ICIT 2015 The 7th International Conference on Information Technology doi:10.15849/icit.2015.0090 Β© ICIT 2015 (http://icit.zuj.edu.jo/ICIT15)
Numerical Simulation for Fuzzy Fredholm Integral Equations Using Reproducing Kernel Algorithm Omar Abu Arqub Department of Mathematics Faculty of Science Al Balqa Applied University Al-Salt, Jordan E-mail:
[email protected]
Hasan Rashaideh Department of Computer Sciences Faculty of IT Al Balqa Applied University Al-Salt, Jordan E-mail:
[email protected]
Shadi Aljawarneh Software Engineering Faculty of IT Al-Isra University Amman, Jordan E-mail:
[email protected]
Abstract- In this paper, we simulate the numerical solutions of fuzzy Fredholm integral equations based on the reproducing kernel algorithm. Using parametric form of fuzzy numbers we convert a linear fuzzy integral equation into a linear system of integral equations in crisp case. The solution methodology is based on generating the orthogonal basis from the obtained kernel functions; whilst the orthonormal basis is constructing in order to formulate and utilize the solutions with series form in terms of their parametric form in an appropriate space. Numerical example is provided to illustrate potentiality of our algorithm for solving such fuzzy equations. Keywords- Fuzzy Fredholm integral equations; Reproducing kernel algorithm
I. INTRODUCTION The fuzzy Fredholm integral equations (FFIEs) are important part of the fuzzy analysis theory and they have the important value of theory and application in control theory, measure theory, and radiation transfer in a semiinfinite atmosphere. Generally, many real-world problems are too complex to be defined in precise terms; uncertainty is often involved in any real-world design process. Fuzzy sets provide a widely appreciated tool to introduce uncertain parameters into mathematical applications. In many applications, at least some of the parameters of the model should be represented by fuzzy numbers rather than crisp numbers. Thus, it is immensely important to develop appropriate and applicable algorithm to accomplish the mathematical construction that would appropriately treat FFIEs and solve them. The aim of this paper is to extend the application of the reproducing kernel Hilbert space (RKHS) method to provide numerical solution for the linear FFIEs of the form 1
π₯(π‘) = β« β(π‘, π)π₯(π)ππ , 0 β€ π, π‘ β€ 1,
(1)
0
where β(π‘, π) is continuous arbitrary crisp kernel functions over the square 0 β€ π, π‘ β€ 1. Here, ββ± denote the set of fuzzy numbers on β. Reproducing kernel theory has important application in numerical analysis, computational mathematics, image processing, machine learning, finance, and probability and statistics [1-4]. Recently, a lot of research work has been devoted to the applications of the RKHS method for wide classes of stochastic and deterministic problems involving
operator equations, differential equations, integral equations, and integro-differential equations. The RKHS method was successfully used by many authors to investigate several scientific applications side by side with their theories. The reader is kindly requested to go through [5-13] in order to know more details about the RKHS method, including its history, its modification for use, its scientific applications, its symmetric kernel functions, and its characteristics. The RKHS method possess several advantages; first, it is of global nature in terms of the solutions obtained as well as its ability to solve other mathematical, physical, and engineering problems; second, it is accurate and need less effort to achieve the results; third, in the RKHS method, it is possible to pick any point in the interval of integration and as well the approximate solution will be applicable; fourth, the method does not require discretization of the variables, and it is not effected by computation round off errors and one is not faced with necessity of large computer memory and time. Recently, the numerical solvability of FFIEs has been studied by several authors using different numerical or analytical methods. The reader is asked to refer to [14-17] in order to know more details about these analyzes and methods, including their kinds and history, their modifications and conditions for use, their scientific applications, their importance and characteristics, and their relationship including the differences. The organization of the paper is as follows. In the next section, we present some necessary definitions and preliminary results from the fuzzy calculus theory. The
