This paper investigates the properties of traveling wave-beam interaction in a rectangular helix traveling-wave-tube (TWT) for a solid sheet electron beam. The "hot" dispersion equation is obtained by means of the...This paper investigates the properties of traveling wave-beam interaction in a rectangular helix traveling-wave-tube (TWT) for a solid sheet electron beam. The "hot" dispersion equation is obtained by means of the self-consistent field theory. The small signal analysis,which includes the effects of the beam parameters and slow-wave structure (SWS) parameters,is carried out by theoretical computation. The numerical results show that the bandwidth and the small-signal gain of the rectangular helix TWT increase as the beam current increases;and the beam voltage not obviously influences the small signal gain. Among different rectangular helix structures,the small-signal gain increases as the width of the rectangular helix SWS increases,however,the bandwidth decreases whether structure parameters a and L or ψ and L are fixed or not.In addition,a comparison of the small-signal gain of this structure with a conventional round helix is made.The presented analysis will be useful for the design of the TWT with a rectangular helix circuit.展开更多
Purpose:The collaboration relationships between innovation actors at a geographic level may be considered as grouping two separate layers,the domestic and the foreign.At the level of each layer,the relationships and t...Purpose:The collaboration relationships between innovation actors at a geographic level may be considered as grouping two separate layers,the domestic and the foreign.At the level of each layer,the relationships and the actors involved constitute a Triple Helix game.The paper distinguished three levels of analysis:the global grouping together all actors,the domestic grouping together domestic actors,and the foreign related to only actors from partner countries.Design/methodology/approach:Bibliographic records data from the Web of Science for South Korea and West Africa breakdown per innovation actors and distinguishing domestic and international collaboration are analyzed with game theory.The core,the Shapley value,and the nucleolus are computed at the three levels to measure the synergy between actors.Findings:The synergy operates more in South Korea than in West Africa;the government is more present in West Africa than in South Korea;domestic actors create more synergy in South Korea,but foreign more in West Africa;South Korea can consume all the foreign synergy,which is not the case of West Africa.Research limitations:Research data are limited to publication records;techniques and methods used may be extended to other research outputs.Practical implications:West African governments should increase their investment in science,technology,and innovation to benefit more from the synergy their innovation actors contributed at the foreign level.However,the results of the current study may not be sufficient to prove that greater investment will yield benefits from foreign synergies.Originality/value:This paper uses game theory to assess innovation systems by computing the contribution of foreign actors to knowledge production at an area level.It proposes an indicator to this end.展开更多
We study the ferroelectricity in a one-dimensional(1D)system composed of a double helix SnIP with absorbing water molecules.Our ab initio calculations reveal two factors that are critical to the electrical polarizatio...We study the ferroelectricity in a one-dimensional(1D)system composed of a double helix SnIP with absorbing water molecules.Our ab initio calculations reveal two factors that are critical to the electrical polarization.The first one is the orientation of polarized water molecules staying in the R2 region of SnIP.The second one is the displacement of I atom which roots from subtle interaction with absorbed water molecules.A reasonable scenario of polarization flipping is proposed in this study.In the scenario,the water molecule is rolling-up with keeping the magnitude of its electrical dipole and changing its direction,meanwhile,the displacement of I atoms is also reversed.Highly tunable polarization can be achieved by applying strain,with 26.5%of polarization enhancement by applying tensile strain,with only 4%degradation is observed with 4%compressive strain.Finally,the direct band gap is also found to be correlated with strain.展开更多
A novel slotted helix slow-wave structure (SWS) is proposed to develop a high power, wide-bandwidth, and high reliability millimeter-wave traveling-wave tube (TWT). This novel structure, which has higher heat capa...A novel slotted helix slow-wave structure (SWS) is proposed to develop a high power, wide-bandwidth, and high reliability millimeter-wave traveling-wave tube (TWT). This novel structure, which has higher heat capacity than a conven- tional helix SWS, evolves from conventional helix SWS with three parallel rows of rectangular slots made in the outside of the helix tape. In this paper, the electromagnetic characteristics and the beam-wave interaction of this novel structure operating in the Ka-band are investigated. From our calculations, when the designed beam voltage and beam current are set to be 18.45 kV and 0.2 A, respectively, this novel circuit can produce over 700-W average output power in a frequency range from 27.5 GHz to 32.5 GHz, and the corresponding conversion efficiency values vary from 19% to 21.3%, and the maximum output power is 787 W at 30 GHz.展开更多
