Developing a general mobility method/formula is a hot topic lasting for more than 150 years in kinematics. It is necessary to apply any mobility method to puzzling overconstrained mechanisms for verification of its ge...Developing a general mobility method/formula is a hot topic lasting for more than 150 years in kinematics. It is necessary to apply any mobility method to puzzling overconstrained mechanisms for verification of its generality. Altmann linkages are such recognized puzzling mechanisms that their mobility analysis is of important significance. A necessary condition for judging a general mobility method is that the method can be fit for Altmann linkages. Firstly, this study classes Altmann linkages into 17 types in terms of the numbers and types of kinematic pairs, and then Altmann overconstrained linkages are further classified into 4 types. Secondly, the mobility of Altmann overconstrained linkages is systematically analyzed by the Modified Grübler-Kutzbach criterion based on screw theory, where passive freedoms are defined as limb passive freedoms and mechanism passive freedoms. In addition, the full-cycle mobility is judged, which overcomes the shortcoming of instantaneous property of screw theory. It is shown that Modified Grübler-Kutzbach criterion not only obtains the correct numerical mobility, but also gives the mobility character by resolving reciprocal screws for the constraint system. This study lays the foundation of verification for the generality of Modified Grübler-Kutzbach criterion. Besides, Altmann overconstrained linkages almost comprise all kinds of modern parallel mechanisms and some classical mechanisms, which provides an important reference for mechanism mobility calculation.展开更多
Due to non-saturating magnetoresistance(MR)and the special compensation mechanism,the Weyl semimetal Ta As single crystal has attracted considerable attention in condensed matter physics.Herein,we use maximum entropy ...Due to non-saturating magnetoresistance(MR)and the special compensation mechanism,the Weyl semimetal Ta As single crystal has attracted considerable attention in condensed matter physics.Herein,we use maximum entropy mobility spectrum analysis(MEMSA)to extract charge carrier information by fitting the experimentally measured longitudinal and transverse electric transport curves of Ta As.The carrier types and the number of bands are obtained without any hypothesis.Study of the temperature dependence shows details of carrier property evolution.Our quantitative results explain the nonsaturated magnetoresistance and Hall sign change phenomena of TaAs.展开更多
Compared with the parallel mechanisms, the mobility analysis of the general multi-loop spatial mechanisms（GMSMs） is more difficult to obtain correct results. The reason is that its multi-loop is formed through sever...Compared with the parallel mechanisms, the mobility analysis of the general multi-loop spatial mechanisms（GMSMs） is more difficult to obtain correct results. The reason is that its multi-loop is formed through several times of closings and there also exists motion coupling even strong coupling, where the over-constraints are concealed. However, the mobility analysis for this kind of mechanisms has been paid few attentions. A new systemic methodology for analyzing mobility is proposed for GMSMs also based on the screw theory. The key issue for mobility analysis is to recognize the over-constraint. Firstly, three theorems are given and point out： the reason and site of over-constraint occurrence, calculating the number of over-constraints by the screw theory, and how to analyze the over-constraints for a single-loop mechanism as well. Then, three closing forms for GMSMs are proposed including rigid closure, movable closure and dynamic closure, and for the three different forms the different analysis methods are also given. Especially, for the most difficult issue of GMSMs with the multi-loop Closure in many times and the inevitable motion coupling, two important methods are proposed： ＂recognizing over-constraints by analyzing relative movement＂ and ＂recognizing over-constraints by virtual loop＂. The two methods are well used to solve the issue. Above-mentioned principles are not only systematic and effective but also unified. They provide a theoretical basis for the general multi-loop spatial mechanisms.展开更多
The pre-research on mobility analysis presented a unified-mobility formula and a methodology based on reciprocal screw theory by HUANG, which focused on classical and modem parallel mechanisms. However its range of ap...The pre-research on mobility analysis presented a unified-mobility formula and a methodology based on reciprocal screw theory by HUANG, which focused on classical and modem parallel mechanisms. However its range of application needs to further extend to general multi-loop spatial mechanism. This kind of mechanism is not only more complex in structure but also with strong motion coupling among loops, making the mobility analysis even more complicated, and the relevant research has long been ignored. It is focused on how to apply the new principle for general spatial mechanism to those various multi-loop spatial mechanisms, and some new meaningful knowledge is further found. Several typical examples of the genera/multi-loop spatial mechanisms with motion couple even strong motion couple are considered. These spatial mechanisms include different closing way： over-constraint appearing in rigid closure, in movable closure, and in dynamic closure as well; these examples also include two different new methods to solve this kind of issue： the way to recognize over-constraints by analyzing relative movement between two connected links and by constructing a virtual loop to recognize over-constraints. In addition, over-constraint determination tabulation is brought to analyze the motion couple. The researches above are all based upon the screw theory. All these multi-loop spatial mechanisms with different kinds of structures can completely be solved by following the directions and examples, and the new mobility theory based on the screw theory is also proved to be valid. This study not only enriches and develops the theory and makes the theory more universal, but also has a special meaning for innovation in mechanical engineering.展开更多
