We present a general framework HM(X) for type systems with constraints. The framework stays in the tradition of the Hindley/Milner type system. Its type system instances are sound under a standard untyped compositional semantics. We can give a generic type inference algorithm for HM(X) so that, under sufficient conditions on X, type inference will always compute the principal type of a term. We discuss instances of the framework that deal with polymorphic records, equational theories, and subtypes. © 1999 John Wiley & Sons, Inc.

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Modern fiber ropes have several distinctive properties which predestine them amongst others for high dynamic applications in robotics. Beside their great breaking load, the extremely low density and weight are the most important advantages over steel wire ropes. For steel wire ropes, it is generally known that their lifetime drops when raising the dynamic stress on running or static ropes. The long-time behavior of high-dynamically stressed fiber ropes is totally unexplored up to now. This lack impedes the breakthrough of fiber ropes and causes a safety gap, which has to be closed. This paper describes the research on modern fiber ropes regarding their lifetime in normal and high dynamic applications. The derived results are interpreted with respect to application in robotics.

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