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procedure of solving FFIEs is presented in section III. In section IV, reproducing kernel algorithm is built and introduced. Numerical algorithm and simulation results are presented in Section V. This article ends in section VI with some concluding remarks. II. FUZZY CALCULUS THEORY Fuzzy calculus is the study of theory and applications of integrals and derivatives of uncertain functions. This branch of mathematical analysis, extensively investigated in the recent years, has emerged as an effective and powerful tool for the mathematical modeling of several engineering and scientific phenomena. In this section, we present some necessary definitions from fuzzy calculus theory and preliminary results. Let π be a nonempty set, a fuzzy set π’ in π is characterized by its membership function π’: π β [0,1]. Thus, π’(π ) is interpreted as the degree of membership of an element π in the fuzzy set π’ for each π β π. A fuzzy set π’ on β is called convex, if for each π , π‘ β β and π β [0,1], π’(ππ + (1 β π)π‘) β₯ min{π’(π ), π’(π‘)}, is called upper semicontinuous, if {π β β: π’(π ) > π} is closed for each π β [0,1], and is called normal, if there is π β β such that π’(π ) = 1. The support of a fuzzy set π’ is defined as {π β β: π’(π ) > 0}. Definition II.1 [18] A fuzzy number π’ is a fuzzy subset of the real line with a normal, convex, and upper semicontinuous membership function of bounded support. For each π β (0,1], set [π’]π = {π β β: π’(π ) β₯ π} and [π’]0 = {π β β: π’(π ) > 0}. Then, it easily to establish that π’ is a fuzzy number if and only if [π’]π is compact convex subset of β for each π β [0,1] and [π’]1 β π [19]. Thus, if π’ is a fuzzy number, then [π’]π = [π’1 (π), π’2 (π)], where π’1 (π) = min{π : π β [π’]π } and π’2 (π) = max{π : π β [π’]π } for each π β [0,1]. The symbol [π’]π is called the π-cut representation or parametric form of a fuzzy number π’. Theorem II.1 [19] Suppose that the functions π’1 , π’2 : [0,1] β β satisfy the following conditions; first, π’1 is a bounded increasing and π’2 is a bounded decreasing with π’1 (1) β€ π’2 (1); second, for each π β (0,1], π’1 and π’2 are left-hand continuous at π = π; third, π’1 and π’2 are right-hand continuous at π = 0. Then π’: β β [0,1] defined by π’(π ) = sup{π: π’1 (π) β€ π β€ π’2 (π)}, is a fuzzy number with parameterization [π’1 (π), π’2 (π)]. Furthermore, if π’: β β [0,1] is a fuzzy number with parameterization [π’1 (π), π’2 (π)], then the functions π’1 and π’2 satisfy the aforementioned conditions. In general, we can represent an arbitrary fuzzy number π’ by an order pair of functions (π’1 , π’2 ) which satisfy the requirements of Theorem II.1. Frequently, we will write
simply π’1π and π’2π instead of π’1 (π) and π’2 (π), respectively. The metric structure on ββ± is given by πβ : ββ± Γ ββ± β β+ βͺ {0} such that πβ (π’, π£) = sup max{|π’1π β πβ[0,1]
π£1π |, |π’2π β π£2π |} for arbitrary fuzzy numbers π’ and π£. It is shown in [20] that (ββ± , πβ ) is a complete metric space. Definition II.2 [19] Suppose that π₯: [0,1] β ββ± , for each partition β = {π‘0β , π‘1β , β¦ , π‘πβ } of [0,1] and for arbitrary β points ππ β [π‘πβ1 , π‘πβ ], 1 β€ π β€ π, let ββ = βππ=1 π₯(ππ )(π‘πβ β β β ) and Ξ = max |π‘πβ β π‘πβ1 |. Then the definite integral π‘πβ1 1β€πβ€π
1
of π₯(π‘) over [0,1] is defined by β«0 π₯(π‘)ππ‘ = lim ββ Ξβ0
provided the limit exists in the metric space (ββ± , πβ ). Theorem II.2 [19] Let π₯: [0,1] β ββ± be continuous fuzzy-valued function and put [π₯(π‘)]π = [π₯1π (π‘), π₯2π (π‘)] 1
for each π β [0,1]. Then β«0 π₯(π‘)ππ‘ exist, belong to ββ± , π₯1π and π₯2π are integrable functions on [0,1], and 1
π
1
1
1
