A 5-year profile of the incidence of total joint replacement in South Africa (1985 - 1989)

This survey was conducted to determine the number of total joint replacements (TJRs) carried out annually in South Africa from 1985 to 1989 and the nwnber of surgeons performing these procedures. During this period there was a 28% increase in the number of TJRs performed annually with an average increase of 20% in total hip replacements and 40% in total knee replacements. The number of surgeons involved in joint replacement during the survey period decreased by 7% in state-subsidised institutions but increased by 57% in the private sector. This is reflected in the number of TJRs performed each year, which has remained static in the state institutions but exhibits a threefold increase in the private sector. This probably reflects a shift in emphasis in state health care policy

Maximum Cliques in Graphs with Small Intersection Number and Random Intersection Graphs

In this paper, we relate the problem of finding a maximum clique to the intersection number of the input graph (i.e. the minimum number of cliques needed to edge cover the graph). In particular, we consider the maximum clique problem for graphs with small intersection number and random intersection graphs (a model in which each one of $m$ labels is chosen independently with probability $p$ by each one of $n$ vertices, and there are edges between any vertices with overlaps in the labels chosen). We first present a simple algorithm which, on input $G$ finds a maximum clique in $O(2^{2^m + O(m)} + n^2 \min\{2^m, n\})$ time steps, where $m$ is an upper bound on the intersection number and $n$ is the number of vertices. Consequently, when $m \leq \ln{\ln{n}}$ the running time of this algorithm is polynomial. We then consider random instances of the random intersection graphs model as input graphs. As our main contribution, we prove that, when the number of labels is not too large ($m=n^{\alpha}, 0< \alpha <1$), we can use the label choices of the vertices to find a maximum clique in polynomial time whp. The proof of correctness for this algorithm relies on our Single Label Clique Theorem, which roughly states that whp a "large enough" clique cannot be formed by more than one label. This theorem generalizes and strengthens other related results in the state of the art, but also broadens the range of values considered. As an important consequence of our Single Label Clique Theorem, we prove that the problem of inferring the complete information of label choices for each vertex from the resulting random intersection graph (i.e. the \emph{label representation of the graph}) is \emph{solvable} whp. Finding efficient algorithms for constructing such a label representation is left as an interesting open problem for future research

Hammock-on-ears decomposition: a technique for the efficient parallel solution of shortest paths and other problems

We show how to decompose efficiently in parallel {\em any} graph into a number, $\tilde{\gamma}$, of outerplanar subgraphs (called {\em hammocks}) satisfying certain separator properties. Our work combines and extends the sequential hammock decomposition technique introduced by G.~Frederickson and the parallel ear decomposition technique, thus we call it the {\em hammock-on-ears decomposition}. We mention that hammock-on-ears decomposition also draws from techniques in computational geometry and that an embedding of the graph does not need to be provided with the input. We achieve this decomposition in $O(\log n\log\log n)$ time using $O(n+m)$ CREW PRAM processors, for an $n$-vertex, $m$-edge graph or digraph. The hammock-on-ears decomposition implies a general framework for solving graph problems efficiently. Its value is demonstrated by a variety of applications on a significant class of (di)graphs, namely that of {\em sparse (di)graphs}. This class consists of all (di)graphs which have a $\tilde{\gamma}$ between $1$ and $\Theta(n)$, and includes planar graphs and graphs with genus $o(n)$. We improve previous bounds for certain instances of shortest paths and related problems, in this class of graphs. These problems include all pairs shortest paths, all pairs reachability

On the existence of highly organized communities in networks of locally interacting agents

In this paper we investigate phenomena of spontaneous emergence or purposeful formation of highly organized structures in networks of related agents. We show that the formation of large organized structures requires exponentially large, in the size of the structures, networks. Our approach is based on Kolmogorov, or descriptional, complexity of networks viewed as finite size strings. We apply this approach to the study of the emergence or formation of simple organized, hierarchical, structures based on Sierpinski Graphs and we prove a Ramsey type theorem that bounds the number of vertices in Kolmogorov random graphs that contain Sierpinski Graphs as subgraphs. Moreover, we show that Sierpinski Graphs encompass close-knit relationships among their vertices that facilitate fast spread and learning of information when agents in their vertices are engaged in pairwise interactions modelled as two person games. Finally, we generalize our findings for any organized structure with succinct representations. Our work can be deployed, in particular, to study problems related to the security of networks by identifying conditions which enable or forbid the formation of sufficiently large insider subnetworks with malicious common goal to overtake the network or cause disruption of its operation

Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons

We consider the following motion-planning problem: we are given $m$ unit discs in a simple polygon with $n$ vertices, each at their own start position, and we want to move the discs to a given set of $m$ target positions. Contrary to the standard (labeled) version of the problem, each disc is allowed to be moved to any target position, as long as in the end every target position is occupied. We show that this unlabeled version of the problem can be solved in $O(n\log n+mn+m^2)$ time, assuming that the start and target positions are at least some minimal distance from each other. This is in sharp contrast to the standard (labeled) and more general multi-robot motion-planning problem for discs moving in a simple polygon, which is known to be strongly NP-hard

Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning

We present a sampling-based framework for multi-robot motion planning which combines an implicit representation of a roadmap with a novel approach for pathfinding in geometrically embedded graphs tailored for our setting. Our pathfinding algorithm, discrete-RRT (dRRT), is an adaptation of the celebrated RRT algorithm for the discrete case of a graph, and it enables a rapid exploration of the high-dimensional configuration space by carefully walking through an implicit representation of a tensor product of roadmaps for the individual robots. We demonstrate our approach experimentally on scenarios of up to 60 degrees of freedom where our algorithm is faster by a factor of at least ten when compared to existing algorithms that we are aware of.Comment: Kiril Solovey and Oren Salzman contributed equally to this pape

Stably computing order statistics with arithmetic population protocols.

In this paper we initiate the study of populations of agents with very limited capabilities that are globally able to compute order statistics of their arithmetic input values via pair-wise meetings. To this extent, we introduce the Arithmetic Population Protocol (APP) model, embarking from the well known Population Protocol (PP) model and inspired by two recent papers in which states are treated as integer numbers. In the APP model, every agent has a state from a set Q of states, as well as a fixed number of registers (independent of the size of the population), each of which can store an element from a totally ordered set S of samples. Whenever two agents interact with each other, they update their states and the values stored in their registers according to a joint transition function. This transition function is also restricted; it only allows (a) comparisons and (b) copy / paste operations for the sample values that are stored in the registers of the two interacting agents. Agents can only meet in pairs via a fair scheduler and are required to eventually converge to the same output value of the function that the protocol globally and stably computes. We present two different APPs for stably computing the median of the input values, initially stored on the agents of the population. Our first APP, in which every agent has 3 registers and no states, stably computes (with probability 1) the median under any fair scheduler in any strongly connected directed (or connected undirected) interaction graph. Under the probabilistic scheduler, we show that our protocol stably computes the median in O(n^6) number of interactions in a connected undirected interaction graph of $n$ agents. Our second APP, in which every agent has 2 registers and O(n^2 log{n}) states, computes to the correct median of the input with high probability in O(n^3 log{n}) interactions, assuming the probabilistic scheduler and the complete interaction graph. Finally we present a third APP which, for any k, stably computes the k-th smallest element of the input of the population under any fair scheduler and in any strongly connected directed (or connected undirected) interaction graph. In this APP every agent has 2 registers and n states. Upon convergence every agent has a different state; all these states provide a total ordering of the agents with respect to their input values

The price of optimum in Stackelberg games on arbitrary single commodity networks and latency functions

Let M be a single s-t network of parallel links with load dependent latency functions shared by an infinite number of selfish users. This may yield a Nash equilibrium with unbounded Coordination Ratio [23, 43]. A Leader can decrease the coordination ratio by assigning flow αr on M, and then all Followers assign selfishly the (1 − α)r remaining flow. This is a Stackelberg Scheduling Instance (M, r, α), 0 ≤ α ≤ 1. It was shown [38] that it is weakly NP-hard to compute the optimal Leader’s strategy. For any such network M we efficiently compute the minimum portion βM of flow r&gt; 0 needed by a Leader to induce M ’s optimum cost, as well as her optimal strategy. This shows that the optimal Leader’s strategy on instances (M, r, α ≥ βM) is in P. Unfortunately, Stackelberg routing in more general nets can be arbitrarily hard. Roughgarden pre-sented a modification of Braess’s Paradox graph, such that no strategy controlling αr flow can induce ≤ 1α times the optimum cost. However, we show that our main result also applies to any s-t net G. We take care of the Braess’s graph explicitly, as a convincing example. Finally, we extend this result to k commodities. A conference version of this paper has appeared in [16]. Some preliminary results have also appeare