TEXTS IN COMPUTER SCIENCE

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1 TEXTS IN COMPUTER SCIENCE Editors David Gries Fred B. Schneider Springer New York Berlin Heidelberg Barcelona Hong Kong London Milan Paris Singapore Tokyo

2 Peter Z. Revesz INTRODUCTION TO CONSTRAINT DATABASES With 112 Illustrations 1 Springer

3 Peter Z. Revesz Department of Computer Science and Engineering University of Nebraska Lincoln, NE , USA Series Editors David Gries Fred B. Schneider Department of Computer Science Department of Computer Science 415 Boyd Studies Research Center Upson Hall The University of Georgia Cornell University Athens, GA 30605, USA Ithaca, NY , USA Library of Congress Cataloging-in-Publication Data Revesz, Peter Z. Introduction to constraint databases / Peter Z. Revesz. p. cm. (Texts in computer science) Includes bibliographical references and index. ISBN (alk. paper) 1. Constraint databases. I. Title. II. Series. QA76.9.C67 R dc Printed on acid-free paper. c 2002 Springer-Verlag New York, Inc. All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer-Verlag New York, Inc., 175 Fifth Avenue, New York, NY 10010, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use of general descriptive names, trade names, trademarks, etc., in this publication, even if the former are not especially identified, is not to be taken as a sign that such names, as understood by the Trade Marks and Merchandise Marks Act, may accordingly be used freely by anyone. Production managed by Michael Koy; manufacturing supervised by Jacqui Ashri. Typeset pages prepared using the author s LAT E X2ε files by Integre Technical Publishing Company, Inc. Printed and bound by Hamilton Printing Co., Rensselaer, NY. Printed in the United States of America ISBN SPIN Springer-Verlag New York Berlin Heidelberg A member of BertelsmannSpringer Science+Business Media GmbH

4 In memory of Paris C. Kanellakis

5 Hold Infinity in the palm of your hand, And Eternity in an hour. William Blake: Auguries of Innocence

6 Preface Purpose and Goals This textbook provides comprehensive coverage of constraint databases. The primary audience of the book is advanced undergraduate and beginning graduate students. For them the extensive set of exercises at the end of each chapter will be useful. The text and the exercises assume as prerequisite only basic discrete mathematics, linear algebra, and programming knowledge. Many database experts will also find the bibliographic notes after each chapter a valuable reference for further reading. For both students and database experts the sample systems discussed in Chapters 18 20, as well as some slides, are available free from the author s Web page: revesz Topics Coverage and Organization The dependencies of the chapters are shown in the chart on the next page. The material covered is organized into five broad categories: Models: The material covered includes data abstraction and the relational data model (Chapter 1), the constraint data model (Chapter 2), several spatiotemporal data models (Chapter ), and data storage (Chapter 17). Queries: Relational algebra and SQL (Chapter 3), Datalog (Chapter 4), Datalog with negation and aggregation (Chapter 5), refinement queries (Chapter 6), and spatiotemporal database queries (Chapter 13.4). Evaluation: The evaluation issues discussed are safety (Chapter 8), evaluation and quantifier-elimination (Chapter 9), computational complexity

7 viii Preface 1 Models Queries Evaluation Systems Applications (Chapter 10), certification of safety (Chapter 11), and implementation outline with data structures and pseudo-codes or key algorithms (Chapter 12). There is also coverage of interoperability among several types of constraint and spatiotemporal databases (Chapter 14), approximation data representation and query evaluation (Chapter 15), and data visualization (Chapter 16). Systems: The book describes a sample linear constraint database system (Chapter 18), a Boolean constraint database system (Chapter 19), and a spatiotemporal database system (Chapter 20). Applications: Sample applications are included in three diverse areas: computer vision (Chapter 21), bioinformatics (Chapter 22), and environmental modeling (Chapter 23). A special strength of the book is that it allows a flexible course design. A good introductory course would cover some chapters from each category. For example, an introductory course focused on linear constraint databases may cover Chapters 1, 2, 3, 4, 5, 8, 18, and 21. An introductory course focused on Boolean constraints may replace the last three of these with Chapters 6, 19, and 22. The text also allows several types of advanced courses. An advanced course focused on query evaluation may start with a brief review of Chapters 1 5 and

