Low-discrepancy quasi-uniform digital nets in every dimension: blueprint

6 Dimension three, every resolution

6.1 \(m\equiv 0\): the scramble

Definition 43
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\(\mathcal P_{k,q}\) is the digital net over \(\mathbb {Z}/q\mathbb {Z}\) with generator matrices \((LT^2,\, L,\, LT)\). For \(V\in (\mathbb {Z}/q\mathbb {Z})[t]_{{\lt}3k}\) the point has coordinates \(\phi _q(d(W))\) for \(W=T^2V,V,TV\), where \(d(W)=L\, [W]_m\):

\begin{align*} d_j& =[t^{j}]\, \, W(1-t)^{-k}\quad (j\notin \{ k-2,k-1,k\} ),& d_{k-2}& =[t^{k-2}]\, \, W(1-t)^{-k-1},\\ d_{k-1}& =-[t^{k-1}]\, \, W(1-t)^{-k},& d_k& =[t^{k}]\, \, (1+t)\, W(1-t)^{-k}. \end{align*}

6.2 The net property

Theorem 44
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For every \(k\ge 1\), every box minor of \((LT^2,L,LT)\) equals \(\pm 1\). Hence \(\mathcal P_{k,q}\) is a \((0,3k,3)\)-net in base \(q\) for every \(q\ge 2\).

Proof ▼

From \((\Psi V)(t)=\sum _iv_i(1-t)^{m-1-i}\) one reads off, over any commutative ring: (F1) if \(t^j\mid V\) then \(\deg \Psi V{\lt}m-j\); (F2) if \(\deg V{\lt}m-j\) then \((1-t)^j\mid \Psi V\). Let \(d_1+d_2+d_3=m\) and suppose that, over a field, the first \(d_1,d_2,d_3\) digits of \(T^2V\), \(V\), \(TV\) vanish: \(t^{d_1}\mid \Psi ^2V\), \(t^{d_2}\mid V\), \(t^{d_3}\mid \Psi V\). Since \(V=\pm \Psi (\Psi ^2V)\), (F1) gives \(\deg V{\lt}m-d_1=d_2+d_3\); and (F1) applied to \(\Psi V\) gives \(\deg \Psi ^2V{\lt}m-d_3\), whence \((1-t)^{d_3}\mid V\) by (F2). As \(1=t+(1-t)\), the factors \(t^{d_2}\) and \((1-t)^{d_3}\) are coprime, so their product, of degree \(d_2+d_3\), divides \(V\); hence \(V=0\). So every box minor of the frame is nonzero modulo every prime, i.e. \(\pm 1\); the scramble multiplies it by \(\pm 1\) (eq:scr), and Lemma 1 concludes.

6.3 Cells and the geometric digit

Proposition 45
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The geometric digit of each coordinate depends only on the last two cell digits of the three coordinates, and the deeper digits of a coordinate do not depend on its own cell. Precisely, for every \(V\), writing \(d^x,d^y,d^z\) for the digit vectors of the three coordinates: (a) \(d^x_k=-d^x_{k-1}-d^y_{k-1}+d^z_{k-1}-d^z_{k-2}\); (b) for \(j{\gt}k\), \(d^x_j\) is a function of the cells \((n_y,n_z)\) alone; (c) the same holds after the cyclic shift \((x,y,z)\mapsto (y,z,x)\). Consequently \(r\equiv Mu+Jv\pmod q\) with

\[ M=\begin{pmatrix} -1 & -1 & 1 \\ 1 & -1 & -1 \\ -1 & 1 & -1 \end{pmatrix},\qquad J=\begin{pmatrix} 0 & 0 & -1 \\ -1 & 0 & 0 \\ 0 & -1 & 0 \end{pmatrix}, \]

and \(f_c\) does not depend on \(n_c\).

Proof ▼

For \(\deg F\le N\) put \(\Psi _NF=(1-t)^NF(1/(1-t))\), so \(\Psi =\Psi _{m-1}\), and \(\Psi _{a+b}(FG)=\Psi _aF\cdot \Psi _bG\) whenever \(\deg F\le a\), \(\deg G\le b\) (on binary forms, \(\Psi _N\) is the \(N\)-th symmetric power of the matrix \(g\) of Section 3). Moreover \(\Psi _kt^k=1\), \(\Psi _k(t-1)^k=t^k\), \(\Psi _k(1-t)^k=(-t)^k\), \(\Psi _k1=(1-t)^k\), and for \(\deg F{\lt}k\), with \(\Psi '=\Psi _{k-1}\): \((\Psi '^2F)(0)=F_{k-1}=(\Psi 'F)(1)\). Partial fractions of \(V/(t^k(t-1)^k)\) (over \(\mathbb {Z}\): divide by the monic \(t^k(t-1)^k\), then use a Bézout identity \(1=\alpha t^k+\beta (t-1)^k\) in \(\mathbb {Z}[t]\), obtained by expanding \(1=(t-(t-1))^{2k-1}\)) give

\[ V=A\, (t-1)^k+B\, t^k+Q\, t^k(t-1)^k,\qquad \deg A,\deg B,\deg Q{\lt}k, \]

and multiplicativity gives

\begin{align*} \Psi V& =\Psi ’A\cdot t^k(1-t)^k+\Psi ’B\cdot (1-t)^k+\Psi ’Q\cdot t^k,\\ \Psi ^2V& =(-t)^k\, \Psi ’^2A+(-t)^k(1-t)^k\, \Psi ’^2B+(1-t)^k\, \Psi ’^2Q . \end{align*}

Write \(\psi _j(W)=(\mathcal K[W]_m)_j=[t^{j}]\, W(1-t)^{-k}\), so that \(d(W)=\mathcal E\, (\psi _j(W))_j\).

Cells and (b). Modulo \(t^k\), \(V\equiv A(t-1)^k\) and \(\Psi V\equiv \Psi 'B\, (1-t)^k\), so the \(y\)-cell determines \(A\) and the \(z\)-cell \(B\) (\(L\) is lower-triangular with diagonal \(\pm 1\), \((t\mp 1)^k\) are units modulo \(t^k\), and \(\Psi '\) is invertible). For \(j{\lt}k\), \(\psi _j(\Psi ^2V)=[t^{j}]\, \Psi '^2Q\), so the \(x\)-cell determines \(Q\), and the three cells determine \(V\). For \(j\ge k\), \(\psi _j(\Psi ^2V)=[t^{j}]\, (-t)^k\bigl(\Psi '^2A\, (1-t)^{-k}+\Psi '^2B\bigr)\) depends on \(A,B\) only; as \(\mathcal E\) changes only rows \(k-2,k-1,k\), this is (b).

