## Waste and recycling tracking

I generally try hard to minimise my environmental impact, but it can be a challenge without being aware of the actual effect that daily decisions have. Now that I live in a one-person flat, I'm much more conscious of exactly how much energy I use, how much stuff I consume, how many possessions I accumulate and how much waste all this activity produces.

I've therefore decided to keep track of how much waste I produce much more accurately. My apartment block in Tampere, Finland, provides bins for six types of waste: paper, card, glass, metal, compost and general waste. Everything except the last of these can be recycled (although whether the council does or not, I don't know). In addition, Finland has an exemplary network for financially-incentivised bottle and can returns, with return stations in pretty much every grocery shop. Each week I therefore find myself splitting my waste into eight different categories. It's a fair bit of effort, so taking weight measurements aswell isn't such a big deal.

The following graph shows my daily waste output based on data I collect roughly once per week. I plan to update it weekly. The area under the graph represents my total waste output. Click on the graph for a larger version.

Some brief points to note about the graph:

- The daily average, calculated since the start, is shown in the vertical bar on the right hand side.
- All of the green items are recyclable and should be recycled by the council. The general waste in red isn't recycled.
- There's only me living in my flat, so this is output for a single person.
- I'll continue updating the graph on this page every week.
- For info about how the graphs are generated, see my Graphs of Waste posts on the topic.

The data is beginning to build up now, allowing a somewhat clear picture to emerge. I'll continue collecting data over time to see how things are progressing, with the aim of reducing my waste output (both recyclable and non-recyclable) over time if I can.

To view histograms showing the actual values recorded for each of the waste types, select one of the graphs below. Be aware that they all have different scales on the *y*-axis, so they're not visually comparable.

## Waste

Here are a couple of graphs that show the same data plotted as a histogram and then as a histocurve. You may recall that our starting point was a realisation that simply plotting the data and joining the points gave a misleading representation of the data. The important point about these two graphs — both the histogram and the histocurve — is that the area under the graph is always a good representation of the actual quantities the data represents. In this case, it's how much recycling and rubbish I generate each day.

Having got to this point, we can see that there are also some pitfalls with using these histocurves that don't apply to histograms. I reckon it's important to be aware of them, so worth spending a bit of time considering them.

The most obvious to me is the fact that the histocurve doesn't respect the maximum or minimum bounds of the graph. In the case of my waste data, there's a very clear minimum floor because it's impossible for me to generate negative waste.

In spite of this, because the height is higher at some points than it would otherwise be as a means of maintaining continuity, it has to be lower at other points to compensate. As a result in several areas the height dips below the zero point. We can see this in the stacked curve as areas where the curve gets 'cut off' by the curve below it.

As yet, I've not been able to think of a sensible way to address this. Fixing it would require compensating for overflow in some areas by distributing the excess across other columns. This reduces accuracy and increases complexity. It's also not clear that an approach like this could always work. If you have any ideas, feel free to share them in the comments.

For some types of data this is more important than others. For example, in the case of this waste data, the notion of negative waste is pretty perplexing, however for many types of data there is no strict maximum or minimum to speak of. Suppose for example it were measurements of water flowing in and out of a reservoir. In this case the issue would be less relevant.

Another danger is that the graph gives a false impression of accuracy. The sharp boundaries between columns in a histogram make clear where a data value starts and ends. By looking at the graph you know over which period a reading applies. With a histocurve it looks like you should be able to read a value off the graph for any given day. The reading would be a 'prediction' based on the trends, but of course we've chosen the curve of the graph in order to balance the area under the curve, rather than using any consideration of how the curve relates to the phenomenon being measured.

This leads us on to another issue: that it's hard to derive the actual readings. In the case of a histogram we can read off the height and width of a column and reverse engineer the original reading by multiplying the two together. We aren't able to do this with the histocurve, so the underlying data is more opaque.

The final problem, which I'd love to have a solution for, is that changing the frequency of readings changes the resulting curve. The current data shows readings taken roughly once per week at the weekends. Suppose I were to start taking readings mid-week as well. If the values taken midweek were exactly half the values I was measuring before (because they were taken twice as frequently) then the histogram would look identical. The histocurve on the other hand would change.