8 Preface ix Acknowledgments then cover Chapters 8, 9, 10, 12, and 17. An advanced course focused on spatiotemporal databases may briefly review Chapters 1 4 and then cover Chapters 13 17, 20, and 23. I would like to thank Berthe Choueiry and Manolis Koubarakis for reviewing almost the entire book, French Roy and James Van Etten for reviewing the specialty chapter on bioinformatics, Franz Mora for reviewing the chapter on environmental modeling. All the chapters except the first five are based on material presented in numerous journals, conferences, and workshops. I thank my coauthors on many of those papers, including the late Paris Kanellakis, my Ph.D. thesis advisor, and Gabriel Kuper, my two coauthors on the original paper on constraint databases. I also thank the following more recent coauthors from whom I learned much: Andras Benczur, Jan Chomicki, Floris Geerts, Gosta Grahne, Alberto Mendelzon, Agnes Novak, Raghu Ramakrishnan, Divesh Srivastava, and Jan Van den Bussche. I also thank the anonymous reviewers of our papers. The book was used in manuscript form as a textbook for several years at the University of Nebraska. I would like to thank the following students for their comments on the text: Brian Boon, Mengchu Cai, Rui Chen, Yi Chen, Ying Deng, Dinesh Keshwani, Lixin Li, and Min Ouyang. In addition, the following students contributed to the material presented in the book via their programming efforts of the constraint database systems described in Chapters 18 20: Jo-Hag Byon, Pradip Kanjamala, Yiming Li, Yuguo Liu, Prashanth Nandavanam, Andrew Salamon, Yonghui Wang, and Lei Zhang. I also thank Pradeep Gundavarapu and Vijay Eadala for their help in drawing figures or contributing some examples. I am grateful to the editors at Springer-Verlag, especially Wayne Wheeler and Wayne Yuhasz, for their careful editing and attention to several details in the production of the book. The preparation of this book was supported in part by the U.S. National Science Foundation under grants IRI and IRI , by a Gallup Research Professorship, and by the University of Nebraska-Lincoln. Finally, I would like to thank Lilla, my wife, for her enthusiasm and patience during the writing of this book. Lincoln, Nebraska, USA Peter Revesz

9 Contents Preface vii 1 Infinite Relational Databases TheViewLevel TheLogicalLevel AbstractDataTypes Constraint Databases Constraints TheConstraintDataModel DataAbstraction Relational Algebra and SQL RelationalAlgebra SQL Datalog Queries Syntax DatalogwithSets DatalogwithBooleanConstraints DatalogwithAbstractDataTypes Semantics RecursiveDatalogQueries Aggregation and Negation Queries Set Grouping Average, Count, Sum AreaandVolume... 57

10 xii Contents 5.4 MinimumandMaximum Negation Stratified Datalog Queries Constraint Automata Definition of Constraint Automata Simplifications of Constraint Automata Analysis of Reachable Configurations Refinement Queries TheUniversalObjectRelationDataModel Closed,Open,andPossibleWorlds Syntax Semantics ProjectionQueries Evaluation of Refinement Queries Safe Query Languages SafetyLevels Restriction SafeAggregationandNegationQueries SafeRefinementandProjectionQueries Evaluation of Queries Quantifier Elimination and Satisfiability EvaluationofRelationalAlgebraQueries EvaluationofSQLQueries EvaluationofDatalogQueries Computational Complexity ComplexityClassesandMeasures Complexity of Relational Algebra ComplexityofDatalog Complexity of Stratified Datalog Certification ConstantPropagation VariableIndependence Monotonicity Acyclicity Tightening Bounds Tightening Coefficients Vector Addition System Positive Stochastic Matrix Multiplication

11 Contents xiii 12 Implementation Methods EvaluationwithGap-Graphs EvaluationwithMatrices BooleanConstraints OptimizationofRelationalAlgebra Spatiotemporal Databases ExtremePointDataModels ParametricExtremePointDataModels GeometricTransformationDataModels Queries Interoperability Data Interoperability Query Interoperability Other Types of Interoperability Approximation by Constraints Triangulated Irregular Networks Piecewise Linear Approximation of Time Series Parametric Triangulated Irregular Networks Parametric Rectangles Approximation of Raster Movies Data Visualization IsometricColorBands Value-by-AreaCartogram AnimationofMovingObjects Indexing Minimum Bounding Parametric Rectangles TheParametricR-TreeIndexStructure Indexing Constraint Databases The MLPQ System The MLPQ Database System Architecture MLPQ Input Files TheMLPQGraphicalUserInterface RecursiveQueries The DISCO System DISCOQueries Implementation UsingtheDISCOSystem Extensibility of the DISCO System

12 xiv Contents 20 The PReSTO System PReSTO Input Files ThePReSTOGraphicalUserInterface Implementation Computer Vision Affine Invariance Affine-Invariant Similarity Measures TheColorRatiosSimilarityMeasure Bioinformatics The Genome Map Assembly Problem TheBig-BagMatchingProblem A Constraint-Automata Solution Environmental Modeling PredictiveSpreadModeling Visualization A Decision Support System Bibliography 370 Index 390