Three-arm annular inspection tour robot mechanism

本实用新型涉及移动机器人机构，具体地说是一种三臂环形巡检机器人机构，包括前、下、后轮爪机构，前、下、后摇臂机构和中心轮，前、下、后摇臂机构的一端通过转动机构与中心轮连接，另一端分别与前、下、后摆臂的一端通过前、下、后俯仰机构转动连接，前、下、后摆臂的另一端通过回转机构与前、下、后轮爪机构转动连接，前、下、后轮爪机构的另一端设有在输电线上行走的行走机构及夹紧输电线的夹紧机构；前、下、后俯仰机构结构相同，包括转动副及驱动电机；前、下、后回转机构结构相同，包括转动副及驱动电机。本实用新型具有能够跨越引流线等复杂的障碍物能力，可适应地线、导线等多种线路环境，具有结构简单，越障能力强，应用范围广等优点

Measurement of integrated luminosity of data collected at 3.773 GeV by BESIII from 2021 to 2024

We present a measurement of the integrated luminosity e+e- of collision data collected by the BESIII detector at the BEPCII collider at a center-of-mass energy of Ecm = 3.773 GeV. The integrated luminosities of the datasets taken from December 2021 to June 2022, from November 2022 to June 2023, and from October 2023 to February 2024 were determined to be 4.995±0.019 fb-1, 8.157±0.031 fb-1, and 4.191±0.016 fb-1, respectively, by analyzing large angle Bhabha scattering events. The uncertainties are dominated by systematic effects, and the statistical uncertainties are negligible. Our results provide essential input for future analyses and precision measurements

Determination of the number of ψ(3686) events taken at BESIII

The number of ψ(3686) events collected by the BESIII detector during the 2021 run period is determined to be (2259.3±11.1)×106 by counting inclusive ψ(3686) hadronic events. The uncertainty is systematic and the statistical uncertainty is negligible. Meanwhile, the numbers of ψ(3686) events collected during the 2009 and 2012 run periods are updated to be (107.7±0.6)×106 and (345.4±2.6)×106, respectively. Both numbers are consistent with the previous measurements within one standard deviation. The total number of ψ(3686) events in the three data samples is (2712.4±14.3)×10^