A novel three-dimensional-fiber reinforced soft pneumatic actuator(3D-FRSPA)inspired by crab claw and human hand structure that can bend and deform independently in each segment is proposed.It has an omni-directional ...A novel three-dimensional-fiber reinforced soft pneumatic actuator(3D-FRSPA)inspired by crab claw and human hand structure that can bend and deform independently in each segment is proposed.It has an omni-directional bending configuration,and the fibers twined symmetrically on both sides to improve the bending performance of FRSPA.In this paper,the static and kinematic analysis of 3D-FRSPA are carried out in detail.The effects of fiber,pneumatic chamber and segment length,and circular air chamber radius of 3D-FRSPA on the mechanical performance of the actuator are discussed,respectively.The soft mobile robot composed of 3D-FRSPA has the ability to crawl.Finally,the crawling processes of the soft mobile robot on different road conditions are studied,respectively,and the motion mechanism of the mobile actuator is shown.The numerical results show that the soft mobile robots have a good comprehensive performance,which verifies the correctness of the proposedmodel.This work shows that the proposed structures have great potential in complex road conditions,unknown space detection and other operations.展开更多
Abstract—Focused crawlers （also known as subjectoriented crawlers）, as the core part of vertical search engine, collect topic-specific web pages as many as they can to form a subject-oriented corpus for the latter ...Abstract—Focused crawlers （also known as subjectoriented crawlers）, as the core part of vertical search engine, collect topic-specific web pages as many as they can to form a subject-oriented corpus for the latter data analyzing or user querying. This paper demonstrates that the popular algorithms utilized at the process of focused web crawling, basically refer to webpage analyzing algorithms and crawling strategies （prioritize the uniform resource locator （URLs） in the queue）. Advantages and disadvantages of three crawling strategies are shown in the first experiment, which indicates that the best-first search with an appropriate heuristics is a smart choice for topic-oriented crawlingwhile the depth-first search is helpless in focused crawling. Besides, another experiment on comparison of improved ones （with a webpage analyzing algorithm added） is carried out to verify that crawling strategies alone are not quite efficient for focused crawling and in most cases their mutual efforts are taken into consideration. In light of the experiment results and recent researches, some points on the research tendency of focused crawler algorithms are suggested.展开更多
In order to move vehicles with automated mechanical transmission （AMT） a little bit of distance, such as reversing into or moving in a garage, a control strategy for crawling vehicles was proposed. Based on the dyna...In order to move vehicles with automated mechanical transmission （AMT） a little bit of distance, such as reversing into or moving in a garage, a control strategy for crawling vehicles was proposed. Based on the dynamic analysis of vehicle starting process and requirements of crawl driv- ing for the vehicle, a control strategy of the clutch was designed. The strategy increased the.slipping friction torque first and then decreased it, in order to realize the crawl driving. The speed increased by the engagement of the clutch, and then the clutch turned to disengage to the half disengage point, when the speed met the requirements. Based on the control strategy, a control software was de- signed. In the end, the software was tested on a vehicle with AMT. The lowest steady vehicle speed was reduced to 40% of the original value, which was set in the control strategy.展开更多
Focused carawling is a new research approach of search engine. It restricts information retrieval and provides search service in specific topic area. Focused crawling search algorithm is a key technique of focused cra...Focused carawling is a new research approach of search engine. It restricts information retrieval and provides search service in specific topic area. Focused crawling search algorithm is a key technique of focused crawler which directly affects the search quality. This paper first introduces several traditional topic-specific crawling algorithms, then an inverse link based topic-specific crawling algorithm is put forward. Comparison experiment proves that this algorithm has a good performance in recall, obviously better than traditional Breadth-First and Shark-Search algorithms. The experiment also proves that this algorithm has a good precision.展开更多