(a). From the displays, \(\psi _k(\Psi ^2V)=(-1)^k(A_{k-1}+B_{k-1})\), \(\psi _{k-1}(V)=(-1)^kA_{k-1}\) and, as \(\Psi V(1-t)^{-k}\equiv \Psi 'B\pmod{t^k}\), \(\sum _{j{\lt}k}\psi _j(\Psi V)=(\Psi 'B)(1)=B_{k-1}\). By the definition of \(\mathcal E\) (and \(T^2=\Psi ^2\), \(T=s_k\Psi \)), \(d^x_k=-d^x_{k-1}+(-1)^k(A_{k-1}+B_{k-1})\), \(d^y_{k-1}=-(-1)^kA_{k-1}\) and \(d^z_{k-2}-d^z_{k-1}=s_kB_{k-1}\); with \((-1)^ks_k=-1\) this is (a). Part (c) follows from \(T^3=1\).

Figure fig:arcsmall shows the lattice picture for \(\mathcal P_{k,q}\). On a patch where no geometric digit wraps, the points form, up to the jitter, a piece of a translate of the lattice \(\Lambda _q=(I+M/q)\mathbb {Z}^3\) (in cell units). Since \(M=-I+[\mathbf1]_\times \), where \([\mathbf1]_\times E=\mathbf1\times E\) is the cross product with \(\mathbf1=(1,1,1)\), \(\Lambda _q\) is \(\mathbb {Z}^3\) rotated by \(\arctan (\sqrt3/(q-1))\) about \(\mathbf1\), scaled by \(1-1/q\) along \(\mathbf1\) and by \(((1-1/q)^2+3/q^2)^{1/2}\) across it; \(\det (I+M/q){\lt}1\). Its shortest vectors are \(\pm (I+M/q)e_i\), e.g. \((I+M/q)e_x=(1-\tfrac 1q,\tfrac 1q,-\tfrac 1q)\), of length \(\lambda _1(\Lambda _q)=(1-2/q+3/q^2)^{1/2}=1-1/q+O(q^{-2})\): for \(E\in \mathbb {Z}^3\), \(|(I+M/q)E|^2=(1-1/q)^2|E|^2+(3/q^2)|E_\perp |^2\) with \(E_\perp \) the component orthogonal to \(\mathbf1\), which is at least \(2(1-1/q)^2{\gt}1-2/q+3/q^2\) when \(|E|^2\ge 2\) and \(q\ge 3\). The own-axis term \(1-1/q\) of \(c(q)\) is its component along the moving axis. The proof of Theorem 48 uses only this component: the transverse parts \(\pm 1/q\) are of the size of the jitter, which may cancel them, so the certified \(c(q)\) is below \(\lambda _1(\Lambda _q)\). \(\Lambda _q\) has covolume \(\det (I+M/q){\lt}1\), so it has slightly more than one site per cell; reducing \(Mu\) modulo \(q\) skips the extra sites at the slip planes, so that each cell keeps exactly one point. Theorem 48 bounds the steps coordinatewise and does not use \(\lambda _1(\Lambda _q)\).

6.4 The separation bound

Theorem 47 Dimension three, \(m\equiv 0\)
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Let \(q\ge 4\) and \(k\ge 2\), and let \(\mathcal P_{k,q}\) be the digital net of Definition 43, with \(N=q^{3k}\) points. Then:

  1. \(\mathcal P_{k,q}\) is a \((0,3k,3)\)-net in base \(q\) (Theorem 44; this holds for every \(q\ge 2\));

  2. every cell \(\prod _i[n_i q^{-k},(n_i+1)q^{-k})\) contains exactly one point, so \(h_{\mathcal P}\le \sqrt3\, N^{-1/3}\);

  3. the toroidal (hence also the Euclidean) minimum distance satisfies \(\delta _{\mathcal P}\ge c(q)\, N^{-1/3}\), where

    \[ c(q)^2=\min \Bigl\{ \bigl(1-\tfrac 1q\bigr)^2,\ \bigl(1-\tfrac 2q\bigr)^2+\bigl(1-\tfrac 4q\bigr)^2,\ 3\bigl(1-\tfrac 3q\bigr)^2\Bigr\} . \]

    In particular \(c(q)=1-1/q\) for all \(q\ge 8\) (Theorem 48).

For \(q\ge 4\) and \(k\ge 2\), the toroidal minimum distance of \(\mathcal P_{k,q}\) is at least \(c(q)\, q^{-k}\), with \(c(q)\) as in Theorem 47.

Proof ▼

Work in cell units, with two points in cells \(n\) and \(n+e\) (toroidally). If some \(|e_i|\ge 2\), the \(i\)-th coordinates differ by at least \(1\ge c(q)\); \(e=0\) is impossible. So let \(e\in \{ -1,0,1\} ^3\setminus \{ 0\} \), and let \(\nu \) be the number of moving axes.

The step. For a moving axis \(d\), \(u_d\) changes by \(e_d\) modulo \(q\), and \(v_d\) changes by \(e_d\) if \(u_d\) wraps (\(\omega _d=1\); this includes the step across the torus boundary, \(n_d\) from \(q^k-1\) to \(0\) or back, where all cell digits wrap; since \(k\ge 2\), \(v_d\) then still changes by exactly \(e_d\)) and is unchanged otherwise (\(\omega _d=0\)). Hence \(r'-r\equiv \sigma \pmod q\) with

\begin{equation} \label{eq:sigma} \sigma _i=-e_i-e_{i+1}+(1-\omega _{i+2})\, e_{i+2}\qquad (\text{indices mod }3,\ x\to y\to z), \end{equation}
1

\(|\sigma _i|\le 3\), and \(\Delta _i=e_i+((r'_i-r_i)+(f'_i-f_i))/q\), where \(r'_i-r_i\in \{ \sigma _i,\ \sigma _i-q\operatorname {sgn}\sigma _i\} \) (\(\{ 0\} \) if \(\sigma _i=0\)), \(|f'_i-f_i|{\lt}1\), and \(f'_i=f_i\) if only axis \(i\) moves (Proposition 45(b)).

Per-coordinate bound. Call a moving coordinate backward if \(e_i\sigma _i\le 0\) and forward otherwise. For a backward coordinate, \(r'_i-r_i=\sigma _i\) gives \(|\Delta _i|\ge 1-(|\sigma _i|+1)/q\) and \(r'_i-r_i=\sigma _i+qe_i\) gives \(|\Delta _i|\ge 2-(|\sigma _i|+1)/q\); as \(q\ge 4{\gt}|\sigma _i|\), both give \(|\Delta _i|\ge c_{|\sigma _i|+1}\) with \(c_j:=1-j/q\ge 0\). Forward coordinates, and coordinates that do not move, are only bounded by \(0\).

