A unilateral self-locking mechanism(USM) was proposed to increase the tractive ability of the inchworm in-pipe robots for pipeline inspection.The USM was basically composed of a cam,a torsional spring and an axis.The ...A unilateral self-locking mechanism(USM) was proposed to increase the tractive ability of the inchworm in-pipe robots for pipeline inspection.The USM was basically composed of a cam,a torsional spring and an axis.The self-locking and virtual work principles were applied to studying the basic self-locking condition of the USM.In order to make the cooperation between the crutch and telescopic mechanism more harmonical,the unlocking time of the USM was calculated.A set of parameters were selected to build a virtual model and fabricate a prototype.Both the simulation and performance experiments were carried out in a pipe with a nominal inside diameter of 160 mm.The results show that USM enables the robot to move quickly in one way,and in the other way it helps the robot get self-locking with the pipe wall.The traction of the inchworm robot can rise to 1.2 kN,beyond the limitation of friction of 0.497 kN.展开更多
With the full implementation of the Code of Criminal Procedure, the application of the rules of the exclusion of the illegal evidences is more inclined to the protection of the human rights. However, in the process of...With the full implementation of the Code of Criminal Procedure, the application of the rules of the exclusion of the illegal evidences is more inclined to the protection of the human rights. However, in the process of the implementation of the new laws, the problems in view of the rules of the exclusion of the illegal evidences are also prominent, which are mainly reflected in the ambiguity of the scope of the application, the start of the program of the exclusion, and the formalization the trial certificates and other aspects. Therefore, in this article, the author starts from the concept of the illegal evidences, and expounds the principles of the exclusion and the abilities of the evidences, and especially explores the abilities of the evidences and the probative forces. From the differences between the two, the author strictly proves the virtualization of the standards, in order to provide the positive solutions for strengthening the exclusionary procedure of the illegal evidences.展开更多
基金Project(2007AA04Z256) supported by the National High-Tech Research and Development Program of China
文摘A unilateral self-locking mechanism(USM) was proposed to increase the tractive ability of the inchworm in-pipe robots for pipeline inspection.The USM was basically composed of a cam,a torsional spring and an axis.The self-locking and virtual work principles were applied to studying the basic self-locking condition of the USM.In order to make the cooperation between the crutch and telescopic mechanism more harmonical,the unlocking time of the USM was calculated.A set of parameters were selected to build a virtual model and fabricate a prototype.Both the simulation and performance experiments were carried out in a pipe with a nominal inside diameter of 160 mm.The results show that USM enables the robot to move quickly in one way,and in the other way it helps the robot get self-locking with the pipe wall.The traction of the inchworm robot can rise to 1.2 kN,beyond the limitation of friction of 0.497 kN.
文摘With the full implementation of the Code of Criminal Procedure, the application of the rules of the exclusion of the illegal evidences is more inclined to the protection of the human rights. However, in the process of the implementation of the new laws, the problems in view of the rules of the exclusion of the illegal evidences are also prominent, which are mainly reflected in the ambiguity of the scope of the application, the start of the program of the exclusion, and the formalization the trial certificates and other aspects. Therefore, in this article, the author starts from the concept of the illegal evidences, and expounds the principles of the exclusion and the abilities of the evidences, and especially explores the abilities of the evidences and the probative forces. From the differences between the two, the author strictly proves the virtualization of the standards, in order to provide the positive solutions for strengthening the exclusionary procedure of the illegal evidences.
