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Understanding Complex Systems Bernhard C. Geiger Gernot Kubin Information Loss in Deterministic Signal Processing Systems Springer Complexity Springer Complexity is an interdisciplinary program publishing the best research and academic-level teaching on both fundamental and applied aspects of complex systems— cuttingacrossalltraditionaldisciplinesofthenaturalandlifesciences,engineering,economics, medicine,neuroscience,socialandcomputerscience. Complex Systems are systems that comprise many interacting parts with the ability to generate a new quality of macroscopic collective behavior the manifestations of which are the spontaneous formation of distinctive temporal, spatial or functional structures. Models of such systems can be successfully mapped onto quite diverse “real-life” situations like theclimate,thecoherentemissionoflightfromlasers,chemicalreaction-diffusionsystems, biological cellular networks, the dynamics of stock markets andof the Internet, earthquake statistics and prediction, freeway traffic, the human brain, or the formation of opinions in social systems, toname just some ofthe popular applications. Although their scope and methodologies overlap somewhat, one can distinguish the following main concepts and tools: self-organization, nonlinear dynamics, synergetics, turbulence,dynamicalsystems,catastrophes,instabilities,stochasticprocesses,chaos,graphs and networks, cellular automata, adaptive systems, genetic algorithms and computational intelligence. ThethreemajorbookpublicationplatformsoftheSpringerComplexityprogramarethe monograph series “Understanding Complex Systems” focusing on the various applications of complexity, the “Springer Series in Synergetics”, which is devoted to the quantitative theoreticalandmethodologicalfoundations,andthe“SpringerBriefsinComplexity”which are concise and topical working reports, case studies, surveys, essays and lecture notes of relevance to the field. In addition to the books in these two core series, the program also incorporates individual titles ranging from textbooks tomajor reference works. Editorial and Programme Advisory Board HenryAbarbanel,InstituteforNonlinearScience,UniversityofCalifornia,SanDiego,USA DanBraha,NewEnglandComplexSystemsInstituteandUniversityofMassachusettsDartmouth,USA Péter Érdi, Center for Complex Systems Studies, Kalamazoo College, USA and Hungarian Academy of Sciences,Budapest,Hungary KarlFriston,InstituteofCognitiveNeuroscience,UniversityCollegeLondon,London,UK HermannHaken,CenterofSynergetics,UniversityofStuttgart,Stuttgart,Germany ViktorJirsa,CentreNationaldelaRechercheScientifique(CNRS),UniversitédelaMéditerranée,Marseille, France JanuszKacprzyk,SystemResearch,PolishAcademyofSciences,Warsaw,Poland KunihikoKaneko,ResearchCenterforComplexSystemsBiology,TheUniversityofTokyo,Tokyo,Japan ScottKelso,CenterforComplexSystemsandBrainSciences,FloridaAtlanticUniversity,BocaRaton,USA Markus Kirkilionis, Mathematics Institute and Centre for Complex Systems, University of Warwick, Coventry,UK JürgenKurths,NonlinearDynamicsGroup,UniversityofPotsdam,Potsdam,Germany RonaldoMenezes,FloridaInstituteofTechnology,ComputerScienceDepartment,150W.UniversityBlvd, Melbourne,FL32901,USA AndrzejNowak,DepartmentofPsychology,WarsawUniversity,Poland HassanQudrat-Ullah,SchoolofAdministrativeStudies,YorkUniversity,Toronto,ON,Canada LindaReichl,CenterforComplexQuantumSystems,UniversityofTexas,Austin,USA PeterSchuster,TheoreticalChemistryandStructuralBiology,UniversityofVienna,Vienna,Austria FrankSchweitzer,SystemDesign,ETHZürich,Zürich,Switzerland DidierSornette,EntrepreneurialRisk,ETHZürich,Zürich,Switzerland StefanThurner,SectionforScienceofComplexSystems,MedicalUniversityofVienna,Vienna,Austria Understanding Complex Systems Founding Editor: S. Kelso Future scientific and technological developments in many fields will necessarily depend uponcomingtogripswithcomplexsystems.Such systems arecomplex in both their composition–typically many different kinds of components interacting simultaneouslyandnonlinearlywitheachotherandtheirenvironmentsonmultiple