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Accurate surface modeling of washing liquid bottle is to get through RP technology. Point cloud data of washing liquid bottle is obtained by hand-held laser scanner and processed by Imageware software, 3D model is got by Pro/E. Rapid prototyping machine is used to print solid model. High precision model built by ABS is easily got without complex processes.

The Lithium-electric Excavator Hydraulic System (Li-EEHS) is based on economic analysis of energy consumption, and it has changed the excavator counterweight into Lithium-ion Battery in order to replace the engine. A computational analysis which takes the Qingdao heavy industry excavator HW130 as the example demonstrates the accessibility of the scheme. The total efficiency of the excavator has been improved from 7% to 17.1% by the Li-EEHS without energy regeneration, while the cost has been decreased from 750¥/day into 240¥/day. And the cost recovery will take around 3.3 years (about 500,000¥).The article typically analyzes the system scheme and the working features for 4 major Li-EEHS.

The attitude control of unmanned helicopter builds the foundation for velocity and trajectory control. Based on the model-follow control system, a kind of attitude controller is desisgned combining loop shaping control method. The model is reduced by combination of direct decoupling and pode approximation and the inverse model is designed. The parameters of the weighting function are determined via seeking answers for a multi-objective optimization problem and an improved multi-objective optimization genetic algorithm is proposed. Simulated annealing algorithm is introduced to strengthen the capability of local research. An improved niche selection technology is raised and the distance among individuals is set as a dynamic function. The attitude control system of the unmanned helicopter is designed and the satisfied track result and robustness of the improved controller are verified via digital simulation.

Analysis on the concentrations of Pb, Cu in the roots, stems, leaves of phragmites australis which grows on Lingang New City of Shanghai showed that both of Pb, Cu in roots were higher concentrations than that in stems and leaves; the absorption of Pb,Cu had obvious seasonal variation; in winter, the enrichment of Pb, Cu in phranmites autralis was occurred and the enrichment ability of Pb was higher than Cu

This topic develop the matrix composite pipes which has the ability of corrosion prevention and antiseep, also has the high strength of extension and stability, by using huge advantage of the corrosion prevention and antiseep performance of resin matrix composite, the high strength of extension of carbon steel, and also, the high stiffness of cement matrix composites. We design and optimize the structure of matrix composite pipes by study the relationship between deformation coordination based on the viscoelastic constitutive model of resin matrix composite, the homogeneity elastic constitutive model of the cement matrix composites. We obtain a basic method of design the matrix composite pipes from studying from theoretical analysis and numerical simulation.

For the electric vehicle motor controller driver section requirements of the multiple isolated power supply problems, analyzed the common DC/DC converter, the single-ended flyback converter was selected as the motor controller auxiliary power supply. Taking into account the parasitic parameters of the high frequency transformer and switch transistor effects on the circuit, the loss model was showed. Its feasibility is verified by experiments. Experimental results showed that the designed RCD clamp circuit switch could effectively reduce stress and meet the requirements of the motor controller.

As the electric vehicles usually run under complex conditions of city road, there always exists parameter perturbation of motor, which will affect the vehicle performance. To solve the problem, an improved sliding mode variable structure control (SMC) method which combines continuous function and reaching law has been proposed in this paper. Then the improved vector control algorithm’s codes are generated automatically in the MMC (Model-based Motor Control) platform. The results show that the improved SMC algorithm has small chattering and strong robustness to the parameter perturbation and the external disturbances.

In the foundation of the realization of sensorless control of permanent magnet synchronous motor(PMSM) based on the traditional sliding mode observer, the paper focuses on the research on the chattering impacts on the estimation of rotor position and speed, which are caused by the sliding mode variable structure control. To weaken the chattering, the paper proposes two kinds of methods. First, the paper designs the saturation function with boundary layer thickness variable instead of sign function in the traditional sliding mode observer. Meanwhile, let the phase-locked loop (PLL) combine to the sliding mode observer, and construct the rotor position signal detection unit. Finally, the paper verifies the correctness and effectiveness of the proposed methods through the theoretical analysis and simulation.

A variety of modification approaches such as cross-linking and blending have been explored to prepare efficient membranes based on SPEEK. The addition of inorganic filler is also one of the most widely used approaches to modify the SPEEK because inorganic additives can withstand relatively higher temperatures than virgin polymer. Different inorganic fillers are used to alter the properties of neat polymer.

