In order to study the grounding mechanical characteristics of tire under partial hydroplaning state， the coupling Euler-Lagrange hydroplaning simulation model was established with 205/55 R16 passenger car tires as the research object， and the orthogonal experimental design method was used to create the experimental scheme. With range analysis， partial correlation analysis and multiple linear regression analysis， the "University of Arizona Tire Model" was established for different working conditions of wet road tire sideways longitudinal slip. Comparative analysis shows that the model can accurately predict the grounding mechanical properties of tires on wet slippery road， which provides a theoretical reference for the study of the hydroplaning performance of tires under multiple working conditions.

In order to further understand the mechanism of breakup of diesel jet， a mathematical model of fuel flow in self-excited oscillating nozzle was built based on large eddy simulation（LES） and Volume of Fluid （VOF） model. The results show that fluid vorticity and disturbance intensity in the self-excited oscillating nozzle is significantly increased， and it can increased by more than three times. The disturbance intensity is more sensitive to jet breakup in the near-nozzle region， which can significantly improve the jet breakup effect. The jet breakup length（SL） is greatly reduced， which can varies from 2 to 5 times of the outlet diameter at near-nozzle region. At the same time， the spray cone angle in the near-nozzle area is also increased， which can increase by more than 60%. The fuel jet atomization effect is greatly improved in the self-excited oscillating nozzle. The numerical simulation results is also provided a strong theoretical basis for the self-oscillating pulsed atomizing nozzle.

To expand the reachable space of the 6-DOF platform， an interference calculation method of Hooke joint considering the installation angle parameters was proposed. According to the position and attitude relationship between Hooke joint and adjacent structures， the calculation models of Hooke joint angle including installation angle were established for upper and lower joint seats respectively. The rotation angle range of the oblique prism Hooke joint was solved by simulation method， the nonparametric model describing the workspace of Hooke joint was fitted， and the judgment conditions for interference of the oblique prism Hooke joint were established. By analyzing the translation track of the moving platform， the variation law between the joint movement and the installation angle was discussed. Combining the interference calculation of the Hooke joint with the inverse kinematics solution of the 6-DOF platform， the interference calculation model of the Hooke joint in extending the limit position and posture of the 6-DOF platform was verified through the motion test of the moving platform at the limit position.

Aiming at the problem that current the CNC machine tools with multi-spindle heads cannot realize the multi-spindle head switching call in the virtual simulation process， a method of constructing a virtual simulation processing platform of the multi-spindle CNC machine tool is proposed. Firstly， as a multi-spindle head library for CNC machine tools with multi-spindle heads， the virtual axis are created， the topology of each motion axis is constructed， and the geometric model of virtual CNC machine tools is constructed. Secondly， the macro and variables of the CNC system are used for secondary development. By changing the position of the spindle head components in the virtual CNC machine tool structure project tree and the geometric model， the macro program is obtained，and by the macro calls instructions， it is used as a subroutine replace performing the functional instructions for changing the spindle head in the NC program. So that when the command to replace the spindle head is executed， the virtual CNC machine tool actually executes the macro program of changing the spindle head， and the dynamic switching call of the spindle head during the virtual simulation processing of the multi-spindle head CNC machine tool is realized. Finally， using this method， the virtual simulation processing platform of UniForce6 floor boring and milling machining center was constructed， and the simulation processing of a box part was completed. The results show that the virtual simulation processing platform can realize the continuous simulation of multiple spindle heads， which meets the actual processing conditions， and can check the interference and collision situation when changing the spindle head， which further improves the effectiveness of the virtual simulation processing of the CNC machine tool.

