Orientable sequences over non-binary alphabets

We describe new, simple, recursive methods of construction for orientable sequences over an arbitrary finite alphabet, i.e. periodic sequences in which any sub-sequence of n consecutive elements occurs at most once in a period in either direction. In particular we establish how two variants of a generalised Lempel homomorphism can be used to recursively construct such sequences, generalising previous work on the binary case. We also derive an upper bound on the period of an orientable sequence.
Comment: Minor bugs fixed