Degree Of Inclination Research Articles

Features of students’ intellectual sphere with varying degrees of inclination to research activities

Features of students’ intellectual sphere with varying degrees of inclination to research activities

Multi-dimensional control of femtosecond laser filaments by inserting a wedge plate in the forced focusing region

Modulating the length and position of plasma filament is desired for many filament-based applications. We proposed a novel method to manipulate the properties of filament along the propagation direction by introducing asymmetric focusing with a wedge plate in the forced focusing region. By simply varying the inclination degree of a wedge and the distance between the wedge and lens, a plasma filament can break into two sub-filaments along the propagation direction, and the separation between sub-filaments can be controlled. The experiment results are in agreement with the results of simulation by the ray-tracing method. Furthermore, the effect of the wedge angle and rotation angle on the control of the filament is studied. It is found that the separation of the sub-filaments and the azimuth angle of the filament around the original optical axis can be controlled by the wedge angle and rotation angle of the wedge, respectively. When combined with a phase plate, the control method also shows the ability to modulate the multi-filament array with wavefront modification. Our research provides a simple and flexible method for 3-D control of femtosecond laser filaments for practical applications.

An Analysis of Modalities of the Book “How Children Succeed” by Paul Tough

The study of education book contents has grown in numbers in the last decades. However, the research on the use of modality in the content book is relatively unexplored. Therefore, this research aimed to analyze the content of the book “How Children Succeed” by Paul Tough to find out the types and degree of modalities used. It also shows the most appeared modal used in each chapter and in the book itself. This research was conducted by using the theory of modality by Halliday (2014) in the Systemic Functional Linguistics. The process of data analysis was manually applied without the help of software. Researcher’s concern is how the book is being presented in the area of semantic by the choice of modalities made by the author. The study reveals that the 4 types of modalities are being used which are the probability, usuality, obligation and inclination with all the three degrees of values appeared except for the low degree of inclination. It also revealed the degree of confidence of the author by the choices of modal used in the book. The implication of this study is the book author should pay more attention to the aspect of modality in the education books they write.

The Impact of Dental Midline on Asymmetric Faces: Perspective of Laypersons and Dentists.

Background: The objective was to determine if asymmetric facial features, nasal and chin deviations, affect the perception of attractiveness of a dental midline angulation, and if it is consistent among both dentists and laypeople. It was also analyzed if factors, such as the sex, age group of the participants and the dentist’s area of operation are relevant in their assessment. Methods: A cross-sectional study, approved by the Ethics Committee of Fernando Pessoa University. From a symmetrical facial model (SFM) image, a natural-looking asymmetrical face was created. Based on this asymmetric facial model six images were created, with different directions and degrees of inclination of the dental midline. In total, 236 laypersons and 242 dentists completed the online questionnaire where they rated the self-perception of attractiveness of the eight images (VAS scale from 0 to 10). Non-parametric comparisons (IBM© SPSS Statistics vs. 27.0, p < 0.05). Results: The results showed a significant difference in the perception of attractiveness between laypeople and dentists. This finding was consistent regarding every image, except for the SFM. The factors, sex of the people participating and dentist’s area of operation, seemed only to contribute to a significant difference in the perception when it came to the SFM. The perceived attractiveness of the images, for dentists and laypersons, did not differ by age group of the participant, apart from images 6 and 8. Conclusions: Dentists are more rigorous about dental midline inclinations than laypersons. The perception of attractiveness was affected by the age group and sex of the participants and the dentist’s area of operation.

Comparative Spectrophotometer Analysis of Ultraviolet-light Filtering, Blue-light Filtering, and Violet-light Filtering Intraocular Lenses.

PurposeTo compare the light transmittance property of seven currently used intraocular lens (IOL) models by spectrophotometer data.MethodsLight transmission spectra of seven IOL models were assessed with a spectrophotometer. The transmittance properties were analyzed in 1 nm units from 350 nm wavelength to 800 nm.ResultsThree ultraviolet filtering IOL models (ZCB00, XC1-SP, and AT LISA 809M) showed nearly full transmittance of the light from 400 to 500 nm, while steeply attenuating light with shorter wavelengths in various degrees. Three blue-light filtering IOLs (yellow-tinted IOLs; XY1, SN60WF, and TNFT00) showed a slow-sloped increase of light transmission between 400 to 500nm. Among the three, XY1 showed different degree of inclination, showing a steeper slope than SN60WF and TNFT00. The violet-light filtering IOL (ZFR00V) showed a rapid increase of the transmission at around 435 nm wavelength, which is similar to ultraviolet filtering IOLs.ConclusionsThe seven different IOLs measured showed different characteristics of light transmission depending on the properties of each material and color. Blue-light filtering IOLs tend to blocked a wide range of wavelength up to 500 nm, but rather were not effective at the range of 400 to 430 nm. Violet-light filtering IOL showed advantages in filtering the high-energy wavelength, around 430 nm, having a potential risk to retina and allowing the transmission of useful blue and green wavelength which is necessary for a better scotopic contrast sensitivity.

