In this paper, the climbing obstacle capability of the previous special cable inspection robot （ Model Number： XS1T-1） is analyzed. Static equations are established to analyze the relationships between the external...In this paper, the climbing obstacle capability of the previous special cable inspection robot （ Model Number： XS1T-1） is analyzed. Static equations are established to analyze the relationships between the external forces and the maximum height of an obstacle. Parameters affecting the obstacle crossing ability are obtained. According to the analysis results, an innovated small volume, simple structure and light weight climbing mechanism is proposed （Model Number： XS1T-2）. A simplified kinematics model of the mechanism is established. With two powered wheels, the obstacle crossing ability of the XSIT-2 is improved apparently. For the robot moving without deflection, the relationships of two powered input torques are deduced. The comparison of the simulation results clearly shows that the climbing ability of XS1T-2 is obviously improved, and it can meet the demands of inspection.展开更多
This paper presents a simple and straight-forward static model of the micro-foundations of the environmental Kuznets curve, in which the relationship between income and pollution depends on the relative magnitudes of ...This paper presents a simple and straight-forward static model of the micro-foundations of the environmental Kuznets curve, in which the relationship between income and pollution depends on the relative magnitudes of the diminishing income-compensated price elasticity of environmental amenity and increasing marginal propensity to earn environmental amenity out of non-environment income. The smaller the income-compensated price elasticity and the larger the marginal propensity to earn out of non-environment income, the earlier the turning point emerges. This key feature of our model generalizes the specific features of many existing models and generates many of their implications.展开更多
基金Supported by the National High Technology Research and Development Programene of China （No. 2006AA04Z234） and China Postdoctoral Science Foundation （No. 2.009（061051 ）.
文摘In this paper, the climbing obstacle capability of the previous special cable inspection robot （ Model Number： XS1T-1） is analyzed. Static equations are established to analyze the relationships between the external forces and the maximum height of an obstacle. Parameters affecting the obstacle crossing ability are obtained. According to the analysis results, an innovated small volume, simple structure and light weight climbing mechanism is proposed （Model Number： XS1T-2）. A simplified kinematics model of the mechanism is established. With two powered wheels, the obstacle crossing ability of the XSIT-2 is improved apparently. For the robot moving without deflection, the relationships of two powered input torques are deduced. The comparison of the simulation results clearly shows that the climbing ability of XS1T-2 is obviously improved, and it can meet the demands of inspection.
基金We thank the two anonymous referees, the editors, and Youping Li for helpful comments and suggestions. This research was supported by the National Natural Science Foundation of China （71273092）, the Humanity and Social Science Foundation of Ministry of Education of China （10YJCZH108）, and the Fundamental Research Funds for Central Universities of China.
文摘This paper presents a simple and straight-forward static model of the micro-foundations of the environmental Kuznets curve, in which the relationship between income and pollution depends on the relative magnitudes of the diminishing income-compensated price elasticity of environmental amenity and increasing marginal propensity to earn environmental amenity out of non-environment income. The smaller the income-compensated price elasticity and the larger the marginal propensity to earn out of non-environment income, the earlier the turning point emerges. This key feature of our model generalizes the specific features of many existing models and generates many of their implications.
