arXiv subjects

Hans-Peter Schröcker

Publications and source records attributed to Hans-Peter Schröcker.

At least 19 recordsLinked to original sources

arXiv2026

Bivariate quaternionic factorizations and surfaces that decompose into two circles

We present an algebraic and geometric condition for bivariate quaternionic polynomials of arbitrary bidegree to have a univariate linear left or right factor. We apply this quaternionic factorization theorem to the bidegree (1,1) case and recover a classical theorem of Clifford in elliptic geometry. By applying to the bidegree (2,2) case, we obtain decompositions into two circles of celestial surfaces, namely surfaces in the 3-dimensional sphere that contain two circles through a general point. This results in an alternative proof and refinement for a theorem by Skopenkov and Krasauskas from 2019, which states that a non-quartic celestial surface is Möbius equivalent to either the pointwise product of circles in the unit-quaternions, or an inverse stereographic projection of the pointwise sum of circles in Euclidean space. Our proposed method extends this decomposition result to the quartic case and we show that surfaces are, up to Möbius equivalence and stereographic projections, not both a sum and product of circles.

math.AG↗

arXiv2026

Bistable Quad-Nets Composed of Four-Bar Linkages

We study a novel type of mechanical structures, composed of spatial four-bar linkages, that are bistable, that is, they allow for two distinct configurations. These structures have an interpretation as quad nets in the Study quadric which we use to prove existence of assemblies with an unbounded number of links and joints. We propose a purely geometric construction of such objects, starting from infinitesimally flexible quad nets in Euclidean space and applying Whiteley de-averaging. This point of view situates the problem within the broader framework of discrete differential geometry and enables the construction of bistable structures from well-known classes of quad nets, such as discrete minimal surfaces. In contrast to many other construction methods for bistable structures, our approach does not rely on numerical optimization and it allows for simple control of relevant geometric parameters such as axis positions and snap angles.

math.MG↗

arXiv2026

A Complete Characterization of Pythagorean Hodograph Preserving Mappings

We fully characterize the mappings $Φ$ that send every Pythagorean-hodograph (PH) curve to a PH curve. We prove that in any dimension, such mappings are precisely the conformal functions whose dilation is the square of a real rational function. In the planar case, this implies (up to conjugation) that $\partialΦ/\partial z = Ψ^{2}$, where $Ψ$ is meromorphic and satisfies $\operatorname{Res}(Ψ^{2}) = 0$ at every pole. In higher dimensions, PH preservation forces $Φ$ to be a conformal map; for $n \ge 3$, Liouville's theorem then implies that any local diffeomorphism with this property is (anti-)Möbius. These results subsume the previously known ``(scaled) PH-preserving'' constructions of mappings $\mathbb{R}^2 \to \mathbb{R}^3$ and align with Ueda's conformal viewpoint on isothermal and spherical geometries. At the level of examples, we demonstrate how PH-preserving mappings relate to the construction of rational PH curves and minimal surfaces.

math.DG↗

arXiv2026

Exparabolas of a Triangle

Among a triangle's exparabolas (parabolas escribed to the triangle), three are distinguished by having locally maximal parameter. They are determined by a simple cubic equation and characterized by having axes that contain the triangle's centroid. More generally, there are three (not necessarily real) exparabolas with axes through a given point $X$. Their focal points determine another triangle which we call the $X$-focal triangle. It shares the circumcircle with the original triangle and its orthocenter is $X$. The sequence of iterated focal triangles with respect to the centroids splits into an even and an odd sub-sequence that both converge to equilateral triangles.

math.MG↗

arXiv2026

Minimal Surfaces via Complex Quaternions

Minimal surfaces play a fundamental role in differential geometry, with applications spanning physics, material science, and geometric design. In this paper, we explore a novel quaternionic representation of minimal surfaces, drawing an analogy with the well-established theory of Pythagorean Hodograph (PH) curves. By exploiting the algebraic structure of complex quaternions, we introduce a new approach to generating minimal surfaces via quaternionic transformations. This method extends classical Weierstraß-Enneper representations and provides insights into the interplay between quaternionic analysis, PH curves, and minimal surface geometry. Additionally, we discuss the role of the Sylvester equation in this framework and demonstrate practical examples, including the construction of Enneper surface patches. The findings open new avenues in computational geometry and geometric modeling, bridging abstract algebraic structures with practical applications in CAD and computer graphics.

