A NNALES DE L ’I. H. P., SECTION B
H ILLEL F URSTENBERG
Y UVAL P ERES
B ENJAMIN W EISS
Perfect filtering and double disjointness
Annales de l’I. H. P., section B, tome 31, n
o3 (1995), p. 453-465
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453
Perfect filtering and double disjointness
Hillel
FURSTENBERG,
Yuval PERES(*)
andBenjamin
WEISSInstitute of Mathematics, the Hebrew University, Jerusalem.
Vol. 31, n° 3, 1995, p. -465. Probabilités et Statistiques
ABSTRACT. -
Suppose
astationary process ~ Un ~
is used to select from severalstationary
processes,i.e.,
ifUn
= i then we observeYn
which isthe n’th variable in the i’th process. when can we recover the
selecting sequence ~ Un ~
from theoutput
sequence~Yn ~ ?
RÉSUMÉ. -
Soit ~ Un ~
un processusstationnaire
utilise pour la selection deplusieurs
processusstationnaires,
c’ est-a-dire siUn
= i alors on observeYn qui
est le n-ième variable dans le i-ième processus.Quand peut-on
reconstruire ~ Un ~
àpartir de ~ Yn ~ ?
1. INTRODUCTION
Suppose
a discrete-timestationary
stochasticsignal ~ Un ~, taking integer values,
is transmitted over anoisy
channel. IfUn
= i then a random variable is received at the end of the channel. In this note wegive
conditionsfor the
"multiplexed" signal {Yn} = (X(Un)n}
touniquely
determine theoriginal signal ~ Un ~
withprobability 1,
in astationary setting.
Theseconditions lead to some
interesting questions
inErgodic theory,
but leaveopen the
algorithmic problem
ofexplicitly recovering {!7~}.
(*) Current address: Department of Statistics, University of California, Berkeley, CA 94720.
Research partially sponsored by the Edmund Landau Center for research in Mathematical
Analysis, supported by the Minerva Foundation (Germany).
Annales de l’Institut Henri Poincaré - Probabilités et Statistiques - 0246-0203
DEFINITION. - Assume that
X ~i~
== is astationary
stochasticprocess
for
eachinteger
i > 1. Let U= ~ Un ~
be astationary
processdefined
on the sameprobability
space, where each variableUn
takespositive integer values,
and thejoint
distributionof
all processess isstationary.
Wesay that the collection
[U; X ~l> , X ~2~ , X ~3> , ...]
admits apefect filter
if forevery m >
1,
the variableUrn
may beexpressed
as a measurablefunction,
defined almost
everywhere,
of the sequence~Yn ~ _ (in
otherwords,
is measurable withrespect
to thecompletion
of thea-algebra by
the variablesY1, Y2, Y3, ...
in theunderlying probability space).
THEOREM 1. - Assume that
for
eachinteger i,
the processconsists
of independent identically
distributed randomvariables,
where and havedifferent
distributionsfor
i~ j . If
theinteger
valued
stationary process ~ Un ~
has zero entropy, then the collection[U; X ~1~, X ~2~, ...~
admits aperfect filter.
Perhaps
the mostgeneral stationary filtering problem
consists ofrecovering {Un}~n=1
from thedata {F ( Un , where {Xn}~1
andare
stationary
processes; if each variableUn
takesonly
countablemany
values,
this reduces to thefiltering problem
above. We return to thegeneral
case in§5 (cf.
Theorem7).
In
[F]
the case in which thebinary operation
F is addition wasconsidered,
and it was shown that
disjointness
of twointegrable stationary
processes{Vn} and {Zn}
is sufficient todetermine {Vn}
from thesum {Vn
+Zn}.
Recall from
[F]
that twostationary
processes aredisjoint
if theonly stationary coupling
of them is theindependent coupling (detailed
definitionsare
given
in the nextsection).
In the context of Theorem
1, disjointness
of U from the is notsufficient for
perfect filtering;
this may be seenby considering
the case inwhich U is a
{1, 2}-valued
i.i.d. process andX~1>, X(2)
are distinct zeroentropy
processes with identical finitestate-spaces.
