CN115387201A - Active control system for stabilizing and stopping swing of engineering structure or mechanical system - Google Patents
Active control system for stabilizing and stopping swing of engineering structure or mechanical system Download PDFInfo
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- CN115387201A CN115387201A CN202210976255.6A CN202210976255A CN115387201A CN 115387201 A CN115387201 A CN 115387201A CN 202210976255 A CN202210976255 A CN 202210976255A CN 115387201 A CN115387201 A CN 115387201A
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- motor
- controlled
- roll
- rotating shaft
- control system
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
Abstract
The invention discloses an active control system for stabilizing and stopping swing of an engineering structure or a mechanical system, which comprises a first motor, a rotary table, a sensor and a controller, wherein the first motor is arranged on an object to be controlled, the rotary table is arranged on the first motor, the controller is respectively connected with the sensor and the first motor, the torsion angle of the object to be controlled is detected through the sensor and is sent to the controller, the received torsion angle is processed through the controller, and the first motor is controlled to drive the rotary table to rotate according to a processing result, so that the rotary table generates moment for offsetting the torsion vibration of the object to be controlled. The moment generated by the rotary disc is transmitted to the object to be controlled through the first motor so as to offset the torsional vibration generated by the object to be controlled, and therefore the stability of the object to be controlled is improved.
Description
Technical Field
The invention relates to the technical field of bridge engineering, in particular to an active control system for stabilizing and stopping swing of an engineering structure or a mechanical system.
Background
In the prior art, when a train runs on a railway bridge, once the bridge deck track is not smooth, the train vibrates, the vibrating train can react on the track, and the track deforms after long-term operation. Simultaneously along with the speed of traveling of train, the continuous improvement of load weight, will accelerate orbital deformation, orbital deformation is big more, and the train also can be big more thereupon to orbital vibration to aggravate the vibration of train to the bridge, will lead to the bridge to take place to collapse when serious.
In order to solve the above problems, the conventional bridge vibration control usually adopts a passive control method such as a damper, but the damper has the following defects: 1. the damper can only output linear control force, is equivalent to the fact that the damper can only control horizontal vibration and vertical vibration generated by a bridge, cannot control torsional vibration generated by the bridge, has the chaotic phenomenon easily caused by the characteristic of the linear control force of the damper, has different control effects under different excitation frequencies, but has no control effect on the vibration control of the bridge under a certain excitation frequency, and can aggravate the vibration of the bridge on the contrary. 2. Since the coupling effect between the displacement and the pivot angle of the damper cannot be used for vibration modes with rotating characteristics, it is often ineffective in controlling the torsional vibration of the bridge.
Disclosure of Invention
The invention mainly aims to provide an active control system for stabilizing and stopping swing of an engineering structure or a mechanical system, and aims to solve the technical problem that the damper in the prior art cannot effectively solve the torsional vibration of a bridge, so that the stability of the bridge is poor.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the utility model provides an active control system of engineering structure or mechanical system anti-sway and anti-sway, includes first motor, carousel, sensor and controller, first motor is used for setting up on treating the accuse object, the carousel sets up on the first motor, the controller respectively with the sensor with first motor is connected, the sensor is used for detecting treat the torsion angle of accuse object, and will the torsion angle send for the controller, the controller is used for handling the receipt the torsion angle to output corresponding control command for first motor according to the processing result, thereby control first motor drive the carousel is rotatory.
The active control system for stabilizing and stopping the swing of the engineering structure or the mechanical system further comprises a second motor, the second motor is connected with the controller, the second motor is arranged on the object to be controlled, the first motor is provided with a first rotating shaft, the turntable is arranged on the first rotating shaft, the second motor is provided with a second rotating shaft, the first rotating shaft is in transmission connection with the second rotating shaft, and the controller is further used for controlling the second motor to accelerate the rotation of the first rotating shaft according to the processing result.
The active control system for stabilizing and stopping the swing of the engineering structure or the mechanical system further comprises a transmission assembly, and the first rotating shaft and the second rotating shaft are in transmission connection through the transmission assembly.
The transmission assembly comprises a first gear and a second gear, the first gear is sleeved on the first rotating shaft, the second gear is sleeved on the second rotating shaft, and the first gear is in meshing transmission connection with the second gear.
The number of the second motors and the number of the second gears are multiple, each second motor is connected with the controller, each second motor is arranged on the object to be controlled respectively, the multiple second gears are arranged on the multiple second rotating shafts in a one-to-one correspondence mode, and each second gear is in meshing transmission connection with the first gear.
Wherein the number of the second motor and the second gear is four.
