Abstract:Considering the different dynamic performances of intelligent vehicle under various conditions, mixed switching lateral controller was designed that consists of optimal control law obtained through the linear quadratic form optimal track control theory and fuzzy control law obtained by fuzzy logic analysis. When the error and error rate was small, the steering controller was switched to optimal control law .When the error and error rate was greater than or equal to the threshold, the fuzzy control law was selected. Simulative researched on the lateral control algorithm of intelligent vehicle using ADAMS and Matlab/Simulink co-simulation control, and tested by experimental. Simulation and experimental results showed that the unmanned vehicle controlled by the proposed algorithm could track the reference paths under various conditions accurately and riding quality.

Abstract:In order to further improve the energy efficiency of electric vehicles, thus to improve the driving range economy, a braking energy recovery system for electric vehicles with simple structure, high reliability and fail-safe function was developed. Meanwhile, considering performance parameters of motor and battery, the efficient regenerative braking control strategy with strong portability was developed. Based on the proposed system and control strategy, hardware-in-loop tests were accomplished. Test results showed that friction braking force and regenerative braking force could be well integrated and braking energy recovery efficiency was high. Finally, experimental data of a FCV on CYC Japan-1015 proved the performance and feasibility of the proposed system. Braking energy recovery efficiency reached to 59.15%.

Abstract:Based on the hydrostatic and hydraulic auxiliary braking system of tracked vehicle, the hydraulic pump/motor efficiency model according to hydraulic pump/motor performance analysis was set up. The optimal working line in which the hydraulic pump/motor worked at the highest efficiency level was obtained. An energy regenerative braking control strategy was proposed which could lead to the optimal matching of hydraulic coupler, hydraulic pump/motor. The simulation and test results showed that the hydraulic pump/motor could achieve efficient operation, and the energy regeneration efficiency of braking was improved obviously with the regenerative braking control strategy under the safe braking conditions.

Abstract:An oscillating combined steering mechanism was introduced. With Denavit-Hatenberg homogeneous transformed matrix, the kinematics model of the steering mechanism was constructed. The multi-objective optimization method for designing the location of key hinge was proposed. The engineering illustration of steering mechanism was calculated, and the result was proved by the ADAMS software. Some characteristics of steering mechanism, such as the asymmetry of steering drive oil cylinder control, steering smoothness, skidding behavior, and symmetrical distribution were analyzed. The proposed method was reliable and simple, and had important practical value for engineering applications. The steering mechanism had some merits, such as small turn radius, little side slide, easily controllable, it will have wide applied range in engineering vehicle.

Abstract:To optimize the parameters of blade numbers of vehicular hydraulic retarder, a 3-D integrated optimization platform was established. The brake torque of hydraulic retarder was calculated with CFD solver and DOE technique of design variable. With DOE results, the RSM model was built to get the optimum parameters. The relationship of internal flow field and brake performance with the varying blade numbers was analyzed and concluded. Comparison of experimental data and simulation results before and after the optimization showed that the brake performance of hydraulic retarder with the optimum parameters was improved observably, and the 3-D integrated optimization platform was accurate and reliable.

Abstract:To improve the performance of hydraulic transmission system, a study on the matching performance of engine and hydraulic torque converter was conducted. According to the power split-flow form, hydraulic transmission systems were divided into two classical structure modals. With the two structure modals were abstracted according to graph theory, a computer program was developed using Python language, which could finish auto-derivation and auto-solving, and finish the matching calculation of engine and torque converter. Combined with a matching calculation example, a comparison study of the results of the two structure modals under different road conditions was carried out, which showed that the matching performance of engine and hydraulic torque converter in the hydraulic transmission systems with front power split-flow was obviously influenced by external load, and the load effect had to be considered in the study on its cooperating performance.

Abstract:The working principle of multi-mode mechanical-electronic transmission machinery was introduced. The broken line speed characteristics of dual-mode mechanical-electronic transmission were proposed, and a design method based on the speed characteristics of dual-mode mechanical-electronic transmission was provided. Four kinds of dual-mode mechanical-electronic transmission schemes were designed. Theoretical analysis and simulation on speed, torque and power characteristics were compared. The program of the engine input connecting with the gear ring of the first planetary gear set met the vehicle requirements of the relationship between speed, torque and power. The parameter adjusting range of planetary gear set was wider, program application was flexible. The relative electric power split, the motor weak magnetic ratio, the cooling method and system application background must be regarded as the considering factors.

