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The variation rate of seed-spaces in soil is higher and the qualification rate is lower due to the high seed releasing position of double discs furrow opener of no-tillage planter. To solve this problem, a new belt-type device for air-suction metering was designed and its main structural parameters was determined based on the cavitation time analysis of seed meter. This device integrated both transmission mechanism and seed releasing mechanism into one system, matching with the rotating speed of seed disc and the walking velocity speed of planter. The optimal parameters in relating to seeding performance were obtained by orthogonal test. When the seed releasing height is 100 mm, the rotational speed of seed disc is 30 r/min and the pressure of negative room is 3.5 kpa, the qualification rate of seed-space, the missing rate and multiple rate of seed per hill can be 98.5%, 0.48% and 1.02%, respectively.

This paper deals with the determination of residual stress in SiC adherend bonded with inorganic phosphate adhesive using Raman and fluorescence spectroscopy in a micro-Raman system. To determine the stress mode in the specimen, we descript the corresponding relation between the Raman effect and residual stress. The laser with wavelength at 532nm and 785nm was respectively applied to test hundreds of test points on the SiC adherend and selected 785nm wavelength laser as the illuminant. Meanwhile, Raman imaging was used to analyze the surface of SiC and inorganic phosphate adhesive. Meanwhile, we determined the unreliability of estimating by Si peak. Taking E2-TO peak as reference, residual stress of six selected points was obtained. Then, we summarized the mechanism of compressive stress, and analyzed the stress change regulation.

Cr25Ni35Nb and Cr35Ni45Nb austenitic steels, used as furnace tube material in the ethylene pyrolysis furnace, generally suffer from coking during the long operation period. In the present paper, for coked Cr25Ni35Nb and Cr35Ni45Nb austenitic steel, using the finite element ABAQUS code, a sequentially coupled thermal stress procedure was developed to calculate distribution of the temperature and thermal stress field. The results show that thermal diffusion property of Cr25Ni35Nb and Cr35Ni45Nb steel deteriorates obviously with coking layer increasing. Radial bulge and rupture at local field would generate due to excess temperature for applied subsequent measurement. Maximum stress distribute along the cross-section of coking layer and metal matrix. Finally, the critical depth of coking layer of Cr25Ni35Nb and Cr35Ni45Nb austenitic steel are predicted when decoking measurement must be executed.

As to the problem of blind recognition for convolutional code, the existing recognitory methods’ principle and process are summarized, and they are simulated and analyzed with Matlab. Four methods are introduced for the recognition of generation polynomials, and the comparison of these methods shows that the Euclidean algorithm works better at low BER, while the method based Walsh-Hadamard transform has a better accuracy when BER is as high as 10-2.

In order to reasonably and effectively select the typical year with water and sediment from numerous data, an analysis method of fuzzy clustering iterative model was proposed. Based on the example of Jinji hydrologic station, this paper calculates the model and compares it with the the traditional frequency method. Result shows that it was typical in terms of total amount and distribution of flow and sediment to use this method, and the subjectivity of index weight and classification standard of water and sediment is avoided by using this model. So the method is objective and rational.

Introduced the development situation and trend of structural health monitoring, discussed the advantages and insufficiencies of application issues of the structural health monitoring system based on optical fiber sensing technology, combined with engineering case, analyzed the sensors’ survival rate, system reliability, temperature compensation and some other issues, according to the specific problem proposed the corresponding solutions or concrete measure.

A fatal disadvantage of continuously reinforced thermoplastic composites is the high melt viscosity of the matrix which hampers impregnation. However, the melt viscosity of low molecular weight cyclic butylene terephthalate resin can reach extremely low value, which simplifies impregnation and even allows for the use of thermoset production techniques resin transfer moulding. To solve the problem of the glass fiber reinforced poly cyclic butylene terephthalate composites applied in the environment of high temperature, the specimens of composite laminates were tested under and after different temperature. It has been observed that the tensile properties of GF/PCBT composites decrease with increasing temperature between room 25°C and 150°C and tend towards stability after the high temperature.