The active control system for stabilizing and stopping the swing of the engineering structure or the mechanical system further comprises a base, the base is installed in the object to be controlled, and the first motor is arranged on the base.
The base comprises a mounting seat and a connecting arm arranged on the mounting seat, one end of the mounting seat is far away from the connecting arm and connected with the inner wall of the object to be controlled, and the first motor is arranged on the mounting seat.
The quantity of linking arm is a plurality of, and is a plurality of the linking arm interval sets up on the mount pad, every the linking arm is kept away from the one end of mount pad all with treat the inner wall connection of accuse object.
The active control system for stabilizing and stopping the swing of the engineering structure or the mechanical system further comprises a first fixing piece, the first fixing piece is detachably arranged on the base, and the first motor and the second motor are respectively arranged on one side, back to the base, of the first fixing piece.
Compared with the prior art, the invention has the following beneficial effects:
the first motor of this application sets up on treating accuse object, treats the torsion angle of accuse object through sensor detection earlier to send the torsion angle for the controller, the rethread controller is handled the torsion angle of receipt, and controls first motor drive carousel rotation according to the processing result, thereby makes the carousel produce and offsets the moment of treating accuse object torsional vibration. The moment generated by the rotary disc is transmitted to the object to be controlled through the first motor so as to offset the torsional vibration generated by the object to be controlled, and therefore the stability of the object to be controlled is improved.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic diagram of an active control system for roll reduction and roll stop of an engineered structure or mechanical system according to an embodiment of the invention.
FIG. 2 is a partial cross-sectional view of an active control system for roll reduction and roll stop of an engineered structure or mechanical system according to one embodiment of the invention.
FIG. 3 is a partial schematic view of an active control system for roll reduction and roll stop of an engineered structure or mechanical system according to one embodiment of the invention.
100. An active control system for stabilizing and stopping swing of an engineering structure or a mechanical system; 1. a first motor; 011. a first rotating shaft; 2. a turntable; 3. a sensor; 4. a controller; 5. an object to be controlled; 6. a connecting member; 7. a second motor; 71. a second rotating shaft; 8. a transmission assembly; 81. a first gear; 82. a second gear; 9. a base; 91. a mounting seat; 92. a connecting arm; 10. a first fixing member; 11. a second fixing member; 12. and a third fixing member.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, "and/or" in the whole text includes three schemes, taking a and/or B as an example, including a technical scheme, and a technical scheme that a and B meet simultaneously; in addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
As shown in fig. 1-3, the present embodiment provides an active control system 100 for roll damping and roll stopping of an engineering structure or a mechanical system, where the active control system 100 for roll damping and roll stopping of an engineering structure or a mechanical system includes a first motor 1, a turntable 2, a sensor 3, and a controller 4, the first motor 1 is configured to be disposed on an object 5 to be controlled, the turntable 2 is disposed on the first motor 1, the controller 4 is connected to the sensor 3 and the first motor 1, respectively, the sensor 3 is configured to detect a torsion angle of the object 5 to be controlled and send the torsion angle to the controller 4, and the controller 4 is configured to process the received torsion angle and output a corresponding control command to the first motor 1 according to a processing result, so as to control the first motor 1 to drive the turntable 2 to rotate.
The utility model provides a first motor 1 sets up on treating accuse object 5, detects the torsion angle of treating accuse object 5 through sensor 3 earlier to give controller 4 with the torsion angle, rethread controller 4 handles the torsion angle of receipt, and controls first motor 1 drive carousel 2 rotation according to the processing result, thereby makes carousel 2 produce and offsets the moment of treating accuse object 5 torsional vibration. The moment generated by the rotary disc 2 is transmitted to the object 5 to be controlled through the first motor 1 so as to counteract torsional vibration generated by the object 5 to be controlled, and therefore the stability of the object 5 to be controlled is improved.
In the present embodiment, the object 5 to be controlled is a bridge.
In this embodiment, the first motor 1 is a torque motor, and the torque motor can generate a large torque, so that the turntable 2 can generate a torque to offset the torsional vibration of the object 5 to be controlled.
The turntable 2 has any one of a circular shape, a square shape, and an elliptical shape.
In the present embodiment, the sensor 3 is provided on the object 5 to be controlled, and the controller 4 is provided on the first motor 1.