In order to solve the problem of using new nozzle is proposed in fire rescue robot. middle or low water pressure to form fine water mist, a Existing water mist nozzles are basically used for high pressure and in large...In order to solve the problem of using new nozzle is proposed in fire rescue robot. middle or low water pressure to form fine water mist, a Existing water mist nozzles are basically used for high pressure and in large size, complex structure and poor low pressure atomization effect in comparison with requirement of snake-like fire rescue robots. On the basis of comprehensive typical spray noz- zles, a direct spiral double helix converging nozzle (DSDHCN) is proposed, which has the advanta- ges of small volume, light weight, simple structure, and convenient installation. To make the spray nozzle have good performance, and meet the requirements of more efficient fire extinguishing, a nu- merical study is carried out to analyze the internal and external full flow field of nozzle. A gas-liquid two-phase flow is applied to simulate the external full flow field of nozzle with VOF model in fluent software. The simulation results show the real situation of water flow out of the atomization nozzle and the water jet trajectory. Some simulations about middle or low water pressure direct spiral double he- lix converging optimized nozzle have been done in 30bar pressure. The simulation results show that the optimized nozzle structure not only makes the spray droplets have a good cone angle, but also have a sufficient axial velocity,which proves the structure rationality of the proposed optimized nozzle.展开更多
This paper presents a three-dimensional time-dependent nonlinear theory of helix traveling wave tubes for beam- wave interaction. The radio frequency electromagnetic fields are represented as the superposition of azim...This paper presents a three-dimensional time-dependent nonlinear theory of helix traveling wave tubes for beam- wave interaction. The radio frequency electromagnetic fields are represented as the superposition of azimuthally sym- metric waves in a vacuum sheath helix. Coupling impedance is introduced to the electromagnetic field equations' stimulating sources, which makes the theory easier and more flexible to realize. The space charge fields are calculated by electron beam space-charge waves expressed as the superposition solutions of Helmholtz equations. The focusing forces due to either a solenoidal field or a periodic permanent magnetic field is also included. The dynamical equations of electrons are Lorentz equations associating with electromagnetic fields, focusing fields and space-charge fields. The numerically simulated results of a tube are presented.展开更多
Based on the actual vane-loaded tape helix slow wave structure, a new theoretical analytic model for calculating coupling impedance is proposed by Chen Qingyou, et al.(1999)with calculated values of dispersion in good...Based on the actual vane-loaded tape helix slow wave structure, a new theoretical analytic model for calculating coupling impedance is proposed by Chen Qingyou, et al.(1999)with calculated values of dispersion in good agreement with measured ones. In this paper, it is continued to use this model to calculate the coupling impedance of such a structure, and analyze the effects of the propagation power within vane gaps and the helix gap on the coupling impedance.As a result, the theoretical values are found to be in good agreement with the measured ones,with the maximum difference less than ±18%.展开更多
As a core compulsory course for English majors majoring in teacher education,Literary Theory and Criticism plays an important role in enhancing text understanding,cultivating critical thinking,and shaping correct valu...As a core compulsory course for English majors majoring in teacher education,Literary Theory and Criticism plays an important role in enhancing text understanding,cultivating critical thinking,and shaping correct values in the future development of students.Influenced by traditional teaching ideas,students have many difficulties when learning this course,such as insufficient theoretical understanding,inadequate ability improvement,and not enough investment in course learning.In response to the above issues,this course focuses closely on the fundamental task of“cultivating virtue and nurturing people”,relying on modern information technology and introducing research methods of digital humanities.This course uses“7C”teaching mode under the“three-level integration”,in which“teaching”and“education”are carried out synchronously,and“teacher”and“student”are developed together,in order to greatly enhance students’learning participation and course satisfaction.展开更多
Molecular dynamics method is used to study the conformation behavior of a semi-flexible polymer chain confined in a cylinder channel.A novel helix-like structure is found to form during the simulation.Moreover,the det...Molecular dynamics method is used to study the conformation behavior of a semi-flexible polymer chain confined in a cylinder channel.A novel helix-like structure is found to form during the simulation.Moreover,the detailed characteristic parameters and formation probability of these helix-like structures under moderate conditions are investigated.We find that the structure is not a perfect helix,but a bundle of elliptical turns.In addition,we conduct a statistical analysis for the chain monomer distribution along the radial direction.This research contributes to our understanding of the microscopic conformation of polymer chains in confined environments filled with a solvent.展开更多