At present， the manufacturing methods of complex multi-bore workpieces in aviation and aerospace often have raised burrs on the inner bore surface of the workpieces， which are not easy to remove. In view of this situation， a gas-liquid-solid multiphase flow technology is proposed to treat the inner surface of complex workpieces. Based on fluent numerical analysis， different gas pressure， water velocity and abrasive particle concentration parameters under multiphase flow are simulated. The parameters of abrasive particle velocity， relative pressure and abrasive particle volume fraction at the inner surface of the near-wall area which affect the machining are obtained. The parameters are fitted by using BP neural network with MATLAB software， and the optimal input value of gas-liquid-solid three-phase flow satisfying the constraint mathematical model is solved by using the BP prediction model and PSO （Particle Swarm Optimization） in the dominant solution set. Based on the optimal input value， an experimental platform is built and L₉（3³） orthogonal experiment is designed to machine the inner surface of the workpiece. Finally， the surface accuracy of the inner hole before and after machining is measured by a white light interferometer， which verifies the consistency between the simulation optimal parameters and the experimental optimal parameters. The inner surface of the workpiece is machined by using the gas-liquid-solid three-phase flow with the optimal parameters. The measurement shows that the inner surface accuracy is increased by 75%， which meets the application requirements of aerospace workpieces.

Using natural rubber as the matrix， four magnetorheological elastomers （MREs） were fabricated using soft carbon black and carbonyl iron powder. Their microstructures were observed by using the field emission scanning electron microscope （SEM）， and their mechanical properties including magnetorheological（MR）effects were observed and analyzed by the electronic universal testing machine and the advanced rotational rheometer. Experimental results show that the addition of carbon black increases the tensile strength and 300% constant tensile force of MREs. Furmore the carbon black changes the Mullins effect of MREs under low strain conditions， and MREs with the carbonyl iron powder content of 30% volume fraction increased their MR effect by three times after the addition of carbon black. The performance of MREs can be improved greatly by using soft carbon black as a reinforcing agent.

A dynamic measurement system of molten pool liquid metal surface tension was established based on the principle of weld pool oscillation. The effect of three typical oxide fluxes on the surface tension of the molten pool under the action of the TIG arc heat source was investigated. It was found that the introduction of oxides does not have a significant effect on overall arc temperature. However， it would cause the average surface tension temperature gradient of liquid metal in molten pool to change from negative to positive， and the surface tension temperature gradient of molten pool is related to the melting point of the oxide. The lower the oxide melting point， the larger the surface tension temperature gradient of the weld pool.

The crack propagation behavior of 2024-O high-profile aluminum alloy friction stir welding prefabricated cracks in the weld nugget region， heat-affected region and perpendicular to the weld direction is analyzed through experiments and the method based on FRANC 3D and ABAQUS co-simulation， and the life prediction was carried out. The results show that the simulation results of crack propagation path and crack propagation rate in three regions are in good agreement with the experimental results. The crack propagation life of prefabricated cracks in three regions from low to high is weld core region， heat affected region， perpendicular to the weld. The relative error between the life prediction results of three kinds of samples and the test results by FRANC 3D is about 5%， which verifies the accuracy and feasibility of the co-simulation method to simulate the crack propagation behavior and life prediction of high-distribution aluminum alloy friction stir welding in different regions of welded joints.

To enhance the comfort and safety of intelligent vehicles during obstacle avoidance and lane changing， a trajectory planning method was proposed using an artificial bee colony algorithm that considers comfort. By sampling positions in the speed-time space， a time-based speed sequence was obtained. New honey source search and update strategies were designed to improve the search accuracy and convergence speed of the artificial bee colony algorithm. The lane-changing trajectory was derived by combining a fifth-order polynomial fit of the speed sequence with honey source positions. Taking into account vehicle acceleration and jerk for comfort， a trajectory comfort evaluation function was designed and integrated into the fitness function to optimize the lane-changing trajectory based on collision detection results. The effectiveness of the algorithm was validated using the Simulink-PreScan-CarSim jointsimulation platform. The results show that under various conditions， the proposed method can plan collision-free lane-changing trajectories that comply with acceleration and jerk constraints， outperforming trajectories planned without considering comfort. In real vehicle tests， the proposed method can achieve obstacle avoidance trajectory planning for static obstacles and low-speed moving obstacles in low-speed scenarios， with all trajectories meeting comfort requirements and demonstrating good trackability.

