Taking the real steering system structure as reference, a steering force input model was established in consideration of the steering system elasticity and the steering rack dynamics. The model is a complete dynamics system including the left and right steering wheel axles, left and right track rods and the steering rack. The solution algorithm of steering system dry friction under slipstick friction conditions was developed to describe better the nonlinearity of the steering system. The simulation results indicated that the suggested model can simulate accurately the vehicle steering performance, describe the mechanical characteristics of dry friction in the steering system. It is suitable for realtime simulation and has practical value in vehicle dynamics study.

A CAE model was built for the driver side airbag filling and deployment of a certain domestic car based on computational fluid dynamics(CFD) algorithm in software MADYMO, and the dynamic simulation of airbag filling process was realized. Compared with the airbag deployment process under the static ignition test, it was found that the CFD model is more accurate than the uniform pressure model in simulation of the kinematic and dynamic processes of airbag deployment and filling. A test of the launch of the body block was implemented and the accuracy of the airbag filling model was further validated.

The conventional steadystate optimization control strategy of the hybrid electric vehicle based on maximizing the efficiency of its internal combustion engine ignores the power conversion efficiency of the other components of the powertrain system, such as the electric motor and the power battery or ultracapacitor. So, a novel control strategy aiming at the optimization of power conversion efficiency of overall powertrain system was suggested and justified through simulation. Compared with the conventional control strategy, the vehicle fuel economy using the suggested control strategy was improved by 3.9% under Chinese transient urban driving cycle.

The biomass compound coal(BCC) composed of anthracite coal, corn haulm and loess was taken as the object of study. The combustion characteristic of the BCC containing 5%~35% of the corn haulm was studied by the thermo gravimetry under different experiment conditions. The relationships between the temperature and the sample mass were obtained and the characteristic temperatures at different combustion stages and the maximum mass loss rate of the volatile fraction were found. The whole temperature range of the combustion process, the burnup rate and the area occupied by the mass loss rate curve were calculated. Comparing with the results of the traditional coal briquette, the combustion characteristic of the BCC appears better, the initial separation temperature is reduced by 50℃, the final burnup temperature is reduced by 186℃, the burnup rate is enhanced by 10%.

The queue length prediction model was established on the basis of the deterministic queuing theory and real time traffic flow prediction at entrance lane using the adaptive weight exponential smoothing method. This model is capable of predicting the queue length at the saturate signalized intersection, and its prediction result is strongly adaptive and in accord with the practical traffic flow condition. Practical survey data proved the prediction accuracy is above 85% under congested traffic condition, it is enough to meet the requirement of signal timing and traffic management.

A combined method to evaluate the road transport terminal distribution was proposed based on analytic hierachy process(AHP), data envelope analysis(DEA), and grey correlation evaluation(GCE). The DEA was employed together with the AHP to determine the weights of indexes to reduce the impact of the uncertain subjectivity on the determination of weights. Taking the GCE as the central model to calculate the relative optimal correlation degree to realize the optimal sorting of terminal distribution candidates. The proposed evaluation method integrates the favorable aspects of AHP, DEA and GCE, and its effectiveness was validated by a practical example.

Sensor data fusion system is composed from single color CCD and laser scanner. Based on DempsterShafer theory of evidence different sensor data are fused together to classify three kinds of typical obstacles. Firstly, sensor data are transformed to evidence which attributes to the obstacle`s characteristic. Since identity of the current obstacle is unknown, basic probability assignment is assigned to every classification. Then Dempster fusion rules are used to compute the ultimate BPA and Believe interval. Finally, obstacle identity classification is defined according to the identification rules. Test results show that DS theory is superior to single characteristic method when classifying the obstacle identification.

