Comprehensive Border Bases for Zero Dimensional Parametric Polynomial Ideals

In this paper, we extend the idea of comprehensive Gr\"{o}bner bases given by Weispfenning (1992) to border bases for zero dimensional parametric polynomial ideals. For this, we introduce a notion of comprehensive border bases and border system, and prove their existence even in the cases where they do not correspond to any term order. We further present algorithms to compute comprehensive border bases and border system. Finally, we study the relation between comprehensive Gr\"{o}bner bases and comprehensive border bases w.r.t. a term order and give an algorithm to compute such comprehensive border bases from comprehensive Gr\"{o}bner bases.Comment: 15 pages, 8 sections and 3 algorithm

Q(sqrt(-3))-Integral Points on a Mordell Curve

We use an extension of quadratic Chabauty to number fields,recently developed by the author with Balakrishnan, Besser and M ̈uller,combined with a sieving technique, to determine the integral points overQ(√−3) on the Mordell curve y2 = x3 − 4

On the geometry, topology and approximation of amoebas

We investigate multivariate Laurent polynomials f \in \C[\mathbf{z}^{\pm 1}] = \C[z_1^{\pm 1},\ldots,z_n^{\pm 1}] with varieties \mathcal{V}(f) restricted to the algebraic torus (\C^*)^n = (\C \setminus \{0\})^n. For such Laurent polynomials f one defines the amoeba \mathcal{A}(f) of f as the image of the variety \mathcal{V}(f) under the \Log-map \Log : (\C^*)^n \to \R^n, (z_1,\ldots,z_n) \mapsto (\log|z_1|, \ldots, \log|z_n|). I.e., the amoeba \mathcal{A}(f) is the projection of the variety \mathcal{V}(f) on its (componentwise logarithmized) absolute values. Amoebas were first defined in 1994 by Gelfand, Kapranov and Zelevinksy. Amoeba theory has been strongly developed since the beginning of the new century. It is related to various mathematical subjects, e.g., complex analysis or real algebraic curves. In particular, amoeba theory can be understood as a natural connection between algebraic and tropical geometry. In this thesis we investigate the geometry, topology and methods for the approximation of amoebas. Let \C^A denote the space of all Laurent polynomials with a given, finite support set A \subset \Z^n and coefficients in \C^*. It is well known that, in general, the existence of specific complement components of the amoebas \mathcal{A}(f) for f \in \C^A depends on the choice of coefficients of f. One prominent key problem is to provide bounds on the coefficients in order to guarantee the existence of certain complement components. A second key problem is the question whether the set U_\alpha^A \subseteq \C^A of all polynomials whose amoeba has a complement component of order \alpha \in \conv(A) \cap \Z^n is always connected. We prove such (upper and lower) bounds for multivariate Laurent polynomials supported on a circuit. If the support set A \subset \Z^n satisfies some additional barycentric condition, we can even give an exact description of the particular sets U_\alpha^A and, especially, prove that they are path-connected. For the univariate case of polynomials supported on a circuit, i.e., trinomials f = z^{s+t} + p z^t + q (with p,q \in \C^*), we show that a couple of classical questions from the late 19th / early 20th century regarding the connection between the coefficients and the roots of trinomials can be traced back to questions in amoeba theory. This yields nice geometrical and topological counterparts for classical algebraic results. We show for example that a trinomial has a root of a certain, given modulus if and only if the coefficient p is located on a particular hypotrochoid curve. Furthermore, there exist two roots with the same modulus if and only if the coefficient p is located on a particular 1-fan. This local description of the configuration space \C^A yields in particular that all sets U_\alpha^A for \alpha \in \{0,1,\ldots,s+t\} \setminus \{t\} are connected but not simply connected. We show that for a given lattice polytope P the set of all configuration spaces \C^A of amoebas with \conv(A) = P is a boolean lattice with respect to some order relation \sqsubseteq induced by the set theoretic order relation \subseteq. This boolean lattice turns out to have some nice structural properties and gives in particular an independent motivation for Passare's and Rullgard's conjecture about solidness of amoebas of maximally sparse polynomials. We prove this conjecture for special instances of support sets. A further key problem in the theory of amoebas is the description of their boundaries. Obviously, every boundary point \mathbf{w} \in \partial \mathcal{A}(f) is the image of a critical point under the \Log-map (where \mathcal{V}(f) is supposed to be non-singular here). Mikhalkin showed that this is equivalent to the fact that there exists a point in the intersection of the variety \mathcal{V}(f) and the fiber \F_{\mathbf{w}} of \mathbf{w} (w.r.t. the \Log-map), which has a (projective) real image under the logarithmic Gauss map. We strengthen this result by showing that a point \mathbf{w} may only be contained in the boundary of \mathcal{A}(f), if every point in the intersection of \mathcal{V}(f) and \F_{\mathbf{w}} has a (projective) real image under the logarithmic Gauss map. With respect to the approximation of amoebas one is in particular interested in deciding membership, i.e., whether a given point \mathbf{w} \in \R^n is contained in a given amoeba \mathcal{A}(f). We show that this problem can be traced back to a semidefinite optimization problem (SDP), basically via usage of the Real Nullstellensatz. This SDP can be implemented and solved with standard software (we use SOSTools and SeDuMi here). As main theoretic result we show that, from the complexity point of view, our approach is at least as good as Purbhoo's approximation process (which is state of the art)

Real-time Dynamic Simulation of Constrained Multibody Systems using Symbolic Computation

The main objective of this research is the development of a framework for the automatic generation of systems of kinematic and dynamic equations that are suitable for real-time applications. In particular, the efficient simulation of constrained multibody systems is addressed. When modelled with ideal joints, many mechanical systems of practical interest contain closed kinematic chains, or kinematic loops, and are most conveniently modelled using a set of generalized coordinates of cardinality exceeding the degrees-of-freedom of the system. Dependent generalized coordinates add nonlinear algebraic constraint equations to the ordinary differential equations of motion, thereby producing a set of differential-algebraic equations that may be difficult to solve in an efficient yet precise manner. Several methods have been proposed for simulating such systems in real time, including index reduction, model simplification, and constraint stabilization techniques. In this work, the equations of motion are formulated symbolically using linear graph theory. The embedding technique is applied to eliminate the Lagrange multipliers from the dynamic equations and obtain one ordinary differential equation for each independent acceleration. The theory of Gröbner bases is then used to triangularize the kinematic constraint equations, thereby producing recursively solvable systems for calculating the dependent generalized coordinates given values of the independent coordinates. For systems that can be fully triangularized, the kinematic constraints are always satisfied exactly and in a fixed amount of time. Where full triangularization is not possible, a block-triangular form can be obtained that still results in more efficient simulations than existing iterative and constraint stabilization techniques. The proposed approach is applied to the kinematic and dynamic simulation of several mechanical systems, including six-bar mechanisms, parallel robots, and two vehicle suspensions: a five-link and a double-wishbone. The efficient kinematic solution generated for the latter is used in the real-time simulation of a vehicle with double-wishbone suspensions on both axles, which is implemented in a hardware- and operator-in-the-loop driving simulator. The Gröbner basis approach is particularly suitable for situations requiring very efficient simulations of multibody systems whose parameters are constant, such as the plant models in model-predictive control strategies and the vehicle models in driving simulators