Thepertinent
conditionseems to be double
disjointness
of U from eachX ~2~,
which means thatany
stationary coupling (i.e., joining)
of twocopies
of U must bedisjoint
from
(see §2
fordetails).
CONVENTION. - For a
stationary
process Z= ~ Zn ~ n > 1,
we refer to thedistribution of
Zi
as themarginal
distribution of the process Z.We now state an extension of Theorem 1.
THEOREM 2. - Let
X ~1~, X ~2~, X t3>, ... be stationary
processes with distinctmarginal
distributions.If
U= ~ Un ~
is an N-valued process,doubly
Annales de l’Institut Henri Poincaré - Probabilités
disjoint from
eachX ~i>,
then the collection[U; X ~1>, X ~2~, ...~
admits aperfect filter.
The rest of the paper is
organized
as follows. Someexamples
andproperties
of doubledisjointness
are discussed in§2.
Inparticular,
asystem
withpositive entropy
cannot bedoubly disjoint
from any nontrivialsystem.
We also
explain
how Theorem1,
and similarfiltering results,
follow from Theorem 2. The latter isproved
in§3.
In§4
the notion oftightness
forstationary
processes, due to Ornstein andWeiss,
is described. It is useful forobtaining
versions of thefiltering
theorem valid for allgeneric
sequences.The final
section, §5,
contains extensions of Theorem 2 to the case in which eachUn
assumes a continuum of values and to thesetting
where thedistributions of U and
XCi)
are not known in advance.2. DOUBLE
DISJOINTNESS
DEFINITIONS. - Let Z = /1z,
Tz)
and V =(Hy, /3v,
/1v,Tv)
be two measure
preserving systems (all
measure spaces we consider areLebesgue
spaces withprobability measures).
(i)
Ajoining
of Z and V is a measure onSZZ
xHy
which is invariant underTz
xTv
andprojects
to ~Z and flvrespectively.
(ii)
Thesystems
Z and V aredisjoint
if theironly joining
isgiven by product
measure.(iii)
Z isdoubly disjoint
from V if anyjoining
of Z with anisomorphic
system
Z(i.e.,
aself-joining
ofZ),
isdisjoint
from V.(iv)
The definitionsabove,
whenapplied
tostationary
stochasticprocesses, refer to the measure
preserving systems given by
the shift map.Note the
asymmetry
in the definition of doubledisjointness. Indeed,
inthe
following lemma, usually
V is notdoubly disjoint
fromU;
inparticular,
compare
part (a)
of the lemma withPropositon
4(ii)
below.LEMMA 3. - In each
of
thefollowing
cases, U isdoubly disjoint from
Y.(a)
U is asystem
with zero entropy, V is aK-system.
(b)
U is a Kroneckersystem (i.e.,
afactor of
anergodic
rotation on acompact abelian
group)
and V isweak-mixing.
(c)
U isrigid
and V is mildmixing (see [FW]
for thedefinitions).
Remark. - In each of these cases, Theorem 2
gives
afiltering
result. Inparticular, by (a),
Theorem 2implies
Theorem 1.Proof of
the Lemma. -(a) Any joining
of two zeroentropy systems
also has zeroentropy,
andby [F]
isdisjoint
from anyK-system.
Parts
(b), (c)
areproved similarly.
Note that inpart (c),
ajoining
of tworigid systems
need not berigid,
but ajoining
of arigid system
with itself iseasily
seen to berigid.
DIn the converse direction we have
PROPOSITION 4. - Let V and Z be two invertible nontrivial measure
preserving
systems(i.e., Tv
andTz
are not theidentity map). If
V isdoubly disjoint from Z,
then(i)
Z isergodic,
and(ii)
V has zeroentropy.
Proof - (i)
Assume that A cSZZ
is an invariant set with 0 /-L(A)
1.The
hypothesis
that V is nontrivialimplies
that thediagonal
measureon
SZY
xQv
is different fromproduct
measure x pv. Therefore the measure À on03A9V
x03A9V
x03A9Z
definedby
yields
ajoining
of twocopies
of V andZ,
which shows that V is notdoubly disjoint
from Z.(ii)
A directproof
ispossible (see
the remarkbelow),
but it is instructive to see that this is an immediate consequence of thefiltering
result(Theorem 2).