The relationship between the actual strain of the substrate and the strain measured by the optical fiber Bragg grating(FBG) sensor was obtained according to elastic mechanics and boundary conditions. The error between the strain measured by FBG and the actual strain at measure point can be characterized and calculated by the interface transferring characteristic coefficients of the substrate embedded with a bare grating. The strain sensing properties of the FBG solidibied into carbon fiber reinforced plastics(CFRP) have been studied experimentally. The calibration of the strain sensing properties of FBG sensor was performed experimentally in comparison with conventional resistance wire strain gauges to get the strain sensing sensitivity coefficient of FBG sensor. Study results showed that the Bragg wavelength of FBG is characterized by good linearity a repentability with strain, and the test data of FBG are stable and rehiable. The developed FBG sensor is possessed of an excellent strain sensing performance, providing a basis for research and application of advanced smart composites.

Measurements of the electrospinned polymer nanofibers showed that the fibers are not quite circular in section shape, they tend to be slightly flattened out at the top due to the effects of gravity and the surface viscosity between nanofiler and substrate, especially for the soft polymer nanofihers. Defining the diameter measured by AFM as vertical diameter, and that by SEM as horizontal diameter, the effects of two main parameters, applied electric voltage and polymer solution concentration, on the average diameter of the electrospinned PCL nanofiber were studied. The quantitative relations between the horizontal and vertical diameters of the nanofibers electropinned by the PCL solution with the concentration of 10% were obtained, and the empirical formulas were derived. The results showed that the horizotal diameter of this fiber is about 1.5 times as the vertical diameter.

The technology of bending by bendable roller(BBBR) was introduced briefly. A finite element model of the process of BBBR was built by the general finite element program. The spherical part was numerically simulated and distributions of the stress and the strain were obtained. The impact of the press displacement of the upper roller on the forming process of BBBR was studied and it was concluded that the lengthways curvature of the spherical part is very sensitive to the press displacement under fixed distance between two lower rollers. The effeet of friction condition on the forming process of BBBR was discussed. The springback behavior of the process was analyzed preliminarily. The simulated results were validated by experiments. The obtained achievements were useful for the optimal design of BBBR equipments and the practical sheet forming process study in general.

A method of 3D solid modeling of the spiral bevel gear with accurate gear tooth surface based on manufacture method and meshing theory was developed. A mathematical model of spiral bevel gear tooth surface was built by analyzing manufacture method and meshing theory. Based on the output data of evenly dispersed points on the gear tooth surface to reconstruct it, a 3D solid accurate model of the spiral bevel gear was accomplished. The accuracy of the formed solid model was evaluated by the surface deviation method. The suggested solid modeling provides a reference for the digitized design and mannfacture of the spiral bevel gear.

In order to solve the problem of NC machining programming for parallel machine tool (PMT), implement NC machining of parts with complicated surfaces by PMT, promote the industrialization and practicality of PMT, a 5UPS/PRPU PMT oriented CAD/CAM integrated system is developed. The overall structure of the CAD/CAM system is put forward and the system software is modularized. The function and implementation of each module are described. In the design of the CAD/CAM system, the concepts of configuration, modularization and opening are implemented. These concepts cover the key issues of NC for PMT. The CAD/CAM system was successfully used on 5UPS/PRPU PMT. Experiments show that the system can realize the NC machining of parts with complicated surfaces, and its engineering feasibility is good.

An automatic calibration technique based on the piezoelectric technology(PZT) microoperation system was presented. Long travel macromotion positioning is realized by a hybrid step motor. Submicron resolution and positioning precision are realized by a microstage driven by PZT which is mounted on a macrostage as well as a high resolution optical linear encoder. A closedloop control was achieved by both of the abovementioned positioning systems. Microvision feedback was integrated into the closedloop system to get the position information of the microstage of the operator in the image to do the calibration. The experimental results showed that the dynamic performance and working stability of the system were satisfactory. The system is characterized by high calibration speed and precision with the image processing rate of 11 frames per second and the positioning precision of 0.1 μm.

A fuzzy comprehensive evaluation model was built to evaluate the production equipment usability on the basis of analytic hierachy process(AHP), fuzzy mathematic theory as well as the relevant background knowledge of the problem. The model was employed to evaluate the equipment usability of an engine cylinder block production line. Membership functions of fuzzy evaluation sets of equipment usability were constructed based on basis variables, such as the observed values of the mean time between failures, the mean time to repair, the annual number of failures, the average maintenance cost peruyear, and the average availability. Relative weights of evaluation criteria with regard to the evaluation target were given by AHP. The usability order of all equipments in an engine cylinder block production line has been given by the proposed fuzzy comprehensive evaluation method.