On the basis of a rigorous field theory, two different physical models of attenuator and sever have been proposed. One is named High attenuation (HATT) model in which both attenuator and sever are considered as a un...On the basis of a rigorous field theory, two different physical models of attenuator and sever have been proposed. One is named High attenuation (HATT) model in which both attenuator and sever are considered as a unified attenuator, but the sever is regarded as an area of very high loss; the other is called Sever and attenuator (SATT) model in which the sever is modelled as a drift area in which the electric and magnetic fields both vanish. A complex function is derived and potential sinking effect is also considered. Thus, a set of more practical self-consistent equations of nonlinear beam-wave interaction is formulated. Simulations are carried out under the conditions of the two different physical models, and the simulation results are compared with the experimental data. The results show that in the case of single signal drive, the unknown second harmonic should be included for predicting the saturated output power. It is also evident that the SATT model and the HATT model predict the same physical nature, whereas the results predicted by the HATT model are much closer to the experimental data than those obtained from the SATT model. Therefore, these results provide a strong theoretical basis for designing broadband and high gain helix travelling wave tubes.展开更多
By combination of finite number theory and quantum information, the complete quantum information in the <em>DNA</em> genetic code has been made likely by <em>Planat et al</em>. (2020). In the p...By combination of finite number theory and quantum information, the complete quantum information in the <em>DNA</em> genetic code has been made likely by <em>Planat et al</em>. (2020). In the present contribution a varied quartic polynomial contrasting the polynomial used by <em>Planat et al</em>. is proposed that considered apart from the golden mean also the fifth power of this dominant number of nature to adapt the code information. The suggested polynomial is denoted as <em>g</em>(<em>x</em>) = <em>x</em><sup>4</sup> - <em>x</em><sup>3</sup> - (4 - <em><i style="white-space:normal;">ϕ</i></em><sup>2</sup> )<em>x</em><sup>2</sup> + (4 – <i>ϕ</i><sup>2</sup>)x + 1, where <img src="Edit_40efe764-d690-499f-8424-129f9ca46f78.bmp" alt="" /> is the golden mean. Its roots are changed to more golden mean based ones in comparison to the <em>Planat</em> polynomial. The new coefficients 4 – <em>ϕ</em><sup>2</sup> instead of 4 would implement the fifth power of the golden mean indirectly applying <img src="Edit_5b44b644-3f59-4fad-a586-ec5345ba6be4.bmp" alt="" />. As an outlook, it should be emphesized that the connection between genetic code and resonance code of the <em>DNA</em> may lead us to a full understanding of how nature stores and processes compacted information and what indeed is consciousness linking everything with each other suggestedly mediated by all-pervasive dark constituents of matter respectively energy. The number-theoretical approach to <em>DNA</em> coding leads to the question about the helical structure of the electron.展开更多
For the detection environment of complex walls such as high-rise buildings,a double helix wall climbing robot(DHWCR)with strong adsorption force and good stability is designed and developed,which uses symmetrical prop...For the detection environment of complex walls such as high-rise buildings,a double helix wall climbing robot(DHWCR)with strong adsorption force and good stability is designed and developed,which uses symmetrical propellers to provide adsorption force.The symmetrical driving structure can provide smooth thrust for the DHWCR,so that the robot can be absorbed to the wall surface with different roughness.A left and right control frame with multiple degrees of freedom is designed,which can adjust the fixed position of the brushless propeller motor in the front and back directions,realize the continuous adjustable thrust direction of the robot,and improve the flexibility of the robot movement.Using the front wheel steering mechanism with universal joint,the steering control of the DHWCR is realized by differential control.In the vertical to ground transition,the front and rear brushless motors can provide the pull up and oblique thrust,so that the DHWCR can smoothly transition to the vertical wall.The motion performance and adaptability of the DHWCR in the horizontal ground and vertical wall environment are tested.The results show that the DHWCR can switch motion between the horizontal ground and vertical wall,and can stably adsorb on the vertical wall with flexible attitude control.The DHWCR can move at a fast speed.The speed on the horizontal ground is higher than that on the vertical wall,which verifies the feasibility and reliability of the DHWCR moving stably on the vertical wall.展开更多
基金Project supported in part by the National Natural Science Foundation of China (Grant No 60532010)the Talent Fund of Chinese Education Administration
文摘This paper investigates the properties of traveling wave-beam interaction in a rectangular helix traveling-wave-tube (TWT) for a solid sheet electron beam. The "hot" dispersion equation is obtained by means of the self-consistent field theory. The small signal analysis,which includes the effects of the beam parameters and slow-wave structure (SWS) parameters,is carried out by theoretical computation. The numerical results show that the bandwidth and the small-signal gain of the rectangular helix TWT increase as the beam current increases;and the beam voltage not obviously influences the small signal gain. Among different rectangular helix structures,the small-signal gain increases as the width of the rectangular helix SWS increases,however,the bandwidth decreases whether structure parameters a and L or ψ and L are fixed or not.In addition,a comparison of the small-signal gain of this structure with a conventional round helix is made.The presented analysis will be useful for the design of the TWT with a rectangular helix circuit.
