The paper presents a method of reaction force and moment calculation for a 3-RSS pure translational parallel link robot (Delta-type parallel robot), in which the inverse and forward kinematics of the parallel link robot are directly analyzed according to kinematic structure of the parallel robot. For dynamic analysis, the parallel robot is imaginarily parted into three serial ones, and their actual joint torques are determined by the virtual work principle. To obtain the reaction force and moment of the parallel robot acting on the base, which is the composition of the reaction forces and moments of the three serial robots, the Newton–Euler Method is adopted. To show the validity of the presented method, the simulation analysis and experimental results are given, the experimental results tally with the calculation value.

This special issue of the Journal of Functional Programming collects revised selected articles arising from the inaugural meeting of the Workshop on Mathematically Structured Functional Programming, MSFP 2006, held in Kuressaare, Estonia, on 2 July 2006, with support from the European Union's FP6 IST Coordination Action TYPES. This workshop raised the curtain for the Eighth International Conference on Mathematics of Program Construction, MPC 2006, but where MPC is concerned primarily with extrinsic mathematics supporting the programming process, MSFP has a complementary focus on the mathematics intrinsic to programs themselves. MSFP is about the extraction of functionality from structure.

An n-vertex graph G is c-Ramsey if it contains neither a complete nor an empty induced subgraph of size greater than c log n. Erdős, Faudree and Sós conjectured that every c-Ramsey graph with n vertices contains Ω(n5/2) induced subgraphs, any two of which differ either in the number of vertices or in the number of edges, i.e., the number of distinct pairs (|V(H)|, |E(H)|), as H ranges over all induced subgraphs of G, is Ω(n5/2). We prove an Ω(n2.3693) lower bound.

The kinematics, statics, and workspace of a 2(3-SPR) serial-parallel manipulator (S-PM) are studied systematically in this paper. First, a 2(3-SPR) S-PM including an upper 3-SPR parallel manipulator (PM) and a lower 3-SPR PM is constructed, and the inverse/forward displacements, velocity, acceleration, and statics of the lower and upper 3-SPR PMs are studied, respectively. Second, the kinematics and statics of the lower and upper 3-SPR PMs are combined and the displacement, velocity, acceleration, and statics of a 2(3-SPR) S-PM are analyzed systematically. Third, a workspace of the 2(3-SPR) S-PM is constructed and analyzed. Finally, the analytic solved results are given and verified by the simulation mechanism.

The U-polynomial, the polychromate and the symmetric function generalization of the Tutte polynomial, due to Stanley, are known to be equivalent in the sense that the coefficients of any one of them can be obtained as a function of the coefficients of any other. The definition of each of these functions suggests a natural way in which to strengthen them, which also captures Tutte's universal V-function as a specialization. We show that the equivalence remains true for the strong functions, thus answering a question raised by Dominic Welsh.

We describe a system that automatically learns effective and engaging dialogue strategies, generated from a library of dialogue content, using reinforcement learning from user feedback. Besides the more usual clarification and verification components of dialogue, this library contains various social elements like greetings, apologies, small talk, relational questions and jokes. We tested the method through an experimental dialogue system that encourages take-up of exercise and shows that the learned dialogue policy performs as well as one built by human experts for this system.

Let G = G(n) be a randomly chosen k-edge-coloured k-regular graph with 2n vertices, where k = k(n). Such a graph can be obtained from a random set of k edge-disjoint perfect matchings of K2n. Let h = h(n) be a graph with m = m(n) edges such that m2 + mk = o(n). Using a switching argument, we find an asymptotic estimate of the expected number of subgraphs of G isomorphic to h. Isomorphisms may or may not respect the edge colouring, and other generalizations are also presented. Special attention is paid to matchings and cycles.

The results in this paper are essential to a forthcoming paper of McLeod in which an asymptotic estimate for the number of k-edge-coloured k-regular graphs for k = o(n5/6) is found.

Combinatorial search strategies including depth-first, breadth-first and depth-bounded search are shown to be different implementations of a common algebraic specification that emphasizes the compositionality of the strategies. This specification is placed in a categorical setting that combines algebraic specifications and monads.

This paper presents a computational model for the cooperation of constraint domains and an implementation for a particular case of practical importance. The computational model supports declarative programming with lazy and possibly higher-order functions, predicates, and the cooperation of different constraint domains equipped with their respective solvers, relying on a so-called constraint functional logic programming (CFLP) scheme. The implementation has been developed on top of the CFLP system , supporting the cooperation of the three domains ℋ, ℛ, and ℱ , which supply equality and disequality constraints over symbolic terms, arithmetic constraints over the real numbers, and finite domain constraints over the integers, respectively. The computational model has been proved sound and complete w.r.t. the declarative semantics provided by the CFLP scheme, while the implemented system has been tested with a set of benchmarks and shown to behave quite efficiently in comparison to the closest related approach we are aware of.

This article studies the issue of argument realization by preposition structures. By examining the preposition structures that are marked as frame elements in FrameNet, the article attempts to give corpus-based attestations to the hypothesized link between deep semantic arguments and their surface syntactic representations. Problems addressed in this article include how argument realization by preposition structures can be predictable from the target lexical unit and the frame it evokes, and why some noncentral prepositions get selected in the argument realization options. The investigation is primarily inspired by Fillmore's work in frame semantics. The source data for this study is derived from a preposition knowledge base that we have recently built by extracting all the semantically annotated preposition structures in FrameNet. The analysis shows that while there are various semantic–syntactic mapping possibilities, for most semantic arguments, the tendency of using central prepositions in their realization expressions is very strong. This is a clear indication that some preposition structures are linked to certain semantic arguments more than they are to others. A similar experiment was conducted using the annotated PropBank corpus to corroborate the supporting evidence found in FrameNet. The results of this study, together with the syntactic–semantic mapping lists of preposition structures can provide raw linguistic data for the study of preposition semantics, lexicography, argument realization, word sense disambiguation, and natural language understanding.

A minor-closed class of graphs is addable if each excluded minor is 2-connected. We see that such a class of labelled graphs has smooth growth; and, for the random graph Rn sampled uniformly from the n-vertex graphs in , the fragment not in the giant component asymptotically has a simple ‘Boltzmann Poisson distribution’. In particular, as n → ∞ the probability that Rn is connected tends to 1/A(ρ), where A(x) is the exponential generating function for and ρ is its radius of convergence.