International Journal of Fuzzy Systems, Vol. 15, No. 4, December 2013 488 Two Interpretations of Multidimensional RDM Interval Arithmetic Multiplication and Division Andrzej Piegat and Marek Landowski Abstract1 The paper presents two possible interpretations and realization ways of interval multiplication and division: the possibilistic, unconditional interpretation that is of great meaning for fuzzy arithmetic and fuzzy systems, and the probabilistic, conditional interpretation that requires either knowledge of probability density distributions or assumptions concerning these distributions. The possibilistic interpretation has a great significance not only for fuzzy arithmetic but also for other sciences that use it such as Computing with Words, Grey Systems, etc. These two interpretations are explained in frame of a new, multidimensional RDM interval-arithmetic. The possibility of realization of interval-arithmetic operations in two ways is an argument for reconciliation of two competing scientific groups that propagate two approaches to uncertainty modeling: the probabilistic and possibilistic one. For many years Professor Zadeh has been claiming in his publications that both approaches are not contradictory but rather complementary. Keywords: Computing with words, fuzzy arithmetic, granular computing, interval arithmetic, interval equations, uncertainty theory. 1. Introduction For many scientists and engineers interval arithmetic seems to be a less important area of science. However, its importance grows with the development of the uncertainty theory [1]. Scientists realize more and more that taking into account the parameter and variable uncertainty in mathematical models is necessary. Data uncertainty is met everywhere. Let us consider as an example Corresponding Author: Andrzej Piegat is with the Faculty of Computer Science and Information Technology, West Pomeranian University of Technology, Zolnierska 49, 71-210 Szczecin, Poland. E-mail: [email protected] Marek Landowski is with the Maritime University of Szczecin, Waly Chrobrego 1-2, 70-500 Szczecin, Poland. E-mail: [email protected] Manuscript received 22 July 2013; revised 20 Nov. 2013; accepted 18 Dec. 2013. the charging process of the car battery [16], where L0 [Ah] means the initial battery charge, L(t) [Ah] means the charge after time t [h] of charging, and i [A] means the charging current. The charging process can be described by (1). (1) L ( t ) L 0 it If we want to determine the charging time T [h] of a battery that is discharged, then (2) should be used. (2) T L T L 0 / i In formula (2) LT means the required end charge of the battery. However, in this problem we mostly do not know precisely but only approximately the initial state L0[ L 0 , L 0 ] as e.g. L0[4,7] Ah. Similarly, the charging current is not constant and varies during the charging process. It can be approximated as i[ i, i ], e.g. i[3,4] A. Therefore, to calculate the required charging time T [h] we should not use (2) but rather the interval formula (3) [T , T ] LT [ L 0 , L 0 ] [i , i ] 90 [ 4 , 7 ] [ 3, 4 ] (3) The mathematical battery-model is simple. However, in practical problems much more complicated models occur, e.g. ship movement model, airplane, rocket, space-ship movement models, economical, medical, mechanical, environmental models, etc. In most of these models occur uncertainties and taking them into account is necessary if we want to get realistic results. This situation explains the increasing interest in uncertainty theory [1], Grey Systems [8], Granular Computing [11], Computing with Words [21, 22], fuzzy systems [7, 12] in science areas that allow for processing uncertain data and modeling uncertain systems. Interval arithmetic is the basic arithmetic of approximate data, because interval [ x, x ] is the simplest and a very convenient way of elicitation and modeling uncertainty. This arithmetic is also used as a basis by other sciences dealing with uncertainty. And so, all calculation results delivered by fuzzy arithmetic [3, 6] have to be consistent with results delivered by interval arithmetic in respect of their supports (it results from the -cut method). The same refers to probabilistic arithmetic [4, 5, 19], Grey Systems, etc. The so called “precise” models as e.g. battery model (1) are at present called “academic” or “laboratory” models, because they are not rather realistic. They make illusion © 2013 TFSA A. Piegat and M. Landowski: Two Interpretations of Multidimensional RDM Interval Arithmetic - Multiplication and Division of accuracy that in reality is not attainable. In a way, “precise” models deceive their user. The simplest models taking into account parameter- and variable-uncertainty are interval ones. Their using requires knowledge of interval arithmetic. The origins and development of this arithmetic is mainly assigned to Moore [9, 10, 11]. In scientific literature one can find many examples of its applications, e.g. [2, 3, 8, 10, 11, 17, 18]. However, many faults or weak-points of this arithmetic have been detected [2, 3, 18]. They are rather well known: the excess width effect, the dependency problem, difficulties of solving even the simplest interval equation, interval equation’s right hand-side problem, absurd solutions and request to introduce negative entropy into the system. Descriptions of certain faults can also be found in Wikipedia. Thus they will not be discussed in this paper. In spite of clear faults of Moore arithmetic it is used by scientists all the time, also in fuzzy arithmetic. The examples can be found in [2, 3, 8, 10, 17]. It is probably caused by the fact that Moore arithmetic is very intuitive and easy to understand. The authors of this paper do not maintain that Moore’s interval arithmetic generally is incorrect. However, they are of the opinion that it only allows for solution of relatively simple problems. Its particular fault is a difficulty or impossibility of solving even simple interval equations with unknowns [2]. This perception was the reason for elaborating multidimensional interval- arithmetic [14, 15]. The concept author of this arithmetic is Andrzej Piegat and its investigation and development is made in collaboration with Marek Landowski and other co-workers. Further on, shortly, the concept of the multidimensional RDM-arithmetic will be presented. In the author's opinion one-dimensional approach to interval-arithmetic operations that is proposed by Moore-arithmetic generally is not correct and the multidimensional approach is necessary because in problems with uncertainty input-intervals create a multidimensional rectangular or cuboid granule and the calculation result is, in the general case, not a one-dimensional interval but a multidimensional, irregular, non-cuboidal output granule. Thus, in case of interval arithmetic we have to do with calculations of the Granular-Computing character [11]. The abbreviation “RDM” comes from the notion “Relative- Distance-Measure”. If an unknown value of variable x is approximated or precisiated by interval [ x, x ], where x means the lower limit and x the upper limit of the interval, then a value x lying in the interval can be expressed with the use of the RDM-variable x[0,1], (4). (4) x x x ( x x), x [0,1] If e.g. x[5,7], then this information can be expressed in form of (5). (5) x 5 2 x , x [0,1] 489 The meaning of the RDM-variable x[0,1] is visualized in Figure 1. Figure 1. Illustration of meaning of the RDM-variable x in case of the normal interval [ x, x ], x x . Thanks to introducing the variable x, the interior of interval [ x, x ] becomes not anonymous, achieves a meaning and can take part in calculations. Why is RDM arithmetic characterized as multidimensional? Because it allows us to realize that each parameter-uncertainty of a system increases its dimensionality. Let us consider once more the car-battery charging process (1), L(t)=L0+it. In this equation variables are time t and the end-charge LT=L(T) of the battery, where T means the charging time [h] and the equation is a linear one. If the current i is known only approximately (i[3,4]A) and similarly the initial battery charge L0[4,7], then these parameters can be described with (6) and the linear battery charging model is transformed in the nonlinear model (7). x 4 3 L0 , L0 [0,1] (6) i 3 i , i [0,1] L(t ) (3 i ) (4 3 L0 )t 3 i 4t 3t L0 (7) i [0,1], L0 [0,1] The linear battery-model (1) is defined in 2-dimensional space LT, but the non-linear RDM-model (7) is defined in much larger, 4-dimensional space LT i L0 . This phenomenon of increasing model-dimensionality and nonlinearity degree caused by parameter uncertainty is the reason of great difficulties in solving problems with uncertainty. However, many scientists do not realize that. 2. Possibilistic Version of Interval Multiplication According to Moore-arithmetic multiplication of two intervals [ a, a ][ b, b ]=[ x, x ] should be realized with (8). [ a , a ][ b , b ] [min( ab , a b , a b , ab ), max( ab , a b , a b , ab )] [ x, x] (8) Operations min and max are necessary if intervals are not positive. If both intervals are positive then the multiplication can be realized according to the simplified formula (9). (9) [ a , a ][ b , b ] [ ab , ab ] [ x , x ], a 0, b 0 490 International Journal of Fuzzy Systems, Vol. 15, No. 4, December 2013 If e.g. [a]=[1,3] and [b]=[1,5/3] then the multiplication is realized according to (10) and visualization of this operation is shown in Figure 2. (10) [ a , a ][ b , b ] [1,3][1,5 / 3] [ x , x ] Figure 2. Illustration of the one-dimensional multiplication of two not precisely known values a and b that have been approximated by intervals a [1, 3] and b [1, 5/3] with the use of Moore-arithmetic. According to Moore-arithmetic the multiplied values a and b are treated fully anonymously. It has no meaning whether they represent the same or different physical, biological, economical, etc. variables. The multiplication-operation is always realized 1-dimensionally and only interval borders have importance and take part in calculations. Numbers contained inside of intervals have no meaning. However, let us consider the interval multiplication [a][b]=[x] as a 3-dimensional operation. Figure 3 shows the 3-dimensional functional surface of multiplication ab=x. Figure 3 also presents contour lines of constant results of the multiplication ab=x=const, e.g. ab=4. Figure 4. Projection of contour lines ab=x=const on 2D-space AB. The operation of interval multiplication [a][b]= [1,3][1,5/3] that in Figure 2 has been realized one- dimensionally with Moore-arithmetic now will be realized with the use of multidimensional RDM- arithmetic. Values a and b will be modeled with the use of RDM-variables a and b, formulas (11) and (12) respectively. (11) [ a ] a a ( a a ) 1 2 a , a [ 0,1] (12) [b ] b b (b b ) 1 2 b / 3, b [ 0,1] The multiplication operation [a][b] = [x] is determined with (13). [ a ][ b ] [ a a ( a a )][ b b ( b b )] (13) (1 2 a )(1 2 b / 3), a [ 0 ,1], b [ 0 ,1] The multiplication operation of two positive intervals is characterized by a monotonically rising functional surface x=ab shown in Figure 3 and Figure 4. Thus, the extremum values x and x lie on borders of the multiplication domain AB, that is shown in Table 1. Table 1. Multiplication results of two intervals for border values of RDM-variables a[0,1] and b[0,1]. [ a , a ][ b , b ] [ x , x ] a b Figure 3. 3-dimensional functional surface of multiplication ab=x for a0 and b0. The multiplication surface can be shown not only in 3D-space ABX but also as a projection on 2D-space AB, Figure 4. 0 0 1 1 0 1 0 1 x ab ab ab ab x 1 5/3 3 5 The solution of the interval multiplication with the use of RDM-arithmetic is visualized in Figure 5. The solution of the interval multiplication [a][b]=[x] is a set of all subsets x=ab=const in the form of contour lines that lie inside of the solution granule shown in Figure 5. Each of the contour lines represents one solution subset. However, these subsets are not equal. The subset x=ab=1 contains only one tuple (a,b)=(1,1). Similarly the subset x=(a,b)=(3,5/3). Instead, remaining solution A. Piegat and M. Landowski: Two Interpretations of Multidimensional RDM Interval Arithmetic - Multiplication and Division subsets, e.g. x=ab=5/3, contain infinite number of tuples (a,b) that satisfy the condition x=ab=const. Each tuple (a,b) has a full membership to its solution subset x(a,b)=1. This is presented in Figure 6. AbsPoss ( x ) L ( x ), x ab (15) An event possibility should not be mistaken with the event probability. For discrete events this difference was explained by Zadeh in [20] on the example of eggs that John is able to eat for breakfast, see also [13, 23]. An event possibility can be interpreted as easiness of the event occurrence. Let us assume that John is able to eat maximally 8 eggs. Then, the possibility distribution for n eggs is as below. 