@Article{Wang:2014:ACA,
  author =       "Menghan Wang and Meera Sitharam",
  title =        "Algorithm 951: {Cayley} Analysis of Mechanism Configuration
                  Spaces using {CayMos}: Software Functionalities and 
                  Architecture",
  journal =      "{ACM} Transactions on Mathematical Software",
  volume =       "41",
  number =       "4",
  accepted =     "03 October 2014",
  upcoming =     "true", 
  abstract =     "
                  For a common class of 2D mechanisms called 1-dof tree
                  decomposable linkages, we present a software package,
                  CayMos which uses new theoretical results from Sitharam and
                  Wang [2014] and Sitharam et al.  [2011a,b] to implement
                  efficient algorithmic solutions for: (a) meaningfully
                  representing and visualizing the connected components in
                  the Euclidean realization space; (b) finding a path of
                  continuous motion between two realizations in the same
                  connected component, with or without restricting the
                  realization type (sometimes called orientation type);
                  (c) finding two “closest” realizations in different
                  connected components.",
}