Analysing singularities of a benchmark problem
  The purpose of this paper is to analyze the singularities of a well known benchmark problem ``Andrews' squeezing mechanism''. We show that for physically relevant parameter values this system admits singularities. The method is based on Gr\"obner bases computations and ideal decomposition. It is algorithmic and can thus be applied to study constraint singularities which arise in more general situations. 
Teijo Arponen, Samuli Piipponen, Jukka Tuomela