The in-situ insulation of deep strata is the key technology of deep drilling and deep resource exploitation, but at present, this technology is still a difficult problem in the study of in-situ fidelity coring in deep strata. Taking into account the complex geological conditions of deep strata, the strong disturbance and high cost caused by large-scale mining activities limit the working space of deep drilling. At the same time, the fidelity cabin is too far from the ground surface during deep drilling operations, which will cause great difficulty in power supply, temperature control and data collection. For this reson, the function-behavior-structure (FBS) model was used to define and describe the function of the active insulation system for in-situ fidelity coring in deep strata, and the functional requirements and functional structure layout of the active insulation system were initially proposed. Combining the TRIZ, the technical conflicts in the preliminary design scheme of active insulation system were analyzed and improved. In addition, a high-efficiency active insulation system consisting heat pipes, Peltier cooler and graphene heating coating was proposed. By setting different temperature gradients and performing constant temperature control, the insulation simulation of in-situ temperature at different depths was realized, which verified the feasibility of the proposed active insulation system. The realization of the active insulation system for in-situ fidelity coring in deep strata can provide research ideas and methods for the later research of passive insulation and temperature pressure coupling.

Both safe human-robot interaction and environment-adapted bionic motion need compliance in robot joints. In order to solve the problems of the existing passive compliant actuators, such as weak adaptability to different external loads, the need for additional stiffness adjustment motor, and the mismatch between stiffness and load, a new nonlinear stiffness compliant actuator was designed, which adopted "cam+torsion spring" mechanism combined with gear transmission and could achieve the given bidirectional nonlinear stiffness. Firstly, the working principle of the nonlinear stiffness mechanism, the calculation method of the effective contour curve of the cam and the working principle of the nonlinear stiffness compliant actuator were introduced.Then, based on the proposed bidirectional nonlinear stiffness mechanism, an actuator prototype was designed. At last, the performances of the proposed compliant actuator were evaluated. Through simulation and experimental analysis of the stiffness characteristics of the prototype, it was verified that the designed compliant actuator could adjust the stiffness well according to the given nonlinear stiffness characteristic curve. Through comparing with the similar actuators, it was shown that the proposed actuator had good comprehensive characteristics. Through the experiments of tracking sinusoidal torque signals with different peak torques and frequencies, it was preliminarily proved that the designed compliant actuator had good torque control performance. The research results show the effectiveness of the proposed design method, which provide a new idea for the design of actuator of robot joints.

A flexible finger based on pneumatic multi-cavity soft driver was designed to solve the problem of the existing soft flexible finger with less freedom of movement.Based on the motion characteristics of mollusk, the structure of multi-cavity soft driver was designed. According to the principle of virtual work, the mechanical model of the soft driver and the pose equation of the flexible finger were established. By using Abaqus CAE finite element simulation software, the relationship curve between the deflection angle of the flexible finger and the input air pressure was obtained. Taking single direction rotary soft driver as the experimental object, the relationship between deflection angle and input air pressure was analyzed by inputting a specific air pressure value, and the difference of theoretical calculation, simulation analysis and test results of deflection angle-input air pressure relation curve was compared. The experimental results showed that when the deflection angle was 0°-80°, the theoretical calculation and simulation analysis were basically consistent with the test results of variation trend of the deflection angle-input air pressure curve. The research showed that the established mechanical model of the single direction rotary soft drivercan describe the variation of the deflection angle of the driver more accurately, and the established finger pose equation can obtain the spatial coordinates of each finger node according to the deflection angle of each joint, which provides a foundation for the motion control of the finger.

