Ontologies are frequently used in the context of software and technology engineering. These can be grouped into two main categories, depending on whether they are used to describe the knowledge of a domain (domain ontologies) or whether they are used as software artifacts in software development processes. This paper presents some experiences and lessons learnt from the effective use of an ontology for Software Measurement, called software measurement ontology (SMO). The SMO was developed some years ago as a result of a thorough analysis of the software measurement domain. Its use as a domain ontology is presented first, a description of how the SMO can serve as a conceptual basis for comparing international standards related to software measurement. Second, the paper describes several examples of the applications of SMO as a software artifact. In particular, we show how the SMO can be instantiated to define a data quality model for Web portals, and also how it can be used to define a Domain-Specific Language (DSL) for measuring software entities. These examples show the significant role that ontologies can play as software artifacts in the realm of model-driven engineering and domain-specific modeling.

This paper presents two fully parallel manipulators of type 5-5 and 4-5 with special geometry that makes them partially decoupled. The direct kinematic analysis and the singularity study of these manipulators are addressed, which show that the motion of the manipulators can be easily controlled. Computational considerations are reported, which demonstrate that the algorithms proposed for the direct kinematic analysis are very efficient. Moreover, a comparison with other special geometries illustrates that the proposed manipulators are valuable solutions and represent a good compromise between an efficient controllability and a simple practical feasibility.

This paper presents the design of four controllers for a mobile robot such that the system may follow a preestablished trajectory. To reach this aim, the kinematic model of a mobile robot is approximated using numerical methods. Then, from such approximation, the control actions to get a minimal tracking error are calculated. Both simulation and experimental results on a PIONEER 2DX mobile robot are presented, showing a good performance of the four proposed mobile robot controllers. Also, an application of the proposed controllers to a leader robot following problem is shown; in it, the relative position between robots is obtained through a laser.

A family of subsets of {1, . . ., n} is called a j-junta if there exists J ⊆ {1, . . ., n}, with |J| = j, such that the membership of a set S in depends only on S ∩ J.

In this paper we provide a simple description of intersecting families of sets. Let n and k be positive integers with k < n/2, and let be a family of pairwise intersecting subsets of {1, . . ., n}, all of size k. We show that such a family is essentially contained in a j-junta , where j does not depend on n but only on the ratio k/n and on the interpretation of ‘essentially’.

When k = o(n) we prove that every intersecting family of k-sets is almost contained in a dictatorship, a 1-junta (which by the Erdős–Ko–Rado theorem is a maximal intersecting family): for any such intersecting family there exists an element i ∈ {1, . . ., n} such that the number of sets in that do not contain i is of order (which is approximately times the size of a maximal intersecting family).

Our methods combine traditional combinatorics with results stemming from the theory of Boolean functions and discrete Fourier analysis.

Pure pattern calculus supports pattern-matching functions in which patterns are first-class citizens that can be passed as parameters, evaluated and returned as results. This new expressive power supports two new forms of polymorphism. Path polymorphism allows recursive functions to traverse arbitrary data structures. Pattern polymorphism allows patterns to be treated as parameters which may be collected from various sources or generated from training data. A general framework for pattern calculi is developed. It supports a proof of confluence that is parameterised by the nature of the matching algorithm, suitable for the pure pattern calculus and all other known pattern calculi.

Recursive matrix relations in kinematics and dynamics of a Delta parallel robot having three revolute actuators are established in this paper. The prototype of the manipulator is a three degrees-of-freedom space mechanism, which consists of a system of parallel closed kinematical chains connecting to the moving platform. Knowing the translation motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity and acceleration of each robot's element. Further, the inverse dynamic problem is solved using an approach based on the fundamental principle of virtual work. Finally, a comparative study on time-history evolution of the torques of the three actuators is analysed.

This paper proposes a new family of spatial 3-DOF (degree of freedom) parallel manipulators with two translational and one rotational DOFs. The manipulators in this family are the variations of the parallel manipulators, which are capable of very high rotational capability, introduced by X.-J. Liu, J. Wang, and G. Pritschow (“A new family of spatial 3-DoF fully parallel manipulators with high rotational capability,” Mech. Mach. Theory40(4), 475–494, 2005). However, compared with those old manipulators, the new parallel manipulators proposed here have the advantages of simpler kinematics and structure, easier manufacturing, and energy saving.

Consider the following one-player game. Starting with the empty graph on n vertices, in every step a new edge is drawn uniformly at random and inserted into the current graph. This edge has to be coloured immediately with one of r available colours. The player's goal is to avoid creating a monochromatic copy of some fixed graph F for as long as possible. We prove an upper bound on the typical duration of this game if F is from a large class of graphs including cliques and cycles of arbitrary size. Together with lower bounds published elsewhere, explicit threshold functions follow.