In order to obtain accurate traffic flow prediction results， a traffic flow prediction algorithm based on dynamic diffusion graph convolution was proposed. Firstly， the model used the diffusion graph convolution model to learn the spatial characteristics between different nodes. Secondly， the dynamic adjacency matrix was introduced to ensure that the characteristics of each node at each time can be learned. Once more， the model used the gated recurrent unit to extract the time characteristics of traffic flow data. Finally， residual connection between model levels was used to transfer more original information and enhance the stability of the model. The experimental results on four open data sets can prove the effectiveness of the algorithm in traffic flow prediction tasks.

Aiming at the problem that existing prediction models fails to fully utilize the spatio-temporal correlation of traffic flow data， this paper proposes a deep learning model that combines clustering algorithm， graph neural network （GNN） and gated recurrent unit （GRU）. First， the algorithm classifies to classifies preprocessed data into traffic patterns； then， the GNN is used to extract the spatial correlation of the traffic flow of the complex road network， integrating Pearson correlation analysis of the roads and the local clustering coefficients of the nodes to uncover potential node connections； the GRU is used to extract the temporal correlation between the traffic flow data， and through the mechanism of self-attention， captures interdependencies among data； finally， the outputs of GRU and GNN are combined with original inputs via residual connectivity， and the final prediction results are obtained after the fully connected layer. Multiple sets of experimental results demonstrate the superior prediction accuracy of the proposed model is over other baseline models and contrast model.

The conventional quasi-static test methods cannot accurately simulate the force characteristics of underground assembled structures due to the strata-structure interaction problem of underground structural systems. Therefore， a pseudo-static test method considering strata constraint effect is proposed， called strata restraint-pseudo-static method. The effects of strata restraint effect on the damage mode， load carrying capacity and energy dissipation capacity of prefabricated sidewall specimens with mortise-tenon joints （MTWJ）， and cast-in-place sidewall （CWJ） specimens were investigated. The test results show that the presence of the strata restraint effect improves the load-bearing capacity and energy dissipation of the prefabricated sidewall specimens， but aggravates concrete plastic damage， which is most evident in prefabricated sidewall specimens with mortise-tenon joints. The numerical model that can respond to the seismic performance of MTWJ specimens is proposed， and the results show that the strata restraint load has a large effect on the bearing capacity， but it is not significant to improve the energy dissipation capacity of the mortise-tenon joint.

In order to study the shear behavior of geosynthetic-soil interface reinforcement of biaxial geogrid reinforced construction waste under different sizes normal stress and shear amplitude， Monotonic direct shear test and cyclic shear test of the reinforced soil were carried out by large direct shear apparatus， thus， the influence law and mechanism of normal stress and shear amplitude on shear characteristics of reinforcement-soil interface were revealed. Results show that obvious shear softening occurs in both monotonic and post cyclic direct shear tests， however， the interfacial shear strength and residual strength of the specimens are greater after cyclic shear under the same normal stress conditions. In monotonic direct shear test， the sample exhibits a small expansion at the initial stage of shearing， followed by significant shrinkage， the shear shrinkage rate slows down when the shear displacement exceeds 20 mm. In the post cyclic monotonic direct shear test， the specimen shows obvious dilatancy and produces larger volumetric strain under the same shear displacement. During the cyclic shearing process， the sample undergoes obvious shear hardening， and the shear hardening phenomenon is more obvious in the cyclic shear unloading direction， damping ratio decreases with the increase of interface stiffness， under the same shear amplitude， the damping ratio decreases with the increase of cyclic number and tends to the same value under different normal stresses. The maximum shear stress in different directions increases with the increase of normal stress and shear amplitude， with the increase of cycle times， the degree of shear hardening also increases gradually. The shear strength of reinforced construction waste soil increased significantly after cyclic loading， and the increase of cohesion and internal friction angle is 22.4 % and 9.6 % respectively.