levels–and in the rich diversity of behavior of which they are capable. TheSpringerSeriesinUnderstandingComplexSystemsseries(UCS)promotes new strategies and paradigms for understanding and realizing applications of complex systems research in a wide variety of fields and endeavors. UCS is explicitlytransdisciplinary.Ithasthreemaingoals:First,toelaboratetheconcepts, methodsandtoolsofcomplexsystemsatalllevelsofdescriptionandinallscientific fields,especiallynewlyemergingareaswithinthelife,social,behavioral,economic, neuro-andcognitivesciences(andderivativesthereof);second,toencouragenovel applicationsoftheseideasinvariousfieldsofengineeringandcomputationsuchas robotics, nano-technology,and informatics; third, to provide a single forum within which commonalities and differences in the workings of complex systems may be discerned,henceleadingtodeeperinsightandunderstanding. UCS will publish monographs, lecture notes, and selected edited contributions aimed at communicating new findings to a large multidisciplinary audience. More information about this series at http://www.springer.com/series/5394 Bernhard C. Geiger Gernot Kubin (cid:129) Information Loss in Deterministic Signal Processing Systems 123 Bernhard C.Geiger Gernot Kubin Institute for Communications Engineering Signal ProcessingandSpeech Technical University of Munich Communication Lab Munich Graz University of Technology Germany Graz Austria ISSN 1860-0832 ISSN 1860-0840 (electronic) Understanding ComplexSystems ISBN978-3-319-59532-0 ISBN978-3-319-59533-7 (eBook) DOI 10.1007/978-3-319-59533-7 LibraryofCongressControlNumber:2017943204 ©SpringerInternationalPublishingAG2018 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinor for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictionalclaimsinpublishedmapsandinstitutionalaffiliations. Printedonacid-freepaper ThisSpringerimprintispublishedbySpringerNature TheregisteredcompanyisSpringerInternationalPublishingAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland to our families Acknowledgements Wethankallourco-authorswehadthepleasuretoworkwithduringthelastyears. In particular, we thank Christian Feldbauer, for developing first results together withus,andTobiasKoch,UniversidadCarlosIIIdeMadrid,forhelpingusmaking some of our results mathematically more rigorous. We are indebted to Rana Ali Amjad,ClemensBlöchl,OnurGünlü,KairenLiu,AndreiNedelcu,andLarsPalzer, all from Technical University of Munich, for reading and suggesting changes in early drafts of this book. This book grew out of the first author’s Ph.D. thesis and of course notes of the course “Information-Theoretic System Analysis and Design” that he gave at the Technical University of Munich in 2016. We thus want to thank the students that attended this course with great interest, asked many smart questions, helped improving the course notes, and kept the lecturer motivated to invent challenging end-of-chapter problems. Finally, we thank Gerhard Kramer, Technical University of Munich, who made this lecture possible. The book has been written during the first author’s stay at the Institute for Communications Engineering, Technical University of Munich. The stay has been funded by the Erwin Schrödinger Fellowship J 3765 of the Austrian Science Fund and by the German Ministry of Education and Research in the framework of an Alexander von Humboldt Professorship. vii Contents 1 Introduction .... .... .... ..... .... .... .... .... .... ..... .. 1 1.1 Related Work.... .... ..... .... .... .... .... .... ..... .. 6 1.2 Outline and Prerequisites.... .... .... .... .... .... ..... .. 7 1.3 Motivating Example: Analysis of Digital Systems. .... ..... .. 8 1.4 Motivating Example: Quantizer Design. .... .... .... ..... .. 11 Part I Random Variables 2 Piecewise Bijective Functions and Continuous Inputs .... ..... .. 17 2.1 The PDF of Y ¼gðXÞ. ..... .... .... .... .... .... ..... .. 18 2.2 The Differential Entropy of Y ¼gðXÞ .. .... .... .... ..... .. 20 2.3 Information Loss in PBFs ... .... .... .... .... .... ..... .. 21 2.3.1 Elementary Properties. .... .... .... .... .... ..... .. 