Beneficial role of batter pile in slope under infinite uniform surcharge loading

Batter pile is used to find a more effective way to stabilize the slope. Thus, these two questions “where is the optimal location of batter piles on earth slopes?” and “which inclination angle is most beneficial for pile in earth slopes?” arise. The numerical simulation was conducted to investigate the performance of slope reinforced by batter pile. The surcharge loading, inclination angle and pile location were varied while keeping geometry of the slope and the soil property constant. The surcharge loading was applied on the slope crest by steps. The inclination angle varied from 0° to 20°. The pile was placed at middle-down (MD), middle (MI), middle-upper (MU) and upper (UP) part of slope, respectively. A finite length of batter pile (10 m) was adopted, and the pile toe was free. Four series of numerical models were proceeded to search the optimum location and inclination angle for pile, one that provided maximum lateral resistance. By analyzing the slope deformation and pile bending moment, the effects of position and inclination angle of pile were determined. The following conclusions could be drawn: (1) The surcharge loading on the slope crest will influence the deformation of slope remarkably. Both the lateral displacement and settlement increases simultaneously with the raise of loading. (2) The lateral displacement and settlement of slope vary as the pile location moves from the crest to the toe. The slope of UP condition has the the minimum lateral displacement, following by MI, MD and MU condition. The ranking of settlement is same with the lateral displacement. That is to say, the UP condition is the best location for piled slope, followed by MI condition. (3) The batter pile is beneficial for slope engineering, which can not only reduce the deformation of slope, but also decrease the bending moment exerted on pile shaft. The inclination angle should be in a reasonable range, a relatively small inclination angle could not fully utilize the potential capacity of batter pile, while exaggerated inclination degree is not befitting for construction. The inclination angle of 15° is an optimal choice for batter pile in slope. (4) The inclination angle has mutual effect with the pile location, they should be considered synchronously. For comprehensive consideration, UP 10°, UP 15°, MI 15° and MI 20° are preferred options for the piled earth slope when subjected to surcharge loading.

Mechanical complications and fractures after reverse shoulder arthroplasty related to different design types and their rates: part I.

The initial reverse shoulder arthroplasty (RSA), designed by Paul Grammont, was intended to treat rotator cuff tear arthropathy in elderly patients. In the early experience, high complication rates (up to 24%) and revision rates (up to 50%) were reported.The most common complications reported were scapular notching, whereas clinically more relevant complications such as instability and acromial fractures were less commonly described.Zumstein et al defined a ‘complication’ following RSA as any intraoperative or postoperative event that was likely to have a negative influence on the patient’s final outcome.High rates of complications related to the Grammont RSA design led to development of non-Grammont designs, with 135 or 145 degrees of humeral inclination, multiple options for glenosphere size and eccentricity, improved baseplate fixation which facilitated glenoid-sided lateralization, and the option of humeral-sided lateralization.Improved implant characteristics combined with surgeon experience led to a dramatic fall in the majority of complications. However, we still lack a suitable solution for several complications, such as acromial stress fracture. Cite this article: EFORT Open Rev 2021;6:1097-1108. DOI: 10.1302/2058-5241.6.210039

An efficient depth map acquisition technology based on generalized superpixel for integral imaging

This paper proposes a simplified method to generate elemental images using the image pair of the scene for integral imaging stereo display. Firstly, the generalized superpixel matching algorithm is designed for integral imaging to obtain the depth map. We define the discrete boundary according to the characteristics of the low-texture region. A kind of consistency check method by calculating the inclination degree of the discrete boundary is proposed. The remaining texture regions are handled by assisted growth matching method. The precise depth map is obtained through the above two steps. Secondly, the depth map and color image are used to generate multiple elemental images according to the reverse mapping principle. Therefore the reconstruction quality depends on the accuracy of the depth map. The experiments verify that the depth map has a small error range and prominent details which can improve the accuracy of the reconstructed light field and is suitable for integral imaging.