MIC-K-median-LSTM（MK-LSTM）algorithm was proposed to analyze the correlation of parameters and predict the structural deformation. Firstly， the improved MIC algorithm is developed to analyze the correlation between the different input parameters and structural deformation， then to preprocess the input parameters based on their correlation coefficients. The prediction accuracy and efficiency using different dimensions of input parameters are analyzed through the LSTM model and the optimal input parameter dimensions are selected. The results show that： The influence of the shield parameters on the existing structural deformation is larger than soil parameters； The MK algorithm can effectively reduce the computational complexity and the impact of noise in raw data and the data pre-process is beneficial to improve prediction accuracy； MK-LSTM algorithm can effectively predict the deformation law of the structure over time， considering the effect of the data dimension on the improvement of the prediction accuracy and the influence of the calculation efficiency， dimension pruning can be adopted in the actual engineering based on the parameter correlation.

A composite bridge deck composed of 80 mm steel-fiber-reinforced concrete （SFRC） and longitudinal bulb-flat ribs was investigated by model tests. Two full-scale specimens were designed and fabricated. Positive bending tests were carried out and the variations of stiffness and structural strain during the loading process were obtained. The elastoplastic cross-sectional analysis method， linear elastic analysis method and rigid-plastic analysis method were used to calculate the positive bending resistance and the results were compared with the experimental results. It was found that the composite bridge deck has good ductility when it was subjected to positive bending. At the ultimate limit state， the positive bending resistance is governed by the stress bearing of the bulb-flat ribs and the SFRC has sufficient compressive strength. Increasing the compressive strength of SFRC has little influence on the positive bending resistance. The elastoplastic cross-sectional analysis is more accurate and applicable for the calculation of the positive bending resistance of the composite bridge deck.

Based on the seismic design concept of recoverable function， a replaceable splicing steel beam-column joint with friction energy dissipation components is proposed in this paper. The joint uses both ductility and friction mechanisms for energy dissipation， which has the advantages of good ductility， controllable damage and replaceablility after damage. Two replaceable splicing steel beam-column joints specimen models and one cantilever bolted connection steel beam-column joint specimen model with the scale ratio of 1∶1.5 were designed and manufactured. The quasi-static test method was used to conduct experimental research on these joint specimens. Two replaceable splicing steel beam-column joints after failure were repaired， and then they were reloaded. The seismic performance indexes of the joint specimens under low cyclic loading， such as hysteresis curve， skeleton curve， stiffness degradation curve， strain and displacement curve， ductility and energy dissipation were obtained. The results show that the ductility and energy dissipation capacity of the proposed replaceable splicing steel beam-column joint are better than that of the cantilever bolted connection steel beam-column joint. The plastic damage is mainly concentrated in the replaceable components， and the main components of the replaceable splicing steel beam-column joints are basically maintained in the elastic working range. The repaired joints can almost completely restore the seismic performance and meet the requirements of replaceability.

Based on LS-DYNA， the influence of four kinds of diagonal bracing layout schemes of symmetric matrix type， symmetric plum blossom type， spiral matrix type and spiral plum blossom type on the ultimate bearing capacity of high formwork and the failure law of vertical rods was compared and analyzed. The dynamic response law of high formwork under sudden failure of key vertical rods was studied by using the transformed load path method （AP method）. The collapse resistance of high formwork was evaluated by combining displacement ratio method and stress ratio method. The results show that compared with the ultimate bearing capacity， spiral plum blossom type>symmetrical plum blossom type>spiral matrix type>symmetrical matrix type. In the symmetrical layout scheme， the bottom layer of the Ⅰ-type vertical rods is destroyed first， and the specific position of the initial instability vertical rods of the spiral frame is irregular. Comparison of collapse resistance of high formwork， spiral plum blossom type>symmetrical plum blossom type>symmetrical matrix type>spiral matrix type.

