An original motivation for algebraic geometry was to understand curves and surfaces in three dimensions. Recent theoretical and technological advances in areas such as robotics, computer vision, computer-aided geometric design and molecular biology, together with the increased availability of computational resources, have brought these original questions once more into the forefront of research. One particular challenge is to combine applicable methods from algebraic geometry with proven techniques from piecewise-linear computational geometry (such as Voronoi diagrams and hyperplane arrangements) to develop tools for treating curved objects. These research efforts may be summarized under the term nonlinear computational geometry. This volume grew out of an IMA workshop on Nonlinear Computational Geometry in May/June 2007 (organized by I.Z. Emiris, R. Goldman, F. Sottile, T. Theobald) which gathered leading experts in this emerging field. The research and expository articles in the volume are intended to provide an overview of nonlinear computational geometry. Since the topic involves computational geometry, algebraic geometry, and geometric modeling, the volume has contributions from all of these areas. By addressing a broad range of issues from purely theoretical and algorithmic problems, to implementation and practical applications this volume conveys the spirit of the IMA workshop.

Geometric Methods in System Theory In automatic control there are a large number of applications of a fairly simple type for which the motion of the state variables is not free to evolve in a vector space but rather must satisfy some constraints. Examples are numerous; in a switched, lossless electrical network energy is conserved and the state evolves on an ellipsoid surface defined by x'Qx equals a constant; in the control of finite state, continuous time, Markov processes the state evolves on the set x'x = 1, xi ~ O. The control of rigid body motions and trajectory control leads to problems of this type. There has been under way now for some time an effort to build up enough control theory to enable one to treat these problems in a more or less routine way. It is important to emphasise that the ordinary vector space-linear theory often gives the wrong insight and thus should not be relied upon.

Consider a linear partial differential operator A that maps a vector-valued function Y = (Yl,"" Ym) into a vector-valued function I = (h, ..., II). We assume at first that all the functions, as well as the coefficients of the differen tial operator, are defined in an open domain Jl in the n-dimensional Euclidean n space IR, and that they are smooth (infinitely differentiable). A is called an overdetermined operator if there is a non-zero differential operator A' such that the composition A' A is the zero operator (and underdetermined if there is a non-zero operator A" such that AA" = 0). If A is overdetermined, then A'I = 0 is a necessary condition for the solvability of the system Ay = I with an unknown vector-valued function y. 3 A simple example in 1R is the operator grad, which maps a scalar func tion Y into the vector-valued function (8y/8x , 8y/8x2, 8y/8x3)' A necessary solvability condition for the system grad y = I has the form curl I = O."

This is the first monograph to exclusively treat Kac-Moody (K-M) groups, a standard tool in mathematics and mathematical physics. K-M Lie algebras were introduced in the mid-sixties independently by V. Kac and R. Moody, generalizing finite-dimensional semisimple Lie algebras. K-M theory has since undergone tremendous developments in various directions and has profound connections with a number of diverse areas, including number theory, combinatorics, topology, singularities, quantum groups, completely integrable systems, and mathematical physics. This comprehensive, well-written text moves from K-M Lie algebras to the broader K-M Lie group setting, and focuses on the study of K-M groups and their flag varieties. In developing K-M theory from scratch, the author systematically leads readers to the forefront of the subject, treating the algebro-geometric, topological, and representation-theoretic aspects of the theory. Most of the material presented here is not available anywhere in the book literature.{\it Kac--Moody Groups, their Flag Varieties and Representation Theory} is suitable for an advanced graduate course in representation theory, and contains a number of examples, exercises, challenging open problems, comprehensive bibliography, and index. Research mathematicians at the crossroads of representation theory, geometry, and topology will learn a great deal from this text; although the book is devoted to the general K-M case, those primarily interested in the finite-dimensional case will also benefit. No prior knowledge of K-M Lie algebras or of (finite-dimensional) algebraic groups is required, but some basic knowledge would certainly be helpful. For the reader's convenience some of the basic results needed from other areas, including ind-varieties, pro-algebraic groups and pro-Lie algebras, Tits systems, local cohomology, equivariant cohomology, and homological algebra are included.