Signs. From 1: (i) If \(e=\pm e_i\) then \(\sigma _i=-e_i\) and there is no jitter, so \(\Delta _i\in \{ e_i(1-1/q),\ e_i(2-1/q)\} \) and \(|\Delta |\ge c_1\). (ii) \(e_i\sigma _i=-1-e_ie_{i+1}+(1-\omega _{i+2})e_ie_{i+2}\) is positive iff \(e_{i+1}=-e_i\), \(e_{i+2}=e_i\) and \(\omega _{i+2}=0\). So a forward coordinate exists only if \(\nu =3\), and it is unique; then \(\sigma _{i+1}=(1-\omega _i)e_i\) (backward, \(|\sigma |\le 1\)) and \(\sigma _{i+2}=-(3-\omega _{i+1})e_i\) (backward, \(|\sigma |\le 3\)). (iii) \(|\sigma _i|=3\) forces \(e_{i+1}=e_i\), \(e_{i+2}=-e_i\), \(\omega _{i+2}=0\), and then \(\sigma _{i+2}=(1-\omega _{i+1})e_i\): backward with \(|\sigma |\le 1\). (iv) If \(\nu =2\) with moving axes \(\{ i,i+1\} \), both are backward by (ii); either \(e_{i+1}=e_i\) and \(|\sigma _{i+1}|\le 1\), or \(e_{i+1}=-e_i\) and \(\sigma _i=0\); the other value is at most \(2\) in absolute value.

Cases. \(\nu =1\): \(|\Delta |\ge c_1\) by (i). \(\nu =2\): \(|\Delta |^2\ge c_2^2+c_3^2\) by (iv). \(\nu =3\) with some backward \(|\sigma _i|=3\): \(|\Delta |^2\ge c_4^2+c_2^2\) by (iii). \(\nu =3\) with a forward coordinate and all backward \(|\sigma |\le 2\): \(|\Delta |^2\ge c_2^2+c_3^2\) by (ii). Otherwise three backward coordinates with \(|\sigma |\le 2\): \(|\Delta |^2\ge 3c_3^2\). As \(c_3\ge c_4\), the minimum is \(c(q)^2\). For \(q\ge 8\), \(c_2^2+c_4^2\ge c_1^2\) (as \(1-10x+19x^2\ge 0\) for \(x=1/q\le 1/8\)) and \(3c_3^2\ge c_1^2\), so \(c(q)=1-1/q\).

6.5 Resolution \(m=3\): column nets

Definition 49 Column nets
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Let \(q\ge 5\) with \(\gcd (q,6)=1\), let \(w=(-2,1,1)\) if \(q\equiv 2\pmod3\) and \(w=(-1,-1,2)\) if \(q\equiv 1\pmod3\), and let \(a=\frac13(q\mathbf1+w)\), an integer vector with \(a_x+a_y+a_z=q\) (\(w\) is forced modulo \(3\), \(w\equiv -q\mathbf1\), by the integrality of \(a\), and \(w\cdot \mathbf1=0\)). The column net \(\mathcal C_q\) is the digital net over \(\mathbb {Z}/q\mathbb {Z}\) whose point with index \(n\in (\mathbb {Z}/q\mathbb {Z})^3\) has, in every coordinate \(c\), the three digits

\[ n_c,\qquad r(n)=a\cdot n,\qquad j(n)=n_y-n_x, \]

i.e. the generator matrices with the rows \(\mathbf{e}_c\), \(a\) and \(b:=(-1,1,0)\).

Theorem 50 Minimum distance of column point sets
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Let \(q\ge 2\), let \(X\) be a column point set, and for a direction \(i\in \{ x,y,z\} \) and a cell \(n\) let \(\Delta _i([n])=\varphi ([n+\mathbf{e}_i])-\varphi ([n])\). Then the toroidal minimum distance \(d\) of \(X\) at integer scale \(q^3\) satisfies

\[ d^2=\frac23q^4+3g^2,\qquad g=\min _{i,[n]}\operatorname {dist}\Bigl(\Delta _i([n]),\ \frac23q^2+q^2\mathbb {Z}\Bigr), \]

and it is attained by two points in neighbouring columns \([n]\), \([n+\mathbf{e}_i]\). In particular \(\delta N^{1/3}\ge \sqrt{2/3}\).

Proof ▼

Let \(n\ne n'\) be cells and \(D\) a representative of \(X(n')-X(n)\) modulo \(q^3\). Then \(D=q^2E+\Delta \mathbf1\) with an integer vector \(E\equiv n'-n\pmod q\) and \(\Delta =\varphi ([n'])-\varphi ([n])\); every such \(E\) occurs, and the toroidal distance of the pair is the least \(|D|\). With \(\Sigma E=E_x+E_y+E_z\),

\[ |q^2E+\Delta \mathbf1|^2=q^4|PE|^2+\tfrac 13\bigl(q^2\Sigma E+3\Delta \bigr)^2,\qquad |PE|^2=\tfrac 13\bigl((E_x-E_y)^2+(E_y-E_z)^2+(E_z-E_x)^2\bigr). \]

The three differences \(E_x-E_y\), \(E_y-E_z\), \(E_z-E_x\) are integers with sum \(0\). If they all vanish, \(E=t\mathbf1\) with \(t\in \mathbb {Z}\); then \(n'\equiv n+t\mathbf1\) lies in the column of \(n\), \(\Delta =0\), \(t\not\equiv 0\pmod q\), and \(|D|^2=3t^2q^4\ge 3q^4\). If one of them has absolute value at least \(2\), the other two sum to its negative, so the three squares sum to at least \(6\) and \(|D|^2\ge 2q^4\). Otherwise they are \(\pm (1,-1,0)\) up to order, i.e. \(E=\pm \mathbf{e}_i+t\mathbf1\) for some \(i\) and \(t\in \mathbb {Z}\). For \(E=\mathbf{e}_i+t\mathbf1\) we get \(D=q^2\mathbf{e}_i+U\mathbf1\) with \(U=\Delta +tq^2\), and

\[ |q^2\mathbf{e}_i+U\mathbf1|^2=(q^2+U)^2+2U^2=\tfrac 23q^4+3\bigl(U+\tfrac 13q^2\bigr)^2 . \]

As \(t\) runs over \(\mathbb {Z}\), \(U\) runs over \(\Delta +q^2\mathbb {Z}\), so the least such value is \(\frac23q^4+3\operatorname {dist}(\Delta ,-\frac13q^2+q^2\mathbb {Z})^2\), and \(-\frac13q^2\equiv \frac23q^2\pmod{q^2}\); it is at most \(\frac23q^4+3(\frac12q^2)^2{\lt}2q^4\). A pair with \(E=-\mathbf{e}_i+t\mathbf1\) is, read backwards, a pair with \(E=\mathbf{e}_i-t\mathbf1\). Every pair of neighbouring columns occurs (take any cell \(n\) and \(n'=n+\mathbf{e}_i\)), so the minimum over all pairs is \(\frac23q^4+3g^2\).

Let \(q\ge 5\) with \(\gcd (q,6)=1\), and let \(\mathcal C_q\) be the column net of Definition 49, with \(N=q^3\) points.