For the poor noise reduction effect of existing defective pipe and the rare consideration of defect signal integrity, a method of magnetic memory signal noise reduction based on ensemble empirical mode decomposition (EEMD) and layered threshold was proposed. Firstly, a metal magnetic memory detecting system controlled by STM32F407 was designed to collect the magnetic signals of the defective pipe. Then, through EEMD pretreatment of magnetic signal, the intrinsic mode function (IMF) components were obtained and the optimal decomposition layer number was selected according to spectrum analysis and similarity calculation. Finally, the IMF components with the optimal decomposition layer number were reconstructed through the layered threshold noise reduction algorithm, and the de-noised signal was obtained. By means of simulation analysis and experimental test, the EEMD layered threshold noise reduction method was quantitatively evaluated.The results showed that this method was suitable for the noisy signal with small signal-to-noise ratio (SNR) and the SNR and smoothness of the de-noised signal were higher and the root mean square error was smaller than that of wavelet threshold noise reduction. The defect feature signal was complete and the defect location was more intuitively displayed.The research result provides a practical method for noise reduction of magnetic signal of metal pipe and a reference for online detection of pipe defects.

In order to effectively control the noise of specific frequency band, a new locally resonant acoustic metamaterial was designed based on Helmholtz resonant cavity array and by controlling the position of the Helmholtz resonant cavity short tube. The energy band graph and transfer loss curve of the new acoustic metamaterial were obtained by using COMSOL Multiphysics software, and the transfer loss curve was compared with that of Helmholtz resonant cavity array with a single directional opening.Meanwhile, in order to analyze the band gap formation mechanism of the new acoustic metamaterial, the acoustic pressure distribution nephogram in the band gap frequency range was obtained. The sound absorption performance of the new acoustic metamaterial was tested by experiments. The results showed that there were two relatively narrow band gaps and one relatively wide band gap in the band graph of the new acoustic metamaterial, and within the band gap frequency range, the transfer loss of the acoustic metamaterial peaked. The first band gap and the second band gap were relatively narrow, which was due to the local resonance of a single Helmholtz resonant resonator and less acoustic energy consumption. The third band gap was relatively wide, because the external waveguide formed by the Helmholtz resonance cavity and its periodic arrangement resonated and absorbed sound, which consumed a lot of acoustic energy.The experimental result was in good agreement with the simulation result. The new acoustic metamaterial can effectively control the noise in the frequency range of 1 300-1 500 Hz and 1 500-2 000 Hz. The results show that the new locally resonant acoustic metamaterial designed can effectively reduce vibration and noise in the middle and low frequencies, which provides a new idea for the research of acoustic metamaterials on noise reduction control in the middle and low frequencies.

The performance of guideway has an important influence on the machining accuracy of machine tool, however the dynamics and thermodynamics properties of the guideway made by conventional materials are not ideal. In order to improve the machining accuracy of machine tool, the hydrostatic guideway of precision machine tool was made by resin concrete with embedded steel structure, and its structure was optimized. Firstly, based on the working condition of hydrostatic guideway in a certain type of horizontal machining center, the structure of hydrostatic guideway oil cushion was improved, and the structure of hydrostatic guideway was strengthened through strutting piece with embedded steel structure. Secondly, the statics and thermodynamics properties of hydrostatic guideways made by resin concrete and granite were analyzed and compared. Finally, U-V shape groove and V shape groove drag reduction micro-structure were set on the surface of hydrostatic guideway made by resin concrete, and their drag reduction effects were compared. The simulation results showed that the maximum static deformation of hydrostatic guideway made by resin concrete was smaller than that by granite, the thermal performance was significantly improved, and U-V shape groove had more obvious drag reduction effect. The research show that the U-V shape groove micro-structure on the surface of hydrostatic guideway made by resin concrete can effectively improve the comprehensive performance of hydrostatic guideway, which can provide reference for the development of precision machining equipment.

