Comparing with general products, open-architecture products (OAPs) are designed based on the modular structure. Assembly sequence planning (ASP) for OAPs includes two parts: ASP for components inside a product module and ASP for product modules. A structure diagram of product and the product assembly constraint matrix were proposed to describe an assembly model. A bill of material (BOM) was built to express the modular hierarchy. Considering that an independent functional module might not be independent in its physical structure, a module of OAPs was first evaluated for its possibility to be assembled in a single sub-assembly,and the criteria was then presented. If a module couldn't be assembled in a sub-assembly, it would be divided into several sub-modules or parts, and the BOM hierarchy chart was adjusted. The assembly sequence for components of the modules could then be planned based on the assembly constraint matrix of each module. Combining with the module type of OAPs, feasible assembly sequences of all modules were finally generated through the hierarchical precedence method. The proposed method was verified by an example of gear-box.

Su-Field analysis is an important tool of analysis based on function in TRIZ. Through describing and abstracting the technical problem, investigators establish the Su-Field model of this problem. Though, 76 Standard Solutions is a kind of tools of solving problems which is based on knowledge in TRIZ. Designers can obtain the solutions of the technical problem by choosing the different Standard Solutions which determine the nature of the problem by distinguishing the model of Su-Field of the problem. Aiming at the problems existing in the current classification method such as easy to choose a wrong solution or difficult to choose from multiple Standard Solutions, the first three kinds of Standard Solutions which were aimed at improving the performance of the system were reclassified into three types based on the similarity principle. The three types were corresponding to the Su-Field models which were the incomplete model, the insufficient model and the harmful model. The solving process and steps were summarized also. Finally, the problem of pollution in the process of polycrystalline silicon crushing was taken as an example to further demonstrate the convenience and availability of the former method.

In recent years, with the development of marine aquaculture technology, the traditional way and equipment of bait casting can not meet the growing demands any more. As fishes are fed with certain regularities, it is important to acquire the feeding conditions of the fishes, and on the basis, to control the bait casting equipment in real time. Applying machine vision technology and embedded system to collect and process the images about fish feeding, the eigenvalues of the fish feeding condition, such as the position, number, and degree of hungry of the fishes, could be obtained in real time. A smart bait casting machine was developed. The kinematic, dynamic, and control models of the baiting and throwing mechanisms of the machine were established. The smart control of the bait casting process was achieved based on the results of real time image process and the model of the machine. Experimental result showed that the smart machine developed based on machine vision and real time decision technology could cast the bait according to the growing requirement of the fishes, and therefore, the bait utilization could be increased, the bait waste and water pollution reduced, the aquatic cultivation cost saved, and the fish quality improved as well.

To solve the problem that the distribution of the active joints' drive force was not unique due to the redundant actuation, the parallel inverse dynamic of the 4SPS/S(4-spherical joint-prismatic joint-spherical joint/spherical joint) with redundant actuation was analyzed by the minimal value optimization algorithm of driving force. By simulation experiments, it was found that the optimization results could contain singular points producing a sudden change of force. Furthermore, the reasonableness of the defect was proved on the basis of theoretical analysis, and a new minimal value optimization algorithm of driving force was designed which had rapid convergence and without singular points producing a sudden change of force. Finally, the results of simulation and analysis showed that the new optimization algorithm of driving force was effective.

Focusing on the variety and uncertainty of the fault reason of a hydraulic breaking hammer, in order to avoid the problems of traditional fuzzy BP neural network, such as poor convergence rate in fault diagnosis and easy to fall into a local minimum, a new method of fault diagnosis of hydraulic breaking hammer by using Fruit Fly Algorithm for optimization of fuzzy RBF neural network was proposed. By synthesizing the neural network's associative memory, processing ability, and fuzzy logic system’s qualitative knowledge, fuzzy reasoning ability, optimizing fuzzy RBF neural network expansion parameter by Fruit Fly Optimization Algorithm, a relations between the network fault information and fault reasons was established. The simulation tested by MATLAB indicated that fuzzy RBF neural network optimized by Fruit Fly Algorithm worked accurate and fast. The result of the diagnosis agrees with target outputs, which proves the feasibility of this method.

In the field of industrial design, product coloring activity is mainly colored and modified manually and the users' emotional involvement is low. In order to reduce the dependence on the knowledge in the design activities, a color design method based on reuse of color configuration was proposed. It used obfuscation and dominant color extraction technology to obtain color combinations from the source image, then created the sample database of color combinations, the 3D model library of products and the emotional evaluations collection of color combinations. The imagery contribution of single color was obtained from the color combination by using factor analysis. Then it completed the mapping from independent color space to the imagery space. Finally, based on user's evaluation scores and color harmony, fitness function was built and the optimization of program groups was promoted through IGA. An example of cultural souvenir color design demonstrates the effectiveness of this method.

