Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Hidden cusps   This paper investigates a situation pointed out in a recent paper, in which a
non-singular change of assembly mode of a planar 2-RPR-PR parallel manipulator
was realized by encircling a point of multiplicity 4. It is shown that this
situation is, in fact, a non-generic one and gives rise to cusps under a small
perturbation. Furthermore , we show that, for a large class of singularities of
multiplicity 4, there are only two types of stable singularities occurring in a
small perturbation: these two types are given by the complex square mapping and
the quarto mapping. Incidentally , this paper confirms the fact that,
generically, a local non-singular change of solution must be accomplished by
encircling a cusp point.

30
The categories of this paper are: q-alg
24
The categories of this paper are: dg-ga
3
The categories of this paper are: physics
0
The categories of this paper are: hep-ph
26
The categories of this paper are: bayes-an
29
The categories of this paper are: funct-an
32
The categories of this paper are: atom-ph
4
The categories of this paper are: cond-mat
33
The categories of this paper are: plasm-ph
12
The categories of this paper are: nucl-th
31
The categories of this paper are: ao-sci
19
The categories of this paper are: eess
35
The categories of this paper are: mtrl-th
18
The categories of this paper are: econ
8
The categories of this paper are: hep-ex
28
The categories of this paper are: alg-geom