文摘Purpose:The collaboration relationships between innovation actors at a geographic level may be considered as grouping two separate layers,the domestic and the foreign.At the level of each layer,the relationships and the actors involved constitute a Triple Helix game.The paper distinguished three levels of analysis:the global grouping together all actors,the domestic grouping together domestic actors,and the foreign related to only actors from partner countries.Design/methodology/approach:Bibliographic records data from the Web of Science for South Korea and West Africa breakdown per innovation actors and distinguishing domestic and international collaboration are analyzed with game theory.The core,the Shapley value,and the nucleolus are computed at the three levels to measure the synergy between actors.Findings:The synergy operates more in South Korea than in West Africa;the government is more present in West Africa than in South Korea;domestic actors create more synergy in South Korea,but foreign more in West Africa;South Korea can consume all the foreign synergy,which is not the case of West Africa.Research limitations:Research data are limited to publication records;techniques and methods used may be extended to other research outputs.Practical implications:West African governments should increase their investment in science,technology,and innovation to benefit more from the synergy their innovation actors contributed at the foreign level.However,the results of the current study may not be sufficient to prove that greater investment will yield benefits from foreign synergies.Originality/value:This paper uses game theory to assess innovation systems by computing the contribution of foreign actors to knowledge production at an area level.It proposes an indicator to this end.
基金the Natural Science Foundation of Jiangsu Province,China(Grant No.BK20210198)the National Natural Science Foundation of China(Grant No.12204095)+1 种基金the Fundamental Research Funds for the Central Universities(Grant No.2242022R10197)the National Natural Science Foundation of China(Grant No.11834002).
文摘We study the ferroelectricity in a one-dimensional(1D)system composed of a double helix SnIP with absorbing water molecules.Our ab initio calculations reveal two factors that are critical to the electrical polarization.The first one is the orientation of polarized water molecules staying in the R2 region of SnIP.The second one is the displacement of I atom which roots from subtle interaction with absorbed water molecules.A reasonable scenario of polarization flipping is proposed in this study.In the scenario,the water molecule is rolling-up with keeping the magnitude of its electrical dipole and changing its direction,meanwhile,the displacement of I atoms is also reversed.Highly tunable polarization can be achieved by applying strain,with 26.5%of polarization enhancement by applying tensile strain,with only 4%degradation is observed with 4%compressive strain.Finally,the direct band gap is also found to be correlated with strain.
基金Project supported by the National Natural Science Foundation of China(Grant No.61271029)the Natural Science Key Laboratory Foundationthe Natural Science Fund for Distinguished Young Scholars of China(Grant No.61125103)
文摘A novel slotted helix slow-wave structure (SWS) is proposed to develop a high power, wide-bandwidth, and high reliability millimeter-wave traveling-wave tube (TWT). This novel structure, which has higher heat capacity than a conven- tional helix SWS, evolves from conventional helix SWS with three parallel rows of rectangular slots made in the outside of the helix tape. In this paper, the electromagnetic characteristics and the beam-wave interaction of this novel structure operating in the Ka-band are investigated. From our calculations, when the designed beam voltage and beam current are set to be 18.45 kV and 0.2 A, respectively, this novel circuit can produce over 700-W average output power in a frequency range from 27.5 GHz to 32.5 GHz, and the corresponding conversion efficiency values vary from 19% to 21.3%, and the maximum output power is 787 W at 30 GHz.
