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In this work, we study the perception problem for sampled surfaces (possibly with boundary) using tools from computational topology, specifically, how to identify their underlying topology starting from point-cloud samples in space, such as those obtained with 3D scanners. We present a reconstruction algorithm based on a careful topological study of the point sample that allows us to obtain a cellular decomposition of it using a Morse function. No triangulation or local implicit equations are used as intermediate steps, avoiding in this way reconstruction-induced artifices. The algorithm can be run without any prior knowledge of the surface topology, density or regularity of the point-sample. The results consist of a piece-wise decomposition of the given surface as a union of Morse cells (i.e. topological disks), suitable for tasks such as mesh-independent reparametrization or noise-filtering, and a small-rank cellular complex determining the topology of the surface. The algorithm, which we test with several real and synthetic surfaces, can be applied to smooth surfaces with or without boundary, embedded in an ambient space of any dimension., Comment: 39 pages, 17 figures, 1 table, 1 algorithm, 1 appendix

We provide an effective method to compute multiplier ideals of meromorphic functions in dimension two. We also prove that meromorphic functions only have integer jumping numbers after reaching some threshold., Comment: 12 pages, 0 figures

We study the distribution of the Hodge spectral exponents of an irreducible plane curve by comparing it with a continuous distribution. We provide a closed formula for this difference in terms of numerical invariants of the curve. We characterize those families of irreducible plane curves whose limit distribution of Hodge spectral exponents is the continuous distribution and we provide intervals of dominating values., Comment: 25 pages, 3 figures

In this work, we introduce a collision model specifically tailored for the simulation of inextensible textiles. The model considers friction, contacts, and inextensibility constraints all at the same time without any decoupling. Self-collisions are modeled in a natural way that allows considering the thickness of cloth without introducing unwanted oscillations. The discretization of the equations of motion leads naturally to a sequence of quadratic problems with inequality and equality constraints. In order to solve these problems efficiently, we develop a novel active-set algorithm that takes into account past active constraints to accelerate the resolution of unresolved contacts. We put to a test the developed collision procedure with diverse scenarios involving static and dynamic friction, sharp objects, and complex-topology folding sequences. Finally, we perform an experimental validation of the collision model by comparing simulations with recordings of real textiles as given by a $\textit{Motion Capture System}$. The results are very accurate, having errors around 1 cm for DIN A2 textiles (42 x 59.4 cm) even in difficult scenarios involving fast and strong hits with a rigid object., Comment: 30 pages, 12 figures, 3 tables, 1 algorithm

Robotic manipulation of cloth is a highly complex task because of its infinite-dimensional shape-state space that makes cloth state estimation very difficult. In this paper we introduce the dGLI Cloth Coordinates, a low-dimensional representation of the state of a rectangular piece of cloth that allows to efficiently distinguish key topological changes in a folding sequence, opening the door to efficient learning methods for cloth manipulation planning and control. Our representation is based on a directional derivative of the Gauss Linking Integral and allows us to represent both planar and spatial configurations in a consistent unified way. The proposed dGLI Cloth Coordinates are shown to be more accurate in the classification of cloth states and significantly more sensitive to changes in grasping affordances than other classic shape distance methods. Finally, we apply our representation to real images of a cloth, showing we can identify the different states using a simple distance-based classifier., Comment: 24 pages, 34 references, 6 figures, 1 table

Given a valued field $(K,v)$ and an irreducible polynomial $g\in K[x]$, we survey the ideas of Ore, Maclane, Okutsu, Montes, Vaqui\'e and Herrera-Olalla-Mahboub-Spivakovsky, leading (under certain conditions) to an algorithm to find the factorization of $g$ over a henselization of $(K,v)$.

