Download ICS 353: Design and Analysis of Algorithms

King Fahd University of Petroleum & Minerals
Information & Computer Science Department
ICS 353: Design and Analysis of
Algorithms
Summer Semester 2011 - 2012 (113)
01: Dr. Wasfi G. Al-Khatib SUMT: 10:30-11:45am - 24:180
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ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Basic Concepts in Algorithmic Analysis
• Outline
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Introduction
Time Complexity
Space Complexity
Optimal Algorithms
How to estimate the running time of an algorithm
Worst Case Analysis and Average Case Analysis
Amortized Analysis
Input Size and Problem Instance
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Reading Assignment
• M. Alsuwaiyel, Introduction to Algorithms:
Design Techniques and Analysis, World
Scientific Publishing Co., Inc. 1999.
• Chapter 1 (All)
• In particular, sections 1-3,6,8-14 will be discussed in
class.
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
What is an algorithm?
• An algorithm is defined as a finite set of
steps, each of which may require one or
more operations and if carried out on a set
of inputs, will produce one or more outputs
after a finite amount of time.
• Examples of Algorithms
• Examples of computations that are not
algorithms
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Properties of Algorithms
• Definiteness: It must be clear what should be done.
• Effectiveness: Each step must be such that it can, at
least in principle, be carried out by a person using
pencil and paper in a finite amount of time. E.g.
integer arithmetic.
• An algorithm produces one or more outputs and may
have zero or more externally supplied inputs.
• Finiteness: Algorithms should terminate after a
finite number of operations.
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Basic Concepts in Algorithmic Analysis
Our Objective
• Find the most efficient algorithm for solving a
particular problem.
• In order to achieve the objective, we need to
determine:
• How can we find such algorithm?
• What does it mean to be an efficient algorithm?
• How can one tell that it is more efficient than
other algorithms?
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
In the First Chapter
• We will answer the following two questions
• What does an efficient algorithm mean?
• How can one tell that it is more efficient than
other algorithms?
based on some easy-to-understand searching
and sorting algorithms that we may have seen
earlier.
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Searching Problem
• Assume A is an array with n elements A[1],
A[2], … A[n]. For a given element x, we must
determine whether there is an index j; 1 ≤ j ≤ n,
such that x = A[j]
• Two algorithms, among others, address this
problem
• Linear Search
• Binary Search
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Basic Concepts in Algorithmic Analysis
Linear Search Algorithm
Algorithm: LINEARSEARCH
Input: array A[1..n] of n elements and an element x.
Output: j if x = A[j], 1 ≤ j ≤ n, and 0 otherwise.
1. for j  1 to n do
2.
if (x = A[j])
3.
return j;
4. return 0
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Analyzing Linear Search
• One way to measure efficiency is to count how many
statements get executed before the algorithm terminates
• One should keep an eye, though, on statements that are
executed “repeatedly”.
• What will be the number of “element” comparisons if x
•
•
•
•
First appears in the first element of A
First appears in the middle element of A
First appears in the last element of A
Doesn’t appear in A.
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Analyzing Linear Search
• One way to measure efficiency is to count how many
statements get executed before the algorithm terminates
• One should keep an eye, though, on statements that are
executed “repeatedly”.
• What will be the number of “element” comparisons if x
•
•
•
•
First appears in the first element of A
First appears in the middle element of A
First appears in the last element of A
Doesn’t appear in A.
1 comparison
n/2 comparisons
n comparisons
n comparisons
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Binary Search
• We can do “better” than linear search if we knew
that the elements of A are sorted, say in nondecreasing order.
• The idea is that you can compare x to the middle
element of A, say A[middle].
• If x < A[middle] then you know that x cannot be an
element from A[middle+1], A[middle+2], …A[n]. Why?
• If x > A[middle] then you know that x cannot be an
element from A[1], A[2], …A[middle-1]. Why?
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Binary Search Algorithm
Algorithm: BINARYSEARCH
Input: An array A[1..n] of n elements sorted in nondecreasing order and an
element x.
Output: j if x = A[j], 1 ≤ j ≤ n, and 0 otherwise.
1.
2.
3.
4.
5.
6.
7.
8.
low  1; high  n; j  0
while (low ≤ high) and (j = 0)
mid  (low + high)/2
if x = A[mid] then j  mid
else if x < A[mid] then high  mid - 1
else low  mid + 1
end while
return j
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Worst Case Analysis of Binary Search
• What to do: Find the maximum number of element
comparisons
• How to do: Assuming x is greater than the largest element in the
array, the number of “element” comparisons is equal to the
number of iterations of the while loop in steps 2-7. HOW?
• How many elements of the input do we have in the
• First iteration
• Second iteration
• Third iteration
• …
• ith iteration
• The last iteration occurs when the size of input we have =
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Basic Concepts in Algorithmic Analysis
Worst Case Analysis of Binary Search
• What to do: Find the maximum number of element
comparisons
• How to do: Assuming x is greater than the largest element in the
array, the number of “element” comparisons is equal to the
number of iterations of the while loop in steps 2-7. HOW?
• How many elements of the input do we have in the
• First iteration
• Second iteration
n elements
n/2 [n is even] or (n-1)/2 elements [n is odd]
• In both cases, n/2 and (n-1)/2 is equal to n/2
• Third iteration
• …
• ith iteration
n/22
n/2i-1
• The last iteration occurs when the size of input we have = 1
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Theorem
