Optimal Deterministic Protocols for Mobile Robots on a Grid

This paper studies a system of m robots operating in a set of n work locations connected by aisles in a × grid, where m≤n. From time to time the robots need to move along the aisles, in order to visit disjoint sets of locations. The movement of the robots must comply with the following constraints: (1) no two robots can collide at a grid node or traverse a grid edge at the same time; (2) a robot's sensory capability is limited to detecting the presence of another robot at a neighboring node. We present a deterministic protocol that, for any small constant ε>0, allows m≤(1-ε)n robots to visit their target locations in O( ) time, where each robot visits no more than d≤n targets and no target is visited by more than one robot. We also prove a lower bound showing that our protocol is optimal. Prior to this paper, no optimal protocols were known for d>1. For d=1, optimal protocols were known only for m≤ , while for general m≤n only a suboptimal randomized protocol was known.     

Fuzzy Distance Transform: Theory, Algorithms, and Applications

This paper describes the theory and algorithms of distance transform for fuzzy subsets, called fuzzy distance transform (FDT). The notion of fuzzy distance is formulated by first defining the length of a path on a fuzzy subset and then finding the infimum of the lengths of all paths between two points. The length of a path π in a fuzzy subset of the n-dimensional continuous space ⁿ is defined as the integral of fuzzy membership values along π. Generally, there are infinitely many paths between any two points in a fuzzy subset and it is shown that the shortest one may not exist. The fuzzy distance between two points is defined as the infimum of the lengths of all paths between them. It is demonstrated that, unlike in hard convex sets, the shortest path (when it exists) between two points in a fuzzy convex subset is not necessarily a straight line segment. For any positive number θ≤1, the θ-support of a fuzzy subset is the set of all points in ⁿ with membership values greater than or equal to θ. It is shown that, for any fuzzy subset, for any nonzero θ≤1, fuzzy distance is a metric for the interior of its θ-support. It is also shown that, for any smooth fuzzy subset, fuzzy distance is a metric for the interior of its 0-support (referred to as support). FDT is defined as a process on a fuzzy subset that assigns to a point its fuzzy distance from the complement of the support. The theoretical framework of FDT in continuous space is extended to digital cubic spaces and it is shown that for any fuzzy digital object, fuzzy distance is a metric for the support of the object. A dynamic programming-based algorithm is presented for computing FDT of a fuzzy digital object. It is shown that the algorithm terminates in a finite number of steps and when it does so, it correctly computes FDT. Several potential applications of fuzzy distance transform in medical imaging are presented. Among these are the quantification of blood vessels and trabecular bone thickness in the regime of limited special resolution where these objects become fuzzy.     

Simulation Preorder over Simple Process Algebras

We consider the problem of simulation preorder/equivalence between infinite-state processes and finite-state ones. First, we describe a general method how to utilize the decidability of bisimulation problems to solve (certain instances of) the corresponding simulation problems. For certain process classes, the method allows us to design effective reductions of simulation problems to their bisimulation counterparts and some new decidability results for simulation have already been obtained in this way. Then we establish the decidability border for the problem of simulation preorder/equivalence between infinite-state processes and finite-state ones w.r.t. the hierarchy of process rewrite systems. In particular, we show that simulation preorder (in both directions) and simulation equivalence are decidable in EXPTIME between pushdown processes and finite-state ones. On the other hand, simulation preorder is undecidable between PA and finite-state processes in both directions. These results also hold for those PA and finite-state processes which are deterministic and normed, and thus immediately extend to trace preorder. Regularity (finiteness) w.r.t. simulation and trace equivalence is also shown to be undecidable for PA. Finally, we prove that simulation preorder (in both directions) and simulation equivalence are intractable between all classes of infinite-state systems (in the hierarchy of process rewrite systems) and finite-state ones. This result is obtained by showing that the problem whether a BPA (or BPP) process simulates a finite-state one is PSPACE-hard and the other direction is co -hard; consequently, simulation equivalence between BPA (or BPP) and finite-state processes is also co -hard.     