For a certain field $K$, we construct a valuation-algebraic valuation on the polynomial ring $K[x]$, whose Maclane--Vaqui\'e chain consists of an infinite (countable) number of limit augmentations, Comment: arXiv admin note: substantial text overlap with arXiv:2107.09813

For a henselian valued field $(K,v)$ we establish a complete parallelism between the arithmetic properties of irreducible polynomials $F\in K[x]$, encoded by their Okutsu frames, and the valuation-theoretic properties of their induced valuations $v_F$ on $K[x]$, encoded by their MacLane-Vaqui\'e chains. This parallelism was only known for defectless irreducible polynomials., Comment: arXiv admin note: text overlap with arXiv:2107.09813

For an arbitrary valued field $(K,v)$ and a given extension $v(K^*)\hookrightarrow\Lambda$ of ordered groups, we analyze the structure of the tree formed by all $\Lambda$-valued extensions of $v$ to the polynomial ring $K[x]$. As an application, we find a model for the tree of all equivalence classes of valuations on $K[x]$ (without fixing their value group), whose restriction to $K$ is equivalent to $v$. In the henselian case, we apply these results to show that there is a complete parallelism between the arithmetic properties of irreducible polynomials $F\in K[x]$, encoded by their Okutsu frames, and the valuation-theoretic properties of their induced valuations $v_F$ on $K[x]$, encoded by their MacLane-Vaqui\'e chains. This parallelism was only known for defectless irreducible polynomials., Comment: V2, April 2022

In this paper we characterize the value set $\Delta$ of the $R$-modules of the form $R+zR$ for the local ring $R$ associated to a germ $\xi$ of an irreducible plane curve singularity with one Puiseux pair. In the particular case of the module of K\"ahler differentials attached to $\xi$, we recover some results of Delorme. From our characterization of $\Delta$ we introduce a proper subset of semimodules over the value semigroup of the ring $R$. Moreover, we provide a geometric algorithm to construct all possible semimodules in this subset for a given value semigroup., Comment: v3: Theorem 3.4 in v2 has been eliminated as a result of a gap in the proof. Section 3.2 in v2 has been eliminated. The rest of main results remain unchanged. General redaction has been improved. v1: Comments are very welcome! 19 pages. 5 Figures

We introduce a new isometric strain model for the study of the dynamics of cloth garments in a moderate stress environment, such as robotic manipulation in the neighborhood of humans. This model treats textiles as surfaces which are inextensible, admitting only isometric motions. Inextensibility is imposed in a continuous setting, prior to any discretization, which gives consistency with respect to re-meshing and prevents the problem of locking even with coarse meshes. The simulations of robotic manipulation using the model are compared to the actual manipulation in the real world, finding that the error between the simulated and real position of each point in the garment is lower than 1cm in average, even when a coarse mesh is used. Aerodynamic contributions to motion are incorporated to the model through the virtual uncoupling of the inertial and gravitational mass of the garment. This approach results in an accurate, as compared to reality, description of cloth motion incorporating aerodynamic effects by using only two parameters., Comment: 29 pages, 18 figures, 3 tables, 1 algorithm

It is proved that a generic simple, closed, piecewise regular curve in space can be the boundary of only finitely many developable surfaces with nonvanishing mean curvature. The relevance of this result in the context of the dynamics of developable surfaces is discussed., Comment: Submitted to the conference 'Women in Geometry and Topology', held on September 25-27, 2019, at the Centre de Recerca Matem\`atica, Bellaterra, Spain

Let $\nu$ be a valuation of arbitrary rank on the polynomial ring $K[x]$ with coefficients in a field $K$. We prove comparison theorems between MacLane-Vaqui\'e key polynomials for valuations $\mu\le\nu$ and abstract key polynomials for $\nu$. Also, some results on invariants attached to limit key polynomials are obtained. In particular, if $\operatorname{char}(K)=0$ we show that all limit key polynomials of unbounded continuous MacLane chains have numerical character equal to one.

In this paper we show how we can transform quadratic systems into new quadratic systems after some kind of birational transformations, the quadratic plane Cremona maps. We afterwards apply these transformations to the families of quadratic differential systems having an algebraic limit cycle. As a consequence, we provide a new family of quadratic systems having an algebraic limit cycle of degree 5. Moreover we show how the known families of quadratic differential systems having an algebraic limit cycle of degree greater than four are obtained using these transformations. We also provide the phase portraits on the Poincar\'e disk of all the families of quadratic differential systems having algebraic limit cycles., Comment: 28 pages, 20 figures

