【正文】 擦窗機器人相關問題研究 ,北京航空航天大學博士論文 ,202208。 [10]李玉榕 ,郭智疆 ,蔣靜坪等著 .多傳感器融合在移動機器人運動控制中的應用 .儀器儀表學報 .2022, 23(1): 106110 [11] Jailles Quirk． Achieving greater efficiency in NDT inspection sensor Review,V01． 1 9,No． 4:1999:286—2 72 [12] Longo D., Muscato G..(2022)SCIDA nonactuated robot for wall exploration. Proc. of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 874–879. [13] Lal Tummala, R.。 Mukherjee, R.。 Ning Xi。 Aslam, D.。 Dulimarta, H.。 Jizhong Xiao。 Minor, M.。 Dang, G.。 Climbing the walls [robots]. Robotics amp。 Automation Magazine, IEEE ,Volume: 9 ,Issue: 4 ,Dec. 2022. . [14] IMing Chen, Song Huat Yeo (2022) Lootion of a twodimensional walkingclimbing robot using a closedloop mechanism: From gait generation to navigation. International Journal of Robotics Research 22(1): 2140. [15] , , , (1997)Development of a semi selfcontained wall climbing robot with scanning type suction cups. Robots and Systems 2:900905. [16]K． Ikeda． T． Nozaki． Fundamental study on a wail—climbing robot． Proc． Of the 5―int． sympo sium on robotic s in COnStruction,1 988:4494 58 [17]D． Howa rd, D． J． Sanger, et a1． Walkers and climbers: Valuable insight s for 安徽理工大學 畢業(yè)設計 26 mechanics． design and COntr01． Clawar’98 Fi rst International Symposium,November． 1 998:9 5—100 [18] S. . Satar, A. Khalid etc. Climbing RobotsOf the Shelf. Industrial Robot. 19 95, 21(5):27 30 [19]B. L. Luk, A. A. Collie and J. Billingsky. ROBUG II: An intelligent wall climbing robot. Proceedings of the1991 IEEE Int. Conf. On Robotics and Automation. 1991:2342 2347 [20] etc. Internallybalanced Mag Unit. Advanced Robotics. 1986,1(3): 225 242 安徽理工大學 畢業(yè)設計 27 致謝 本設計是在 副教授的悉心指導下順利完成的，設計中的每一環(huán)節(jié)無不凝聚著老師對我們的照顧和心血。在畢業(yè)之前仍能取得的每一點成績、學業(yè)上的每一點長進都與 老師的關 懷分不開，老師淵博的知識、嚴謹?shù)闹螌W作風和高尚的人格使本人終生受益，不僅給予我了很多學習上指導和生活上的關懷，還使我獲得了豐富的專業(yè)知識和處理問題的能力，在此特向胡老師致深深的感謝！ 同時感謝本次設計中各位同學朋友的無私幫助。 最后，要感謝我的家人，在他們默默的關心和支持下，才使我得以順利的完成學業(yè)。 安徽理工大學 畢業(yè)設計 28 安徽理工大學 畢業(yè)設計 29 4 7 04 7 03412U 1 1 AT L P 5 2 187651 K1 KR 7R 8U 1 1 BT L P 5 2 1R 1R 24 7 04 7 03412U 1 2 AT L P 5 2 187651 K1 KR 9R 1 0U 1 2 BT L P 5 2 1R 3R 44 7 04 7 03412U 1 1 3 AT L P 5 2 187651 K1 KR 1 1R 1 2U 1 3 BT L P 5 2 1D I R 1D I R 2P W M AD I R 3D I R 4P W M BS _ 5 V1 61 51 81 71 41 31 21 1B 1B 0B 2B 3B 4 B 5B 6B 7A 0A 1A 2A 3A 4A 5A 6A 7D I REP 1 1P 1 2P 1 3P 1 4P 1 5P 1 6P 1 7P 1 8234567891 00A T 8 9 C 5 1VCCCurrentACurrentBVCCGNDVPPV C C 1 2 VD 1 D 2 D 3 D 4D 5 D 6 D 7 D 8M 1M 2M O T O RM O T O RC 10 . 1 u FS _ 5 VL 2 9 8 ND I R 1D I R 2D I R 3D I R 4P W M AP W M BO U T P U T 1O U T P U T 2O U T P U T 3O U T P U T 4I N O U T 1I N P U T 2I N P U T 3I N P U T 4E N A B L E 1E N A B L E 2U 298 451 071 261 1115231 31 4圖 4 1 0 驅(qū)動系統(tǒng)電路 安徽理工大學 畢業(yè)設計 30 g an employment tribunal claim Employment tribunals sort out disagreements between employers and employees. You may need to make a claim to an employment tribunal if: ? you don39。t agree with the disciplinary action your employer has taken against you ? your employer dismisses you and you think that you have been dismissed unfairly. For more information about dismissal and unfair dismissal, see Dismissal. You can make a claim to an employment tribunal, even if you haven39。t appealed against the disciplinary action your employer has taken against you. However, if you win your case, the tribunal may reduce any pensation awarded to you as a result of your failure to appeal. Remember that in most cases you must make an application to an employment tribunal within three months of the date when the event you are plaining about happened. If your application is received after this time limit, the tribunal will not usually accept it. If you are worried about how the time limits apply to you, take advice from one of the anisations listed under Further help. Employment tribunals are less formal than some other courts, but it is still a legal process and you will need to give evidence under an oath or affirmation. Most people find making a claim to an employment tribunal challenging. If you are thinking about making a claim to an employment tribunal, you should get help straight away from one of the anisations listed under Further help. If you are being represented by a solicitor at the tribunal, they may ask you to sign an agreement where you pay their fee out of your pensation if you win the case. This is known as a damagesbased agreement. In England and Wales, your solicitor can39。t charge you more than 35% of your pensation if you win the case. If you are thinking about signing up for a damagesbased agreement, you should make sure you39。re clear about the terms of the agreement. It might be best to get advice from an experienced adviser, for example, at a Citizens Advice Bureau. To find your nearest CAB, including those that give advice by , click on nearest CAB. For more information about making a claim to an employment tribunal, see Employment tribunals. The (lack of) air up there Watch mCayman Islandsbased Webb, the head of Fifa39。s antiracism taskforce, is in London for the Football Association39。s 150th anniversary celebrations and will attend City39。s Premier League match at Chelsea on Sunday. I am going to be at the match tomorrow and I have asked to meet Yaya Toure, he told BBC Sport. For me it39。s about how he felt and I would like to speak to him first to find out what his experience was. Uefa has opened disciplinary proceedings against CSKA for the racist behaviour of the