XML has become the standard form of data exchange, more and more data in this form for storage, implying a lot of knowledge in these data information, the need for data mining processing. For XML data mining method at present, most of the need is to pass the XML data into relational data pretreatment process, using the traditional method for processing, data mining process is complex and the effect is not ideal. Therefore, there is an urgent need some effective methods for XML data mining directly.

This paper applies Exploratory Data Analysis to conclude the financial characteristics of the companies who obtains the loans from the bank under different financial ecological environment (FEE). We document that, the company’s solvency is important in the bank’s credit decision in different FEE. However, in bad FEE the bank pays more attention to the company’s cash flow, and in good FEE the bank focuses more on the company’s growth potential. The result provides an empirical basis for the bank to reduce the risk in the credit decision. It also indicates the necessity of the local government to develop the economy by improving the FEE.

Traditional methods encountered two serious problems in tracking dim targets. One is the nonlinearity of the system model, and other is the low SNR of measurement signals. The two problems are hardly solved simultaneously in practical engineering applications. The particle filter is a recursive numerical technique which uses random sampling to approximate the optimal evaluation to target tracking problems. In this paper, we developed a method for tracking dim target using particle filter. Simulation results showed that the tracking performance of this method has greatly improved compared with classical extended Kalman filter and unscented Kalman filter.

The numerical simulation calculation of air-assisted atomizer internal gas flow field is done, the distribution and changes of the nozzle inside flow field total pressure, velocity, and dynamic and static pressure are analyzed. The analysis shows that the total pressure loss is less; due to the effect of gas viscous, the high-speed air flow is formed vortex flow near the outlet nozzle and the mutual influence between the dynamic and static pressure. A new way is supported for optimizing the nozzle structure according to these studies.

In the mechanical processing, fixture has an irreplaceable role, but in the traditional design methods, there are many shortcomings, the rapid prototyping technology is used in the design of fixture was mainly introduced. The defects of fixture design was introduced at this stage, the rationality of rapid prototyping technology used in fixture design was analyzed, then, the advantages of rapid prototyping technology used for fixture design was highlighted, through the concrete example and the forming process of display.

Porous spheres of TiO2 nanoparticles have been successfully prepared using cationic monomer as precursory solid and thermal decomposition at 500 oC. The product was characterized by X-ray powder diffraction and scanning electron microscope. The ultraviolet photocatalytic activity of the obtained materials was evaluated by decomposing 1-naphthylamine-4-azobenzene-4'-sulfonic acid. The porous spheric TiO2 exhibited a good photocatalytic activity. The degradation rate was about 96.5% for in contaminated water after 50 min irradiation by UV light.

The Infineon AUDO FUTURE series micro-controller is widely applied in automobile power system, to solve the online programming problem, paper designed online upgrade system for Infineon AUDO FUTURE series MCU based on CAN Bus, which uses IAP technique to realize triggering bootloader without adding any hardware. Since all ECUs in vehicle are connected to CAN Bus which use ISO15765 protocol to communicate with each other, the entire download process paper designed follow the ISO15765 protocol. This system is suitable for any chip of this series and paper test it based on TC1767. The experimental result shows that this system has strong reliability with high efficiency.

In the process of wire electrical discharge machining, the wire electrode inevitably suffers bending deformation due to wire tension, electrostatic force, electrodynamics force, etc., and the deflection would make an clearly negative impact upon the machining accuracy, productivity and stability. In this paper, first of all, a novel modeling and simulation method is proposed for quantitatively calculating the wire deflection. Secondly, the mainly impact factors and trend of wire deflection have been concluded. Moreover, the feasibility of the model is proved by comparing with other researchers models. Eventually, the practical approaches of reducing wire deflection and improving the machining accuracy have been proposed.

Accurately identifying road condition can send relevant information to the motor control system, so that control system of the motor can adjust the control strategy timely, eventually, the intelligent and optimal control of electric vehicles is realized. In this paper, according to these mathematical model, the permanent magnet synchronous motors simulation model and vehicles simulation model are proposed. Then, output torque of motor and speed of motor are served as the input of RBF neural network, which helps road condition to be identified. The simulation result shows that the road condition is well identified by proposed method based on RBF neural network.

The virtual flight simulation of the Basic Finner projectile has been investigated through coupling solving unsteady Navier-Stokes equations, rigid-body six degree-of-freedom motion equations, guidance, navigation and control law. The flow solver uses a finite-volume method based on structure grid with dual time stepping, the chimera method is used to simulate relative motions, the fourth-order Runger-Kutta method is used to solve the motion equations. A closed loop feedback control law with PID control is required for the elevator to attain the commanded deflection. The predictions show that the PID parameters for the controller must be correctly selected to obtain the proper response. Simulation results show that the virtual flight simulation platform that we developed is capable of solving the complicated unsteady flows with moving boundary, has a strong applicability to engineering application.

