倾覆指挡土墙倾倒，相对于挡土墙沿它的结构支撑点旋转，倾覆作用是各个不稳定因素与力臂乘积的总和。
Overturning refers to the tipping over of the retaining wall as it rotates about the toe of the structure. The overturning force is the sum of each destabilizing force times its moment arm.
结构未发生层剪切破坏，最终破坏模式是在倾覆力矩作用下底部核心筒受拉墙肢及受拉侧外框柱拉断。
The final failure mode of the model is tension failure of perimeter columns and bottom of core wall on the tension side caused by overturning moment, and the story shear failure mode was not found.
研究智能爬壁机器人检测技术及其系统，提出了机器人在大型垂直罐壁移动作业的路径规划方法，并分析了抗倾覆机构的作用，设计给出了机器人总体结构和控制系统。
A path planning method for motion on vertical walls is presented, the function of the anti-upset device is analyzed, and the general structure and control system is designed.
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