This book is an introduction to the mathematical theory of design for articulated mechanical systems known as linkages. The focus is on sizing mechanical constraints that guide the movement of a work piece, or end-effector, of the system. The function of the device is prescribed as a set of positions to be reachable by the end-effector; and the mechanical constraints are formed by joints that limit relative movement. The goal is to find all the devices that can achieve a specific task. Formulated in this way the design problem is purely geometric in character. Robot manipulators, walking machines, and mechanical hands are examples of articulated mechanical systems that rely on simple mechanical constraints to provide a complex workspace for the end- effector. The principles presented in this book form the foundation for a design theory for these devices. The emphasis, however, is on articulated systems with fewer degrees of freedom than that of the typical robotic system, and therefore, less complexity. This book will be useful to mathematics, engineering and computer science departments teaching courses on mathematical modeling of robotics and other articulated mechanical systems. This new edition includes research results of the past decade on the synthesis of multi loop planar and spherical linkages, and the use of homotopy methods and Clifford algebras in the synthesis of spatial serial chains. One new chapter on the synthesis of spatial serial chains introduces numerical homotopy and the linear product decomposition of polynomial systems. The second new chapter introduces the Clifford algebra formulation of the kinematics equations of serial chain robots. Examples are use throughout to demonstrate the theory.

Previous publications on the generalization of the Thomae formulae to "Zn" curves have emphasized the theory's implications in mathematical physics and depended heavily on applied mathematical techniques. This book redevelops these previous results demonstrating how they can be derived directly from the basic properties of theta functions as functions on compact Riemann surfaces.

"Generalizations of Thomae's Formulafor "Zn" Curves" includes several refocused proofs developed in a generalized context that is more accessible to researchers in related mathematical fields such as algebraic geometry, complex analysis, and number theory.

This book is intended for mathematicians with an interest in complex analysis, algebraic geometry or number theory as well as physicists studying conformal field theory."

This book gives an elementary treatment of the basic material about graph spectra, both for ordinary, and Laplace and Seidel spectra. The text progresses systematically, by covering standard topics before presenting some new material on trees, strongly regular graphs, two-graphs, association schemes, p-ranks of configurations and similar topics. Exercises at the end of each chapter provide practice and vary from easy yet interesting applications of the treated theory, to little excursions into related topics. Tables, references at the end of the book, an author and subject index enrich the text.

"Spectra of Graphs" is written for researchers, teachers and graduate students interested in graph spectra. The reader is assumed to be familiar with basic linear algebra and eigenvalues, although some more advanced topics in linear algebra, like the Perron-Frobenius theorem and eigenvalue interlacing are included."

A unique series of fascinating research papers on subjects related to the work of Niels Henrik Abel, written by some of the foremost specialists in their fields. Some of the authors have been specifically invited to present papers, discussing the influence of Abel in a mathematical-historical context. Others have submitted papers presented at the Abel Bicentennial Conference, Oslo June 3-8, 2002. The idea behind the book has been to produce a text covering a substantial part of the legacy of Abel, as perceived at the beginning of the 21st century.

Just suppose, for a moment, that all rings of integers in algebraic number fields were unique factorization domains, then it would be fairly easy to produce a proof of Fermat's Last Theorem, fitting, say, in the margin of this page. Unfortunately however, rings of integers are not that nice in general, so that, for centuries, math ematicians had to search for alternative proofs, a quest which culminated finally in Wiles' marvelous results - but this is history. The fact remains that modern algebraic number theory really started off with in vestigating the problem which rings of integers actually are unique factorization domains. The best approach to this question is, of course, through the general the ory of Dedekind rings, using the full power of their class group, whose vanishing is, by its very definition, equivalent to the unique factorization property. Using the fact that a Dedekind ring is essentially just a one-dimensional global version of discrete valuation rings, one easily verifies that the class group of a Dedekind ring coincides with its Picard group, thus making it into a nice, functorial invariant, which may be studied and calculated through algebraic, geometric and co homological methods. In view of the success of the use of the class group within the framework of Dedekind rings, one may wonder whether it may be applied in other contexts as well. However, for more general rings, even the definition of the class group itself causes problems."

In the 1970s Hirzebruch and Zagier produced elliptic modular forms with coefficients in the homology of a Hilbert modular surface. They then computed the Fourier coefficients of these forms in terms of period integrals and L-functions. In this book the authors take an alternate approach to these theorems and generalize them to the setting of Hilbert modular varieties of arbitrary dimension. The approach is conceptual and uses tools that were not available to Hirzebruch and Zagier, including intersection homology theory, properties of modular cycles, and base change. Automorphic vector bundles, Hecke operators and Fourier coefficients of modular forms are presented both in the classical and adelic settings. The book should provide a foundation for approaching similar questions for other locally symmetric spaces."