Dantzig's development of linear programming into one of the most applicable optimization techniques has spread interest in the algebra of linear inequalities, the geometry of polyhedra, the topology of convex sets, and the analysis of convex functions. It is the goal of this volume to provide a synopsis of these topics, and thereby the theoretical back ground for the arithmetic of convex optimization to be treated in a sub sequent volume. The exposition of each chapter is essentially independent, and attempts to reflect a specific style of mathematical reasoning. The emphasis lies on linear and convex duality theory, as initiated by Gale, Kuhn and Tucker, Fenchel, and v. Neumann, because it represents the theoretical development whose impact on modern optimi zation techniques has been the most pronounced. Chapters 5 and 6 are devoted to two characteristic aspects of duality theory: conjugate functions or polarity on the one hand, and saddle points on the other. The Farkas lemma on linear inequalities and its generalizations, Motzkin's description of polyhedra, Minkowski's supporting plane theorem are indispensable elementary tools which are contained in chapters 1, 2 and 3, respectively. The treatment of extremal properties of polyhedra as well as of general convex sets is based on the far reaching work of Klee. Chapter 2 terminates with a description of Gale diagrams, a recently developed successful technique for exploring polyhedral structures."

These notes are an expanded and updated version of a course of lectures which I gave at King's College London during the summer term 1979. The main topic is the Hermitian classgroup of orders, and in particular of group rings. Most of this work is published here for the first time. The primary motivation came from the connection with the Galois module structure of rings of algebraic integers. The principal aim was to lay the theoretical basis for attacking what may be called the "converse problem" of Galois module structure theory: to express the symplectic local and global root numbers and conductors as algebraic invariants. A previous edition of these notes was circulated privately among a few collaborators. Based on this, and following a partial solution of the problem by the author, Ph. Cassou-Nogues and M. Taylor succeeded in obtaining a complete solution. In a different direction J. Ritter published a paper, answering certain character theoretic questions raised in the earlier version. I myself disapprove of "secret circulation," but the pressure of other work led to a delay in publication; I hope this volume will make amends. One advantage of the delay is that the relevant recent work can be included. In a sense this is a companion volume to my recent Springer-Ergebnisse-Bericht, where the Hermitian theory was not dealt with. Our approach is via "Hom-groups," analogous to that followed in recent work on locally free classgroups.

This book is an introduction to Hopf algebras in braided monoidal categories with applications to Hopf algebras in the usual sense. The main goal of the book is to present from scratch and with complete proofs the theory of Nichols algebras (or quantum symmetric algebras) and the surprising relationship between Nichols algebras and generalized root systems. In general, Nichols algebras are not classified by Cartan graphs and their root systems. However, extending partial results in the literature, the authors were able to associate a Cartan graph to a large class of Nichols algebras. This allows them to determine the structure of right coideal subalgebras of Nichols systems which generalize Nichols algebras. As applications of these results, the book contains a classification of right coideal subalgebras of quantum groups and of the small quantum groups, and a proof of the existence of PBW-bases that does not involve case by case considerations. The authors also include short chapter summaries at the beginning of each chapter and historical notes at the end of each chapter. The theory of Cartan graphs, Weyl groupoids, and generalized root systems appears here for the first time in a book form. Hence, the book serves as an introduction to the modern classification theory of pointed Hopf algebras for advanced graduate students and researchers working in categorial aspects and classification theory of Hopf algebras and their generalization.

The basic problem of deformation theory in algebraic geometry involves watching a small deformation of one member of a family of objects, such as varieties, or subschemes in a fixed space, or vector bundles on a fixed scheme. In this new book, Robin Hartshorne studies first what happens over small infinitesimal deformations, and then gradually builds up to more global situations, using methods pioneered by Kodaira and Spencer in the complex analytic case, and adapted and expanded in algebraic geometry by Grothendieck.