Web crawlers have evolved from performing a meagre task of collecting statistics,security testing,web indexing and numerous other examples.The size and dynamism of the web are making crawling an interesting and challe...Web crawlers have evolved from performing a meagre task of collecting statistics,security testing,web indexing and numerous other examples.The size and dynamism of the web are making crawling an interesting and challenging task.Researchers have tackled various issues and challenges related to web crawling.One such issue is efficiently discovering hidden web data.Web crawler’s inability to work with form-based data,lack of benchmarks and standards for both performance measures and datasets for evaluation of the web crawlers make it still an immature research domain.The applications like vertical portals and data integration require hidden web crawling.Most of the existing methods are based on returning top k matches that makes exhaustive crawling difficult.The documents which are ranked high will be returned multiple times.The low ranked documents have slim chances of being retrieved.Discovering the hidden web sources and ranking them based on relevance is a core component of hidden web crawlers.The problem of ranking bias,heuristic approach and saturation of ranking algorithm led to low coverage.This research represents an enhanced ranking algorithm based on the triplet formula for prioritizing hidden websites to increase the coverage of the hidden web crawler.展开更多
Vapor-phase growth of ZnO nanowires based on gold catalyst is usually accompanied with lateral crawling growth on the substrate surface. We present results from our systematic experiments where the growth temperature ...Vapor-phase growth of ZnO nanowires based on gold catalyst is usually accompanied with lateral crawling growth on the substrate surface. We present results from our systematic experiments where the growth temperature and catalyst size are controlled. The data corroborate that it is possible to obtain clean vertical nanowire arrays while avoiding the crawling growth. 0% the other hand, crawling growth can be manipulated to obtain root-interconnected nanowire arrays, which could be useful for certain applications. Our results also imply that the previously suggested growth mechanism for the wire-on-wall hybridstructure might be incorrect. Finally, we show the formation of sub-millimeter long, straight ZnO nanowalls by combining a gold-catalyzed epitaxial growth of vertical nanowires and their mergence due to a confined crawling growth. These unconventional nanostructures might have unique electric or optical transport properties.展开更多
The indoor mould concentration depends not only on the outdoor mould source but also on the indoor mould source. The mould source is not only on the interior surface but also in the concealed spaces: a crawl space, a ...The indoor mould concentration depends not only on the outdoor mould source but also on the indoor mould source. The mould source is not only on the interior surface but also in the concealed spaces: a crawl space, a beam space, a wall cavity etc. Most detached houses in Japan have crawl spaces under the first floor. The humidity is high from spring to autumn in crawl spaces. Therefore the concentration of mould spore is very high in most crawl spaces. Prefabricated bathrooms called “bath-units” are installed in most Japanese houses. The authors showed in the previous studies that there are infiltration routes between bath-units and walls that the routes may lead chemical compounds from crawl space to indoor space. In this study, the influence of mould infiltration from crawl space upon indoor mould concentration is investigated using a test house which consists of a lavatory and a bathroom. The structure of the house is wooden post-and-beam. The house is airtight and insulated according to the latest building code for save energy. The mould concentrations were measured in the crawl space and the indoor spaces continuously using a mould multi-sampling system with a pump, valves and impingers. Before the measurements, the indoor mould concentration was made low using an air cleaner. The air flow rates were measured using tracer gases. After the exhaust fan was switched on, the mould concentration increased. The number of infiltrated mould was calculated using air flow rates and mould concentrations. The results showed that mould infiltration ratio may be one of the important indicators of indoor air quality.展开更多