Formative Processes with Applications to the Decision Problem in Set Theory: I. Powerset and Singleton Operators

This paper introduces formative processes, composed by transitive partitions. Given a family of sets, a formative process ending in the Venn partition Σ of is shown to exist. Sufficient criteria are also singled out for a transitive partition to model (via a function from set variables to unions of sets in the partition) all set-literals modeled by Σ. On the basis of such criteria a procedure is designed that mimics a given formative process by another where sets have finite rank bounded by C(|Σ|), with C a specific computable function. As a by-product, one of the core results on decidability in computable set theory is rediscovered, namely the one that regards the satisfiability of unquantified set-theoretic formulae involving Boolean operators, the singleton-former, and the powerset operator. The method described (which is able to exhibit a set-solution when the answer is affirmative) can be extended to solve the satisfiability problem for broader fragments of set theory.     

The Undecidability of the First-Order Theories of One Step Rewriting in Linear Canonical Systems

By reduction from the halting problem for Minsky's two-register machines we prove that there is no algorithm capable of deciding the -theory of one step rewriting of an arbitrary finite linear confluent finitely terminating term rewriting system (weak undecidability). We also present a fixed such system with undecidable *-theory of one step rewriting (strong undecidability). This improves over all previously known results of the same kind.     

Reduction of Permutation-Invariant Polynomials: A Noncommutative Case Study

Let R be a commutative ring with 1, let RX₁,…,X_n/I be the polynomial algebra in the n≥4 noncommuting variables X₁,…,X_n over R modulo the set of commutator relations I={(X₁+···+X_n)*X_i=X_i*(X₁+···+X_n)|1≤i≤n}. Furthermore, let G be an arbitrary group of permutations operating on the indeterminates X₁,…,X_n, and let RX₁,…,X_n/I^G be the R-algebra of G-invariant polynomials in RX₁,…,X_n/I. The first part of this paper is about an algorithm, which computes a representation for any fRX₁,…,X_n/I^G as a polynomial in multilinear G-invariant polynomials, i.e., the maximal variable degree of the generators of RX₁,…,X_n/I^G is at most 1. The algorithm works for any ring R and for any permutation group G. In addition, we present a bound for the number of necessary generators for the representation of all G-invariant polynomials in RX₁,…,X_n/I^G with a total degree of at most d. The second part contains a first but promising analysis of G-invariant polynomials of solvable polynomial rings.     

Lower Bounds for Merging Networks

A lower bound theorem is established for the number of comparators in a merging network. Let M(m, n) be the least number of comparators required in the (m, n)-merging networks, and let C(m, n) be the number of comparators in Batcher's (m, n)-merging network, respectively. We prove for n≥1 that M(4, n)=C(4, n) for n≡0, 1, 3 mod 4, M(4, n)≥C(4, n)−1 for n≡2 mod 4, and M(5, n)=C(5, n) for n≡0, 1, 5 mod 8. Furthermore Batcher's (6, 8k+6)-, (7, 8k+7)-, and (8, 8k+8)-merging networks are optimal for k≥0. Our lower bound for (m, n)-merging networks, m≤n, has the same terms as C(m, n) has as far as n is concerned. Thus Batcher's (m, n)-merging network is optimal up to a constant number of comparators, where the constant depends only on m. An open problem posed by Yao and Yao (Lower bounds on merging networks, J. Assoc. Comput. Mach.23, 566–571) is solved: lim_n→∞M(m, n)/n=log m/2+m/2^{log m}.     

The Solution Operator of the Korteweg-de Vries Equation is Computable

The initial value problem of the Korteweg-de Vries (KdV) equation posted on the real line R: defines a nonlinear map K from the space H^s( ) to the space C( , H^s( )) for any given real numbers s ≥ = 0. In this paper we prove that the map K_R is computable for any integer s ≥ = 3.     