These limitations aren't terminal, they just require consideration when choosing what type of graph to use, and making clear how the viewer should interpret it. The most important characteristic of the histocurve is that it captures the results by considering the area under the curve, and none of the values along the curve itself are truly representative of the actual readings taken beyond this. As long as this is clear then there's probably a use for this type of graph out there somewhere.

That wraps up this discussion about graphs, histgrams and histocurves. If you made it this far, as Chris Mason would say, congratulations: you ooze stamina!

In part two we found out we could draw a continuous line graph that captured several useful properties that are usually associated with histograms, notably that the area under the line graph is the same as it would be for a histogram between the measurement points along the $x$-axis.

But what if we want to go a step further and draw a smooth line, rather than one made up of straight edges? Rather than just a

*continuous*line, can we present the same data with a

*continuously differentiable*line? Can we do this and still respect this 'area under the graph' property?

It turns out, the answer is "yes"! And we can do it in a similar way. First we send the curve through each of the same points at the boundary of each column, then we adjust the height of the midpoint to account for any changes caused by the curvature of the graph.

There are many, many, ways to draw nice curves, but one that frequently comes up in computing is the Bézier curve. It has several nice properties, in that it's nicely controllable, and depending on the order of the curve, we can control to any depth of derivative we choose. We'll use second-degree Bézier curves, meaning that we'll be able to have a continuous line and a continuous first derivative. This should keep things nice and smooth.

Bézier curves are defined parametrically, meaning that rather than having a function that takes an $x$ input and produces a $y$ output, as is the common Cartesian case, instead it takes a parameter input $t$ that falls between 0 and 1, and outputs both the $x$ and $y$ values. In order to avoid getting confused with the variables we used in part two, we're going to use $u$ and $v$ instead of $x$ and $y$ respectively.

Here's the formula for a second-order Bézier curve.

$$

\begin{pmatrix} u \\ v \end{pmatrix} = (1 - t)^3 \begin{pmatrix} u_0 \\ v_0 \end{pmatrix} + 3(1 - t)^2 t \begin{pmatrix} u_1 \\ v_1 \end{pmatrix} + 3 (1 - t) t^2 \begin{pmatrix} u_2 \\ v_2 \end{pmatrix} + t^3 \begin{pmatrix} u_3 \\ v_3 \end{pmatrix} .

$$

Where $\begin{pmatrix} u_0 \\ v_0 \end{pmatrix}$, $\begin{pmatrix} u_3 \\ v_3 \end{pmatrix}$ are the start and end points of the curve respectively, and $\begin{pmatrix} u _1\\ v_1 \end{pmatrix}$, $\begin{pmatrix} u_2 \\ v_2 \end{pmatrix}$ are control points that we position in order to get our desired curve.

The fact a Bézier curve is parametric is a problem for us, because it makes it considerably more difficult to integrate under the graph. If we want to know the area under the curve, we're going to have to integrate it, so we need a way to turn the parameterised curve into a Cartesian form.

Luckily we can cheat.

If we set $\begin{pmatrix} u_1 \\ v_1 \end{pmatrix}$ and $\begin{pmatrix} u_2 \\ v_2 \end{pmatrix}$ to be $\frac{1}{3}$ and $\frac{2}{3}$ of the way along the curve respectively, then things get considerably easier. In other words, set

\begin{align*}

u_1 & = u_0 + \frac{1}{3} (u_3 - u_0) \\

& = \frac{2}{3} u_0 + \frac{1}{3} u_3 \\

\end{align*}

and

\begin{align*}

u_2 & = u_0 + \frac{2}{3} (u_3 - u_0) \\

& = \frac{1}{3} u_0 + \frac{2}{3} u_3 .

\end{align*}

Substituting this into our Bézier curve equation from earlier we get

\begin{align*}

u & = (1 - t)^3 u_0 + 3 (1 - t)^2 t \times \left( \frac{2}{3} u_0 + \frac{1}{3} u_3 \right) + 3 (1 - t) t^2 \times \left( \frac{1}{3} u_0 + \frac{2}{3} u_3 \right) + t^3 u_3 \\

& = u_0 + t (u_3 - u_0) .