Анализ влияния наклона и децентрации ИОЛ на индуцированный астигматизм при исследовании методом трассировки лучей на модели глаза

Purpose. Determination of the influence of the intraocular lens (IOL) inclination and decentration on the magnitude of induced astigmatism in a theoretical study using software on an eye model. Material and methods. An eye model with the specified parameters was performed to carry out the calculation. Modulation of the change in the wavefront was carried out using the Zemax program (LLC, USA). In the model eye, the probability of induction of astigmatism was analyzed depending on the change in the position of the aspherical IOL Acrysof IQ 16.0, 22.0 and 24.0 diopters and the toric model Acrysof IQ Toric SN6AT3, SN6AT4 and SN6AT5. The angle of inclination of the IOL relative to the horizontal plane was examined from 0° to 10° with a step of 1°, decentration from 0.1 to 1.5 mm with a step of 0.1 mm. At each IOL position, aberration data of the 2nd order Z (2, 2) were recorded. The obtained results were used to calculate the critical tilt angle and decentration. Results. The magnitude of induced astigmatism increased with the rise of the degree of inclination and decentration, corresponding to an increase in the optical power of the IOL. Accordingly, critically significant were the values of 3.0° inclination for the aspherical IOL with an optical power of 22.0 and 22.0 diopters and 3.5° for 16.0 diopters, decentration – 0.7 mm and 1.0 mm. The inclination of the TIOL relative to the horizontal plane revealed the induction of the magnitude of inverse astigmatism, according to an increase in the inclination angle of 0.3 diopters at a slope of 3–4°. Conclusions. The tilt and decentration of the aspherical and TIOL patterns induce astigmatism depending on the increase in IOL power. The inclination of the TIOL in relation to the horizontal plane set at 90 ° promotes the induction of astigmatism. Key words: astigmatism, toric intraocular lenses, tilt and decentration of the intraocular lens, ray tracing

Effect of vocal tract morphology on tongue shaping for American English /ɹ/

There is a lack of general agreement among previous studies (e.g., Bakst, 2016; Dediu &amp; Moisik, 2019; Westbury et al., 1998) on whether measurements of vocal tract morphology are robust predictors of inter-speaker variation in tongue shaping for American English /ɹ/. One possible reason is the different quantifications of /ɹ/ tongue shapes that were employed. The current study compares the relationships between a single set of anatomical measurements and three different measures of lingual articulation for /ɹ/ in /ɑɹɑ/ in midsagittal real-time MRI data. A novel method was developed to quantify the palatal constriction location and length, which served as the first two measures of tongue shape. A linear Support Vector Machine divided the constriction location and length measures into regions that approximate the visually identified categories of “retroflex” and “bunched.” The third shape measurement is the signed distance of each token of /ɹ/ to the division boundary, representing the degree of “retroflexion” or “bunchedness” based on palatal constriction properties. These three measures showed marginally to moderately significant linear relationships with two specific measures of individual speakers’ vocal tract anatomy: the degree of mandibular inclination and the length of the oral cavity roof. Overall, the effect of anatomy on the lingual articulation of /ɹ/ is not strong. [Work supported by NSF, Grant 1908865.]

Influence of eccentricity and tilt of radial GRIN lens on its thickness measurement by chromatic confocal technology

The chromatic confocal technology (CCT) has ultra-high distance measurement resolution and the characteristics of multi-surface tomography. Based on the principle of optical dispersion and confocal, the technology achieves accurate axial position or micro-displacement measurement. The radial gradient index (GRIN) lens is a typical important inhomogeneous material. Its refractive index gradually decreases from the center to the edge along the radial direction. We propose to measure the thickness of the radial GRIN lens based on CCT. The thickness measurement model is established by the ray-tracing method, the optical Lagrange function, and the ray arc differential in the Cartesian coordinate system. The refractive index distribution makes the eccentric tilt of the lens change the propagation of the probe light and affects the extraction of the peak of the spectral response causing the thickness measurement error. The influence of eccentricity and tilt of the radial GRIN lens on its thickness measurement is studied. The precision shift table drives the radial GRIN lens movement to simulate the eccentric tilt state of the lens under the dispersion probe. According to the comparative analysis between the experimental and simulation results, it is concluded that the greater the eccentric distance and inclination degree of the radial GRIN lens is, the greater the influence on the thickness measurement is. The larger the lens thickness is, the greater the measurement error is. For the radial GRIN lens with a thickness of 2.36 mm, the measurement error is about 20 μm when the eccentricity is 0.1 mm and the tilt is 6 deg. The research results have significance for optimizing the system structure and further improving the system performance for the application of the CCT in measuring non-homogeneous materials or optical thin film. And the research will encourage the development of GRIN lens instrument preparation and application technology by improving the thickness measurement accuracy and precision of the GRIN lens.

