• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.245-250
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• 2019

Milli-scale crawling robots have been widely studied due to their maneuverability in confined spaces. For successful crawling, the crawling robots basically required to fulfill alternating gait with elliptical foot trajectory. The alternating gait with elliptical foot trajectory normally generates both forward and upward motion. The upward motion makes the aerial phase and during the aerial phase, the forward motion enables the crawling robots to proceed. This simultaneous forward and upward motion finally results in fast crawling speed. In this paper, we propose a novel alternating mechanism to make a crab-inspired eight-legged crawling robot. The key design strategy is an alternating mechanism based on double four-bar linkages. Crab-like robots normally employs gear-chain drive to make the opposite phase between neighboring legs. To use the gear-chain drive to this milli-scale robot system, however, is not easy because of heavy weight and mechanism complexity. To solve the issue, the double-four bar linkages has been invented to generate the oaring motion for transmitting the equal motion in the opposite phase. Thanks to the proposed mechanism, the robot crawls just like the real crab with the crawling speed of 0.57 m/s.

• Korean Journal of Artificial Intelligence
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• v.11 no.4
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• pp.15-20
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• 2023

Machine learning is comprised of supervised learning, unsupervised learning and reinforcement learning as the type of data and processing mechanism. In this paper, as input and output are unclear and it is difficult to apply the concrete modeling mathematically, reinforcement learning method are applied for crawling robot in this paper. Especially, Q-Learning is the most effective learning technique in model free reinforcement learning. This paper presents a method to implement a crawling robot that is operated by finding the most optimal crawling method through trial and error in a dynamic environment using a Q-learning algorithm. The goal is to perform reinforcement learning to find the optimal two motor angle for the best performance, and finally to maintain the most mature and stable motion about EV3 Crawling robot. In this paper, for the production of the crawling robot, it was produced using Lego Mindstorms with two motors, an ultrasonic sensor, a brick and switches, and EV3 Classroom SW are used for this implementation. By repeating 3 times learning, total 60 data are acquired, and two motor angles vs. crawling distance graph are plotted for the more understanding. Applying the Q-learning reinforcement learning algorithm, it was confirmed that the crawling robot found the optimal motor angle and operated with trained learning, and learn to know the direction for the future research.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.815-819
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• 1996

In this work, regular rotational gaits of the quadruped crawling robot required to change its moving direction without affecting be its orientation and its static stability margin are studied. The regular rotational gaits provide the quadruped crawling robot with omnidirectional characteristics. However, the ideal foothold region for each of legs of the quadruped crawling robot is assumed for simplicity. Nonetheless, it is expected that the results of this paper will provide the insight for both design of legs of the crawling robot with omnidirectional characteristics as well as its operation of the crawling robot system with specified stability margin.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1045-1049
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• 2005

In this paper, the dynamic crawling of a five-bar planar mechanism is investigated. One complete cycle of the crawling selected in this study consists of four different steps, i) sliding at one contact point between the mechanism and the ground, ii) changing its configuration without sliding at two contact points, iii) sliding at the other contact point, and iv) again changing its configuration without sliding at two contact points. In this type of crawling, the crawling mechanism maintains the shape of the parallel structure throughout a complete crawling cycle. The modeling algorithm for serial manipulators proposed by M. Thomas and et al.[1] is employed by introducing imaginary joints and links which represent the contact interfaces between the one end of the mechanism and the ground, while the other end of the mechanism is regarded as an end-effector of the imaginary serial manipulator which treats the reaction force and torque at the contact point as external forces. Then, a complete cycle of dynamic crawling of the mechanism is investigated through various computer simulations. The simulation result show that the stable crawling characteristics of the mechanism could be secured when the proper configurations depending on specified frictional constraints are met.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.6
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• pp.1277-1284
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• 2023

In this paper, a web page that is easy for consumers to access event products in progress at convenience stores was created. In the production process, static crawling and dynamic crawling, two crawling methods for extracting data from event products, were compared and used. Static crawling is an extraction method of collecting static data from a homepage, and dynamic crawling is a method of collecting data from pages dynamically generated from a web page. Through the comparison of the two crawlings, we studied which crawl method is more effective in extracting event product data. Among them, a web page was created using effective static crawling, and 1+1 and 2+1 products were categorized and a search function was added to create a web page.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.270-277
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• 2019