\end{align*}

When we choose our $u_1$ and $u_2$ like this, we can perform the substitution

$$

\psi(t) = u_0 + t(u_3 - u_0)

$$

in order to switch between $t$ and $u$. This will make the integral much easier to solve. We note that $\psi$ is a bijection and so invertible as long as $u_3 \not= u_0$. We can therefore define the inverse:

$$

t = \psi^{-1} (u) = \frac{u - u_0}{u_3 - u_0} \\

$$

It will also be helpful to do a bit of groundwork. We find the values at the boundary as

\begin{align*}

\psi^{-1} (u_0) & = 0, \\

\psi^{-1} (u_3) & = 1, \\

\end{align*}

and we also define the following for convenience.

$$

V(u) = v(\psi^{-1} (u)) .

$$

We'll use these in the calculation of the integral under the Bézier curve, which goes as follows.

$$

\int_{u_0}^{u_3} V(u) \mathrm{d}u

$$

Using the substitution rule we get

\begin{align*}

\int_{\psi^{-1}(u_0)}^{\psi^{-1}(u_3)} & V(\psi(t)) \psi'(t)\mathrm{d}t = \int_{t = 0}^{t = 1} v(\psi^{-1}(\psi(t))) (u_3 - u_0) \mathrm{d}t \\

& = (u_3 - u_0) \int_{0}^{1} v(t) \mathrm{d}t . \\

& = (u_3 - u_0) \int_{0}^{1} (1 - t)^3 v_0 + 3 (1 - t)^2 t v_1 + 3 (1 - t) t^2 v_2 + t^3 v_3 \mathrm{d}t \\

& = (u_3 - u_0) \int_{0}^{1} (1 - 3t + 3t^2 - t^3) v_0 + 3 (t - 2t^2 + t^3) v_1 + 3 (t^2 - t^3) v_2 + t^3 v_3 \mathrm{d}t \\

& = \frac{1}{4} (u_3 - u_0) (v_0 + v_1 + v_2 + v_3) .

\end{align*}

We'll bank this calculation and come back to it. Let's now consider how we can wrap the Bézier curve over the points in our graph to make a nice curve. For each column we're going to end up with something like this.

Now as before, we don't have control over $u_0$, $v_0$ because it affects the adjoining curve. We also don't have control over $u_1$ and $u_2$ because as just described, we have these set to allow us to perform the integration. We also must have $u_3$ set as $u_3 = u_0 + w / 2$ so that it's half way along the column.

Our initial assumption wil be that $v_3 = h$, but this is the value we're going to manipulate (

*i.e.*raising or lowering the central point) in order to get the area we need. We shouldn't need to adjust it by much.

That just leaves $v_1$ and $v_2$. We need to choose these to give us a sensible and smooth curve, which introduces some additonal constraints. We'll set the gradient at the point $u_0$ to be the gradient $g_1$ of the line that connects the heights of the centrepoints of the two adjacent columns:

$$

g_1 = \frac{y - y_L}{x - x_L}

$$

where $x, y$ are the same points we discussed in part two, and $x_L, y_L$ are the same points for the column to the left. We'll also use $x_R, y_R$ to refer to the points for the column on the right, giving us:

$$

g_2 = \frac{y_R - y}{x_R - x} .

$$

Using our value for $g_1$ we then have

$$

v_1 = v_0 + g_1 (u_1 - u_0) .

$$

For the gradient $g$ at the centre of the column, we set this to be the gradient of the line between $y_1$ and $y_2$:

$$

g = \frac{y_2 - y_1}{x_2 - x_1} .

$$

We then have that

$$

v_2 = v_3 + g (u_2 - u_3) .

$$

From these we can calculate the area under the curve using the result from our integration calculation earlier, by simply substiuting the values in. After simplifying the result, we get the following.

$$

A_1' = \frac{1}{8}(x_2 - x_1) \left( 2y' + \frac{13}{6} y_1 - \frac{1}{6} y_2 + \frac{1}{6} g_1 (x_2 - x_1) \right)

$$

where $y'$ is the height of the central point which we'll adjust in order to get the area we need. This looks nasty, but it'll get simpler. We can perform the same calculation for the right hand side to get

$$

A_2' = \frac{1}{8}(x_2 - x_1) \left( 2y' + \frac{13}{6} y_2 - \frac{1}{6} y_1 - \frac{1}{6} g_2 (x_2 - x_1) \right) .