  1. \(\mathcal C_q\) is a digital \((0,3,3)\)-net over \(\mathbb {Z}/q\mathbb {Z}\); up to sign, its box minors are \(1\), \(a_x\), \(a_y\), \(a_z\) and \(a_x+a_y\) (the last two modulo \(q\); as integers the minors of the boxes with depth \(3\) on \(x\), \(y\) and \(z\) are, up to sign, \(a_z\), \(a_z\) and \(a_x+a_y\)). Every cell of side \(q^{-1}\) holds one point, so \(h\le \sqrt3\, N^{-1/3}\).

  2. Its toroidal minimum distance \(d\) at integer scale \(q^3\), and also its Euclidean one, is

    \[ d^2=\frac23q^4+3g^2,\qquad 3g=\begin{cases} q^2-q-3& \text{if }q\equiv 2\pmod3,\\ q^2-2q& \text{if }q\equiv 1\pmod3,\end{cases} \]

    with \(g\) as in Theorem 50, that is, \(d^2=q^4-\frac23q^3-\frac53q^2+2q+3\) resp. \(q^4-\frac43q^3+\frac43q^2\), and

    \[ \delta N^{1/3}=1-\frac1{3q}-\frac8{9q^2}+O(q^{-3})\quad \text{resp.}\quad \delta N^{1/3}=1-\frac2{3q}+\frac4{9q^2}+O(q^{-3}). \]

    Two points are closest on the torus if and only if they differ by \(\pm D\) modulo \(q^3\), where \(D=\frac13\bigl(-(2q^2-q-3),\, q^2+q+3,\, -(2q^2-q-3)\bigr)\) for \(q\equiv 2\) and \(D=\frac13\bigl(-(2q^2-2q),\, -(2q^2-2q),\, q^2+2q\bigr)\) for \(q\equiv 1\pmod3\).

  3. Within each residue class of \(q\) modulo \(3\), \(\delta N^{1/3}\) increases with \(q\). It is \(0.9059\ldots \) at \(q=5\) and \(0.9147\ldots \) at \(q=7\), so \(\delta N^{1/3}{\gt}0.9059\) for every such \(q\), and \(\delta N^{1/3}{\gt}0.9823\) for every such \(q\ge 37\).

Proof ▼

(1) The first rows are \(\mathbf{e}_x,\mathbf{e}_y,\mathbf{e}_z\), so \(\mathcal C_q\) is a graph form with the depths \((1,1,1)\), and we use Lemma 2. The box of shape \((1,1,1)\) has determinant \(1\) and puts one point in every cell. A box with depth \(2\) on \(c\), \(1\) on \(c'\) and \(0\) on \(c''\) has, up to sign, the determinant \(a_{c''}\); as \(3a_{c''}=q+w_{c''}\equiv w_{c''}\in \{ \pm 1,\pm 2\} \) and \(\gcd (q,6)=1\), it is a unit. A box with depth \(3\) on \(c\) has, up to sign, the \(2\times 2\) minor of the rows \(a\) and \(b\) on the two columns other than \(c\). Both rows sum to \(0\) modulo \(q\), so in each of them column \(c\) is minus the sum of the other two modulo \(q\), and modulo \(q\) all three such minors equal \(\pm \mu \) with \(\mu =a_xb_y-a_yb_x=a_x+a_y\) (as integers they are \(a_x+a_y\) and \(\pm a_z\)); and \(3\mu =2q+w_x+w_y\equiv -w_z\in \{ -1,-2\} \pmod q\), a unit. Lemma 1 concludes.

(2) We apply Theorem 50. Let \(\bar b_i\in \{ 0,\dots ,q-1\} \) be the residue of \(b\cdot \mathbf{e}_i\), so \(\bar b=(q-1,1,0)\). A step from the cell \(n\) to \(n+\mathbf{e}_i\) changes \(r\) by \(a_i\) and \(j\) by \(\bar b_i\) modulo \(q\), so

\[ \Delta _i([n])=q\bigl(a_i-q\, [r(n)+a_i\ge q]\bigr)+\bigl(\bar b_i-q\, [j(n)+\bar b_i\ge q]\bigr). \]

The map \([n]\mapsto (r(n),j(n))\) is a bijection from \(\mathbb T\) onto \((\mathbb {Z}/q\mathbb {Z})^2\), because \(\mu \) is a unit; so the two wraps occur independently, in all four combinations (two if \(\bar b_i=0\)). Modulo \(q^2\) the values of \(\Delta _i\) are therefore \(s_i\) and, if \(\bar b_i\ne 0\), \(s_i-q\), where \(s_i=qa_i+\bar b_i\), and \(3\operatorname {dist}(\Delta _i,-\frac13q^2+q^2\mathbb {Z})\) is the least value of \(|3U+q^2|\) over \(U\in s_i+\{ 0,-q\} +q^2\mathbb {Z}\). Here \(3s_i+q^2\) lies between \(2q^2-q+3\) and \(2q^2+2q\), so the least value is attained at \(U=s_i-q^2\) or \(U=s_i-q^2-q\), where \(3U+q^2=-(2q^2-3s_i)\) resp. \(-(2q^2-3s_i+3q)\); every other \(U\) gives at least \(2q^2-4q+3{\gt}q^2+q\). The values \(2q^2-3s_i\) for \(i=x,y,z\) are

\[ q^2-q+3,\quad q^2-q-3,\quad q^2-q\quad (q\equiv 2),\qquad \qquad q^2-2q+3,\quad q^2+q-3,\quad q^2-2q\quad (q\equiv 1), \]

all positive, and adding \(3q\) only increases them. So \(3g\) is the least of them, \(q^2-q-3\) resp. \(q^2-2q\), attained only at \(i=y\) (resp. \(i=z\)) with \(U=s_i-q^2\), and Theorem 50 gives \(d^2=\frac23q^4+3g^2\). The closest differences are then \(\pm (q^2\mathbf{e}_i+U\mathbf1)=\pm D\) modulo \(q^3\). The Euclidean minimum distance is at least \(d\), and it is attained without a wrap: \(\varphi ([\mathbf1])=0\) and \(\varphi ([\mathbf{e}_i])=qa_i+\bar b_i=s_i\), so the points of the cells \(\mathbf1\) and \(\mathbf{e}_i\) differ by \(q^2(\mathbf{e}_i-\mathbf1)+s_i\mathbf1=q^2\mathbf{e}_i+(s_i-q^2)\mathbf1=D\) exactly. The expansions follow from \((\delta N^{1/3})^2=\frac23+\frac13(3g/q^2)^2\).