Increasing urbanization rates observed in the last decades have significantly contributed to a higher number of travelers to urban environments. The objective of this study was to identify measures and factors that en...Increasing urbanization rates observed in the last decades have significantly contributed to a higher number of travelers to urban environments. The objective of this study was to identify measures and factors that encourage the use of alternative transportation in the cities of Washington D.C., USA and Porto Alegre, Brazil. The methodology used to compare these two cities was an evaluation of their urban mobility plans, including strategic analyses and measures to promote the use of public transport. This approach was based on factors described in the following document： ＂Urban Sustainability： Impacts of Economic Development and Their Consequences on the Process of Urbanization in Emerging Countries＂, prepared by the United Nations. The results indicate different planning strategies, ranging from focusing on tax integration policies in order to become more financially attractive to the user, to using different modes of mass transportation integrated with active mobility. In Washington D.C., an innovative strategy was developed in preparation to forecast scenarios, as the measures comprised projection for the year 2040, which will respond to mobility demands in the coming decades.展开更多
A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a fiat surface. A dynamic model of the robot is d...A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a fiat surface. A dynamic model of the robot is developed with Lagrange method and factors affecting the driving torque of two motors are analyzed. The relationship between the turning radius of the robot and the length of two links is discussed in order to optimize its mechanism design. Simulation and experimental results demonstrate the good controllability and motion performance of BHQ-1.展开更多
In order to forecast promising technologies in the field of next generation mobile communication, various patent indicators were analyzed such as citation per patent, patent family information, patent share, increase ...In order to forecast promising technologies in the field of next generation mobile communication, various patent indicators were analyzed such as citation per patent, patent family information, patent share, increase rate, and patent activity. These indicators were quantified into several indexes and then integrated into an evaluation score to provide promising technologies. As a result of the suggested patent analysis, four technologies out of twenty two in details classification were selected, which showed outstanding technology competitiveness, high patent share and increasing rates as well as high recent-patent-ratios and triad-patent-family-ratios. Each of the selected technologies scored more than 10 points in total, and the following four technologies were suggested as promising ones in the field of next generation mobile communication: 1) 3GPP based mobile communication, 2) beyond 4G mobile communication, 3) IEEE 802.16 based mobile communication, which are in medium classification of broadband mobile communication system, and 4) testing/certification system of mobile communication, which is in medium classification of mobile communication testing/certification system.展开更多
Fractal and self similarity of complex networks have attracted much attention in recent years. The fractal dimension is a useful method to describe the fractal property of networks. However, the fractal features of mo...Fractal and self similarity of complex networks have attracted much attention in recent years. The fractal dimension is a useful method to describe the fractal property of networks. However, the fractal features of mobile social networks （MSNs） are inadequately investigated. In this work, a box-covering method based on the ratio of excluded mass to closeness centrality is presented to investigate the fractal feature of MSNs. Using this method, we find that some MSNs are fractal at different time intervals. Our simulation results indicate that the proposed method is available for analyzing the fractal property of MSNs.展开更多
Fixed Mobile Convergence (FMC) is the focus of the future communications network development,on which the industry has kept strengthening its relevant research. However,before a large scale of implementation,there are...Fixed Mobile Convergence (FMC) is the focus of the future communications network development,on which the industry has kept strengthening its relevant research. However,before a large scale of implementation,there are still lots of key issues to be explored. The adoption of IP Multimedia Subsystem (IMS) architecture to replace the real-time services in the traditional application needs to solve the Quality of Service (QoS) problem in the IP domain,unify the method that the fixed and mobile users of the traditional circuit domain access IMS,complete the mapping of circuit domain service flow to IMS,guarantee the security of IMS bearer network,transform the traditional operation mode,and set up a new pattern adaptable to the convergence.展开更多
