Software using the Gröbner Cover for geometrical loci computation and classification

We describe here a properly recent application of the Gröbner Cover algorithm (GC) providing an algebraic support to Dynamic Geometry computations of geometrical loci. It provides a complete algebraic solution of locus computation as well as a suitable taxonomy allowing to distinguish the nature of the different components. We included a new algorithm Locus into the Singular grobcov.lib library for this purpose. A web prototype has been implemented using it in Geogebra

Achievements and challenges in automatic locus and envelope animations in dynamic geometry

A survey on the speed of real-time animation of loci and envelopes in the dynamic geometry software GeoGebra is presented.(VLID)329214

Hacia un autómata geómetra

Este artículo tiene como objetivo ilustrar al lector, muy particularmente a los colegas de la comunidad matemática española, de la RSME, de la evolución de nuestro grupo de investigación y de su trabajo a lo largo de los últimos 30 años, en pos de la creación de un autómata geómetra. Para ello, en las secciones siguientes se trazan unas pinceladas sobre la historia de las contribuciones del equipo de investigación creado en torno a los autores de este artículo, incluyendo, en particular, una descripción informal de los conceptos, problemas y métodos que fueron desarrollando. No pretende ser, no puede ser, una historia universal de la demostración automática de teoremas geométricos, pero creemos que el lector interesado encontrará datos relevantes a este respecto en las referencias que se incluyen a lo largo de este trabajo. Finalmente se presenta el resultado más «visible» de nuestro trabajo, el autómata geómetra AG, a través de diversos ejemplos, concluyendo con unas someras reflexiones acerca de su potencial impacto en el mundo educativo

Parallel Manipulators

In recent years, parallel kinematics mechanisms have attracted a lot of attention from the academic and industrial communities due to potential applications not only as robot manipulators but also as machine tools. Generally, the criteria used to compare the performance of traditional serial robots and parallel robots are the workspace, the ratio between the payload and the robot mass, accuracy, and dynamic behaviour. In addition to the reduced coupling effect between joints, parallel robots bring the benefits of much higher payload-robot mass ratios, superior accuracy and greater stiffness; qualities which lead to better dynamic performance. The main drawback with parallel robots is the relatively small workspace. A great deal of research on parallel robots has been carried out worldwide, and a large number of parallel mechanism systems have been built for various applications, such as remote handling, machine tools, medical robots, simulators, micro-robots, and humanoid robots. This book opens a window to exceptional research and development work on parallel mechanisms contributed by authors from around the world. Through this window the reader can get a good view of current parallel robot research and applications

Bivariate systems and topology of plane curves: algebraic and numerical methods

The work presented in this thesis belongs to the domain of non-linear computational geometry in lowdimension. More precisely it focuses on solving bivariate systems and computing the topology of curvesin the plane. When the input is given by polynomials, the natural tools come from computer algebra.Our contributions are algorithms proven efficient in a deterministic or a Las Vegas settings together witha practical efficient software for topology certified drawing of a plane algebraic curve. When the input isnot restricted to be polynomials but given by interval functions, we design algorithms based on certifiednumerical approches using subdivision and interval arithmetic. The input is then required to fulfill somegeneric assumptions and our algorithms are certified in the sense that they terminate if and only if theassumptions are satisfied.Le travail présenté dans cette thèse appartient au domaine de la géométrie computationnelle non linéaireen petite dimension. Plus précisément, il se concentre sur la résolution de systèmes bivariés et le calcul dela topologie des courbes dans le plan. Lorsque l’entrée est donnée par des polynômes, les outils naturelsproviennent du calcul formel. Nos contributions sont des algorithmes dont l’efficacité a été prouvée dansun cadre déterministe ou Las Vegas, ainsi qu’un logiciel efficace pour le dessin certifié de la topologied’une courbe algébrique plane. Lorsque les données d’entrée ne sont pas limitées aux polynômes maissont données par des fonctions d’intervalles, nous concevons des algorithmes basés sur des approchesnumériques certifiées utilisant la subdivision et l’arithmétique d’intervalles. L’entrée doit alors satisfairecertaines hypothèses génériques et nos algorithmes sont certifiés dans le sens où ils se terminent si etseulement si les hypothèses sont satisfaites

Moduli spaces of gauge theories in 3 dimensions.

The objective of this thesis is to study the moduli spaces of pairs of mirror theories in 3 dimensions with N = 4. The original conjecture of 3d mirror symmetry was motivated by the fact that in these pairs of theories the Higgs and Coulomb branches are swapped. After a brief introduction to supersymmetry we will first focus on the Higgs branch. This will be investigated through the Hilbert series and the plethystic program. The methods used for the Higgs branch are very well known in literature, more difficult is the case of the Coulomb branch since it receives quantum corrections. We will explain how it is parametrized in term of monopole operators and having both Higgs and Coulomb branches for theories with different gauge groups we will be able to show how mirror symmetry works in the case of ADE theories. We will show in which cases these Yang- Mills vacua are equivalent to one instanton moduli spaces.ope

Advances in Robot Kinematics : Proceedings of the 15th international conference on Advances in Robot Kinematics

International audienceThe motion of mechanisms, kinematics, is one of the most fundamental aspect of robot design, analysis and control but is also relevant to other scientific domains such as biome- chanics, molecular biology, . . . . The series of books on Advances in Robot Kinematics (ARK) report the latest achievement in this field. ARK has a long history as the first book was published in 1991 and since then new issues have been published every 2 years. Each book is the follow-up of a single-track symposium in which the participants exchange their results and opinions in a meeting that bring together the best of world’s researchers and scientists together with young students. Since 1992 the ARK symposia have come under the patronage of the International Federation for the Promotion of Machine Science-IFToMM.This book is the 13th in the series and is the result of peer-review process intended to select the newest and most original achievements in this field. For the first time the articles of this symposium will be published in a green open-access archive to favor free dissemination of the results. However the book will also be o↵ered as a on-demand printed book.The papers proposed in this book show that robot kinematics is an exciting domain with an immense number of research challenges that go well beyond the field of robotics.The last symposium related with this book was organized by the French National Re- search Institute in Computer Science and Control Theory (INRIA) in Grasse, France

MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics

El libro de actas recoge las aportaciones de los autores a través de los correspondientes artículos a la Dinámica de Sistemas Multicuerpo y la Mecatrónica (Musme). Estas disciplinas se han convertido en una importante herramienta para diseñar máquinas, analizar prototipos virtuales y realizar análisis CAD sobre complejos sistemas mecánicos articulados multicuerpo. La dinámica de sistemas multicuerpo comprende un gran número de aspectos que incluyen la mecánica, dinámica estructural, matemáticas aplicadas, métodos de control, ciencia de los ordenadores y mecatrónica. Los artículos recogidos en el libro de actas están relacionados con alguno de los siguientes tópicos del congreso: Análisis y síntesis de mecanismos ; Diseño de algoritmos para sistemas mecatrónicos ; Procedimientos de simulación y resultados ; Prototipos y rendimiento ; Robots y micromáquinas ; Validaciones experimentales ; Teoría de simulación mecatrónica ; Sistemas mecatrónicos ; Control de sistemas mecatrónicosUniversitat Politècnica de València (2011). MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics. Editorial Universitat Politècnica de València. http://hdl.handle.net/10251/13224Archivo delegad