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Like clustering analysis, community detection aims at assigning nodes in a network into different communities. Fdp is a recently proposed density-based clustering algorithm which does not need the number of clusters as prior input and the result is insensitive to its parameter. However, Fdp cannot be directly applied to community detection due to its inability to recognize the community centers in the network. To solve the problem, a new community detection method (named IsoFdp) is proposed in this paper. First, we use Isomap technique to map the network data into a low dimensional manifold which can reveal diverse pair-wised similarity. Then Fdp is applied to detect the communities in networks. An improved partition density function is proposed to select the proper number of communities automatically. We test our method on both synthetic and real-world networks, and the results demonstrate the effectiveness of our algorithm over the state-of-the-art methods.

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Singularity is a fundamental problem in the analysis of parallel mechanisms. The distribution of singularity in workspace will determine to a great extent the properties of parallel mechanisms. In this paper, we will study the distribution of actuator singularity, which can also be applied to analyze end-effector singularity. A very important observation has been made that these two kinds of singularities are caused by the parameterization of a configuration manifold by actuator coordinates or end-effector coordinates. Despite the various styles of singularities of parallel mechanisms, there are some rules which govern the behavior of stable singularities. These rules provide some useful ideas in the design of redundant parallel mechanisms so as to achieve better performance in high speed motion and improve their stiffness. Optimal kinematic and dynamic control algorithms are designed and implemented which make use of the redundancy of the parallel mechanism. Experimental results agree with our expectation.

Over the last few years, parallel robots have been under increasing developments from a theoretical view point as well as for practical applications. They have good features such as high payload, high stiffness and high speed. However, a great disadvantage is their limited workspace. Singularities are abundant in parallel robots. When a

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