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.

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.

Clustering analysis of ancient celadon based on SOM neural network

In the study, chemical compositions of 48 fragments of ancient ceramics excavated in 4 archaeological kiln sites which were located in 3 cities (Hangzhou, Cixi and Longquan in Zhejiang Province, China) have been examined by energy-dispersive X-ray fluorescence (EDXRF) technique. Then the method of SOM was introduced into the clustering analysis based on the major and minor element compositions of the bodies, the results manifested that 48 samples could be perfectly distributed into 3 locations, Hangzhou, Cixi and Longquan. Because the major and minor element compositions of two Royal Kilns were similar to each other, the classification accuracy over them was merely 76.92%. In view of this, the authors have made a SOM clustering analysis again based on the trace element compositions of the bodies, the classification accuracy rose to 84.61%. These results indicated that discrepancies in the trace element compositions of the bodies of the ancient ceramics excavated in two Royal Kiln sites were more distinct than those in the major and minor element compositions, which was in accordance with the fact. We argued that SOM could be employed in the clustering analysis of ancient ceramics.

Chemical Composition of Ancient Celadon Material(1127-1279 A.D.) from Zhejiang,China and Its Implication

The microprobe EDXRF equipment was used for analysis of the major and trace elements in glaze layer-transitive layer-body layer of the celadon from the Altar Yao （Kiln） and Laohudong Yao in the Southern Song Dynasty （1127-1279 A.D.）, Zhejiang, China. The K values of the discriminant factor for the celadon wares are larger than 8, which means the celadon of the Altar Yao and Laohudong Yao are different from that of the Longquan Yao. The former two belong to the Guan Yao system （the Chinese imperial kilns）, but the latter to the Min Yao system （the Chinese popular kilns）. The principle component analysis shows their relationship between the Altar and Laohudong wares with provenance postulation. The thickness of the transitive layer in the Altar and Laohudong wares is obviously different, which reveals the microstructure characteristics of the celadon even though both kinds of wares belong to the imperial kiln system.

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.

Property and provenance study of fancy celadon samples excavated from the Noble Burials of the Yue State at Hongshan, China

The Noble Burials of the Yue State at Hongshan in Wuxi City with many fancy burial objects were excavated by Archaeology Institute of Jiangsu Province and Xishan District Committee for Administration of Cultural Relics of China. It was appraised as one of the ten major archaeological excavations in 2004. Some precious ceramic samples excavated from this site are very important for studying the development history of Chinese ceramics, especially for studying the origin of porcelain. With the cooperation of Archaeology Institute of Nanjing Museum, the ceramic samples excavated from the Noble Burials of the Yue State at Hongshan were collected and systematically analyzed. Compared with the celadon samples produced in Yue-kiln site during later Eastern Han Dynasty (25–220 A.D.), some important topics such as the provenance and properties of the ceramic samples excavated from the Noble Burials of the Yue State at Hongshan were deeply studied.

水下结构检测爬行机器人的设计与分析

针对大坝、桥梁、大型水下管线等水下结构环境复杂、检测难度大等问题,提出了一种具有一定避障及壁面过渡能力且可适应复杂壁面的水下结构检测爬行机器人。首先对机器人整体结构进行设计,通过采用轮足式结合的轮足结构和具有旋转自由度的吸附结构的相互配合的设计,提高了机器人对复杂壁面的自适应能力;其次以圆形截面桥墩为例,利用流场仿真分析了机器人吸附在壁面时,桥墩附近流域的流速和压力分布情况;再者对机器人的运动状态及稳定性进行分析,通过建立摩擦力和抗倾覆力矩计算公式得到机器人的正常工作条件;最后对机器人结构摩擦性能和样机进行测试和试验验证。结果表明,该机器人在一定程度上具有对复杂环境的抗性和复杂表面的适应性,可用于水下结构的检测工作。