(3) \(3g/q^2=1-\frac1q-\frac3{q^2}\) resp. \(1-\frac2q\) is positive and increases with \(q\). The values at \(q=5\) and \(7\) are \(\sqrt{513}/25\) and \(\sqrt{2009}/49\), and at \(q=37\) (the least \(q\ge 37\) coprime to \(6\), in the class \(q\equiv 1\); the least in the other class is \(41\), with \(0.9913\ldots \)) it is \(0.9823\ldots \).

Lemma 52 Shared digits
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Let \(P\) be a \((0,m,s)\)-net in base \(q\), digital or not, \(j\ge 0\), and \(a\ne b\) two coordinates. If \(2(j+1)\le m\), then the pair of the digits with index \(j\) of \(a\) and of \(b\) takes every value in \(\{ 0,\dots ,q-1\} ^2\) at exactly \(q^{m-2}\) points of \(P\). In particular, if \(f\) is a map of digits such that for every point of \(P\) the digit with index \(j\) of coordinate \(b\) equals \(f\) of the digit with index \(j\) of coordinate \(a\), then \(2(j+1){\gt}m\).

Proof ▼

Let \(2(j+1)\le m\) and choose the depths \(d_a=j+1\), \(d_b=m-j-1\ge j+1\) and \(d_c=0\) for the other coordinates. Prescribing the digits \(0,\dots ,j\) of \(a\) and of \(b\) fixes the coordinate \(a\) of an elementary box of this shape and the first \(j+1\) digits of its coordinate \(b\), and leaves \(q^{m-2(j+1)}\) choices for the other digits of \(b\); by \(t=0\) each such box holds exactly one point. So each prescription is met by \(q^{m-2j-2}\) points, and each value of the pair of digits with index \(j\) by \(q^{2j}\cdot q^{m-2j-2}=q^{m-2}\) points. A map \(f\) as stated would leave the values \((\alpha ,\beta )\), \(\beta \ne f(\alpha )\), unmet.

Proposition 53 Arbitrary third digits
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Let \(q\ge 2\), let \(w\in \mathbb {Z}^3\) with \(w_x+w_y+w_z=0\) and \(w_c\equiv -q\pmod3\), \(a=\frac13(q\mathbf1+w)\), and \(\beta \in \mathbb {Z}\). Let \(P\) be a set of \(q^3\) points of the torus \((\mathbb {Z}/q^3\mathbb {Z})^3\), one for each cell \(n\in \{ 0,\dots ,q-1\} ^3\), at

\[ X(n)=q^2n+q\, r(n)\mathbf1+j(n),\qquad r(n)\in [0,q),\ \ r(n)\equiv a\cdot n+\beta \pmod q,\qquad j(n)\in [0,q)^3 \]

(integers; \(j\) arbitrary). Then any two distinct points of \(P\) have toroidal distance at least \(q^2-\bigl((\| w\| _1+3)q-3\bigr)/\sqrt3\).

Proof ▼

Let \(n\ne n'\) and let \(D=q^2E+q\, \Delta r\, \mathbf1+\Delta j\) be a representative of \(X(n')-X(n)\) modulo \(q^3\), with an integer vector \(E\equiv n'-n\pmod q\), \(\Delta r\in (-q,q)\) and \(\Delta j\in (-q,q)^3\). If some \(|E_c|\ge 2\), then \(|D_c|\ge 2q^2-q(q-1)-(q-1){\gt}q^2\). So let \(E\in \{ -1,0,1\} ^3\setminus \{ 0\} \) and \(\Sigma E=E_x+E_y+E_z\). The constant \(\beta \) cancels: \(\Delta r\equiv a\cdot E\pmod q\), and \(3a\cdot E=q\Sigma E+w\cdot E\), so \(3\Delta r=w\cdot E+zq\) with an integer \(z\equiv \Sigma E\pmod3\). Hence \(v=E-\frac{z+2\Sigma E}3\mathbf1\) is an integer vector with \(Hv=E+\frac z3\mathbf1\), and

\[ 3D=3q^2E+q\, (w\cdot E+zq)\mathbf1+3\Delta j=3q^2Hv+R,\qquad R=q\, (w\cdot E)\mathbf1+3\Delta j, \]

with \(|R_c|\le q\| w\| _1+3(q-1)\), since \(|w\cdot E|\le \| w\| _1\). If \(v\ne 0\), then \(|D|\ge q^2|Hv|-|R|/3\ge q^2-\bigl((\| w\| _1+3)q-3\bigr)/\sqrt3\), as \(H\) is orthogonal. If \(v=0\), then \(E=t\mathbf1\) with \(3t=z+2\Sigma E=z+6t\), so \(z=-3t\) and, as \(w\cdot \mathbf1=0\), \(\Delta r=-tq\); then \(|\Delta r|{\lt}q\) forces \(t=0\), i.e. \(E=0\), a contradiction.

Let \(q\ge 5\) with \(\gcd (q,6)=1\), let \(\tau \) be a digital shift of \(\mathcal C_q\) (Definition 7) with the digits \(\tau _{c,1},\tau _{c,2},\tau _{c,3}\) in coordinate \(c\) (the first, second and third digit), and put \(W=2\) if \(q\equiv 2\) and \(W=4\) if \(q\equiv 1\pmod3\) (\(W/(3q)\) is the largest distance of \(a_i/q\) or \(2a_i/q\) from \(\frac13\) or \(\frac23\) that occurs; see the proof), and \(a_{\max }=\max _ca_c\). The toroidal minimum distance of \(\mathcal C_q\oplus \tau \) satisfies:

  1. if \(\tau _{x,2}=\tau _{y,2}=\tau _{z,2}\) and \(\tau _{x,3}=\tau _{y,3}=\tau _{z,3}\), it equals that of \(\mathcal C_q\) (Theorem 51(2));

  2. if \(\tau _{x,2}=\tau _{y,2}=\tau _{z,2}\), then \(\delta N^{1/3}\ge 1-(7q-3)/(\sqrt3q^2)\);

  3. for every \(\tau \),

    \[ \delta N^{1/3}\ \ge \ \frac1{\sqrt3}\Bigl(1-\frac{W+3}q+\frac3{q^2}\Bigr), \]

    which exceeds \(0.4693\) for every \(q\ge 37\); and if \(\tau _{x,2},\tau _{y,2},\tau _{z,2}\) are not all equal, then \(\delta N^{1/3}\le \sqrt3\, (q\, a_{\max }+q-1)/q^2=\frac1{\sqrt3}\bigl(1+\frac{3+w_{\max }}q-\frac3{q^2}\bigr)\), \(w_{\max }=\max _cw_c\).

The lower bounds of (2) and (3), and the value of (1) as a lower bound, hold for the Euclidean minimum distance too, which is at least the toroidal one; so does the upper bound of (3), which is witnessed by a pair that does not wrap.

