The thermodynamic uncertainty relation (TUR) provides a universal entropic bound for the precision of the fluctuation of the charge transfer, for example, for a class of continuous-time stochastic processes. However, its extension to general nonequilibrium dynamics is still an unsolved problem. We derive TUR for an arbitrary finite time from exchange fluctuation theorem under a geometric necessary and sufficient condition. We also generally show a necessary and sufficient condition of multidimensional TUR in a unified manner. As a nontrivial practical consequence, we obtain universal scaling relations among the mean and variance of the charge transfer in short time regime. In this manner, we can deepen our understanding of a link between two important rigorous relations, i.e., the fluctuation theorem and the thermodynamic uncertainty relation.
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