To study the flexural behavior and the calculation method of composite continuous girders with concrete-filled steel tubular （CFST） truss chords， model tests and theoretical analysis were carried out. The strain distribution， deformation property， failure mode， flexural bearing capacity of both the positive and negative bending moment area of composite continuous girders with CFST truss chords were studied. The calculation method for the flexural bearing capacity for both the positive and negative bending moment area was also discussed. The brace and the joint in the positive and negative bending moment area of composite continuous girders with CFST truss chords has higher strength and stiffness， and it can make sure that the failure of the joint is not prior to that of the whole section. The strain changes linearly along the depth direction of the cross section， and it meets the plane-section assumption. The flexural bearing capacity failure mode of the positive and negative bending moment area are that the full cross section of the chord and the rebar used in the concrete bridge deck slab yield， respectively. The contributions of the web members to the flexural bearing capacity in the positive and negative bending moment area of composite continuous girders with CFST truss chords are 12.5% and 8.6%， respectively. The calculation method considering the contributions of the web members to the flexural bearing capacity for composite continuous girders with CFST truss chords is put forward. The deviation between the result acquired by the calculation method for the flexural bearing capacity above and that acquired by the test and finite element analysis is less than 8.1%.

In order to transfer the plastic hinge of prefabricated frame beam-column joints and avoid the "strong beam and weak column" failure mode caused by shear failure in the core area of the joints， a new type of prefabricated specimens and contrast pieces with kinded rebar were designed； The quasi-static loading test is carried out to compare and analyze the differences in hysteretic characteristics， stiffness， bearing capacity， energy dissipation and deformation capacity， and explore the seismic performance under low cycle reciprocating load. The results show that the overall deformation of the new joint is mainly caused by the deformation of the kinded rebar segment， and the core area is not damaged. The transfer of the plastic hinge is successfully realized， and the new joint has better energy dissipation and deformation capacity than the comparison specimen.

In order to simplify the stress analysis process by using the concept of transverse distribution factor （TDF） for the multi-girder fabricated continuous girder bridges， skew bridges and curved bridges， the bridge database based on a multi girder fabricated continuous small box girder bridge was established， and the finite element model of each bridge was built by using the grillage method. The influence of the girder spacing， height span ratio， skew angle and center angle on the transverse distribution coefficient of internal force was investigated， and the formulae of the transverse distribution factor of internal forces were proposed by statistical regression method. The results show that the transverse distribution factors of bending moment and shear force increase with the development of the girder spacing； With the increase of the height span ratio of the main beam λ， the transverse distribution factors for mid-span positive bending moment increases， but decrease for that of the mid-span shear force and the negative bending moment and shear force at the support； The transverse distribution factor of internal force in skew bridges and curved bridges can be obtained by multiplying the modification factor with the formula of straight orthogonal bridges. Within the scope of the calculation model in this paper， the transverse distribution factors of internal forces of multi-girder fabricated continuous girder bridges， skew bridges and curved bridges obtained by the proposed formulae are in good agreement with the finite element results， and the transverse distribution factors of internal forces of any section can be obtained by the simplified envelope diagram along the longitudinal direction.

Three warm mixing agents WSG-H02， Sasobit and Evotherm3g were selected to study the smoke suppression performance of warm mixing agents on asphalt smoke， and the difference of emission reduction effect and components of different warm mixed asphalt to hot mixed asphalt （HMA） by gravimetric method and gas chromatography-mass spectrometry （GC-MS）. The results show that the emission reduction rate of three warm mix asphalt is WSG-H02， Sasobit and Evotherm3g from high to low， and mainly reduce the aliphatic hydrocarbons and aromatic hydrocarbons in the volatile organic compounds （VOCs） of asphalt. WSG-H02 warm mix agent has dual role in energy saving and emission reduction， not only as viscosity reduction modifier to reduce the construction temperature to reduce asphalt fume emissions， but also to reduce the release of VOCs， It can also be used as asphalt fume inhibitors to reduce the release of asphalt fume.