[β«0 π₯(π‘)ππ‘] = β«0 [π₯(π‘)]π ππ‘ = [β«0 π₯1π (π‘)ππ‘ , β«0 π₯2π (π‘)ππ‘]. III. SOLVING FFIEs In this section, we study FFIEs using the concept of Riemann integrability in which the FFIE is converted into equivalent system of crisp integral equations (CIEs). Furthermore, an efficient computational algorithm is provided to guarantee the procedure. Next, FFIE (1) is first formulated as an ordinary set of integral equations, after that, a new discretized form of FFIE (1) is presented. Anyhow, in order to apply our RKHS algorithm, we set π»(π‘, π, π₯(π)): = β(π‘, π)π₯(π), further, we write the fuzzy function π₯(π‘) in term of its πcut representation forms to get [π₯(π‘)]π = [π₯1π (π‘), π₯2π (π‘)]. By considering the parametric form for both sides of FFIE (1), one can write 1
π
[π₯(π‘)]π = β« [π»(π‘, π, π₯(π))] ππ, 0
where [π»]π = [π»1π , π»2π ] in which π»1π , π»1π are given in the form of π»1π = min{β(π‘, π)π₯1π (π), β(π‘, π)π₯2π (π)} and π»2π = max{β(π‘, π)π₯1π (π), β(π‘, π)π₯2π (π)}. Prior to applying the RKHS methods for solving FFIE (1) in its parametric form, we suppose that the crisp kernel function β(π‘, π) is nonnegative for 0 β€ π β€ π1 and nonpositive for π1 β€ π β€ 1. Therefore, according to the previous results the FFIE (1) can be translated into the following equivalent form: π1
1
π₯1π (π‘) = β« β(π‘, π)π₯1π (π)ππ + β« β(π‘, π)π₯2π (π)ππ , 0 π1
π1 1
(2)
π₯2π (π‘) = β« β(π‘, π)π₯2π (π)ππ + β« β(π‘, π)π₯1π (π)ππ . 0
π1
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Definition III.1 Let π₯: [0,1] β ββ± be continuous fuzzyvalued function. If π₯ satisfy FFIE (1), then we say that π₯ is a fuzzy solution of FFIE (1). The object of the next algorithm is to implement a procedure to solve FFIE (1) in parametric form in term of its π-cut representation, where the new obtained system consists of two CIEs. Algorithm III.1 To find the fuzzy solution of FFIE (1), we discuss the following main steps: Input: The independent interval [0,1], and the unit truth interval [0,1]. Output: The fuzzy solution of FFIE (1) on [0,1]. Step 1: Set [π»]π = [π»1π , π»2π ], Step 2: Solve the following system of CIEs for π₯1π (π‘) and π₯2π (π‘): π1
defined 1
(π) (π) β«0 π§1 (π‘)π§2 (π‘)ππ‘ and βπ§1 βπ2π = ββ©π§1 (π‘), π§1 (π‘)βͺπ2π ,
respectively, where π§1 , π§2 β π2π [0,1]. The Hilbert space π2π [0,1] is called a reproducing kernel if for each fixed π‘ β [0,1] and any π§(π ) β π2π [0,1], there exist πΎ(π‘, π ) β π2π [0,1] (simply πΎπ‘ (π )) and π β [0,1] such that β©π§(π ), πΎπ‘ (π )βͺπ2π = π§(π‘). Theorem IV.1 The Hilbert space π2π [0,1] is a complete reproducing kernel and its reproducing kernel function π
π‘π (π ) can be written as πβ1
π
π‘π (π )|π β€π‘
π=0
1
+
π1 1
π₯2π (π‘) = β« β(π‘, π)π₯2π (π)ππ + β« β(π‘, π)π₯1π (π)ππ . 0
1 π π π‘π (π!)2
= β
π₯1π (π‘) = β« β(π‘, π)π₯1π (π)ππ + β« β(π‘, π)π₯2π (π)ππ , 0 π1
(π) (π) β©π§1 (π‘), π§2 (π‘)βͺπ2π = βπβ1 π=0 π§1 (0)π§2 (0) +
as
π1
Step 3: Ensure that the solution [π₯1π (π‘), π₯2π (π‘)] are valid level sets for each π β [0,1]. Step 4: Construct the fuzzy solution π₯(π‘) such that [π₯(π‘)]π = [π₯1π (π‘), π₯2π (π‘)] for each π β [0,1]. Step 5: Stop. IV. REPRODUCING KERNEL ALGORITHM In this section, we utilize the reproducing kernel concept in order to construct the reproducing kernel Hilbert space π2π [0,1]. Prior to discussing the applicability of the RKHS method on solving FFIEs and their associated numerical algorithms, it is necessary to present an appropriate brief introduction to preliminary topics from the reproducing kernel theory. Definition IV.1 [4] Let β be a Hilbert space of function π: Ξ© βΆ β± on a set Ξ©. A function πΎ: Ξ© Γ Ξ© βΆ β is a reproducing kernel of β if the following conditions are satisfied. Firstly, πΎ(. , π‘) β β for each π‘ β Ξ©. Secondly, β©π, πΎ(. , π‘)βͺ = π(π‘) for each π β β and each π‘ β Ξ©. The second condition in Definition IV.1 is called βthe reproducing propertyβ which means that, the value of the function π at the point π‘ is reproduced by the inner product of π with πΎ(. , π‘). Indeed, a Hilbert spaces β of functions on a nonempty abstract set Ξ© is called a reproducing kernel Hilbert spaces if there exists a reproducing kernel πΎ of β. Definition IV.2 The inner product space π2π [0,1] is defined as π2π [0,1] = {π§: π§, π§ β² , β¦ , π§ (πβ1) are absolutely continuous real-valued function on [0,1] and π§ (π) β πΏ2 [0,1]}. The inner product and the norm in π2π [0,1] are
2
((π β 1)!)