基金Supported by the National Natural Science Foundation of China(No.61105086)Self-Planned Task(SKLRS-2010-MS-12)of State Key Laboratory of Robotics and System(HIT)Hubei Province Natural Science Foundation(No.2010CDB03405)
文摘In order to solve the problem of using new nozzle is proposed in fire rescue robot. middle or low water pressure to form fine water mist, a Existing water mist nozzles are basically used for high pressure and in large size, complex structure and poor low pressure atomization effect in comparison with requirement of snake-like fire rescue robots. On the basis of comprehensive typical spray noz- zles, a direct spiral double helix converging nozzle (DSDHCN) is proposed, which has the advanta- ges of small volume, light weight, simple structure, and convenient installation. To make the spray nozzle have good performance, and meet the requirements of more efficient fire extinguishing, a nu- merical study is carried out to analyze the internal and external full flow field of nozzle. A gas-liquid two-phase flow is applied to simulate the external full flow field of nozzle with VOF model in fluent software. The simulation results show the real situation of water flow out of the atomization nozzle and the water jet trajectory. Some simulations about middle or low water pressure direct spiral double he- lix converging optimized nozzle have been done in 30bar pressure. The simulation results show that the optimized nozzle structure not only makes the spray droplets have a good cone angle, but also have a sufficient axial velocity,which proves the structure rationality of the proposed optimized nozzle.
基金supported by the National Natural Science Foundation of China (Grant Nos. 60601004,60801029,10876005,and60931001)
文摘This paper presents a three-dimensional time-dependent nonlinear theory of helix traveling wave tubes for beam- wave interaction. The radio frequency electromagnetic fields are represented as the superposition of azimuthally sym- metric waves in a vacuum sheath helix. Coupling impedance is introduced to the electromagnetic field equations' stimulating sources, which makes the theory easier and more flexible to realize. The space charge fields are calculated by electron beam space-charge waves expressed as the superposition solutions of Helmholtz equations. The focusing forces due to either a solenoidal field or a periodic permanent magnetic field is also included. The dynamical equations of electrons are Lorentz equations associating with electromagnetic fields, focusing fields and space-charge fields. The numerically simulated results of a tube are presented.
基金Supported by the National Natural Science Foundation of China under grant no.69901004
文摘Based on the actual vane-loaded tape helix slow wave structure, a new theoretical analytic model for calculating coupling impedance is proposed by Chen Qingyou, et al.(1999)with calculated values of dispersion in good agreement with measured ones. In this paper, it is continued to use this model to calculate the coupling impedance of such a structure, and analyze the effects of the propagation power within vane gaps and the helix gap on the coupling impedance.As a result, the theoretical values are found to be in good agreement with the measured ones,with the maximum difference less than ±18%.
基金supported by Henan Province Teaching Reform and Practice Project(Project Fund No.135)—Research on the Reform of Literary Theory Courses for English Majors in Universities.
文摘As a core compulsory course for English majors majoring in teacher education,Literary Theory and Criticism plays an important role in enhancing text understanding,cultivating critical thinking,and shaping correct values in the future development of students.Influenced by traditional teaching ideas,students have many difficulties when learning this course,such as insufficient theoretical understanding,inadequate ability improvement,and not enough investment in course learning.In response to the above issues,this course focuses closely on the fundamental task of“cultivating virtue and nurturing people”,relying on modern information technology and introducing research methods of digital humanities.This course uses“7C”teaching mode under the“three-level integration”,in which“teaching”and“education”are carried out synchronously,and“teacher”and“student”are developed together,in order to greatly enhance students’learning participation and course satisfaction.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.11504033 and 11404290)the General Research Fund of Hong Kong Research Council of China(Grant No.15301014)
文摘Molecular dynamics method is used to study the conformation behavior of a semi-flexible polymer chain confined in a cylinder channel.A novel helix-like structure is found to form during the simulation.Moreover,the detailed characteristic parameters and formation probability of these helix-like structures under moderate conditions are investigated.We find that the structure is not a perfect helix,but a bundle of elliptical turns.In addition,we conduct a statistical analysis for the chain monomer distribution along the radial direction.This research contributes to our understanding of the microscopic conformation of polymer chains in confined environments filled with a solvent.
基金supported by the National Natural Science Foundation of China (Grant Nos 60601007 and 60532010)the Youth Science and Technology Foundation of University of Electronic Science and Technology of China (Grant No JX05018)
文摘On the basis of a rigorous field theory, two different physical models of attenuator and sever have been proposed. One is named High attenuation (HATT) model in which both attenuator and sever are considered as a unified attenuator, but the sever is regarded as an area of very high loss; the other is called Sever and attenuator (SATT) model in which the sever is modelled as a drift area in which the electric and magnetic fields both vanish. A complex function is derived and potential sinking effect is also considered. Thus, a set of more practical self-consistent equations of nonlinear beam-wave interaction is formulated. Simulations are carried out under the conditions of the two different physical models, and the simulation results are compared with the experimental data. The results show that in the case of single signal drive, the unknown second harmonic should be included for predicting the saturated output power. It is also evident that the SATT model and the HATT model predict the same physical nature, whereas the results predicted by the HATT model are much closer to the experimental data than those obtained from the SATT model. Therefore, these results provide a strong theoretical basis for designing broadband and high gain helix travelling wave tubes.