Bicycle sharing system has emerged as a new mode of transportation in many big cities over the past decade.Since the large number of bicycle stations distribute widely in the city,it is difficult to identify their uni...Bicycle sharing system has emerged as a new mode of transportation in many big cities over the past decade.Since the large number of bicycle stations distribute widely in the city,it is difficult to identify their unique attributes and characteristics directly.Oriented to the real bicycle hire dataset in Hangzhou,China,the clustering analysis for the bicycle stations based on the temporal flow data was carried out firstly.Then,based on the spatial distribution and temporal attributes of calculated clusters,visual diagram and map were used to vividly analyze the bicycle hire behavior related to station category and study the travel rules of citizens.The experimental results demonstrate the relation between human mobility,the time of day,day of week and the station location.展开更多
This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom （DOFs） high-speed spatial parallel robot for pick-and-place operations. The proposed sp...This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom （DOFs） high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 11/2 mobile platform. The mobile platform is a major innova- tion that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot＇s DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.展开更多
With the explosive increase in mobile apps, more and more threats migrate from traditional PC client to mobile device. Compared with traditional Win＋Intel alliance in PC, Android＋ARM alliance dominates in Mobile Int...With the explosive increase in mobile apps, more and more threats migrate from traditional PC client to mobile device. Compared with traditional Win＋Intel alliance in PC, Android＋ARM alliance dominates in Mobile Internet, the apps replace the PC client software as the major target of malicious usage. In this paper, to improve the security status of current mobile apps, we propose a methodology to evaluate mobile apps based on cloud computing platform and data mining. We also present a prototype system named MobSafe to identify the mobile app＇s virulence or benignancy. Compared with traditional method, such as permission pattern based method, MobSafe combines the dynamic and static analysis methods to comprehensively evaluate an Android app. In the implementation, we adopt Android Security Evaluation Framework （ASEF） and Static Android Analysis Framework （SAAF）, the two representative dynamic and static analysis methods, to evaluate the Android apps and estimate the total time needed to evaluate all the apps stored in one mobile app market. Based on the real trace from a commercial mobile app market called AppChina, we can collect the statistics of the number of active Android apps, the average number apps installed in one Android device, and the expanding ratio of mobile apps. As mobile app market serves as the main line of defence against mobile malwares, our evaluation results show that it is practical to use cloud computing platform and data mining to verify all stored apps routinely to filter out malware apps from mobile app markets. As the future work, MobSafe can extensively use machine learning to conduct automotive forensic analysis of mobile apps based on the generated multifaceted data in this stage.展开更多
基金supported by National Natural Science Foundation of China(Grant No. 50875227)
文摘Developing a general mobility method/formula is a hot topic lasting for more than 150 years in kinematics. It is necessary to apply any mobility method to puzzling overconstrained mechanisms for verification of its generality. Altmann linkages are such recognized puzzling mechanisms that their mobility analysis is of important significance. A necessary condition for judging a general mobility method is that the method can be fit for Altmann linkages. Firstly, this study classes Altmann linkages into 17 types in terms of the numbers and types of kinematic pairs, and then Altmann overconstrained linkages are further classified into 4 types. Secondly, the mobility of Altmann overconstrained linkages is systematically analyzed by the Modified Grübler-Kutzbach criterion based on screw theory, where passive freedoms are defined as limb passive freedoms and mechanism passive freedoms. In addition, the full-cycle mobility is judged, which overcomes the shortcoming of instantaneous property of screw theory. It is shown that Modified Grübler-Kutzbach criterion not only obtains the correct numerical mobility, but also gives the mobility character by resolving reciprocal screws for the constraint system. This study lays the foundation of verification for the generality of Modified Grübler-Kutzbach criterion. Besides, Altmann overconstrained linkages almost comprise all kinds of modern parallel mechanisms and some classical mechanisms, which provides an important reference for mechanism mobility calculation.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.11674054,U1932217,and 11704067)。
文摘Due to non-saturating magnetoresistance(MR)and the special compensation mechanism,the Weyl semimetal Ta As single crystal has attracted considerable attention in condensed matter physics.Herein,we use maximum entropy mobility spectrum analysis(MEMSA)to extract charge carrier information by fitting the experimentally measured longitudinal and transverse electric transport curves of Ta As.The carrier types and the number of bands are obtained without any hypothesis.Study of the temperature dependence shows details of carrier property evolution.Our quantitative results explain the nonsaturated magnetoresistance and Hall sign change phenomena of TaAs.