Abstract:The effect of controlled traffic with conservation tillage (CTCT) on fuel consumption in annual two crops region in northern China was analyzed to illustrate its advantage on energy saving, thus further to promote its application. When subsoiling, fuel consumption of CTCT was reduced by 23.7%, in which trafficking fuel consumption was reduced by 23.8% and working fuel consumption was reduced by 36.3%, compared to non-controlled traffic with conservation tillage (NCTCT). While in maize and wheat planting, fuel consumption reduction was reduced by 23.9% and 26.0%, respectively. For the two-year period, compared to NCTCT, CTCT significantly reduced fuel consumption by 28.6% (27.09 L/hm2) in average. Results indicated that CTCT was a useful way to reduce agricultural machine field fuel consumption by separating traffic and crop zone, therefore to reduce working resistance force.

Abstract:A mechanical-pneumatic combined corn precision seed-metering device was designed based on the structure of mechanical inside-filling seed-metering device and the single-seed reserving principle of the pneumatic seed-metering device. The basic structure and the working principle were expounded here. The critical components were designed based on the calculation. It’s performance such as working air pressure, seed overlap index, missing index and seed allocation eligible rates was investigated under laboratory. Experiment results indicated that this device had superior eligible rates of the seed individual spacing, low working air pressure and high speed adoptability.

Abstract:A centrifugal metering device was designed for rapeseed. Working principle of the centrifugal metering device was analyzed, and its main structural and performance parameters were investigated. The relationship among rotation speed with the delivery capacity, coefficient of variation, stability of total displacement and damage rate was concluded through the captive test of seeding device. The experimental results showed that the rotating speed was 150 r/min,the diameter of discharge holes was 3.2 mm, the tilt angle of discharge holes was 15°, the delivery coefficient of variation was 2.38% and performance test of the device on the rack demonstrated that seeding uniformity coefficient of variation was 18.2%.

Abstract:For the great deal need of peat resource in plant breeding, based on protection peat resource and use of renewable resources, crop straw was used as the main materials to product nutritive bowl, and corresponding substrate loading and molding equipment were designed. Experimental study indicated crop straw as substrate of nutritive bowl had good prospects, the foundation for efficient mass production nutritive bowl were established by development and application substrate loading and molding equipment.

Abstract:To make sure the excitation of a step track can be used for boom sprayer system identification and characteristics estimation, a method was established to extract the front-tires-excited spray boom response form the spray boom response of front and rear tires were excited by step truck. The determination coefficient between measured and predicted model value of spray boom response was 0.9551.The front-tires-excited spray boom response can be used for characteristics analysis of spray boom motion.

Abstract:Due to spray drift and less penetration into the crop canopy by conventional pesticide application methods, a wind-curtain air-assisted spraying system under a no-canopy condition was evaluated by using electronic scale to weigh deposition on the plane. Overall deposition and distribution of electrostatic spray and un-electrostatic spray on different heights with different wind velocities was investigated. Effects of the field of wind-curtain on deposition and distribution of spraying was analyzed. Results showed that the wind-curtain decreased transversal diffusion of spray drop which centralize spray deposition in narrow region near the centre and repress spray drift. The air flow enhance disturbance of spray field which enhanced uniformity of deposition of electrostatic spray and un-electrostatic spray along the axial direction of the boom. The air jet increased momentum of small droplets far away the nozzle and the greater air curtain velocity the greater impact on distribution of spraying.

Abstract:A method of evaluating strength of root lodging resistance in maize stalk was developed. It constructed a mechanical model of cantilever beam to describe maize stalk. The maximum vertical root-pulling resistance was used as a measurand for evaluating the strength of root lodging resistance in maize stalk. A measuring instrument was designed which consisted of a screw mechanism, an activities tripod platform, a gripper and measurement parts. Force which was transferred to the screw mechanism with the help of a hand wheel was only 1/97 of the maximum vertical root pulling resistance. The gripper with two different devices could clamp most of the maize stalks with different diameters. Field experiments showed a significant negative correlation existed between maximum vertical root-pulling resistance and root lodging.

