Partitioning de Bruijn Graphs into Fixed-Length Cycles for Robot Identification and Tracking

We propose a new camera-based method of robot identification, tracking and orientation estimation. The system utilises coloured lights mounted in a circle around each robot to create unique colour sequences that are observed by a camera. The number of robots that can be uniquely identified is limited by the number of colours available, $q$, the number of lights on each robot, $k$, and the number of consecutive lights the camera can see, $\ell$. For a given set of parameters, we would like to maximise the number of robots that we can use. We model this as a combinatorial problem and show that it is equivalent to finding the maximum number of disjoint $k$-cycles in the de Bruijn graph $\text{dB}(q,\ell)$. We provide several existence results that give the maximum number of cycles in $\text{dB}(q,\ell)$ in various cases. For example, we give an optimal solution when $k=q^{\ell-1}$. Another construction yields many cycles in larger de Bruijn graphs using cycles from smaller de Bruijn graphs: if $\text{dB}(q,\ell)$ can be partitioned into $k$-cycles, then $\text{dB}(q,\ell)$ can be partitioned into $tk$-cycles for any divisor $t$ of $k$. The methods used are based on finite field algebra and the combinatorics of words.Comment: 16 pages, 4 figures. Accepted for publication in Discrete Applied Mathematic

Symmetry Breaking for Answer Set Programming

In the context of answer set programming, this work investigates symmetry detection and symmetry breaking to eliminate symmetric parts of the search space and, thereby, simplify the solution process. We contribute a reduction of symmetry detection to a graph automorphism problem which allows to extract symmetries of a logic program from the symmetries of the constructed coloured graph. We also propose an encoding of symmetry-breaking constraints in terms of permutation cycles and use only generators in this process which implicitly represent symmetries and always with exponential compression. These ideas are formulated as preprocessing and implemented in a completely automated flow that first detects symmetries from a given answer set program, adds symmetry-breaking constraints, and can be applied to any existing answer set solver. We demonstrate computational impact on benchmarks versus direct application of the solver. Furthermore, we explore symmetry breaking for answer set programming in two domains: first, constraint answer set programming as a novel approach to represent and solve constraint satisfaction problems, and second, distributed nonmonotonic multi-context systems. In particular, we formulate a translation-based approach to constraint answer set solving which allows for the application of our symmetry detection and symmetry breaking methods. To compare their performance with a-priori symmetry breaking techniques, we also contribute a decomposition of the global value precedence constraint that enforces domain consistency on the original constraint via the unit-propagation of an answer set solver. We evaluate both options in an empirical analysis. In the context of distributed nonmonotonic multi-context system, we develop an algorithm for distributed symmetry detection and also carry over symmetry-breaking constraints for distributed answer set programming.Comment: Diploma thesis. Vienna University of Technology, August 201

Spatial arrangements in architecture and mechanical engineering: some aspects of their representation and construction

Spatial arrangements in architecture and mechanical engineering are represented by incidence structures and classified according to properties of these incidence structures. The relationships between classes are given by ornamentation operations and the construction of elements in fundamental classes by substructure replacement operations. Thus representations of the spatial arrangements for possible designs are generated. Planar maps represent spatial arrangements in architecutral plans. The edges correspond to walls and vertices to incidence between walls. Plans represented by 3-vertex connected maps are ornamented by rooting and extension operations. Further ornamentation specifies access between regions. Plans with all regions adjacent to the exterior correspond to outerplane maps. Trivalent maps represent an important class of plans. Fundamental plans with r internal regions and s regions adjacent to the exterior are represented by [r,s] triangulations. Ornamentations of simple [r,s] triangulations are specified which represent plans with rectangular regions. Plans with walls aligned along two directions are represented by rectangular shapes whose maximal lines correspond to contiguous aligned walls. Rules of construction for various classes are given and the incidence structures of maximal lines and regions are characterized. Spatial arrangements in machines are represented by systems whose blocks correspond to links and vertices to joints. The dual systems are also used. Coplanar kinematic chains with revolute pairs are classified according to mobility and connectedness. Two fundamental classes are considered. First, the chains with binary joints, represented by simple graphs and constructed by two new methods: (i) suspended chain and cycle addition and (ii) subgraph replacement. Second, the chains with binary links which are constructed by subgraph replacement