A novel piezohydraulic linear motor consisting of a two chamber piezomembrane pump and a cylinder was presented with intruduction of its structure and working principle. The performance of this motor was analyzed and tested. To drive a cylinder measuring 15 mm×100 mm, a double chamber serial piezomembrane pump was made using piezoelectric membrane actuators measuring 35 mm×1 mm, Experiment on this motorwas performed in terms of flow rate, pressure and output power. The results show that at a given frequency, and with driving voltage beyound 100 V, thrust and velocity of the motor will linearly increase. The achieved maximal velocity, thrust and power of the motor are 14.5 mm/s, 17.8N and 63.5 mW respectively.

The coupling algorithms for multiflow regions and its application in the hydrodynamic components are discussed. As application examples,the coupling algorithm was used in calculation of flow field in the multiimpeller of the torque converter and the hydrodynamic coupling under different rotation speeds. It was shown that for the hydrodynamic components, the multiflowregion coupling algorithm is better than the singleimpeller algorithm supported by upstream and downstream boundary conditions. The performances of the torque converter and the hydrodynamic coupling were calculated based on numerical solutions of 3dimensional flow field, and their results were compared with test results, showing that the coupling algorithm is superior in calculation precision.

A nonlinear controller based on nonpresision model was proposed to compensate the friction in the force servo system. Friction is one of the important factors affecting the system performance. Considering the in fluence of the friction nonlinearity on the tracking behavior of the passive electrohydranlic force servo system, a controller for compensating the friction nonlinearity in the force control system was suggested. The controller is based on Lyapunov stability theorem, it only needs the parameter upper bounds without need of precision friction model. It is a nonlinear controller based on a nonprecision friction model. Simulation and experiment results showed that compared with the conventional PID controller, the suggested controller is better at eliminating the influence of friction nonlinearity. The algorithm gives a reference to the friction suppression in the force control system.

The knetics coupled model of the basic shaft bearingless motor was constructed. The simulation for rotor displacement, noload rotation speed and tracking accuracy in performance standard was conducted. The results shows both high accuracy in the control strategy and satisfied dynamic and static performance.

Two necessary conditions of complete controllability of a repeated eigenvalues system (regular and defective system) and their proofs are given. At same time two sufficient conditions, their proofs and a method of selecting control force distribution matrix are also presented. In the following sections, the four theorems and one method of selecting force distribution matrix are given. They solved practical controllability of any linear structures and given the least number and locations of actuators if the structure is completely controllable. So that makes us understand structural controllability clearly. Finally, some numerical examples are given to verify our theorems and method.

A topological modification method for the frame structure MP weighted generalized inverse topological modification method, was suggested using the weighted factorization of the stiffness matrix and the weighted generalized inverse method of matrix. It is suitable for the topological optimal design of the frame structure, especially for the reanalysis of the local optimal design. The suggested method is charaterized by high calculation efficiency because of explicity and simplicity of the given frame structure topological modification formulas.

To obtain the optimal partition of a data set, a hybrid clustering algorithm, PKPSO, based on PSO is proposed. In the proposed PKPSO the PSO algorithm is effectively integrated with the K-means algorithm. Among the population, selected candidate solutions are further optimized to improve the accuracy by the K-means algorithm. By analyzing the algorithm, the criterions for control parameters selection are determined. Partional clustering result by the proposed PKPSO is compared with that by PSO or by K-means algorithm, and results show that the global convergent property of PKPSO is better than that of the other algorithms. The PKPSO can not only overcome the shortcoming of local minimum trapping of the K-means, but also the solution precision and algorithm stability are better than that of the other two algorithm.