1 Poss ( n ) 0 Figure 5. Multiplication of intervals [a][b]=[x] with use of RDM-arithmetic in projection on the space AB. Figure 6. Examples of membership functions x(a,b) of tuples (a,b) to particular solution subsets x=ab=const. The membership function x(a,b) is tantamount to the characteristic function of the solution subset x=ab=const because the membership function is a generalization of the characteristic function of a classical set, and the classical set is a special case of fuzzy set [7, 12]. A measure of each solution subset {(a,b)|ab=x} is the cardinality of this subset Card{(a,b)|ab=x}, (14). Card {( a , b ) | ab x} x (( a , b ) | a x / b ) db (14) B In respect of value cardinality of the subset {(a,b)|ab=x} is surface area of the membership function {x(a,b)|ab=x} that is presented in Figure 6. Because membership of each tuple (a,b) to one of the subsets is full, therefore the cardinality is equal and tantamount to the length of a contour line ab=x=const shown in Figure 5 and Figure 6. This length L(x) can also be interpreted as the measure of the absolute possibility AbsPoss(x) of the event occurring ab=x, (15). 491 for n {0 ,1, 2 ,3, 4 ,5, 6 ,7 ,8} for n8 However, the fact that John potentially can eat 8 eggs does not mean that he eats 8 eggs for breakfast every day. He usually eats 1-3 eggs because the bigger quantity would be too many. Thus, the probability distribution of the egg number eaten for breakfast, determined on the basis of statistical observations, for John can be as below. prob ( 0 ) 0 .1, prob (1) 0 .2 , prob ( 2 ) 0 .6 , prob ( 3) 0 .1, prob ( n 3) 0 An event possibility is of potential character and is more often connected with mental analyses and a problem understanding, and seldom with experiments. An event probability is rather of real character and results from observations and experiments. However, both notions are not contrary because the increase in an event possibility is mostly accompanied by the increase of the event probability. This phenomenon is described by Zadeh’s consistency principle of possibility and probability [20]. Length L(x) of contour lines lying in each of 3 zones shown in Figure 5 (for a 0 , b 0 and ab ab ) can be calculated from (16). x / a 1 x 2 / b 4 db b b 1 x 2 / b 4 db L( x) b b 1 x 2 / b 4 db x / a 0 for x [ ab , a b ) for x [a b, a b ) for x [ a b , ab ) for others Figure 7 shows a diagram of the absolute AbsPoss( x) L( x) of the event occurrence Figure 8 shows a diagram of the relative RelPoss( x) ( x) L( x) / max L( x) , i.e. of the normalized to max L(x)=1. (16) possibility ab=x and possibility possibility 492 International Journal of Fuzzy Systems, Vol. 15, No. 4, December 2013 pdf ( a ) 1 /( a a ), a [ a , a ] [1,3 ] pdf ( b ) 1 /( b b ), b [ b , b ] [1,5 / 3 ] (17) Distributions pdf(a) and pdf(b) are shown in Figure 9. Figure 7. Distribution of the absolute possibility AbsPoss(x) of the solution occurrence x=ab in interval multiplication [a][b]=[1,3][1,5/3]=[x] with the use of multidimensional RDM-arithmetic, AbsPoss( a b )=AbsPoss(5/3)0.9528, AbsPoss( a b )=AbsPoss(3)1.3832. Figure 9. Uniform distributions of probability density pdf(a) and pdf(b) of multiplied intervals [a] and [b]. As a result of interval multiplication [a][b]=[x] a solution granule consisting of an infinitive number of solutions ab=x=const shown in Figure 10 is achieved. Figure 10 presents only 4 of all solutions x=const shown in form of contour lines. Figure 8. Distribution of the relative possibility RelPoss(x)= (x), normalized to $\max (x)=1, of the solution occurrence x=ab=[1,3][1,5/3] in interval multiplication with the use of multidimensional, RDM-arithmetic. The possibilistic solution of interval multiplication [a][b]=[x] is unconditional: it was achieved without initial assumptions. 