Marc Diesse and  Hochschule Heilbronn,  Identification of Configuration Space Singularities with Local Real Algebraic Geometry.   journal   = {International Journal of Electrical and Computer Engineering}, [online]. World Academy of Science, Engineering and Technology.
    April 2021, vol. 173(5). 209 - 218
    [viewed 19 October 2021]. Available from: https://publications.waset.org/pdf/10012030.