To study the velocity and pressure distribution of the oil film in a heavy hydrostatic thrust bearing, a mathematical model of the velocity is proposed and the finite volume method (FVM) has been used to simulate the flow field under different working conditions. Some pressure experiments were carried out and the results verified the correctness of the simulation. It is concluded that the pressure distribution varies small under different rotation speed when the surface load on the workbench is constant. But the velocity of the oil film is influenced greatly by the rotation speed. When the rotation speed of the workbench is as quick as enough, the velocity of the oil film on one radial side of the pad will be zero, that is to say the lubrication oil will be drained from the other three sides of the recess.

This paper discusses the effect of power supply and power conversion structure on system operating efficiency of an EV charging station. The system efficiencies of two EV charging stations (ECS), AC bus (ABECS) and DC bus (DBECS), are evaluated by a simulation analysis. The effect of power conversion structure is investigated by an analytical model constructed in MATLAB. Based on the battery characteristics, we build an energy loss model of various components of EV charging stations with different topologies including distribution transformer, power cable and charger with different conversion structure. Using this model, the system operation efficiencies of charging stations equipped with an AC or a DC supply bus are compared. The comparative results for both power supplies, acquired by the appropriate MATLAB/Simulink simulations, are presented.

For the driver in the process of moving inconvenient to manually operated vehicle electronics, as well as the monopoly of foreign technology and other issues related , a framework based on DSP + MCU car speech recognition and control systems is designed. According to the embedded application environment, the corresponding recognition algorithm and the hardware architecture of DSP + MCU are chosen, in which DSP is mainly responsible for voice signal processing work, MCU is responsible for communicating with DSP and MCU to obtain recognition results after speech signal processing, as the final control instructions .The experimental results show that the hardware platform can run normally, and control the car body light on experimental bench.

To solve the problem of updating the software for Vehicle Fault Diagnose Instrument frequently, paper proposed an approach to realize the technology of parsing and matching vehicle diagnostic information based on XML database. Paper discussed the theory and process of the approach and used it to develop the Vehicle Diagnose Instrument based on Android OS. The testing result shows that this approach could be easily realized and improved the efficiency of updating the vehicle information.

This paper is to assess the impact of ATC automation on controller workload, situation awareness, teamwork and mutual trust, and solve the relationship between human and ATC automation system collaboration. Based on experiment statistics, the method of mathematical statistics has been used to carry on overall analysis, significance analysis and correlation analysis. As a result, in the new generation ATC automation system, the overall level of controllers workload, situation awareness, teamwork and mutual trust is relatively higher than that under traditional condition, along with the increase of the controller work experience, the teamwork consciousness and situation awareness are stronger, the workload is lower, the ATC automation system of mutual trust is higher. Teamwork, workload and mutual trust have a significant positive correlation.

Electromagnetic (EM) field is often referred to diffusion (quasi-static assumption) that displacement currents are neglected during data processing in geophysical application, while the ratio of conduct currents to displacement currents is higher than 10, that is ,we think EM field is diffusion dominated and wave dominate for the ratio less than 0.1. Our simulating with Horizontal Electric Dipole Field indicated that frequency range of wave dominated is that the ratio is less than 0.007, the magnitude curves of EM component and impedance referring to diffusion and wave are different from those of diffusion. And in transform zone () the curves are different from those of wave and diffusion.

As for the high-speed CNC grinding process for non-circular rotary parts with a large rate of lift change (such as camshaft of automotive engine), the acceleration of grinding wheel often has a direct impact on the contour grinding precision of the workpiece due to the large acceleration of movement between of the workpiece and the grinding wheel produced from CNC grinding interpolation. Researches show that solving this problem is an important way to improve the precision of high-speed CNC grinding for non-circular rotary parts. In this paper, a high-speed CNC grinding process control and optimization method is presented for non-circular rotary parts based on acceleration interpolation movement. The negative influence of the problem about high acceleration can be reduced effectively and the precision of high-speed CNC grinding for non-circular rotary parts can be improved greatly by the proposed method. Additionally, the simulation shows that the optimization of grinding parameters forgrinding process has a good performance.