To explore the influence of the internal heterogeneity of asphalt mixture on its cracking behavior， the required parameters for the finite element model were obtained through laboratory tests. The aggregates were randomly placed using plug-ins， and cohesion units were inserted at the aggregate-mortar interface and between asphalt mortar units， respectively. Thus， the entire process of crack initiation， propagation， and failure in asphalt mixture was simulated based on the cohesive zone model. The extent to which the physico-mechanical properties of aggregates and the interface adhesion influence the tensile cracking resistance of asphalt mixture was discussed. The research results provide theoretical and data support for the design of asphalt mixture.

In order to prevent the stability failure of the novel ground anchor and beam string debris flow grid dam before the strength failure， resulting the whole structure fails. Based on the simplified calculation method of novel structural components， the local stability and overall stability were analyzed. The energy method was used to derive the in-plane buckling load formula of the beam string structure under local instability. This method avoids directly solving the internal force of the beam string structure and greatly improves the solving efficiency. The influence of rise-span ratio and sag-span ratio on buckling load were analyzed. The calculation method of the safety stability factor of the overall instability failure of the novel structure under empty， half and full storage conditions was proposed. Combined with theoretical analysis， the new structural design calculation software was upgraded， the algorithm was optimized and the stability calculation module was developed. The finite element model is established by SAP2000 to verify the theory， the results show that the calculated value of in-plane buckling load of beam string structure is in good agreement with that of finite element method， which can be used as the basis for stability design of beam string structure in-plane； the increase of rise-span ratio and vertical-span ratio is beneficial to improve the in-plane stability of beam string structure； In the application of novel structure engineering， the selection of beam string structure parameters can be given by referring to the two-hinged arch. The overall instability failure under empty and half storage conditions are earlier than that under the strength failure， and the overall instability failure should be emphatically considered， especially the overturning of the middle column under empty storage conditions.

In order to reveal in depth the pile-soil stress transfer features of the upper embankment load transfer process of the high-strength grid pile-net composite foundation， relying on the background of the high-strength grid pile-net composite foundation engineering of a high-speed railway， a modified soil arch model suitable for the analysis of load transfer characteristics of small pile-soil differential settlement pile-net composite foundation was established， and the theoretically calculated pile-soil stress was compared with field test results to verify the rationality of the modified model. The results show that the revised model highly matches the field test results in calculating the pile-soil stress ratio， verifying the reliability of the model. Under the same conditions， the influence range of the soil arching effect decreases with the increase of the filling height， and the characteristic value of the tensile film increases exponentially with the increase of the pile-soil differential settlement. Under the effect of high-strength grille "pulling membrane to stand"， the pile-soil cooperative effect is basically completed during the filling period， and the rang of pile-soil stress ratio is 3.8~4.0 when it is stable. At the same time， by comparing the change rule of pile-soil stress ratio and settlement with the filling load， it can be seen that the former is slightly more sensitive to the filling load than the settlement， which shows that the pile-soil stress ratio can also be used to evaluate the effect of controlling the settlement of high railway foundation. The research results can provide theoretical basis for the fine construction of pile-net composite foundation of high-speed railway.

In order to improve the road performance of bagasse fiber asphalt mixture， one-step modification method （alkali， silane， acetic anhydride） and two-step modification method （alkali plus silane， alkali plus acetic anhydride） were used to treat the surface of bagasse fiber， and the basic properties of the fibers were tested according to the specifications. Following that， the structural changes of bagasse fibers before and after modification were studied by infrared spectroscopy and scanning electron microscopy. In addition， the thermal degradation properties were investigated by the thermogravimetric analyzer. And SMA-13 asphalt mixture with bagasse fiber was designed and its road performances were evaluated according to the specifications. The results showed that the oil absorption rates of modified fibers increased by over 10.9% compared to original fiber. Alkali， silane， and acetic anhydride could reduce the polarity of fiber surface molecules. Furthermore， the alkali and silane in two-step modification method could remove most effectively amorphous components in bagasse fiber， improving the hydrophobicity of the fiber surface and the interfacial compatibility between fiber and asphalt components. For modified bagasse fibers， the pyrolysis temperature rose up， while the pyrolysis rate slowed down. The dynamic stability， low temperature flexural strains， residual stability indexes in immersing Marshall tests and splitting strength ratio indexes in freeze-thaw tests for asphalt mixtures with the modified bagasse fibers could be increased by a maximum of 15.0%， 12.6%， 7.5% and 7.0%， respectively. Overall， among the five modification methods， the alkali plus silane in two-step modification showed the best modification effect.

