International audienceGiven two coprime polynomials $P$ and $Q$ in $\Z[x,y]$ of degree bounded by $d$ and bitsize bounded by $\tau$, we address the problem of solving the system $\{P,Q\}$. We are interested in certified numerical approximations or, more precisely, isolating boxes of the solutions.We are also interested in computing, as intermediate symbolic objects, rational parameterizations ofthe solutions, and in particular Rational Univariate Representations (RURs), which can easily turn many queries on the system into queries on univariate polynomials.Such representations require the computation of a separating form for the system, that is a linear combination of the variables that takes different values when evaluated at the distinct solutions of the system. We present new algorithms for computing linear separating forms, RUR decompositions and isolating boxes of the solutions. We show that these three algorithms have worst-case bit complexity $\widetilde{O}_B(d^6+d^5\tau)$, where $\widetilde{O}$ refers to the complexity where polylogarithmic factors are omitted and $O_B$ refers to the bit complexity. We also present probabilistic Las Vegas variants of our two first algorithms, which have expected bit complexity $\widetilde{O}_B(d^5+d^4\tau)$. A key ingredient of our proofs of complexity is an amortized analysis of the triangular decomposition algorithm via subresultants, which is of independent interest

A new six-dof epicyclic-parallel manipulator with all actuators allocated on the ground is introduced. It is shown that the system has a considerably simple kinematics relationship, with the complete direct and inverse kinematics analysis provided. Further, the first and second links of each leg can be driven independently by two motors. The serial and parallel singularities of the system are determined, with an interesting feature of the system being that the parallel singularity is independent of the position of the end-effector. The workspace of the manipulator is also analyzed with future applications in haptics in mind.

International audienceClassifying the Perspective-Three-Point problem (abbreviated by P3P in the sequel) consists in determining the number of possible positions of a camera with respect to the apparent position of three points. In the case where the three points form an isosceles triangle, we give a full classification of the P3P. This leads to consider a polynomial system of polynomial equations and inequalities with 4 parameters which is generically zero-dimensional. In the present situation, the parameters represent the apparent position of the three points so that solving the problem means determining all the possible numbers of real solutions with respect to the parameters' values and give a sample point for each of these possible numbers. One way for solving such systems consists first in computing a discriminant variety. Then, one has to compute at least one point in each connected component of its real complementary in the parameter's space. The last step consists in specializing the parameters appearing in the initial system by these sample points. Many computational tools may be used for implementing such a general method, starting with the well known Cylindrical Algebraic Decomposition (CAD in short), which provides more information than required. In a first stage, we propose a full algorithm based on the straightforward use of some sophisticated software such as FGb (Grobner bases computations) RS (real roots of zero-dimensional systems), DV (Discriminant varieties) and RAGlib (Critical point methods for semi-algebraic systems). We then improve the global algorithm by refining the required computable mathematical objects and related algorithms and finally provide the classification. Three full days of computation were necessary to get this classification which is obtained from more than 40000 points in the parameter's space

The subject of this paper deals with the singularity analysis of a sixdof three-legged parallel manipulator for force-feedback interface. To this end, a geometric condition for the manipulator singularities is obtained by means of Grassmann-Cayley algebra; the parallel singularities of the manipulator are computed using Jacobian and Gröbner basis. As a result, the algebraic relations of the singularities satisfied by the orientation variables are reported. Finally, the parallel singularities of the manipulator are plotted in its orientation workspace.