WSNs can cover a wide range of application. Node deployment is a fundamental factor in determining the connectivity, coverage, lifetime and cost of WSNs. This paper focuses on the cost of network that satisfies some constraints (coverage, connectivity and lifetime). In order to satisfy the connectivity and coverage, we use the regular hexagonal cell architecture. We present a new metric, the Cost Per Unit Area and Lifetime, to be objective function. Three programming models are proposed under different scenarios. For reasons of space, we present briefly the method to solve above models and some analysis.

In this paper, we present a fault diagnosis method for nitrogen furnace. According to the analysis of the typical faults of the nitrogen furnace, we use the sensor of programmable logic controller to obtain its circuit parameters, send them to industrial control computer, and diagnose the faults using the configuration software. Experiments demonstrate that our method can collect, display, storage, and diagnose the fault information in a real time, which confirm its potential applications in the nitrogen-chemical industry.

In this paper, we proposed a scheme to reconstruct the synchronous scrambler placed after a direct sequence spreader. The scheme was first based on the assumption that the spreading code was known and then extended to the unknown situation. The reconstruction algorithm took advantage of the properties of spreading code that was used to spread the input information sequence. We got a property that helped to detect the multiples of the feedback polynomial. The simulation results proved the validity of the proposed algorithm.

With the wide use of internet and we-media, the process of emergency treatment of government developed into the process of information transmission and the game of the stakeholders. Firstly, the formation of this process has been demonstrated. Then from the perspective of government we analyzed the constitution of game, the types and the interest demands of stakeholders. And then from the perspective of the game we analyzed the emergency behavior and the profit of the government. The game model was constructed based on the transmission of information, so as to provide a reasonable explanation for the emergence disposal of government. Finally, according to the study some suggestions for government have been given.

Economic development is one of the targets of the whole human society. In macroeconomic theory, the developments of the economy are largely driven by consumption, investment, government purchases. In economic theory, we usually use to describe the development of economy, GDP and GDP will be affected by the price level. To measure the price level, we generally use the consumer price index, commodity retail price index to describe; Investment is usually measured with fixed asset investment and gross value of industrial output. In this article, through nearly 20 years in China's gross domestic product (GDP) and gross domestic product (GDP) of some important indicators, such as the residents' consumption level, the fiscal expenditure, gross value of industrial output and commodity retail price index, the consumer price index, urban residents' income, rural residents income, such as the total energy consumption data, using SPSS software to provide the descriptive analysis, factor analysis, regression analysis and other methods of data carried on the thorough analysis, and analysis the problems reflected by some targeted Suggestions are given.

In order to accurately and effectively evaluate the trust level between enterprises whose supply chain exists in direct transactions, this paper proposed a trust level evaluation method based on reputation, this method by introducing corporate transactions satisfaction level, corporate transaction amount, corporate transactions time, corporate transactions number and rewards and punishments factor five factors, which make description and measurement of corporate reputation more accurate. Meanwhile, in order to improve the measurement accuracy of corporate transactions satisfaction level, this paper proposes a transaction satisfaction evaluation method based on fuzzy evaluation, the transaction satisfaction were evaluated from product quality, product cost and completion time three aspects. Simulation results show that the model proposed by this paper can effectively evaluate the direct trust level of supply chain enterprises by the reputation. Compared with similar existing trust model, this model evaluates direct trust between enterprises more accurately and objectively. It also effectively reduces the occurrence of corporate fraud and speculative behavior.

The paper briefly introduces the structure principle and excellent characteristics of protograph LDPC codes and designs the serial encoding circuit based on FPGA. On the basis of the further study of Belief Propagation (BP) algorithm, λ-min algorithm and A - min algorithm, decoder is designed adopting the complexity and performance eclectic mixed decoding algorithm. Meanwhile, it is verified by the simulation. The result shows that coding gain can be up to about 6 to 8 db, if it meets the requirements of 10-5bit error rate.

