This paper presents an untethered pneumatic soft robot which can crawl both in horizontal and vertical pipes with different sizes and cross sections.This robot uses modular origami inspired soft-rigid hybrid actuator ...This paper presents an untethered pneumatic soft robot which can crawl both in horizontal and vertical pipes with different sizes and cross sections.This robot uses modular origami inspired soft-rigid hybrid actuator to produce telescoping and anchoring movements powered by vacuum pressure.The introduction of grooves to valley crease significantly lowers the full contraction vacuum pressure and improves the response,allowing the system can be driven by an onboard micro vacuum pump,enabling the possibility of miniaturization,integration,and untethered operation of the robot.A series of crawling experiments in pipes with different sizes and cross sections constructed by acrylic are conducted to validate the crawling performance of the robot.Within square cross-section pipes,the robot can achieve a velocity of 9.4 mm/s in horizontal crawling and 7.7 mm/s in vertical upward crawling.For horizontal crawling in circular pipes,it can reach a velocity of 8.0 mm/s.When fully charged,the robot can crawl for 40 min with a mileage of 16.649 m,which is sufficient for most drainage and industrial pipelines detection tasks.The robot demonstrates excellent endurance and speed performance that exceed most existing untethered soft pipe crawling robots.展开更多
In this study,we present a small,integrated jumping-crawling robot capable of intermittent jumping and self-resetting.Compared to robots with a single mode of locomotion,this multi-modal robot exhibits enhanced obstac...In this study,we present a small,integrated jumping-crawling robot capable of intermittent jumping and self-resetting.Compared to robots with a single mode of locomotion,this multi-modal robot exhibits enhanced obstacle-surmounting capabilities.To achieve this,the robot employs a novel combination of a jumping module and a crawling module.The jumping module features improved energy storage capacity and an active clutch.Within the constraints of structural robustness,the jumping module maximizes the explosive power of the linear spring by utilizing the mechanical advantage of a closed-loop mechanism and controls the energy flow of the jumping module through an active clutch mechanism.Furthermore,inspired by the limb movements of tortoises during crawling and self-righting,a single-degree-of-freedom spatial four-bar crawling mechanism was designed to enable crawling,steering,and resetting functions.To demonstrate its practicality,the integrated jumping-crawling robot was tested in a laboratory environment for functions such as jumping,crawling,self-resetting,and steering.Experimental results confirmed the feasibility of the proposed integrated jumping-crawling robot.展开更多
The data collection and web crawling course has a lot of theoretical knowledge and strong practicality.Traditional teaching methods are no longer sufficient to meet teaching needs.Based on the characteristics of the c...The data collection and web crawling course has a lot of theoretical knowledge and strong practicality.Traditional teaching methods are no longer sufficient to meet teaching needs.Based on the characteristics of the course,this article constructs a mixed teaching environment based on“Learning Pass+Hongya Platform+Offline Course,”integrates teaching resource libraries and ideological and political cases,and develops a suitable evaluation system to cultivate students’innovative and critical thinking abilities,stimulate their learning initiative,improve their teamwork ability,and enhance their professional level and data literacy.展开更多
Topological information is very important for understanding different types of online web services,in particular,for online social networks(OSNs).People leverage such information for various applications,such as socia...Topological information is very important for understanding different types of online web services,in particular,for online social networks(OSNs).People leverage such information for various applications,such as social relationship modeling,community detection,user profiling,and user behavior prediction.However,the leak of such information will also pose severe challenges for user privacy preserving due to its usefulness in characterizing users.Large-scale web crawling-based information probing is a representative way for obtaining topological information of online web services.In this paper,we explore how to defend against topological information probing for online web services,with a particular focus on online decentralized web services such as Mastodon.Different from traditional centralized web services,the federated nature of decentralized web services makes the identification of distributed crawlers even more difficult.We analyze the behavioral differences between legitimate users and crawlers in decentralized web services and highlight two key behavioral attributes that distinguish crawlers from legitimate users:instance interaction preferences and hop count in profile viewing patterns.Based on these insights:we propose a supervised machine learning-based framework for crawler detection,which is able to learn the federation-aware feature representations for users.To validate the framework’s effectiveness,we construct a labeled dataset that integrates real users with real-trace driven simulated crawlers in Mastodon.We use this dataset to train various supervised classifiers for crawler detection.Experimental results demonstrate that our framework can achieve an excellent classification performance.Moreover,it is observed that federation-aware features are effective in improving detection performance.展开更多
基金supported by National Natural Science Foundation of China under Grant no.52475067.
