Maciejewski
 
1. A one or two sentence summary of the paper.
   Describes how to analyze sources of ill conditioning and what
   numerical techniques to apply to alleviate the difficulties.
 
2. A one or two sentence description of the problem the paper is trying
to solve.
   Try to solve the ill conditioning that arises in ways that give
desired
   motion results.
 
3. A one of two sentence description of the method used to solve the
problem.
   Assess the severity of the situation using singular value analysis.
   Used damped least-squares formulation to avoid spurious values.
 
4. A list of short (approx one sentence) descriptions of the key ideas of
the paper.
  Describe the source of ill conditioning in the motion for articulated
figures.
   and robust numerical method to solve it.
 
5. A list of short (approx one sentence) descriptions of the
contributions of the paper.
   Gives a method to obtain physically meaningful solutions without
   excessive computations.
 
6. Any questions that the paper raises for you. This might be some flaw
that they do not address, something that is unclear, some piece of
background knowledge that you don't have that would help you understand
the paper, ...
   I'm lost in this paper..