The Iteration Number of Colour Refinement

The Colour Refinement procedure and its generalisation to higher dimensions, the Weisfeiler-Leman algorithm, are central subroutines in approaches to the graph isomorphism problem. In an iterative fashion, Colour Refinement computes a colouring of the vertices of its input graph. A trivial upper bound on the iteration number of Colour Refinement on graphs of order n is n-1. We show that this bound is tight. More precisely, we prove via explicit constructions that there are infinitely many graphs G on which Colour Refinement takes |G|-1 iterations to stabilise. Modifying the infinite families that we present, we show that for every natural number n ? 10, there are graphs on n vertices on which Colour Refinement requires at least n-2 iterations to reach stabilisation

Solving hard subgraph problems in parallel

This thesis improves the state of the art in exact, practical algorithms for finding subgraphs. We study maximum clique, subgraph isomorphism, and maximum common subgraph problems. These are widely applicable: within computing science, subgraph problems arise in document clustering, computer vision, the design of communication protocols, model checking, compiler code generation, malware detection, cryptography, and robotics; beyond, applications occur in biochemistry, electrical engineering, mathematics, law enforcement, fraud detection, fault diagnosis, manufacturing, and sociology. We therefore consider both the ``pure'' forms of these problems, and variants with labels and other domain-specific constraints. Although subgraph-finding should theoretically be hard, the constraint-based search algorithms we discuss can easily solve real-world instances involving graphs with thousands of vertices, and millions of edges. We therefore ask: is it possible to generate ``really hard'' instances for these problems, and if so, what can we learn? By extending research into combinatorial phase transition phenomena, we develop a better understanding of branching heuristics, as well as highlighting a serious flaw in the design of graph database systems. This thesis also demonstrates how to exploit two of the kinds of parallelism offered by current computer hardware. Bit parallelism allows us to carry out operations on whole sets of vertices in a single instruction---this is largely routine. Thread parallelism, to make use of the multiple cores offered by all modern processors, is more complex. We suggest three desirable performance characteristics that we would like when introducing thread parallelism: lack of risk (parallel cannot be exponentially slower than sequential), scalability (adding more processing cores cannot make runtimes worse), and reproducibility (the same instance on the same hardware will take roughly the same time every time it is run). We then detail the difficulties in guaranteeing these characteristics when using modern algorithmic techniques. Besides ensuring that parallelism cannot make things worse, we also increase the likelihood of it making things better. We compare randomised work stealing to new tailored strategies, and perform experiments to identify the factors contributing to good speedups. We show that whilst load balancing is difficult, the primary factor influencing the results is the interaction between branching heuristics and parallelism. By using parallelism to explicitly offset the commitment made to weak early branching choices, we obtain parallel subgraph solvers which are substantially and consistently better than the best sequential algorithms

History and National Identity Construction: The Great Famine in Irish and Ukrainian History Textbooks

This paper compares the narratives on the Famine in Irish and Ukrainian history textbooks and examines to what extent these narratives are coloured by a nationalist discourse. It argues that the story of the Famine in Irish history textbooks has changed from nationalist propaganda to a more balanced narrative, and that this change was brought about by the social transformations in the 1960s. The paper further observes that the current Ukrainian textbooks display quite a variation in the selection and interpretation of events relating to the Famine. Whereas some show a considerable nationalist bias, others present more moderate views. The trajectory of Irish narratives lends support to a theory that relates politicized historiography to the age of a state and to the consolidation of democracy. The diverse pattern of Ukrainian narratives, however, is difficult to reconcile with theories linking historiography to the wider social and political context. This pattern suggests that young states and/or states emerging from authoritarian rule need not automatically entertain uniformly nationalist or otherwise ideologically coloured discourses in the immediate post-independence period