文摘By combination of finite number theory and quantum information, the complete quantum information in the <em>DNA</em> genetic code has been made likely by <em>Planat et al</em>. (2020). In the present contribution a varied quartic polynomial contrasting the polynomial used by <em>Planat et al</em>. is proposed that considered apart from the golden mean also the fifth power of this dominant number of nature to adapt the code information. The suggested polynomial is denoted as <em>g</em>(<em>x</em>) = <em>x</em><sup>4</sup> - <em>x</em><sup>3</sup> - (4 - <em><i style="white-space:normal;">ϕ</i></em><sup>2</sup> )<em>x</em><sup>2</sup> + (4 – <i>ϕ</i><sup>2</sup>)x + 1, where <img src="Edit_40efe764-d690-499f-8424-129f9ca46f78.bmp" alt="" /> is the golden mean. Its roots are changed to more golden mean based ones in comparison to the <em>Planat</em> polynomial. The new coefficients 4 – <em>ϕ</em><sup>2</sup> instead of 4 would implement the fifth power of the golden mean indirectly applying <img src="Edit_5b44b644-3f59-4fad-a586-ec5345ba6be4.bmp" alt="" />. As an outlook, it should be emphesized that the connection between genetic code and resonance code of the <em>DNA</em> may lead us to a full understanding of how nature stores and processes compacted information and what indeed is consciousness linking everything with each other suggestedly mediated by all-pervasive dark constituents of matter respectively energy. The number-theoretical approach to <em>DNA</em> coding leads to the question about the helical structure of the electron.
基金supported by the Key Research Development and Promotion Special Project of Henan Province,under Grant 212102310119 and 212102210358Scientific Research Foundation for High-level Talents of Henan Institute of Technology,under Grant KQ1869+7 种基金2021 Provincial Higher Education Teaching Reform General Project"Research and Practice of Grassroots Teaching Management Construction in Local Application-oriented Universities under the Background of Professional Certification",under Grant SJGY20210520University-Industry Collaborative Education Program,under Grant 202101187010 and 202102120046Innovation and Entrepreneurship Training Program for College Students of Henan Province,under Grant 202211329011Educational and Teaching Reform Research and Practice Project of Henan Institute of Technology,under Grant 2021-YB023 and JJXY-2021005Innovative Education Curriculum Construction Project of Henan Institute of Technology,under Grant CX-2021-0052022 Xinxiang Federation of Social Sciences Research topic,under Grant SKL-2022-254 and SKL-2022-2282022 Annual Research Topic of Henan Federation of Social Sciences,under Grant SKL-2022-26922022 Annual Research Project of Henan Federation of Social Sciences:"Research on Rural Revitalization Strategy of Financial Service Model Innovation in Henan Province",under Grant SKL-2022-2692.
文摘For the detection environment of complex walls such as high-rise buildings,a double helix wall climbing robot(DHWCR)with strong adsorption force and good stability is designed and developed,which uses symmetrical propellers to provide adsorption force.The symmetrical driving structure can provide smooth thrust for the DHWCR,so that the robot can be absorbed to the wall surface with different roughness.A left and right control frame with multiple degrees of freedom is designed,which can adjust the fixed position of the brushless propeller motor in the front and back directions,realize the continuous adjustable thrust direction of the robot,and improve the flexibility of the robot movement.Using the front wheel steering mechanism with universal joint,the steering control of the DHWCR is realized by differential control.In the vertical to ground transition,the front and rear brushless motors can provide the pull up and oblique thrust,so that the DHWCR can smoothly transition to the vertical wall.The motion performance and adaptability of the DHWCR in the horizontal ground and vertical wall environment are tested.The results show that the DHWCR can switch motion between the horizontal ground and vertical wall,and can stably adsorb on the vertical wall with flexible attitude control.The DHWCR can move at a fast speed.The speed on the horizontal ground is higher than that on the vertical wall,which verifies the feasibility and reliability of the DHWCR moving stably on the vertical wall.