In bioinformatics research, for the lacks of an effective algorithm-integrating mechanism and a friendly graphical user interface of the toolkits in the field of biological data processing and analyzing, the authors designed and implemented a sharing software system Bioinfo-Kit based on the Java 2 Platform Enterprise Edition (J2EE), which provides 1) a general application development interface to integrate or bridge other programs and 2) a workflow mechanism to operate them and make them talk easily. In addition, a module for biological data (multiple electrodes data, biomedical data and etc.) analysis was implemented in the software system, which provided a workflow mechanism to integrate a series of algorithms and visualization tools. Because the interface developed is very general and flexible, new analysis tools can be integrated effectively as required. Bioinfo-Kit implies an ideal environment for integrative bioinformatics research.

Based on the SDNS cellular automata (CA) traffic model, the safe driving CA model has been proposed by considering the condition of having a stationary vehicle ahead. In this paper, this model was improved by analyzing the condition of safe deceleration, and also another single lane traffic CA model emphasizing high safety was proposed. The new safe driving rule was introduced based on the ascertained deceleration and distance ahead. Numerical simulations have been carried out. The results indicate the increase of traffic flow and the stability of the whole system, and also reveal the presence of meta-stable state near the critical density.

The incomplete probabilistic information can lead to imprecision. The traditional power system risk assessment can only deal with random information, but it cannot deal with the imprecise information. Interval Probability (IP) can reflect both randomness and imprecision. The risk assessment of power system based on IP is an effective method to deal with imprecision and can provide more useful information to the decision-makers. In the paper, the completeness degree of probabilistic information was depicted by IP. The nonlinear optimization models for imprecise risk assessment of generating system and composite generation-transmission system were established. And the genetic algorithm was used to obtain the upper and lower bound of reliability indices. Case study on revised IEEE-RTS79 and IEEE-RBTS system showed the rationality and equity of presented method.

The Tb complex C9H24O21Tb2has been synthesized from a hydrothermal reaction and the crystal structure has been determined by means of single-crystal X-ray diffraction. The Tb atom is coordinated by nine O atoms. The molecular structure stabilized by the O-H…O hydrogen-bonding interactions.

A novel aurous complex containing thiourea and thiocyanate as the mixed ligands is synthesized by the ISRC method in this paper. Its formula is determined as [Au (tu)2 ]SCN H2O by elemental analysis. The electrochemistry studies show it is a typical ionic compound and its conductivity reaches 13×10-4 Sm2mol-1. TG studies and related stability tests reveal the compound is excellently stable. By using single factors experiments the optimal plating index has been gotten and they are: pH=1.5~3.5, [A =1.5~2.5 g/L, temperature 30~50°C and plating time 10 minutes respectively. It is a competitive gold complex and will be find a wide application in electroplating, chemical deposition, ceramic decoration and other related areas.

Being established and assembled in UG, the model file of spur gears was imported to ANSYS workbench, where the contact between gears was built, meshing completed later. Then support and loads was imposed on the finite element model to obtain characteristics of modal and stress distribution on the teeth. After that they each were compared with working frequency and theoretically maximum contact stress and we found the fact was they fit well. By doing this, it is sound to say finite element analysis of spur gears on modal and stress is effective, feasible and reliable.

This paper outlined the basic working principle of flip-flow Screen and and then established the screen surface kinetic equation of simplified geometric model. The midpoint motion law of the flip-flow Screen surface, the screen surface-particle trajectory and the inclination of the particle trajectory were studied. The characteristic curve made by Matlab showed unique dynamic characteristics of the screen surface, which provided a theoretical basis for its design and application.

Autonomous rendezvous and docking (ARD) plays a very important role in planned space programs such as on-orbit construction and assembly, refueling of satellites, repairing or rescuing failed satellites, active removal of space debris, autonomous re-supply and crew exchange of space stations, and so on. However,the success of ARD rests with the estimation accuracy and efficiency of relative pose among various spacecraft in rendezvous and docking. In this paper, a high accuracy and efficiency estimation algorithm of relative pose of cooperative space targets is presented based on monocular vision imaging, in which a modified gravity model approach and multiple targets tracking methods are employed to improve the accuracy of feature extraction and enhance the estimation efficiency, moreover the Levenberg-Marquardt method (LMM) is used to achieve a well global convergence. The comprehensive experiment results demonstrate its outstanding predominance in estimation accuracy and efficiency.