3. Probabilistic Version of Interval Multiplication The very knowledge that value a [a, a] and b [b, b] is not connected with any distributions of probability density (pdf). This knowledge only means that the limits a , a and b , b of intervals that approximate the precisely unknown values a and b are known. However, in certain problems experts can possess knowledge concerning probability density distributions pdf(a) and pdf(b). Then, this knowledge can be used in the interval multiplication and the multiplication result will also have the form of a probability density distribution pdf(x). Let us assume, that according to the expert knowledge of the problem, both pdf(a) and pdf(b) are uniform distributions (17). Figure 10. Solution granule of interval multiplication [a][b]=[x] with 4 contour lines representing 4 of all possible solutions ab=x=const and with 3 solution zones. If pdf(a) and pdf(b) are uniform and variables a and b are independent then also the joint distribution pdf(a,b)=const and the total probability mass is uniformly distributed in domain AB of the interval multiplication, Figure 10. The cumulated probability of the event occurrence p(abx|pdf(a,b)=const) is then proportional to the area A1(x) under the contour line x, Figure 11. Figure 11 helps to construct (18) for the area A1(x) below the contour line x. x/a A1 ( x ) x/a ( a ( b ) a ) db b ( x ln | b | ab ) ( x / b a ) db b x/a |b x ln | x / ab | x ab x ln | x / x1 | x x1 (18) A. Piegat and M. Landowski: Two Interpretations of Multidimensional RDM Interval Arithmetic - Multiplication and Division 493 Figure 11. Illustration of the calculation way of cumulated probability p(abx|pdf(a,b)=const) of the product occurrence ab=x, x[x1,x2], x1= ab , x2= a b , for a b a b . Figure 12. Illustration of the calculation of the cumulated probability density p(abx|pdf(a,b)=const) for Zone 2, x [ x 2 , x 3 ] [ a b , a b ] , for a b a b . The cumulated probability p(abx|pdf(a,b)=const) is equal to the participation ratio of the area A1(x) in the area A of the full solution granule, (19), where A (a a)(b b) . Figure 13 illustrates a calculation way of the cumulative probability of the event occurrence ab=x for Zone 3 of the solution domain. p ( ab x | pdf ( a , b ) const ) ( x ln | x / x1 | x x1 ) / A (19) Probability density pdf(x|pdf(a,b)=const) can be calculated from (20). pdf ( x | pdf ( a , b ) const ) d p ( ab x | pdf ( a , b ) const ) (ln | x / x1 |) / A dx x [ x1 , x 2 ], x1 ab , x 2 a b (20) Figure 12 illustrates the calculation of the cumulated probability density p(abx|pdf(a,b)=const) for Zone 2, x [ x 2 , x3 ] [ab, ab] . The cumulative probability is proportional to the area A2(x) below the contour line ab=x. It can be calculated from (21). b A2 ( x ) b x [ a b , ab ] [ x 3 , x 4 ] . b ( a ( b ) a ) db ( x / b a ) db (21) b x ln | b / b | a ( b b ) The cumulative probability is equal to the quotient A2(x)/A, where A (a a)(b b) , (22). pdf ( ab x | pdf ( a , b ) const ) ( x ln | b / b | a (b b )) / A (22) The probability density pdf(x|pdf(a,b)=const) can be calculated from (23). pdf ( x | pdf ( a , b ) const ) d p ( ab x | pdf ( a , b ) const ) dx (ln | b / b |) / A (ln | x 2 / x1 |) / A Figure 13. Illustration of the calculation way of the cumulative probability of the event occurrence ab=x for Zone 3: (23) In Zone 3 the cumulative probability p(ab x|pdf(a,b)=const) is expressed by (24), where A (a a)(b b) . pdf ( ab x | pdf ( a , b ) const ) b A3 / A A ( a a (b )) db / A x/a b A ( a x / b ) db / A x/a b / A A ( ab x ln | b |) | x/a (24) A x ln | ab / x | ab x / A The probability density (pdf(x|pdf(a,b)=const) is ex- International Journal of Fuzzy Systems, Vol. 15, No. 4, December 2013 494 pdf ( x | pdf ( a , b ) const ) k N ln | ab / x | pressed by (25). pdf ( x | pdf ( a , b ) const ) d p ( ab x | pdf ( a , b ) const ) dx (ln | ab / x |) / A (ln | x 4 / x |) / A (28) where k N 1 / ab . (25) The distribution of probability density of the result x of interval multiplication in case of [a][b]=[x]0 is presented by (26) and in Figure 14. pdf ( x | pdf ( a , b ) const ) (ln | x / x1 |) / A (ln | x / x |) / A 2 1 (ln | x 4 / x |) / A 0 for x1 x x 2 for x 2 x x3 for x3 x x4 for others Figure 15. Conditional distribution of probability density pdf(x|pdf(a,b)=const) of multiplication result x of two intervals with zero-lower-limits [ 0 , a ][ 0 , b ] [ 0 , 2 ][ 0 ,3] [ x ] . where A ( a a )( b b ), x1 min( ab , ab ), x 2 min( a b , a b ), x 3 max( a b , a b ), x 4 max( ab , ab ) 4. Interval Division (26) Interval division [a, a] /[b, b] can be replaced by interval multiplication. If e.g. both divided intervals are positive, then (29) can be used. [ a , a ] /[ b , b ] [ a , a ] [1 / b ,1 / b ] [ a / b , a / b ], a 0, b 0 (29) In the general case, when intervals are not positive, (30) should be used. [ a , a ] /[ b , b ] [min( a / b , a / b , a / b , a / b ), (30) max( a / b , a / b , a / b , a / b )] Figure 14. The normalized distribution pdf(x|pdf(a,b)=const) of probability density of the result x of the interval multiplication [a]=[1,3] and [b]=[1,5/3] with the use of RDM-arithmetic for case a b a b . The distribution of probability density of interval multiplication in case [a][b]=[x]<0 is presented with (27). pdf ( x | pdf ( a , b ) const ) (ln | x / x1 |) / A (ln | x / x |) / A 2 1 (ln | x / x |) / A 4 0 for x 2 x x1 for for x3 x x2 x 4 x x3 for others where A ( a a )( b b ), x1 max( a b , a b ), x 2 max( ab , ab ), x 3 min( ab , ab ), x 4 min( a b , a b ) (27) In other cases of interval multiplication [a][b]=[x] the distribution of probability density is a combination of (26) and (27). Figure 14 concerns the case x1 ab 0 . For example, if both lower limits of the multiplied intervals [a] and [b] are equal to zero ( [a, a] [0, a] and [b, b] [0, b] ) then the distribution of probability density of result x is determined by (28) and illustrated by Figure 15. Division by an interval containing zero is not defined. 5. Conclusion The paper has shown that 2 interpretations of interval multiplication are possible. The first interpretation is a possibilistic one and is of unconditional character, i.e. this interpretation does not require assumptions concerning distributions of variables inside the intervals. However, if a problem-expert knowledge about the probability density distributions exists then it can be used in frame of the probabilistic version of interval multiplication. Figure 16 shows the comparison of results of interval multiplications [a][b], where [a, a] [1,3] and [b, b] [1,5 / 3] achieved with the use of the probabilistic and possibilistic interpretations. Of course, the probabilistic result (Figure 16b) is correct only if assumptions about uniform probability density distributions inside the intervals are satisfied. If, according to the problem-expert knowledge, the distributions are of other forms, then the resulting distribution can also be calculated with the use of the PACAL-program [4, 5]. The achieved distribution will then have another form than that shown in Figure 16b. Instead, the possibilistic result (Figure 16a) is always of A. Piegat and M. Landowski: Two Interpretations of Multidimensional RDM Interval Arithmetic - Multiplication and Division the same and constant form because it was calculated without any assumptions concerning interval interiors. Thus, the possibilistic interval-multiplication version has a great practical meaning, because in real problems we frequently possess no knowledge about distributions of probability density. 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Andrzej Piegat received his Ph.D. degree in 1979 in modeling and control of production systems from the Technical University of Szczecin, Poland, the DSc degree in control of underwater vehicles from the University of Rostock, Germany, in 1998, and the professor title in 2001. At present he is professor at the West Pomeranian University of Technology, Poland. His current research is focused on uncertainty theory, fuzzy logic, computing with words and info-gap theory. Marek Landowski received the MSc degree in Mathematics from the Szczecin University, Poland, in 2002, the MSc eng degree and the Ph.D. degree in Computer Science from the West Pomeranian University of Technology, Poland, in 2004 and 2009 respectively. Currently he is assistant professor at the Maritime University of Szczecin, Poland. At present his research interests are focused on fuzzy arithmetic, uncertainty theory, and computing with words.
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