The author includes numerous exercises, as well as important examples illustrating various aspects of the theory. This text is based on a graduate course taught by the author at the University of California, Berkeley.

The Conference on Algebraic Geometry, held in Berlin 9-15 March 1988, was organised by the Sektion Mathematik of the Humboldt-Universitat. The organising committee consisted of H. Kurke, W. Kleinert, G. Pfister and M. Roczen. The Conference is one in a series organised by the Humboldt-Universitat at regular intervals of two or three years, with the purpose of providing a meeting place for mathematicians from eastern and western countries. The present volume contains elaborations of part of the lectures presented at the Conference and some articles on related subjects. All papers were subject to the regular refereeing procedure of Compositio Mathematica, and H. Kurke acted as a guest editor of this journal. The papers focus on actual themes in algebraic geometry and singularity theory, such as vector bundles, arithmetical algebraic geometry, intersection theory, moduli and Hodge theory. We are grateful to all those who, by their hospitality, their presence at the Con ference, their support or their written contributions, have made this Conference to a success. The editors Compositio Mathematica 76: viii, 1990.

'Et moi, ..., si j'avait su comment en revcnrr, One service mathematics has rendered the je n'y serais point aile.' human race. It has put common sense back. Jules Verne where it belongs, on the topmost shelf next to the dusty canister labelled 'discarded non The series is divergent; therefore we may be sense'. able to do something with it. Eric T. Bell O. Heaviside Mathematics is a tool for thought. A highly necessary tool in a world where both feedback and non linearities abound. Similarly, all kinds of parts of mathematics serve as tools for other parts and for other sciences. Applying a simple rewriting rule to the quote on the right above one finds such statements as: 'One service topology has rendered mathematical physics .. .'; 'One service logic has rendered com puter 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."

This meeting has been motivated by two events: the 85th birthday of Pierre Lelong, and the end of the third year of the European network "Complex analysis and analytic geometry" from the programme Human Capital and Mobility. For the first event, Mathematicians from Poland, Sweden, United States and France, whose work is particularly related to the one ofP. Lelong have accepted to participate; for the second, the different teams of the Network sent lecturers to report on their most recent works. These teams are from Grenoble, Wuppertal, Berlin, Pisa and Paris VI; in fact, most of their results are also related to Lelong's work and, a posteriori, it is difficult to decide whether a talk is motivated by the first or by the second event. We chose only plenary lectures, usually of one hour, except a small number, given by young mathematicians, which have been shorter. A two hours problem session has been organized. The Proceedings gather papers which are exact texts of the talks, or are closely related to them. The members from the Network and five other lecturers sent us papers; the other lecturers published the content of their talks in mathematical Journals. All the presented texts have been submitted to referees independent of the organizing committee; the texts of the problems have been approved by their authors.

From its birth (in Babylon?) till 1936 the theory of quadratic forms dealt almost exclusively with forms over the real field, the complex field or the ring of integers. Only as late as 1937 were the foundations of a theory over an arbitrary field laid. This was in a famous paper by Ernst Witt. Still too early, apparently, because it took another 25 years for the ideas of Witt to be pursued, notably by Albrecht Pfister, and expanded into a full branch of algebra. Around 1960 the development of algebraic topology and algebraic K-theory led to the study of quadratic forms over commutative rings and hermitian forms over rings with involutions. Not surprisingly, in this more general setting, algebraic K-theory plays the role that linear algebra plays in the case of fields. This book exposes the theory of quadratic and hermitian forms over rings in a very general setting. It avoids, as far as possible, any restriction on the characteristic and takes full advantage of the functorial aspects of the theory. The advantage of doing so is not only aesthetical: on the one hand, some classical proofs gain in simplicity and transparency, the most notable examples being the results on low-dimensional spinor groups; on the other hand new results are obtained, which went unnoticed even for fields, as in the case of involutions on 16-dimensional central simple algebras. The first chapter gives an introduction to the basic definitions and properties of hermitian forms which are used throughout the book.

