Thom isotopy theorem for non proper maps and computation of sets of stratified generalized critical values

Let $X\subset\Bbb C^n$ be an affine variety and $f:X\to\Bbb C^m$ be the restriction to $X$ of a polynomial map $\Bbb C^n\to\Bbb C^m$. In this paper, we construct an affine Whitney stratification of $X$. The set $K(f)$ of stratified generalized critical values of $f$ can be also computed. We show that $K(f)$ is a nowhere dense subset of $\Bbb C^m$, which contains the set $B(f)$ of bifurcation values of $f$ by proving a version of the isotopy lemma for non-proper polynomial maps on singular varieties.