$$

Adding the two to give the total area $A' = A_1' + A_2'$ allows us to do a bunch of simplification, giving us

$$

A' = \frac{w}{2} \left( \frac{1}{2} y_1 + \frac{1}{2} y_2 + y' \right) + \frac{w^2}{48} (g_1 - g_2) .

$$

If we now compare this to the $A$ we calculated for the straight line graph in part two, subtracting one from the other gives us that

$$

y' = y + \frac{w}{24} (g_2 - g_1) .

$$

This tells us how much we have to adjust $y$ by to compensate for the area change caused by the curvature of the Bézier curves.

What does this give us in practice? Here's the new smoothed graph based on the same data as before.

Let's overlay the three approaches — histogram, straight line and curved graphs — to see how they all compare. The important thing to note is that the area under each of the columns — bounded above by the flat line, the straight line and the curve respectively — are all the same.

Because of the neat way Bézier curves retain their area properties, we can even stack them nicely, similarly to how we stacked our histogram in part one, to get the following representation of the full set of data.

Putting all of this together, we now have a pretty straightforward way to present area-under-the-graph histograms of continuous data in a way that captures that continuity. I call this graph a "histocurve". A histocurve can give a clearer picture of the overall general trends of the data. For example, each of the strata in the histocurve remains unbroken, compared to the strata in a classic histogram which is liable to get broken at the boundary between every pair of columns.

That's all great, but it's certainly not perfect. In the fourth and final part of this series which I hope to get out on the 3rd December, I'll briefly discuss the pitfalls of histocurves, some of their negative properties, and things I'd love to fix but don't know how.

*"A Continuously Differentiable Histogram Approach"*. In it we take a look at now to create a curved histogram (a histocurve!) to replace the column and line based approaches from parts 1 and 2.

We finished by looking at how a histogram would be a good choice for representing the particular type of data I've been collecting, to express the quantity of various types of waste (measured by weight) as the area under the graph. Here's the example data plotted as a histogram.

While this is good at presenting the general picture, I really want to also express how my waste generation is part of a continuous process. In the very first graph I generated to try to understand my waste output, I drew the datapoints and joined them with lines. This wasn't totally crazy as it highlighted the trends over time. However, it gave completely the wrong impression because the area under the graph bore no relation to the amount of waste I produced.

How can we achieve both? Show a continuous change of the data by joining datapoints with lines, while also ensuring the area under the graph represents the actual amount of waste produced?

The histogram above achieves the goal of having the area under the graph represent the all-important quantities captured by the data clearly visible in the graph. But it doesn't express the continuous nature of the data.

Contrariwise, if we were to take the point at the top of each histogram column and join them up, we'd have a continuous line across the graph, but the area underneath would no longer represent useful data.

If we want to capture a `middle ground' between the two, it's helpful to apply some additional constraints.

- The line representing the weights should be continuous.
- The area under the line should be the same as the area under the histogram column for each column individually.
- For each reading, the line can be affected by the readings either side (this is inevitable if the constraint 1 is going to be enforced), but should be independent of anything further away.

To do this, we'll adjust the position of the datapoints for each of the readings and introduce a new point in between every pair of existing datapoints as follows.

- Start with the datapoints positioned to be horizontally centred in each column and taken as the height of the histogram column that encloses it.
- For every pair of datapoints A and B, place an additional point at the boundary of the columns for A and B, and with y value set as the average between the two columns A and B.

Following these rules we end up with something like this.

This gives us our continuous line, but as you can see from the diagram, for each column the area under the line doesn't necessarily represent the quantity captured by the data. We can see this more easily by focussing in on one of the columns. The hatched area in the picture below shows area that used to be included, but which would be removed if we drew our line like this, making the area under the line for this particular region less than it should be.

Across the entire width of these graphs the additions might cancel out the subtractions, but that's not guaranteed, and it also fails our second requirement that the area under the line should be the same as the area under the histogram column for each column individually.