In the study of algebraic/analytic varieties a key aspect is the description of the invariants of their singularities. This book targets the challenging non-isolated case. Let f be a complex analytic hypersurface germ in three variables whose zero set has a 1-dimensional singular locus. We develop an explicit procedure and algorithm that describe the boundary M of the Milnor fiber of f as an oriented plumbed 3-manifold. This method also provides the characteristic polynomial of the algebraic monodromy. We then determine the multiplicity system of the open book decomposition of M cut out by the argument of g for any complex analytic germ g such that the pair (f,g) is an ICIS. Moreover, the horizontal and vertical monodromies of the transversal type singularities associated with the singular locus of f and of the ICIS (f,g) are also described. The theory is supported by a substantial amount of examples, including homogeneous and composed singularities and suspensions. The properties peculiar to M are also emphasized.

Contents: Introduction. - Standard Notations. - Preliminaries. - Curves on Surfaces. - Mappings of Surfaces. - Some General Properties of Surfaces. - Examples. - The Enriques-Kodaira Classification. - Surfaces of General Type. - K3-Surfaces and Enriques Surfaces. - Bibliography. - Subject Index.

Although much of classical ergodic theory is concerned with single transformations and one-parameter flows, the subject inherits from statistical mechanics not only its name, but also an obligation to analyze spatially extended systems with multidimensional symmetry groups. However, the wealth of concrete and natural examples which has contributed so much to the appeal and development of classical dynamics, is noticeably absent in this more general theory. The purpose of this book is to help remedy this scarcity of explicit examples by introducing a class of continuous Zd-actions diverse enough to exhibit many of the new phenomena encountered in the transition from Z to Zd, but which nevertheless lends itself to systematic study: the Zd-actions by automorphisms of compact, abelian groups. One aspect of these actions, not surprising in itself but quite striking in its extent and depth nonetheless, is the connection with commutative algebra and arithmetical algebraic geometry. The algebraic framework resulting from this connection allows the construction of examples with a variety of specified dynamical properties, and by combining algebraic and dynamical tools one obtains a quite detailed understanding of this class of Zd-actions."

Generalized Polygons is the first book to cover, in a coherent manner, the theory of polygons from scratch. In particular, it fills elementary gaps in the literature and gives an up-to-date account of current research in this area, including most proofs, which are often unified and streamlined in comparison to the versions generally known. Generalized Polygons will be welcomed both by the student seeking an introduction to the subject as well as the researcher who will value the work as a reference. In particular, it will be of great value for specialists working in the field of generalized polygons (which are, incidentally, the rank 2 Tits-buildings) or in fields directly related to Tits-buildings, incidence geometry and finite geometry. The approach taken in the book is of geometric nature, but algebraic results are included and proven (in a geometric way ). A noteworthy feature is that the book unifies and generalizes notions, definitions and results that exist for quadrangles, hexagons, octagons - in the literature very often considered separately - to polygons. Many alternative viewpoints given in the book heighten the sense of beauty of the subject and help to provide further insight into the matter. "

After Pyatetski-Shapiro[PS1] and Satake [Sa1] introduced, independent of one another, an early form of the Jacobi Theory in 1969 (while not naming it as such), this theory was given a de?nite push by the book The Theory of Jacobi Forms by Eichler and Zagier in 1985. Now, there are some overview articles describing the developments in the theory of the Jacobigroupandits autom- phic forms, for instance by Skoruppa[Sk2], Berndt [Be5] and Kohnen [Ko]. We refertotheseformorehistoricaldetailsandmanymorenamesofauthorsactive inthistheory,whichstretchesnowfromnumbertheoryandalgebraicgeometry to theoretical physics. But let us only brie?y indicate several- sometimes very closely related - topics touched by Jacobi theory as we see it: * ?eldsofmeromorphicandrationalfunctionsontheuniversalellipticcurve resp. universal abelian variety * structure and projective embeddings of certain algebraic varieties and homogeneous spaces * correspondences between di?erent kinds of modular forms * L-functions associated to di?erent kinds of modular forms and autom- phic representations * induced representations * invariant di?erential operators * structure of Hecke algebras * determination of generalized Kac-Moody algebras and as a ? nal goal related to the here ?rst mentioned * mixed Shimura varieties and mixed motives. Now, letting completely aside the arithmetical and algebraic geometrical - proach to Jacobi forms developed and instrumentalized by Kramer [Kr], we ix x Introduction will treat here a certain representation theoretic point of view for the Jacobi theory parallel to the theory of Jacquet-Langlands [JL] for GL(2) as reported by Godement [Go2], Gelbart [Ge1] and, recently, Bump [Bu].