To satisfy the massive computational requirement of Convolutional Neural Networks， various Domain-Specific Architecture based accelerators have been deployed in large-scale systems. While improving the performance significantly， the high integration of the accelerator makes it much more susceptible to soft-error， which will be propagated and amplified layer by layer during the execution of CNN， finally disturbing the decision of CNN and leading to catastrophic consequences. CNNs have been increasingly deployed in security-critical areas， requiring more attention to reliable execution. Although the classical fault-tolerant approaches are error-effective， the performance/energy overheads introduced are non-negligible， which is the opposite of CNN accelerator design philosophy. In this article， we leverage CNN′s intrinsic tolerance for minor errors and the similarity of filters within a layer to explore the Approximate Fault Tolerance opportunities for CNN accelerator fault tolerance overhead reduction. By gathering the filters into several check groups by clustering to perform an inexact check while ensuring that serious errors are mitigated， our approximate fault tolerance design can reduce fault tolerance overhead significantly. Furthermore， we remap the filters to match the checking process and the dataflow of systolic array， which can satisfy the real-time checking demands of CNN. Experimental results exhibit that our approach can reduce 73.39% performance degradation of baseline DMR.

The application of location information generates a large volume of spatio-temporal data with multidimensional attributes such as latitude， longitude and time. The index-based trajectory query method cannot obtain the spatio-temporal semantic features of the trajectory， and its trajectory representation ignores the spatio-temporal correlation of the trajectory and is inefficient for large-scale trajectory data query. To solve the above problems， a kind of trajectory encoder based on sparse multi-head attention is proposed， through the trajectory of the encoder can extract high-level semantic features， trajectories are represented as encoding vectors. On the basis of trajectory coding vector， a trajectory query method based on locally sensitive hash function is developed， which can query large-scale trajectory data quickly. The experiment results show that the proposed trajectory query method can effectively deal with kNNT query problems and it is superior to the current trajectory query method in terms of accuracy and efficiency.

How to model the temporal and spatial relationships in video features is a key factor affecting the accuracy of model prediction in video saliency prediction tasks. To address this problem， this paper proposes a collective spatio-temporal attention mechanism （COStA）， which collectively extracts attentional information in temporal and spatial dimensions， highlighting time- and region-specific pixels for the model to perceive. Based on this mechanism， the video saliency prediction model TASED-COStA is further proposed， which is a pure 3DCNN-based encoder-decoder neural network. The comparison experiments show that the collective spatio-temporal attention mechanism can improve the performance of the model by more than 8% in CC， NSS and SIM evaluation metrics， and the performance comparison results with similar models in recent years indicate that the TASED-COStA model is highly competitive in terms of accuracy. Extracting attention information in features by combining temporal and spatial information can improve the modeling accuracy of spatio-temporal relationship in video saliency prediction tasks and obtain more accurate saliency prediction results.

In order to solve the problems of inadequate feature extraction， easy to lose middle layer information and long training time during infrared and visible image fusion， this paper proposed an end-to-end lightweight image fusion network structure based on gradient transfer and autoencoder. The network structure is composed of encoder， fusion layer and decoder. First， a Bottleneck block is introduced into the encoder， which is a Bottleneck block， and it uses the convolution layer and a bottleneck block to extract features from input infrared and visible images to get depth feature graphs. Then， the gradient extraction operator is introduced into the fusion layer， and the obtained depth feature graphs are processed to obtain the corresponding gradient graphs. Then， each depth feature map and the corresponding gradient map are fused in the fusion layer through the fusion layer strategy， the loss function is redesigned， the fused feature map and gradient map are spliced and input to the decoder for decoding to reconstruct the fusion image. Finally， the current representative fusion methods were selected for comparison and verification. In the eight fusion quality evaluation indexes of SF， MI， VIF， Qabf， SCD， AG， EN and SD， the performance of the first seven indexes improved significantly. They are improved by 57.4%， 54.6%， 28.3%， 74.2%， 23.8%， 43.1% and 1.3% respectively， and the performance of the eighth index is similar. In addition， network model parameter analysis and time complexity comparison experiment were conducted. The algorithm parameter in this paper is 12352， and the algorithm time is 1.1246 seconds. Experimental results show that the proposed method can quickly generate the fusion image with clear target， clear outline， prominent texture and human visual perception.