• The number of comparisons performed by
Algorithm BINARYSEARCH on a sorted
array of size n is at most log n   1
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Insertion Sort
Algorithm: INSERTIONSORT
Input: An array A[1..n] of n elements.
Output: A[1..n] sorted in nondecreasing order.
1. for i  2 to n
2.
x  A[i]
3.
j  i - 1
4.
while (j > 0) and (A[j] > x)
5.
A[j + 1]  A[j]
6.
j  j - 1
7.
end while
8.
A[j + 1]  x
9. end for
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ICS 353: Design and Analysis of Algorithms
Basic Concepts in Algorithmic Analysis
Insertion Sort Example
5
2
9
8
4
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ICS 353: Design and Analysis of Algorithms
Basic Concepts in Algorithmic Analysis
Insertion Sort Example
x=2
5
2
9
8
4
x=9
2
5
9
8
4
x=8
2
5
9
8
4
x=4
2
5
8
9
4
2
4
5
8
9
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Analyzing Insertion Sort
• The minimum number of element comparisons
is
which occurs when
• The maximum number of element comparisons
is
which occurs when
• The number of element assignments is
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Basic Concepts in Algorithmic Analysis
Analyzing Insertion Sort
• The minimum number of element comparisons
is n-1 which occurs when the array is sorted
• The maximum number of element comparisons
is (n-1)n/2 which occurs when the array is
sorted in reverse order
• The number of element assignments is the
number of element comparisons + n – 1.
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Time Complexity
• One way of measuring the performance of an
algorithm is how fast it executes. The
question is how to measure this “time”?
• Is having a digital stop watch suitable?
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Basic Concepts in Algorithmic Analysis
Order of Growth
• As measuring time is subjective to many factors, we
look for a more “objective” measure, i.e. the number
of operations
• Since counting the exact number of operations is
cumbersome, sometimes impossible, we can always
focus our attention to asymptotic analysis, where
constants and lower-order terms are ignored.
• E.g. n3, 1000n3, and 10n3+10000n2+5n-1 are all “the same”
• The reason we can do this is that we are always interested in
comparing different algorithms for arbitrary large number of
inputs.
ICS 353: Design and Analysis of Algorithms
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Example
Growth rate for some function
Basic Concepts in Algorithmic Analysis
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Example
Growth rate for same previous functions showing larger input sizes
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Basic Concepts in Algorithmic Analysis
Running Times for Different Sizes of Inputs of Different Functions
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Basic Concepts in Algorithmic Analysis
Asymptotic Analysis: Big-oh (O())
• Definition: For T(n) a non-negatively valued
function, T(n) is in the set O(f(n)) if there exist
two positive constants c and n0 such that
T(n)  cf(n) for all n  n0.
• Usage: The algorithm is in O(n2) in [best, average,
worst] case.
• Meaning: For all data sets big enough (i.e., nn0),
the algorithm always executes in less than or equal
to cf(n) steps in [best, average, worst] case.
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Basic Concepts in Algorithmic Analysis
Big O()
• O() notation indicates an upper bound.
• Usually, we look for the tightest upper
bound:
• while T(n) = 3n2 is in O(n3), we prefer O(n2).
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Basic Concepts in Algorithmic Analysis
Big O() Examples
• Example 1: Find c and n0 to show that
T(n) = (n+2)/2 is in O(n)
• Example 2: Find c and n0 to show that
T(n)=c1n2+c2n is in O(n2), where c1 and c2 are
greater than zero.
• Example 3: T(n) = c. We say this is in O(1).
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Basic Concepts in Algorithmic Analysis
Asymptotic Analysis: Big-Omega (())
• Definition: For T(n) a non-negatively valued
function, T(n) is in the set (g(n)) if there exist
two positive constants c and n0 such that
T(n) >= cg(n) for all n  n0.
• Meaning: For all data sets big enough (i.e., n  n0),
the algorithm always executes in more than or
equal to cg(n) steps.
• () notation indicates a lower bound.
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Basic Concepts in Algorithmic Analysis
() Example
• Find c and n0 to show that T(n) = c1n2 + c2n is
in (n2), where c1 and c2 are greater than
zero.
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Basic Concepts in Algorithmic Analysis
Asymptotic Analysis: Big Theta (())
• When O() and () meet, we indicate this by
using () (big-Theta) notation.
• Definition: An algorithm is said to be (h(n))
if it is in O(h(n)) and it is in (h(n)).
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Example
• Show that log(n!) is in (n log n).
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Basic Concepts in Algorithmic Analysis
Complexity Classes and small-oh (o())
• Using () notation, one can divide the functions into
different equivalence classes, where f(n) and g(n)
belong to the same equivalence class if f(n) = (g(n))
• To show that two functions belong to different
equivalence classes, the small-oh notation has been
introduced
• Definition: Let f(n) and g(n) be two functions from
the set of natural numbers to the set of non-negative
real numbers. f(n) is said to be in o(g(n)) if for every
constant c > 0, there is a positive integer n0 such that
f(n) < cg(n) for all n  n0.
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Basic Concepts in Algorithmic Analysis
Simplifying Rules
• If f(n) is in O(g(n)) and g(n) is in O(h(n)), then
f(n) is in O(h(n))
• If f(n) is in O(kg(n)) for any constant k > 0, then
f(n) is in ………
• If f1(n) is in O(g1(n)) and f2(n) is in O(g2(n)),
then (f1 + f2)(n) is in ………
• If f1(n) is in O(g1(n)) and f2(n) is in O(g2(n))
then f1(n)f2(n) is in ………
• You can safely “globally” replace O with  or  in the
above, where the above rules will still hold.
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Basic Concepts in Algorithmic Analysis
Very Useful Simplifying Rule
• Let f(n) and g(n) be be two functions from the set
of natural numbers to the set of non-negative real
numbers such that:
f (n)
0  L  lim