This paper is based on the kinetic theory of ore and steel balls in the SAG Mill and theoretical research of power consumption. Orthogonal method is taken to design experimental plan while effective power of the SAG Mill, collision times between steel balls and the SAG Mill and collision times between steel balls and ore are designed as optimal objectives. Model with 9 experimental points is simulated by EDEM and experimental data are disposed Range Method in order to get the optimal combination of operating parameters of the SAG Mill.

The instability and intermittency of wind makes the output power of the wind turbine randomness and volatility. Due to its fast pulse response and high charge-discharge rate, the flywheel energy storage can effectively reduce the power fluctuations caused by the wind farm. This article optimized the control strategy for the permanent magnet synchronous motor (PMSM) based flywheel energy storage system to reduce the active power fluctuations. Fuzzy inference method is used to make the desired smoothing active power value more precise. The rotor flux oriented vector control strategy with improved proportional resonant controller (PR controller) is proposed based on the mathematical model of PMSM to improve the robustness of the system in current control.

In this paper, the test bench for electric vehicle drive system is designed and the real-time display of speed, torque, current, voltage and other conventional parameters are realized that can offer lots of authentic data for motor performance evaluation, motor parametric design and optimizing control strategy. Road simulation is an important function in the test bench, so the paper analyses the driving electric vehicle in the longitudinal and gives the theoretical dynamometer dynamic output load values that can provide the theory reference for the further implementation of road conditions simulation based on LabVIEW. Finally, in order to validate the test bench feasibility, the start, accelerated and deceleration tests are implemented and show good performance of the bench.

The effects of hydrated lime, potassium dihydrogen phosphate, straw ash and silkworm excrement on the extractability of heavy metals, pH and organic matter content in soil were studied. The results showed that the application of the four organic-inorganic complex treatments decreased the concentration of available Pb by 22.2 to 48.9 percent, and reduced the concentration of available Cd by 29.1 to 58.4 percent, which was obviously superior to the single organic or inorganic treatments. The addition of hydrated lime had the greatest effects on soil pH, while the application of silkworm excrement significantly increased the organic matter content in soil.

Muscle length change and mechanical effect have an important meaning to the analysis of the relationship between the muscle fatigues. It can be widely used in muscle physiology pathology research which played a role of technical guidance to cure muscle fatigue damage and prevent muscle fatigue. This paper analyzes the muscle physiology theory. It concludes that the muscle is composed of a series of muscle bundle which is made up by a set of parallel muscle fiber through the theoretical analysis. Then, it sets up a model formula of muscle length change and stress relationship based on the mechanical theory. It gets muscle movement and mechanical related parameters by measurement method. It uses the ADAMS and Mat lab software to do the simulation analysis on the muscle movement. It establishes the muscular movement speed and the 3 d graphics of muscle displacement under the action of muscle force through the Mat lab software. Through the ADMAS software it establishes the displacement curve under the action of muscle forces which changes with time and it provides a theoretical reference for the research of muscle length change and mechanical relationship based on muscle physiology theory.

One method which is based on model to settle the long development cycle of driver motor control software is adopted for Electric Vehicle (EV). It is to achieve Field Oriented Control algorithm (FOC) designing, model building, and microcontroller driver integration, task scheduling, code generation; Model simulation experiments are completed aiming at three kinds of running conditions such as a constant speed, accelerating, on load; finally, these running conditions are realized in EV and dynamometer platform. Simulation and experimental results show FOC has a well performance on speed regulating by comparing technical parameters with Chang An Ben Ben Mini, adopting the method also shorten the development cycle of motor control software.

According to the analysis for gene sequence, various data analysis as well as a variety of software and tools needs to be integrated, also the friendly graphical interface is a must. Based on this, we propose to build a software tool named GSA (gene sequence analysis tool) which is Java-based J2EE environment based on workflow. This tool provides a unified data, algorithm interface and visualization graphical interface, not only integrates a variety of sequence analysis algorithms, but also to achieve the integration of heterogeneous data. The workflow mechanism of GSA provides a collaborative research solution for the field of sequence analysis.

Nowadays, with the growing popularity of dynamic LED advertising signs, the light trespass caused by these signs is being taken more and more seriously. This study analyzes experimentally how various flickering cycles affect the visual fatigue of residents who read in the room adjacent to these signs. According to the results of the research, an increase in the flickering cycle of the sign corresponds with a decrease in the degree of disturbance to adjacent residents. Moreover this study suggests that the flickering cycle of a dynamic LED advertising sign should be set above four seconds to ensure minimal discomfort.