In order to improve the machining accuracy of machine tool and reduce the machining errors of work pieces, taking the contour error and tracking errors of Z-axis and X-axis as the optimization objectives, the multi-objective optimization design and research on the biaxial linkage feed system was carried out. Firstly, on the basis of previous studies, the optimization initial condition was set, and the test sample points were obtained by Box-Behnken method. Secondly, based on the established electromechanical coupling dynamics model of the biaxial linkage feed system, the simulation analysis of the motion trajectory of the sample points was carried out to obtain the data of contour error and uniaxial tracking error, and the design variables with a greater influence on the design objective were obtained by using the sensitivity analysis method. Then, based on the data obtained by simulation, the response surface model of design objectives to design variables was constructed by quadratic polynomial fitting method with cross term. Finally, NSGA-II（non-dominated sorting genetic algorithm-II）was used to optimize the biaxial feed system, and Pareto optimal solution set of the biaxial feed system was obtained. The optimal solution was found from the solution set according to the priority order of the design objectives. The simulation results showed that the contour error and tracking errors of the Z-axis and X-axis of the biaxial linkage feed system were significantly reduced by more than 30%, and the optimization effect was obvious. This method can provide reference for the optimization of multi-axis linkage feed system.

The vortex profile plays an important role in the optimal design of the vortex expander. At present, the researches on the variable base circle radius vortex profile were mostly focused on the establishment and derivation of geometric and mathematical models, and lack of in-depth research on the profile parameter selection. In order to make up for the above shortcomings, particle swarm algorithm was used to optimize the parameters of the variable base circle radius vortex profile. Firstly, the mathematical models of mesh disc diameter and expansion ratio of the variable base circle radius vortex expander were established. Secondly, the influence of the base circle variation coefficient on the performance of the base circle radius vortex expander was analyzed. Finally, the parameters of variable base circle radius vortex profile were optimized by single objective and multi-objective methods. After optimization, the values of base circle radius and base circle variation coefficient when the mesh disc diameter and expansion ratio were extreme respectively, as well as the non-inferior solution set of base circle radius and base circle variation coefficient when the mesh disc diameter and expansion ratio were taken as common optimization objectives. The research results can provide reference for the design of profile of vortex expander.

Aiming at the problem of unreasonable layout design of operation interface in mining excavator cab, the idea and method of layout design of operation interface was proposed.Firstly, the GEM-AHP（group eigenvalue method-analytic hierarchy process） optimization method was used to analyze the relative weights of using frequency, degree of importance and comprehensive weight of components of operation interface in mining excavator cab. A priority pie chart of components was constructed. The degrees of visual attention and ease of operation of the operation panel were considered by using the module importance analysis method, and the distribution diagram of degree of importance of operation panel modules was drawn. Secondly, Components and operation panel modules were matched, and the layout optimization design scheme of the operation interface was established. Finally, Jack's ergonomics software virtual simulation evaluation method and user experience subjective evaluation method were used to compare and evaluate the operation interface in mining excavator cab before and after optimization. The results showed that the operating comfort of optimized interface was significantly improved, and the design rationality was improved by 18.6%. The behavioral characteristics and cognitive characteristics of the operator were emphasized, and the overall layout was more humanized.The research results can provide more scientific and intuitive guidance for layout optimization design of operation interface and provide reference for layout design and evaluation of complex man-machine operation interface.

The production tree plays a vital role in the exploitation of deep-sea oil and gas. In order to accurately understand the dynamics characteristics of the vertical release and installation of the drill string-production tree, based on the actual working conditions of the drill string-production tree installation and the basic principles of dynamics, the longitudinal vibration dynamics simulation model of the drill string-production tree was established considering the heave motion of the platform. Discrete solution was solved by finite difference method in MATLAB. The influences of heave compensation, PID controller proportional coefficient, compensation cylinder volume, water depth, drill string wall thickness and production tree weight on longitudinal vibration performance of drill string-production tree were analyzed.The simulation results showed that the compensation effect of the active heave compensation device was better than that of the passive heave compensation device. In the active heave compensation device, if the proportional coefficient k_p of PID controller increased, the heave compensation effect would be enhanced. However, as k_p continued to increase, the drill string-production tree system would be unstable. The longitudinal vibration displacement of drill string-production tree decreased with the increase of compensation cylinder volume and drill string wall thickness.The stress decreased with the increase of compensation cylinder volume and drill string wall thickness, and increased with the increase of production tree weight. Under different water depth, the longitudinal vibration displacement and stress at top of drill string-production tree were basically the same. The research results can provide a reference for the stable release and installation of production tree.