If V has
positive entropy
thenby
Sinai’s theorem[S]
it has a Bernoullifactor,
so there is apartition
if V which defines a nonconstant i.i.d. process{Un}, taking
the values{ 1, 2}.
Let{X(1)n}
be a nonconstant(0, 1}-valued
process defined
by
apartition
of Z.Next,
let be anindependent
copy of~X ~1~ ~,
and denoteX ~2~
= 1 -Xn.
Since V isdoubly disjoint
fromZ,
Theorem 2 asserts that each is measurable withrespect
to thecomplete a-algebra spanned by
theHowever, by conditioning
onthe event = 1 = which occurs with
positive probability,
wesee that is not determined
by X~B
.Since ~ Un ~
is an i.i.d. process, thisyields
the desired contradiction. DRemark. -
Using
Theorem 1 of[ST],
it is easy to infer the truth of thefollowing assertion,
whichimplies part (ii)
of thepreceding proposition:
Annales de l’Institut Henri Poincaré - Probabilités
Let V be an invertible measure
preserving
system withpositive entropy.
For any nontrivial system
Z,
there is ajoining of
twocopies of
V whichhas a nontrivial common
factor
with Z.Examples.
1. There exists a weak
mixing system
W with zeroentropy,
which hasan
ergodic
selfjoining
that is not weakmixing.
We describe a variant ofChacon’s transformation
(cf. [P],
section4.5)
with theseproperties.
For n >
1 andi, j E ~ 0, 1}
defineinductively
wordsA ~
oflength
In
as follows.First,
letl o
= 2 andA°
=i j . Next, assuming A ~
have been defined for allz, j E ~ 0, 1},
writeand define
Finally,
for everyi, j
E~0, 1}
letwhere both words on the
right-hand
side are oflength
and 0 denotes coordinate-wise addition modulo 2. The words
Aoo
converge,as 7~ 2014~ oo, to an infinite word
~4~
and we take W =Tw )
to be theorbit closure of
Aoo
withrespect
to the shift mapin {0, 1}~. Elementary
block-counting
shows that thetopological entropy
of W vanishes. One proves that W isstrictly ergodic
andweak-mixing
withrespect
to theunique
invariant measure
exactly
as is done for Chacon’s transformation([P],
section
4.5).
For eachi, j
E~0, 1},
the mapfij
definedby
acts on
Ow
and satisfiesTw ( fij (x))
=fji (Tw (x)).
ThereforeTw
xTw interchanges
thegraphs
offoi
andfio. Symmetry
considerations andunique ergodicity imply
that eachfij
preserves the measure /~. The mapx -
(x, fij (x) )
from W to thegraph
offij
sends ~cw to a measureon this
graph,
and theprojection
of to each coordinateyields
/~. Thus the measure1/2
+~ ~°,)
defines anergodic
selfjoining
of W whichhas a factor of
period
2. J.King
and the referee bothpointed
out that asimple
alternative construction with similarproperties
can be obtainedby
using two-point
extensions.2. As noted
by
J.King [personal communication],
the construction described aboveimmediately yields
anexample
of twodisjoint
measurepreserving systems,
neither of which isdoubly disjoint
from the other.Indeed let R be the two
point system
and let B be any Bernoullisystem.
Then R x B is
disjoint
from thesystem
W ofexample
1(pairwise disjointness
ofR,
B and W isclear;
as B isdisjoint
from R x Wwhich has zero
entropy,
the threesystems
aremutually disjoint).
HoweverR x B is not
doubly disjoint
from Wby Proposition 4,
and W is notdoubly disjoint
from R x Bby
theprevious example.
3.
Rudolph’s
constructions of transformations with minimalself-joinings [R],
show that there exist weakmixing systems
which aredoubly disjoint
from all group rotations. Thus in this
respect,
theanalogy
with thepositive
entropy
case breaks down.Remarks.
a. In all the
examples
weknow,
when asystem
U isdoubly disjoint
froma
system
Z but not vice versa, Z is "more random" than U.Question;
If U isdoubly disjoint
fromZ,
it isnecessarily triply disjoint
from Z
(i.e.,
is anyjoining
of threecopies
of Udisjoint
fromZ)?