math.CV↗

arXiv2026

Uniqueness of Maximal Inscribed Parabolas and Minimal Circumscribing Horocycles

We prove existence of three unique ``max-exparabolas'' to a triangle. Each of these parabolas is internally tangent to one edge and the two other sides. Among all like parabolas, it is characterized by having maximal parameter. We use this result to prove a more general uniqueness statement on maximal parabolas in a convex point set. In similar spirit, we demonstrate uniqueness of minimal enclosing horocycles in hyperbolic geometry, provided the enclosed set is sufficiently small.

math.MG↗

arXiv2025

Rational Motions of Minimal Quaternionic Degree with Prescribed Line Trajectories

In this paper, we study how to find rational motions that move a line along a given rational ruled surface. Our goal is to find motions with the lowest possible degree using dual quaternions. While similar problems for point trajectories are well known, the case of line trajectories is more complicated and has not been studied. We explain when such motions exist and how to compute them. Our method gives explicit formulas for constructing these motions and shows that, in many cases, the solution is unique. We also show examples and explain how to use these results to design simple mechanisms that move a line in the desired way. This work helps to better understand the relationship between rational motions and ruled surfaces and may be useful for future research in mechanism design.

math.RA↗

arXiv2025

Quadratic Motion Polynomials With Irregular Factorizations

Motion polynomials are a specific type of polynomial over a Clifford algebra that can conveniently describe rational motions. There exists an algorithm for the factorization of motion polynomials that works in generic cases. It hinges on the invertibility of a certain coefficient occurring in the algorithm. If this coefficient is not invertible, factorizations may or may not exist. In the case of existence we call this an irregular factorization. We characterize quadratic motion polynomials with irregular factorizations in terms of algebraic equations and present examples whose number of unique factorizations range from one to infinitely many. For two special sub-cases we show the unique existence of such polynomials. In case of commuting factors we obtain the conformal Villarceau motion, in case of rigid body motions the circular translation.

math.RA↗

arXiv2025

Closed Bounded Rational Framing Motions

We present a method for constructing all bounded rational motions that frame a space curve $\mathbf{r}(t)$. This means that the motion guides an orthogonal frame along the curve such that one frame axis is in direction of the curve tangent. Existence of (bounded) framing motions is equivalent to $\mathbf{r}(t)$ being a (bounded) rational Pythagorean Hodograph curve. In contrast to previous constructions that rely on polynomial curves with smooth self-intersection, our motions and curves are infinitely differentiable. To this end, we develop the theory of Pythagorean hodograph curves parameterized over the projective line. We also provide a simple geometric necessary and sufficient condition on the spherical part of the motion, given by the homogeneous quaternionic preimage of the Pythagorean hodograph curve, that ensures the existence of a corresponding bounded, rational, and even regular framing motion. The translation part comes from the speed distribution, which must be a special positive rational function. This can in practice be ensured by semidefinite optimization methods. We illustrate our findings with a number of examples.

math.OC↗

arXiv2025

Rational Motions of Minimal Quaternionic Degree with Prescribed Plane Trajectories

This paper investigates the construction of rational motions of a minimal quaternionic degree that generate a prescribed plane trajectory (a ``rational torse''). Using the algebraic framework of dual quaternions, we formulate the problem as a system of polynomial equations. We derive necessary and sufficient conditions for the existence of such motions, establish a method to compute solutions and characterize solutions of minimal degree. Our findings reveal that a rational torse is realizable as a trajectory of a rational motion if and only if its Gauss map is rational. Furthermore, we demonstrate that the minimal degree of a motion polynomial is geometrically related to a drop of degree of the Gauss and algebraically determined by the structure of the torse's associated plane polynomial and the real greatest common divisor of its vector part. The developed theoretical framework has potential applications in robotics, computer-aided design, and computational kinematic, offering a systematic approach to constructing rational motions of small algebraic complexity.

math.RA↗

arXiv2024

Motion Polynomials Admitting a Factorization with Linear Factors

Motion polynomials (polynomials over the dual quaternions with nonzero real norm) describe rational motions. We present a necessary and sufficient condition for reduced bounded motion polynomials to admit factorizations into monic linear factors, and we give an algorithm to compute them. We can use those linear factors to construct mechanisms because the factorization corresponds to the decomposition of the rational motion into simple rotations or translations. Bounded motion polynomials always admit a factorization into linear factors after multiplying with a suitable real or quaternion polynomial. Our criterion for factorizability allows us to improve on earlier algorithms to compute a suitable real or quaternion polynomial co-factor.