Abstract:In the study of lodging resistance of wheat stalk, a culm model with varying stiffness was established from wheat stalk by the variation of structural parameters, such as the Young’s modulus, inertia moment, the length of the internode, load and so on, in different internodes along the stalk height, and its critical load was analyzed by using initial parameter method. With tests performed on the wheat variety of Jinnong 190 in the milk stage, the structural parameters were obtained in different internodes. Based on the proposed model, the critical load was estimated and the safety factor was concluded as 1.97, which showed Jinnong 190 had a better ability in lodging resistance. The local bucking analyses showed that the Brazier buckling was hard to occur in the internodes of Jinnong 190 with the effects of its self weight and the tip weight.

Abstract:Rape adhesion property test system was constructed to test the adhesion property of rape mixture to bionic screen matrix, which was measured by adhesion rate μand adhesion reduction rateτwhich were correlative with residual adhesion area. Super-green feature extraction method of image technology was used to calculate the residual adhesion area. The results showed that the adhesion reduction ratesτof rape mixture to bionic screen matrix were more than 30% and even reached to 90%， which means an obvious adhesion reduction function of the bionic screen matrix. The results also showed that bionic convex surface could lower adhesion better than bionic concave surface with rape mixture. The adhesion degree of rape mixture on common screen was depend on the components of rape mixture while the adhesion degree of bionic nonsmooth screen was stable, which could adapt to different environments in the field and keep the lower adhesion function.

Abstract:The material motion on the screen surface of air-and-screen cleaning device was simulated by using CFD-DEM coupled method, and experimental results and simulation results were compared. Simulation results showed that with the increasing wind speed, vibrating screen processing power would improve in a certain range, while grain losses would increase. With the increasing wind speed, the grain passed through the screen surface and decreased after section 15.It showed that numerical simulation of material motion on vibrating screen of air-and-screen cleaning device based on CFD-DEM was feasible.

Abstract:In order to study the damage mechanism of sugarcane leaf sheath under the action of elastic leaf-stripping elements in the leaf-stripping process of whole stalk sugarcane harvester, the sugarcane leaf-stripping machine was designed, and the damage process of the leaf sheath was photographed by high-speed photography. By analyzing the pictures, the result showed that three damage forms, the abscission of leaf sheath from stalk, leaf sheath torn and the separation leaf sheath from stalk were found. The damage mechanism under the action of elastic leaf-stripping elements was analyzed based on the construction of simplified mechanical model and mechanical properties of sugarcane leaf sheath. The elastic force applied on the leaf sheath by elastic leaf-stripping elements was the main force to make the leaf sheath damage. The different damage forms had relations with growth character and mechanical property of leaf sheath. When the moisture content of leaf sheath was less than 20%, the abscission of leaf sheath from stalk was the main damage form. And the moisture content ranged from 20% to 50%, leaf sheath torn happened. Also the moisture content was greater than 50%, the separation leaf sheath from stalk appeared.

Abstract:To overcome the difficulties of mountainous orchard transport, a remote control monorail transporter of mountainous orchards was designed. Chain wheel and chain mechanism was used flexibly to drive the machine. The single-track was paved according to the terrain, which met the need of transport in complex terrain. A special structure was installed on the machine to prevent it falling aside and tripping off the track. Using the artificial driving monorail transporter as the research object, the monorail transporter remote control driving system was designed and come out. The experimental results showed that with the load of 300 kg the monorail transporter could climb up the slope no more than 38° and with the load of 1000 kg climbing down ability. The turning radius was no less than 4 m. The remote control distance was as far as 300 m, and the system was reliable and suitable for mountainous orchard operations completely.

Abstract:In order to check the reliability and accuracy of bill hooks biting ropes in the knotting process of Deerting knotter, the space trajectory equation of key positions related to knotter and biting was solved with the help of mathematical analytical method. The general evaluation equation to predict the existing knotter structure, matching relationships between motions was established according to the position and movement requirement of knotter hooks rope-biting. In addition, a visual demonstration of the matching relations between the existing knitter structure and motion parameters was produced by means of Matlab. Such methods had a predictable effect on different designs of knotter hook and twine retainer, and directive function in revising data and adjusting information.

