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The modified wheels with 15° circumferential angle at 24 and 30° lug spacings showed significantly higher tractive power compared to other combinations.
This kind of transmission offers important advantages like continuously variable transmission with high power density, maximum tractive force at low speeds and reversing without changing gear.
During extreme flood events, the river's effective tractive force (τ*e, d90) exceeds the critical tractive force (τ*c), especially upstream of the Yahagi Dam.
Three methodologies were compared: Traditional criteria, Equation of Macke (1982), and Tractive Force Methodology (ASCE).
It could exert 61,400 kg (135,400 pounds) of tractive force and developed more than 6,000 horsepower at 112 km (70 miles) per hour.
In the design of unlined canal sections, regime theory and tractive force approach have formed the basis.
This structural design makes it possible to realize the adaptation to pipe diameter and tractive force adjusting together.
To verify the pipe-diameter adaptability and tractive force adjusting of the robot, related field experiments are implemented in actual underground gas pipeline.
Bed instability resulting from an increased tractive force due to channel straightening and its impact on macroinvertebrate communities is also discussed.
An in-pipe robot with active pipe-diameter adaptability and automatic tractive force adjusting is developed for long-distance inspection of main gas pipelines with different diameter series.
Compared with other similar robots, this robot, which employs active mode for its adaptability to pipe diameter, can be adaptable to the wide range of gas pipeline diameters from ∅400 mm to ∅650 mm and automatically provide a stable and reliable tractive force with strong capacity of tractive force adjusting.
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