Coastal blue carbon ecosystems such as mangroves, salt marshes, seagrass beds and seaweed fields are important natural carbon sinks for mitigating global climate change. Under various anthropogenic and natural threats, the coastal blue carbon ecosystems have been degraded on a large scale, so the restoration and enhancement of the carbon sink function of the coastal blue carbon ecosystem is an issue that needs to be solved urgently. According to the categories of coastal ecosystems, the main coastal blue carbon sink technologies and equipment were summarized. The comprehensive benefits of coastal blue carbon ecosystem sink enhancement were analyzed from the aspects of carbon sink enhancement benefit, economic benefit and eco-benefit. Future research should focus on the optimization of the observation system for the distribution and sink of coastal blue carbon ecosystems, the improvement of species optimization and planting methods, as well as the impact of emerging blue carbon ecosystems carbon sequestration technologies on eco-environment, so as to further consolidate and enhance the carbon sink of blue carbon ecosystems s, and help realize the goal of “carbon peak” and “carbon neutrality”.

In order to quantitatively evaluate the remanufacturability of piston pump, the fatigue life was studied with the piston pump as the research object. The rigid-flexible-liquid joint simulation model of the piston pump was established, and the effects of rotational speed and load pressure on the maximum stress and fatigue life of the piston pump were studied. The results showed that the maximum stress on the piston pump increased exponentially with the rotational speed increasing, while the fatigue life of the piston pump decreased exponentially. With the increase of load pressure, the maximum stress increased linearly, and the fatigue life decreased logarithmically. Based on the fatigue life analysis of the piston pump, a technical evaluation system with remaining life and parts processability as indexes was established, and economic and environmental indexes were comprehensively considered. A quantitative evaluation model and method for the remanufacturability of the piston pump were proposed, and engineering application analysis was carried out to verify the rationality and feasibility of the proposed method.

Idler fault has become a common problem in the operation of belt conveyors. If the idler fault cannot be diagnosed in time, it will seriously restrict the safe operation of belt conveyors. To solve the above problems, based on the actual operating conditions of idlers in the middle section of a certain mining belt conveyor, an idler fault diagnosis method fusing short-time Fourier transform (STFT) and convolutional neural network (CNN) is proposed. Firstly, based on distributed optical fiber, the vibration signals of the idler operating under normal, bearing damage and cylinder skin fracture conditions were collected and processed by STFT to obtain corresponding time-frequency image sample set, and the sample set was divided into training set and testing set. Then, the training set was input into the CNN model for diagnostic model training, and the operating state characteristics of idlers under different working conditions were constantly updated during the training process. Finally, the trained CNN model was applied to the testing set, and the recognition result of the idler operating state was output. The results showed that the recognition accuracy of the constructed CNN model was as high as 99.6%. Based on the proposed fault diagnosis method, field experiment were carried out in a certain mine to further verify the recognition accuracy of the CNN model. The experimental results showed that the CNN model had a high recognition accuracy of 96.5% for the operating state of idlers in the middle section of the belt conveyor, which was 3.1 percentage points lower than the recognition accuracy on the testing set, indicating that the proposed fault diagnosis method had a certain reliability. Subsequently, the robustness of the fault diagnosis method can be improved by continuously increasing the operation data of idlers under different working conditions, which can provide a powerful theoretical basis for the effective diagnosis of idler faults in coal mine enterprises.

A tool positioning method based on spiral contact line is proposed to address the problem of mutual interference between tool and design surface during five-axis flank milling of undevelopable ruled surfaces. Firstly, an analytical error model under a single tool position was established based on the Z-buffer method to evaluate the advantages and disadvantages of the tool positioning method. Secondly, a mathematical model of the tool axis vector was constructed based on the torsional characteristics of the undevelopable ruled surfaces, and the properties and parametric expressions of the tool-workpiece contact line were analyzed. Thirdly, considering the non-linear machining errors in actual machining, the path interpolation optimization for the global tool position was carried out by kinematics transformation. Finally, the simulation analysis was conducted based on the improved two-point offset method, the least square method and the proposed method, and the errors generated by the three methods were compared, with the latter two methods being used for experimental verification. The simulation and experimental results show that the proposed method can effectively reduce the principle error in flank milling, which can provide a certain reference for five-axis flank milling of undevelopable ruled surfaces.