In view of the traditional rainwater pipe network planning and design, most rainwater catchments were classified by the road network not divided according to the terrain characteristics adaptively, which leading to the results that the hydrological parameters often differed from the actual situations. A method was proposed to automatically extract the hydrological parameters by GIS. First, the DEM was built. 〖JP2〗It took the road network into account, and integrated with city planning data and the condition of developed city bottom. Then, the hydrological analysis tools and spatial analysis tools of GIS were employed to automatically extract the hydrological parameters based on the simulation terrain. Under the hydrological parameters and road weight, the geometric network tool of GIS was used to build directed network of rainwater drainage system. At last, SWMM was used to simulate the rainfall and analyze which pipe was being flooded, and then the best case of rainwater pipe network was given. The test results show that the rainfall pipe network designing scheme obtained from this method is clearly better than the traditional designing scheme.

In order to study ball spinning process, a 3D rigid-plastic finite element model of ball spinning made by oxygen free copper thin-wall tube was established under software DEFORME-3D. The forming process was simulated and calculated. The metal flow law of spinning process, the stress distribution of the thin-wall tube and the spinning force of the ball were analyzed, and the numerical value of spinning force of the ball calculated by finite element simulation was compared with that of M.I. Rotarescu‘ theory calculation. The results showed that metal plastic flow mainly depended on ball extrusion, the friction force between the ball and the contact zone of the tube billet and the friction force between the core-rod and the inner wall of the tube could inhibit the metal flow in the spinning process. The tube was under a three direction compressive stress and its stress was distributed on gradient along the wall thickness. The radial force of the ball was the biggest, the axial force was the second and the tangential force was the smallest. With the increase of the reduction of thickness, the spinning force of the ball increased. The increase of the wall thickness of the tube caused the increased of axial, tangential force and the decrease of radial force.

An adaptive impedance control algorithm was proposed for accurate force control between end effector of curtain wall installation robot and environment. The algorithm could attain force tracking combining a simplified dynamic model of the robot and adaptive theory.In order to improve tracking speed, overshoot and oscillation times, damping parameter B was adjusted in real time and the adjusting method of fuzzy rules was explained so as to get proper parameters B. When deviation between contact force and expected force was big, smaller value of the damping parameter B should be chosen. On the contrary, when the deviation was small or the system was in a state of oscillation in balanced position, the larger value of parameter B was conducive to make the system have good stability. Simulation showed that the designed fuzzy adaptive impedance control algorithm could accurately control contacting force with less overshoot, less oscillation times and rapid response. It not only retained the advantages of adaptive control method but also improved the control quality of the guidance system. Compared with adaptive impedance control algorithm, the improved fuzzy control method made the peak value of force decreased by 6.25%, the oscillation times reduced by 33.33% and tracking velocity quickened about 36.36%, which could improve the working efficiency and security.

To overcome the disadvantages of the traditional topology optimization method, a global effective strain based multi-objective topology optimization method of compliant mechanisms was presented. Under this method, a global effective strain function was minimized to represent structural rigidity, rather than minimizing the strain energy as the objective function. Thus the strain could be well distributed within the whole mechanism, instead of concentrating on compliant joints to cause a localized high strain. Considering the requirement of rigidity and flexibility on compliant mechanism, the multi-objective topology optimization problem that defined the objective as minimizing the global effective strain and maximizing mutual strain energy was established. Based on the solid isotropic material with penalization approach, the compromise programming method was used to study the multi-objective optimization problem of compliant mechanisms. The sensitivity of the objective functions was analyzed by the adjoint metrix method. The multi-objective topology optimization problem was solved using the algorithm of moving asymptotes. Finally, this method was further investigated and realized with a numerical example to show its correctness and effectiveness. The results show that the global effective strain based topology optimization method can effectively reduce localized high strain of the traditional method to improve the reliability of the compliant mechanism.

