Factorization of Z-homogeneous polynomials in the First (q)-Weyl Algebra

We present algorithms to factorize weighted homogeneous elements in the first polynomial Weyl algebra and $q$-Weyl algebra, which are both viewed as a $\mathbb{Z}$-graded rings. We show, that factorization of homogeneous polynomials can be almost completely reduced to commutative univariate factorization over the same base field with some additional uncomplicated combinatorial steps. This allows to deduce the complexity of our algorithms in detail. Furthermore, we will show for homogeneous polynomials that irreducibility in the polynomial first Weyl algebra also implies irreducibility in the rational one, which is of interest for practical reasons. We report on our implementation in the computer algebra system \textsc{Singular}. It outperforms for homogeneous polynomials currently available implementations dealing with factorization in the first Weyl algebra both in speed and elegancy of the results.Comment: 26 pages, Singular implementation, 2 algorithms, 1 figure, 2 table

On defining ideals and differential algebras of Nichols algebras

This paper is devoted to understanding the defining ideal of a Nichols algebra from the decomposition of specific elements in the group algebra of braid groups. A family of primitive elements are found and algorithms are proposed. To prove the main result, the differential algebra of a Nichols algebra is constructed. Moreover, another point of view on Serre relations is provided.Comment: 34 pages, including a list of notation

Computing the canonical representation of constructible sets

Constructible sets are needed in many algorithms of Computer Algebra, particularly in the GröbnerCover and other algorithms for parametric polynomial systems. In this paper we review the canonical form ofconstructible sets and give algorithms for computing it.Peer ReviewedPostprint (author's final draft

A spatial operator algebra for manipulator modeling and control

A recently developed spatial operator algebra, useful for modeling, control, and trajectory design of manipulators is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be efficiently obtained via techniques of recursive filtering and smoothing. The operator algebra provides a high level framework for describing the dynamic and kinematic behavior of a manipulator and control and trajectory design algorithms. The interpretation of expressions within the algebraic framework leads to enhanced conceptual and physical understanding of manipulator dynamics and kinematics. Furthermore, implementable recursive algorithms can be immediately derived from the abstract operator expressions by inspection. Thus, the transition from an abstract problem formulation and solution to the detailed mechanizaton of specific algorithms is greatly simplified. The analytical formulation of the operator algebra, as well as its implementation in the Ada programming language are discussed