Aimed at improving the dynamic response of the lower limb for patients, an impedance control method based on sliding mode was presented to implement an active rehabilitation. Impedance control can achieve a target-reaching training without the help of a therapist and sliding mode control has a robustness to system uncertainty and vary limb strength. Simulations demonstrate the efficacy of the proposed method for lower limb rehabilitation.

In this study, the input and output parameters of potassium (K) for wheat season were collected from 2000 to 2011 to evaluate the nutrient cycling and balance in North Central China, the Middle and Lower Reaches of the Yangtze River and Northwest China. The results showed that the K fertilizer application rates for each region were 74.7, 102.9 and 50.6 kg K/ha, the K brought from previous crop were 99.5, 19.8 and 23.4 kg K/ha, and brought from seeding were 1.0, 0.8 and 0.7 kg K/ha, respectively. The K input from atmospheric deposition and irrigation were all considered zero. The K uptake by harvest in above-ground plant in North Central China, the Middle and Lower Reaches of the Yangtze River and Northwest China were 131.8, 159.9 and 119.8 kg K/ha. As a result, The K balance in North Central China showed surplus by 43.6 kg/ha, while in the Middle and Lower Reaches of the Yangtze River and Northwest China, the K balance were both deficiency by 36.4 and 45.1 kg/ha, even though it did not affect the crop yield. While it is suggested that we need to adjust the K fertilizer application in a long term, in order to maintain the sustainable soil fertility.

This paper welds a layer of austenitic stainless steel (SS316L) on specimen of low carbon steel (C15) with a cylindrical surface using MIG Technology in the experiment. The sample was upsetting experiment, cracks and material forming observation respectively using embossing punch, no lubrication flat punch and lubrication flat punch under the condition of 750 °C, 900 °C and 1050 °C. The paper research on forming mechanism of the specimen under laboratory conditions based on the experimental results, the axial symmetry theory model and Numerical Simulation.

For energy-saving and consumption-reducing, new energy-saving transformer becomes more and more important. Via an economic evaluation methodology called Total Owning Cost (TOC), this article compares energy-saving transformer with high-energy transformer for examples in the angle of transformer loss and picks up the optimum energy-efficient transformer which can be expected to gain more benefit during transformer life cycle. This article also analyses cost of silicon steel sheet used in the transformer core and benefit in Total Owning Cost (TOC) of upgrading silicon steel sheet which primarily reduces no-load loss. Based on calculated results of Total Owning Cost (TOC) and payback period, the new energy-efficient transformer replacement plan, economic discussion and promotion proposal are brought up.

This paper first introduces the residential area planning case for the sustainable development of Shanghai Vanke langrun garden and Ningbo green residential housing. Then combines the growing trend of residential area planning, this paper proposes some principles for the residential area planning of the sustainable development: ecological development, hybrid development, compact development, economic development, the fully mix of people and environment and the social development.

This study investigated the effect of ultraviolet (UV) enhancement and the Fe3+-EDTA Complex on the degradation of methylene blue (MB) in Fenton-like system. By studying different variables including H2O2concentration, Fe3+-EDTA concentration and pH value，and using MB as a model pollutant, the best experimental conditions was to investigated. Experimental results showed that it is possible to degrade MB wastewater effectively by modified UV-Fenton with Fe3+-EDTA at neutral pH. Besides, optimality condition (pH= 7, [Fe3+-EDTA] = 2 mmol/L, [H2O2] = 10 mmol/L) which were used in the modified UV-Fenton that achieves a removal of over 95% of the MB in 60 min reaction time. Therefore, this new modified Fenton system is an effective treatment for MB wastewater.

Rapid prototyping technology can greatly improve the actual processing industrial prototype; this paper introduces the main principle, characteristics and technology of rapid prototype manufacturing. The current rapid prototype manufacturing products and production problems are analyzed. Because of the direct metal forming process have the characteristic of point by point, surfacing with stack molding manufacturing layer by layer, so it is suitable for complex shape parts two-dimensional or three-dimensional functionally gradient materials manufacturing.