基金Supported by National Natural Science Foundation of China(Grant No.51005195)Natural Science Research Fund for Youth in Higher Education Institutions of Hebei Province,China(Grant No.QN2014175)
文摘Compared with the parallel mechanisms, the mobility analysis of the general multi-loop spatial mechanisms（GMSMs） is more difficult to obtain correct results. The reason is that its multi-loop is formed through several times of closings and there also exists motion coupling even strong coupling, where the over-constraints are concealed. However, the mobility analysis for this kind of mechanisms has been paid few attentions. A new systemic methodology for analyzing mobility is proposed for GMSMs also based on the screw theory. The key issue for mobility analysis is to recognize the over-constraint. Firstly, three theorems are given and point out： the reason and site of over-constraint occurrence, calculating the number of over-constraints by the screw theory, and how to analyze the over-constraints for a single-loop mechanism as well. Then, three closing forms for GMSMs are proposed including rigid closure, movable closure and dynamic closure, and for the three different forms the different analysis methods are also given. Especially, for the most difficult issue of GMSMs with the multi-loop Closure in many times and the inevitable motion coupling, two important methods are proposed： ＂recognizing over-constraints by analyzing relative movement＂ and ＂recognizing over-constraints by virtual loop＂. The two methods are well used to solve the issue. Above-mentioned principles are not only systematic and effective but also unified. They provide a theoretical basis for the general multi-loop spatial mechanisms.
基金Supported by National Natural Science Foundation of China(Grant No.51005195)Natural Science Research Fund for Youth in Higher Education Institutions of Hebei Province,China(Grant No.QN2014175)
文摘The pre-research on mobility analysis presented a unified-mobility formula and a methodology based on reciprocal screw theory by HUANG, which focused on classical and modem parallel mechanisms. However its range of application needs to further extend to general multi-loop spatial mechanism. This kind of mechanism is not only more complex in structure but also with strong motion coupling among loops, making the mobility analysis even more complicated, and the relevant research has long been ignored. It is focused on how to apply the new principle for general spatial mechanism to those various multi-loop spatial mechanisms, and some new meaningful knowledge is further found. Several typical examples of the genera/multi-loop spatial mechanisms with motion couple even strong motion couple are considered. These spatial mechanisms include different closing way： over-constraint appearing in rigid closure, in movable closure, and in dynamic closure as well; these examples also include two different new methods to solve this kind of issue： the way to recognize over-constraints by analyzing relative movement between two connected links and by constructing a virtual loop to recognize over-constraints. In addition, over-constraint determination tabulation is brought to analyze the motion couple. The researches above are all based upon the screw theory. All these multi-loop spatial mechanisms with different kinds of structures can completely be solved by following the directions and examples, and the new mobility theory based on the screw theory is also proved to be valid. This study not only enriches and develops the theory and makes the theory more universal, but also has a special meaning for innovation in mechanical engineering.
文摘Increasing urbanization rates observed in the last decades have significantly contributed to a higher number of travelers to urban environments. The objective of this study was to identify measures and factors that encourage the use of alternative transportation in the cities of Washington D.C., USA and Porto Alegre, Brazil. The methodology used to compare these two cities was an evaluation of their urban mobility plans, including strategic analyses and measures to promote the use of public transport. This approach was based on factors described in the following document： ＂Urban Sustainability： Impacts of Economic Development and Their Consequences on the Process of Urbanization in Emerging Countries＂, prepared by the United Nations. The results indicate different planning strategies, ranging from focusing on tax integration policies in order to become more financially attractive to the user, to using different modes of mass transportation integrated with active mobility. In Washington D.C., an innovative strategy was developed in preparation to forecast scenarios, as the measures comprised projection for the year 2040, which will respond to mobility demands in the coming decades.
基金This project is supported by National Hi-tech Research and Development Program of China(863 Program, No.2003AA404190).
文摘A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a fiat surface. A dynamic model of the robot is developed with Lagrange method and factors affecting the driving torque of two motors are analyzed. The relationship between the turning radius of the robot and the length of two links is discussed in order to optimize its mechanism design. Simulation and experimental results demonstrate the good controllability and motion performance of BHQ-1.
文摘In order to forecast promising technologies in the field of next generation mobile communication, various patent indicators were analyzed such as citation per patent, patent family information, patent share, increase rate, and patent activity. These indicators were quantified into several indexes and then integrated into an evaluation score to provide promising technologies. As a result of the suggested patent analysis, four technologies out of twenty two in details classification were selected, which showed outstanding technology competitiveness, high patent share and increasing rates as well as high recent-patent-ratios and triad-patent-family-ratios. Each of the selected technologies scored more than 10 points in total, and the following four technologies were suggested as promising ones in the field of next generation mobile communication: 1) 3GPP based mobile communication, 2) beyond 4G mobile communication, 3) IEEE 802.16 based mobile communication, which are in medium classification of broadband mobile communication system, and 4) testing/certification system of mobile communication, which is in medium classification of mobile communication testing/certification system.