Research on inclination monitoring technology of transmission tower based on UAV

Transmission tower inclination directly affects the reliability of transmission line operation. In order to accurately judge the inclination angle and ensure the safe operation of transmission line, an online monitoring method of transmission tower inclination based on patrol UAV is proposed. The inspection UAV is used to inspect the transmission tower with camera. The transmission tower point cloud data is collected by the inspection UAV combined with the camera. The pyramid grading management is constructed to collect the tower image point cloud data. The grading data is preprocessed to remove the gross error, and the point cloud data is homogenized to get the multi-scale characteristics of the point cloud data. On this basis, a multi-scale classifier is constructed to complete the automatic classification of point cloud data. According to the classification results, the current inclination degree of transmission tower is determined, and the online monitoring of transmission tower inclination is completed. The test results show that this method can effectively monitor the inclination angle of transmission tower under different wind conditions, and the maximum difference between the inclination angle and the actual inclination angle is about 0.3° with better online monitoring effect.

Identifikasi mineral kalsit di kawasan sungai desa Sumbermiri kecamatan Lengkong kabupaten Nganjuk dengan metode geomagnet

This research aims to identify the mineral rocks that are found in the river village districts of Sumbermiri village, Lengkong district, Nganjuk regency. XRF tests have been conducted on a rock an the result was 57 percent of the rocks is a calcite minerals. He method used is the geomagnetics, is by measurig the value of the total magnetic field in the area of research using the magnetometer. Data collection is done three times at each point, then retrieved the data with the smallest noise value to be processed. Corection calculation of the daily (diurnal) and IGRF corection. IGRF value of research location is 33281,4, with the degree of inclination is 25,9993 and declination 8,1201. Then the data has be performed using a contour in the Surfer 10 and Magpick transform and see the contours of the surface magnetics field. Interpretation of results indicates calcite mineral content in the study area. Mag2DC modeling obtained using 2D contour transversely. On the first line, calcite rock has been indentified susceptibility of -2,955 - -0,651 with the misfit 747,79. Second line has been susceptibility of -0,897 - -0,249 with the misfit 592,35. Third line has been susceptibility of -0,509 - -0,005 with the misfit 867,85.

Gait Speed Modulations Are Proportional to Grades of Virtual Visual Slopes-A Virtual Reality Study.

Gait is a complex mechanism relying on integration of several sensory inputs such as vestibular, proprioceptive, and visual cues to maintain stability while walking. Often humans adapt their gait to changes in surface inclinations, and this is typically achieved by modulating walking speed according to the inclination in order to counteract the gravitational forces, either uphill (exertion effect) or downhill (braking effect). The contribution of vision to these speed modulations is not fully understood. Here we assessed gait speed effects by parametrically manipulating the discrepancy between virtual visual inclination and the actual surface inclination (aka visual incongruence). Fifteen healthy participants walked in a large-scale virtual reality (VR) system on a self-paced treadmill synchronized with projected visual scenes. During walking they were randomly exposed to varying degrees of physical-visual incongruence inclinations (e.g., treadmill leveled & visual scene uphill) in a wide range of inclinations (−15° to +15°). We observed an approximately linear relation between the relative change in gait speed and the anticipated gravitational forces associated with the virtual inclinations. Mean relative gait speed increase of ~7%, ~11%, and ~17% were measured for virtual inclinations of +5°, +10°, and +15°, respectively (anticipated decelerating forces were proportional to sin[5°], sin[10°], sin[15°]). The same pattern was seen for downhill virtual inclinations with relative gait speed modulations of ~-10%, ~-16%, and ~-24% for inclinations of −5°, −10°, and −15°, respectively (in anticipation of accelerating forces). Furthermore, we observed that the magnitude of speed modulation following virtual inclination at ±10° was associated with subjective visual verticality misperception. In conclusion, visual cues modulate gait speed when surface inclinations change proportional to the anticipated effect of the gravitational force associated the inclinations. Our results emphasize the contribution of vision to locomotion in a dynamic environment and may enhance personalized rehabilitation strategies for gait speed modulations in neurological patients with gait impairments.

