It is well known that the friction force can lead to the analysis complexity of the contact constraint model. Based on Coulomb’s frictional model and unilateral constraint model, non-rigid bodies’ compliant dynamic model was established. Considering the whole motion of the assembly system and elastic contact deformation caused by assembly forces, the nearly rigid contact analysis is proposed. Jamming and wedging must be avoided for successful robot assembly operation. Based on the compliant dynamic model the conditions for jamming and wedging are provided in the formulations of the constrained dynamic system of peg-in-hole insertion.

With the development of unmanned aerial vehicle (UAV) technology, the application of UAV is becoming more and more extensive, including the application of UAV in building 3D modeling. This paper introduces the composition of commonly used related equipment and some key UAV technologies combined with building 3D modeling: 3D laser scanning technology, Photogrammetry, Multi-view 3D reconstruction technology and Seismic disaster prevention technology. This paper also studies practical applications and related cases. On the one hand, UAV can be used in the protection of ancient building heritage. Combined with photography, measurement, modeling technology, UAVs can rapid and efficient access to relevant building three-dimensional information, including building damage and overall configuration, then provide important information and reference for building heritage protection. On the other hand, UAVs can also carry out multi-faceted evaluation and survey of modern buildings, collect topography, guide seismic planning and post-disaster reconstruction, and save project costs.

This paper proposed the machining scheme of front and back combined for the blade according to the characteristics of the aero engine blades. Then the authors analyzed the entire process of the blade machining in detail, it included the machining resource selection, the process route development and NC programming created. Finally through the specific practices to verify the feasibility of the machining program.

High-speed motorized spindle is the core component of the CNC machines. Its dynamic performance directly affects the accuracy of the geometry, and be the root cause of vibration, noise and temperature increase, etc. Its motor control system has the characteristics of nonlinear and strong coupling, which is one of the key R&D items of the spindle design. Based on granular computing, this paper selects the appropriate granularity to analyze the coupling between the motor control parameters and system performance, and propose a zoning decoupling and optimization method to optimize the overall system performance, which has practical application value.

This paper presents a design of gas injection system for the electron beam ion trap and an approach of estimation of the injection efficiency based on geometrical optics model. The differential pumping structure is used to ensure efficient injection without destroying the vacuum. The estimation is proved reliable and reasonable by experiments results.