πβ1
π
π‘π (π )|π >π‘ = β π=0
+
π
1
β«(π‘ β π)πβ1 (π β π)πβ1 ππ 0
1 π π π‘π (π!)2 π‘
1 2
((π β 1)!)
β«(π‘ β π)πβ1 (π β π)πβ1 ππ 0
Definition IV.3 The inner product space π π [0,1] is defined as π π [0,1] = {π§ = (π§1 , π§2 )π : π§1 , π§2 β π2π [0,1]}. The inner product and the norm in π π [0,1] are building as β©π§(π‘), π€(π‘)βͺπ π = β2π=1β©π§π (π‘), π€π (π‘)βͺπ2π and βπ§βπ π = 2
ββ2π=1βπ§π βπ2π , respectively, where π§(π‘), π€(π‘) β π π [0,1]. To deal with System (2) in more realistic form via the RKHS approach, define the linear operator π£ππ : π22 [0,1] β π21 [0,1], π, π = 1,2 such that π1
π§(π‘) β β« β(π‘, π)π§(π)ππ ,
π = π,
0
π£ππ π§(π‘) =
1
β β« β(π‘, π)π§(π)ππ , {
π β π.
π1
π₯1π π£11 π£12 0 Put 0 = [ ], ππ = [π₯ ], π = [π£ π£22 ], and define the 0 2π 21 2 [0,1] 1 [0,1]. mapping π: π βπ Then, System (2) can be written in a new form equivalent to πππ (π‘) = 0. V. SIMULATION RESULT To show behavior, properties, and applicability of the present RKHS method, linear FFIEs will be solved numerically in this section. In the process of computation, all the symbolic and numerical computations are performed by using MAPLE 13 software package. Algorithm V.1 To approximate the solution π₯ π (π‘) of π₯(π‘) for FFIE (1), we do the following main steps: Input: The dependent interval [0,1], the unit truth interval [0,1], the integers π, π, the kernel functions π
π‘1 (π ), π
π‘2 (π ), the linear operator π, and the crisp kernel functions β(π‘, π). Page | 499
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Output: The RKHS solution πππ (π‘) of ππ (π‘) for System (2) and thus the RKHS solution π₯ π (π‘) of π₯(π‘) for FFIE (1). π₯1π π₯π Step 1: Write ππ = [π₯ ] and πππ (π‘) = [ 1π π ]. π₯2π 2π Step 2: Fixed π‘ in [0,1] and set π β [0,1]; 1
If π β€ π‘, set π
π‘2 (π ) = 1 + π‘π β π‘ 2 (π‘ β 3π ); Else set
π
π‘2 (π )
= 1 + π‘π β
6 1 2 π (π 6
β 3π‘);
For π = 1,2, . . . , π, β = 1,2, . . . , π, π = 1,2: Set π‘π = Set πβ =
πβ1
πβ1
;
Set πππ (π‘) = [
Example V.1 Consider the following FFIE: 1 1 π₯(π‘) = π sin(ππ‘) π’ + β« π sin(2ππ) sin(ππ‘) π₯(π)ππ , 3 0 where 0 β€ π, π‘ β€ 1. The exact solution is π₯(π‘) = π£π sin(ππ‘). Here, [π’]π = [β5π 3 β 2π 2 β 7π + 20,2π 3 + 5π 2 + 7π β 8] and [π£]π = [βπ 3 β π + 4, π 2 + π].