The biennial meetings at Sao Carlos have helped create a worldwide community of experts and young researchers working on singularity theory, with a special focus on applications to a wide variety of topics in both pure and applied mathematics. The tenth meeting, celebrating the 60th birthdays of Terence Gaffney and Maria Aparecida Soares Ruas, was a special occasion attracting the best known names in the area. This volume contains contributions by the attendees, including three articles written or co-authored by Gaffney himself, and survey articles on the existence of Milnor fibrations, global classifications and graphs, pairs of foliations on surfaces, and Gaffney's work on equisingularity.

Originally published in 1985, this classic textbook is an English translation of "Einfuhrung in die kommutative Algebra und algebraische Geometrie." As part of the Modern Birkhauser Classics series, the publisher is proud to make "Introduction to Commutative Algebra and Algebraic Geometry" available to a wider audience.

Aimed at students who have taken a basic course in algebra, the goal of the text is to present important results concerning the representation of algebraic varieties as intersections of the least possible number of hypersurfaces and a closely related problem with the most economical generation of ideals in Noetherian rings. Along the way, one encounters many basic concepts of commutative algebra and algebraic geometry and proves many facts which can then serve as a basic stock for a deeper study of these subjects.

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This text covers Riemann surface theory from elementary aspects to the fontiers of current research. Open and closed surfaces are treated with emphasis on the compact case, while basic tools are developed to describe the analytic, geometric, and algebraic properties of Riemann surfaces and the associated Abelian varities. Topics covered include existence of meromorphic functions, the Riemann-Roch theorem, Abel's theorem, the Jacobi inversion problem, Noether's theorem, and the Riemann vanishing theorem. A complete treatment of the uniformization of Riemann sufaces via Fuchsian groups, including branched coverings, is presented, as are alternate proofs for the most important results, showing the diversity of approaches to the subject. Of interest not only to pure mathematicians, but also to physicists interested in string theory and related topics.

This volume began as the last part of a one-term graduate course given at the Fields Institute for Research in the Mathematical Sciences in the Autumn of 1993. The course was one of four associated with the 1993-94 Fields Institute programme, which I helped to organise, entitled "Artin L-functions". Published as [132]' the final chapter of the course introduced a manner in which to construct class-group valued invariants from Galois actions on the algebraic K-groups, in dimensions two and three, of number rings. These invariants were inspired by the analogous Chin burg invariants of [34], which correspond to dimensions zero and one. The classical Chinburg invariants measure the Galois structure of classical objects such as units in rings of algebraic integers. However, at the "Galois Module Structure" workshop in February 1994, discussions about my invariant (0,1 (L/ K, 3) in the notation of Chapter 5) after my lecture revealed that a number of other higher-dimensional co homological and motivic invariants of a similar nature were beginning to surface in the work of several authors. Encouraged by this trend and convinced that K-theory is the archetypical motivic cohomology theory, I gratefully took the opportunity of collaboration on computing and generalizing these K-theoretic invariants. These generalizations took several forms - local and global, for example - as I followed part of number theory and the prevalent trends in the "Galois Module Structure" arithmetic geometry.

Restricted-orientation convexity is the study of geometric objects whose intersections with lines from some fixed set are connected. This notion generalizes standard convexity and several types of nontraditional convexity. The authors explore the properties of this generalized convexity in multidimensional Euclidean space, and describ restricted-orientation analogs of lines, hyperplanes, flats, halfspaces, and identify major properties of standard convex sets that also hold for restricted-orientation convexity. They then introduce the notion of strong restricted-orientation convexity, which is an alternative generalization of convexity, and show that its properties are also similar to that of standard convexity.

Created as a celebration of mathematical pioneer Emma Previato, this comprehensive book highlights the connections between algebraic geometry and integrable systems, differential equations, mathematical physics, and many other areas. The authors, many of whom have been at the forefront of research into these topics for the last decades, have all been influenced by Previato's research, as her collaborators, students, or colleagues. The diverse articles in the book demonstrate the wide scope of Previato's work and the inclusion of several survey and introductory articles makes the text accessible to graduate students and non-experts, as well as researchers. The articles in this second volume discuss areas related to algebraic geometry, emphasizing the connections of this central subject to integrable systems, arithmetic geometry, Riemann surfaces, coding theory and lattice theory.