Abstract:The spray characteristics of bio-oil for combustion were investigated by phase Doppler anemometry (PDA) with Sauter mean diameter (SMD) as evaluating indicator. The effects of air liquid mass flow ratio (ALR) on SMD were analyzed. The SMD distributions along axial direction of bio-oil, diesel and bio-oil/ethanol blend spray droplets were also compared. The results showed that SMD of bio-oil spray droplets exhibited a tendency to first decrease and then increase along axial direction and increased continuously along radial direction. The SMD diminished with the increase of gas-liquid flow ratio and had little variation when the gas-liquid flow ratio exceeded a certain value. Among three kinds of fuels, the atomizing quality of diesel was the best, while that of the bio-oil was the worst. By adding ethanol to the bio-oil, the atomizing quality was improved. The empirical equation for the SMD was derived. The predicted results were found to be in a good agreement with the experiment results, which confirmed the reliability of the empirical equation and would offer information for designing bio-oil spray nozzle and optimizing bio-oil combustion conditions.

Abstract:In order to prepare hydrocarbon fuel, sodium soap made from Swida wilsoniana fruit oil was chosen as a model compound with significant molecular polarity for preparing hydrocarbon fuel by microwaveassisted pyrolysis. The result showed that the hydrocarbon content were usually above 70%. In addition, its density and dynamic viscosity were 0.850～0.875 /cm3 and 2.09～2.85 mm2/s, respectively, similar with petroleum diesel. The highest peak in the GC-S profile of liquid product was fifteen carbon alkenes, decarboxylation was proved to be main reaction in microwaveassisted pyrolysis.

Abstract:An Arrhenius form first order reaction kinetic model was introduced to determine volatilization characteristics of corn powders. The factors which affect the kinetic parameter of the Arrhenius model including: volatile percent, final volatile percent and residential time. A laminar entrained flow reactor (LEFR) was designed and constructed to obtain the volatile percent and final volatile percent of corn powders. Using the PIV cold test conclusion, accurate residential time of corn powders in LEFR was obtained by optimizing the calculation method. Based on experimental results, the values of frequency factor and activation energy of corn powders pyrolysis were determined. The results showed that the test values fit well with the predict values, which verified practicability of the model.

Abstract:The combustion behavior of vinegar residue was studied under the different heating rate, particle size, and oxygen volume fraction by non-isothermal thermogravimetric analysis. The influence of different conditions on burning performance parameters of vinegar residue was investigated. A combustion kinetic equation of vinegar residue was built, and the combustion kinetic parameters were obtained. The results showed that the increase of heating rate was helpful to the combustion of vinegar residue. The influence of particle size and oxygen volume fraction was relatively small. And when the value changes to a certain value, the influence was not obvious any more. According to the calculation of Satava-Sestak method, the combustion kinetic parameters, such as activation Es and pre-exponential factor As and mechanism function G(α) of vinegar residue were got. And G(α)=［－ln(1－α)3. The values of Es and lgAs in the devolatilization and combustion stage and the fixed carbon combustion stage were similar. Es was about 120～130kJ/mol, and lgAs was about 9~11.

Abstract:The aid of the combination design of quadratic orthogonal rotation was adopted to analyze the effects of barrel temperature, material moisture, screw speed, L-a-PC addition on breakdown value of restructuring rice, and the quadratic regression model of rice breakdown characteristics was deduced. Then a response surface method was employed to obtain the effect order of four factors on the yield of restructuring rice: barrel temperature, L-a-PC addition, screw speed and material moisture. Through frequency excellent-choosing, the optimization breakdown parameter range respectively was: barrel temperature of 71.1～75.5℃, moisture of material of 29.2%～30.5%, rotation speed of extruder of 185～208 r/min, L-a-PC addition of 0.44%～0.55%. The restructuring rice that obtained under these conditions, after repeated experimental verification, the average of value of breakdown of restructuring rice was 1221 cp, to meet feature requests that the general breakdown of rice to cooking rice (more than 1200 cp). 

