This paper introduces the design, analysis, and experimental results of a fast mesoscale (12 cm length) quadruped mobile robot that employs unconventional actuators. Four legs of the robot are actuated by two pieces of piezocomposite actuator named LIPCA, which enables the robot to achieve the bounding gait with only one degree of freedom per leg. The forward locomotion is obtained by a creative idea in the design and the speed can be controlled by changing the frequency of actuators. The mechanism of power transfer has been improved in order to use the actuation power more efficiently. Two small RC-servo motors are added to control the locomotion direction. In addition, a small power supply and control circuit is developed that is fit for the robot. Our experiments show that the robot can locomote as fast as about two times its body length per second with the circuit board and a battery installed. The robot is also able to change the heading direction in a controlled way and is capable of continuous operation for 35 min.

The motivation for Core Logic is explained. Its system of proof is set out. It is then shown that, although the system has no Cut rule, its relation of deducibility obeys Cut with epistemic gain.

In the Tractatus, Wittgenstein advocates two major notational innovations in logic. First, identity is to be expressed by identity of the sign only, not by a sign for identity. Secondly, only one logical operator, called “N” by Wittgenstein, should be employed in the construction of compound formulas. We show that, despite claims to the contrary in the literature, both of these proposals can be realized, severally and jointly, in expressively complete systems of first-order logic. Building on early work of Hintikka’s, we identify three ways in which the first notational convention can be implemented, show that two of these are compatible with the text of the Tractatus, and argue on systematic and historical grounds, adducing posthumous work of Ramsey’s, for one of these as Wittgenstein’s envisaged method. With respect to the second Tractarian proposal, we discuss how Wittgenstein distinguished between general and non-general propositions and argue that, claims to the contrary notwithstanding, an expressively adequate N-operator notation is implicit in the Tractatus when taken in its intellectual environment. We finally introduce a variety of sound and complete tableau calculi for first-order logics formulated in a Wittgensteinian notation. The first of these is based on the contemporary notion of logical truth as truth in all structures. The others take into account the Tractarian notion of logical truth as truth in all structures over one fixed universe of objects. Here the appropriate tableau rules depend on whether this universe is infinite or finite in size, and in the latter case on its exact finite cardinality.

We perform an almost sure linear stability analysis of the θ-Maruyama method, selecting as our test equation a two-dimensional system of Itô differential equations with diagonal drift coefficient and two independent stochastic perturbations which capture the stabilising and destabilising roles of feedback geometry in the almost sure asymptotic stability of the equilibrium solution. For small values of the constant step-size parameter, we derive close-to-sharp conditions for the almost sure asymptotic stability and instability of the equilibrium solution of the discretisation that match those of the original test system. Our investigation demonstrates the use of a discrete form of the Itô formula in the context of an almost sure linear stability analysis.

Let p and r be two primes, and letn and m be two distinct divisors ofpr. Consider Φn and Φm, the nth and mth cyclotomicpolynomials. In this paper, we present lower and upper bounds for thecoefficients of the inverse of Φn modulo Φm and discuss an application to torus-based cryptography.

The existence of products of three pairwise coprime integers is investigated in short intervals of the form . A general theorem is proved which shows that such integer products exist provided there is a bound on the product of any two of them. A particular case of relevance to elliptic curve cryptography, where all three integers are of order , is presented as a corollary to this result.

We test R. van Luijk’s method for computing the Picard group of a K3 surface. The examples considered are the resolutions of Kummer quartics in ℙ3. Using the theory of abelian varieties, the Picard group may be computed directly in this case. Our experiments show that the upper bounds provided by van Luijk’s method are sharp when sufficiently many primes are used. In fact, there are a lot of primes that yield a value close to the exact one. However, for many but not all Kummer surfaces V of Picard rank 18, we have for a set of primes of density at least 1/2.

Let G be a group generated by k elements, G=〈g1,…,gk〉, with group operations (multiplication, inversion and comparison with identity) performed by a black box. We prove that one can test whether the group G is abelian at a cost of O(k) group operations. On the other hand, we show that a deterministic approach requires Ω(k2) group operations.

Reynolds' abstraction theorem (Reynolds, J. C. (1983) Types, abstraction and parametric polymorphism, Inf. Process.83(1), 513–523) shows how a typing judgement in System F can be translated into a relational statement (in second-order predicate logic) about inhabitants of the type. We obtain a similar result for pure type systems (PTSs): for any PTS used as a programming language, there is a PTS that can be used as a logic for parametricity. Types in the source PTS are translated to relations (expressed as types) in the target. Similarly, values of a given type are translated to proofs that the values satisfy the relational interpretation. We extend the result to inductive families. We also show that the assumption that every term satisfies the parametricity condition generated by its type is consistent with the generated logic.