基金Supported by the National Natural Science Foundation of China under Grant Nos 61501217,61363015,61501218 and 61262020the Natural Science Foundation of Jiangxi Province under Grant No 20142BAB206026
文摘Fractal and self similarity of complex networks have attracted much attention in recent years. The fractal dimension is a useful method to describe the fractal property of networks. However, the fractal features of mobile social networks （MSNs） are inadequately investigated. In this work, a box-covering method based on the ratio of excluded mass to closeness centrality is presented to investigate the fractal feature of MSNs. Using this method, we find that some MSNs are fractal at different time intervals. Our simulation results indicate that the proposed method is available for analyzing the fractal property of MSNs.
文摘Fixed Mobile Convergence (FMC) is the focus of the future communications network development,on which the industry has kept strengthening its relevant research. However,before a large scale of implementation,there are still lots of key issues to be explored. The adoption of IP Multimedia Subsystem (IMS) architecture to replace the real-time services in the traditional application needs to solve the Quality of Service (QoS) problem in the IP domain,unify the method that the fixed and mobile users of the traditional circuit domain access IMS,complete the mapping of circuit domain service flow to IMS,guarantee the security of IMS bearer network,transform the traditional operation mode,and set up a new pattern adaptable to the convergence.
基金the Public Projects of Zhejiang Province,China(Nos.2016C33110,2015C33067)National Natural Science Foundations of China(Nos.61602141,61473108,61402141)
文摘Bicycle sharing system has emerged as a new mode of transportation in many big cities over the past decade.Since the large number of bicycle stations distribute widely in the city,it is difficult to identify their unique attributes and characteristics directly.Oriented to the real bicycle hire dataset in Hangzhou,China,the clustering analysis for the bicycle stations based on the temporal flow data was carried out firstly.Then,based on the spatial distribution and temporal attributes of calculated clusters,visual diagram and map were used to vividly analyze the bicycle hire behavior related to station category and study the travel rules of citizens.The experimental results demonstrate the relation between human mobility,the time of day,day of week and the station location.
基金Acknowledgements This work was supported by the National Natural Science Foundation of China （Grant No. 51425501）, and by the Beijing Municipal Science ＆ Technology Commission （Grant No. ZI7110000 0817007）. The second author wishes to acknowledge the support provided by the Alexander yon Humboldt （AvH） Foundation.
文摘This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom （DOFs） high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 11/2 mobile platform. The mobile platform is a major innova- tion that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot＇s DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.
基金the National Key Basic Research and Development (973) Program of China (Nos. 2012CB315801 and 2011CB302805)the National Natural Science Foundation of China (Nos. 61161140320 and 61233016)Intel Research Council with the title of Security Vulnerability Analysis based on Cloud Platform with Intel IA Architecture
文摘With the explosive increase in mobile apps, more and more threats migrate from traditional PC client to mobile device. Compared with traditional Win＋Intel alliance in PC, Android＋ARM alliance dominates in Mobile Internet, the apps replace the PC client software as the major target of malicious usage. In this paper, to improve the security status of current mobile apps, we propose a methodology to evaluate mobile apps based on cloud computing platform and data mining. We also present a prototype system named MobSafe to identify the mobile app＇s virulence or benignancy. Compared with traditional method, such as permission pattern based method, MobSafe combines the dynamic and static analysis methods to comprehensively evaluate an Android app. In the implementation, we adopt Android Security Evaluation Framework （ASEF） and Static Android Analysis Framework （SAAF）, the two representative dynamic and static analysis methods, to evaluate the Android apps and estimate the total time needed to evaluate all the apps stored in one mobile app market. Based on the real trace from a commercial mobile app market called AppChina, we can collect the statistics of the number of active Android apps, the average number apps installed in one Android device, and the expanding ratio of mobile apps. As mobile app market serves as the main line of defence against mobile malwares, our evaluation results show that it is practical to use cloud computing platform and data mining to verify all stored apps routinely to filter out malware apps from mobile app markets. As the future work, MobSafe can extensively use machine learning to conduct automotive forensic analysis of mobile apps based on the generated multifaceted data in this stage.