In an uncertain environment, the environmental changes always occur with probabilities. In this paper the moment when a change occurs is considered as a random variable, which obeys certain distribution, and the dynamic problems possess such features are classified as a class of dynamic optimization problems. Then an adaptive populationbased incremental learning (PBIL) algorithm is proposed to solve the class of dynamic optimization problems. This algorithm applies the adaptive probability of random variable to regulate the probable model of the current population. The objectives are to increase the population diversity and to rapidly adapt the environmental changes. Results of case study show that compared with traditional PBIL algorithm, the proposed adaptive PBIL algorithm can track the dynamic solution reliably and accurately.

In the analysis of contact action between particles and correlative machine components by Discrete Element Method (DEM), a key issue that influences the analysis precision and efficiency is how to build the DEM model of the particles with complicated shapes. In this paper, the superquadratics equation is employed to build the 2D DEM analysis models of complicated particles. A method using exterior rectangles for preliminary contact inspection is proposed. The accurate contact inspection, contact point solution and contact overlapping calculation are carried out using Newton downhill method. The effectiveness and feasibility of the proposed method are verified by numerical simulation, which is viable to analyze and resolve the movement of complicated particles.

According to the background of migrating workflow model, a dynamic stage construction model is proposed, which is based on the faulttolerant protocol. First, the model can dynamically schedule task execution to avoid the unnecessary visit to working place and cut the whole execution period. Second, a dynamic priority method is proposed to evaluate a working place. Finally, the model provides a specific node selection strategy, which combines the task execution ability, running environment and reliability of a working place. Performance analysis and experiments show that the model can simultaneously boost the performance of faulttolerance and ensure the reliability.

The region division according to robot ability was introduced to improve foraging efficiency of the swarm robot systyems. A mathematical foraging model was constructed based on the rate equation for the purpose of studying the collective behavior of heterogeneous swarm robot foraging. The analysis on the numerical effect as well as the preformance of robot on the time for finishing the foraging was preformed quantitatively by using the introduced mathematical model. The analysis of the mathematical model indcates that the effect of interference among outer robots will reduce the improvement of finishing time in foraging task when the outer robot number increases, and this improvement will decrease when the rate for inner robot increases to meet food.

The problem of robust H∞ control was studied for uncertain sampled-data systems with time-varying delay. On the basis of Lyapunov asymptotical stability theory, the dalay-dependent sufficient conditions on robust H∞ control were obtained. The design procedures were formulated as an optimization problem subject to linear matrix inequalities (LMIs). Numerical examples illustrate the effectiveness of the proposed techeniques.

A reinforcement learning algorithm based on linear average is proposed, which is used to solve nonconvergent problems of reinforcement learning function approximation in continuous state space. According to contraction theory, this algorithm is based on gradient descent method, which adopts linear average as performance evaluation of value function. So the iterative process of value function becomes a convergent process to a fixed value. A standard reinforcement learning problem, Mountain Car Problem, is used to verify the performance of the algorithm. Results show the effectiveness, feasibility and quick convergence of the algorithm.

Three high frequency flapping control algorithms of SPC series bionic robofish was chiefly introduced and its limitations analysed. Tail fin flapping curves of three generations are obtained via experiments and contrasted to each other, Problems still esisting in servocontrol of highfrequency flapping are summed up.The project using mechanism structure to simulate tail fin flapping is finally put forward, which is validated by simulation.

A novel centrifugal fan was designed to meet the demand of the wireless wallclimbing robot under reconnaissance environment. The aerothermodynamic processes of the dynamic balance between the working leakage of the sealing system of the robot and the output of the centrifugal fan were analyzed, the flow field and performance of the centrifugal fan were simulated by the computational fluid dynamics(CFD), and a low noise and high efficiency centrifugal fan was designed which is characterized by stable negative pressure under variable flow. The experiment results showed that the robot can work stably for 45~60 min when the wall gap is less than 1 cm with the noise lower than 70 dB at a distomce of 1 m.

Based on computer vision technique, a 3D object reconfiguration scheme is proposed. In this scheme, the geometrical optical model is constructed using laser triangulation principle. The camera lens is accurately calibrated using a new method. The H matrix is obtained and the 3D small object reconfiguration is achieved. To overcome the impacts of nonparallelism of 3D rotation and laser speckle on the accuracy of measurement, modification is made by slope fitting of the laser blade. Reconfiguration of 3 mm~40 mm objects shows that the measuring accuracy is 0.05 mm.