Proof ▼

Shifted digits. By Lemma 69, after re-indexing by the cells, the point of cell \(n\) of \(\mathcal C_q\oplus \tau \) has, in coordinate \(c\), the digits \(n_c\), \(r_c(n)\equiv a\cdot n+\beta _c\) and \(j_c(n)\equiv b\cdot n+\beta '_c\) with \(\beta _c=\tau _{c,2}-a\cdot \tau _1\) and \(\beta '_c=\tau _{c,3}-b\cdot \tau _1\), \(\tau _1=(\tau _{x,1},\tau _{y,1},\tau _{z,1})\). So the \(\beta _c\) are congruent if and only if the \(\tau _{c,2}\) are equal, and likewise for \(\beta '_c\) and \(\tau _{c,3}\).

(1) Then \(X(n)=q^2n+\varphi '([n])\mathbf1\) with \(\varphi '=q\, r+j\), \(r=(a\cdot n+\beta )\bmod q\), \(j=(b\cdot n+\beta ')\bmod q\): a column point set. The map \([n]\mapsto (r,j)\) is still a bijection onto \((\mathbb {Z}/q\mathbb {Z})^2\), so in the proof of Theorem 51(2) the same values \(\Delta _i\) occur, and Theorem 50 gives the same \(d\).

(2) Proposition 53 with \(\| w\| _1=4\).

(3) Lower bound. Let \(n\ne n'\) and \(D=q^2E+q\, \Delta r+\Delta j\) a representative, now with \(\Delta r=(\Delta r_c)_c\in (-q,q)^3\). If some \(|E_c|\ge 2\), then \(|D_c|{\gt}q^2\). So let \(E\in \{ -1,0,1\} ^3\setminus \{ 0\} \), and let \(\vartheta \in [0,q)\) be the residue of \(a\cdot E\). The constants \(\beta _c\) cancel: \(\Delta r_c\equiv a\cdot E\) and \(|\Delta r_c|{\lt}q\), so \(\Delta r_c=\vartheta -q\omega _c\) with \(\omega _c\in \{ 0,1\} \) (\(\omega =0\) if \(\vartheta =0\)). Hence \(D=q^2u+\Delta j\) with \(u=E-\omega +\theta \mathbf1\), \(\theta =\vartheta /q\), and \(|D|\ge q^2|u|-\sqrt3(q-1)\). Every \(u_c\) lies in \(\theta +\mathbb {Z}\), so \(|u_c|\ge \| \theta \| \), the distance from \(\theta \) to the nearest integer, and \(\theta \equiv (a\cdot E)/q\pmod1\). If \(\Sigma E=0\), then \(E=\pm (\mathbf{e}_c-\mathbf{e}_d)\), the two moving coordinates of \(u\) are \(\pm (\theta +\{ 0,1\} )\) and \(\pm (\theta -\{ 1,2\} )\), and \(|u|^2\ge \theta ^2+(1-\theta )^2\ge \frac12\). If \(E=\pm \mathbf1\), then \(\vartheta =0\) and \(|u|=\sqrt3\). Otherwise, up to sign, \(E=\mathbf{e}_i\) or \(E=\mathbf1-2\mathbf{e}_i\) or \(E=\mathbf1-\mathbf{e}_i\), with \(a\cdot E\equiv a_i\), \(-2a_i\), \(-a_i\) respectively. As \(3a_i=q+w_i\) with \(0{\lt}a_i{\lt}\frac q2\), \(\| a_i/q\| =\frac{q+w_i}{3q}\) and \(\| 2a_i/q\| =\min \bigl(\frac{q-2w_i}{3q},\frac{2q+2w_i}{3q}\bigr)\); over the entries \(w_i\in \{ -2,1\} \) resp. \(\{ -1,2\} \) the least of these is \(\frac{q-W}{3q}\). So \(|u|\ge \sqrt3\, \| \theta \| \ge (q-W)/(\sqrt3q)\) in these cases, which is also less than \(\frac1{\sqrt2}\) and \(\sqrt3\). Therefore \(|D|\ge q(q-W)/\sqrt3-\sqrt3(q-1)=\bigl(q^2-(W+3)q+3\bigr)/\sqrt3\) for every pair, which is the bound. It increases with \(q\) within each residue class; for \(q\ge 37\) its least value is \(0.4693\ldots \) at \(q=37\) (\(W=4\)), and \(0.5079\ldots \) at \(q=41\) in the class \(W=2\).

Upper bound. Put \(b_c\equiv -\beta _c\pmod q\); they are not all equal. Along \(\mathbf{e}_c\) the shared digit changes by \(a_c\), and \(r_d\) wraps if and only if \(\vartheta =a\cdot n\bmod q\) lies in the cyclic interval \(J^{(c)}_d=\{ b_d-a_c,\dots ,b_d-1\} \) of \(a_c\) consecutive residues of \(\mathbb {Z}/q\mathbb {Z}\). We find \(c\) and a residue \(\vartheta \) that lies in \(J^{(c)}_c\) and in no \(J^{(c)}_d\), \(d\ne c\). If the \(b_d\) are distinct, let \(g_c\ge 1\) be the distance from \(b_c\) forward around \(\mathbb {Z}/q\mathbb {Z}\) to the next of them. The gaps sum to \(q=a_x+a_y+a_z\), so \(g_c\ge a_c\) for some \(c\); then \(\vartheta =b_c-1\) lies in \(J^{(c)}_c\), and it lies in \(J^{(c)}_d\) only if \(b_d\) is at forward distance at most \(a_c-1\) from \(b_c\), which no \(b_d\) is. If exactly two of them are equal, \(b_d=b_{d'}\ne b_c\), then \(J^{(c)}_c\) and \(J^{(c)}_d=J^{(c)}_{d'}\) are two different cyclic intervals of the same length \(a_c{\lt}q\), so neither contains the other. Take a cell \(n\) with \(n_c=0\) and \(a\cdot n\equiv \vartheta \) (possible, as the entries \(a_d\), \(d\ne c\), are units) and \(n'=n+\mathbf{e}_c\), so that the pair does not wrap in the cell digits. Then \(\Delta r_c=a_c-q\) and \(\Delta r_d=a_c\) for \(d\ne c\), so the representative with \(E=\mathbf{e}_c\) is \(D=q^2\mathbf{e}_c+q(a_c\mathbf1-q\mathbf{e}_c)+\Delta j=q\, a_c\mathbf1+\Delta j\), and \(|D|\le \sqrt3\, (q\, a_{\max }+q-1)\).

6.6 \(m\equiv 1,2\): lattice skeletons

Let \(\rho \) be an integer with \(\rho \not\equiv 0\pmod p\).