math.RA↗

arXiv2024

Rational Linkages: From Poses to 3D-printed Prototypes

In this paper, a set of tools is introduced that simplifies the synthesis and rapid-prototyping of single-loop rational kinematic chains. It allows the user to perform rational motion interpolation of up to four given poses and yields the design parameters of a linkage that can execute this motion. The package also provides a visualization of the output and performs a self-collision analysis with the possibility to adapt the design parameters. The results can be imported into CAD-systems for fast 3D printing.

cs.RO↗

arXiv2024

Three Paths to Rational Curves with Rational Arc Length

We solve the so far open problem of constructing all spatial rational curves with rational arc length functions. More precisely, we present three different methods for this construction. The first method adapts a recent approach of (Kalkan et al. 2022) to rational PH curves and requires solving a modestly sized system of linear equations. The second constructs the curve by imposing zero-residue conditions, thus extending ideas of previous papers by (Farouki and Sakkalis 2019) and the authors themselves (Schröcker and Šír 2023). The third method generalizes the dual approach of (Pottmann 1995) from planar to spatial curves. The three methods share the same quaternion based representation in which not only the PH curve but also its arc length function are compactly expressed. We also present a new proof based on the quaternion polynomial factorization theory of the well known characterization of the Pythagorean quadruples.

cs.SC↗

arXiv2024

Quadratic Spinor Polynomials with Infinitely Many Factorizations

Spinor polynomials are polynomials with coefficients in the even sub-algebra of conformal geometric algebra whose norm polynomial is real. They describe rational conformal motions. Factorizations of spinor polynomial corresponds to the decomposition of the rational motion into elementary motions. Generic spinor polynomials allow for a finite number of factorizations. We present two examples of quadratic spinor polynomials that admit infinitely many factorizations. One of them, the circular translation, is well-known. The other one has only been introduced recently but in a different context. We not only compute all factorizations of these conformal motions but also interpret them geometrically.

math.RA↗

arXiv2023

A Geometric Algorithm for the Factorization of Spinor Polynomials

We present a new algorithm to decompose generic spinor polynomials into linear factors. Spinor polynomials are certain polynomials with coefficients in the geometric algebra of dimension three that parametrize rational conformal motions. The factorization algorithm is based on the "kinematics at infinity" of the underlying rational motion. Factorizations exist generically but not generally and are typically not unique. We prove that generic multiples of non-factorizable spinor polynomials admit factorizations and we demonstrate at hand of an example how our ideas can be used to tackle the hitherto unsolved problem of "factorizing" algebraic motions.

math.RA↗

arXiv2023

Optimal interpolation with spatial rational Pythagorean hodograph curves

Using a residuum approach, we provide a complete description of the space of the rational spatial curves of given tangent directions. The rational Pythagorean hodograph curves are obtained as a special case when the norm of the direction field is a perfect square. The basis for the curve space is given explicitly. Consequently a number of interpolation problems ($G^1$, $C^1$, $C^2$, $C^1/G^2$) in this space become linear, cusp avoidance can be encoded by linear inequalities, and optimization problems like minimal energy or optimal length are quadratic and can be solved efficiently via quadratic programming. We outline the interpolation/optimization strategy and demonstrate it on several examples.

math.MG↗

arXiv2023

Partial Fraction Decomposition for Rational Pythagorean Hodograph Curves

All rational parametric curves with prescribed polynomial tangent direction form a vector space. Via tangent directions with rational norm, this includes the important case of rational Pythagorean hodograph curves. We study vector subspaces defined by fixing the denominator polynomial and describe the construction of canonical bases for them. We also show (as an analogy to the fraction decomposition of rational functions) that any element of the vector space can be obtained as a finite sum of curves with single roots at the denominator. Our results give insight into the structure of these spaces, clarify the role of their polynomial and truly rational (non-polynomial) curves, and suggest applications to interpolation problems.

math.MG↗

arXiv2022

The Study Variety of Conformal Kinematics

We introduce the Study variety of conformal kinematics and investigate some of its properties. The Study variety is a projective variety of dimension ten and degree twelve in real projective space of dimension 15, and it generalizes the well-known Study quadric model of rigid body kinematics. Despite its high dimension, co-dimension, and degree it is amenable to concrete calculations via conformal geometric algebra (CGA) associated to three-dimensional Euclidean space. Calculations are facilitated by a four quaternion representation which extends the dual quaternion description of rigid body kinematics. In particular, we study straight lines on the Study variety. It turns out that they are related to a class of one-parametric conformal motions introduced by L. Dorst in 2016. Similar to rigid body kinematics, straight lines (that is, Dorst's motions) are important for the decomposition of rational conformal motions into lower degree motions via the factorization of certain polynomials with coefficients in CGA.

math.RA↗