Some Preprints and Publication Links

Papers have been sorted into two categories: Applied Mathematics, and Kinematics/Robotics. As there is overlap, a few papers are listed twice.
As preprints, there may be differences from the final refereed and edited publications. You are encouraged to access the final publications to see a definitive copy. Do not repost these preprints without explicit permission.
My publication list (pdf) contains a more complete list, especially regarding older articles.

[Home][Kinematics/Robotics]

Applied Mathematics

Books
  1. Daniel J. Bates, Jonathan D. Hauenstein, Andrew J. Sommese and Charles W. Wampler,
    Solving Polynomial Systems with Bertini, (publisher's webpage)
    SIAM, Philadelphia, PA, 352+xx pages, (2013).

  2. Andrew J. Sommese and Charles W. Wampler,
    Numerical Solution of Systems of Polynomials Arising In Engineering And Science, (publisher's webpage)
    World Scientific Press, Singapore, 401+xxii pages, (2005).

Articles
  1. Jonathan D. Hauenstein and Charles W. Wampler,
    Numerical algebraic intersection using regeneration (pdf).

  2. Daniel J. Bates, Wolfram Decker, Jonathan D. Hauenstein, Chris Peterson, Gerhard Pfister, Frank-Olaf Schreyer, Andrew J. Sommese, and Charles W. Wampler,
    Comparison of probabilistic algorithms for analyzing the components of an affine algebraic variety (pdf).

  3. J.D. Hauenstein, and C.W. Wampler, Isosingular sets and deflation (pdf)
    Foundations of Computational Mathematics, 13:3:371-403, 2013.
    DOI:10.1007/s10208-013-9147-y

  4. J.D. Hauenstein and C.W. Wampler,
    Numerically Intersecting Algebraic Varieties via Witness Sets (pdf)
    Applied Math. Comp., 219:5730-5742, 2013.
    DOI:10.1016/j.amc.2012.06.034

  5. G.M Besana, S. Di Rocco, J.D. Hauenstein, A.J. Sommese, and C.W. Wampler,
    Cell decomposition of almost smooth real algebraic surfaces (pdf)
    Numerical Algorithms, 63:4:645678, 2013.
    DOI:10.1007/s11075-012-9646-y

  6. J.D. Hauenstein, A.J. Sommese, and C.W. Wampler,
    Regenerative Cascade Homotopies for Solving Polynomial Systems (pdf)
    Applied Math. Comp., 218:4:1240--1246, 2011.
    DOI:10.1016/j.amc.2011.06.004

  7. C.W. Wampler and A.J. Sommese,
    Numerical Algebraic Geometry and Algebraic Kinematics, (pdf) (ps)
    Acta Numerica, 20:469--567, 2011.
    DOI:10.1017/S0962492911000067

  8. C.W. Wampler, J.D. Hauenstein, and A.J. Sommese,
    Mechanism Mobility and a Local Dimension Test, (pdf)
    Mech. & Machine Theory, 2011.
    DOI:10.1016/j.mechmachtheory.2011.04.011

  9. Daniel J. Bates, Christoper Peterson, Andrew J. Sommese, and Charles W. Wampler,
    Numerical Computation of the Genus of an Irreducible Curve within an Algebraic Set, (dvi) (ps) (pdf)
    J. of Pure & Applied Algebra, 215:8:1844-1851, 2011.
    DOI:10.1016/j.jpaa.2010.10.016

  10. F. Arends, J. Ouaknine, and C.W. Wampler,
    On Searching for Small Kochen-Specker Vector Systems, (pdf)
    Proc. 37th Intl. Workshop on Graph-Theoretic Concepts in Computer Science (WG'11), Tepla Monastery, Czech Republic, June 21--23, 2011.

  11. Jonathan D. Hauenstein, Andrew J. Sommese, and Charles W. Wampler,
    Regeneration Homotopies for Solving Systems of Polynomials, (pdf)
    Mathematics of Computation, 80:273:345-377, AMS, 2011.

  12. Sandra Di Rocco, David Eklund, Andrew J. Sommese, and Charles W. Wampler,
    Algebraic C*-actions and the Inverse Kinematics of a General 6R Manipulator, (pdf)
    Applied Math. & Computation, 216:9:2512-2524, 2010.

  13. Daniel J. Bates, Jonathan D. Hauenstein, Andrew J. Sommese, and Charles W. Wampler,
    Stepsize Control for Adaptive Multiprecision Path Tracking, (dvi) (ps) (pdf)
    in Interactions of Classical and Numerical Algebraic Geometry, D. Bates, G.-M. Besana, S. Di Rocco, and C. Wampler (Eds.), Contemporary Mathematics, Vol.~496, pp.~21--31, Amer. Math. Soc., 2009.