To address this we can adjust the position of the point in the centre of each column by altering its height to capture the correct amount of area. In the case shown above, we'd need to move the point higher because we've cut off some of the area and need to get it back. In other cases we may need to reduce the height of the point to remove area that we over-captured.

To calculate the exact height of the central point, we can use the following formula.

$$ y = 2h - \frac{1}{2} (y_1 + y_2) .

$$

The area $A = A_1 + A_2 + A_3 + A_4$ under the curve can then be calculated as follows.

\begin{align*} A & = \left( \frac{w}{2} \times y_1 \right) + \left( \frac{w}{2} \times y_2 \right) + \left( \frac{1}{2} \times \frac{w}{2} \times (y - y_1) \right) + \left( \frac{1}{2} \times \frac{w}{2} \times (y - y_3) \right) \\ & = \frac{w}{2} \left( \frac{1}{2} y_1 + \frac{1}{2} y_2 + y \right) . \\ \end{align*}

Substituting $y$ into this we get the following.

\begin{align*} A & = \frac{w}{2} \left( \frac{1}{2} y_1 + \frac{1}{2} y_2 + 2h - \frac{1}{2} y_1 - \frac{1}{2} y_2 \right) \\ & = wh. \end{align*}

Which is the area of the column as required.

Following this approach we end up with a graph like this.

Which taken on its own gives a clear idea of the trend over time, while still capturing the overall quantity of waste produced in each period as the area under the graph.

In the next part we'll look at how we can refine this further by rendering a smooth curve, rather than straight lines, but in a way that retains the same properties we've been requiring here.

All of the graphs here were produced using the superb MatPlotLib and the equations rendered using MathJax (the first time I'm using it, and it looks like it's done a decent job).

You may think this is all self-evident, and that anyone taking the trouble to plot data in a graph will obviously have taken these things into account, but sadly it's rarely the case. I see data visualisation abominations on a daily basis. What's more it's often the people you'd expect to be best at it who turn out to fall into the worst traps. Over fifteen years of reviewing academic papers in computer science, I've seen numerous examples of terrible data visualisation. These papers are written by people who have both access to and competence in the best visualisation tooling, and who presumably have a background in analytical thinking, and yet graphs presented in papers often fail the most basic requirements. It's not unusual to see graphs that are too small to read, with unlabelled axes, missing units, use of colour in greyscale publications, or with continuous lines drawn between unrelated discrete data points.

And that's without even mentioning pseudo-3D projections or spider graphs.

One day I'll take the time to write up some of these data visualisation horror stories, but right now I want to focus on one of my own infractions. I'll warn you up front that it's not a pretty story, but I'm hoping it will have a happy ending. I'm going to talk about how I created a most terrible graph, and how I've attempted to redeem myself by developing what I believe is a much clearer representation of the data.

Over the last couple of months I've been collecting data on how much waste and recycling I generate. Broadly speaking this is for environmental and motivational reasons: I believe that if I make myself more aware of how much rubbish I'm producing, it'll motivate me to find ways to reduce it, and also help me understand where my main areas for improvement are. If I'm honest I don't expect it'll work (many years ago I was given a device for measuring real-time electricity usage with a similar aim and I can't say that succeeded), but for now it's important to understand my motivations. It goes to the heart of what makes a good graphing choice.

So, each week I weigh my rubbish using kitchen scales, categorised into different types matching the seven different recycling bins provided for use in my apartment complex.

Here's the data I've collected until now presented in a table.

Date | Paper | Card | Glass | Metal | Returnables | Compost | Plastic | General |
---|---|---|---|---|---|---|---|---|

18/08/19 | 221 | 208 | 534 | 28 | 114 | 584 | 0 | 426 |

25/08/19 | 523 | 304 | 702 | 24 | 85 | 365 | 123 | 282 |

01/09/19 | 517 | 180 | 0 | 0 | 115 | 400 | 0 | 320 |

06/09/19 | 676 | 127 | 360 | 14 | 36 | 87 | 0 | 117 |

19/09/19 | 1076 | 429 | 904 | 16 | 0 | 1661 | 0 | 417 |

28/09/19 | 1047 | 162 | 1133 | 105 | 74 | 341 | 34 | 237 |

05/10/19 | 781 | 708 | 218 | 73 | 76 | 1391 | 54 | 206 |

13/10/19 | 567 | 186 | 299 | 158 | 40 | 289 | 63 | 273 |

We can't tell a great deal from this table. We can certainly read off the measurements very easily and accurately, but beyond that the table fails to give any sort of overall picture or idea of trends.