This paper focuses on a newly developed transmission for a milli-scale eight-legged crawling robot called OriSCO.The transmission allows intuitive steering by directly changing the direction of the propulsion force.Th...This paper focuses on a newly developed transmission for a milli-scale eight-legged crawling robot called OriSCO.The transmission allows intuitive steering by directly changing the direction of the propulsion force.The transmission is based on the constrained spherical six-bar linkage.The constrained spherical six-bar linkage passes only reciprocating motion out of the motor’s rotating motion,allowing the crawling legs to kick the ground and obtain propulsion.Steering is achieved by adjusting the geometric constraints of the spherical six-bar using a servomotor,allowing the direction of propulsion to be changed.As a result,the OriSCO can move along the ground at a speed of 2.15 body lengths/s,and the robot is 60 mm long.展开更多
Micro-robots have the characteristics of small size,light weight and flexible movement.To design a micro three-legged crawling robot with multiple motion directions,a novel driving scheme based on the inverse piezoele...Micro-robots have the characteristics of small size,light weight and flexible movement.To design a micro three-legged crawling robot with multiple motion directions,a novel driving scheme based on the inverse piezoelectric effect of piezoelectric ceramics was proposed.The three legs of the robot were equipped with piezoelectric bimorphs as drivers,respectively.The motion principles were analyzed and the overall force analysis was carried out with the theoretical mechanics method.The natural frequency,mode shape and amplitude were analyzed with simulation software COMSOL Multiphysics,the optimal size was determined through parametric analysis,and then the micro three-legged crawling robot was manufactured.The effects of different driving voltages,different driving frequencies,different motion bases and different loads on the motion speed of the robot were tested.It is shown that the maximum speed of single-leg driving was 35.41 cm/s,the switching ability between different motion directions was measured,and the movements in six different directions were achieved.It is demonstrated the feasibility of multi-directional motion of the structure.The research may provide a reference for the design and development of miniature piezoelectric three-legged crawling robots.展开更多
Sentiment analysis is a method to identify and understand the emotion in the text through NLP and text analysis. In the era of information technology, there is often a certain error between the comments on the movie w...Sentiment analysis is a method to identify and understand the emotion in the text through NLP and text analysis. In the era of information technology, there is often a certain error between the comments on the movie website and the actual score of the movie, and sentiment analysis technology provides a new way to solve this problem. In this paper, Python is used to obtain the movie review data from the Douban platform, and the model is constructed and trained by using naive Bayes and Bi-LSTM. According to the index, a better Bi-LSTM model is selected to classify the emotion of users’ movie reviews, and the classification results are scored according to the classification results, and compared with the real ratings on the website. According to the error of the final comparison results, the feasibility of this technology in the scoring direction of film reviews is being verified. By applying this technology, the phenomenon of film rating distortion in the information age can be prevented and the rights and interests of film and television works can be safeguarded.展开更多
基金work is supported by the Fundamental Research Funds for the Central Universities(Grant No.B230205021)the Postgraduate Research&Practice Innovation Program of Jiangsu Province,China(GrantNo.KYCX22_0592).The financial supports are gratefully acknowl-edged.
文摘A novel three-dimensional-fiber reinforced soft pneumatic actuator(3D-FRSPA)inspired by crab claw and human hand structure that can bend and deform independently in each segment is proposed.It has an omni-directional bending configuration,and the fibers twined symmetrically on both sides to improve the bending performance of FRSPA.In this paper,the static and kinematic analysis of 3D-FRSPA are carried out in detail.The effects of fiber,pneumatic chamber and segment length,and circular air chamber radius of 3D-FRSPA on the mechanical performance of the actuator are discussed,respectively.The soft mobile robot composed of 3D-FRSPA has the ability to crawl.Finally,the crawling processes of the soft mobile robot on different road conditions are studied,respectively,and the motion mechanism of the mobile actuator is shown.The numerical results show that the soft mobile robots have a good comprehensive performance,which verifies the correctness of the proposedmodel.This work shows that the proposed structures have great potential in complex road conditions,unknown space detection and other operations.