Abstract:In order to improve precision determination of dry matter content in potatoes by hyperspectral image technology, several variable selection methods such as PCA, siPLS, GA-PLS, UVE and competitive adaptive reweighed sampling (CARS) were compared. A combinatorial method named CARS-SPA (successive projections algorithm) was proposed to select variables from 678 wavelength variables. The number of wavelength variables was reduced to 27. A multivariate linear regression model (MLR) based on these 27 wavelength variables was developed to predict DM content with Rp of 0.86, and RMSEP of 1.06%. It was concluded that hyperspectral imaging technology could be used to detect potato dry matter concentration and CARS-SPA was a feasible and efficient algorithm for the spectral variable selection. 

Abstract:In order to adapt to the requests of onsite rapid detection technique of Escherichia coli (E.coli) for the safety of agricultural products, a rapid E.coli recognition method based on shape and color feature parameters was proposed. Principal component neural network was used to improve the recognition ability. Principal component analysis was applied to the 14 extracted feature parameters, including Hu’s moment invariants, shape factor, denseness and saturation, et al. A three-layer BP neural network model based on the principal components was constructed. Compared with traditional BP neural network, the configuration of the principal component neural network was simpler, the training time was shorter and the recognition accuracy was higher. The recognition accuracy of the principal component neural network can arrived at 91.33%. 

Abstract:In order to increase the detecting accuracy and stability of the fertility of hatching eggs during early hatching period, information of vision and acoustic sensors were fused in the sensor level on the fifth day of incubation, and two different artificial neural networks were chosen to establish models for detecting fertility of hatching eggs. Results showed that the sensor fusion model by LVQ artificial neural network obtained a higher discriminating accuracy and stability than the sensor fusion model of BP artificial neural network. The discriminating accuracy of hatching eggs during the early hatching period was up to 92% and 88% by computer vision technique and impact excitation technique, respectively. However, the discriminating accuracy reached 98% by sensor fusion model, which implied that the sensor fusion was feasible for detecting fertility of hatching eggs during early hatching period. 

Abstract:Angiotensin I-converting enzyme (ACE) inhibitory peptides from digested Porphyra yezoensis protein were purified with ultrafiltration and ionic exchange. The hydrolysate of Porphyra yezoensis protein was ultrafiltered by 10 kDa and 3 kDa membrane in sequence. It was found that the IC50 value of Porphyra yezoensis peptides decreased from original 0.844 mg/mL to 0.523 mg/mL. And Nakai D61 cation resin was selected according to its largest absorption in the ionic exchange static absorption test. The results showed that the second elution peak had the highest protein recovery, ACE inhibitory activity recovery and the lowest IC50 value, which were 45.2%, 61.5% and 0.127 mg/mL, respectively. The sample’s IC50 value decreased by 75.7% after the ionic exchange purification.

Abstract:The influences of drying temperature and hot air speed on the moisture ratio MR and the drying velocity U of litchi were studied by self-building heat pump drying device. The results showed that drying process of litchi occurred in the falling rate period, and the moisture transfer was controlled by internal diffusion. Nine different dynamic models were fitted nonlinearly by using the drying test data of litchi in the heat pump device. The results of comparing the values of the correlation coefficient R2, the reduced chi-square χ2and the root mean square error eRMSE and the verification testing showed the Page model was the best suitable to descript the relationship of litchi moisture and drying time by hot air drying. The effective moisture diffusion coefficient Deff and the activation energy Ea were also obtained by experiments under different conditions, the values of Deff would increase with the addition of drying temperature and hot air speed, the average value of Ea was 29.939 kJ/mol.

Abstract:The objective of this study was to explore the relationship between wheat yield and soil properties. The spatial relationship of organic matter, total nitrogen, available phosphorous, potassium, iron and other 4 kinds of effective nutrients and 2001～2006 wheat yields were studied. The results showed that there were interactions among soil nutrients, maybe multicollinearity, so it was impossible to analyze the relationship of soil nutrients and wheat yield based on simple correlation. Based on partial least squares (PLS), the first two principal components could explain about 30% of the variance of the dependent variable, accounting for all the principal components could explain part of the 96%. For this test field, among nitrogen, phosphorus and potassium, phosphorus was the most important factor to determine the yield. Among trace elements, Zn exerted the greatest impact on wheat yield. In conclusion, the model constructed by PLS could not only make a reasonable explanation for wheat yield and soil nutrients, but also instruct be useful for variable rate fertilization. 