轻型爬行制孔机器人调姿纠偏分析

飞机结构件连接以机械连接为主,连接孔的位置精度和表面质量对飞机的使用寿命及安全性有着重要影响。制孔设备的智能化、自动化、柔性化直接影响着飞机制造的质量、效率、成本等。国内对于自动化制孔设备的研究与应用还在较为初级的阶段,并未大规模投入使用,研制此类设备具有重大意义。为此研制了爬行制孔机器人,并使用旋量法针对研制的爬行制孔机器人的运动进行计算分析。首先,计算爬行制孔机器人的调姿以及纠偏运动的自由度,随后对该机器人的调姿和纠偏运动进行解算,并分析了机器人运动过程中的运动特点,为未来控制系统设计打下基础。

永磁吸附履带式管外爬行机器人的力学分析及运动仿真

为提高管外机器人的负载能力与越障能力,设计一种永磁吸附履带式管外爬行机器人。建立机器人在管道上的静力学和动力学模型,得到机器人在轴向和周向稳定运动时的吸附力条件。利用Ansoft Maxwell对比分析磁性履带组中永磁铁2种不同布局方式,选定合适的布局方式并计算该布局方式下磁性履带组在轴向和周向运动时能够提供的吸附力,验证了磁性履带组设计方案的合理性。最后基于ADAMS进行了运动仿真,得到越障过程中质心变化规律,验证了机器人具有良好的越障性能。

基于Python的网页信息爬取技术分析

基于大规模数据下载的需求,针对以往人工下载数据过程中存在的影响效率的问题,结合Python语言提出一种能够用于网页信息数据爬取的技术,用于减少数据下载前期的繁琐工作,提高网络信息系统和技术的开发效率。该文以网页信息爬取技术为主要研究对象,基于现代化信息数据的应用和发展需求,着重对融合了Python语言的网页信息爬取技术进行研究和分析。

几种典型的涂布白纸板外观纸病案例分析

涂布白纸板作为高档包装材料,在抄造过程中易产生不同的外观纸病,本文结合生产实践对四叠网纸机生产涂布白纸板时出现的具有代表性的几种纸病予以分析,提出预防和改进措施。

管道壁厚检测外壁行走机器人设计及仿真

管道运输时,由于物料冲蚀管壁、外部灾害等原因,容易导致管壁减薄和物料泄漏,管道壁厚检测必不可少。为减少管道检测带来的停工停产,设计了一种小径管道外壁爬行的检测机器人,可在管道正常工作状态下进行检测。机器人由紧固机构、行走机构和电路控制3部分组成。紧固机构由紧固轮、连杆和扭转弹簧组成,建立了扭转弹簧的预紧力矩静力学模型以调节预紧力矩适用机器人稳定;行走机构由蜗轮蜗杆和直齿轮两种传动方式,以及直流无刷电机和驱动轮组成,通过传动和驱动效率得出合适的电机功率参数;之后通过ADAMS软件对机器人在水平管道和竖直管道的运动进行仿真,并添加预紧力矩模型结果,而仿真结果表明,机器人能在外径为40、50、60 mm的管外稳定行走;电路控制由STM32F103C8T6主控芯片和电机驱动电路等部分组成,并设计出适用于机器人的控制流程图。

生活圈视角下拉萨市公园广场可达性研究

公园广场是展现城市建设水平和体现居民幸福的重要指标,其可达性与人们生活息息相关。通过使用Python爬取高德地图中住宅小区和风景名胜类型中的公园广场的POI数据,分析住宅区与公园广场空间分布特征;结合交通路网数据,以生活圈内公园广场可达性为研究对象,使用网络分析法分别对步行与骑行两种交通方式可达性进行分析与评价。研究结果表明:15分钟生活圈内公园广场的步行可达性覆盖率为77%,骑行可达性覆盖率为95%。

不同窑口古代青瓷产地特征的中子活化分析

产地属性是科学鉴别遗址和墓葬中出土的古陶瓷产地的重要依据. 用仪器中子活化 (IN AA)有损分析了浙江寺龙口越窑、江西洪州窑和陕西耀州窑出土的古瓷碎片样品. 通过实验数据的统计分析, 结果表明 3个窑口古瓷的元素组成具有各自的特征, 它们之间具有可以区分的依据, 寺龙口越窑与南方江西洪州窑的制胎原料关系较近, 与北方陕西耀州窑的关系较远. 这些试验结果将为古陶瓷地研究提供重要参数.