文摘This paper presents an untethered pneumatic soft robot which can crawl both in horizontal and vertical pipes with different sizes and cross sections.This robot uses modular origami inspired soft-rigid hybrid actuator to produce telescoping and anchoring movements powered by vacuum pressure.The introduction of grooves to valley crease significantly lowers the full contraction vacuum pressure and improves the response,allowing the system can be driven by an onboard micro vacuum pump,enabling the possibility of miniaturization,integration,and untethered operation of the robot.A series of crawling experiments in pipes with different sizes and cross sections constructed by acrylic are conducted to validate the crawling performance of the robot.Within square cross-section pipes,the robot can achieve a velocity of 9.4 mm/s in horizontal crawling and 7.7 mm/s in vertical upward crawling.For horizontal crawling in circular pipes,it can reach a velocity of 8.0 mm/s.When fully charged,the robot can crawl for 40 min with a mileage of 16.649 m,which is sufficient for most drainage and industrial pipelines detection tasks.The robot demonstrates excellent endurance and speed performance that exceed most existing untethered soft pipe crawling robots.
基金supported by the National Natural Science Foundation of China(Nos.51375383).
文摘In this study,we present a small,integrated jumping-crawling robot capable of intermittent jumping and self-resetting.Compared to robots with a single mode of locomotion,this multi-modal robot exhibits enhanced obstacle-surmounting capabilities.To achieve this,the robot employs a novel combination of a jumping module and a crawling module.The jumping module features improved energy storage capacity and an active clutch.Within the constraints of structural robustness,the jumping module maximizes the explosive power of the linear spring by utilizing the mechanical advantage of a closed-loop mechanism and controls the energy flow of the jumping module through an active clutch mechanism.Furthermore,inspired by the limb movements of tortoises during crawling and self-righting,a single-degree-of-freedom spatial four-bar crawling mechanism was designed to enable crawling,steering,and resetting functions.To demonstrate its practicality,the integrated jumping-crawling robot was tested in a laboratory environment for functions such as jumping,crawling,self-resetting,and steering.Experimental results confirmed the feasibility of the proposed integrated jumping-crawling robot.
基金supported by the Quality Engineering Project of Guangdong University of Science and Technology under Grant GKZLGC2024160。
文摘The data collection and web crawling course has a lot of theoretical knowledge and strong practicality.Traditional teaching methods are no longer sufficient to meet teaching needs.Based on the characteristics of the course,this article constructs a mixed teaching environment based on“Learning Pass+Hongya Platform+Offline Course,”integrates teaching resource libraries and ideological and political cases,and develops a suitable evaluation system to cultivate students’innovative and critical thinking abilities,stimulate their learning initiative,improve their teamwork ability,and enhance their professional level and data literacy.
基金funded by the National Key R&D Program of China under Grant(No.2022YFB3102901)National Natural Science Foundation of China(No.62072115,No.62102094)Shanghai Science and Technology Innovation Action Plan Project(No.22510713600).
文摘Topological information is very important for understanding different types of online web services,in particular,for online social networks(OSNs).People leverage such information for various applications,such as social relationship modeling,community detection,user profiling,and user behavior prediction.However,the leak of such information will also pose severe challenges for user privacy preserving due to its usefulness in characterizing users.Large-scale web crawling-based information probing is a representative way for obtaining topological information of online web services.In this paper,we explore how to defend against topological information probing for online web services,with a particular focus on online decentralized web services such as Mastodon.Different from traditional centralized web services,the federated nature of decentralized web services makes the identification of distributed crawlers even more difficult.We analyze the behavioral differences between legitimate users and crawlers in decentralized web services and highlight two key behavioral attributes that distinguish crawlers from legitimate users:instance interaction preferences and hop count in profile viewing patterns.Based on these insights:we propose a supervised machine learning-based framework for crawler detection,which is able to learn the federation-aware feature representations for users.To validate the framework’s effectiveness,we construct a labeled dataset that integrates real users with real-trace driven simulated crawlers in Mastodon.We use this dataset to train various supervised classifiers for crawler detection.Experimental results demonstrate that our framework can achieve an excellent classification performance.Moreover,it is observed that federation-aware features are effective in improving detection performance.