The active control system 100 for stabilizing and stopping the swing of the engineering structure or the mechanical system further comprises a second motor 7, the second motor 7 is connected with the controller 4, the second motor 7 is arranged on the object 5 to be controlled, the first motor 1 is provided with a first rotating shaft 011, the rotating disc 2 is arranged on the first rotating shaft 011, the second motor 7 is provided with a second rotating shaft 71, the first rotating shaft 011 and the second rotating shaft 71 are in transmission connection, and the controller 4 is further used for controlling the second motor 7 to accelerate the first rotating shaft 011 to rotate according to a processing result. The controller 4 controls the rotating speed of the second motor 7 to accelerate the rotation of the first rotating shaft 011, so that the first rotating shaft 011 accelerates the rotation of the rotating disc 2, the rotating disc 2 can rapidly generate a moment for offsetting the torsional vibration of the object 5 to be controlled, and the control efficiency and the control real-time performance of the moment generated by the active control system 100 for stabilizing and stopping the swing of an engineering structure or a mechanical system can be improved.
In this embodiment, the second motor 7 is a high-speed motor having a relatively high rotational speed. It can be understood that a high speed motor refers to a motor with a rotational speed of more than 10000 r/min.
The active control system 100 for roll stabilization and swing stopping of an engineering structure or a mechanical system further comprises a connecting piece 6, the first rotating shaft 011 and the rotating disc 2 are connected through the connecting piece 6, and the reliability of connection between the first rotating shaft 011 and the rotating disc 2 can be improved through the connecting piece 6.
The active control system 100 for roll reduction and swing stop of the engineering structure or the mechanical system further comprises a transmission assembly 8, and the first rotating shaft 011 and the second rotating shaft 71 are in transmission connection through the transmission assembly 8. When the transmission assembly 8 is damaged, only the damaged transmission assembly 8 needs to be replaced, and the first rotating shaft 011 and/or the second rotating shaft 71 do not need to be replaced, so that the replacement cost of the active control system 100 for stabilizing and stopping the swing of the engineering structure or the mechanical system is reduced.
The transmission assembly 8 comprises a first gear 81 and a second gear 82, the first gear 81 is sleeved on the first rotating shaft 011, the second gear 82 is sleeved on the second rotating shaft 71, and the first gear 81 and the second gear 82 are in meshing transmission connection. The second motor 7 drives the second rotating shaft 71 to rotate, the second rotating shaft 71 drives the second gear 82 to rotate, and the second gear 82 drives the first gear 81 to rotate, so that the first gear 81 accelerates the first rotating shaft 011 to rotate. The transmission assembly 8 is provided with the first gear 81 and the second gear 82 which are in meshing transmission, so that the transmission assembly 8 is simple in structure and low in cost; further, the first gear 81 and the second gear 82 have high transmission efficiency, and the second motor 7 can be further accelerated to rotate the turntable 2.
The number of the second motors 7 and the number of the second gears 82 are multiple, each second motor 7 is connected with the controller 4, each second motor 7 is respectively arranged on the object 5 to be controlled, the multiple second gears 82 are correspondingly arranged on the multiple second rotating shafts 71 one by one, and each second gear 82 is in meshing transmission connection with the first gear 81. Through the cooperation of a plurality of second motors 7 and a plurality of second gears 82, the rotation of first rotating shaft 011 can be accelerated, so that rotating disc 2 can rapidly generate the moment for offsetting the torsional vibration of object 5 to be controlled, and the control efficiency and the control real-time performance of the moment generated by active control system 100 for stabilizing and stopping the swing of engineering structures or mechanical systems are further improved.
In the present embodiment, the number of the second motor 7 and the second gear 82 is four.
In the present embodiment, the plurality of second motors 7 are evenly distributed around the first motor 1.
The active control system 100 for roll stabilization and swing stop of an engineering structure or a mechanical system further comprises a base 9, the base 9 is installed in the object 5 to be controlled, and the first motor 1 is arranged on the base 9. The base 9 is installed in the object 5 to be controlled, so that the torque generated by the turntable 2 can be transmitted to the object 5 to be controlled sequentially through the first motor 1 and the base 9, the torque generated by the turntable 2 can better offset the torsional vibration generated by the object 5 to be controlled, and the stability of the object 5 to be controlled is improved.
The base 9 includes a mounting seat 91 and a connecting arm 92 disposed on the mounting seat 91, one end of the connecting arm 92 away from the mounting seat 91 is connected to an inner wall of the object 5 to be controlled, and the first motor 1 is disposed on the mounting seat 91.
In this embodiment, the connecting arm 92 is a flat bar-shaped structure, and is arranged relative to the plate-shaped connecting arm 92 with a large area, so that not only can the cost be reduced, but also the weight of the active control system 100 for stabilizing and stopping the swing of the engineering structure or the mechanical system can be reduced, thereby reducing the load of the active control system 100 for stabilizing and stopping the swing of the engineering structure or the mechanical system on the object 5 to be controlled, and further improving the safety of the object 5 to be controlled.