Considering the influence of the uncertain parameters of central pattern generator (CPG) model on the kinematic stability of hexapod robot, an optimization design method for the kinematic stability of hexapod robot based on a probability-interval hybrid model was proposed. Firstly, the numerical model of the hexapod robot was established, and the CPG model of the hexapod robot was established based on the Matsuoka and Kimura models. Secondly, the uncertainty variables of the CPG model were described by the probability-interval hybrid model, and the kinematic stability optimization mathematical model of the hexapod robot was also constructed. Then, Karush-Kuhn-Tucker (KKT) optimization condition and the second order fourth moment method based on the maximum entropy principle were used to decouple the kinematic stability optimization design problem of the hexapod robot, and the three-level nested optimization design problem was transformed into a single-level optimization design problem, which realized the efficient solution of the optimization problem. Finally, the kinematic stability approximate model of hexapod robot was established based on radial basis function, and the optimal design solution was obtained by genetic algorithm. The results showed that the proposed method could effectively solve the optimal parameters of the CPG model and improve the kinematic stability of the hexapod robot. Therefore, this method has high application value in the field of robot motion control.

As a vital component of the magnetic adsorption wall-climbing robot, the structure of the magnetic adsorption module usually affects the overall mass and adsorption stability of the robot. Aiming at the problems of complex magnetic circuit coupling relationship and complicated optimization design of magnetic adsorption modules, a magnetic adsorption module structure optimization method is proposed by combining virtual simulation technology, surrogate model and dung beetle optimization algorithm to improve the efficiency of magnetic force calculation and optimization design process. Firstly, the structure design scheme for the wall-climbing robot was introduced, and through the simulation analysis of the existing Halbach array magnetic circuit modes, it was determined that the three-magnetic circuit mode had relatively high adsorption efficiency. At the same time, the magnetic force simulation model of the magnetic adsorption module was experimentally verified based on the initial parameters, which laid the foundation for establishing subsequent surrogate models. Then, an optimization model with the robot's adsorption stability and structural parameters as constraints and the lightweight of the magnetic adsorption module as objective was established. A fourth-order response surface model between the magnetic force and the structural parameters of the magnetic adsorption module was established by the optimal Latin hypercube design, ANSYS parametric modeling and surrogate model technology, and its credibility was verified. The structural parameter optimization model of the magnetic adsorption module was solved by using the dung beetle optimization algorithm. The results showed that the prediction error of the established surrogate model was tiny, and the relationship between the magnetic force and the structural parameters of the magnetic adsorption module could be well expressed. After optimization, the mass of the magnetic adsorption module was reduced by 12.7%. Finally, the correctness of the optimization process was verified through robot load experiments. The research results can provide reference for the magnetic force analysis and structure optimization of other magnetic adsorption robots.

In order to meet the needs of idler replacement robot operating on complex road surface and narrow long-distance roadway in coal mine, a crawler chassis with attitude adjustment mechanism was designed, and the mechanical performance analysis and key component optimization for the chassis were conducted based on the terrain characteristics of coal mine. Firstly, the dynamics model of the crawler walking mechanism was established by the multi-body dynamics simulation software RecurDyn, and six classical working conditions were simulated and analyzed. The rationality of the structure design of the crawler walking mechanism was verified by comparing the simulated and theoretical values of the tensioning force and driving torque of crawler. Then, the statics analysis for the attitude adjustment mechanism was conducted in the ANSYS Workbench software, and the topology optimization of its key components was carried out to improve material utilization and reduce weight. Finally, the stability of the crawler chassis was tested by conducting robot driving tests. The results showed that the maximum stress and mass of the transverse platform of the optimized attitude adjustment mechanism were reduced by 13.71 MPa and 36.92%, respectively. The robot could drive stably under different road conditions, and its attitude adjustment mechanism could work normally. The research results can provide reference for the driving performance optimization of crawler coal mine electromechanical equipment under complex working conditions.

Soft pipeline robots with anchoring-telescoping motion mechanism are typically constructed from flexible materials such as silicone and hydrogel, which can realize anchoring and telescoping in the pipeline through the deformation of flexible materials and have good flexibility. However, due to the viscoelasticity and hysteresis of flexible materials, the soft pipeline robot usually exhibits small force and slow response speed, which is difficult to store and release a large amount of mechanical energy quickly, and the crawling speed is slow. In order to solve this problem, a soft pipeline robot that can realize fast crawling is designed. This robot was composed of an anchoring module and a telescoping module. The anchoring module employed flexural deformation of the flexible belt to achieve the anchoring in the pipeline, while the telescoping module utilized the soft continuum structure with tower springs as main part to facilitate extension and contraction. According to the experimental measurement, the maximum crawling speed of the robot in the pipeline was 102 mm/s and the maximum anchoring force was 76.4 N. The robot was capable of stable crawling in pipelines with inner diameter of 90-120 mm, and had good adaptability to different shapes of unstructured pipeline environment. The results demonstrate that the designed robot can not only achieve bidirectional crawling in horizontal and vertical pipelines, but also quickly pass through S-shaped pipelines, which can provide new ideas for the design and research of soft robots in unstructured pipelines.