21 2.3.2 Upper Bounds on the Information Loss ... .... ..... .. 26 2.3.3 Computing Information Loss Numerically . .... ..... .. 29 2.3.4 Application: Polynomials .. .... .... .... .... ..... .. 30 3 General Input Distributions..... .... .... .... .... .... ..... .. 35 3.1 Information Loss for Systems with General Inputs .... ..... .. 36 3.2 Systems with Infinite Information Loss . .... .... .... ..... .. 37 3.3 Alternative Proof of Theorem 2.1 . .... .... .... .... ..... .. 40 4 Dimensionality-Reducing Functions... .... .... .... .... ..... .. 43 4.1 Information Dimension ..... .... .... .... .... .... ..... .. 44 4.1.1 Properties and Equivalent Definitions of Information Dimension .... ..... .... .... .... .... .... ..... .. 45 4.1.2 dðXÞ-dimensional Entropy and Mixture of Distributions. ..... .... .... .... .... .... ..... .. 49 4.1.3 Operational Characterization of Information Dimension .... ..... .... .... .... .... .... ..... .. 53 ix x Contents 4.2 Relative Information Loss ... .... .... .... .... .... ..... .. 54 4.2.1 Elementary Properties. .... .... .... .... .... ..... .. 55 4.2.2 Bounds on the Relative Information Loss.. .... ..... .. 56 4.2.3 Relative Information Loss for System Reducing the Dimensionality of Continuous Random Variables.. .. 57 4.2.4 Relative Information Loss and Perfect Reconstruction . .. 60 4.2.5 Outlook: Relative Information Loss for Discrete-Continuous Mixtures.... .... .... ..... .. 62 4.3 Application: Principal Components Analysis. .... .... ..... .. 64 4.3.1 The Energy-Centered Perspective.... .... .... ..... .. 65 4.3.2 PCA with Given Covariance Matrix.. .... .... ..... .. 67 4.3.3 PCA with Sample Covariance Matrix. .... .... ..... .. 68 5 Relevant Information Loss. ..... .... .... .... .... .... ..... .. 73 5.1 Definition and Properties .... .... .... .... .... .... ..... .. 73 5.1.1 Elementary Properties. .... .... .... .... .... ..... .. 75 5.1.2 An Upper Bound on Relevant Information Loss ..... .. 78 5.2 Signal Enhancement and the Information Bottleneck Method . .. 80 5.3 Application: PCA with Signal-and-Noise Models . .... ..... .. 82 Part II Stationary Stochastic Processes 6 Discrete-Valued Processes . ..... .... .... .... .... .... ..... .. 93 6.1 Information Loss Rate for Discrete-Valued Processes .. ..... .. 94 6.2 Information Loss Rate for Markov Chains... .... .... ..... .. 96 6.3 Outlook: Systems with Memory... .... .... .... .... ..... .. 99 6.3.1 Partially Invertible Systems .... .... .... .... ..... .. 100 6.3.2 Application: Fixed-Point Implementation of a Linear Filter. .... .... ..... .... .... .... .... .... ..... .. 102 7 Piecewise Bijective Functions and Continuous Inputs .... ..... .. 105 7.1 The Differential Entropy Rate of Stationary Processes.. ..... .. 105 7.2 Information Loss Rate in PBFs ... .... .... .... .... ..... .. 106 7.2.1 Elementary Properties. .... .... .... .... .... ..... .. 106 7.2.2 Upper Bounds on the Information Loss Rate... ..... .. 108 7.2.3 Application: AR(1)-Process in a Rectifier.. .... ..... .. 109 7.3 Outlook: Systems with Memory... .... .... .... .... ..... .. 111 8 Dimensionality-Reducing Functions... .... .... .... .... ..... .. 115 8.1 Relative Information Loss Rate ... .... .... .... .... ..... .. 115 8.2 Application: Downsampling.. .... .... .... .... .... ..... .. 118 8.2.1 The Energy-Centered Perspective.... .... .... ..... .. 119 8.2.2 Information Loss in a Downsampling Device... ..... .. 119 8.3 Outlook: Systems with Memory... .... .... .... .... ..... .. 123 Contents xi 9 Relevant Information Loss Rate . .... .... .... .... .... ..... .. 127 9.1 Definition and Properties .... .... .... .... .... .... ..... .. 127 9.1.1 Upper Bounds on the Relevant Information Loss Rate. .. 129 9.2 Application: Anti-aliasing Filter Design for Downsampling... .. 130 9.2.1 Anti-aliasing Filters for Non-Gaussian Processes ..... .. 132 9.2.2 FIR Solutions for Information Maximization ... ..... .. 135 10 Conclusion and Outlook... ..... .... .... .... .... .... ..... .. 137 References.. .... .... .... .... ..... .... .... .... .... .... ..... .. 141

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