Results of a similar flavor are
proved
in[K].
b. The
analogy
betweenparts (a)
and(b)
ofProposition
3 isincomplete,
as there are many
systems
besides the Kroneckersystems
which aredisjoint
from all weak
mixing systems (cf. [F]
and[GW]).
Question:
If a measurepreserving system
isdisjoint
from all weakmixing systems,
is itdoubly disjoint
from each of them?3. PROOF OF THE FILTERING THEOREM
First we establish a lemma.
LEMMA 5. - Let
~~B X(2),...
bestationary
stochastic processes with distinctmarginal distributions,
where ==, Let U= ~ Un ~
be an N-valued
stationary
process which isdoubly disjoint from
eachDenote
by
U= ~ Un ~
a process with the same distribution as U.Supppose
that we aregiven
ajoining of
the processesX ~ 1>, X(2),..., U,
X ~ 1 >, ~(2) and U,
such thatfor
all n theidentity
holds almost
surely.
Then in thisjoining
Remark. - This lemma may be viewed as a
"process
level" version of Theorem 2.Proof of
the Lemma. - It suffices toshow,
for each i7~ j,
thatP
[Un
=z, Un = j ~
= 0. Fix i# j.
Since and have differentlaws,
there exists a bounded function cp such thatBy
ourhypothesis,
for all nMultiplying
thisidentity by gives
Taking expectations
andusing disjointness
of thejoining
of Uwith U
from and fromX~B
we find thatBy
our choiceof 03C6,
this forces theprobability P [Un
=i, Un
=j]
tovanish. D
Proof of
Theorem 2. -Rewriting
ourhypothesis,
we have a measurepreserving system
X(the joining
of all theXCi)),
anothersystem U, doubly disjoint
from eachX(i),
and a factormap 03C8 : !1x
xHy
from
a joining
X V U to asystem
Y= (Hy, /3y, Ty),
definedby 1jJ (~ ~) -
We must show that the
projection
map 7ru :S2X
xOu -+ Qy
is measurablewith
respect
to thecomplete ~-algebra ~ -1
Let Z be the
relatively independent joining
of twocopies
of X V Uover Y.
Explicitly,
and is defined
by
Since Z is a
joining
ofX, U, X, 7
inwhich ~ (x, u) == ’ljJ (x, u)
holdsalmost
surely,
Lemma 5implies
thatTo
complete
theproof,
it suffices to check that the conditionalexpectation
operator u)]
preservesL2-norm
whenapplied
to bounded functions h(u).
Let h : R be abounded, flu-measurable
function. Since /1zprojects
to /1u onf2u
and u = u a.s., we haveUsing
the definition of we conclude thatas claimed. D
Remark. - In the statement of Theorem
2,
thehypothesis
that theprocess
XCi)
have distinctmarginal
distributions cannot bereplaced by
the
assumptions
thatXCi)
have distinct distributions as processes. To see this let and be 0 - 1 valued Markovchains,
with transition matricesCp q ) and ) respectively,
where p = 1 - q # 1/2.
The
stationary
vector for both chains is(1/2, 1/2).
Let be thetwo-point
process
given by
Since
{)2 = ()2,
the two processes moa2)}n~1
andmod 2) have the same
distribution,
so it ishopeless
to recover~Un~
fromAnnales de l’Institut Henri Poincaré - Probabilités
4. TIGHTNESS
The
proof
of Theorem 2 in theprevious
section ishighly nonconstructive,
and there is no control over the measure zero set which is discarded.
