Abstract. According to the characteristics of jumping locomotion, a solution of Tetra-state Hopping Robot (for short: THR) actuated by Shape Memory Alloy Spring (for short: SMAS) is presented in this paper. This article establishes a mechanical model of the jumping robot and analyzes the kinematics and the dynamics of the mechanical model. Lagrange method is applied to analyze the dynamics the mechanical model. Meanwhile, a preliminary explanation of the THR flipping phenomenon during the take-off and flight process is conducted from the perspective of momentum moment. Hopping Robot with a Tetra-state CycleWe have successfully developed a THR, as shown in Fig. 1, which has a tetra-state cycle and is actuated by SMAS. The THR has great differences with many prototype machines developed by domestic and foreign institutions [1] . The tetra-state of the THR: resetting, energy storing, triggering and hopping are all driven by SMAS. It has been validated that the THR can assist Micro Flapping-wing Air Vehicle (for short: MFAV) to take-off, as shown in Fig. 2. The experiment method and equipment will be issued in other articles. Total weight of the THR, including its control system, is 11.1g and total height is 55mm. The THR can jump 480mm high and 520mm in horizontal distance.This article analyzes the kinematics and the dynamics of the mechanical model and preliminarily explicates the THR flipping phenomenon during the take-off and flight process from the perspective of momentum moment. Mechanical Model of THRTHR in this article is light and small, and can recover to original state for next bouncing after a take-off. As shown in Fig. 3, the THR is comprised of resetting SMAS, differential SMAS, trigger mechanism, torsional spring, rotation mechanism, adjustment pillar, former arm and back arm. The work principle of the THR is as follows: under the control of control system, the resetting SMAS 8 shrinks for being heated. Then, the rotation mechanism rotates and stretches the differential SMAS 6 downward. The first hooker 4 at this end will contact the second hooker 3 on one end of the SMAS trigger spring 2 and get locked with it. Meanwhile, some energy of heating the differential SMAS 6 is transformed and restored in the second torsional spring 10. Afterwards, the trigger SMAS

Abstract. An idea of self-helpingly exchanging and charging batteries is proposed to solve some Battery Exchanging and Charging (BEC, for short) problems of Electric-Networked Vehicles (short for, EN-V). Large scale BEC stations occupy large working area and need high equipment cost; common charge piles have disadvantages of long charging time. As a result, a physical demonstration system, which encompasses intelligent vehicle system, BEC stake system and GPS (Global Positioning System) simulation system, is established to validate the feasibility of the idea. Notion of Self-service BEC Stake SystemElectric Vehicles (EV, for short) get their power supply through BEC equipments. The pattern of energy supplement can be divided into vehicle charging (including fast charge, regular charge and slow charge) and battery quick exchange. Generally speaking, large scale BEC stations have characteristics of large occupation of land, high investment and long charging time. Taking Beijing Olympic bus charging station [1] for example, it occupies an area of 5000 m 2 and takes up to 2 hours to complete one charge or 10 to 15 minutes to exchange one battery. Another instance is Shenzhen Universidad center charge station [2] which takes up an area of 1092 m 2 and consumes an investment of 10.5 million Yuan. 9 hours should be taken to fulfill the charge of hybrid vehicles in the slow charge pattern of the latter station. Commonly, charge piles, with shortcomings of long charging time, occupy smaller areas of land, which makes it flexible to distribute them in large cities. Customers can help themselves to charge by using charge piles, but they may have to wait 6-8 hours to fill up a weak battery. Additionally, a charge pile can charge two or more vehicles simultaneously. Self-service BEC stake system is a novel idea of EV power supply by way of exchanging batteries. Applying the idea, users can exchange their EV batteries just like shopping in a self-service vending machine, for BEC device of BEC stake system can replace its strong battery with a weak battery in EV, and charge the replaced weak battery. The BEC stake system combines merits of large scale BEC stations and charge piles, and with advantages of small occupation of land, not too much investment and easy construction, it can be constructed comprehensively like building self-service vending machines. On this condition and with the aid of GPS and wireless network, EN-V can real-timely obtain the position information of nearby BEC stake spots and the battery supply information of those spots, and then achieve battery exchange self-helpingly.As shown in Fig. 1, the BEC stake system commonly encompasses a BEC mechanical infrastructure, a battery exchange control module, a battery information monitor module, an intelligence battery charge module and a network service module. The mechanical infrastructure is used to store spare batteries and exchange them with weak batteries on EV through a mechanical arm

Abstract. There are a lot of dynamic changing problems for design version in the complex product design process. We have study a dynamic version control technology for result it. Firstly, we have researched the three level version control model, including the complex product structure layer, the node version tree layer and the version structure layer. Secondly, we have researched the version control model operations, including the version structure operations and the version operations, and analyzed the implementation of the version generation function and the version mergence function. Finally, the method has been applied and verified in the development of an aircraft flight loads integrated design platform.

Electric vehicle is an important developing trend of the vehicle industry and the power and technique field. But nowadays, there still exist some problems in this field which cant be solved with mature solutions, such as long time of charging, high cost of replacing and charging station and large areas it covers, low efficiency and so on. By building an effective model, this paper brings up a conceptual design of an automatic system of replacing and charging batteries for electric vehicles with the late-model design of the multi-station device. By observing the effect of the experimental device, it can solve the problems mentioned above, but more should be done to improve it. This design, the demo system, mainly includes electric vehicle model system, replacing and charging station system and GPS navigation system, and it performs excellent in experiment.