In order to solve the problems of large labor demand, easy injury and high cost in pineapple picking operations, a semi-automatic screw type pineapple picking-collecting machine is proposed. Based on the system design principles, the structural design of the semi-automatic screw type pineapple picking-collecting machine was completed by comprehensively using cams, connecting rods, sprocket chains and other mechanisms. Firstly, the 3D model of semi-automatic screw type pineapple picking-collecting machine was established by SolidWorks software, and the parameters of the scissor lifting mechanism, the claw arm translation mechanism, the picking mechanical claw and the collecting system were designed and verified. Through the Motion module, the Simulation module in the SolidWorks software and MATLAB software, the kinematic analysis and static analysis of the scissor lifting mechanism, the cam spindle and the collecting groove were carried out. Finally, a picking and collecting test was conducted to verify the feasibility of semi-automatic screw type pineapple picking-collecting machine. The results showed that the average picking and collecting efficiency of the semi-automatic screw type pineapple picking-collecting machine reached 17.99 s/plant, and the maximum variance of the picking and collecting efficiency under different picking scales was 0.07 (s/plant)², which indicated that this picking-collecting machine had good working stability. The semi-automatic screw type pineapple picking-collecting machine is easy to operate and portable, which can effectively meet the various flexible picking demands of small-scale growers and has a broad application prospect.

Aiming at the problem that the current lane line recognition system is difficult to realize the online recognition of lane lines because the processing object is offline image or video files, most lane line recognition algorithms usually select a fixed region of interest (ROI) region to reduce the amount of image processing, which makes them difficult to adapt to the dynamic changes of the environment and there are different degrees of recognition errors. For this reason, an online lane line recognition system without setting region of interest was proposed based on the machine vision. Firstly, the real-time collected color road images were preprocessed through the VBAI (Vision Builder for Automation Inspection) platform to complete the grayscale, filtering and binary processing. Secondly, the image coordinate system was established, and the gray value collection lines diverging outward were constructed. The gray value at the the intersection of the gray value collection line and the lane line changed greatly. When the gray value of a point was higher than the setting gray threshold, the point was recorded as the edge sudden change point. Thirdly, all lane edge sudden change points were fitted by fit line algorithm to complete the lane line recognition. At the same time, the remote vanished point coordinate of the left and right inner lane lines and the relative deviation angle of the vehicle deviating from the lane center line were solved. When the relative deviation angle exceeded the safety thresholds of different levels, the prompt box of the system's human-computer interaction interface presented different colors for reminding or warning. Lastly, the LabVIEW was used to call the API (application programming interface) script to realize the continuous operation of image processing programs and online lane line recognition. Experimental results showed that the accuracy of the proposed online lane line recognition system was over 98.41%, the measurement error of relative deviation angle was less than 0.056°, and the image processing speed was more than 42 frames per second, which had high recognition accuracy and real-time performance. Based on the above, the online lane line recognition system based on the machine vision can effectively identify lane lines on roads in different environments and achieve the intervention of driving deviation, which can be applied to the lane keeping assist (LKA) system based on autonomous driving technology.

In order to meet the requirements of multi-dimensional, multi-degree-of-freedom, high-precision deployment trajectory and high unloading efficiency in the ground-based microgravity simulation deployment test of the three-dimensional space unfolding robotic arm, a multi-degree-of-freedom microgravity simulation deployment test system based on suspension method and air floatation method is designed through analyzing and summarizing the current microgravity simulation deployment test methods. Firstly，the structural design and principle analysis of the designed multi-degree-of-freedom microgravity simulation deployment test system was carried out. Then, the multi-degree-of-freedom microgravity simulation deployment test system was applied to a three-dimensional trajectory microgravity simulation deployment test of a three-dimensional space unfolding robotic arm. The results indicated that deploying process of the three-dimensional space unfolding robotic arm was stable and reliable, and the the air floatation friction resistance, the vertical resistance fluctuation and the additional resistance in the deployment direction generated by the microgravity simulation deployment test system to the robotic arm were small, and the unloading efficiency was higher than 95%, which met the requirements of high precision and high unloading efficiency. The research result can provide reference for the in-depth study of ground simulation deployment test system for multi-degree-of-freedom space unfolding mechanisms.