This monograph brings together a collection of results on the non-vanishing of- functions.Thepresentation, thoughbasedlargelyontheoriginalpapers, issuitable forindependentstudy.Anumberofexerciseshavealsobeenprovidedtoaidinthis endeavour. The exercises are of varying di?culty and those which require more e?ort have been marked with an asterisk. The authors would like to thank the Institut d'Estudis Catalans for their encouragementof thiswork throughtheFerranSunyeriBalaguerPrize.Wewould also like to thank the Institute for Advanced Study, Princeton for the excellent conditions which made this work possible, as well as NSERC, NSF and FCAR for funding. Princeton M. Ram Murty August, 1996 V. Kumar Murty xi Introduction Since the time of Dirichlet and Riemann, the analytic properties of L-functions have been used to establish theorems of a purely arithmetic nature. The dist- bution of prime numbers in arithmetic progressions is intimately connected with non-vanishing properties of various L-functions. With the subsequent advent of the Tauberian theory as developed by Wiener and Ikehara, these arithmetical t- orems have been shown to be equivalent to the non-vanishing of these L-functions on the line Re(s)=1. In the 1950's, a new theme was introduced by Birch and Swinnerton-Dyer. Given an elliptic curve E over a number ?eld K of ?nite degree over Q, they associated an L-function to E and conjectured that this L-function extends to an entire function and has a zero at s = 1 of order equal to the Z-rank of the group of K-rational points of E. In particular, the L-function vanishes at s=1ifand only if E has in?nitely many K-rational points.

The concept of moduli goes back to B. Riemann, who shows in [68] that the isomorphism class of a Riemann surface of genus 9 ~ 2 depends on 3g - 3 parameters, which he proposes to name "moduli". A precise formulation of global moduli problems in algebraic geometry, the definition of moduli schemes or of algebraic moduli spaces for curves and for certain higher dimensional manifolds have only been given recently (A. Grothendieck, D. Mumford, see [59]), as well as solutions in some cases. It is the aim of this monograph to present methods which allow over a field of characteristic zero to construct certain moduli schemes together with an ample sheaf. Our main source of inspiration is D. Mumford's "Geometric In variant Theory". We will recall the necessary tools from his book [59] and prove the "Hilbert-Mumford Criterion" and some modified version for the stability of points under group actions. As in [78], a careful study of positivity proper ties of direct image sheaves allows to use this criterion to construct moduli as quasi-projective schemes for canonically polarized manifolds and for polarized manifolds with a semi-ample canonical sheaf.

This is the first of two volumes representing the current state of knowledge about Enriques surfaces which occupy one of the classes in the classification of algebraic surfaces. Recent improvements in our understanding of algebraic surfaces over fields of positive characteristic allowed us to approach the subject from a completely geometric point of view although heavily relying on algebraic methods. Some of the techniques presented in this book can be applied to the study of algebraic surfaces of other types. We hope that it will make this book of particular interest to a wider range of research mathematicians and graduate students. Acknowledgements. The undertaking of this project was made possible by the support of several institutions. Our mutual cooperation began at the University of Warwick and the Max Planck Institute of Mathematics in 1982/83. Most of the work in this volume was done during the visit of the first author at the University of Michigan in 1984-1986. The second author was supported during all these years by grants from the National Science Foundation.