The obvious thing to do is therefore to draw a graph and hope to tease out something that way. So, here's the graph I came up with, and which I've had posted and updated on my website for a couple of months.

What does this graph show? Well, to be precise, it's a stacked plot of the weight measurements against the dates the measurements were taken. It gives a pretty clear picture of how much waste I produced over a period of time. We can see that my waste output increased and peaked before falling again, and that this was mostly driven by changes in the weight of compost I produced.

Or does it? In fact, as the data accumulated on the graph, it became increasingly clear that this is a misleading visualisation. Even though it's an accurate plot of the measurements taken, it gives completely the wrong idea about how much waste I've been generating.

To understand this better, let's consider just one of the stacked plots. The red area down at the base is showing the measurements I took for general waste. Here's another graph that shows the same data isolated from the other types of waste and plotted on a more appropriate scale.

If you're really paying attention you'll notice that the start date on this second graph is different to that of the first. That's because the very first datapoint represents my waste output for the seven days prior to the reading, and we'll need those extra seven days for comparison with some of the other plots we'll be looking at shortly.

There are several things wrong with this plot, but the most serious issue, the one I want to focus on, is that it gives a completely misleading impression of how much waste I've been generating. That's because the most natural way to interpret this graph would be to read off the value for any given day and assume that's how much waste was generated that day. This would leave the area under the graph being the total amount of waste output. In fact the lines simply connect different data points. The actual datapoints themselves don't represent the amount of waste generated in a day, but in fact the amount generated in a week. And because I don't always take my measurements at the same time each week, they don't even represent a week's worth of rubbish. To find out the daily waste generated, I'd need to divide a specific reading by the number of days since the last reading.

Take for example the measurements taken on the 6th September. I usually weight my rubbish on a Saturday, but because I went on holiday on the 7th I had to do the weighing a day early. Then I was away from home for seven days, came back and didn't then weight my rubbish again until the 19th, nearly two weeks later.

Although I spent a chunk of this time away, it still meant that the reading was high, making it look as if I'd generated a lot of waste over the two-week period. In fact, considering this was double the time of the usual readings, it was actually a relatively low reading. This should be reflected in the graph, but it's not. It looks like I generated more rubbish than expected; in fact I generated less.

We can see this more clearly if we plot the data as a column (bar) graph and as a histogram. Here's the column graph first.

These are the same datapoints as in the previous graph, but drawn as columns with widths proportional to the duration that the readings represent. The column that spreads across from the 6th to the 19th September is the reading we've just been discussing. This is a tall, wide, column because it represents a long period (nearly two weeks) and a heaver than usual weight reading (because it's more than a weeks' worth of rubbish). If we now convert this into a histogram, it'll give us a clearer picture of how much waste was being generated per day.

This histogram takes each of the columns and divides it by the number of days the column represents. A histogram has the nice property that the area — rather than the height — of a column represents the value being plotted. In this histogram, the area under all of the columns represents the quantity of waste that I've generated across the entire period: the more blue, the more waste.

Not only is this a much clearer representation, it also completely changes the picture. The original graph made it look like my waste output peaked in the middle. There is a slight rise in the middle, but it's actually just a local maximum. In fact the overall trend was that my daily general waste output was decreasing until the middle of the period, and then rose slightly over time. That's a much more accurate reflection of what actually happened.

It would be possible to render the data as a stacked histogram, and to be honest I'd be happy with that. The overall picture, which ties in with my motivation for wanting the graph in the first place, indicates how much waste I'm generating based on the area under the graph.

But in fact I tend to be generating small bits of rubbish throughout the week, and I'd like to see the trend between readings, so it would be reasonable to draw a line between weeks rather than have them as histogram blocks or columns.

So this leads us down the path of how we might draw a graph that captures these trends, but still also retains the nice property that the area under the graph represents the amount of waste produced.

That's what I'll be exploring in part two.

All of the graphs here were generated using the superb MatPlotLib.

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