Compact Recognizers of Episode Sequences

Given two strings X=a₁…a_n and P=b₁…b_m over an alphabet Σ, the problem of testing whether P occurs as a subsequence of X is trivially solved in linear time. It is also known that a simple O(n log |Σ|) time preprocessing of X makes it easy to decide subsequently, for any P and in at most |P| log |Σ| character comparisons, whether P is a subsequence of X. These problems become more complicated if one asks instead whether P occurs as a subsequence of some substring Y of X of bounded length. This paper presents an automaton built on the textstring X and capable of identifying all distinct minimal substrings Y of X having P as a subsequence. By a substring Y being minimal with respect to P, it is meant that P is not a subsequence of any proper substring of Y. For every minimal substring Y, the automaton recognizes the occurrence of P having the lexicographically smallest sequence of symbol positions in Y. It is not difficult to realize such an automaton in time and space O(n²) for a text of n characters. One result of this paper consists of bringing those bounds down to linear or O(n log n), respectively, depending on whether the alphabet is bounded or of arbitrary size, thereby matching the corresponding complexities of automata constructions for offline exact string searching. Having built the automaton, the search for all lexicographically earliest occurrences of P in X is carried out in time O(∑_i=1^mrocc_i·i) or O(n+∑_i=1^mrocc_i·i· log n), depending on whether the alphabet is fixed or arbitrary, where rocc_i is the number of distinct minimal substrings of X having b₁…b_i as a subsequence (note that each such substring may occur many times in X but is counted only once in the bound). All log factors appearing in the above bounds can be further reduced to log log by resorting to known integer-handling data structures.     

Communication Complexity Method for Measuring Nondeterminism in Finite Automata

While deterministic finite automata seem to be well understood, surprisingly many important problems concerning nondeterministic finite automata (nfa's) remain open. One such problem area is the study of different measures of nondeterminism in finite automata and the estimation of the sizes of minimal nondeterministic finite automata. In this paper the concept of communication complexity is applied in order to achieve progress in this problem area. The main results are as follows:1. Deterministic communication complexity provides lower bounds on the size of nfa's with bounded unambiguity. Applying this fact, the proofs of several results about nfa's with limited ambiguity can be simplified and presented in a uniform way.2. There is a family of languages KON_k² with an exponential size gap between nfa's with polynomial leaf number/ambiguity and nfa's with ambiguity k. This partially provides an answer to the open problem posed by B. Ravikumar and O. Ibarra (1989, SIAM J. Comput.18, 1263–1282) and H. Leung (1998, SIAM J. Comput.27, 1073–1082).     

On identification secret sharing schemes

Let be a set of participants sharing a secret from a set of secrets. A secret sharing scheme is a protocol such that any qualified subset of can determine the secret by pooling their shares, the messages which they receive, without error, whereas non-qualified subsets of cannot obtain any knowledge about the secret when they pool what they receive. In (optimal) schemes, the sizes of shared secrets depend on the sizes of shares given to the participants. Namely the former grow up exponentially as the latter increase exponentially. In this paper, instead of determining the secret, we require the qualified subsets of participants to identify the secret. This change would certainly make no difference from determining secret if no error for identification were allowed. So here we relax the requirement to identification such that an error may occur with a vanishing probability as the sizes of the secrets grow up. Under relaxed condition this changing allows us to share a set of secrets with double exponential size as the sizes of shares received by the participants exponentially grow. Thus much longer secret can be shared. On the other hand, by the continuity of Shannon entropy we have that the relaxation makes no difference for (ordinary) secret sharing schemes. We obtain the characterizations of relations of sizes of secrets and sizes of the shares for identification secret sharing schemes without and with public message. Our idea originates from Ahlswede–Dueck’s awarded work in 1989, where the identification codes via channels were introduced.     