Specifically,
we would like a "Wiener-Wintner" version of Theorem2,
in which there is a set of full measure ofU-sequences
for whichfiltering
ispossible,
that does notdepend
on theX~2>
processes.A
partial
result in this direction issuggested by
Lemma 5. The T be acontinuous transformation on a
compact
metric space H. Apoint
cv E 0is called
generic
for a(T-invariant)
measure ~, if for all continuous real valued functionsf
on0,
If this holds
only
when N - 00along
asubsequence {Nj}
which doesnot
depend
onf,
then w is called aquasi-generic point
forEvery point
is
quasi-generic
for some invariant measure, as one seesby
thediagonal
method. When
applying
these definitions to a real-valuedstationary
process,we
regard
its distribution as a shift-invariant measure on thecompact
space(R
UPROPOSITION 6. - Let
(un)
and(vn)
be twogeneric points for
aninteger
valuedstationary
process U= ~ Un ~. Also, for
each i >1,
let=
~~2>
be ageneric point for
thestationary
processX(i),
whereU is
doubly disjoint from
eachof
the processes and the have distinctmarginal
distributions.If for
all n > 1then the sequences and
~vn ~ differ
on a setof
zerodensity,
i.e.CX)
Proof -
Denoteby SZX
the Cartesianproduct II
andby 03BE
thei=l
point (~~1~, ç(2), ç(3),...)
inOx.
be an
increasing
sequence for whichPassing
to asubsequence,
we may assume thepoint
is
quasi-generic
for some measure v on 03A9 with the sequence in the definition ofquasi-generic point.
Now v definesa joining
ofX, U, X, 7
which satisfies the
hypothesis
of Lemma 5.The conclusion of that lemma
implies
that the continuous functionon Q has
Recalling
the definition ofquasi-generic points
and our initial choice of{A~},
we obtainas claimed. D
In order to
sharpen
the conclusion of the lastproposition,
furtherrestrictions on the sequences and
beyong genericity,
are needed.This leads
naturally
to thefollowing
DEFINITION. - The discrete
stationary
process U= ~ Un ~
istight if
thereis a set
of sequences
A cQu
suchthat P[{Un}
EA]
= 1 andfor
any twodifferent sequences ~ un ~, ~ vn ~
inA,
we haveThis notion was studied
by
Ornstein and Weiss[unpublished]
who showedthat a process with
positive entropy
is nevertight,
and there also exist zeroentropy
processes which are nottight.
On the other
hand,
it iseasily
verified that any Kronecker process(i.e.,
a
stationary
process with discretespectrum)
istight.
If the
process {Un}
inProposition
6 istight,
and thegeneric points
~un ~
and~vn ~
arechosen
from the set A in the definition oftightness, then,
of course, the conclusion of theproposition
may bestrengthened
toun for all n.
If we seek a constructive
filtering procedure,
the most naturalapproach
is to use a maximum-likelihood criterion.
Question:
In thesetting
of Theorem2,
assume that the processesXCi)
have discrete
marginal distributions,
and defineYn
=Suppose
thatfor
every n > 1,
there is a functionrn :
R" - whichassigns
Annales de l’Institut Henri Poincaré - Probabilités
to every vector
(Y1’..., Yn)
in thesupport
of(Yi,..., Yn )
a sequencern (~/i,
Y2,...,~n) _ (VI,
v2,v3, ...) in f2u,
for which theprobability
P == Y1, ... ,
Yn]
is maximal. When can we ensure that the sequence off2u-valued
random variablesconverges almost
surely (coordinate-wise)
to( Ul , U2, U3, ...)
as n - oo ?5. A CONTINUOUS VERSION AND UNKNOWN DISTRIBUTIONS In
[F],
Theorem1.5,
it is shown that if(Un)
and~Xn ~
are sequencesof
integrable
real random variables which define twodisjoint stationary
processes, then the
sum (Un
+Xn) determines ~ Un ~ .
It is noted there that theintegrability assumption
may be removed if we know thatUn
isdoubly disjoint
Thisremark,
as well as our Theorem2,
arecontained in the
following.
THEOREM 7. - Let U
== { Un ~
and X= ~ X n ~
be realstationary
stochasticprocesses, such that U is
doubly disjoint from
X. Denoteby
S the closedsupport of
the distributionof Ul.