In this paper we give a positive answer to a question of Dimca and Greuel about the quotient between the Milnor and the Tjurina numbers for any irreducible germ of plane curve singularity. This result is based on a closed formula for the minimal Tjurina number of an equisingularity class in terms of the sequence of multiplicities of the strict transform along a resolution. The key points for the proof are previous results by Genzmer, Wall and Mattei., Comment: To appear in Indiana University Mathematics Journal. Minor changes. Improvement in Corollary 2

In this paper we make a systematic study of the multiplicity of the jumping points associated to the mixed multiplier ideals of a family of ideals in a complex surface with rational singularities. In particular we study the behaviour of the multiplicity by small perturbations of the jumping points. We also introduce a Poincar\'e series for mixed multiplier ideals and prove its rationality. Finally, we study the set of divisors that contribute to the log-canonical wall., Comment: 21 pages

We provide an algorithm that computes a set of generators for any complete ideal in a smooth complex surface. More interestingly, these generators admit a presentation as monomials in a set of maximal contact elements associated to the minimal log-resolution of the ideal. Furthermore, the monomial expression given by our method is an equisingularity invariant of the ideal. As an outcome, we provide a geometric method to compute the integral closure of a planar ideal and we apply our algorithm to some families of complete ideals., Comment: 22 pages. Title change and major revision of the previous version. Applications to families of complete ideals included

In this work we describe a minimal log-resolution of an ideal in a smooth complex surface from the minimal log-resolution of its generators., Comment: 21 pages. Exposition is improved. Examples added

The aim of this paper is to study mixed multiplier ideals associated to a tuple of ideals in a two-dimensional local ring with a rational singularity. We are interested in the partition of the real positive orthant given by the regions where the mixed multiplier ideals are constant. In particular we reveal which information encoded in a mixed multiplier ideal determines its corresponding jumping wall and we provide an algorithm to compute all the constancy regions, and their corresponding mixed multiplier ideals, in any desired range., Comment: 26 pages

We study the multiplicity of the jumping numbers of an $\mathfrak m$-primary ideal $\mathfrak a$ in a two-dimensional local ring with a rational singularity. The formula we provide for the multiplicities leads to a very simple and efficient method to detect whether a given rational number is a jumping number. We also give an explicit description of the Poincar\'e series of multiplier ideals associated to $\mathfrak a$ proving, in particular, that it is a rational function., Comment: 21 pages

The aim of this paper is to study jumping numbers and multiplier ideals of any ideal in a two-dimensional local ring with a rational singularity. In particular we reveal which information encoded in a multiplier ideal determines the next jumping number. This leads to an algorithm to compute sequentially the jumping numbers and the whole chain of multiplier ideals in any desired range. As a consequence of our method we develop the notion of jumping divisor that allows to describe the jump between two consecutive multiplier ideals. In particular we find a unique minimal jumping divisor that is studied extensively., Comment: 32 pages. To appear in Mich. Math. J

This paper addresses a very classical topic that goes back at least to Pl\"ucker: how to understand a plane curve singularity using its polar curves. Here, we explicitly construct the singular points of a plane curve singularity directly from the weighted cluster of base points of its polars. In particular, we determine the equisingularity class (or topological equivalence class) of a germ of plane curve from the equisingularity class of generic polars and combinatorial data about the non-singular points shared by them., Comment: 22 pages. Final version, to appear in Advances in Math

Given a birational normal extension S of a two-dimensional local regular ring R, we describe all the equisingularity types of the complete ideals J in R whose blowing-up has some point at which the local ring is analytically isomorphic to S. The problem of classifying the germs of such normal surface singularities was already posed by Spivakovsky (Ann. of Math. 1990). This problem has two parts: discrete and continous. The continous part is to some extent equivalent to the problem of the moduli of plane curve singularities, while the main result of this paper solves completely the discrete part., Comment: 22 pages, 3 figures. To appear in Advances in Mathematics

We study adjacency of equisingularity types of planar curve singularities in terms of their Enriques diagrams. For linear adjacency a complete answer is obtained, whereas for arbitrary (analytic) adjacency a necessary condition and a sufficient condition are proved. We also show an example of singular curve of type D' that can be deformed to a curve of type D without D' being adjacent to D., Comment: 14 pages, 5 figures