In order to realize that the vehicle based on the carbon-free concept can identify obstacles and optimize obstacle avoidance trajectory during its complex path driving, a gravity-driven intelligent vehicle was designed. Firstly, in order to make the intelligent car not only travel a long distance but also speed up the slope, based on the law of conservation of mechanical energy, a smooth transition type stepped winding wheel was designed. Its simple structure, shock-free operation and constant acceleration can effectively save driving energy. Secondly, dynamics analysis and torque calculation based on single degree of freedom were carried out for the transmission mechanism of intelligent vehicle.Thirdly, STM8S105 single-chip microcomputer was adopted as the core controller to control the E3Z-D62 infrared sensor, ES3104 steering gear and JY61P gyroscope to realize the identification and avoidance of obstacles, as well as the body steering and body deflection angle prediction. Finally, Python software was used to visually simulate the running speed and travelling distance of the intelligent vehicle under different gear transmission ratios.The results showed that when the gear transmission ratio was 6.3:1, the intelligent vehicle could be driven by the kinetic energy transformed by the gravitational potential energy generated by the falling of a weight of 1 kg and a height of (400±2) mm, and the optimal travelling distance could be realized.The designed intelligent vehicle can realize a series of movements such as straight driving, autonomous recognition and avoidance of obstacle, acceleration uphill, deceleration downhill, and the appearance and cost of the intelligent car were fully considered, so it had met the expected design requirements.The research results can provide reference for the structure optimization and control of carbon-free vehicle.

With the development of internet technology and vigorous initiatives for green travel, the number of bicycles in cities has gradually increased, resulting in a shortage of bicycle storage and disorderly placement. Aiming at the above problems, a compact bicycle stereo garage is designed, which mainly includes three parts: the input-output garage subsystem, the control subsystem and the human-computer interaction subsystem. Firstly, the structure composition and working principle of the compact bicycle stereo garage was introduced. Secondly, the key mechanisms such as clamping push-pull mechanism, rotary lifting mechanism and linkage mechanism were designed, analyzed and checked. Thirdly, the hardware and software of the control system of the bicycle stereo garage were designed. Finally, based on the self-developed compact bicycle stereo garage prototype, the feasibility of stereo garage was verified through bicycle access debugging experiments. The experimental results showed that the compact bicycle stereo garage made full use of the height space and adopted the vehicle frame splicing combination mode, which not only simplified the structure of the garage but also increased the number of bicycle storage, and could well realize the access of bicycles. The designed compact bicycle stereo garage has a high degree of automation, reliable structure and stable performance, which can effectively alleviate the problems of bicycle parking and disorderly placement.

Aiming at the problem of insufficient working stroke of the micro-positioning platform driven by piezoelectric actuator, a two-DOF（degree-of-freedom）micro-positioning platform based on the two-level lever mechanism is designed. In view of physical characteristics of different flexible hinges, the differentiated hinge assembly pattern was utilized to optimize the new two-DOF micro-positioning platform to make its response speed fast and output displacement range large. Based on the Lagrange’s theorem, the stiffness model and natural frequency analytical expression of the new two-DOF micro-positioning platform were derived. The finite element simulation results demonstrated that the error of stiffness model of the two-DOF micro-positioning platform was extremely small, which verified the accuracy and reliability of the stiffness modeling method. The research result can provide some theoretical guidance for the configuration design and modeling analysis of flexible precision micro-positioning platforms.