n g (n)
Then
if L <  then f(n) is in
if L > 0 then f(n) is in
if 0 < L <  then f(n) is in
if L = 0 then f(n) is in
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Basic Concepts in Algorithmic Analysis
Space Complexity
• Space complexity refers to the number of memory
cells needed to carry out the computational steps
required in an algorithm excluding memory cells
needed to hold the input.
• Compare additional space needed to carry out
SELECTIONSORT to that of BOTTOMUPSORT
if we have an array with 2 million elements!
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Basic Concepts in Algorithmic Analysis
Examples
• What is the space complexity for
•
•
•
•
•
•
Linear search
Binary search
Selection sort
Insertion sort
Merge (that merges two sorted lists)
Bottom up merge sort
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Basic Concepts in Algorithmic Analysis
Optimal Algorithms
• If one can show that there is no algorithm that
solves a certain problem in asymptotically
less than that of a certain algorithm A, we call
A an optimal algorithm.
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Optimal Algorithms: Example
A decision tree for sorting three elements
Figure 12.1 page 338 from the textbook
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Basic Concepts in Algorithmic Analysis
Optimal Algorithms: Example
• Consider the sorting problem of n distinct elements
using element comparison-based sorting
• Using the decision tree model, the number of possible
solutions (leaf nodes) in the binary tree is equal to
................
• You have learnt earlier that a binary tree with n nodes has
height of at least  log n  (Observation 3.3 page 111 of
the textbook)
• Hence, the length of the longest path in a decision tree for
sorting n distinct elements is at least .............
• Therefore,
•
•
•
•
Insertion sort is
Selection sort is
Merge sort is
Quick sort is
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Estimating the Running Time of an Algorithm
• As mentioned earlier, we need to focus on
counting those operations which represent, in
general, the behavior of the algorithm
• This is achieved by
• Counting the frequency of basic operations.
• Basic operation is an operation with highest frequency
to within a constant factor among all other elementary
operations
• Recurrence Relations
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Basic Concepts in Algorithmic Analysis
Counting the Frequency of Basic
Operations
• Sometimes, it is easier to compute the frequency
of an operation that is a good representative of
the overall time complexity of the algorithm
• For example, Algorithm MERGE.
• Counting the number of iterations
• The number of iterations in a while loop and/or a for
loop is a good indication of the total number of
operations
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Basic Concepts in Algorithmic Analysis
Simple Complexity Analysis: Complex Loops
•
Represent the cost of the for loop in summation form.
•
•
The main idea is to make sure that we find an iterator that
increase/decrease its values by 1.
For example, consider finding the number of times statements 1, 2 and 3
get executed below:
n 1
for (int i = 1; i < n; i++)
statement1;
for (int i = 1; i <= n; i++)
for (int j = 1; j <= n; j++)
statement2;
}
for (int i = 1; i <= n; i++)
for (int j = 1; j <= i; j++)
statement3;
}
1  n  1
i 1
n
n
n
n
i 1
i 1
2
1