Abstract:The canopy spectral reflectance and chlorophyll content were measured and analyzed by different testing methods in turning green and jointing stage, which were most important periods for winter wheat growth. The characteristics of correlation indicated that the test results of the canopy spectral were affected by field without covering at turning green stage. The red edge inflection point as one of the most important spectral parameters was analyzed at winter wheat turning green and shooting stages based on the first derivative of reflectance spectra. The results showed that the correlation of red edge and chlorophyll was better for forecasting the chlorophyll content in the turning green stage which was lower surface ground coverage. The linear prediction coding model and the binomial model were found for the chlorophyll content prediction. 

Abstract:A petiole modeling method based on keeping original data constant technology was presented. The length and radius parameters were set to establish a 3-D model, and the surface hair simulation was used to enhance the sense of reality. In order to produce 3-D models with multiple shapes, an interactive method was proposed to adjust the model shape based on joint chain, IK method and error compensation algorithm which made the method could keep the original parameters (length and radius) constant. The results showed that the method could build 3-D petiole model quickly and flexibly, and had good realistic effect. More importantly, the variation of parameters was very small in the interactive deformation process. 

Abstract:Both traditional and new spectral characteristic parameters were used to estimate the pigment content of leaves by employing PLS algorithm. Therefore the pigment content of leaves under powdery mildew in processing tomato could be estimated and tested. The result showed that the sensitive bands of original and opposing spectrum were 350～718nm, 719～839nm and 350～718nm, 728～857nm, respectively. Then three groups named PGP, PGT and TTT were composed, including the optimal 9 spectral characteristic parameters from either traditional or new parameters(PSNDa, GNDVI, PSSRa, PSSRb, GM, TPMPa, TPMPb, TPMPc and TPMPd). After estimating the pigment content, the best estimation model was TTT.

Abstract:To solve the problem of detecting white foreign fibers in cotton, the optical characteristics of cotton and foreign fibers were analyzed, and then a detecting method based on a line-construction laser for illumination was set up. The experimental results indicated that the histograms of the gray images of cotton and white foreign fibers were of dual-peak distributions, and the contrast between white foreign fibers and cotton was remarkably enhanced by the detecting method. Thus, a simple threshold segmentation algorithm was effectively used for detection of the white foreign fibers in cotton. The results indicated that the mean detectable rate of six typical foreign fibers reached to 92.08%.

Abstract:A network video surveillance system for laying hens farm was designed based on embedded technology. Linux operation system environment was built. Video and image were processed in parallel on embedded terminal: videos captured by V4L were coded based on H.264, transmitted to surveillance platform using RTP/RTCP and UDP, decoded and displayed on surveillance platform. An image from frames splice according to their contents was binarized by Ohta, converted into a distance image, binarized again with a threshold of egg radius to count eggs, and the total number was overprinted on video by OSD. Field experiment showed that videos were displayed real-timely and clearly and eggs were counted with an average accuracy of 96.07% on surveillance platform.

Abstract:The spurious currents were studied based on the stationary droplet problem. The conception of spurious currents and their characteristics were described. The effect of surface tension and liquid viscosity on spurious currents was analyzed. It was found that there was a certain relationship between the average spurious velocity and the computing time. This conclusion could provide an idea to weaken or eliminate the spurious currents. The cause of the spurious currents was analyzed and found that the modification of the phase interface simulation method could weaken spurious currents obviously, and this conclusion was validated by the comparison of the simulation results of CLSVOF method and VOF method.

Abstract:An intelligent STEP-compliant CNC controller was studied and designed under Linux Rtai. A CNC expert knowledge-base was established by importing the theory of ontology. The hardware interface in the bottom layer was realized beyond the self-developed real-time Ethernet fieldbus platform. A prototype was developed under universal Linux with Rtai embedded and the feasibility of this scenario was validated. This CNC controller had the capability of programming and re-planning on the shop floor. It could make decisions by itself to some extent and support distributed control. The whole system was characterized by openness, intelligence and flexibility.