Anyhow, for approximating the fuzzy solution, we have the following system of CIEs taking into account that the crisp kernel function β(π‘, π) = π sin(2ππ) sin(ππ‘) is
;
πβ1 ββ1
and π
π‘2 (π ) on [0,1] in which Algorithms III.1 and V.1 are used throughout the computations.
nonnegative on 0 β€ π β€
[π£π1 π
π‘2 (π )]|π =π‘
π
[π£π2 π
π‘2 (π )]|π =π‘
π
2
β€ π β€1,
+ β« π sin(2ππ) sin(ππ‘) π₯1π (π)ππ 0 1
+ β« π sin(2ππ) sin(ππ‘) π₯2π (π)ππ ,
If π β π, then set π½ππ = β
1 ππ
1 2
βπβ1 π=π πππ π½ππ ;
π₯2π (π‘) =
1
Else set π½ππ = ; 1 1 βπ2
+ β« π sin(2ππ) sin(ππ‘) π₯2π (π)ππ
;
0 1
Output: the orthogonalization coefficients π½ππ . Step 4: For π = 2,3. . . , π β 1, π = 1,2. . . , π β 1: Set πΜ
π (π‘) = βππ=1 π½ππ ππ (π‘); Output: the orthonormal function system πΜ
π (π‘). Step 5: Set ππ0β (π‘1 ) = 0; For π = 1,2, . . . , π: π₯1π (π‘π+1 ) ,
π is odd,
π₯2π (π‘π ) ,
π is even;
+ β« π sin(2ππ) sin(ππ‘) π₯1π (π)ππ . 1 2
The absolute errors of numerically approximating π₯1π (π‘) and π₯2π (π‘) for the corresponding CIE system have been calculated for various π‘ and π as shown in Tables 1 and 2. Anyhow, it is clear from the tables that, the approximate solutions are in close agreement with the exact solutions.
2
2
Set πππ β (π‘π ) = βππ=1(βππ=1 π½ππ πΌπ )πΜ
π (π‘); Output: the RKHS solution πππ (π‘) of ππ (π‘). π π ] Step 6: Write [π₯ π (π‘)]π = [π₯1π , π₯2π to get the RKHS π solution in which [π₯(π‘)] = [π₯1π , π₯2π ]. Step 7: Stop. , π = 1,2, β¦ , π and πβ =
β = 1,2, β¦ , π with the reproducing kernel functions
1 π sin(ππ‘) π’2π 3 1 2
ππ
Else set π½11 = βπ
πβ1
1
1 2
Set πππ = β©ππ , πΜ
π βͺπ 2 ;
πβ1
and nonpositive on
1 π₯1π (π‘) = π sin(ππ‘) π’1π 3
2 Set ππ = ββππ β2π 2 β βπβ1 π=1 πππ ;
Here, we taking π‘π =
2
regardless the effect of the independent variable π‘ on [0,1]:
];
Output: the orthogonal function system πππ (π‘). Step 3: For π = 2,3. . . , π, π = 1,2. . . , π:
Set πΌπ = {
1
ββ1
,
πβ1 π
π‘1 (π )
VI. CONCLUSION The study of FFIEs forms a suitable setting for the mathematical modeling of real-world problems in which uncertainty or vagueness pervades. The aim of this paper is to propose a numerical method and the corresponding algorithm to solve linear FFIEs. Numerical results show that the presented method is of higher precision and is easy to apply in programming.
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Table 1: The absolute errors of approximating π₯1π (π‘) using RKHS method. π‘π π=0 π = 0.25 π = 0.5 0.16 2.2167 Γ 10β8 2.0686 Γ 10β8 2.7409 Γ 10β8 0.32 3.6612 Γ 10β8 4.9143 Γ 10β8 4.7620 Γ 10β8 0.64 7.3751 Γ 10β8 6.6190 Γ 10β8 6.3982 Γ 10β8 β8 β8 0.96 8.3262 Γ 10 7.9022 Γ 10 8.1784 Γ 10β8
π = 0.75 2.7281 Γ 10β8 3.2652 Γ 10β8 6.7446 Γ 10β8 7.2881 Γ 10β8
Table 2: The absolute errors of approximating π₯2π (π‘) using RKHS method. π‘π π=0 π = 0.25 π = 0.5 π = 0.75 0.16 2.3445 Γ 10β8 2.1964 Γ 10β8 2.8124 Γ 10β8 2.3027 Γ 10β8 0.32 3.7027 Γ 10β8 3.7379 Γ 10β8 3.5536 Γ 10β8 3.3262 Γ 10β8 β8 β8 β8 0.64 6.8755 Γ 10 6.9376 Γ 10 6.2167 Γ 10 6.7450 Γ 10β8 0.96 7.6651 Γ 10β8 8.8084 Γ 10β8 7.5751 Γ 10β8 8.6631 Γ 10β8 Adomian method", Applied Mathematics REFERENCES [1] [2] [3]
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