  1. \(\mathbf k=(k+1,k+1,k)\); the recipe of Proposition 29(ii) with \(\kappa =(\rho ,\rho ^2)\). In column block \(x\): \(Z0|x_k\ne 0\) (box \((k,k+1,k+1)\)); subtract multiples of level \(x_k\) from every level \(x_l\), \(l{\lt}k\), so that \(Z0|x_l=0\), then scale level \(x_k\) so that \(Z0|x_k=\rho \). In column block \(y\) the same, with pivot \(Z0|y_k\) (box \((k+1,k,k+1)\)) and target \(\rho ^2\). Set all diagonal blocks to \(0\). The result is the digital net \(\mathcal B^2_{k,p,\rho }\) over \(\mathbb {F}_p\); its skeleton digit is

    \[ S_z\equiv \rho \, x_k+\rho ^2\, y_k\pmod p. \]
  2. \(\mathbf k=(k+1,k,k)\). The goal is a graph form whose skeleton digits are \(S_y\equiv \rho x_k+z_{k-1}\) and \(S_z\equiv \rho ^2x_k+x_{k-1}+y_{k-1}-z_{k-1}\pmod p\), with every box minor a unit; the steps are as follows. Column block \(x\): the matrix \(\left(\begin{smallmatrix} Y0|x_k & Y0|x_{k-1} \\ Z0|x_k & Z0|x_{k-1} \end{smallmatrix}\right)\) is invertible (box \((k-1,k+1,k+1)\)); call its determinant \(\Delta \); use the levels \(x_k\), \(x_{k-1}\) to make \(Y0\) and \(Z0\) vanish on the levels \(l{\lt}k-1\); then add a multiple of \(x_k\) to \(x_{k-1}\) so that \(Y0|x_{k-1}=0\). Now \(Y0|x_k\ne 0\) (box \((k,k+1,k)\)), \(Z0|x_k\ne 0\) (box \((k,k,k+1)\)) and \(Z0|x_{k-1}=\Delta /Y0|x_k\ne 0\). Scale the block \(\Phi _{zx}\) so that \(Z0|x_{k-1}=1\), the level \(x_k\) so that \(Z0|x_k=\rho ^2\), and the block \(\Phi _{yx}\) so that \(Y0|x_k=\rho \). Column block \(y\): with the pivot \(Z0|y_{k-1}\ne 0\) (box \((k+1,k-1,k+1)\)) make \(Z0|y_l=0\) for \(l{\lt}k-1\) and scale \(\Phi _{zy}\) so that \(Z0|y_{k-1}=1\). Column block \(z\): the same for \(Y0|z\) (box \((k+1,k+1,k-1)\)). Diagonal blocks: \(Z0|z_{k-1}=-1\) and all other entries \(0\). The result is \(\mathcal B^1_{k,p,\rho }\); its skeleton digits are

    \[ S_y\equiv \rho \, x_k+z_{k-1},\qquad S_z\equiv \rho ^2\, x_k+x_{k-1}+y_{k-1}-z_{k-1}\pmod p. \]

For every prime \(p\), every \(k\ge 1\) and every \(\rho \not\equiv 0\pmod p\), \(\mathcal B^2_{k,p,\rho }\) is a \((0,3k+2,3)\)-net and \(\mathcal B^1_{k,p,\rho }\) is a \((0,3k+1,3)\)-net over \(\mathbb {F}_p\).

Proof ▼

Every box minor of \(\Phi ^F\) is \(\pm 1\), and each move multiplies every box minor by a unit of \(\mathbb {F}_p\) (Lemma 2; the targets \(\rho \), \(\rho ^2\), \(1\) and the pivots are units). Lemma 1 completes the proof.

For \(s=3\) the recipes of Definitions 36 and 55(\(\mathcal B^2\)) coincide (Proposition 29(ii) with \(\kappa =(\rho ,\rho ^2)\), skeleton digit \(S_z=\rho x_k+\rho ^2y_k\)), and Theorem 35 uses only the skeleton digit. So for every prime \(p\), every \(k\ge 1\) and every \(\rho \ge 1\) with \(\rho ^3{\lt}p\), \(\mathcal B^2_{k,p,\rho }\) is a \((0,3k+2,3)\)-net over \(\mathbb {F}_p\) (Proposition 56) with toroidal \(\delta N^{1/3}\ge (\rho -1)\, p^{-1/3}\) (Theorem 35(1) for \(\rho \ge 2\); the bound is \(0\) for \(\rho =1\)); its occupied fine cells are exactly the cells of the index-\(p\) lattice \(\Lambda _{\mathcal B^2}=\{ a:a_z\equiv \rho a_x+\rho ^2a_y\pmod p\} \), of minimum \(\rho \) (Theorem 35(2), Figure fig:Blattice(a), (b)); and for \(\rho =\lfloor p^{1/3}\rfloor \) its mesh ratio is bounded uniformly in \(p\) (Theorem 35(3)). With \(\rho \) maximal, \(p{\lt}(\rho +1)^3\), so the bound exceeds \((\rho -1)/(\rho +1)\) and tends to \(1\). It is a sawtooth in \(p\) (it drops each time \(\lfloor p^{1/3}\rfloor \) increases), first exceeds \(0.9\) at \(p=1361\), and stays above \(0.9\) for every prime \(p\ge 6863\) (\(\rho \ge 19\)). The bound is sharp for the method: the bound of Lemma 27(i), which allows a jitter of one fine cell in every coordinate, equals \((\rho -1)p^{-1/3}\) exactly, attained at the step \((-\rho ,1,0)\).

Let \(p\) be a prime, \(k\ge 1\), and let \(\rho \ge 2\) with \(\rho ^2(\rho +1)\le p\). The digital net \(\mathcal B^1_{k,p,\rho }\) of Definition 55 is a \((0,3k+1,3)\)-net over \(\mathbb {F}_p\) whose toroidal minimum distance satisfies \(\delta N^{1/3}\ge (\rho ^2-4)\, p^{-2/3}\). With \(\rho \) the largest integer such that \(\rho ^2(\rho +1)\le p\), the bound tends to \(1\) as \(p\to \infty \); it exceeds \(0.9\) once \(\rho \ge 27\), i.e. \(p\ge 27^2\cdot 28=20412\), so for every prime \(p\ge 20431\).

Proof of Theorem 58 ▼

The net property is Proposition 56; the hypotheses give \(2\le \rho {\lt}p\), so \(\rho \not\equiv 0\). Let \(v\ne w\) be two points, \(a\ne 0\) the centred difference of their fine positions, and \(M=|a|_\infty \). If \(M\ge p-1\) we are done, since \(p-1\ge \rho ^2-3\). Otherwise let \(\xi _c=\xi _{c,1}\) be the floor changes of Lemma 27(ii) and \(u=(a_x,\ a_y-\xi _z,\ a_z-\xi _x-\xi _y+\xi _z)\). By the displayed relations, \(u\in \Lambda _{\mathcal B^1}\), and \(|u|_\infty \le M+3\). If \(u\ne 0\), Lemma 31(L1) gives \(M+3\ge \rho ^2\). If \(u=0\), then \(a_x=0\), hence \(\xi _x=0\), \(a_y=\xi _z\) and \(a_z=\xi _y-\xi _z\). If \(\xi _z=1\) then \(a_z{\gt}0\), so \(\xi _y\ge 2\), impossible; if \(\xi _z=-1\) then \(a_z{\lt}0\) and \(\xi _y\le -2\), impossible. So \(\xi _z=0\), \(a_y=0\), \(\xi _y=0\) and \(a_z=0\), contradicting \(a\ne 0\). Hence \(M\ge \rho ^2-3\), and Lemma 27(i) with \(\ell =2\) gives \(\delta N^{1/3}\ge (\rho ^2-4)p^{-2/3}\).

