The major disciplines within mathematics first arose out of the need to do calculations in commerce, to understand the relationships between numbers, to measure land, and to predict astronomical events. These four needs can be roughly related to the broad subdivision of mathematics into the study of quantity, structure, space, and change (i.e., arithmetic, algebra, geometry, and analysis). In addition to these main concerns, there are also subdivisions dedicated to exploring links from the heart of mathematics to other fields: to logic, to set theory (foundations), to the empirical mathematics of the various sciences (applied mathematics), and more recently to the rigorous study of uncertainty.