In recent years, waste material recycling and reuse have attracted great interest as environmentally friendly modifiers to improve asphalt pavement performance. In this study, anhydrous calcium sulfate whiskers (ACSW), synthesized using phosphogypsum waste, and waste cooking oil (WCO), one of the most prevalent waste oils, were used together as modifiers to create an environmentally friendly asphalt mixture. In particular, WCO was used to compensate for the negative effects of ACSW on asphalt mixture performance at low temperatures. A variety of ACSW and WCO compound-modified asphalt mixtures were fabricated. High-temperature stability, medium-temperature fatigue, low-temperature anti-cracking, moisture susceptibility, repeated freeze–thaw, and long-term aging tests were conducted to comprehensively evaluate the pavement performance. Compared to the base asphalt mixture, the compound-modified asphalt mixtures were demonstrated to have better high- and low-temperature, moisture susceptibility, fatigue, anti-freezing, and anti-aging properties, especially for the 6%ACSW and 2%WCO compound-modified asphalt mixture. Therefore, the 6%ACSW and 2%WCO compound-modified asphalt mixture was ultimately selected for use in construction, as this mixture can meet the requirements for regions with cold winters and hot summers.

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The research of this paper was derived from the small autonomous underwater vehicle (AUV)Raider well performed in the 15th International Underwater Vehicle Competition (IAUVC),San Diego. In order to improve the performance of underwater vehicle, the control system of performance motion played an important role on autonomous underwater vehicles stable motion, and the whole control system of AUV is the main point. Firstly, based on the motion equations of six degrees of freedom, the paper simplified the dynamical model reasonably in allusion; Due to the speed of Raider to find the target was very low, this paper considered the speed was approximately zero and only considered the vertical motion. Therefore, this paper established the vertical hydrodynamic model of Raider, obtaining the transfer equation of vertical motion. Through the experiment and Matlab/Simulink simulation, this paper got the actual depth of the step response curve and simulation curve, and verified the validity of the vertical hydrodynamic model and the correlation coefficient.

Currently, speed detection of travelling block system is carried out mainly by detection roller speed, which results in a larger error. Against this background, a method to test crown block pulley was put forward, and its rotation speed precision and also its reliability were analyzed. The method is effective in improving detection accuracy and avoiding errors arising from skidding on the basis of applying the principle that rotation speed ratio of different fixed blocks is a constant value, thus judging the occurring of slipping by examining rotation speed for different fixed pulley. This method provides a guarantee for accurately controlling travelling blocks operational speed and height.

In view of present security problems existing from traveling block’s speed by manual control, a kind of energy-saving automatic anti-collision scheme is put forward. An analysis of the transmission system structure of ZJ70L-ZPD oil drilling rig can obtain the influence that the alteration of diesel engine speed results in the alteration of speed of traveling block rising or falling. Fuzzy control system is established by fuzzy control strategy that concludes input quantity rotation speed deviation and deviation ratio and output quantity throttle aperture, which creates fuzzy control data sheet by offline calculating. Decelerate gradient on the set position of decay area was calculated by detecting the speed of the braking point, through the way that queries the fuzzy control table to real-time adjust output quantity of throttle size so as to achieve the purpose of anti-collision. This kind of anti-collision scheme reduces energy consumption by figuring out the real-time speed deviation to adjust fuel charge, avoids the braking system power dissipation off the kinetic energy by means of frictional heat when traveling block rising, provides new ideas and methods to solve problem of crown block anti-collision.