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
Focused crawling is an important technique for topical resource discovery on the Web.The key issue in focused crawling is to prioritize uncrawled uniform resource locators(URLs) in the frontier to focus the crawling o...Focused crawling is an important technique for topical resource discovery on the Web.The key issue in focused crawling is to prioritize uncrawled uniform resource locators(URLs) in the frontier to focus the crawling on relevant pages.Traditional focused crawlers mainly rely on content analysis.Link-based techniques are not effectively exploited despite their usefulness.In this paper,we propose a new frontier prioritizing algorithm,namely the on-line topical importance estimation(OTIE) algorithm.OTIE combines link-and content-based analysis to evaluate the priority of an uncrawled URL in the frontier.We performed real crawling experiments over 30 topics selected from the Open Directory Project(ODP) and compared harvest rate and target recall of the four crawling algorithms:breadth-first,link-context-prediction,on-line page importance computation(OPIC) and our OTIE.Experimental results showed that OTIE significantly outperforms the other three algorithms on the average target recall while maintaining an acceptable harvest rate.Moreover,OTIE is much faster than the traditional focused crawling algorithm.展开更多
Focused crawlers are important tools to support applications such as specialized Web portals, online searching, and Web search engines. A topic driven crawler chooses the best URLs and relevant pages to pursue during ...Focused crawlers are important tools to support applications such as specialized Web portals, online searching, and Web search engines. A topic driven crawler chooses the best URLs and relevant pages to pursue during Web crawling. It is difficult to deal with irrelevant pages. This paper presents a novel focused crawler framework. In our focused crawler, we propose a method to overcome some of the limitations of dealing with the irrelevant pages. We also introduce the implementation of our focused crawler and present some important metrics and an evaluation function for ranking pages relevance. The experimental result shows that our crawler can obtain more ＂important＂ pages and has a high precision and recall value.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Project (No.2007C23086) supported by the Science and Technology Plan of Zhejiang Province,China
文摘Focused crawling is an important technique for topical resource discovery on the Web.The key issue in focused crawling is to prioritize uncrawled uniform resource locators(URLs) in the frontier to focus the crawling on relevant pages.Traditional focused crawlers mainly rely on content analysis.Link-based techniques are not effectively exploited despite their usefulness.In this paper,we propose a new frontier prioritizing algorithm,namely the on-line topical importance estimation(OTIE) algorithm.OTIE combines link-and content-based analysis to evaluate the priority of an uncrawled URL in the frontier.We performed real crawling experiments over 30 topics selected from the Open Directory Project(ODP) and compared harvest rate and target recall of the four crawling algorithms:breadth-first,link-context-prediction,on-line page importance computation(OPIC) and our OTIE.Experimental results showed that OTIE significantly outperforms the other three algorithms on the average target recall while maintaining an acceptable harvest rate.Moreover,OTIE is much faster than the traditional focused crawling algorithm.
基金Supported by the National Natural Science Foun-dation of China (60373099)
文摘Focused crawlers are important tools to support applications such as specialized Web portals, online searching, and Web search engines. A topic driven crawler chooses the best URLs and relevant pages to pursue during Web crawling. It is difficult to deal with irrelevant pages. This paper presents a novel focused crawler framework. In our focused crawler, we propose a method to overcome some of the limitations of dealing with the irrelevant pages. We also introduce the implementation of our focused crawler and present some important metrics and an evaluation function for ranking pages relevance. The experimental result shows that our crawler can obtain more ＂important＂ pages and has a high precision and recall value.