n

n
1

n
 

i 1 j 1
n
i
n
n  n  1
i 1
2
1  i 
i 1 j 1
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ICS 353: Design and Analysis of Algorithms
Basic Concepts in Algorithmic Analysis
Useful Summation Formulas
 n 
c  c   1  c .  n  m  1

i m
 i m 
n
n
n  n  1
i 1
2
i 
n
i
i 1
2

n  n  1 2n  1
6
 n  n  1 
3
i 


2
i 1


n
2
n 1
a
1
i
a 
,a  1

a 1
i 0
n
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Example 1
sum = 0;
for (j=1; j<=n; j++)
for (i=1; i<=j; i++)
sum++;
for (k=0; k<n; k++)
A[k] = k;
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Example 2
for j := 1 to n do
sum[j] := 0;
for i := 1 to j2 do
sum[j] := sum[j] + i;
end for;
end for;
return sum[1.. n ];
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Example 3
count := 0;
for i := 1 to
m :=  n/i
for j := 1
count :=
end for;
end for;
return count;
n do

to m do
count + 1 ;
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Examples 4 & 5
sum1 = 0;
for (k=1; k<=n; k*=2)
for (j=1; j<=n; j++)
sum1++;
sum2 = 0;
for (k=1; k<=n; k*=2)
for (j=1; j<=k; j++)
sum2++;
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Basic Concepts in Algorithmic Analysis
Example 6
count := 0;
while n >= 1 do
for j := 1 to n do
execute_algorithm_x;
count := count + 1;
end for
n := n / 2;
end while
return count;
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Example 7
count := 0;
for i := 1 to n do
j := 2;
while j <= n do
j := j2;
count := count + 1;
end while
end for;
return count;
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Recurrence Relations
• The number of operations can be represented
as a recurrence relation.
• There are very well known techniques, other
than expanding the recurrence relation, which
we will study in order to solve these
recurrences
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Example
MergeSort(A,p,r) //Recursive Merge Sort
if p < r then
q := (p+r)/2;
MergeSort(A,p,q);
MergeSort(A,q+1,r);
Merge(A,p,q,r);
end if;
• What is the call to sort an array with n elements?
• Let us assume that the overall cost of sorting n elements is T(n), assuming
that n is a power of two.
•
•
•
•
If n = 1, do we know T(n)?
What is the cost of MergeSort(A,p,q)?
What is the cost of MergeSort(A,q+1,r)?
What is the cost of Merge(A,p,q,r)?
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Worst Case Analysis
• In worst case analysis of time complexity we
select the maximum cost among all possible
inputs of size n.
• One can do that for the() notation as well as the
O() notation.
• However, it is better use it with the () notation.
• Why?
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Average Case Analysis
• Probabilities of all inputs is an important
piece of prior knowledge in order to compute
the number of operations on average
• Usually, average case
 analysis is lengthy and
complicated, even with simplifying
assumptions.
k
i 1
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ICS 353: Design and Analysis of Algorithms
Basic Concepts in Algorithmic Analysis
Computing the Average Running Time
• The running time in this case is taken to be
the average time over all inputs of size n.
• Assume we have k inputs, where each input costs
Ci operations, and each input can occur with
probability Pi, 1  i  k, the average running time
is given by
k
 PC
i 1
i
i
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Basic Concepts in Algorithmic Analysis
Average Case Analysis of Linear Search
• Assume that the probability that key x appears
in any position in the array (1, 2, …, n) or does
not appear in the array is equally likely
• This means that we have a total of ……… different
inputs, each with probability ………
• What is the number of comparisons for each input?
• Therefore, the average running time of linear
search = ………
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Basic Concepts in Algorithmic Analysis
Average Case Analysis of Insertion Sort
• Assume that array A contains the numbers from
1..n ( i.e. elements are distinct)
• Assume that all n! permutations of the input are
equally likely.
• What is the number of comparisons for inserting
A[i] in its proper position in A[1..i]? What about
on average?
• Therefore, the total number of comparisons on
average is
ICS 353: Design and Analysis of Algorithms