Aiming at the problems of large volume and small output damping force of magnetorheological damper (MRD) in MR prosthesis, a full fluid channel MRD with built-in valve was designed. Firstly, the magnetic flux lines were guided through all fluid flow channels by arranging arranged with magnetically conductive wedge rings and a magnetically separating ring, and the magnetic circuit analysis and derivation of mathematical model of output damping force were carried out. Secondly, the electromagnetic field of the damper was simulated by ANSYS software. Thirdly, the structural parameters of the MRD were optimized by using the multi-objective genetic algorithm, and the average magnetic flux density and the output damping force of the damper before and after optimization were simulated and compared. Finally, the damper prototypes were machined before and after the optimization of structural parameters, and the dynamic performances were tested and analyzed. The results showed that the volume of the piston head was reduced by 24.4% and the maximum output damping force was increased by 24 N after optimization. When the current was 2 A, the simulated value of maximum output damping force before optimization was 295.38 N, and the experimental value was 309.76 N, with an error of 4.6%; the simulated value of maximum output damping force after optimization was 307.77 N, and the experimental value was 333.76 N, with an error of 7.6%. The designed full fluid channel MRD with built-in valve had smaller volume, larger output damping force and higher utilization rate of fluid flow channel space. The research results can provide reference for the design of MRD in MR prosthesis.

Oil film stiffness coefficient is one of the key performance parameters of hydrostatic bearing. In the context of slot throttling hydrostatic bearing, the analytical expression for the oil film load capacity was deduced, and the analytical expression for the oil film stiffness coefficient was further derived on this basis. Compared with conventional empirical formula, the calculated results from this expression were in better agreement with the experimental results. Through the analysis of application cases, it could be seen that the oil film load capacity was positively correlated with throttling parameters and spindle eccentricity. The positive oil film stiffness coefficient decreased with the increase of eccentricity, whereas the cross oil film stiffness coefficient increased with the increase of eccentricity, and the positive stiffness coefficient was obviously greater than the cross stiffness coefficient. By using the expression for oil film stiffness coefficient of bearing, the oil film stiffness coefficient can be obtained in real time by measuring the bearing shaft center position in the running process of the bearing, and the operation of the slot throttling hydrostatic bearing can be effectively monitored.

As the secondary loop main circulation pumps progress towards larger capacity and higher loads, higher requirements are placed on the lubrication characteristics of its key load-bearing component, which is the liquid sodium hybrid plain bearing (referred to as liquid sodium bearing). To further improve the lubrication characteristics of liquid sodium bearing, the influence of surface texture on its lubrication characteristics was studied through the combination method of numerical simulation and test. Firstly, the surface textures with circular, square and rhombic shapes were designed. After simplifying the friction pair model of liquid sodium bearing, the lubrication characteristics of three surface textures under different depths and different spacing were analyzed by numerical simulation method. Then, the influence of laser processing parameters on the surface texture preparation was explored, and the friction pair specimens with surface textures of different shapes and different spacing were prepared for friction and wear testing. Finally, the liquid sodium bearing model incorporating surface textures was analyzed. The results indicated that the surface textures with different shapes had optimal depth and spacing, and the rhombic texture had the best lubrication characteristics when the dimensionless depth was 2 and the spacing was 1.4 mm. After incorporating rhombic textures, the bearing capacity and stiffness coefficient of liquid sodium bearing increased by 16.7% and 9.3%, respectively, and the friction coefficient decreased by 13.1%. The research results are of great significance for the safe and reliable operation of secondary loop main circulation pumps and sodium-cooled fast reactor systems, and can provide important reference for the optimization design and localization of similar bearings.

In order to reduce the assembly stress in the adhesive connection structure of high precision gyroscope float assembly and ensure the structural stability, the influence of the adhesive connection structural parameters on its static and dynamic properties was studied. The finite element model of the adhesive connection structure of the gyroscope float assembly was developed, and the uniformity of shear stress distribution and natural frequency were used to characterize the static and dynamic properties of the adhesive connection structure, and the influences of the adhesive layer thickness, adhesive layer length, buoy thickness and the adhesive layer shape on the static and dynamic properties of the structure were studied. The results showed that increasing the thickness and length of adhesive layer in a certain range and adopting parabolic adhesive layer could help to enlarge the advantageous bearing area of adhesive layer and improve the uniformity of stress distribution effectively. Additionally, reasonable increase of buoy thickness would decrease the first six natural frequencies of the adhesive connection structure with a greater reduction in higher orders. Conversely, the adhesive layer thickness had little influence on the dynamic property of adhesive connection structure. The research results have a certain guiding significance for the design and research of gyroscope components.