Numerical investigation of dual-row batter pile wall in deep excavation

To evaluate the performance of dual-row batter pile wall (DRBPW) in deep excavations, a three-dimensional numerical model was established. The plastic hardening (PH) constitutive model in FLAC3D was adopted, considering the hardening property of the soil. A series of parametric study was conducted to investigate the effect of different factors. By analyzing the maximum lateral displacement, the pile shaft deflection and bending moment of both the leading and trailing row, the effect of inclination angle, pile diameter, penetration depth, and row spacing on the behavior of DRBPW was determined. The following conclusions could be drawn: (1) The bearing capacity of DRBPW is quite larger than that of the dual-row vertical pile wall (DRVPW). With the increase of inclination angle, a substantial reduction of lateral displacement could be observed. However, the beneficial role of batter pile is almost negligible when the inclination angle is not larger than 5°. The recommended inclination degree of the batter pile is 10° to 15°. (2) The maximum displacement of the leading and trailing rows lies at a distance below the pile cap, while the maximum bending moment is located at a small distance below the dredging line. The maximum bending moment of the leading pile is approximately twice that of the trailing one, thereby indicating that the leading pile bear more lateral earth pressure than the trailing pile. (3) The pile diameter, penetration depth and row spacing should be maintained in a suitable range; otherwise, the DRBPW may fail earlier than expected. The slender ratios is recommend to be set not larger than 30. The penetration ratio should not be less than 0.22. The optimal row spacing for the DRBPW is four times the diameter.

Finite element sound field analysis on measurement of absorption coefficient in a reverberation room -Relationships between inclination of walls and measurement results-

The absorption coefficients in a reverberation room are most representative measure for evaluating absorption performance of architectural materials. However, it is well known that measurement results of the coefficient vary according to a room shape of the measurement and area of the specimen. Numerical analyses based on wave acoustics are effective tools to investigate these factors on absorption coefficient measurement in reverberation room. In this study, sound fields for the measurement of absorption coefficient in reverberation room are analyzed by time domain finite element method (TDFEM). This study shows effectiveness of the analysis for investigation on causes of variation in the measurement results and improvement methods of the measurement. First, some measurement sound fields for absorption coefficient in reverberation rooms the walls of which are incline or decline are analyzed by the TDFEM. Next, reverberation times in each sound fields are calculated from the results obtained by TDFEM and the absorption coefficients are evaluated from the reverberation time of the room with and without specimen. Finally, the relationships among room shape, degree of inclination of the wall, the sound absorption coefficient of the specimen, frequencies and the measurement absorption coefficient are investigated.

Performance of batter pile walls in deep excavation: Laboratory test and numerical analysis

With the increasing excavation depth of foundation pits, the traditional cantilever vertical pile wall cannot meet the requirements of ground settlement and lateral deflection, and excess deformations would cause not only retaining system failures but also damage of adjoining structures. Thus, a batter pile wall was employed, but its behavior has not been fully demonstrated. To evaluate the performance of the batter pile wall, the laboratory model test was conducted on the basis of scaling law, and the numerical simulation was employed for the validation of experimental results. The results indicated the following conclusions: (1) The bearing capacity of batter pile wall is quite larger than that of the vertical one. The inclination degree should be in an appropriate range, otherwise, the efficiency of batter pile may decrease or leading to occupation of the precious excavation space. The recommended inclination angle is 9° to 15°. (2) With the increase in inclination angle, the pile shaft deflection, ground settlement and bending moment decrease significantly. The influencing distance of excavation is approximately 1.2 times of the dredging depth. (3) The cross section size, penetration depth and shear strength of soil would influence the response of batter pile wall, thus a careful optimazition process is necessary. For insurance purposes, the slender ratios are recommended to be set less than 40 and the penetration ratio is suggested to be larger than 0.4 to minimize the lateral deflection.