Because micromanipulation stage was often woking in an environment with randomly changing temperature, the robust optimization design of the stage based on Taguchi method was proposed in order to reduce the influence of temperature on the performance variation of the micro-manipulation stage. Taking a novel one-dimentional micromanipulation stage as study object, the finite element method was applied to build the model of thermal error of the stage considering temperature effect. The relationship between thermal error and structure parameters was analyzed based on the model, and then the control factors were chosen, which had greater impact on the thermal errors of the stage. Taking the thermal error as smaller-the-better characteristic, the temperature and thermal expansion coeffcient as noise factors, the structual parameters as control factors, the optimal level of the control factors were determined by using the orthogonal experiment design and the main effect analysis. By comparing the mean and variance of the thermal error before and after optimization, the results showed that they were reduced by 16.03% and 12.07% respectively, and which illustrated the temperature effect of the stage could be reduced by the proposed robust optimization design.

Aiming at the problem of model uncertainty caused by the change of external disturbance, DC motor conditions and the modeling error, robust DC servo motor speed control system was designed using μ control theory. Firstly, by introducing fictive uncertainty, the robust performance problem was transformed into robust stability problem of augmented system.Secondly, the DC servo motor speed control system design was constructed into the general framework of μ synthesis according to the principle of interference suppression, and weighting functions was selected properly to get the augmented controlled object. Lastly, the D-K iteration algorithm was used to solve the seventeen-order controller, and this controller was reduced to fourth-order successfully using the Hankel singular values and dominant-pole procedure.Robustness analysis was performed in term of the controller, results showed that the reduced-order μ controller yielded the desired robust stability as well as the robust performance.

In order to carry out the study of coal log pipeline transportation, studying the structure and function of coal log pipeline transportation system, the design schemes and parameters of each part of transportation system were suggested. A coal log transportation experimental system was built including the coal log injector, the power unit, the transportation section and the tail ejector, etc.The transporting experiments of coal logs and the measurements of the coal log velocity were conducted by using this experimental system. The results showed that the design schemes were able to accomplish the transportation of coal logs well. With the water velocity increasing, the coal log velocity also increased. The coal log velocity was larger than the water velocity. However the appearance of the turning increased the abrasion of coal log during transportation and affected the maintenance of the space between coal logs. So the turning should be as gentle as possible in the actual application.

To solve the problem of chattering when the traditional adaptive discrete exponent reaching law control was applied to the yaw control system of quad-rotor, a new adaptive discrete sliding mode controller was designed. Based on the dynamic model, the traditional adaptive discrete exponent reaching law was improved and the new adaptive discrete sliding mode control law was deduced. Then the stability of the controller under the improved adaptive discrete exponent reaching law was proved by Lyapunov function and a decay function was introduced to reduce the high frequency chattering associate with the yaw control system of quad-rotor. The results of MATLAB simulation showed that the adjusting time of the improved adaptive discrete sliding mode control had 0.6 s shorter than the traditional adaptive discrete sliding mode control and the chattering of the system was greatly reduced.

Aiming at the problem of deflection and the serious stress “edge effect” of rock bit floating-ring journal bearings, a new type of elastic spherical floating-ring journal bearings was designed. Through the finite element method, the spherical and plane rock bit floating-ring journal bearing's mechanical properties were comparatively analyzed. The effect of intermediate modification on four groove shape of rectangular, oval, round and triangle to the spherical floatingring bearings inside and outside contact stress was studied, and then the slot size was optimized. The results showed that: the mechanical properties of spherical floating-ring journal bearings were better than the plane floating-ring journal bearings, but there were serious stress “edge effect” of the two kinds of floating-ring journal bearings; the intermediate modification method could effectively improve the stress “edge effect” of floating-ring journal bearings. The circular groove was the most effective shape and it was easy to be manufactured. When the radius of circular groove R=0.6 mm, the radio of distance from center of the circle to the inside and outside of surface was a/b=19/21, the maximum equivalent stress value difference between inner and outer contact line was reduced to 8.91 MPa, 33.3% lower than before. The new design prevents the floating-ring journal bearing occurring fatigue failure too early.

In order to analyze the mechanical properties of shearer drum in the process of oblique feed, the single pick cutting resistance was calculated, the total cutting resistance was obtained by applying superposition method and the drum axial force was obtained by utilizing the extrusion area and theory of coal rupture. Meanwhile, taking domestic made MG400/940-WD AC electric haulage shearer as an example, MATLAB was used to simulate the single pick cutting resistance, the total cutting resistance and the roller axial force. The simulation results showed that the maximal axial force of front drum end plate was 3.64 times as much as the maximal total cutting resistance and the maximal axial force of hinder drum end plate was 3.32 times as much as the maximal total cutting resistance. The simulation results have certain value for improving the reliability of the tooth and the stability of the shearer.