The configuration spaces of parallel manipulators exhibit more nonlinearity than serial manipulators. Qualitatively, they can be seen to possess extra folds. Projection onto smaller spaces of engineering relevance, such as an output workspace or an input actuator space, these folds cast edges that exhibit boundary behavior. For example, inside the global workspace bounds of a five-bar linkage appear several local workspace bounds that only constrain certain output modes of the mechanism. The presence of such boundaries, which manifest in both input and output projections, serve as a source of confusion when these projections are studied exclusively instead of the configuration space itself. Particularly, the design of nonsymmetric parallel manipulators has been confounded by the presence of exotic projections in their input and output spaces. In this paper, we represent the configuration space with a radius graph, then weight each edge by solving an optimization problem using homotopy continuation to quantify transmission quality. We then employ a graph path planner to approximate geodesics between configuration points that avoid regions of low transmission quality. Our methodology automatically generates paths capable of transitioning between non-neighboring output modes, a motion which involves osculating multiple workspace boundaries (local, global, or both). We apply our technique to two nonsymmetric five-bar examples that demonstrate how transmission properties and other characteristics of the workspace can be selected by switching output modes.

This paper is motivated by a practical problem: many U.S. states have public hearings on "communities of interest" as part of their redistricting process, but no state has as yet adopted a concrete method of spatializing and aggregating community maps in order to take them into account in the drawing of new boundaries for electoral districts. Below, we describe a year-long project that collected and synthesized thousands of community maps through partnerships with grassroots organizations and/or government offices. The submissions were then aggregated by geographical clustering with a modified Hausdorff distance; then, the text from the narrative submissions was classified with semantic labels so that short runs of a Markov chain could be used to form semantic sub-clusters. The resulting dataset is publicly available, including the raw data of submitted community maps as well as post-processed community clusters and a scoring system for measuring how well districting plans respect the clusters. We provide a discussion of the strengths and weaknesses of this methodology and conclude with proposed directions for future work.

Topological data analysis (TDA) provides tools for computing geometric and topological information about spaces from a finite sample of points. We present an adaptive algorithm for finding provably dense samples of points on real algebraic varieties given a set of defining polynomials for use as input to TDA. The algorithm utilizes methods from numerical algebraic geometry to give formal guarantees about the density of the sampling, and also employs geometric heuristics to reduce the size of the sample. As TDA methods consume significant computational resources that scale poorly in the number of sample points, our sampling minimization makes applying TDA methods more feasible. We provide a software package that implements the algorithm, and showcase it through several examples.