基金supported by the Research Fund for International Young Scientists of National Natural Science Foundation of China under Grant No.61550110248Tibet Autonomous Region Key Scientific Research Projects under Grant No.Z2014A18G2-13
文摘Abstract—Focused crawlers （also known as subjectoriented crawlers）, as the core part of vertical search engine, collect topic-specific web pages as many as they can to form a subject-oriented corpus for the latter data analyzing or user querying. This paper demonstrates that the popular algorithms utilized at the process of focused web crawling, basically refer to webpage analyzing algorithms and crawling strategies （prioritize the uniform resource locator （URLs） in the queue）. Advantages and disadvantages of three crawling strategies are shown in the first experiment, which indicates that the best-first search with an appropriate heuristics is a smart choice for topic-oriented crawlingwhile the depth-first search is helpless in focused crawling. Besides, another experiment on comparison of improved ones （with a webpage analyzing algorithm added） is carried out to verify that crawling strategies alone are not quite efficient for focused crawling and in most cases their mutual efforts are taken into consideration. In light of the experiment results and recent researches, some points on the research tendency of focused crawler algorithms are suggested.
基金Supported by the National Natural Science Foundation of China ( 51205209)
文摘In order to move vehicles with automated mechanical transmission （AMT） a little bit of distance, such as reversing into or moving in a garage, a control strategy for crawling vehicles was proposed. Based on the dynamic analysis of vehicle starting process and requirements of crawl driv- ing for the vehicle, a control strategy of the clutch was designed. The strategy increased the.slipping friction torque first and then decreased it, in order to realize the crawl driving. The speed increased by the engagement of the clutch, and then the clutch turned to disengage to the half disengage point, when the speed met the requirements. Based on the control strategy, a control software was de- signed. In the end, the software was tested on a vehicle with AMT. The lowest steady vehicle speed was reduced to 40% of the original value, which was set in the control strategy.
文摘Focused carawling is a new research approach of search engine. It restricts information retrieval and provides search service in specific topic area. Focused crawling search algorithm is a key technique of focused crawler which directly affects the search quality. This paper first introduces several traditional topic-specific crawling algorithms, then an inverse link based topic-specific crawling algorithm is put forward. Comparison experiment proves that this algorithm has a good performance in recall, obviously better than traditional Breadth-First and Shark-Search algorithms. The experiment also proves that this algorithm has a good precision.
基金Taif University Researchers Supporting Project number(TURSP-2020/98),Taif University,Taif,Saudi Arabia.
文摘Web crawlers have evolved from performing a meagre task of collecting statistics,security testing,web indexing and numerous other examples.The size and dynamism of the web are making crawling an interesting and challenging task.Researchers have tackled various issues and challenges related to web crawling.One such issue is efficiently discovering hidden web data.Web crawler’s inability to work with form-based data,lack of benchmarks and standards for both performance measures and datasets for evaluation of the web crawlers make it still an immature research domain.The applications like vertical portals and data integration require hidden web crawling.Most of the existing methods are based on returning top k matches that makes exhaustive crawling difficult.The documents which are ranked high will be returned multiple times.The low ranked documents have slim chances of being retrieved.Discovering the hidden web sources and ranking them based on relevance is a core component of hidden web crawlers.The problem of ranking bias,heuristic approach and saturation of ranking algorithm led to low coverage.This research represents an enhanced ranking algorithm based on the triplet formula for prioritizing hidden websites to increase the coverage of the hidden web crawler.
文摘Vapor-phase growth of ZnO nanowires based on gold catalyst is usually accompanied with lateral crawling growth on the substrate surface. We present results from our systematic experiments where the growth temperature and catalyst size are controlled. The data corroborate that it is possible to obtain clean vertical nanowire arrays while avoiding the crawling growth. 0% the other hand, crawling growth can be manipulated to obtain root-interconnected nanowire arrays, which could be useful for certain applications. Our results also imply that the previously suggested growth mechanism for the wire-on-wall hybridstructure might be incorrect. Finally, we show the formation of sub-millimeter long, straight ZnO nanowalls by combining a gold-catalyzed epitaxial growth of vertical nanowires and their mergence due to a confined crawling growth. These unconventional nanostructures might have unique electric or optical transport properties.