In order to explore the statics properties of aluminum alloy clinched joints and the effect of the corrosion on the statics properties of clinch-bonded composite joints, the AA5052 aluminum alloy and the DP590 dual-phase steel were used as test plates to prepare the clinched joints and the clinch-bonded composite joints with aluminum/aluminum and steel/aluminum combinations, respectively. The statics properties and the failure mechanism of joints were analyzed by the tensile test and the scanning electron microscope. Then, the 0.02 mol/L NaHSO₃ solution was used as corrosion medium to perform alternate immersion accelerated corrosion tests on the joint specimens with the best statics properties. The results showed that the statics properties of clinched joints and clinch-bonded composite joints could be improved by selecting the higher strength plate as the upper plate, and the failure modes of the two joints were optimized from the neck-fracture to the mixing of bottom pull-out and neck-fracture. The use of adhesive could improve the statics properties of clinched joints, but had no significant effect on their failure mode. In the acidic environment, the failure mode of the steel/aluminum clinch-bonded composite joints gradually transformed from the mixing of bottom pull-out and neck-fracture to the neck-fracture, indicating that the corrosion aging would cause the neck of the upper plate to become thin, and make it become a weak link in the shear transfer process and fracture. During the corrosion process, the peak load of the steel/aluminum clinch-bonded composite joint showed a decreasing trend, and the energy absorption value showed a "step" decline. The decrease of peak load and energy absorption value of the steel/aluminum clinch-bonded composite joint was small in the medium and long corrosion period, which indicated that the corrosion accumulated on the surface of the plate could inhibit the corrosion effect of joints. The research results can provide reference for the subsequent design and evaluation of automotive lightweight.

Aiming at the problems of high labor intensity, low efficiency and high cost of Panax notoginseng harvesting in hilly and mountainous areas, the hydraulic system of the self-propelled Panax notoginseng combine harvester was studied. Firstly, the hydraulic system of the key working components of the whole machine was theoretically analyzed, calculated and designed, and the selection for hydraulic components was completed. Then, the hydraulic system simulation model was established by AMESim software, and the simulation analysis for the working state of each hydraulic component was carried out to verify the feasibility of the hydraulic system design scheme. Finally, a prototype was manufactured and the field test was carried out to test the working performance of the hydraulic system of the whole machine. The test results showed that the average speed deviations of the hydraulic motors driving the first-stage lifting chain, the vibrating wheel, the second-stage lifting chain and the lifting device were 1.15%, 2.05%, 5.10% and 4.09%, respectively. The average retraction synchronization deviation rates of lifting, inclination adjustment and dumping hydraulic cylinders were 0.63%, 1.16% and 0.62%, respectively, and the average retraction locking deviation rates were 0.34%, 0.66% and 0.33%, respectively. The average extension synchronization deviation rate and the average extension locking deviation rate of dumping hydraulic cylinder were 0.56% and 0.30%, respectively. The results indicate that the designed hydraulic system can meet the operation requirements of self-propelled Panax notoginseng combine harvester, which can provide theoretical basis and reference for the design of the hydraulic system of rhizome combine harvesters in hilly and mountainous areas.

Blood biopsy technology based on visualized platelet ultrastructure has important applications in the monitoring and diagnosis field of acute ischemic stroke and other diseases. However, current platelet immunofluorescence staining heavily relies on manual operation, with heavy workload, low efficiency and poor consistency, and it is difficult to cope with the increasing demand for blood sample monitoring. In order to solve the shortage of manual staining and make up for the blank of automatic platelet immunofluorescence staining equipment in China, an automatic platelet immunofluorescence staining control system was invented, which mainly included power module, main control module, sensor feedback module, motion execution module and upper computer software. The control system could realize the accurate control of the immunofluorescence staining operations with ten sample fluxes, including drilling, sealing, primary antibody labeling, primary antibody rinsing, secondary antibody labeling, secondary antibody rinsing, PFA (polyformaldehyde fixative) fixation and rinsing. The test results showed that the designed control system could control the repeated positioning accuracy of the X, Y and Z axes within ±0.1 mm, the accuracy of adding trace reagents reached 1 μL, the accuracy of adding a large amount of reagents reached 1 mL, and the failure rate of multiple experiments was less than 1%. It could reduce the cost of platelet immunofluorescence staining while obtaining a clear and determinable staining result comparable to manual staining. The automatic platelet immunofluorescence staining control system has the advantages of high stability, high accuracy and high efficiency, and the obtained fluorescence staining results of platelet ultrastructure have high clarity under super-resolution microscope, which can provide an efficient experimental tool for the detection of platelet ultrastructure based on super-resolution technology, and has important engineering significance.