On the automatizability of resolution and related propositional proof systems

A propositional proof system is automatizable if there is an algorithm that, given a tautology, produces a proof in time polynomial in the size of its smallest proof. This notion can be weakened if we allow the algorithm to produce a proof in a stronger system within the same time bound. This new notion is called weak automatizability. Among other characterizations, we prove that a system is weakly automatizable exactly when a weak form of the satisfiability problem is solvable in polynomial time. After studying the robustness of the definition, we prove the equivalence between: (i) Resolution is weakly automatizable, (ii) Res(k) is weakly automatizable, and (iii) Res(k) has feasible interpolation, when k>1. In order to prove this result, we show that Res(2) has polynomial-size proofs of the reflection principle of Resolution, which is a version of consistency. We also show that Res(k), for every k>1, proves its consistency in polynomial size, while Resolution does not. In fact, we show that Resolution proofs of its own consistency require almost exponential size. This gives a better lower bound for the monotone interpolation of Res(2) and a separation from Resolution as a byproduct. Our techniques also give us a way to obtain a large class of examples that have small Resolution refutations but require relatively large width. This answers a question of Alekhnovich and Razborov related to whether Resolution is automatizable in quasipolynomial-time.     

2DRMP: A suite of two-dimensional R-matrix propagation codes

The R-matrix method has proved to be a remarkably stable, robust and efficient technique for solving the close-coupling equations that arise in electron and photon collisions with atoms, ions and molecules. During the last thirty-four years a series of related R-matrix program packages have been published periodically in CPC. These packages are primarily concerned with low-energy scattering where the incident energy is insufficient to ionise the target. In this paper we describe 2DRMP, a suite of two-dimensional R-matrix propagation programs aimed at creating virtual experiments on high performance and grid architectures to enable the study of electron scattering from H-like atoms and ions at intermediate energies.

Program summary

Program title: 2DRMPCatalogue identifier: AEEA_v1_0Program summary URL:http://cpc.cs.qub.ac.uk/summaries/AEEA_v1_0.htmlProgram obtainable from: CPC Program Library, Queen's University, Belfast, N. IrelandLicensing provisions: Standard CPC licence, http://cpc.cs.qub.ac.uk/licence/licence.htmlNo. of lines in distributed program, including test data, etc.: 196 717No. of bytes in distributed program, including test data, etc.: 3 819 727Distribution format: tar.gzProgramming language: Fortran 95, MPIComputer: Tested on CRAY XT4 [1]; IBM eServer 575 [2]; Itanium II cluster [3]Operating system: Tested on UNICOS/lc [1]; IBM AIX [2]; Red Hat Linux Enterprise AS [3]Has the code been vectorised or parallelised?: Yes. 16 cores were used for small test runClassification: 2.4External routines: BLAS, LAPACK, PBLAS, ScaLAPACKSubprograms used: ADAZ_v1_1Nature of problem: 2DRMP is a suite of programs aimed at creating virtual experiments on high performance architectures to enable the study of electron scattering from H-like atoms and ions at intermediate energies.Solution method: Two-dimensional R-matrix propagation theory. The (r₁,r₂) space of the internal region is subdivided into a number of subregions. Local R-matrices are constructed within each subregion and used to propagate a global R-matrix, ℜ, across the internal region. On the boundary of the internal region ℜ is transformed onto the IERM target state basis. Thus, the two-dimensional R-matrix propagation technique transforms an intractable problem into a series of tractable problems enabling the internal region to be extended far beyond that which is possible with the standard one-sector codes. A distinctive feature of the method is that both electrons are treated identically and the R-matrix basis states are constructed to allow for both electrons to be in the continuum. The subregion size is flexible and can be adjusted to accommodate the number of cores available.Restrictions: The implementation is currently restricted to electron scattering from H-like atoms and ions.Additional comments: The programs have been designed to operate on serial computers and to exploit the distributed memory parallelism found on tightly coupled high performance clusters and supercomputers. 2DRMP has been systematically and comprehensively documented using ROBODoc [4] which is an API documentation tool that works by extracting specially formatted headers from the program source code and writing them to documentation files.Running time: The wall clock running time for the small test run using 16 cores and performed on [3] is as follows: bp (7 s); rint2 (34 s); newrd (32 s); diag (21 s); amps (11 s); prop (24 s).References:

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  HECToR, CRAY XT4 running UNICOS/lc, http://www.hector.ac.uk/, accessed 22 July, 2009.

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  HPCx, IBM eServer 575 running IBM AIX, http://www.hpcx.ac.uk/, accessed 22 July, 2009.