A feature extraction algorithm was presented for the recognition of traffic sign symbols under degradations. In order to cope with the degradation, combined bluraffine invariants (CBAIs) were adopted to recognize the traffic sign symbols without any restorations based on many computations. A radial basis probabilistic neural network (RBPNN) classifier was optimized using recursive orthogonal least algorithm (ROLSA) and applied to the classification of the degraded traffic signs. The simulation results indicate that CBAIs are efficient for the degraded images feature extraction. And the designed network is not only parsimonious but also competitive in generalization.

A cloud illumination model is proposed, in which the relationship between atmosphere density and altitude is taken into consideration, and based on the particle scale the scattering phase function is weighted to improve the simulation accuracy. For static or dynamic cloud rendering in flight simulation, a routing is proposed to model the cloud spectrum based on particle system and texture sprites. The technique of dynamic generation of impostor and simulation on GPU are employed to realize realtime rendering. These techniques are integrated into the scenario system of flight simulation. Experiments show that the reality and immersion of virtual environment are significantly improved with better performance that satisfies the requirements of realtime interactive simulation.

A new active contour model based on distribution matching is proposed, In which the speediness and robust demands for motion object tracking are taken into account. In this model the KullbackLeibler divergence is regarded as the external energy of the active contour. The influence of noise in the object tracking process can be overcome by using the distribution matching of object and background. Also the motion vector established from the matching force can accelerate the sequential image segmentation. Compared with existing methods, such as edge based, block matching based, region matching based active contour models, the proposed model is more robust to noise, and more tolerant to object rotation and larger displacement in the tracking process. The efficiency of the proposed model is verified by experiments.

The analysis of the background of the observation problem about the three-axis stabilized satellites was given and a mathematical model of this problem was established. Then based on genetic algorithm and simulated annealing algorithm, a combined genetic algorithm for this problem was presented Through several cases, the feasibility and correctness of the new algorithm were proved. In addition, compared with simulated annealing algorithm, this proposed algorithm demonstrates that both the operation speed and the global optimization ability are better.

A design method of digital on screen display (OSD) controller was proposed. Based on video hierarchical layering, a multimixer architecture was designed to the hybrid display multilayer OSD to improve manmachine interactive function. The proposed two step index improved algorithm with row index processing and character index processing can obtain character lattice data for the OSD and reduce data size in builtin memory so that the coresponding circuit memory requirement can also be reduced by about 38%. Logic function and characteristics of the OSD controller were verified in FPGA.

Based on the idea of crosslayer design, in consideration of both channel state in physical layer and access scheme in MAC layer, a novel MAC protocal, called CFDAMACCSI protocal using channal state information was proposed. According to the channel state, the terminals and satellite dynamically adjust the access scheme. Simulations demonstrate that the proposed protocol can increase channel utilization effeciency and improve delay performance.

The confliction between satellite IP networks performance enhanced technology and IPSec was analyzed, and multilayer IP security protocol with changeable zone was proposed. The scheme can converts traditional static zone mapping to changeable dynamic mapping and corresponding composite security relationship was constructed, so that it enables the licensed intermediate nodes address not only TCP header but also object links in terms of HTML at uplayer. Hence, the goals of TCP performance enhancement and HTTP transmission acceleration were achieved while end to end security was held. The test for CZMLIPSec shows that bandwidth overhead and processing time delay are not unacceptable. And CZMLIPSec can provide both endtoend security and performance enhancement for satellite IP networks.

In order to cancel channel distortions, inter-user interference, and channel noise, a dual exended Kalman filter (DEFK) algorithm combining different state space models for chaotic communication systems with muliuser was proposed. Simulation results demonstrate that the proposed method can fast track the coefficients of multipath fading channel and effectively reduce the channel noise in the realization of the multiuser communications.

