摘要：In order to realize safe and accurate homing of parafoil system,a multiphase homing trajectory planning scheme is proposed according to the maneuverability and basic flight characteristics of the *** this scenario,on the basis of geometric relationship of each phase trajectory,the problem of trajectory planning is transformed to parameter optimizing,and then auxiliary population-based quantum differential evolution algorithm(AP-QDEA)is applied as a tool to optimize the objective function,and the design parameters of the whole homing trajectory are *** proposed AP-QDEA combines the strengths of differential evolution algorithm(DEA)and quantum evolution algorithm(QEA),and the notion of auxiliary population is introduced into the proposed algorithm to improve the searching precision and *** simulation results show that the proposed AP-QDEA is proven its superior in both effectiveness and efficiency by solving a set of benchmark problems,and the multiphase homing scheme can fulfill the requirement of fixed-points and upwind landing in the process of homing which is simple in control and facile in practice as well.

摘要：The degumming pretreatment mechanism was investigated to improve degumming performance and the spinnability of degummed fibers. Apocynum was treated with redox system in the degumming pretreatment process and the pretreatment parameters had been optimized, besides the effects of pretreatment on property index of degummed apocynum fiber were investigated. The results showed that the redox system degumming process reduced alkali boiling time and had good advantages over the traditional degumming process in extraction rate, single fiber length and strength. SEM was used to test the longitudinal morphology changes of fibers before and after pretreatment. At the same time, pretreatment solution was analyzed by UV spectra and electron paramagnetic resonance spectrometer (ESR), and its pH value was also tested. The results showed that the pretreatment solution could release acid constantly to keep the stability of the pH which caused the swelling and dissolution of pectic substances in apocynum bast. Meanwhile, pretreatment solution could activate the free radicals from apocynum bast and reduce the activation energy of non-cellulosic composition in apocynum bast.

摘要：目的:准双曲面齿轮副在实际装配过程中不可避免地存在安装误差。本文旨在建立考虑多种安装误差的准双曲面齿轮啮合模型,对齿轮副啮合印痕特征(齿面分布位置、大小和方向)进行参数化建模,精确评价印痕对安装误差的敏感性,以及研究降低接触性能对安装误差的敏感度的方法,为准双曲面齿轮副的加工和安装提供理论依据。创新点:1.对准双曲面齿轮齿面接触印痕进行精确的参数化建模;2.建立考虑轴交角误差、偏置距误差以及大小轮轴向误差的齿轮副啮合分析模型;3.建立准双曲面齿轮副安装误差敏感度综合评价模型;4.通过优化齿轮加工参数,在齿轮副设计环节实现齿轮副安装误差敏感度的降低。方法:1.对准双曲面齿轮副安装误差和齿面接触印痕进行参数化建模,推导出表示接触印痕大小、方向和齿面分布位置的解析表达式(公式(1)^(3));2.建立考虑4种安装误差的准双曲面齿轮副啮合分析模型(公式(4)^(11)),得到不同安装误差对啮合印痕的影响(图5~7);3.建立准双曲面齿轮副安装误差综合敏感度优化模型(公式(15)),并基于改进的多种群遗传算法(图14)实现齿轮副安装误差敏感性的降低(图8)。结论:1.四种安装误差对准双曲面齿轮啮合质量的影响程度不同;其中轴交角误差的影响最大,其次是偏置距误差,而大小轮的轴向安装误差的影响最小,因此安装齿轮副必须注重轴交角及偏置距的安装精度。2.通过降低齿轮副安装误差综合敏感度,可在一定程度上降低系统对装配误差的敏感性;在齿轮副设计环节加入安装误差敏感度分析,优化机床加工参数,对装配后的啮合质量控制具有积极意义。3.考虑安装误差的轮齿接触分析模型能够得到不同安装误差对啮合印痕及传动误差的影响规律,是一种对失配状态下的准双曲面齿轮副进行无载啮合分析的有效工具。

摘要：In order to achieve a wheelchair climb stairs function, this paper designs a star-wheel stair-climbing mechanism. Through the effect of the lock coupling, the star-wheel stair-climbing mechanism is formed to be fixed axis gear train or planetary gear train achieving flat-walking and stair-climbing functions. Crossing obstacle analysis obtains the maximum height and minimum width of obstacle which the wheelchair can cross. Stress-strain analysis in Solidworks simulation is performed to verify material strength.