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  HP Cluster, Itanium II cluster running Red Hat Linux Enterprise AS, Queen s University Belfast, http://www.qub.ac.uk/directorates/InformationServices/Research/HighPerformanceComputing/Services/Hardware/HPResearch/, accessed 22 July, 2009.

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  Automating Software Documentation with ROBODoc, http://www.xs4all.nl/~rfsber/Robo/, accessed 22 July, 2009.

     

Optimal Computing the Chessboard Distance Transform on Parallel Processing Systems

Thedistance transform(DT) is an image computation tool which can be used to extract the information about the shape and the position of the foreground pixels relative to each other. It converts a binary image into a grey-level image, where each pixel has a value corresponding to the distance to the nearest foreground pixel. The time complexity for computing the distance transform is fully dependent on the different distance metrics. Especially, the more exact the distance transform is, the worse execution time reached will be. Nowadays, quite often thousands of images are processed in a limited time. It seems quite impossible for a sequential computer to do such a computation for the distance transform in real time. In order to provide efficient distance transform computation, it is considerably desirable to develop a parallel algorithm for this operation. In this paper, based on the diagonal propagation approach, we first provide anO(N²) time sequential algorithm to compute thechessboard distance transform(CDT) of anN×Nimage, which is a DT using the chessboard distance metrics. Based on the proposed sequential algorithm, the CDT of a 2D binary image array of sizeN×Ncan be computed inO(logN) time on the EREW PRAM model usingO(N²/logN) processors,O(log logN) time on the CRCW PRAM model usingO(N²/log logN) processors, andO(logN) time on the hypercube computer usingO(N²/logN) processors. Following the mapping as proposed by Lee and Horng, the algorithm for the medial axis transform is also efficiently derived. The medial axis transform of a 2D binary image array of sizeN×Ncan be computed inO(logN) time on the EREW PRAM model usingO(N²/logN) processors,O(log logN) time on the CRCW PRAM model usingO(N²/log logN) processors, andO(logN) time on the hypercube computer usingO(N²/logN) processors. The proposed parallel algorithms are composed of a set of prefix operations. In each prefix operation phase, only increase (add-one) operation and minimum operation are employed. So, the algorithms are especially efficient in practical applications.     

Exponential lower bounds for the pigeonhole principle

In this paper we prove an exponential lower bound on the size of bounded-depth Frege proofs for the pigeonhole principle (PHP). We also obtain an (loglogn)-depth lower bound for any polynomial-sized Frege proof of the pigeonhole principle. Our theorem nearly completes the search for the exact complexity of the PHP, as S. Buss has constructed polynomial-size, logn-depth Frege proofs for the PHP. The main lemma in our proof can be viewed as a general Håstad-style Switching Lemma for restrictions that are partial matchings. Our lower bounds for the pigeonhole principle improve on previous superpolynomial lower bounds.     

Attentional Scene Segmentation: Integrating Depth and Motion

We present an approach to attention in active computer vision. The notion of attention plays an important role in biological vision. In recent years, and especially with the emerging interest in active vision, computer vision researchers have been increasingly concerned with attentional mechanisms as well. The basic principles behind these efforts are greatly influenced by psychophysical research. That is the case also in the work presented here, which adapts to the model of Treisman (1985, Comput. Vision Graphics Image Process. Image Understanding31, 156–177), with an early parallel stage with preattentive cues followed by a later serial stage where the cues are integrated. The contributions in our approach are (i) the incorporation of depth information from stereopsis, (ii) the simple implementation of low level modules such as disparity and flow by local phase, and (iii) the cue integration along pursuit and saccade mode that allows us a proper target selection based on nearness and motion. We demonstrate the technique by experiments in which a moving observer selectively masks out different moving objects in real scenes.     

The ** Part of the Theory of Ground Term Algebra Modulo an AC Symbol is Undecidable

We show that the ** part of the equational theory modulo an AC symbol is undecidable. This solves the open problem 25 from the RTA list. We show that this result holds also for the equational theory modulo an ACI symbol.     