一种新的主题网络爬虫爬行策略

为了解决传统主题网络爬虫准确度低或者爬行速度慢的问题,提出一种新的主题网络爬虫爬行策略,主要针对"二次爬行"过程进行改进。在传统的主题网络爬虫流程中增加一份"经验树",将基于内容分析和基于链接分析两种不同的相关度分析算法相结合,并且可以保存爬虫爬行过程中所得到的"经验",实现对后续爬行的指导。实验结果表明通过改进后的策略实现的主题网络爬虫在性能上有较大提升。

寺龙口青瓷的SRXRF研究与统计分析

本文采用同步辐射X荧光对浙江寺龙口越窑的 80块古瓷样品进行了分析 ,样品中V、Ni、Zn和Mn具有一定的年代变化规律性。实验数据的统计分析结果表明 ,越窑古瓷中元素含量具有一定的年代和产地特征 。

高校图书馆微信信息计量分析

利用Python语言编写的数据采集系统对我国高校图书馆微信号推送的海量文章信息进行采集,通过运用信息计量学相关理论(如信息统计、共现分析、耦合分析等),使用自编程序对采集的数据进行处理,得到了各图书馆微信号推送文章数、平均阅读数、平均点赞数、单篇推送文章传播指数、推送文章标题的高频分词共现矩阵、基于分词结果的图书馆耦合矩阵,并将其可视化以易于理解。通过深入分析这些数据揭示了目前国内图书馆微信号推广的现状和微信号推送文章的内容、特征、规律以及存在的问题。结果表明,微信已经成为目前国内高校图书馆重要的宣传推广工具。图书馆应该针对微信号推广和微信号推送文章内容选择中存在的问题,着力从制定考评激励机制、加大微信号宣传力度、提高微信号推送文章价值、强化微信号推送文章乐趣、增强用户情感体验等方面提升图书馆微信号推广效果和微信号推送文章质量。

定题搜索引擎Robot的设计与算法

定题搜索引擎将信息检索限定在特定主题领域 ,提供特定主题的信息检索服务 ,是新一代搜索引擎的发展方向之一。该文介绍了一个定题搜索robot系统NetBat2 .0 2版 ,它可以实现在web上爬行下载主题相关网页。定题搜索的关键技术是主题相关信息的搜索及网页相关度分析。该文分析了传统定题搜索算法的优缺点 ,提出了基于反向链接结合超链文本分析的定题搜索算法。文章还对基于内容的网页相关度分析算法进行了详细的论述。对比搜索实验表明系统有着较好的性能 。

耀州窑宋代青瓷及现代仿瓷的初步分析研究

为探讨耀州窑古瓷和现代仿瓷在元素成分上的差异 ,用中子活化分析技术 (NAA)对 12件耀州窑宋代青瓷和 4件现代仿瓷瓷、釉进行元素分析测定 ,并对两者之间元素的差异进行初步分析。其结果表明 ,古瓷釉和仿宋瓷釉的RO/SiO2比值具有明显差异。仿宋瓷胎和瓷釉的轻稀土元素含量与重稀土元素含量比值 (即LRee/HRee)的平均比值大于古瓷胎的平均比值。仿宋瓷的胎和釉的微量元素Zn含量则明显高于古瓷Zn元素含量。

聚焦爬虫技术研究综述

因特网的迅速发展对万维网信息的查找与发现提出了巨大的挑战。对于大多用户提出的与主题或领域相关的查询需求,传统的通用搜索引擎往往不能提供令人满意的结果网页。为了克服通用搜索引擎的以上不足,提出了面向主题的聚焦爬虫的研究。至今,聚焦爬虫已成为有关万维网的研究热点之一。文中对这一热点研究进行综述,给出聚焦爬虫(Focused Crawler)的基本概念,概述其工作原理;并根据研究的发展现状,对聚焦爬虫的关键技术(抓取目标描述,网页分析算法和网页搜索策略等)作系统介绍和深入分析。在此基础上,提出聚焦爬虫今后的一些研究方向,包括面向数据分析和挖掘的爬虫技术研究,主题的描述与定义,相关资源的发现,W eb数据清洗,以及搜索空间的扩展等。