Finite Element Simulation Analysis of a Novel 3D-FRSPA for Crawling Locomotion

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.

New focused crawling algorithm

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.

Manipulation of Crawling Growth for the Formation of Sub-millimeter Long ZnO Nanowalls

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.

Strategy to control crawling vehicles with automated mechanical transmission

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.

Research on Piezoelectric Driving Microminiature Three-Legged Crawling Robot

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.

Modular crawling robots using soft pneumatic actuators

Crawling robots have elicited much attention in recent years due to their stable and efficient locomotion.In this work,several crawling robots are developed using two types of soft pneumatic actuators(SPAs),namely,an axial elongation SPA and a dual bending SPA.By constraining the deformation of the elastomeric chamber,the SPAs realize their prescribed motions,and the deformations subjected to pressures are characterized with numerical models.Experiments are performed for verification,and the results show good agreement.The SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors.Control schemes are presented,and crawling tests are performed.The speeds predicted by the numerical models agree well with the speeds in the experiments.

Clustering-based topical Web crawling using CFu-tree guided by link-context

Topical Web crawling is an established technique for domain-specific information retrieval. However, almost all the conventional topical Web crawlers focus on building crawlers using different classifiers, which needs a lot of labeled training data that is very difficult to label manually. This paper presents a novel approach called clustering-based topical Web crawling which is utilized to retrieve information on a specific domain based on link-context and does not require any labeled training data. In order to collect domain-specific content units, a novel hierarchical clustering method called bottom-up approach is used to illustrate the process of clustering where a new data structure, a linked list in combination with CFu-tree, is implemented to store cluster label, feature vector and content unit. During clustering, four metrics are presented. First, comparison variation （CV） is defined to judge whether the closest pair of clusters can be merged. Second, cluster impurity （CIP） evaluates the cluster error. Then, the precision and recall of clustering are also presented to evaluate the accuracy and comprehensive degree of the whole clustering process. Link-context extraction technique is used to expand the feature vector of anchor text which improves the clustering accuracy greatly. Experimental results show that the performance of our proposed method overcomes conventional focused Web crawlers both in Harvest rate and Target recall.

A Musculoskeletal Modeling of Hand-foot Crawling with Different Heights

As a bionic therapy,hand-foot crawling has been reported to be used for the rehabilitation of low back pain.However,there have been few relevant biomechanical studies about this type of exercise.The purpose of this study was to calculate muscle activation and lumbar spinal load based on the examined limb kinematics and kinetics,which associated with hand-foot crawling at the different Centre of Mass(CoM)heights.A total of 14 men performed hand-foot crawling at three CoM heights.The kinematics and kinetics data were collected.One-way repeated measure analysis of variance was used to analyze the efFect of the CoM height on crawling parameters.The crawling data from one subject at the three heights were used to calculate the muscle activation and compressive lumbar load with an OpenSim musculoskeletal model.The CoM heights had no significant effect on kinematics,kinetics or muscle activation.The spinal load was larger at higher heights.Hand-foot crawling was associated with lower trunk muscle activity.This study helps us to understand hand-foot crawling from the perspective of biomechanics.The findings from this study may help physical therapists choose hand-foot crawling as an appropriate exercise for patients with low back pain during early rehabilitation.

Film and Television Website Scores Authenticity Verification Based on the Emotional Analysis

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.

Between Swimming and Crawling

动物从水生到陆地的演变并非像攀登阶梯一样简单,其间有各种各样的变化和波折。而人类对“过去的过去”的探索也从未停止过。最近在美国宾夕法尼亚州发现了一种nearly a meter long,weighing 20 kilograms or more的两栖动物化石。这一发现或许能让研究人员对这一过程有更深入的了解。

SmartCrawler:A Three-Stage Ranking Based Web Crawler for Harvesting Hidden Web Sources

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.

Comparison of Acoustic Characteristics of Gnathotrichus materiarius and Gnathotrichus sulcatus

As an emerging technology for pest monitoring, sound detection technology has the unique advantages in the field of plant quarantine. Experts at home and abroad have done lots of researches on sound detection technology for trunk borers, and achieved good results. The audible signals of adult Gnathotrichus mate- riarius and G. sulcatus were detected using sound detection method. It was concluded that the feeding and crawling acoustic signals of G. materiarius and G. sulca- tun were significantly different, and the acoustic signals were greatly different even in the same species. In addition, the signal pulse duration and dominant frequen- cy were significantly different. Therefore, it is feasible to monitor trunk borers using sound detection technology.

A Survey about Algorithms Utilized by Focused Web Crawler

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.

An Alternate Approach for Designing a Domain Specific Image Search Prototype Using Histogram

Everyone knows that thousand of words are represented by a single image. As a result, image search has become a very popular mechanism for the Web-searchers. Image search means, the search results are produced by the search engine should be a set of images along with their Web-page Unified Resource Locator (URL). Now Web-searcher can perform two types of image search, they are “Text to Image” and “Image to Image” search. In “Text to Image” search, search query should be a text. Based on the input text data, system will generate a set of images along with their Web-page URL as an output. On the other hand, in “Image to Image” search, search query should be an image and based on this image, system will generate a set of images along with their Web-page URL as an output. According to the current scenarios, “Text to Image” search mechanism always not returns perfect result. It matches the text data and then displays the corresponding images as an output, which is not always perfect. To resolve this problem, Web researchers have introduced the “Image to Image” search mechanism. In this paper, we have also proposed an alternate approach of “Image to Image” search mechanism using Histogram.