The number of the connecting arms 92 is multiple, the connecting arms 92 are arranged on the mounting seat 91 at intervals, and one end of each connecting arm 92, which is far away from the mounting seat 91, is connected with the inner wall of the object to be controlled 5. The connecting reliability of the mounting seat 91 and the object 5 to be controlled can be improved through the connecting arms 92, and the moment generated by the rotary table 2 can be respectively transmitted to different parts of the object 5 to be controlled, so that the moment generated by the rotary table 2 can better offset the torsional vibration generated by the object 5 to be controlled, and the stability of the object 5 to be controlled is improved.
In the present embodiment, the plurality of connecting arms 92 are radial.
In the present embodiment, the number of the connecting arms 92 is three.
The active control system 100 for roll stabilization and swing stop of the engineering structure or the mechanical system further comprises a first fixing piece 10, the first fixing piece 10 is detachably arranged on the base 9, and the first motor 1 and the second motor 7 are respectively arranged on one side of the first fixing piece 10, which is opposite to the base 9. The first motor 1 and the second motor 7 can be installed on the base 9 or detached from the base 9 by assembling and disassembling the first fixing piece 10, thereby improving the assembling and disassembling efficiency of the active control system 100 for stabilizing and stopping the engineering structure or the mechanical system.
The active control system 100 for roll stabilization and swing stopping of the engineering structure or the mechanical system further comprises a second fixing member 11, the second fixing member 11 is arranged on one side of the first fixing member 10, which is far away from the base 9, and the first motor 1 is arranged on one side of the second fixing member 11, which is far away from the first fixing member 10.
The active control system 100 for roll stabilization and swing stop of the engineering structure or the mechanical system further comprises a third fixing member 12, the third fixing member 12 is arranged on the first fixing member 10, and the second motor 7 is arranged on one side, back to the first fixing member 10, of the second fixing member 11.
The working principle is as follows:
when the object 5 to be controlled generates torsional vibration, the torsional angle of the object 5 to be controlled is monitored in real time through the sensor 3, and the torsional angle is sent to the controller 4. The controller 4 receives the torsion angle sent by the sensor 3, processes the torsion angle through a built-in algorithm, outputs a corresponding control instruction to the first motor 1 and the second motor 7 according to a processing result so as to control the first motor 1 to generate a corresponding control torque, and the second motor 7 accelerates the first motor 1 to rotate, so that the rotating disc 2 rapidly generates a torque opposite to the torsion direction of the object 5 to be controlled. The moment generated by the turntable 2 is transmitted to the object 5 to be controlled through the first motor 1, the second fixing piece 11, the first fixing piece 10 and the base 9 in sequence, so as to counteract the torsional vibration generated by the object 5 to be controlled, and further improve the stability of the object 5 to be controlled.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or any other related technical fields directly/indirectly applied to the present invention are included in the scope of the present invention.
Claims (10)
1. The active control system for stabilizing and stopping the swing of the engineering structure or the mechanical system is characterized by comprising a first motor, a rotary table, a sensor and a controller, wherein the first motor is used for being arranged on an object to be controlled, the rotary table is arranged on the first motor, the controller is respectively connected with the sensor and the first motor, the sensor is used for detecting the torsion angle of the object to be controlled and sending the torsion angle to the controller, the controller is used for processing the received torsion angle and outputting a corresponding control command to the first motor according to a processing result, so that the first motor is controlled to drive the rotary table to rotate.
2. The active control system for roll damping and roll stopping of engineering structures or mechanical systems according to claim 1, further comprising a second motor, wherein the second motor is connected to the controller, the second motor is disposed on the object to be controlled, the first motor has a first rotating shaft, the turntable is disposed on the first rotating shaft, the second motor has a second rotating shaft, the first rotating shaft is in transmission connection with the second rotating shaft, and the controller is further configured to control the second motor to accelerate the rotation of the first rotating shaft according to the processing result.
3. The active control system for roll damping and roll stopping of an engineering structure or mechanical system according to claim 2, further comprising a transmission assembly, wherein the first rotating shaft and the second rotating shaft are in transmission connection through the transmission assembly.
4. The active control system for roll damping and roll stopping of an engineering structure or mechanical system according to claim 3, wherein the transmission assembly comprises a first gear and a second gear, the first gear is sleeved on the first rotating shaft, the second gear is sleeved on the second rotating shaft, and the first gear and the second gear are in meshing transmission connection.
