On the basis of investigating the statistical data of bus transport networks of three big cities in China,wepropose that each bus route is a clique(maximal complete subgraph)and a bus transport network(BTN)consists of...On the basis of investigating the statistical data of bus transport networks of three big cities in China,wepropose that each bus route is a clique(maximal complete subgraph)and a bus transport network(BTN)consists of alot of cliques,which intensively connect and overlap with each other.We study the network properties,which includethe degree distribution,multiple edges' overlapping time distribution,distribution of the overlap size between any twooverlapping cliques,distribution of the number of cliques that a node belongs to.Naturally,the cliques also constitute anetwork,with the overlapping nodes being their multiple links.We also research its network properties such as degreedistribution,clustering,average path length,and so on.We propose that a BTN has the properties of random cliqueincrement and random overlapping clique,at the same time,a BTN is a small-world network with highly clique-clusteredand highly clique-overlapped.Finally,we introduce a BTN evolution model,whose simulation results agree well withthe statistical laws that emerge in real BTNs.展开更多
Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and multitasking.The problems associat...Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and multitasking.The problems associated with the development and use of heavy-duty legged robots have motivated researchers to conduct many important studies,covering topics related to the mechanical structure,force distribution,control strategy,energy efficiency,etc.Overall,heavy-duty legged robots have three main characteristics:greater body masses,larger body sizes,and higher payload-total mass ratios.Thus,various heavy-duty legged robots and their performances are reviewed here.This review presents the current developments with regard to heavy-duty legged robots.Also,the main characteristics of high-performance heavy-duty legged robots are determined and conclusions are drawn.Furthermore,the current research of key techniques of heavy-duty legged robots,including the mechanical structure,force distribution,control method,and power source,is described.To assess the transportation capacity of heavy-duty legged robots,performance evaluation parameters are proposed.Finally,problems that need further research are addressed.展开更多
基金supported by National Natural Science Foundation of China under Grant Nos.60504027 and 60874080the Postdoctor Science Foundation of China under Grant No.20060401037
文摘On the basis of investigating the statistical data of bus transport networks of three big cities in China,wepropose that each bus route is a clique(maximal complete subgraph)and a bus transport network(BTN)consists of alot of cliques,which intensively connect and overlap with each other.We study the network properties,which includethe degree distribution,multiple edges' overlapping time distribution,distribution of the overlap size between any twooverlapping cliques,distribution of the number of cliques that a node belongs to.Naturally,the cliques also constitute anetwork,with the overlapping nodes being their multiple links.We also research its network properties such as degreedistribution,clustering,average path length,and so on.We propose that a BTN has the properties of random cliqueincrement and random overlapping clique,at the same time,a BTN is a small-world network with highly clique-clusteredand highly clique-overlapped.Finally,we introduce a BTN evolution model,whose simulation results agree well withthe statistical laws that emerge in real BTNs.
基金supported by the National Basic Research Program of China("973" Program)(Grant No.2013CB035502)the International Sci-ence and Technology Cooperation Project with Russia(Grant No.2010DFR70270)+2 种基金the National Natural Science Foundation of China(Grant No.51275106)the"111" Project(Grant No.B07018)the Key Laboratory Opening Funding of Aerospace Mechanism and Control(Grant No.HIT.KLOF.2010057)
文摘Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and multitasking.The problems associated with the development and use of heavy-duty legged robots have motivated researchers to conduct many important studies,covering topics related to the mechanical structure,force distribution,control strategy,energy efficiency,etc.Overall,heavy-duty legged robots have three main characteristics:greater body masses,larger body sizes,and higher payload-total mass ratios.Thus,various heavy-duty legged robots and their performances are reviewed here.This review presents the current developments with regard to heavy-duty legged robots.Also,the main characteristics of high-performance heavy-duty legged robots are determined and conclusions are drawn.Furthermore,the current research of key techniques of heavy-duty legged robots,including the mechanical structure,force distribution,control method,and power source,is described.To assess the transportation capacity of heavy-duty legged robots,performance evaluation parameters are proposed.Finally,problems that need further research are addressed.