Constants. Let \(c_1(p)=(\rho ^2-4)p^{-2/3}\) be the bound with \(\rho \) maximal. Then \(p{\lt}(\rho +1)^2(\rho +2)\), hence

\[ c_1(p)^3{\gt}G(\rho )=\frac{(\rho -2)^3(\rho +2)}{(\rho +1)^4}. \]

\(G\) increases for \(\rho \ge 3\), since \((\log G)'=9/((\rho -2)(\rho +1))-1/((\rho +1)(\rho +2))\) is positive, and tends to \(1\). Since \(\rho \ge 27\) iff \(p\ge 20412\), and \(G(27)^{1/3}=0.9033\ldots \), the bound exceeds \(0.9\) from this prime on.

6.7 Every resolution

For every prime \(p\ge 37\) and every \(m\ge 3\) the nets of Theorems 51 (\(m=3\)), 47 (\(m\equiv 0\), \(m\ge 6\)), 58 (\(m\equiv 1\)) and 35 with \(s=3\) (\(m\equiv 2\); the nets \(\mathcal B^2\) of Remark 57), with \(\rho \) maximal, are explicit digital \((0,m,3)\)-nets over \(\mathbb {F}_p\) with

\[ \delta N^{1/3}{\gt}0.2715,\quad \text{and}\quad \delta N^{1/3}{\gt}0.4250\ \text{if } p\ge 83, \]

uniformly in \(m\), and the lower bound tends to \(1\) as \(p\to \infty \). Their covering radius satisfies \(hN^{1/3}\le \sqrt3\) for \(m\equiv 0\), \(hN^{1/3}\le p^{1/3}\sqrt{2+p^{-2}}\) for \(m\equiv 1\), and \(hN^{1/3}\le \min \{ p^{2/3}\sqrt{1+2p^{-2}},\, 4.264\} \) for \(m\equiv 2\pmod3\). So for each such \(p\) the mesh ratio \(h/\delta \) is bounded uniformly in \(m\): the nets are quasi-uniform along every \(N=p^m\), \(m\ge 3\). For \(m\equiv 2\) the mesh ratio is moreover at most \(7\sqrt3{\lt}12.2\) for every prime \(p\ge 11\) and every \(m\ge 5\) (Theorem 35(3)).

Proof of Corollary 59 ▼

Take \(\mathcal C_p\) for \(m=3\) (Theorem 51; for \(p\ge 37\), \(\delta N^{1/3}{\gt}0.9823\), and its covering radius is at most \(\sqrt3N^{-1/3}\) because every cell holds a point), \(\mathcal P_{k,p}\) for \(m=3k\ge 6\), \(\mathcal B^1_{k,p,\rho }\) for \(m=3k+1\ge 4\) and \(\mathcal B^2_{k,p,\rho }\) for \(m=3k+2\ge 5\), with \(\rho \) maximal: \(\rho _1\) and \(\rho _2\), the largest integers with \(\rho _1^2(\rho _1+1)\le p\) and \(\rho _2^3{\lt}p\). For \(p\ge 37\), \(\rho _1\ge 3\) and \(\rho _2\ge 3\). If \(37\le p\le 79\) then \(\rho _1=3\) and the bound of \(\mathcal B^1\) is \(5p^{-2/3}\ge 5\cdot 79^{-2/3}=0.27157\ldots \), the bound of \(\mathcal B^2\) is \(\ge 2\cdot 61^{-1/3}{\gt}0.508\), and \(1-1/p{\gt}0.97\). If \(p\ge 83\) then \(\rho _1\ge 4\) and \(\rho _2\ge 4\), and the bounds exceed \(G(4)^{1/3}=(48/625)^{1/3}{\gt}0.4250\) and \((\rho -1)/(\rho +1)=3/5\) at \(\rho =4\) (Remark 57). All bounds tend to \(1\). For the covering radius: by \(t=0\) the elementary box with depths \(\mathbf k\) (resp. \((k,k,k)\)) around any point of the torus contains a net point, and its diagonal is \(p^{-k}\sqrt{2+p^{-2}}=p^{1/3}\sqrt{2+p^{-2}}\, N^{-1/3}\) for \(m\equiv 1\) and \(p^{-k}\sqrt{1+2p^{-2}}=p^{2/3}\sqrt{1+2p^{-2}}\, N^{-1/3}\) for \(m\equiv 2\). For \(m\equiv 2\), Theorem 35(3) with \(s=3\) gives \(hN^{1/3}\le \sqrt3(\mu +1)p^{-1/3}\) and \(h/\delta \le \sqrt3(\mu +1)/(\rho -1)\), \(\mu =\lceil p/\rho ^2\rceil \); over all primes \(p\ge 11\) the maxima are \(4.2633\ldots {\lt}4.264\) and \(7\sqrt3\), both at \(p=23\) (for \(\rho \ge 4\) use \(\mu {\lt}\rho (1+1/\rho )^3+1\)).

For small primes, computer-found designs give larger constants. They are graph forms with the depths \(\mathbf k\), built by the same moves from the frame, in which the skeleton digits and the next offset digit of each coordinate (which controls the jitter) are prescribed on the last three or four levels; their skeletons are index-\(p^2\) Korobov-type (\(m\equiv 1\)) and index-\(p\) congruence lattices (\(m\equiv 2\)). A finite computation analogous to Lemma 4 (it enumerates the steps between nearby fine cells, all carry patterns and both representatives of each digit difference) certifies the constants of Table tab:perprime for every \(m=3k+1\ge 10\) resp. \(m=3k+2\ge 8\), since the prescribed rows do not depend on \(k\); they exceed \(1\) for \(p=47\), \(53\), \(59\), \(61\), \(71\), \(73\), \(79\) (\(m\equiv 1\)) and \(p=41\), \(43\), \(59\), \(61\), \(79\) (\(m\equiv 2\)). This separation bound is Proposition 134, and it holds for every digital shift as well (Remark 135). The existence of such a \((0,m,3)\)-net for every \(k\) (Propositions 131 and 132, Appendix B) rests on quantities that the moves of Lemma 2 do not change and that do not depend on \(k\) (Lemma 130: five for \(m\equiv 1\), two for \(m\equiv 2\)), and on finitely many exact checks per design (proofs in Appendix B; formalization status in Section sec:formal).