5. The active control system for roll stabilization and roll stop of an engineering structure or a mechanical system according to claim 4, wherein the number of the second motors and the second gears is multiple, each second motor is connected with the controller, each second motor is respectively arranged on the object to be controlled, the multiple second gears are correspondingly arranged on the multiple second rotating shafts one by one, and each second gear is in meshing transmission connection with the first gear.
6. An active control system for roll stabilization and roll stop of an engineering or mechanical system according to claim 5, wherein the number of said second electric motor and said second gear is four.
7. The active control system for roll damping and roll stopping of an engineered structure or mechanical system as claimed in claim 2, further comprising a base mounted within the object to be controlled, the first motor being disposed on the base.
8. The active control system for roll stabilization and roll stopping of an engineering structure or mechanical system according to claim 7, wherein the base comprises a mounting seat and a connecting arm arranged on the mounting seat, one end of the connecting arm far away from the mounting seat is connected with an inner wall of the object to be controlled, and the first motor is arranged on the mounting seat.
9. The active control system for roll stabilization and roll stopping of an engineering structure or a mechanical system according to claim 8, wherein the number of the connecting arms is plural, the plural connecting arms are disposed on the mounting base at intervals, and one end of each connecting arm away from the mounting base is connected to an inner wall of the object to be controlled.
10. The active control system for roll damping and roll stopping of an engineering structure or mechanical system according to claim 7, further comprising a first fixing member detachably disposed on the base, wherein the first motor and the second motor are respectively disposed on a side of the first fixing member facing away from the base.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210976255.6A CN115387201A (en) | 2022-08-15 | 2022-08-15 | Active control system for stabilizing and stopping swing of engineering structure or mechanical system |
| PCT/CN2023/083738 WO2024036967A1 (en) | 2022-08-15 | 2023-03-24 | Active control system for shake reduction and swing prevention of engineering structure or mechanical system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210976255.6A CN115387201A (en) | 2022-08-15 | 2022-08-15 | Active control system for stabilizing and stopping swing of engineering structure or mechanical system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115387201A true CN115387201A (en) | 2022-11-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210976255.6A Pending CN115387201A (en) | 2022-08-15 | 2022-08-15 | Active control system for stabilizing and stopping swing of engineering structure or mechanical system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115387201A (en) |
| WO (1) | WO2024036967A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024036971A1 (en) * | 2022-08-15 | 2024-02-22 | 沈阳工业大学 | Active torque driving control system based on gyration principle |
| WO2024036967A1 (en) * | 2022-08-15 | 2024-02-22 | 沈阳工业大学 | Active control system for shake reduction and swing prevention of engineering structure or mechanical system |
| WO2024036964A1 (en) * | 2022-08-15 | 2024-02-22 | 沈阳工业大学 | Control system for unfavorable swing behavior of object hanging from high altitude |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009049879B4 (en) * | 2008-11-06 | 2016-11-10 | Schaeffler Technologies AG & Co. KG | Vibration damper for damping torsional vibrations in the drive train of a motor vehicle |
| CN108152030A (en) * | 2018-01-22 | 2018-06-12 | 重庆大学 | A kind of movenent performance testboard for torsional vibration damper |
| CN209508798U (en) * | 2019-02-01 | 2019-10-18 | 青岛理工大学 | Combined type bridge Torsional Vibration Control system |
| CN109610302B (en) * | 2019-02-01 | 2023-09-29 | 青岛理工大学 | Composite bridge torsional vibration control system |
| CN110758436B (en) * | 2019-10-31 | 2020-08-04 | 青岛理工大学 | Active control system for side rolling dynamic behavior of high-speed train |
| CN115387201A (en) * | 2022-08-15 | 2022-11-25 | 沈阳工业大学 | Active control system for stabilizing and stopping swing of engineering structure or mechanical system |
-
2022
- 2022-08-15 CN CN202210976255.6A patent/CN115387201A/en active Pending
-
2023
- 2023-03-24 WO PCT/CN2023/083738 patent/WO2024036967A1/en unknown
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024036971A1 (en) * | 2022-08-15 | 2024-02-22 | 沈阳工业大学 | Active torque driving control system based on gyration principle |
| WO2024036967A1 (en) * | 2022-08-15 | 2024-02-22 | 沈阳工业大学 | Active control system for shake reduction and swing prevention of engineering structure or mechanical system |
| WO2024036964A1 (en) * | 2022-08-15 | 2024-02-22 | 沈阳工业大学 | Control system for unfavorable swing behavior of object hanging from high altitude |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2024036967A1 (en) | 2024-02-22 |
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