Multi UAVs suspended payload transportation system is a new type of aerial transportation. In this paper， a new nonlinear robust control strategy is proposed for the position tracking and attitude control of the payload. To deal with the unknown external disturbances and strong system states coupling， the dynamic model of multi-UAV suspended payload transportation system is established via the Lagrange method. Then， a nonlinear robust control strategy based on robust-integral-signum-error method and geometric control is designed to compensate for the effects of unknown external disturbances， and accurate control of the payload's attitude and position are achieved. Based on the stability analysis of Lyapunov method， the stability of the closed-loop system and the asymptotic convergence of the suspended load tracking error are proved. The simulation results show that the control strategy proposed in this paper can achieve good trajectory tracking performance and has good robustness to unknown external interference.

Accurate monitoring of power loads in home scenarios often relies on complex algorithmic models that are difficult to deploy in edge devices. At the same time， massive power data poses a huge challenge to communication of grid. In response to the above issues， this paper proposes a distributed non-intrusive load monitoring method. This method calculates and identifies the operating state of the load by the LSTM load monitoring algorithm based on the attention mechanism， and distributes the load monitoring task in the cloud and the edge with the help of cloud-edge collaboration technology to solve the problem of insufficient edge computing power. Aiming at the high network bandwidth requirements brought about by cloud-side communication， the compressed sensing method based on K-SVD double sparse online dictionary is used to compress and reconstruct the load signal， which effectively alleviates the shortage of communication resources. Comparing the performance of the monitoring algorithm under different load scenarios， the results show that the load monitoring algorithm in this paper can maintain an accuracy rate of more than 95%. Experiments are conducted to verify the effectiveness of the compressed sensing method on the compression of load signals， and determine the maximum compression ratio of load data without distortion.

To solve the problems of high loss rate and cleaning rate of cyclone separation cleaning device for rapeseed combine harvester. A double-cylinder type of cyclone separation cleaning device with functions of diversion and secondary settlement was developed. The structural parameters of the cyclone separator were analyzed and calculated. Based on statics and kinematics， the migration of rapeseed in the airflow field of the cyclone separator was analyzed， and the differential motion equations of rapeseed were established. The range of structural parameters of the flaring shaftless spiral blade and the secondary settling cylinder were determined. The main factors that affected the cleaning performance of the cyclone separator were clarified， and the structural rationality and the performance of the cyclone separator was verified based on a coupled model of computational fluid dynamics (CFD) and discrete element method (DEM)， and the internal airflow velocity of the guided twin tube cyclone separation and cleaning device was verified. The single factor experiment and quadratic rotation orthogonal combination experiment were conducted to study the effects of the feeding rate， the speed of the blower and the speed of the fan on the cleaning performance of the cyclone separation cleaning device. The regression equations between the cleaning rate， loss ratio and those factors was built. The results of the single factor experiments indicated that the performance of the cleaning device was better when the feeding rate was 0.6~1.0 kg/s， the speed of the blower was 550~750 r/min， and the speed of the fan was 1 400~1 800 r/min. The optimization results showed that the optimal parameters combination was the feeding rate 0.71 kg/s， the speed of the blower 616 r/min， and the speed of the fan 1 667 r/min. The results of the field experiment under the optimal parameters combination showed that the cleaning rate and loss ratio was 92.39% and 4.80%， respectively.