I first show that most authors who developed Plural Quantification Logic (PQL) argued it could capture various features of natural language better than can other logic systems. I then show that it fails to do so: it radically departs from natural language in two of its essential features; namely, in distinguishing plural from singular quantification and in its use of an ‘is-one-of’ relation. Next, I sketch a different approach that is more adequate than PQL for capturing plural aspects of natural language semantics and logic. I conclude with a criticism of the claim that PQL should replace natural language for specific philosophical or scientific purposes.

The aim of this paper is to show what sorts of logics are required by externalist and internalist accounts of the meanings of natural kind nouns. These logics give us a new perspective from which to evaluate the respective positions in the externalist--internalist debate about the meanings of such nouns. The two main claims of the paper are the following: first, that adequate logics for internalism and externalism about natural kind nouns are second-order logics; second, that an internalist second-order logic is a free logic—a second order logic free of existential commitments for natural kind nouns, while an externalist second-order logic is not free of existential commitments for natural kind nouns—it is existentially committed.

A cable manipulator controls its end-effector by a number of cables. If the cables can balance any external and inertia wrenches at a certain pose of the end-effector, the cable manipulator is said to have a force-closure at this pose. Since a cable can work only in tension, the force-closure at a specific pose may not exist. Thus, how to check the existence of force-closure at a given pose is an important issue for design and control of cable manipulators. This paper describes a systematic method of verifying the existence of force-closure at a specific pose of a general 6-DOF cable manipulator with seven or more cables. By examining the Jacobian matrix of the manipulator, the method can determine whether a force-closure exists at the pose corresponding to the Jacobian matrix. The necessity and sufficiency of the proposed method are mathematically proven. Moreover, a convex-analysis-based simplification of the method for manipulators with more than seven cables is also discussed.

This paper has two main focal points. We first consider an important class of machine learning algorithms: large margin classifiers, such as Support Vector Machines. The notion of margin complexity quantifies the extent to which a given class of functions can be learned by large margin classifiers. We prove that up to a small multiplicative constant, margin complexity is equal to the inverse of discrepancy. This establishes a strong tie between seemingly very different notions from two distinct areas.

In the same way that matrix rigidity is related to rank, we introduce the notion of rigidity of margin complexity. We prove that sign matrices with small margin complexity rigidity are very rare. This leads to the question of proving lower bounds on the rigidity of margin complexity. Quite surprisingly, this question turns out to be closely related to basic open problems in communication complexity, e.g., whether PSPACE can be separated from the polynomial hierarchy in communication complexity.

Communication is a key ingredient in many types of learning. This explains the relations between the field of learning theory and that of communication complexity [6, l0, 16, 26]. The results of this paper constitute another link in this rich web of relations. These new results have already been applied toward the solution of several open problems in communication complexity [18, 20, 29].

The worker/wrapper transformation is a technique for changing the type of a computation, usually with the aim of improving its performance. It has been used by compiler writers for many years, but the technique is little known in the wider functional programming community, and has never been described precisely. In this article we explain, formalise and explore the generality of the worker/wrapper transformation. We also provide a systematic recipe for its use as an equational reasoning technique for improving the performance of programs, and illustrate the power of this recipe using a range of examples.

This paper develops an ontological basis for evaluating software design methods, based on the situated function–behaviour–structure framework. This framework accounts for the situatedness of designing, viewing it as a dynamic activity driven by interactions between designers and the artefacts being designed. On the basis of this framework, we derive a general evaluation schema that we apply to five software design methods. The ideas presented in this work contribute to a better understanding of design methods, and uncover opportunities for method integration and development.

Let C(3)n denote the 3-uniform tight cycle, that is, the hypergraph with vertices v1, .–.–., vn and edges v1v2v3, v2v3v4, .–.–., vn−1vnv1, vnv1v2. We prove that the smallest integer N = N(n) for which every red–blue colouring of the edges of the complete 3-uniform hypergraph with N vertices contains a monochromatic copy of C(3)n is asymptotically equal to 4n/3 if n is divisible by 3, and 2n otherwise. The proof uses the regularity lemma for hypergraphs of Frankl and Rödl.

A method of workspace modelling for spherical parallel manipulators (SPMs) of symmetrical architecture is developed by virtue of Euler parameters in the paper. The adoption of Euler parameters in the expression of spatial rotations of SPMs helps not only to eliminate the possible singularity in the rotation matrix, but also to formulate all equations in polynomials, which are more easily manipulated. Moreover, a homogeneous workspace can be obtained with Euler parameters for the SPMs, which facilitates the evaluation of dexterity. In this work, the problem of workspace modelling and analysis is formulated in terms of Euler parameters. An equation dealing with boundary surfaces is derived and branches of boundary surface are identified. Evaluation of dexterity is explored to quantitatively describe the capability of a manipulator to attain orientations. The singularity identification is also addressed. Examples are included to demonstrate the application of the proposed method.