Since its very existence as a separate field within computer science, computer graphics had to make extensive use of non-trivial mathematics, for example, projective geometry, solid modelling, and approximation theory. This interplay of mathematics and computer science is exciting, but also makes it difficult for students and researchers to assimilate or maintain a view of the necessary mathematics. The possibilities offered by an interdisciplinary approach are still not fully utilized. This book gives a selection of contributions to a workshop held near Genoa, Italy, in October 1991, where a group of mathematicians and computer scientists gathered to explore ways of extending the cooperation between mathematics and computer graphics.

The plan to write this book was laid out in April 1987 at Oberwolfach, dur- ing the Conference "Reelle Algebraische Geometrie". Afterwards we met at various conferences and seminars in Luminy, Madrid, Munster, Oberwolfach, Segovia, Soesterberg, Trento and La Turballe. We would like to thank the or- ganizers and the institutions which supported these meetings. With pleasure we remember the special year on Real Algebraic Geometry and Quadratic Forms (Ragsquad) in Berkeley 1990/91 where an essential part of this book was written. Thanks to T.Y. Lam and R. Robson. We are indepted to our Departments: Universidad Complutense de Madrid and WestfiiJische Wilhelms-Universitiit Munster, as well as the D.A.A.D. and the D.G.I.C.y'T .. It is not possible to mention here all colleagues and friends who showed permanent interest in the project. They encouraged us to continue and com- plete this work. In particular, we are obliged to Jacek Bochnak, Mike Buchner, Michel Coste and Claus Scheiderer for proofreading and helpful suggestions. While the work was still in progress, Manfred Knebusch used parts of our manuscript for a course on Real Algebraic Geometry. His experience con- vinced us that it was worth pursuing a fully abstract approach. We were also in permanent contact with Murray Marshall, and the reader will recognize the mutual influence of ideas. We are also indebted to Professor Reinhold Remmert and to the Springer- Verlag for publishing the book in this series.

The main object of this book is to reorient and revitalize classical geometry in a way that will bring it closer to the mainstream of contemporary mathematics. The postulational basis of the subject will be radically revised in order to construct a broad-scale and conceptually unified treatment. The familiar figures of classical geometry-points, segments, lines, planes, triangles, circles, and so on-stem from problems in the physical world and seem to be conceptually unrelated. However, a natural setting for their study is provided by the concept of convex set, which is compara tively new in the history of geometrical ideas. The familiarfigures can then appear as convex sets, boundaries of convex sets, or finite unions of convex sets. Moreover, two basic types of figure in linear geometry are special cases of convex set: linear space (point, line, and plane) and halfspace (ray, halfplane, and halfspace). Therefore we choose convex set to be the central type of figure in our treatment of geometry. How can the wealth of geometric knowledge be organized around this idea? By defini tion, a set is convex if it contains the segment joining each pair of its points; that is, if it is closed under the operation of joining two points to form a segment. But this is precisely the basic operation in Euclid."

In the Fall of 1975 we started a joint project with the ultimate goal of topo logically classifying real algebraic sets. This has been a long happy collaboration (c.f., [K2)). In 1985 while visiting M.S.R.1. we organized and presented our classification results up to that point in the M.S.R.1. preprint series [AK14] -[AK17]. Since these results are interdependent and require some prerequisites as well as familiarity with real algebraic geometry, we decided to make them self contained by presenting them as a part of a book in real algebraic geometry. Even though we have not arrived to our final goal yet we feel that it is time to introduce them in a self contained coherent version and demonstrate their use by giving some applications. Chapter I gives the overview of the classification program. Chapter II has all the necessary background for the rest of the book, which therefore can be used as a course in real algebraic geometry. It starts with the elementary properties of real algebraic sets and ends with the recent solution of the Nash Conjecture. Chapter III and Chapter IV develop the theory of resolution towers. Resolution towers are basic topologically defined objects generalizing the notion of manifold.