A color inverse halftoning algorithm was proposed for vector error diffusion halftone images. The analysis of matrix gain model based error diffusion system demonstrates that the vector inverse halftoning problem is equivalent to that of refining correlated high freqency noise. By using KL transformation to remove correlation among different color opponents, an image fusion model based on laplacian pyramid, which is able to convert high frequncy noise to tractable impulse noise, was constructed. Finally Wiener filter with median filter was chosen as a denoising processor. Experiments show that the proposed scheme can overcome color shift and reduce mottle. Moreover the scheme can well reconstruct contone image and outperform the traditional methods at peak signal to noise ratio by 2~3 dB.

Security analysis for two quantum key distribution protocols was presented by using EPR pair and complete Bellstate measurements. It is also shown that those two protocols are totally equivalent from the point of view of the topological structures on how to measure the corresponding qubits at random. The paper proved that Bellstate measurement basis can detect some special eavesdropping behaviors, but not all of them. Thus, this enables all same errors occurring on the sampling qubits undetected, which impairs the security of quantum key distribution protocols. |0+>, |0->, |1+>, |1-> measurement basis was used to replace complete Bellstate basis, which can avoid the incomplete errordetecting strategy. And unconditionally security was guaranteed bythe improved protocol.

The influence of different pulsed electric fields intensity and pulsed electric fields numbers on antibacterial activity of lysozyme were researched in this paper. Results showed antibacterial activity of lysozyme changed in the form of waves with the increase of pulsed intensity. Antibacterial activity of lysozyme reached the maximum value in 25 kV/cm, which increased 10.6% of that of comparative sample. After handled by PEF and then stored for 1h and 10 h separately at 4 ℃, antibacterial activity of lysozyme increased somewhat.The change regulation was similar to the directly determined one. With longer store time, however, antibacterial activity of lysozyme decreased. At set pulsed numbers , the influence of different pulse numbers on antibacterial activity of lysozyme were not significant. Fluorometric analysis shows that in 25 kV/cm, relative intensity of fluorescence increase 15.42% of that of comparative sample.But after stored for a time , relative intensity of fluorescence has the tendency of decrease. At set pulsed numbers , the influence of different pulsed numbers on relative fluorescence intensity is insignificant.

An orthogonal experiment with three levels and three factors was carried out to optimize the corn starch production process using lactic acid bacteria and bromelin. The results suggest that the optimal conditions for this corn steeping processing are: steeping water temperature 50±2 ℃, inoculation of lactic acid bacteria 10%, steeping corn for 10 h, then adding 0.2% bromelin, grinding the corn for another 6 h. This technology can reduce the steeping time from 48 h (by traditional technology) to 18 h, and it also eliminates the use of SO2.

The granular morphology and size, molecular weight distribution, crystal structure, thermodynamic properties, structural character, digestibility and glycaemicindex of starch from Kabuli and Desi chickpeas cultivars were investigated using scanning electron microscope (SEM), high performance liquid chromotagraphy (HPLC), Xray diffraction (XRD), differential scanning calorimetry (DSC), infrared spectrum (IR) and other modern analytical methods. Results show that the surface of granules is smooth, most of the granules are in cobble shape and others are spherical. Plot of molecular weight distribution has a single peak and the high molecular weight occupies a larger proportion. Chickpea starches are attributed to Cctype crystal structure and own αDpyranose ring structure with hydroxyl group of primary alcohol and secondary alcohol. The gelatinization temperature of the chickpea starch is higher than 60 ℃, and it is a low glycaemicindex starch.

The technique of aerated micro-electrolysis and flocculation was employed to process high concentrated pyrimidine wastewater. The effects of the pH value of influent water, Hydraulic Retention Time (HRT), aeration intensity, temperature and flocculation type on the removal rate of COD were investigated. Results show that, when the COD concentration in the influent water is 484 568 mg/L, the optimal processing parameters of the aerated microelectrolysis are pH value 3 of the influent water, HRT 4.7 h, aeration intensity 88.2 m³/(m²·h), temperature 30 ℃. Under such condition, the COD removal rate was over 70%, the B/C value was increased from 0.09 to about 0.32, and the biodegradable capability was greatly increased.