  14. Daniel J. Bates, Jonathan D. Hauenstein, Andrew J. Sommese, and Charles W. Wampler,
    Software for Numerical Algebraic Geometry: A Paradigm and Progress Towards its Implementation, (dvi) (ps) (pdf)
    in Software for Algebraic Geometry, IMA Volumes in Math. and its Applications, Vol. 148, eds. M. Stillman, N. Takayama, and J. Verschelde, Springer, 2008.

  15. Daniel J. Bates, Jonathan D. Hauenstein, Andrew J. Sommese, and Charles W. Wampler,
    Adaptive Multiprecision Path Tracking, (dvi) (ps) (pdf)
    SIAM Journal on Numerical Mathematics, 46:2:722-746, 2008.

  16. Andrew J. Sommese and Charles W. Wampler,
    Exceptional Sets and Fiber Products, (dvi) (ps) (pdf)
    Foundations of Computational Mathematics, 8:2:171-196, 2008.

  17. Andrew J. Sommese, Jan Verschelde, and Charles W. Wampler,
    Solving Polynomial Systems Equation by Equation, (dvi) (ps) (pdf) (abstract)
    in Algorithms in Algebraic Geometry, IMA Volumes in Math. and its Applications, Vol. 146, eds. A. Dickenstein, F.-O. Schreyer, and A.J. Sommese, Springer, 2008.

  18. Ye Lu, Daniel J. Bates, Andrew J. Sommese, and Charles W. Wampler,
    Finding all Real Points of a Complex Curve, (pdf)
    In Proceedings of the Midwest Algebra, Geometry and Its Interactions Conference, Contemporary Mathematics, AMS, 448:183--205, 2007.

  19. Eugene L. Allgower, Daniel J. Bates, Andrew J. Sommese, and Charles W. Wampler,
    Solution of Polynomial Systems Derived from Differential Equations, (dvi) (ps) (pdf)
    Computing, 76:1-2:1-10 (2006).

  20. Andrew J. Sommese, Jan Verschelde, and Charles W. Wampler,
    An Intrinsic Homotopy for Intersecting Algebraic Varieties, (dvi) (ps) (pdf) (abstract)
    Journal of Complexity 21:593-608 (2005).

  21. Andrew J. Sommese, Jan Verschelde, and Charles W. Wampler,
    Introduction to Numerical Algebraic Geometry, (ps) (pdf) (abstract)
    Chapter~8, Solving Polynomial Equations: Foundations, Algorithms, and Applications, Algorithms and Computation in Mathematics 14, A.Dickenstein, I.Z.Emiris (Eds.), Springer, 2005, pp. 339--392.

  22. Andrew J. Sommese, Jan Verschelde, and Charles W. Wampler,
    Homotopies for Intersecting Solution Components of Polynomial Systems, (dvi) (ps) (pdf) (abstract)
    SIAM Journal on Numerical Analysis, 42:4:1552-1571 (2004).

  23. Andrew J. Sommese, Jan Verschelde, and Charles W. Wampler,
    Numerical Factorization of Multivariate Complex Polynomials, (dvi) (ps) (pdf) (abstract)
    Theoretical Computer Science, 315:2-3:651-669 (2004).

  24. Andrew J. Sommese, Jan Verschelde, and Charles W. Wampler,
    Advances in Polynomial Continuation for Solving Problems in Kinematics, (pdf) (abstract)
    Paper DETC2002/MECH-34254, Proc. ASME Design Engineering Technical Conf. (CDROM), Montreal, Quebec, Sept. 29-Oct. 2, 2002. Revised version in ASME Journal of Mechanical Design 126:2:262-268 (2004).

  25. Andrew J. Sommese, Jan Verschelde, and Charles W. Wampler,
    Numerical Irreducible Decomposition using PHCpack, (dvi) (ps) (pdf) (abstract)
    in Mathematics and Visualization, edited by M. Joswig and N. Takayama, Springer-Verlag (2003), 109-130.

  26. Andrew J. Sommese, Jan Verschelde, and Charles W. Wampler,
    Method for Tracking Singular Paths with Application to the Numerical Irreducible Decomposition, (dvi) (ps) (pdf) (abstract)
    in Algebraic Geometry, a Volume in Memory of Paolo Francia, ed. by M.C. Beltrametti, F. Catanese, C. Ciliberto, A. Lanteri, and C. Pedrini; De Gruyter (2002), 329-345.