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Basic Concepts in Algorithmic Analysis
Amortized Analysis
• Consider an algorithm in which an operation is
executed repeatedly with the property that its
running time fluctuates throughout the execution of
the algorithm.
• For example, this operation takes a large amount of time
occasionally and runs much faster most of the time, then
this is an indication that
• Assuming that an exact bound is too hard, if not
impossible to find, amortized analysis maybe the
way to analyze the problem.
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Basic Concepts in Algorithmic Analysis
Motivation (Example 1)
•
Consider a doubly linked list that initially consists of one node which
contains the integer 0. We have as input an array A[1..n] of n positive
integers that are to be processed as follows:
•
1.
2.
3.
4.
5.
6.
7.
8.
9.
•
•
If the current integer x is odd, append x to the list. Otherwise, append x and then
remove all odd elements before x in the list.
for j  1 to n
xA[j]
append x to the list
if x is even then
while pred(x) is odd
delete pred(x)
end while
end if
end for
What is the time complexity of the algorithm without amortized
analysis?
What is the time complexity of the algorithm with amortized analysis?
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Basic Concepts in Algorithmic Analysis
Amortized vs. Average Analysis
• In amortized analysis, the time taken by the
operation throughout the execution of the
algorithm is averaged.
• Amortized analysis guarantees the average
cost of the operation, and thus the algorithm,
in the worst case.
• This is to be contrasted with the average time
analysis in which the average is taken over all
instances of the same size.
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Basic Concepts in Algorithmic Analysis
Amortized Analysis Techniques
• Aggregrate Analysis
• If one shows that for all n, a sequence of n
operations takes T(n) time in the worst case, then
the amortized cost per operation of the algorithm
equals.....................
• Accounting Method
• Potential Method
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Basic Concepts in Algorithmic Analysis
Example 2
• Suppose we want to allocate storage for an unknown number
of elements x1, x2, ... in a stream of input as follows:
• Allocate an array A0 of reasonable size, say m.
• When this array becomes full, upon the arrival of the (m + 1)st
element, a new array A1 of size 2m is allocated and all the elements
stored in A0 are moved from A0 to A1. Next, the (m+1)st element is
stored in A1[m+1].
• This process continues until all elements have been stored.
• What is the time complexity of the algorithm without
amortized analysis?
• What is the time complexity of the algorithm with
amortized analysis?
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Basic Concepts in Algorithmic Analysis
Input Size and Problem Instance
• When discussing a problem, as opposed to an
algorithm, we usually talk of a problem
instance.
• A problem instance translates to input in the
context of an algorithm that solves that problem.
• For example, an array A of n integers is called an
instance of the problem of sorting numbers.
• At the same time, in the context of discussing
Algorithm insertionsort, we refer to this array as an
input to the algorithm.
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Basic Concepts in Algorithmic Analysis
Input Size
• The input size, as a quantity, is not a precise measure of the
input, and its interpretation is subject to the problem for
which the algorithm is, or is to be, designed.
• In sorting and searching problems, we use ........................
• In graph algorithms, the input size usually refers to .....
• In matrix operations, the input size is commonly taken to be the
dimensions of the input matrices.
• These “heterogeneous” measures have brought about some
inconsistencies when comparing the amount of time or space
required by two algorithms.
• For example, an algorithm for adding two n  n matrices which
performs n2 additions sounds quadratic, while it is indeed linear in the
input size.
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Example
Basic Concepts in Algorithmic Analysis