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In this paper, the properties of the base metal of the low-alloy high-strength steel 20MnTiB, the welding process and the microstructure and properties of the welded joints were studied. The results are as follows: post-heat treatment below 400°C, the strength change of the steel decreases slowly, the elongation does not change significantly, and the metallographic structure is not obvious. When the temperature is above 400, the strength is greatly reduced. And its plasticity increases remarkably, and precipitates on the grain boundary are precipitated and grown on the metallographic structure. When the line energy is in the range of 9.6~12.0kJ/cm, the mechanical properties and microstructure of the welded joints meet the requirements, and the welding process that meets the requirements is studied. Finally, the mechanical properties and microstructure of the welded joint are studied. Provide a reference for the research and application of steel.

This paper describes the application of population balance models to activated sludge flocculation process. It presents the development and selection of appropriate expressions for aggregation and breakage kinetics within the population balance framework to describe the evolution of mean size and steady state distribution of flocs under shear conditions. A size and velocity gradient dependent collision efficiency is introduced into the aggregation expression. In the model, only 2 parameters need to be estimated: collision efficiency coefficient and the breakage frequency coefficient. They are obtained by the “best fit” with the experimental data, and keep unchanged under different shear condition for the same flocs. The modelling results indicate that the population balance models coupled with suitable aggregation and breakage kinetics is appropriate for describing activated sludge flocculation dynamics.

A novel 5-DOF rehabilitation robot for upper limb, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. Based on the method of screw theory, the rehabilitation robot’s kinematics model was set up according to the 5-DOF rehabilitation robot for upper limb. For the kinematics model set up by the method of screw theory, the inverse kinematics calculation was realized by using Paden-Kahan sub-problem method and algebraic elimination method, and the result of explicit solution was given. It offered reliance for the actual intellectual control of the position and speed about the rehabilitation robot.