The aim of this monograph is to introduce the reader to modern methods of projective geometry involving certain techniques of formal geometry. Some of these methods are illustrated in the first part through the proofs of a number of results of a rather classical flavor, involving in a crucial way the first infinitesimal neighbourhood of a given subvariety in an ambient variety. Motivated by the first part, in the second formal functions on the formal completion X/Y of X along a closed subvariety Y are studied, particularly the extension problem of formal functions to rational functions.
The formal scheme X/Y, introduced to algebraic geometry by Zariski and Grothendieck in the 1950s, is an analogue of the concept of a tubular neighbourhood of a submanifold of a complex manifold. It is very well suited to study the given embedding Y\subset X. The deep relationship of formal geometry with the most important connectivity theorems in algebraic geometry, or with complex geometry, is also studied. Some of the formal methods are illustrated and applied to homogeneous spaces.
The book contains a lot of results obtained over the last thirty years, many of which never appeared in a monograph or textbook. It addresses to algebraic geometers as well as to those interested in using methods of algebraic geometry.

The International Conference on Linear Statistical Inference LINSTAT'93 was held in Poznan, Poland, from May 31 to June 4, 1993. The purpose of the confer ence was to enable scientists, from various countries, engaged in the diverse areas of statistical sciences and practice to meet together and exchange views and re sults related to the current research on linear statistical inference in its broadest sense. Thus, the conference programme included sessions on estimation, prediction and testing in linear models, on robustness of some relevant statistical methods, on estimation of variance components appearing in linear models, on certain gen eralizations to nonlinear models, on design and analysis of experiments, including optimality and comparison of linear experiments, and on some other topics related to linear statistical inference. Within the various sessions 22 invited papers and 37 contributed papers were presented, 12 of them as posters. The conference gathered 94 participants from eighteen countries of Europe, North America and Asia. There were 53 participants from abroad and 41 from Poland. The conference was the second of this type, devoted to linear statistical inference. The first was held in Poznan in June, 4-8, 1984. Both belong to the series of confer ences on mathematical statistics and probability theory organized under the auspices of the Committee of Mathematics of the Polish Academy of Sciences, due to the ini tiative and efforts of its Mathematical Statistics Section. In the years 1973-1993 there were held in Poland nineteen such conferences, some of them international."

Plurisubharmonic functions playa major role in the theory of functions of several complex variables. The extensiveness of plurisubharmonic functions, the simplicity of their definition together with the richness of their properties and. most importantly, their close connection with holomorphic functions have assured plurisubharmonic functions a lasting place in multidimensional complex analysis. (Pluri)subharmonic functions first made their appearance in the works of Hartogs at the beginning of the century. They figure in an essential way, for example, in the proof of the famous theorem of Hartogs (1906) on joint holomorphicity. Defined at first on the complex plane IC, the class of subharmonic functions became thereafter one of the most fundamental tools in the investigation of analytic functions of one or several variables. The theory of subharmonic functions was developed and generalized in various directions: subharmonic functions in Euclidean space IRn, plurisubharmonic functions in complex space en and others. Subharmonic functions and the foundations ofthe associated classical poten tial theory are sufficiently well exposed in the literature, and so we introduce here only a few fundamental results which we require. More detailed expositions can be found in the monographs of Privalov (1937), Brelot (1961), and Landkof (1966). See also Brelot (1972), where a history of the development of the theory of subharmonic functions is given."

A novel feature of the book is its integrated approach to algebraic surface theory and the study of vector bundle theory on both curves and surfaces. While the two subjects remain separate through the first few chapters, they become much more tightly interconnected as the book progresses. Thus vector bundles over curves are studied to understand ruled surfaces, and then reappear in the proof of Bogomolov's inequality for stable bundles, which is itself applied to study canonical embeddings of surfaces via Reider's method. Similarly, ruled and elliptic surfaces are discussed in detail, before the geometry of vector bundles over such surfaces is analysed. Many of the results on vector bundles appear for the first time in book form, backed by many examples, both of surfaces and vector bundles, and over 100 exercises forming an integral part of the text. Aimed at graduates with a thorough first-year course in algebraic geometry, as well as more advanced students and researchers in the areas of algebraic geometry, gauge theory, or 4-manifold topology, many of the results on vector bundles will also be of interest to physicists studying string theory.

Semi-infinite optimization is a vivid field of active research. Recently semi infinite optimization in a general form has attracted a lot of attention, not only because of its surprising structural aspects, but also due to the large number of applications which can be formulated as general semi-infinite programs. The aim of this book is to highlight structural aspects of general semi-infinite programming, to formulate optimality conditions which take this structure into account, and to give a conceptually new solution method. In fact, under certain assumptions general semi-infinite programs can be solved efficiently when their bi-Ievel structure is exploited appropriately. After a brief introduction with some historical background in Chapter 1 we be gin our presentation by a motivation for the appearance of standard and general semi-infinite optimization problems in applications. Chapter 2 lists a number of problems from engineering and economics which give rise to semi-infinite models, including (reverse) Chebyshev approximation, minimax problems, ro bust optimization, design centering, defect minimization problems for operator equations, and disjunctive programming."

