In this paper we have proposed a numerical procedure for determining and evaluating the workspace of the eclipse robot architecture. The eclipse robot is a novel parallel architecture, which has been conceived and designed at the National Seoul University, Korea. The Eclipse robot design has been characterized in term of workspace characteristics, and optimum design solutions have been investigated as functions of the effect of design parameters on workspace.

Most of the calibration methods proposed for the Stewart platform require complex computation or low noise data for the platform's accuracy to be determined. They are not suitable for practical use in a production environment, where the measurement and calibration method should be simple and robust. Using an external laser measuring device to determine the actual accuracy of a Stewart platform, a practical and simple leg length compensating calibration method, that improves the accuracy of the Stewart platform by a magnitude of around 7, is proposed. The procedures and computation algorithms of the calibration method are shown.

An instance of the square packing problem consists of n squares with independently, uniformly distributed side-lengths and independently, uniformly distributed locations on the unit d-dimensional torus. A packing is a maximum family of pairwise disjoint squares. The one-dimensional version of the problem is the classical random interval packing problem. This paper deals with the asymptotic behaviour of packings as n tends to infinity while d = 2. Coffman, Lueker, Spencer and Winkler recently proved that the average size of packing is Θ(nd/(d+1)). Using partitioning techniques, sub-additivity and concentration of measure arguments, we show first that, after normalization by n2/3, the size of two-dimensional square packings tends in probability toward a genuine limit γ. Straightforward concentration arguments show that large fluctuations of order n2/3 should have probability vanishing exponentially fast with n2/3. Even though γ remains unknown, using a change of measure argument we show that this upper bound on tail probabilities is qualitatively correct.

We define a space of random edge-coloured graphs [Gscr]n,m,κ which correspond naturally to edge κ-colourings of Gn,m. We show that there exist constants K0, K1 [les ] 21 such that, provided m [ges ] K0n log n and κ [ges ] K1n, then a random edge-coloured graph contains a multi-coloured Hamilton cycle with probability tending to 1 as the number of vertices n tends to infinity.

We show that, for every positive integer c*, there is an integer n such that, if M is a matroid whose largest cocircuit has size c*, then E(M) can be partitioned into two sets E1 and E2 such that every connected component of each of M[mid ]E1 and M[mid ]E2 has at most n elements.

Let λ(G) be the largest eigenvalue of the adjacency matrix of a graph G: We show that if G is Kp+1-free then

This inequality was first conjectured by Edwards and Elphick in 1983 and supersedes a series of previous results on upper bounds of λ(G).

Let Ti denote the number of all i-cliques of G, λ = λ(G) and p = cl(G): We show

Let δ be the minimal degree of G. We show

This inequality supersedes inequalities of Stanley and Hong. It is sharp for regular graphs and for a class of graphs which are in some sense maximally irregular.

How large can the Lagrangian of an r-graph with m edges be? Frankl and Füredi [1] conjectured that the r-graph of size m formed by taking the first m sets in the colex ordering of N(r) has the largest Lagrangian of all r-graphs of size m. We prove the first ‘interesting’ case of this conjecture, namely that the 3-graph with (t3) edges and largest Lagrangian is [t](3). We also prove that this conjecture is true for 3-graphs of several other sizes.

For general r-graphs we prove a weaker result: for t sufficiently large, the r-graph of size (tr) supported on t + 1 vertices and with largest Lagrangian, is [t](r).

Let Tn be the complete binary tree of height n considered as the Hasse diagram of a poset with its root 1n as the maximum element. Define A(n; T) = [mid ]{S ⊆ Tn : 1n ∈ S, S ≅ T}[mid ], and B(n; T) = [mid ]{S ⊆ Tn : 1n ∉ S, S ≅ T}[mid ]. In this note we prove that for any fixed n and rooted binary trees T1, T2 such that T2 contains a subposet isomorphic to T1. We conjecture that the ratio A/B also increases with T for arbitrary trees. These inequalities imply natural behaviour of the optimal stopping time in a poset extension of the secretary problem.

We consider a stochastic process based on the iterated prisoner's dilemma game. During the game, each of n players has a state, either cooperate or defect. The players are connected by an ‘interaction graph’. During each step of the process, an edge of the graph is chosen uniformly at random and the states of the players connected by the edge are modified according to the Pavlov strategy. The process converges to a unique absorbing state in which all players cooperate. We prove two conjectures of Kittock: the convergence rate is exponential in n when the interaction graph is a complete graph, and it is polynomial in n when the interaction graph is a cycle. In fact, we show that the rate is O(n log n) in the latter case.

We give a concentration inequality involving a family of independent random permutations, which is useful for analysing certain randomized methods for graph colouring.

Termination of logic programs depends critically on the selection rule, i.e. the rule that determines which atom is selected in each resolution step. In this article, we classify programs (and queries) according to the selection rules for which they terminate. This is a survey and unified view on different approaches in the literature. For each class, we present a sufficient, for most classes even necessary, criterion for determining that a program is in that class. We study six classes: a program strongly terminates if it terminates for all selection rules; a program input terminates if it terminates for selection rules which only select atoms that are sufficiently instantiated in their input positions, so that these arguments do not get instantiated any further by the unification; a program local delay terminates if it terminates for local selection rules which only select atoms that are bounded w.r.t. an appropriate level mapping; a program left-terminates if it terminates for the usual left-to-right selection rule; a program ∃-terminates if there exists a selection rule for which it terminates; finally, a program has bounded nondeterminism if it only has finitely many refutations. We propose a semantics-preserving transformation from programs with bounded nondeterminism into strongly terminating programs. Moreover, by unifying different formalisms and making appropriate assumptions, we are able to establish a formal hierarchy between the different classes.

The paper proposes a new knowledge representation language, called DLP<, which extends disjunctive logic programming (with strong negation) by inheritance. The addition of inheritance enhances the knowledge modeling features of the language providing a natural representation of default reasoning with exceptions. A declarative model-theoretic semantics of DLP< is provided, which is shown to generalize the Answer Set Semantics of disjunctive logic programs. The knowledge modeling features of the language are illustrated by encoding classical nonmonotonic problems in DLP<. The complexity of DLP< is analyzed, proving that inheritance does not cause any computational overhead, as reasoning in DLP< has exactly the same complexity as reasoning in disjunctive logic programming. This is confirmed by the existence of an efficient translation from DLP< to plain disjunctive logic programming. Using this translation, an advanced KR system supporting the DLP< language has been implemented on top of the DLV system and has subsequently been integrated into DLV.

An important aspect of data integration involves answering queries using various resources rather than by accessing database relations. The process of transforming a query from the database relations to the resources is often referred to as query folding or answering queries using views, where the views are the resources. We present a uniform approach that includes as special cases much of the previous work on this subject. Our approach is logic-based using resolution. We deal with integrity constraints, negation, and recursion also within this framework.

We propose a modular method for proving termination of general logic programs (i.e. logic programs with negation). It is based on the notion of acceptable programs, but it allows us to prove termination in a truly modular way. We consider programs consisting of a hierarchy of modules and supply a general result for proving termination by dealing with each module separately. For programs which are in a certain sense well-behaved, namely well-moded or well-typed programs, we derive both a simple verification technique and an iterative proof method. Some examples show how our system allows for greatly simplified proofs.