文摘The indoor mould concentration depends not only on the outdoor mould source but also on the indoor mould source. The mould source is not only on the interior surface but also in the concealed spaces: a crawl space, a beam space, a wall cavity etc. Most detached houses in Japan have crawl spaces under the first floor. The humidity is high from spring to autumn in crawl spaces. Therefore the concentration of mould spore is very high in most crawl spaces. Prefabricated bathrooms called “bath-units” are installed in most Japanese houses. The authors showed in the previous studies that there are infiltration routes between bath-units and walls that the routes may lead chemical compounds from crawl space to indoor space. In this study, the influence of mould infiltration from crawl space upon indoor mould concentration is investigated using a test house which consists of a lavatory and a bathroom. The structure of the house is wooden post-and-beam. The house is airtight and insulated according to the latest building code for save energy. The mould concentrations were measured in the crawl space and the indoor spaces continuously using a mould multi-sampling system with a pump, valves and impingers. Before the measurements, the indoor mould concentration was made low using an air cleaner. The air flow rates were measured using tracer gases. After the exhaust fan was switched on, the mould concentration increased. The number of infiltrated mould was calculated using air flow rates and mould concentrations. The results showed that mould infiltration ratio may be one of the important indicators of indoor air quality.
基金supported by the Research Program funded by the SeoulTech(Seoul National University of Science and Technology).
文摘This paper focuses on a newly developed transmission for a milli-scale eight-legged crawling robot called OriSCO.The transmission allows intuitive steering by directly changing the direction of the propulsion force.The transmission is based on the constrained spherical six-bar linkage.The constrained spherical six-bar linkage passes only reciprocating motion out of the motor’s rotating motion,allowing the crawling legs to kick the ground and obtain propulsion.Steering is achieved by adjusting the geometric constraints of the spherical six-bar using a servomotor,allowing the direction of propulsion to be changed.As a result,the OriSCO can move along the ground at a speed of 2.15 body lengths/s,and the robot is 60 mm long.
基金supported by the National Natural Science Foundation of China (grant no.51505133)by Key Research Project in Colleges and Universities of Henan Province (23A460010)by Opening Project of Henan Engineering Laboratory of Photoelectric Sensor and Intelligent Measurement and Control,Henan Polytechnic University (grant no.HELPSIMC-2020-006).
文摘Micro-robots have the characteristics of small size,light weight and flexible movement.To design a micro three-legged crawling robot with multiple motion directions,a novel driving scheme based on the inverse piezoelectric effect of piezoelectric ceramics was proposed.The three legs of the robot were equipped with piezoelectric bimorphs as drivers,respectively.The motion principles were analyzed and the overall force analysis was carried out with the theoretical mechanics method.The natural frequency,mode shape and amplitude were analyzed with simulation software COMSOL Multiphysics,the optimal size was determined through parametric analysis,and then the micro three-legged crawling robot was manufactured.The effects of different driving voltages,different driving frequencies,different motion bases and different loads on the motion speed of the robot were tested.It is shown that the maximum speed of single-leg driving was 35.41 cm/s,the switching ability between different motion directions was measured,and the movements in six different directions were achieved.It is demonstrated the feasibility of multi-directional motion of the structure.The research may provide a reference for the design and development of miniature piezoelectric three-legged crawling robots.
文摘Sentiment analysis is a method to identify and understand the emotion in the text through NLP and text analysis. In the era of information technology, there is often a certain error between the comments on the movie website and the actual score of the movie, and sentiment analysis technology provides a new way to solve this problem. In this paper, Python is used to obtain the movie review data from the Douban platform, and the model is constructed and trained by using naive Bayes and Bi-LSTM. According to the index, a better Bi-LSTM model is selected to classify the emotion of users’ movie reviews, and the classification results are scored according to the classification results, and compared with the real ratings on the website. According to the error of the final comparison results, the feasibility of this technology in the scoring direction of film reviews is being verified. By applying this technology, the phenomenon of film rating distortion in the information age can be prevented and the rights and interests of film and television works can be safeguarded.