  27. Andrew J. Sommese, Jan Verschelde, and Charles W. Wampler,
    Symmetric Functions Applied to Decomposing Polynomial Systems, (dvi) (ps) (pdf) (abstract)
    SIAM Journal on Numerical Analysis 40:6:2026-2046 (2002).

  28. Andrew J. Sommese, Jan Verschelde, and Charles W. Wampler,
    Using Monodromy to Decompose Solution Sets of Polynomial Systems into Irreducible Components, (dvi) (ps) (pdf) (abstract)
    in Proceedings of the 2001 NATO Advance Research Conference, Eilat, Israel, on Applications of Algebraic Geometry to Coding Theory, Physics, and Computation, edited by C. Ciliberto, F. Hirzebruch, R. Miranda, and M. Teicher, (2001) 297-315.

  29. Andrew J. Sommese, Jan Verschelde, and Charles W. Wampler,
    Numerical Irreducible Decomposition using Projections from Points on Components, (dvi) (ps) (pdf) (abstract)
    in Symbolic Computation: Solving Equations in Algebra, Geometry, and Engineering, ed. by Green, Hosten, Laubenbacher, and Power, Contemporary Mathematics 206 (2001), pages 37-51.

  30. Andrew J. Sommese, Jan Verschelde, and Charles W. Wampler,
    Numerical Decomposition of the Solution Sets of Polynomial Systems into Irreducible Components, (pdf)
    SIAM Journal on Numerical Analysis, 38:6:2022-2046 (2001).

  31. Andrew J. Sommese and Charles W. Wampler,
    Numerical Algebraic Geometry, (dvi) (ps) (pdf)
    in The Mathematics of Numerical Analysis: Real Number Algorithms, Park City, Utah, Summer 1995, ed. by J. Renegar, M. Shub, and S. Smale, Lectures in Applied Math. 32 (1996), 749-763.

  32. Alexander P. Morgan, Andrew J. Sommese and Charles W. Wampler,
    A Product-Decomposition Bound for Bezout Numbers, (jstor link)
    SIAM Journal on Numerical Analysis 32:4:1308-1325 (1995).
[Home][AppliedMath]

Kinematics and Robotics

  1. Lin Li, David H. Myszka, Andrew P. Murray, and Charles W. Wampler,
    Using the singularity trace to understand linkage motion characteristics, (pdf)
    paper DETC2013-13244, Proc. ASME Int. Design Eng. Tech. Conf. (IDETC), Portland, OR, August 5--7, 2013.

  2. M. Abdallah, C.W. Wampler, and R. Platt,
    Decoupled torque control of tendon-driven fingers with tension management, (pdf)
    Int. J. Robotics Research, 32(2):247--258, 2013.
    DOI: 10.1177/0278364912468302

  3. D.H. Myszka, A.P. Murray, and C.W. Wampler,
    Mechanism branches, turning curves, and critical points, (pdf)
    paper DETC2012-70277, Proc. ASME Int. Design Eng. Tech. Conf. (IDETC), Chicago, IL, August 12--15, 2012.

  4. C.W. Wampler and A.J. Sommese,
    Numerical Algebraic Geometry and Algebraic Kinematics, (pdf)
    Acta Numerica, 20:469--567, 2011.
    DOI:10.1017/S0962492911000067

  5. C.W. Wampler, J.D. Hauenstein, and A.J. Sommese,
    Mechanism Mobility and a Local Dimension Test, (pdf)
    Mech. & Machine Theory, 2011.
    DOI:10.1016/j.mechmachtheory.2011.04.011

  6. R. Platt, M.E. Abdallah, and C.W. Wampler,
    Multiple-Priority Impedance Control, (pdf)
    Proc. 2011 IEEE Conf. Robotics & Automation (ICRA), Shanghai, May 9--13, 2011.

  7. M.E. Abdallah and C.W. Wampler,
    Torque control of underactuated tendon-driven fingers, (pdf)
    Mechanism Science, 2:1:83-90, 2011, DOI:10.5194/ms-2-83-2011.
    Available at www.mech-sci.net/2/83/2011.

  8. M.E. Abdallah, R. Platt, C.W. Wampler, and B. Hargrave,
    Applied joint-space torque and stiffness control of tendon-driven fingers, (pdf)
    Proc. IEEE-RAS Intl. Conf. Humanoid Robots, Nashville, TN, Dec. 6--8, 2010.

  9. M.E. Abdallah, C.W. Wampler, and R. Platt,
    Object impedance control using a closed-chain task definition, (pdf)
    Proc. IEEE-RAS Intl. Conf. Humanoid Robots, Nashville, TN, Dec. 6--8, 2010.

