saw the Holy Spirit ἐρχόμενον ἐπ’ αὐτὸν, not
εφ’ αὑτὸν (Mark’s ἐπ’ αὐτὸν, which does not agree with his
construction, is explained by his dependence on Matthew), the
beholder seems not to be the same as he on whom the Spirit
descended, and we are obliged to refer εἶδε and ἀνεῴχθησαν αὐτῷ
to the more remote antecedent, namely the Baptist, who, as the
heavenly voice speaks of Jesus in the third person, is most naturally
to be regarded as also a witness. Luke appears to give a much larger
number of spectators to the scene, for according to him, Jesus was
baptized ἐν τῷ βαπτισθῆναι ἅπαντα τὸν λαὸν, when all the people
were baptized, and consequently he must have supposed that the
scene described occurred in their presence. 7
The narrations directly convey no other meaning, than that the
whole scene was externally visible and audible, and thus they have
been always understood by the majority of commentators. But in
endeavouring to conceive the incident as a real one, a cultivated and
reflecting mind must stumble at no insignificant difficulties. First,
that for the appearance of a divine being on earth, the visible
heavens must divide themselves, to allow of his descent from his
accustomed seat, is an idea that can have no objective reality, but
must be the entirely subjective creation of a time when the dwelling-
place of Deity was imagined to be above the vault of heaven.
Further, how is it reconcilable with the true idea of the Holy Spirit as
the divine, all-pervading Power, that he should move from one place
to another, like a finite being, and embody himself in the form of a
dove? Finally, that God should utter articulate tones in a national
idiom, has been justly held extravagant. 8
Even in the early church, the more enlightened fathers adopted the
opinion, that the heavenly voices spoken of in the biblical history
were not external sounds, the effect of vibrations in the air, but
inward impressions produced by God in the minds of those to whom
he willed to impart himself: thus of the appearance at the baptism of
Jesus, Origen and Theodore of Mopsuestia maintain that it was a
vision, and not a reality, ὀπτασία, οὐ φύσις. 9 To the simple indeed,
says Origen, in their simplicity, it is a light thing to set the universe
in motion, and to sever a solid mass like the heavens; but those who
search more deeply into such matters, will, he thinks, refer to those
higher revelations, by means of which chosen persons, even waking,
and still more frequently in their dreams, are led to suppose that
they perceive something with their bodily senses, while their minds
only are affected: so that consequently, the whole appearance in
question should [241]be understood, not as an external incident, but
as an inward vision sent by God; an interpretation which has also
met with much approbation among modern theologians.
§ 51.
In the East, and especially in Syria, the dove is a sacred bird, 22 and it
is so for a reason which almost necessitated its association with the
Spirit moving on the face of the primitive waters (Gen. i. 2 ). The
brooding dove was a symbol of the quickening warmth of nature; 23 it
thus perfectly represented the function which, in the Mosaic
cosmogony, is ascribed to the Spirit of God,—the calling forth of the
world of life from the chaos of the first creation. Moreover, when the
earth was a second time covered with water, it is a dove, sent by
Noah, which hovers over its waves, and which, by plucking an olive
leaf, and at length finally disappearing, announces the renewed
possibility of living on the earth. Who then can wonder that in
Jewish writings, the Spirit hovering over the primeval waters is
expressly compared to a dove, 24 and that, apart from the narrative
under examination, the dove is taken as a symbol of the Holy Spirit?
25 How near to this lay the association of the hovering dove with the
When, in this manner, the heavenly voice, and the Divine Spirit
down-hovering like a dove, gathered from the cotemporary Jewish
ideas, had become integral parts of the Christian legend concerning
the circumstances of the baptism of Jesus; it followed, of course,
that the heavens should open themselves, for the Spirit, once
embodied, must have a road before it could descend through the
vault of heaven. 28
[Contents]
§ 52.
RELATION OF THE SUPERNATURAL AT THE BAPTISM
OF JESUS TO THE SUPERNATURAL IN HIS
CONCEPTION.
At the commencement of this chapter, we enquired into the
subjective views of Jesus in his reception of John’s baptism, or the
idea which he entertained of its relation to his own character. We
close this discussion with an inquiry into the objective purpose of the
miracles at the baptism of Jesus, or the mode in which they were to
subserve the manifestation of his messiahship.
The common answer to such an inquiry is, that Jesus was thereby
inducted to his public office, and declared to be the Messiah, 29 i.e.
that nothing was conferred on him, and that simply the character
which he already possessed was manifested to others. But, it may
be asked, is such an abstraction intended by our narrators? A
consecration to an office, effected by divine co-operation, was ever
considered by antiquity as a delegation of divine powers for its
fulfilment; hence, in the Old Testament, the kings, as soon as they
are anointed, are filled with the spirit of God (1 Sam. x. 6 , 10 , xvi.
13 ); and in the New Testament also, the apostles, before entering
on their vocation, are furnished with supernatural gifts (Acts ii. ). It
may, therefore, be beforehand conjectured, that according to the
original sense of the Gospels, the consecration of Jesus at his
baptism was attended with a supply of higher powers; and this is
confirmed by an examination of our narratives. For the synoptical
writers all state, that after the baptism, the Spirit led Jesus into the
wilderness, obviously marking this journey as the first effect of the
higher principle infused at his baptism: and in John, the words
μένειν ἐπ’ αὐτὸν, applied to the descending Spirit, seem to intimate,
that from the time of the baptism there was a relation not previously
subsisting, between the πνεῦμα ἅγιον and Jesus.