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In this paper, we examine the existence of the psychological barriers in three foreign exchange rate, won/dollar, euro/dollar, yen/dollar, and test that the psychological barriers effect to the implied volatilities of the FX options. For each exchange rate, the existence and spots of the psychological barriers are estimated from roughly 10 years data for each currency rate, and GARCH (1, 1) model was applied to observe the momentum effect about the mean and variance of the conditional returns, and the implied volatility of the FX-options for each currency rate near the psychological barriers. Since this effect is more clearly observed on the implied volatility data, this fact supports that psychological barriers affects to the price of the FX-options.

The purpose of this paper is to implement a glass-curtain-wall cleaning robot driven by a double flexible rope, so as to replace manual cleaning. The glass-curtain-wall, because of its excellent daylighting performance, damp-proofing characteristics, heat insulation properties and aesthetics, is widely used in modern city buildings. For glass-curtain-wall buildings, regular cleaning of the glass-curtain-wall is necessary to ensure that the surface of the building appears clean and tidy, which in turn contributes toward preserving the overall aesthetic appearance of the city. Currently, the primary method of cleaning glass curtain walls is manual cleaning by workers on a suspended platform.

The mechanical structure of the proposed glass-curtain-wall cleaning robot driven by a double flexible rope is inspired by the way a spider moves by pulling its silk draglines in the air. For self-locking protection and increased rope friction, the robot’s moving section includes a worm reducer and multislot master–slave roller. The cleaning section comprises a water tank, control valve, shower nozzle and brush. The wall adsorbing section is realized by a double rotor. The workspace of the robot is analyzed. Flexible rope winding and unreeling control of the cleaning robot is deduced. The force of the cleaning robot when the double rotor is working is analyzed and calculated. The prototype of the glass-curtain-wall cleaning robot model driven by a double flexible rope is established, and experiments wherein the robot moves along a preset track, as well as cleaning experiments, are performed.

The prototype of the glass-curtain-wall cleaning robot model driven by a double flexible rope can move along the preset track, satisfy the design functions and clean effectively. The experimental results verify the validity and practicality of the robot.

The implication of this research is that a glass-curtain-wall cleaning robot model driven by a double flexible rope fulfills the movement strategy and drive-type requirements for cleaning glass curtain walls. The limitation of this research is that it is difficult to implement rapid cleaning.

The traditional method of manual cleaning by workers on a suspended platform will be changed after the glass-curtain-wall cleaning robot is manufactured, and the advent of this cleaning robot for the low- and mid-rise buildings will reduce the cost of cleaning buildings, improve the working environment and enhance production efficiency.