Let W : S x R be a measurablefunction,
continuous in thefirst variable,
such thatfor
any two distinctpoints s ~
s inS,
the distributionof
the variables W(s, X1 )
and W(s, X1 )
aredifferent. Define Yn
= ~(Un, Xn).
Then the sequence
~Yn ~
determines thesequence ~ Un ~, i.e.,
each ismeasurable with
respect
to thecomplete a-field spanned by
the sequenceof
random variables~Yn ~ .
Proof -
As in theproof
of Theorem2,
it suffices to establish thecorresponding
statement at process level.Namely,
we may assume that U andX
are processes with the same distributions as U and Xrespectively,
and that a
joining
ofU, X,
U and X isgiven,
such that’
We must show that this
implies
For c >
0, points
so,So in
S andinteger
n, denoteby Ae
=~4~ (so, so, n)
the event
in the
joining
above. It isenough
to show that for any two differentpoints So
inS,
theprobability
ofA~
vanishes for some c > 0. As thisprobability
does notdepend
on n, we take n = 1.By
thehypothesis
onW,
there exists a continuous function ofcompact support
cp : R - Rsuch
thatDenote
by 03A6 (s)
the random variable cp(w (s, Xl)).
From our secondhypothesis,
Rewrite this in the form
Next,
we takeexpectations, using
theindependence
of 03A6(s) (for
fixeds)
from the indicator which is a function of the
pair (!7~ !7i).
Weget
The left
continuity
of 03A8implies
that( s ) depends continuously
on s,and therefore the last
inequality
forces ~(Aa)
= 0 forsufficiently
smalle > 0. D
Unknown distributions.
Returning
to thesetting
in which theprocess ~ Un ~
takesinteger values,
weagain
consider theproblem
ofdetermining {Un} from {X(Un)n} = {Yn}
asin the
previous sections,
but now we do not assume that the distributions of U and aregiven
apriori.
Of course in this situation one canpermute
the processesX~i~,
andapply
the samepermutation
to the values takenby
~ Un ~,
withoutaffecting
theoutput
sequence(Yn).
Under anappropriate disjointness condition,
this is theonly remaining ambiguity,
as is shownby
thefollowing analogue
ofProposition
6.PROPOSITION 8. - Let U
= ~ Un ~
andT~ _ ~ Yn ~
be N-valuedstationary
processes.
Suppose
thatfor
each i >1,
and are realstationary
processes. We assume that
(a)
For every i~ j
the processes and havedifferent marginal distributions,
andsimilarly for
and(b) Every joining of
U and V isdisjoint from
eachX ~i~
and alsofrom
each
Annales de l’Institut Henri Poincaré - Probabilités
(c) ~un ~, ~vn ~, ~~~2~ }~=1
and~~~2~
aregeneric
sequencesfor U, V,
X ~i>
andrespectively (for
each i >1).
(d)
Theidentity
holds
for
all n > 1.Then there exists a
permutation
N ~ N such thatfor
every i >1,
the distributionsof
andZ~’~~i»
are identical and alsoThe
proof proceeds along
the lines ofProposition 6, i. e. ,
one first establishes ananalogue
of Lemma 5 with7
andXCi) replaced by
Vand
respectively
and then deduces the assertion.Remark. - Observe that
hypothesis (b)
in the lastproposition
is satisfied if U and V have zeroentropy
and all the processes~~B Z(i)
areK-processes .
ACKNOWLEDGEMENTS
We are
grateful
to J.King,
S. Mozes and J. P. Thouvenot forhelpful
conversations. The second author would like to thank J. F. Mela and F. Parreau for their
hospitality
at theUniversity
of Paris-Nord.REFERENCES
[F] H. FURSTENBERG, Disjointness in ergodic theory, minimal sets, and a problem in Diophantine approximation, Math. systems theory, 1, 1967, pp. 1-49.
[FW] H. FURSTENBURG and B. WEISS, The finite multipliers of infinite ergodic transformations, Lecture Notes in Math. #668, Springer Verlag, 1977, pp. 127-132.
[GW] S. GLASNER and B. WEISS, Processes disjoint from weak mixing, Trans. Amer. Math.
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(Manuscript received February 22, 1993;
revised September 30, 1993. )