Spinal postural variability relates to biopsychosocial variables in patients with cervicogenic headache

Patients with cervicogenic headache (CeH) showed lower spinal postural variability (SPV). In a next step, the complex character of such SPV needs to be analysed. Therefore, variables influencing SPV need to be explored. A non-randomized repeated-measure design was applied to analyse relations between biopsychosocial variables and SPV within a CeH-group (n = 18), 29–51 years, and matched control-group (n = 18), 26–52 years. Spinal postural variability, expressed by standard deviations, was deducted from 3D-Vicon motion analysis of habitual spinal postures (degrees). Interactions between SPV and pain processing, lifestyle, psychosocial characteristics were analysed. Pain processing characteristics included symptoms of central sensitization (Central Sensitization Inventory), (extra)-cephalic pressure pain thresholds (kPa/cm2/s). Lifestyle characteristics included sleep quality (Pittsburgh Sleep Quality Index), physical activity, screen-time, sedentary-time (hours a week), position (cm) and inclination (degrees) of the laptop (= desk-setup). Psychosocial characteristics included degree of depression, anxiety and stress (Depression Anxiety Stress Scale-21), impact of headache on quality of life (Headache Impact Test-6). Spinal postural variability related significantly to intrinsic (stress, anxiety, extra-cephalic pressure pain thresholds, sleep-duration) and extrinsic (desk-setup, screen-time) variables in the CeH-group. In the control-group, SPV related significantly to extra-cephalic pressure pain thresholds. Spinal postural variability related to diverse variables in the CeH-group compared to the control-group. More research is needed into a possible causal relationship and its clinical implication.

Natural frequency and critical velocities of heated inclined pinned PP-R pipe conveying fluid

Purpose: The flow velocity and pressure of fluid flowing through a pipeline can cause the vibration of pipes, and consequently result in the modification in natural frequency via fluid-structure interaction. The value of the natural frequency of a component when approaches the excitation force to a certain degree, a severe resonance failure may occur. Hence, avoiding the resonance failure of a pipe subjected to complex conditions is an essential issue that requires to be solved urgently in the engineering field. This work treats the transverse vibration for flexible inclined heated pipe, made of polypropylene randomcopolymer (PP-R), conveying fluid assuming pinned connections at the ends. The pipe was placed at different support angles and subjected to variant temperatures. Design/methodology/approach: The inclined pipe is modelled as Euler-Bernoulli beam taking into account its self-weight, temperature variation, inclination angle, aspect ratio, and internal fluid velocity. The integral transforms method, which includes the finite Fourier sine and the Laplace transforms, was used to develop an analytic solution to the modified equation of motion and the analytical expressions for dual natural frequencies of the pipefluid interaction system were computed. Findings: The proposed solution technique via finite Fourier sine and Laplace transforms offers a more convenient alternative to calculate the dynamic characteristic of pipes conveying fluid. The obtained results showed that the dynamical behaviour of pipe–fluid system is strongly affected by fluid flow velocity, degree of inclination, temperature variation, and aspect ratio of the pipe in transverse modes. Research limitations/implications: This work focuses on fundamental (first) mode in the most discussions. Practical implications: It was revealed that the thermal effects in the pipe are a very important factor and more significant in comparison with the internal fluid velocity and the inclination angle has a larger impact on vibration characteristics at a higher aspect ratio. The findings can be useful for the design of engineering components. Originality/value: Determining the combining effect of inclination angle, aspect ratio, and thermal loading on vibration characteristic of the pipes conveying fluid by using an improved analytic solution to the modified equation of motion via mixed of finite Fourier sine and Laplace transforms.

A novel series-parallel hybrid robot for climbing transmission tower

Purpose The purpose of this paper is to describe the design and development of a novel series-parallel robot, which aims to climb on the transmission tower. Design methodology approach This study introduces a hybrid robot, which consists of adsorption and two 3-degree of freedom (DOF) translation parallel legs connected by a body linkage. The DOF of the legs ensures that the robot can move on the climbing plane, also contribute to a compact design of the robot. An electromagnet is used to adsorb onto the transmission tower, simplifying the overall structure. Based on the robot design, this paper further defines its climbing gait and adopt the 6th B-spline curves for climbing trajectory planning under different working environments. Findings The developed prototype that implements the design of the robot, which was used in simulation and experiments, showing that the robot is capable of climbing in the test environments with the planned climbing gait. Originality value The hybrid robot is able to climb under varying degrees of inclinations and cross the obstacles, and the magnetic attraction can ensure stable climbing.