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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.

Abstract. We study the multiplicity of the jumping numbers of an m-primary ideal 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 Poincaré series of multiplier ideals associated to a proving, in particular, that it is a rational function.

Abstract-The conditions for a parallel manipulator to be flagged can be simply expressed in terms of linear dependencies between the coordinates of its leg attachments, both on the base and on the platform. These dependencies permit to describe the manipulator singularities in terms of incidences between two flags (hence, the name "flagged"). Although these linear dependencies might look, at first glance, too restrictive, in this paper, the family of flagged manipulators is shown to contain large subfamilies of six-legged and three-legged manipulators. The main interest of flagged parallel manipulators is that their singularity loci admit a well-behaved decomposition with a unique topology irrespective of the metrics of each particular design. In this paper, this topology is formally derived and all the cells, in the configuration space of the platform, of dimension 6 (nonsingular) and dimension 5 (singular), together with their adjacencies, are worked out in detail.

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Abstract-Some in-parallel robots, such as the 3-2-1 and the 3/2 manipulators, have attracted attention because their forward kinematics can be solved by three consecutive trilaterations. In this paper, we identify a class of these robots, which we call flagged manipulators, whose singularity loci admit a well-behaved decomposition, i.e., a stratification, derived from that of the flag manifold. Two remarkable properties must be highlighted. First, the decomposition has the same topology for all members in the class, irrespective of the metric details of each particular robot instance. Thus, we provide explicitly all the singular strata and their connectivity, which apply to all flagged manipulators without any tailoring. Second, the strata can be easily characterized geometrically, because it is possible to assign local coordinates to each stratum (in the configuration space of the manipulator) that correspond to uncoupled rotations and/or translations in the workspace.

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The aim of this paper is to study mixed multiplier ideals associated with 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. K E Y W O R D SMixed multiplier ideals, jumping walls, rational singularities M S C ( 2 0 1 0 ) 14F18, 14H20