Chapter 15 Dynamic Programming Lee, Hsiu-Hui Ack: This presentation is based on the lecture slides from Hsu, Lih-Hsing, as well as various materials from the web.

chap15Hsiu-Hui Lee2 Introduction Dynamic programmingDynamic programming is typically applied to optimization problems. In such problem there can be many solutions. Each solution has a value, and we wish to find a solution with the optimal value.

chap15Hsiu-Hui Lee3 The development of a dynamic programming algorithm can be broken into a sequence of four steps: 1. Characterize the structure of an optimal solution. 2. Recursively define the value of an optimal solution. 3. Compute the value of an optimal solution in a bottom up fashion. 4. Construct an optimal solution from computed information.

chap15Hsiu-Hui Lee4 Assembly-line scheduling

chap15Hsiu-Hui Lee5 a manufacturing problem to find the fast way through a factory a i,j : the assembly time required at station S i,j t i,j : the time to transfer a chassis away from assembly line i after having gone through station S i,j

chap15Hsiu-Hui Lee6

chap15Hsiu-Hui Lee7 An instance of the assembly-line problem with costs

chap15Hsiu-Hui Lee8 Step 1: The structure of the fastest way through the factory

chap15Hsiu-Hui Lee9 Optimal substructure An optimal solution to a problem (fastest way through S 1, j ) contains within it an optimal solution to subproblems. (fastest way through S 1, j−1 or S 2, j−1 ). Use optimal substructure to construct optimal solution to problem from optimal solutions to subproblems. To solve problems of finding a fastest way through S 1, j and S 2, j, solve subproblems of finding a fastest way through S 1, j-1 and S 2, j-1.

chap15Hsiu-Hui Lee10 Step 2: A recursive solution f i [j]: the fastest possible time to get a chassis from the starting point through station S i, j f*: the fastest time to get a chassis all the way through the factory.

chap15Hsiu-Hui Lee11 l i [ j ] = line # (1 or 2) whose station j − 1 is used in fastest way through S i, j. S li [ j ], j−1 precedes S i, j. Defined for i = 1,2 and j = 2,..., n. l ∗ = line # whose station n is used.

chap15Hsiu-Hui Lee12 step 3: computing an optimal solution Let r i (j)be the number of references made to f i [j] in a recursive algorithm. r 1 (n)=r 2 (n)=1 r 1 (j) = r 2 (j)=r 1 (j+1)+r 2 (j+1) The total number of references to all f i [j] values is  (2 n ). We can do much better if we compute the f i [j] values in different order from the recursive way. Observe that for j  2, each value of f i [j] depends only on the values of f 1 [j-1] and f 2 [j-1].

chap15Hsiu-Hui Lee13 F ASTEST -W AY procedure F ASTEST -W AY (a, t, e, x, n) 1 f 1 [1]  e 1 + a 1,1 2 f 2 [1]  e 2 + a 2,1 3 for j  2 to n 4do if f 1 [j-1] + a 1,j  f 2 [j-1] + t 2,j-1 +a 1,j 5 then f 1 [j]  f 1 [j-1] + a 1,j 6 l 1 [j]  1 7 else f 1 [j]  f 2 [j-1] + t 2,j-1 +a 1,j 8 l 1 [j]  2 9 if f 2 [j-1] + a 2, j  f 1 [j-1] + t 1,j-1 +a 2,j

chap15Hsiu-Hui Lee14 10 then f 2 [j]  f 2 [j – 1] + a 2,j 11 l2[j]  2 12 else f 2 [j]  f 1 [j – 1] + t 1,j-1 + a 2,j 13 l 2 [j]  1 14 if f 1 [n] + x 1  f 2 [n] + x 2 15 then f * = f 1 [n] + x 1 16 l * = 1 17else f * = f 2 [n] + x 2 18 l * = 2

chap15Hsiu-Hui Lee15 step 4: constructing the fastest way through the factory P RINT -S TATIONS (l, l*, n) 1i  l* 2print “ line ” i “,station ” n 3for j  n downto 2 4do i  l i [j] 5 print “ line ” i “,station ” j – 1 output line 1, station 6 line 2, station 5 line 2, station 4 line 1, station 3 line 2, station 2 line 1, station 1

chap15Hsiu-Hui Lee Matrix-chain multiplication A product of matrices is fully parenthesized if it is either a single matrix, or a product of two fully parenthesized matrix product, surrounded by parentheses.

chap15Hsiu-Hui Lee17 How to compute where is a matrix for every i. Example:

chap15Hsiu-Hui Lee18 MATRIX MULTIPLY MATRIX MULTIPLY(A, B) 1if columns[A] column[B] 2then error “ incompatible dimensions ” 3else for to rows[A] 4do for to columns[B] 5do 6for to columns[A] 7do 8return C

chap15Hsiu-Hui Lee19 Complexity: Let A be a matrix B be a matrix. Then the complexity is

chap15Hsiu-Hui Lee20 Example: is a matrix, is a matrix, and is a matrix Then takes time. However takes time.

chap15Hsiu-Hui Lee21 The matrix-chain multiplication problem: Given a chain of n matrices, where for i=0,1, …,n, matrix A i has dimension p i-1  p i, fully parenthesize the product in a way that minimizes the number of scalar multiplications.

chap15Hsiu-Hui Lee22 Counting the number of parenthesizations: [Catalan number]

chap15Hsiu-Hui Lee23 Step 1: The structure of an optimal parenthesization

chap15Hsiu-Hui Lee24 Step 2: A recursive solution Define m[i, j]= minimum number of scalar multiplications needed to compute the matrix goal m[1, n]

Step 3: Computing the optimal costs

chap15Hsiu-Hui Lee26 MATRIX_CHAIN_ORDER MATRIX_CHAIN_ORDER(p) 1 n  length[p] – 1 2 for i  1 to n 3do m[i, i]  0 4 for l  2 to n 5do for i  1 to n – l + 1 6do j  i + l – 1 7 m[i, j]   8 for k  i to j – 1 9do q  m[i, k] + m[k+1, j]+ p i-1 p k p j 10 if q < m[i, j] 11 then m[i, j]  q 12 s[i, j]  k 13 return m and s Complexity:

chap15Hsiu-Hui Lee27 Example:

chap15Hsiu-Hui Lee28 the m and s table computed by MATRIX-CHAIN-ORDER for n=6

chap15Hsiu-Hui Lee29 m[2,5]= min{ m[2,2]+m[3,5]+p 1 p 2 p 5 =  15  20=13000, m[2,3]+m[4,5]+p 1 p 3 p 5 =  5  20=7125, m[2,4]+m[5,5]+p 1 p 4 p 5 =  10  20=11374 } =7125

Step 4: Constructing an optimal solution

chap15Hsiu-Hui Lee31 MATRIX_CHAIN_MULTIPLY MATRIX_CHAIN_MULTIPLY(A, s, i, j) 1 if j > i 2 then 3 4return MATRIX-MULTIPLY(X,Y) 5else return A i example: