Aiming at the hysteresis nonlinearity of the piezoelectric driven systems for tunable external cavity diode lasers, a modelling and control method was proposed herein based on Rayleigh-BP model. Firstly, a Rayleigh-BP rate-dependent hysteresis model was developed by spatial expansion method, which achieved an accurate prediction of rate-dependent hysteresis nonlinearity of piezoelectric driven systems. Secondly, the inverse model of Rayleigh model was solved by an inverse algorithm, and the model was combined with a BP neural network to design a feedforward controller to compensate the systems. Finally, the feedforward control method was validated by simulation and experiments. The results show that the Rayleigh-BP model developed has high accuracy, the root mean square error is only as 0.0469 μm at 10 Hz. The feedforward control method may significantly improve the linearity of the system outputs, the root mean square error of the simulation results is as 0.0274 μm and the linear correlation coefficient R2 is as 0.999 92 at 40 Hz. The experimental results show a root mean square error of 0.0506 μm and a linear correlation coefficient R2 of 0.999 55 at 30 Hz, which greatly reduces the hysteresis phenomenon.

To study the compressive mechanics properties of pillar centered cubic lattice with different reinforcement directions and their filling structures, silicone rubber filled lattice structure test specimens were prepared herein. The compressive mechanics properties of two lattice structures(BCC1 or BCC2, loading direction was either the same or perpendicular to the direction of pillar rod in body centered cubic lattice with pillars) filled with silicone rubber were studied through experimental and simulation methods. The equivalent elastic modulus and compressive platform stress of two lattice structures were conducted using Timoshenko beam theory and ultimate load method. The results indicate that the proposed theoretical model may effectively predict the equivalent elastic modulus and compressive platform stress of two type lattice structures. After filling, the compression strength and energy absorption performance of the two lattice structures are enhanced, while the enhancement effect of the BCC2 structure is more significant. For the BCC1 lattice, rubber filling enhances the bearing capacity of the internal members. However, for the BCC2 lattice structure, rubber filling reduces the bending deformation of the members near the V-shaped shear band. As the radius of the lattice structure increases, the energy absorption coupling factors of both lattice structures first increase and then decrease, yet the energy absorption coupling factor of BCC1 type structure changes more significantly.

 Due to the immaturity of intelligent technology in universality， robustness and security， intelligent interactive products were prone to “behavior conflict” due to the mismatch with user behavior patterns in intention expression， information processing， decision logic， interaction timing and action intensity. Unified modeling and optimization of multi domain behavior processes of human-machine environmental systems were the key to realize behavior characteristic regulation and forward design of intelligent interactive products. This paper systematically reviewed the research progresses of multi domain behavior process representation model， modeling language and tool， model validation and behavior process optimization of human-machine environmental systems from four dimensions：how to represent， what to represent， how to verify and how to optimize. The existing problems and limitations in this field were analyzed， and the future research focus and development trend were prospected. 

There were two forces that promoted the development of gear measurement technology. One was the continuous new requirements for gear measurement put forward by industrial development, and the other was the penetration of continuously improving related technologies in the field of gear measurement. Since the 21st century, the convergence of these two forces promoted the rapid development of gear measurement technology. Based on a brief review of the evolution of gear accuracy theory and gear measurement technology in the 20th century, the basic framework of gear generalized accuracy theory was put forward. The gear measurement technology during the last 20 years was systematically summarized from the aspects of gear full-information measurement technology, in-site rapid gear sorting and detection technology, extreme measurement technology for extra-large gears and micro gears, high-precision gear artifacts and traceability, etc. There is more than 100 years since the beginning of gear precision measurement, and it is currently in the critical stage of the transition from the 3rd generation to the next-generation of gear measurement. The overall technical concept of next-generation of gear measurement was presented, the basic theory and key technical problems that must be overcome were listed for realizing the next-generation of gear measurement, and the research focus and scientific issues of gear measurement in the next 10 years were prospected.

Many factors affected surface roughness. Unique properties of brittle materials made the surface formation mechanism of brittle materials more complex, which made the machining quality difficult to control. By constructing the model of surface roughness, the surface roughness was predicted, and the machining quality might be controlled. In order to better reference the previous research results, characterization parameters of surface roughness were summarized herein. The methods used to establish the surface roughness model were constructed. The main research schools of the model and their development history, main academic contributions, and characteristics of the model were analyzed and summarized in detail. Finally, the future research direction of surface roughness model construction was prospected.

A six-axis serial robot error calibration method  was proposed based on the robot geometric parameter errors and the base frame position and attitude errors. Firstly， an geometric parameter error model of the IRB6700 robot was established based on the MD-H method， and the mapping relationship between the geometric parameter errors of the robot connecting rods and the end pose errors of the robot was obtained. Then， the position and attitude errors of the base frame were further considered， and the robot error model  was established considering the errors of the base frame. In addition， to address the cumbersome operation and large accidental errors of traditional calibration methods， an improved parameter identification method was proposed to further improve the operability and calibration accuracy of the calibration processes. Finally， the body calibration experiments and the base frame error disturbance experiments were carried out. The results show that the proposed method decreases the average position error of the robot from 3.1928 mm to 0.1756 mm， and the standard deviation of the position errors decreases from 0.5494 mm to 0.0830 mm. Moreover， the consistency of the parameter identification results under base frame error disturbance is higher than 99%， and the calibration accuracy and stability are improved. 

MQL technology had the advantages of low cutting fluid consumption and high lubrication efficiency. However, there were more problems such as inadequate lubrication and low cooling performance under the specific conditions. MQL synergistic technology, such as cryogenic air or liquid carbon dioxide et.al. which combines the advantages of cooling and lubrication, might effectively solve the machining problems of difficult-to-cut materials. The latest research of principle, key devices and technology applications of various types of MQL synergistic technology were summarized. The performance of various devices and their parameter regulation characteristics were analyzed in details. Combining with the applications and the mechanism of MQL synergistic technology, the machinability in titanium alloy, nickel alloy, stainless steel and other difficult-to-cutting materials were analyzed. In addition, a sustainable analysis of various types of MQL synergistic technology was provided. The purpose is to provide technical support and reference for the engineering applications of clean cutting technologies.

The stealth performance of warship was an important performance and tactical index. Passive control technologies such as vibration absorption and isolation were widely used in the fields of vibration and noise reduction， but they still might not meet the needs of acoustic stealth of ships. Therefore， it was of great significance to study active vibration and noise control of the ships. The active spectral reshaping control might change the characteristics of radiated noises to acoustic stealth the ship. The connotation of spectrum reshaping active control was introduced, and three aspects of adaptive inverse control， adaptive active control and adaptive spectrum reshaping active control were summarized according to the development of adaptive spectrum reshaping active control theory. Finally， the effectiveness of the algorithm was verified by the applications in the field of naval ships. 

 For the automatic detection of weld defects in large storage tanks, a wall-climbing robot needed to complete automatic omni-directional scanning. Firstly, according to the force state of the wall-climbing robot under different operating conditions, a mechanics model of the wall-climbing robot was established to analyze and obtain the four unstable hazards of non-sliding, non-longitudinal rollover, non-lateral rollover and compound motion state. The force state of the permanent magnet adsorption wheel was simulated and optimized by Maxwell software to meet the adsorption requirements. At the same time, the coding wheel with auxiliary adsorption function was designed to supplement the margin of safe adsorption force while feeding back the position information to increase the obstacle crossing and anti-instability abilities. Finally, according to the design model, the wall-climbing robot body was manufactured and tested. The test results prove that the robot designed herein may realize the omnidirectional driving operations with load stability at various ustable hazards.

Due to the large amount of silicon particles，the machinability of the high-volume fraction silicon aluminum alloys was poor.Severe tool wear and deteriorated machined surfaces with defects were major problems in cutting high-volume fraction silicon aluminum materials.To further explore the machining damages，the milling experiments of 70% Si/Al（mass fraction is 70%）alloy were carried out，where the tools were prepared by chemical vapor deposition（CVD）method.Milling force，tool wear and mechanism of machining damages were investigated.As a comparison，milling tools with TiN coating were also utilized under identical cutting parameters.The results show that the main tool wear modes of the diamond coated tools are coating peeling and abrasive wear，which are due to the impact and scratching of hard silicon particles in milling processes.In the normal wear stages of the diamond coated tools，the milling force is stable in the range of 4357～4895 N，while the milling force of TiN coated tools is higher and the tool life is shorter.The damages on machined surfaces are mainly pits，scratches and ruptured particle.Under the premise of ensuring the strength of cutting-edge radius，machining damage may be obviously reduced by reducing the radius of tool cutting-edge.The surface roughness value（Sa=23 μm）machined with a cutting-edge radius of 12 μm is lower than that with a radius of 156 μm（Sa=67 μm）.

Micro-area induction heating(MIH), as a localized heating technique with characteristics of non-contact, controllable, and fast thermal-response, was shown numerous potentials in microsystems, such as microelectromechanical systems and microfluidic chips. The fundamentals of MIH were introduced herein, and the research progresses of MIH in the fields of packaging, driving, material growth, et al， was presented systematically. Furthermore, some existing technique problems needed to be solved were analyzed, and several prospective research directions of MIH were pointed out.

Aiming at the driven bevel gear fracture failure of a certain type of aero-engine central drive bevel gear due to traveling wave resonance in actual processes, combination of simulation analysis and test verification was used to study the traveling wave resonance characteristics and influence laws of spiral bevel gears under parameter adjustment. The modal analysis of the driven gears was carried out based on finite element method, and the relationship between the thickness of the spoke plate and the working temperature with the gear traveling wave resonance characteristics was discussed. Transient dynamic analysis of meshing gears was carried out based on Hertz contact theory, and the influences of load power, operating temperature and damping factor on the stress distribution of driven bevel gears under traveling wave resonance were discussed. The comparison of simulation and test results shows that the errors of simulation results of modal calculation and dynamic analysis are within a reasonable range. Under the premise of meeting the relevant requirements of gear design, the resonance speed or resonance frequency may be avoided by adjusting the thickness of the spoke plate. In terms of the sensitivity of the resonance parameters of the vibration stress distribution, the analysis shows that when the gear is working in the third or fourth nodal diameter traveling wave resonance states, the stress values at the tooth roots are the largest, and the stress values on the front surfaces of the spoke plate are the smallest; when the temperature and damping factor changing, the change of stress values at front of the driven bevel gear spoke plate is small, and the change of stress values at the back of the spoke plate and tooth root is big. Therefore, in improvement and optimization designs of the gears, it is necessary to deal with the third or fourth nodal diameter traveling wave resonance.

In order to study the effects of active speed modulation on the internal flow field and blood damages in the blood pumps, the CFD method was adopted to simulate the full flowpath internal flow of a blood pump under speed modulations. The combined numerical simulation of the lumped cardiovascular system mathematical model and the rotary blood pump model was used to obtain the ventricular and aortic pressures under the assisting of the blood pump, which were then set as the inlet and outlet boundary conditions of the blood pump in CFD simulations. The flow fields of blood pump under the constant speed and three types of asynchronous speed modulation waveforms, including sine, square and triangle waves, were analyzed, and the velocity distribution and shear stress distribution of the rotary blood pumps were obtained. The results show that the flow pulsation of blood pump is enhanced under speed modulations, which is a feasible scheme to restore the pulsation of the blood flow. Among the three speed modulation waveforms, the blood pump flow pulsation index is high and the shear stress in the blood pump is small under the sinusoidal speed modulation, which is a relatively ideal speed modulation waveform.

The revolutionary history of composite preforms forming technique was summarized from the standpoints of manufacturing technology and equipment development.The technical characteristics of the composite preform forming manufacturing technology were analyzed.The status of typical technology and equipment of composite preform forming manufacturing at home and abroad as well as existing challenges and gaps were listed.Finally，the future development directions and trends of composite preform forming technique were discussed prospectively.The development of digital precision forming manufacturing technology and equipment for high-performance composite components may promote the technical progresses of composites in China better，and achieve more extensive promotions and applications.

 For turbine disk slots of high-end power equipment such as aero engines and gas turbines， the machining technologies were analyzed from two aspects of mechanical machining （e.g.， broaching， milling， grinding） and nontraditional machining （e.g.， wire electric discharge machining and wire electrochemical machining）， respectively. The development current situations were systematically explained from the viewpoints of design and application of tools， evaluation and control of machining quality. The important achievements of the research work in this field at home and abroad were also introduced. Finally， the development trends were generalized prospectively.

 Due to the special application requirements, such as light weight designs, strength,in aeronautical manufacturing field, a large number of difficult-to-machine materials such as titanium alloy and nickel-based alloy were used, and the cutting tools wore fast. Excessive tool wear would affect product quality. Under the premise of ensuring product quality, it was urgent to monitor tool wear states and to predict tool remaining useful life in order to make full use of the cutting tools. The definition, classification and models of the cutting tool remaining useful life estimation were described herein. Meanwhile tool wear monitoring was the basis and prerequisite of tool life prediction, the main steps and common models were briefly described. The remaining useful life prediction models might be categorized into physics-based models, data-driven models and hybrid models. The advantages and disadvantages of different prediction methods and their application scenarios were summarized , and the future research directions were discussed.

In order to improve the service life and detection accuracy of the unfolding wheels in the AVIKO series steel ball inspection system, and to improve the surface friction coefficient while redu-cing wear, the surface microstructures were applied to the unfolding wheels to study the friction and wear characteristics. Three kinds of pit microstructures with different diameter parameters were processed on the outer surfaces of the test pieces by laser, and the friction coefficient and wear amount were obtained through the tests with a self-designed friction and wear tester, and the distribution of stress and wear depth were obtained by numerical simulation. Compared and analyzed with smooth surface test pieces, the results show that the friction coefficient of the microstructure surface test pieces is larger and the wear amount is smaller under dry sliding friction conditions. The microstructure surface reduces wear and improves wear resistance by changing the stress distribution and dispersing the position of wear points. The established numerical simulation wear model may be used to predict the wear depth of microstructure surface, which provides a basic theory for the life prediction of microstructure surface unfolding wheels.

In order to promote the further research and clinical applications of force sensing technology in robot-assisted laparoscopic surgery， the research progresses were reviewed. Sensor force sensing was divided into two categories：electrical signal-based sensing and optical signal-based sensing. Some key indicators were analyzed， such as sensor position distribution on surgical instruments， mechanical structure， measurement range， measurement accuracy and electromagnetic compatibility. Sensors advantages and disadvantages were discussed. Sensorless force sensing was divided into two categories：vision-based sensing and dynamic model-based sensing. And the realization method， technical obstacle and error sources were analyzed. Finally， the development trend of force sensing technology in robot-assisted laparoscopic surgery was prospected. 

Aiming at the problems of low precision, poor environmental adaptability of RRT*FN algorithm, an improved RRT*FN motion planning algorithm for manipulators was proposed. Firstly, in the iteration processes, combining the advantages of target biased random sampling and ellipsoid subset sampling, a new heuristic method was constructed to constrain the sampling areas, so as to ensure better search paths. Then, in expanding node processes, the preset values of total number of nodes in the tree were configured, and the leaf nodes in the tree were deleted by weighting method, which avoided the infinite growth of tree sizes. Finally, under the dynamic environment, a heuristic replanning method of node pruning and connection was adopted to effectively improve the adaptability of dynamic environment. Experimental results show that the algorithm herein has faster convergence speed and higher efficiency in planning processes, and has strong environmental adaptability.

Based on the magnetic circuit analysis of the traditional single-layer disc permanent magnet eddy current coupling, an integral double-layer disc permanent magnet eddy current coupling was designed. The coupling installed the permanent magnets of two single-layer disc permanent magnet eddy current couplings on the front and back of a piece of back iron in a N-S corresponding manner, thus, reducing the loss caused by the back iron reluctance in the magnetic circuit, improving the magnetic energy utilization rate of the permanent magnet and increasing the torque. Through the equivalent magnetic circuit method, a mathematical model of the structure was established, and combined with the finite element method simulation model, the torque characteristics were comprehensively analyzed. A prototype of the permanent magnet eddy current coupling was built, and the reliability of the above analysis was verified through experiments. The results show that the mathematical model built is accurate; and the torque of the coupling is greatly improved compared to the torque of the traditional permanent magnet eddy current coupling.

The data acquisition method of the machining processes was studied. The processing conditions were discretized in time domain and space, and the voxel model was introduced to subdivide and mark the part space and machining process signals. The short-time domain processing method was used to characterize the machining process signals as corresponding short-time domain signal characteristics. Thus, the knowledge association between the unit voxel working condition and the processing signals was established, and the time-position mapping model of the processing data and the part processing position was established. Finally, taking blade rough milling as an example, the spindle power was visualized and analyzed through the time-position mapping model based on processing signals. The power cloud map was generated, which clearly located the power out-of-tolerance area in blade machining, evaluated the machining state, and provided a basis for processing parameter optimization.

The scarcity of labeled fault sample data of wind turbine gearboxes in some wind farms seriously reduced the accuracy of fault diagnosis. To solve this issue, a fault diagnosis method based on mixed self-attention prototype networks under small samples was proposed. First, the vibration signals were mapped to the fault feature measurement space through the prototype networks. Then, the position self-attention mechanism and channel self-attention mechanism were used for matrix fusion to construct a mixed self-attention module, which established the global dependence of the original vibration signals and obtained more discriminative characteristic information to learn the measurement prototypes of wind power gearboxes in various health states. Finally, the trained metric classifier was adopted to identify the faults of the wind turbine gearbox under the condition of small samples. Experimental results show that the fault diagnosis method of the mixed self-attention prototype networks may achieve high-precision fault diagnosis of wind turbine gearboxes on different scales of small sample datasets.

In order to solve the key problems faced by the aerospace manufacturing fields and improve the service capability for the industries，the machine tool industry proposed to build an innovative capability platform for high-grade CNC machine tools in the field of aerospace manufacturing. The research progresses in four aspects of basic assembly manufacturing and high-grade CNC machine tools were summarized about the innovation platform, including: motorized spindle unit technology(dynamic analysis of high-speed spindle—tool handle—tool system, digital simulation and prototype modal verification analysis); machine tool design(rigid-flexible coupling—electromechanical coupling dynamics of linear axis feed system, verification and analysis of electromechanical coupling dynamic model of multi-axis linkage and high-speed five-coordinate hybrid machining equipment and swing/rotary feed system, innovative structural design of MTC1000 boring, milling and grinding composite machining center); machine tool control(verification and analysis of high-speed start-stop residual vibration suppression technology) and machine tool verification(analysis of field data acquisition, mapping and storage technology for high-speed machining of aerospace structural parts). Finally, the future research trends were prospected.

The research status of deep space landing exploration legged robots was introduced in the major aerospace powers， such as the United States， Europe and China. Moreover， advantages and disadvantages of legged robots for deep space landing exploration were analyzed， and the issues that caused the legged robots not to be used in engineering yet were discussed from the hardware and software design aspects. Then, the key technologies of legged robots for deep space landing exploration were proposed， including sensory fusion technology， intelligent control technology， reconfigurable structure technology and multi-robot cooperation technology， which offer references for the development of legged robots that may be actually applied in the deep space landing exploration. 

Aiming at current inadequate researches of adhesive assembly technology in aerospace products, especially in precision electromechanical products in China, the application types for adhesive connection technology in aerospace and application characteristics  of ultra-high/low temperature resistance, sealing, versatility, stability/low creep, and low volatility were briefly introduced. Research improvement of mechanism, key processes, static/dynamic mechanics properties, and fatigue and aging characteristics of adhesive bonding were summarised and analysed. Finally, development tendencies of the aerospace adhesive technology in the aspects of process parameter quantization, dynamic mechanics property investigation, and advanced adhesive equipment were pointed out.

Flexible strain and bending sensors based on liquid metal were designed by 3D printed micro-channel herein. Strain sensors were integrated into glove which was used to detect posture of human hands, and bending sensors were integrated into soft manipulator which was used to control posture of the soft manipulator. To realize soft manipulator with human-machine interaction, sensing glove with strain sensors and soft manipulator were combined. Experiments verify that the sensing glove may control the posture of the soft manipulator and the bending degree of each finger.

A kind of series elastic joints driven by pneumatic artificial muscle(PAM) was proposed. Based on the Chou model of PAM, a dynamic model of series elastic joints was established, and joint stiffness was derived. The relationship between the joint stiffness and internal pressure of PAM and stiffness of elastomer was obtained. The control algorithm of BP neural network tuning PID parameters(BP-PID) was designed, and the research on position and stiffness control of pneumatic series elastic joints was performed. The simulation results show that BP-PID control is better than PID control, tracking errors of joint positions are changed from 0.58° to 0.10°, and tracking errors of joint stiffness are changed from 0.026 N·m/rad to 0.005 N·m/rad. The experimental results show that the average tracking error of planning position signal is reduced from 0.347° to 0.117°, and the average tracking error of joint stiffness is reduced from 0.024 N·m/rad to 0.019 N·m/rad.

Based on the virtual work principle of material plastic deformation and the upper bound theorem, the inverse analysis of maximum riveting force in the SPR processes was carried out. The inverse calculation model of maximum riveting force was established by taking the geometric characteristic parameters of the joints, such as rivet flaring, rivet geometry parameters, thickness of the connected material, mechanics properties of rivet and connected material, contact conditions between punch and rivet as the model control parameters. At the same time, the verification tests were carried out on the maximum riveting force for a variety of aluminum alloy SPR processes. The results show that average error between the model calculation value and test value is as 7.82%, which verifies the validity of the inversion model for the maximum riveting force. The maximum riveting force is proportional to the strength and length of the rivet and inversely proportional to the depth of the rivet cavity. To obtain self-piercing riveted joints with higher static performance, the maximum riveting force should be appropriately increased. In addition, under the action of near maximum riveting force, the connection materials with lower hardness and rivets with lower hardness are easy to obtain joints with large rivet flaring.

In order to solve the interference of Twin-Bennett (TB) linkage which controled the deploying processes of the solid surface deployable antennas and improve package capacities, the traditional sunflower-like segmentation scheme was improved. The optimization model between geometric parameters and the package ratio of the solid surface deployable antennas was established by exponential product formula. Then the package ratio was taken as objective function to optimize the segmentation scheme, with the optimal geometric parameters obtained by the sequential quadratic programming of multiple initial value points. Aiming at the synchronization of deployment, the umbrella synchronous deployment linkage was designed. The synchronous mechanisms might convert the linear movement into the deploying of the solid deployable antennas, and ensureed a single degree of freedom and synchronization. Finally, the software simulations and model tests were implemented to verify the deploying ability of the solid surface deployable antennas. It is indicated that the design may increase package capacities of the sunflower-like solid surface deployable antennas from 44% to 37%, and achieve the simplicity of the drive systems. The simulation results and the 3D prototype demonstrate the feasibility and rationality of this method.

When the robots were working in unmanned environments, it was difficult to avoid overturning and loss of movement due to external forces and terrains. Therefore, it was necessary that the robots had the self-recovery ability. In the static self-recovery method, the traditional recovery method could only be achieved by the movement of the legs. Based on the movable trunks of the metamorphic robots, different from traditional method a self-recovery strategy with the movement of the trunk was proposed when the quadruped robot overturned. The strategy used bionic inspiration to design the action and compared this method with the case of the trunk without metamorphosis from the perspective of force and energy. The optimized centroid trajectory and the shock absorption method were obtained. In addition, the simulation software and the prototype experiments were used to verify the feasibility of this method and it is proved that the strategy reduces the difficulty of achieving static self-recovery. Besides, experiments under different conditions prove that the strategy has certain stability and adaptability on different terrains.

Cooling systems with high heat dissipation efficiency were the important foundations of restraining motor temperature rise, improving motor operation stability and prolonging motor life. The development status of air cooling, liquid cooling and evaporative cooling was introduced, which were commonly used in the cooling systems for motors. The advantages, disadvantages and application ranges of various motor cooling systems were analyzed and discussed. The research progresses in improving the cooling efficiency of motor heat dissipation system at home and abroad were reviewed. By combining the additional thermal circuit enhanced motor cooling system and the phase change heat dissipation technology, a new scheme to improve the heat dissipation efficiency of motors using phase change heat transfer devices was proposed. Finally, the development trend of the motor heat dissipation systems was predicted and prospected scientifically. 

The preform with convex polygonal section was fabricated using the multi-needles- multi-directions method, interference would occur between the x and y-direction fibers. A method of generating multi-needles-multi-directions cooperative weaving path was proposed. The shape characteristics of the cross-sectional profile of the preform were analyzed by using geometric abstraction. The combination of the laying direction of the sub-regions was discussed after dividing the cross-sectional profile, and the conditions for generating the interference-free weaving path of the cross-sectional profile were obtained. A typical preform was fabricated by the path generation method, it is found that the fibers laid in different directions will not interfere, and the fibers inside the preform are complete and will not overlap. The results show that the path generation method is rational.

To solve the problems of low ridgeline identification ability and differences between the extracted ridge and the actual ridge in Crazy Climber algorithm, the Climbers movement rule and local optimal peak extraction method in the algorithm were improved. An improved Crazy Climber algorithm was proposed. First, STFT was applied to the time-domain signals to obtain the time-frequency matrix, and then the improved Crazy Climber algorithm was used to extract the time-frequency matrix to obtain the time-frequency ridge that might reflect the frequency changes with time. The simulation signal analyses prove that this method is superior to the original Crazy Climber algorithm. The method is used in the fault diagnosis of bearings, and the fault order is accurately extracted.

The up-to-date progress in the additive manufacturing technology has been fully reviewed in this article, and the associated opportunity & challenges were also discussed. It has been proposed that the future directions of the additive manufacturing technology should be focused on the nonequilibrium solidification of the metal printing, the novel theory development of manufacturing under extreme conditions, additive manufacturing of materials & structure in-gradient, the regeneration and functionalization of the engineered scaffolds, theory of life science etc. Constructive ideas should be encouraged, to be led by technical progress, to be driven by technological innovation, and to be targeted by the industrial development, aiming to provide the solid foundation for the innovative national construction.

The connotation and features of the intelligent manufacturing were analyzed based on reviewing the development and challenges to the manufacturing technology. A new understanding to the intelligent manufacturing at the era of industry 4.0 was proposed, followed by a suggested overall architecture of the intelligent manufacturing theory. The architecture included 8 modules such as theoretical fundamentals, technological fundamentals, supporting technologies, enabling technologies, kernel and themes, development paradigms, technological road-map and objective, etc. The concrete contents were set forth to the several issues of the modules above respectively, with the fundamental rules and technological phases to promote and practice the intelligent manufacturing. Finally, the future factory and manufacturing were discussed prospectively.

In the past 20 years, thin film lubrication, nano lubrication, friction and lubrication under extreme conditions, biological lubrication, green lubrication and minimal quantity lubrication made important progresses. In recent 10 years, the research on superlubricity, bionic lubrication, intelligent lubrication and monitoring, tribological testing technology and simulation technology was developed rapidly. Micro research became the main means of lubrication research, and the research on lubrication and sealing for wind turbine, high-speed rail, deep space exploration, deep sea exploration, large aircraft, ultra-high speed aircraft, new energy vehicles and so on became the focus of industry, and the research on green lubrication and near zero emission lubrication became the focus of enterprises. As a new subversive technology in the field of lubrication, superlubricity gradually showed unparalleled advantages and vitality in industrial productions and human daily life. Biological lubrication, including friction and lubrication in human organs and bionic research, played an important role in human healthy life. Friction and lubrication under extreme conditions (high temperature, ultra-low temperature, vacuum, high pressure, etc.) were widely used in satellite, rocket, ship, nuclear power station and other national defense facilities. The development of intelligent lubrication and other emerging fields also applied intelligence to the field of lubrication, which provided a new idea for the intelligent operation and manufacturing of equipment. Several important development directions in the field of lubrication, such as superlubricity, thin film lubrication, nano lubrication, extreme friction and lubrication, intelligent lubrication, bio bionics, green friction and lubrication, and tribology test methods were reviewed herein. The latest research progresses of peers at home and abroad were introduced, and looked forward to the future.

To meet the current development requirements of Internet of Things in intelligent manufacturing field, 5G application technologies of corresponding manufacturing scenarios was studied herein. Firstly, different aspects of 5G key technologies were overviewed, including 5G-supported application scenarios, network slicing, NFV/SDN, multi-access edge computing, and D2D. After presenting an extended five-level architecture of CPS, multiple 5G applications in intelligent manufacturing scenarios were analyzed, including human-machine interfaces and production information technologies, process automation, factory automation, logistics and warehousing, equipment monitoring and maintenance. Furthermore, a 5G-based edge computing development framework was proposed to achieve the integration of the above-mentioned application scenarios. Finally, the challenges faced by 5G in intelligent manufacturing were discussed, which is helpful to the implementation of 5G-supported intelligent manufacturing.

Based on the deficiencies of Lankarani-Nikravesh contact force model, a modified contact force model was proposed, and it was verified that the modified contact force model is effective. A parallel mechanism RU-RPR with revolute joint clearances was taken as research object, and the modified contact force model and modified Coulomb friction force model were used to calculate normal contact forces and tangential contact forces, respectively. Dynamics equations were established in form of differential algebra. Baumgarte stabilization method was added and the equations were solved by the fourth order Runge-Kutta method. Then effects of different friction coefficients on dynamic behaviours of the mechanisms were analyzed.

The levels of end-toothed disc indexing accuracy might have direct effects on the indexing accuracy of the tool rests. Tooth thickness wear errors and a variety of machining errors were analyzed. An indexing accuracy error model of the end-toothed discs with multiple error factors was established. On the basis of the indexing accuracy model of the end-toothed discs, a dynamic reliability sensitivity mathematical model was established by combining reliability sensitivity analysis method. The evolution rules of reliability sensitivity for each random parameters of the end-toothed discs were given. The influences of the random parameters on the reliability of the end-toothed disc indexing accuracy were analyzed. The results show that the reliability of the indexing accuracy of the end-toothed discs decreases gradually with the the loading and unloading processes. The variation tendency of the sensitivity of each design parameters at the same time is different. The sensitivity parameters should be controlled in order to improve the reliability of the indexing accuracy of the end-toothed discs.