Infiltration of Mould from Crawl Space under the Prefabricated Bathroom

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.

A Piezoelectrically Driven Microrobot Using a Novel Monolithic Spatial Parallel Mechanism as Its Hip Joint

Inspired by the fast,agile movements of insects,we present a 1.9 g,4.5 cm in length,piezoelectrically driven,quadrupedal microrobot.This microrobot uses a novel spatial parallel mechanism as its hip joint,which consists of two spatially orthogonal slider-crank linkages.This mechanism maps two inputs of two independent actuators to the decoupled swing and lift outputs of a leg,and each leg can produce the closed trajectories in the sagittal plane necessary for robot motion.Moreover,the kinematics of the transmission are analyzed,and the parameters of the flexure hinges are designed based on geometrical constraints and yield conditions.The hip joints,legs and exoskeletons are integrated into a five-layer standard laminate for monolithic fabrication which is composed of two layers of carbon fiber,two layers of acrylic adhesive and a polyimide film.The measured output force(15.97 mN)of each leg is enough to carry half of the robot’s weight,which is necessary for the robot to move successfully.It has been proven that the robot can successfully perform forward and turning motions.Compared to the microrobot fabricated with discrete components,the monolithically fabricated microrobot is more capable of maintaining the original direction of locomotion when driven by a forward signal and has a greater speed,whose maximum speed is 25.05 cm/s.

Gender-Based Analysis of User Reactions to Facebook Posts

Online Social Networks(OSNs)are based on the sharing of different types of information and on various interactions(comments,reactions,and sharing).One of these important actions is the emotional reaction to the content.The diversity of reaction types available on Facebook(namely FB)enables users to express their feelings,and its traceability creates and enriches the users’emotional identity in the virtual world.This paper is based on the analysis of 119875012 FB reactions(Like,Love,Haha,Wow,Sad,Angry,Thankful,and Pride)made at multiple levels(publications,comments,and sub-comments)to study and classify the users’emotional behavior,visualize the distribution of different types of reactions,and analyze the gender impact on emotion generation.All of these can be achieved by addressing these research questions:who reacts the most?Which emotion is the most expressed?

A Miniaturized Crawler Design Based on an Origami-inspired and Geometrically Constrained Spherical Six-bar Linkage

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.

Expression and functional characterization of odorant-binding protein 2 in the predatory mite Neoseiulus barkeri

Olfaction plays a crucial role for arthropods in foraging,mating,and oviposition.The odorant-binding protein(OBP)gene is considered one of the most important olfactory genes.However,little is known about its functions in predatory mites.Here,we used Neoseiulus barkeri,an important commercialized natural pest control,to explore the chemosensory characteristics of OBP.In this study,N.barkeri was attracted by methyl salicylate(MeSA)and showed higher crawling speeds under MeSA treatment.Then,we identified and cloned an OBP gene named Nbarobp2 and analyzed its expression profiles in the predatory mite.Nbarobp2 was 663 bp,was highly expressed in larval and nymphal stages,and was significantly upregulated in N.barkeri under MeSA treatment.Nbarobp2 encoded 202 amino acid residues with a molecular weight of 23 kDa(after removing the signal peptide).Sequence comparisons revealed that the OBPs in Arachnida shared 6 conserved cysteine sites,but were distinguishable from the OBPs of Insecta on the phylogenetic tree.RNA interference,Western blotting,and binding affinity assays further proved that Nbarobp2 was involved in volatile perception in predatory mites.This study shed light on the functional characteristics of OBPs in predatory mites,providing a new insight for better biological control.

Design and Experimental Validation of a Worm-Like Tensegrity Robot for In-Pipe Locomotion

Traditional rigid-body in-pipe robots usually have complex and heavy structures with limited flexibility and adaptability.Although soft in-pipe robots have great improvements in flexibility,they still have manufacturing difficulties due to their reliance on high-performance soft materials.Tensegrity structure is a kind of self-stressed spatial structure consisting discrete rigid struts connected by a continuous net of tensional flexible strings,which combines the advantages of both rigid structures and soft structures.By applying tensegrity structures into robotics,this paper proposes a novel worm-like tensegrity robot for moving inside pipes.First,a robot module capable of body deformation is designed based on the concept of tensegrity and its deformation performance is analyzed.Then,the optimal parameters of the module are obtained based on the tensegrity form-finding.The deformation ability of the tensegrity module is tested experimentally.Finally,the worm-like tensegrity robot that can crawl inside pipes is developed by connecting three modules in series.Motion performance and load capacity are tested on the prototype of the worm-like tensegrity robot by experiments of moving in horizontal pipe,vertical pipe,and elbow pipe.Experimental results demonstrate the effectiveness of the proposed design and suggest that the robot has high compliance,mobility,and adaptability although with simple structure and low cost.