Distributed Service Discovery for Heterogeneous Wireless Sensor Networks

A centering mechanism for maintaining a tunnel structure equidistant from the two parts of an articulated vehicle. The mechanism includes a base plate pivoted to the tunnel structure and having a pair of vertical pins spaced apart on the base plate. Each of the pins accommodates a pair of levers which have toothed portions meshing with tooth portions on aligned levers on the other pin. The levers are connected in pairs to the adjacent chassis member by links so that upon movement of the chassis members about a horizontal axis, equal and opposite rotation of the links occurs to keep the tunnel centered.

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