Serge Lang is one of the top mathematicians of our time. Being an excellent writer, Lang has made innumerable contributions in diverse fields in mathematics and they are invaluable. He was honored with the Cole Prize by the American Mathematical Society as well as with the Prix Carriere by the French Academy of Sciences. In these four volumes 83 of his research papers are collected. They range over a variety of topics and will be of interest to many readers.

Spencer Bloch's 1979 Duke lectures, a milestone in modern mathematics, have been out of print almost since their first publication in 1980, yet they have remained influential and are still the best place to learn the guiding philosophy of algebraic cycles and motives. This edition, now professionally typeset, has a new preface by the author giving his perspective on developments in the field over the past 30 years. The theory of algebraic cycles encompasses such central problems in mathematics as the Hodge conjecture and the Bloch-Kato conjecture on special values of zeta functions. The book begins with Mumford's example showing that the Chow group of zero-cycles on an algebraic variety can be infinite-dimensional, and explains how Hodge theory and algebraic K-theory give new insights into this and other phenomena.

The collection of papers in this volume represents recent advances in the under standing of the geometry and topology of singularities. The book covers a broad range of topics which are in the focus of contemporary singularity theory. Its idea emerged during two Singularities workshops held at the University of Lille (USTL) in 1999 and 2000. Due to the breadth of singularity theory, a single volume can hardly give the complete picture of today's progress. Nevertheless, this collection of papers provides a good snapshot of what is the state of affairs in the field, at the turn of the century. Several papers deal with global aspects of singularity theory. Classification of fam ilies of plane curves with prescribed singularities were among the first problems in algebraic geometry. Classification of plane cubics was known to Newton and classification of quartics was achieved by Klein at the end of the 19th century. The problem of classification of curves of higher degrees was addressed in numerous works after that. In the paper by Artal, Carmona and Cogolludo, the authors de scribe irreducible sextic curves having a singular point of type An (n > 15) and a large (Le. , :::: 18) sum of Milnor numbers of other singularities. They have discov ered many interesting properties of these families. In particular they have found new examples of so-called Zariski pairs, i. e.

.Et moi, ..., Ii j'avait so comment en revenir. je One serviee mathematics has rendered the n 'y serais point all .' human nee. It hal put rommon sense back Jules Verne whme it belongs, on the topmost shelf next to the dusty canister labelled' discarded nonsense'. The series il divergent; therefore we may be EricT. Bell able to do scmething with it. O. Heaviside Mathematics is a tool for thought. A highly necessary tool in a world where both feedback and nonlineari ties abound. Similarly, all kinds of parts of mathematics serve as tools for other parts and for other sci ences. Applying a simple rewriting rule to the quote on the right above one finds such statements as: 'One ser vice topology has rendered mathematical physics ... '; 'One service logic has rendered computer science .. .'; 'One service category theory has rendered mathematics .. .'. All arguably true. And all statements obtainable this way form part of the raison d'etre of this series."

A set in complex Euclidean space is called C-convex if all its intersections with complex lines are contractible, and it is said to be linearly convex if its complement is a union of complex hyperplanes. These notions are intermediates between ordinary geometric convexity and pseudoconvexity. Their importance was first manifested in the pioneering work of Andre Martineau from about forty years ago. Since then a large number of new related results have been obtained by many different mathematicians. The present book puts the modern theory of complex linear convexity on a solid footing, and gives a thorough and up-to-date survey of its current status. Applications include the Fantappie transformation of analytic functionals, integral representation formulas, polynomial interpolation, and solutions to linear partial differential equations."

It would be difficult to overestimate the influence and importance of modular forms, modular curves, and modular abelian varieties in the development of num- ber theory and arithmetic geometry during the last fifty years. These subjects lie at the heart of many past achievements and future challenges. For example, the theory of complex multiplication, the classification of rational torsion on el- liptic curves, the proof of Fermat's Last Theorem, and many results towards the Birch and Swinnerton-Dyer conjecture all make crucial use of modular forms and modular curves. A conference was held from July 15 to 18, 2002, at the Centre de Recerca Matematica (Bellaterra, Barcelona) under the title "Modular Curves and Abelian Varieties". Our conference presented some of the latest achievements in the theory to a diverse audience that included both specialists and young researchers. We emphasized especially the conjectural generalization of the Shimura-Taniyama conjecture to elliptic curves over number fields other than the field of rational numbers (elliptic Q-curves) and abelian varieties of dimension larger than one (abelian varieties of GL2-type).

From the reviews: "This is a great book, which will hopefully become a classic in the subject of differential Galois theory. ...] the specialist, as well as the novice, have long been missing an introductory book covering also specific and advanced research topics. This gap is filled by the volume under review, and more than satisfactorily." Mathematical Reviews