Abstract:Topology structure design of low-DOF parallel stable platform was studied based on POC set theory and SOC unit. Taking the 1-translation and 2-rotation (1T-2R) parallel mechanism as an example, the detail procedure for low-DOF parallel stable platform topology structure design was formulated. The SOC branches with 1T-2R output were presented, and many new 1T-2R topology structure types were obtained by arranging the suitable SOC branches. The design personnel may select the best topology structure from these obtained structure types and its topology parameters based on concrete performance indices and other design requirements. And the method has some reference for other low-DOF stable platforms or PM structure designing and election.

Abstract:For the flexible manipulator, rigid-flexible coupling dynamics model was established based on the Lagrangian equations by regarding the flexible joint as a non-linear torsional spring model. Assumed model method was used to transform physical coordinate to modal coordinate. ADAMS was adopted to build virtual prototype for simulation of link flexibility. A Runge-Kutta algorithm was programmed by Matlab to solve dynamics equations considering both link and joint flexibility. Aiming at simulation of manipulators swing under the gravity and driving torque, tip deformation and angle under different loads were given. Coupling characteristics of the joint and link flexibility were studied. Results showed that joint flexibility could not be ignored. The vibration range of manipulator under coupling of the joint and link flexibility was less than sum of individual flexibility vibration. Vibration mode was determined by the joint and link flexibility jointly, but amplitude was mainly influenced by driving torque. The dynamics and solving method were proper.

Abstract:In order to realize the shape from shading (SFS) under unknown light source parameters of single grayscale image, an efficient SFS method was proposed based on support vector regression(SVR) and particle swarm optimization(PSO) algorithm. Based on the SVR theory, a nonlinear mapping model was constructed between the grayscale image and its 3-D surface by researching into the SFS problem. The light source of the tested actual image should be estimated to generate the training samples corresponding to the light direction. It was important to select the proper SVR parameters for improvement on 3-D reconstruction precision, and the PSO algorithm was introduced. Finally, the case study had verified the feasibility and effectiveness of the proposed SFS method.

Abstract:A 3-D reconstruction method was introduced to apply color pseudo-random coded image from a projector. A color projecting template was designed based on the pseudo-random principle. Then, a modified color corner extraction method based on Harris corner testing was introduced, which applying quadric fitting to realize sub-pixel location of the corners. Therefore, the left and right images were decoded to pseudo-random array on the basis of the corner testing results. According to the window property, the matching between the left and right images was realized and the reconstruction of the scene could be obtained combined with the vision calibration. The surface of a cylinder was reconstructed. The result proved that the method introduced here had the advantage of high matching speed and high matching accuracy.

Abstract:A kipp oscillator gas piezoelectric micro-pump was presented. The dynamic modeling and simulation of the check valve which was the main component of pump were investigated. Based the analysis results, a proto type of gas micro-pump was fabricated and measured. The pump was driven by piezoelectric bimorph which had a hole in the middle, and a check valve was adhered to the hole to cut off fluid. The inlet and outlet was located in the two sides of the piezoelectric vibrator, and the on/off action of the check valve corresponding to the variation of the pump chamber was produced by the actuation vibration energy of piezoelectric vibrator. Compared with the traditional piezoelectric pump which inlet and outlet was located in one side and the check valve was drived by differential pressure on the two sides，it had lower fluid resistance and preferable unidirectional cut off characteristic. So the gas pumping ability and the response frequency of check valve were enhanced. The measured output flow rate of present design by experiment reached to 720 mL/min when driving voltage and frequency was 40 V and 1 000 Hz. 

Abstract:The multi-variation characteristic of Hy-Vo silent chain was presented. The meshing design system with silent chain, sprocket and sprocket hob was built. The right meshing necessary condition of Hy-Vo silent chain and sprocket wheel was presented. It was indicated that the consistency of the chain pitch and the virtual side-center distance was the important base condition of the multi-variation when the Hy-Vo silent chain was tense. The interrelation of the enlaced circularity and tangency circularity were analyzed in the meshing design process. The practice showed that the multi-variation design method of the Hy-Vo silent chain was an important way to realize product innovation upgrade and intellectual property rights protection. This is the scientific and practical method. 