In order to grasp the force performance and stress distribution of shaped pylon steel anchor box under the action of the cable tension, with a main span of 555m length of three towers cable-stayed and self-anchored suspension combined system bridge as the engineering background, through the APDL command stream parametric programming, the different finite element models of pylon steel anchor box is established by the spatial solid element and shell element, the mechanical properties of cable-pylon anchorage zone were studied under the most unfavorable load combination, considering the stress state and distribution characteristics of steel anchor box under different orthodontic force. The results showed that: under the most unfavorable combination of loads, the stress was concentrated at the position of the anchor plate and pressure plate using the initial strain mode; the calculation results of solid element and shell element were consistent by uniform loading mode, which could reflect the real stress state of steel anchor box, but the shell element corner contact area prone to stress calculation distortion.

The detection and tracking of cooperative targets are crucial significance in the rendezvous and docking of space targets. In this paper, a high performance detection and tracking method is proposed based on the combination of adaptive threshold sub-pixel detective positioning with the nearest neighbor clustering analysis of feature points in visual images. In order to enhance the accuracy of detective positioning the bilinear interpolation is employed to achieve sub-pixel coordinates positioning. And then the improved particle filter is used to carry out the prediction and tracking of cooperative targets so as to overcome stochasctic disturbances from stray light and noises. A series of experiment results indicate that the proposed method is characterized with its well performances of detection accuracy and real-time tracking and its outstanding simpleness and practicability so as to play important role in the implementation of cooperative target detection and tracking by visual measurement in the RVD of space exploration.

A predictive maintenance approach of vacuum circuit breaker is based on the circuit breaker coil current signal. The method identifies the critical time instants in the close coil current, to be used for diagnostic analysis. Change points detection based automatic signal segmentation plays a significant role in recognition-oriented signal processing. In this paper, we addressed the algorithm of change points detection for applications in fault detection for a trip coil. The algorithm includes three parts which are data smoothing, extrema search and K-Means clustering. The experimental results show that this algorithm is effective.

This study creates the high resilience nonwoven fabrics by using modified polyester fiber. In order to have resilience, the nonwoven fabrics are thermally bonded with various temperatures and the air permeability and mechanical properties of the nonwoven fabrics are then evaluated. The optimum tensile strength of 481 N and resiliency of 26 cm occur when the nonwoven fabrics are thermally bonded at 180 °C, and the optimum tear strength of 276 N occurs when the nonwoven fabrics are thermally bonded at 160 °C.

a new method of random error separation based on wavelet transform and the frequency bands character of measurement data is proposed. Approximates the random error with the detail components of the wavelet decomposition, determines the optimal decomposition level on the frequency intervals between the random errors and other components, and finally gets the random error by reconstructing all the detail components. The method is simply and efficient, avoids the indirect error with modeling and indirect methods, and computer simulation proves the robustness of the separation results.

A new Power over Ethernet (PoE) proprietary specification known as LTPoE++ and its solution for high power PoE system is introduced. A 90W single port high power PoE system based on the LTPoE++ solution using power sourcing equipment (PSE) controller LTC4274A-4 and powered device (PD) controller LT4275A produced by Linear Technology is illustrated, including overall structure, features, hardware frames, functions and their implementation. Finally working process of the system is analyzed.

In this paper, a high accuracy and efficiency pose estimation algorithm is proposed for space cooperative targets in RVD based on binocular visual measurement. At first, the scheme of visual measurement toward RVD is presented and the environment conditions and performance requirement are analysed and discussed. Then the relationship of pose estimation with detection and tracking is studied to give an implementing strategy of pose estimation with high accuracy and efficiency. Moreover, the key point is focused on the pose estimation of cooperative targets, in which a stereo vision mapping relation between three dimensionl coordinates of spacial feature points of cooperative targets and their corresponding image coordinates is established, then the least square method is employed to estimate the three-dimensional coordinates of feature points so as to calculate the relative position and attitude between tracking spacecraft and target spacecraft with high precision, finally a series of experimental resluts indicate that the proposed pose estimation algorithm under binocular visual measurement demonstrates well performance in the estimation accuracy, anti-noise and real-time thus can achieve the application requriements of RVD under binocular visual measurement.

The droplet impacting on dry and wet surface is studied. Splashing was not observed with the impacting velocity up to 600 cm/s for vertical impingement on dry solid surfaces. Transition to splashing happens when the steel surface is wetted and the dry surface is inclined. There is a relationship between the impacting angle and impacting velocity for the transition boundary. The transition impacting angle increases with the increase of the impacting velocity.