FARM_2DRMP: A version of FARM for use with 2DRMP

To complete the 2DRMP package an asymptotic program, such as FARM, is needed. The original version of FARM is designed to construct the physical R-matrix, R, from surface amplitudes contained in the H-file. However, in 2DRMP, R has already been constructed for each scattering energy during propagation. Therefore, this modified version of FARM, known as FARM_2DRMP, has been developed solely for use with 2DRMP.

New version program summary

Program title: FARM_2DRMPCatalogue identifier: ADAZ_v1_1Program summary URL:http://cpc.cs.qub.ac.uk/summaries/ADAZ_v1_1.htmlProgram obtainable from: CPC Program Library, Queen's University, Belfast, N. IrelandLicensing provisions: Standard CPC licence, http://cpc.cs.qub.ac.uk/licence/licence.htmlNo. of lines in distributed program, including test data, etc.: 13 806No. of bytes in distributed program, including test data, etc.: 134 462Distribution format: tar.gzProgramming language: Fortran 95 and MPIComputer: Tested on CRAY XT4 [1]; IBM eServer 575 [2]; Itanium II cluster [3]Operating system: Tested on UNICOS/lc [1]; IBM AIX [2]; Red Hat Linux Enterprise AS [3]Has the code been vectorized or parallelized?: Yes. 16 cores were used for the small test runClassification: 2.4External routines: BLAS, LAPACKDoes the new version supersede the previous version?: NoNature of problem: The program solves the scattering problem in the asymptotic region of R-matrix theory where exchange is negligible.Solution method: A radius is determined at which the wave function, calculated as a Gailitis expansion [4] with accelerated summing [5] over terms, converges. The R-matrix is propagated from the boundary of the internal region to this radius and the K-matrix calculated. Collision strengths or cross sections may be calculated.Reasons for new version: To complete the 2DRMP package [6] an asymptotic program, such as FARM [7], is needed. The original version of FARM is designed to construct the physical R-matrix, R, from surface amplitudes contained in the H-file. However, in 2DRMP, R, has already been constructed for each scattering energy during propagation and each R is stored in one of the RmatT files described in Fig. 8 of [6]. Therefore, this modified version of FARM, known as FARM_2DRMP, has been developed solely for use with 2DRMP. Instructions on its use and corresponding test data is provided with 2DRMP [6].Summary of revisions: FARM_2DRMP contains two codes, farm.f and farm_par.f90. The former is a serial code while the latter is a parallel F95 code that employs an MPI harness to enable the nenergy energies to be computed simultaneously across ncore cores, with each core processing either ⌊nenergy/ncore⌋ or ⌈nenergy/ncore⌉ energies. The input files, input.d and H, and the output file farm.out are as described in [7]. Both codes read R directly from RmatT.Restrictions: FARM_2DRMP is for use solely with 2DRMP and for a specified L,S and Π combination. The energy range specified in input.d must match that specified in energies.data.Running time: The wall clock running time for the small test run using 16 cores and performed on [3] is 9 secs.References:

• [1] 

  HECToR, CRAY XT4 running UNICOS/lc, http://www.hector.ac.uk/, visited 22 July, 2009.

• [2] 

  HPCx, IBM eServer 575 running IBM AIX, http://www.hpcx.ac.uk/, visited 22 July, 2009.

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  HP Cluster, Itanium II cluster running Red Hat Linux Enterprise AS, Queen's University Belfast, http://www.qub.ac.uk/directorates/InformationServices/Research/HighPerformanceComputing/Services/Hardware/HPResearch/, visited 22 July, 2009.

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  M. Gailitis, J. Phys. B 9 (1976) 843.

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  C.J. Noble, R.K. Nesbet, Comput. Phys. Comm. 33 (1984) 399.

• [6] 

  N.S. Scott, M.P. Scott, P.G. Burke, T. Stitt, V. Faro-Maza, C. Denis, A. Maniopoulou, Comput. Phys. Comm. 180 (12) (2009) 2424–2449, this issue.

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  V.M. Burke, C.J. Noble, Comput. Phys. Comm. 85 (1995) 471.