  10. R. Platt, M.E. Abdallah, and C.W. Wampler,
    Multi-Priority Cartesian Impedance Control, (pdf)
    Robotics: Science & Systems Conf. (RSS), Zaragoza, Spain, June 27-30, 2010.

  11. Sandra Di Rocco, David Eklund, Andrew J. Sommese, and Charles W. Wampler,
    Algebraic C*-actions and the Inverse Kinematics of a General 6R Manipulator, (pdf)
    Applied Math. & Computation, 216:9: 2512--2524, 2010.

  12. D. Gao, and C.W. Wampler
    Head Injury Criterion: Assessing the Danger of Robot Impact, (pdf)
    IEEE Robotics & Automation Magazine, pp. 71--74, Dec. 2009.

  13. C.W. Wampler, B.T. Larson, and A.G. Erdman,
    A New Mobility Formula for Spatial Mechanisms, (pdf)
    paper DETC2007-35574, Proc. ASME Design Engineering Technical Conf., Las Vegas, Sept.~4--7, 2007.

  14. C.W. Wampler,
    On a rigid body subject to point-plane constraints, (pdf)
    ASME J. of Mechanical Design, 128(1):151--158, Jan. 2006.

  15. Andrew J. Sommese, Jan Verschelde, and Charles W. Wampler,
    Advances in Polynomial Continuation for Solving Problems in Kinematics, (pdf) (abstract)
    Paper DETC2002/MECH-34254, Proc. ASME Design Engineering Technical Conf. (CDROM), Montreal, Quebec, Sept. 29-Oct. 2, 2002. Revised version in ASME Journal of Mechanical Design 126:2:262-268 (2004).

  16. H.-J. Su, C.W. Wampler, and J.M. McCarthy,
    Geometric design of cylindric PRS serial chains, (pdf)
    Proc. ASME Design Engineering Technical Conf., Chicago, September 26, 2003. Revised version in ASME J. Mechanical Design, 126:2:269-277 (2004).

  17. C.W. Wampler,
    Singular foci of planar linkages, (pdf)
    Mechanism Machine Theory, 39:11:1123-1138 (2004).

  18. C.W. Wampler,
    The geometry of singular foci of planar linkages, (pdf)
    Mechanism Machine Theory, 39:11:1139-1153 (2004).

  19. C.W. Wampler,
    Displacement analysis of spherical mechanisms having three or fewer loops, (pdf)
    ASME J. Mechanical Design, 126:1:93-100 (2004). Earlier version Paper DETC2002/MECH-34326, Proc. ASME Design Engineering Technical Conf. (CDROM), Montreal, Quebec, Sept. 29-Oct. 2, 2002.

  20. C.W. Wampler,
    Solving the kinematics of planar mechanisms by Dixon determinant and a complex-plane formulation, (pdf)
    in Proc. ASME Design Engr. Tech. Conf. (CDROM), Sept. 10--13, 2000, Baltimore, MD. Revised version in ASME J. Mechanical Design, 123:3:382--387 (2001).

  21. C.W. Wampler,
    Solving the kinematics of planar mechanisms, (ps)
    Proc. ASME Design Engr. Tech. Conf. (CDROM), Sept. 13--16, 1998, Atlanta, Ga. Revised version in ASME J. Mechanical Design, 121:3:387-391 (1999).

  22. C.W. Wampler,
    Forward displacement analysis of general six-in-parallel SPS (Stewart) platform manipulators using soma coordinates, (pdf)
    Mechanism and Machine Theory, 31:3:331-337 (1996).

  23. J.M. Hollerbach, and C.W. Wampler,
    The calibration index and a taxonomy for robot kinematic calibration methods, (ps) (pdf)
    Int. J. of Robotics Research, 15:6:573-591 (1996).

  24. J.M. Hollerbach, and C.W. Wampler,
    The calibration index and the role of input noise in robot calibration, (ps)
    Robotics Research: The Seventh International Symposium, G. Giralt and G Hirzinger, eds., Springer-Verlag, London, 1996, pp. 558-568.

  25. C.W. Wampler,
    Isotropic coordinates, circularity, and Bezout numbers: Planar kinematics from a new perspective, (pdf)
    Proc. ASME Design Engr. Tech. Conf. (CDROM), Aug. 18-22, 1996, Irvine, CA.

  26. C.W. Wampler, J.M. Hollerbach, and T. Arai,
    An implicit loop method for kinematic calibration and its application to closed-chain mechanisms, (pdf)
    IEEE Trans. Robotics and Automation, 11:5:710-724 (1995).

  27. C.W. Wampler and A.P. Morgan,
    Solving the 6R inverse position problem using a generic-case solution methodology, (pdf)
    Mechanism and Machine Theory, 26:1:91-106 (1991).

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