Inspired by small insects, which perform rapid and stable locomotion based on body softness and tripod gait, various milli-scale six-legged crawling robots were developed to move rapidly in harsh environment. In particular, cockroach's leg compliance was resembled to enhance the locomotion performance of the crawling robots. In this paper, we investigated the effects of changing leg compliance for the locomotion performance of the small light weight legged crawling robot under various payload condition. First, we developed robust milli-scale six-leg crawling robot which actuated by one motor and fabricated in SCM method with light and soft material. Using this robot platform, we measured the running velocity of the robot depending on the leg stiffness and payload. In result, there was optimal range of the leg stiffness enhancing the locomotion ability at each payload condition in the experiment. It suggests that the performance of the crawling robot can be improved by adjusting stiffness of the legs in given payload condition.

• Journal of Internet Computing and Services
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• v.20 no.3
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• pp.43-59
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• 2019

Today, with the spread of smartphones and the development of social networking services, structured and unstructured big data have stored exponentially. If we analyze them well, we will get useful information to be able to predict data for the future. Large amounts of data need to be collected first in order to analyze big data. The web is repository where these data are most stored. However, because the data size is large, there are also many data that have information that is not needed as much as there are data that have useful information. This has made it important to collect data efficiently, where data with unnecessary information is filtered and only collected data with useful information. Web crawlers cannot download all pages due to some constraints such as network bandwidth, operational time, and data storage. This is why we should avoid visiting many pages that are not relevant to what we want and download only important pages as soon as possible. This paper seeks to help resolve the above issues. First, We introduce basic web-crawling algorithms. For each algorithm, the time-complexity and pros and cons are described, and compared and analyzed. Next, we introduce the state-of-the-art web crawling algorithms that have improved the shortcomings of the basic web crawling algorithms. In addition, recent research trends show that the web crawling algorithms with special purposes such as collecting sentiment words are actively studied. We will one of the introduce Sentiment-aware web crawling techniques that is a proactive web crawling technique as a study of web crawling algorithms with special purpose. The result showed that the larger the data are, the higher the performance is and the more space is saved.

• Journal of Advanced Information Technology and Convergence
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• v.10 no.2
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• pp.15-31
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• 2020

Various websites have been created due to the increased use of the Internet, and the number of documents distributed through these websites has increased proportionally. However, it is not easy to collect newly updated documents rapidly. Web crawling methods have been used to continuously collect and manage new documents, whereas existing crawling systems applying a single node demonstrate limited performances. Furthermore, crawlers applying distribution methods exhibit a problem related to effective node management for crawling. This study proposes an efficient distributed crawler through stepwise crawling node allocation, which identifies websites' properties and establishes crawling policies based on the properties identified to collect a large number of documents from multiple websites. The proposed crawler can calculate the number of documents included in a website, compare data collection time and the amount of data collected based on the number of nodes allocated to a specific website by repeatedly visiting the website, and automatically allocate the optimal number of nodes to each website for crawling. An experiment is conducted where the proposed and single-node methods are applied to 12 different websites; the experimental result indicates that the proposed crawler's data collection time decreased significantly compared with that of a single node crawler. This result is obtained because the proposed crawler applied data collection policies according to websites. Besides, it is confirmed that the work rate of the proposed model increased.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.6
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• pp.849-854
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• 2007

It is difficult that we collect only target documents from the Innumerable Web documents. One of solution to the problem is that we select target documents on the Web site which services many documents of target domain. In this paper, we will propose an intelligent crawling method collecting needed documents based on URL pattern script defined by XML. Proposed crawling method will efficiently apply to the sites which service structuralized information of a piece with database. In this paper, we collected 50 thousand Web documents using our crawling method.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.878-879
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• 2015

최근 산업계에서 널리 사용되고 있는 유도전동기, 특히 단상 유도전동기는 고주파에 의한 영향으로 인하여 crawling 현상이 발생하기도 한다. 이러한 고주파에 의한 영향을 저감시키기 위하여 주로 skew를 적용시키고 있다. 본 논문에서는 crawling 현상 저감을 위하여 skew 값에 따른 각 차수별 고주파를 분석하고 양호한 토크 특성을 발생시키도록 연구되었다. 또한 2D 해석 및 샘플 제작을 통한 실험을 통하여 실제 모델에서의 skew에 의한 crawling 현상 저감을 확인하였다.