According to the analysis results of normal gait data, a method of gait trajectory planning based least squares curve fitting is proposed. Given the generalized-th order polynomial functions, the coefficients for functions are determined, then, a health hip and knee gait trajectory planning functions were obtained. The computer data analysis results show that the gait trajectory fitted can represent a normal gait accurately.

With the development of computer technology, the construction industry is moving into the information age. The development of BIM(Building Information Modeling) provides technical support for construction design. Currently, BIM technology in the design application has been matured, this paper explores the BIM technology in air defense projects construction design.

In this paper, we have presented a method to generate efficient NC tool paths based on the surface subdivision. The main objective is to achieve high efficiency in the machining of sculptured surface. The NC machining efficiency can be improved by segmenting the whole surface into distinct areas according to the characters of sculptured surface and by using different size mills and different tool path planning methods to machine the areas. The iso-parametric method and large mills are used in the curvature changing little areas. While the iso-scallop method and small mills are used in curvatures changing large areas. This can make full use of tool path generation methods and mills, which improve the machining efficiency of sculpture effectively.

It has been paid more and more attentions To strengthen EQO Essential-qualities-oriented) education of colleges. Multiple Factor Analysis (MFA) is a kind of analysis method to fully select the factors associated to analysis and illustrate the problem. It is also an important analysis tool to solve the proposed problem. This paper proposes the study on evaluation and countermeasures of college students education management based on MFA. The proposed method conforms Chinese college student education management evaluation system and countermeasures of the characteristics. It also has an important significance to improve the education quality of Chinese college.

In this study, the input and output parameters of Phosphorus (P) for wheat production system were collected from the year 2000 to 2011 to evaluate the nutrient cycling and balances in North Central China, the Middle and Lower Reaches of the Yangtze River and Northwest China. The results showed that the P fertilizer application rates for each region were 44.5, 39.7 and 42.3 kg P/ha, the P brought from previous crop were 14.8, 1.6 and 2.6 kg/ha, and brought from seeding were 1.5, 1.0 and 0.9 kg/ha, respectively. The P input from atmospheric deposition and irrigation were considered zero. The P uptake by harvest in above-ground plant in North Central China, the Middle and Lower Reaches of the Yangtze River and Northwest China were 41.2, 53.2 and 17.0 kg/ha. As a result, the P balance in North Central China and Northwest China were both showing surplus by 19.6 and 28.8 kg/ha, and in the Middle and Lower Reaches of the Yangtze River showed deficiency. It is suggested that we need to adjust the P fertilizer input in China, in order to maintain the sustainable soil fertility and avoid the negative impact on the environment.

Nowadays, the E-payment system can be extensively used in the ecommerce applications through the Internet as a payment method. So the E-payment system’s security is very important. In this paper, the E-payment based on proxy blind signature is discussed, and an E-payment system applying to auto insurance based on proxy blind signature is proposed. The system solves the problem that the central bank can easily cancel the signing power of issuing banks and resist collusion attack. Meanwhile, anonymity of the banks and withdrawer can be protected in our system. The trace of e-cash and withdrawer can be realized. By security analyzing, it shows the new scheme is an efficient and safe e-payment system with multi-banks applying to purchase auto insurance system.

In this paper, the proxy blind multi-signature scheme proposed by Hu was analyzed, and we show that the scheme is not secure against the attack which the signature requester can tamper with the proxy warrant. In order to overcome the defect, we improve the proxy blind multi-signature scheme. The improved scheme can resist the attack, and meet integrity, unforgeability, verifiability, strong blind. This improved scheme is more secure and practicable, and suitable for electronic commerce.

The Renmin street is the central and historical axis of Changchun, it witnesses the history of urban development in more than one hundred years. The author first analyzes the planning that "wide and straight, ups and downs as belt, street trees in rows, gardens in pieces, squares cluster, buildings set off" and architectural characteristics of the Renmin street. Then the author introduces the typical protective historical buildings along the line. Finally the paper puts forward several protection principles for the long axis with the historical sequence.

In order to providing the recent news, papers and patents for the enterprise and technical personnel who need this scientific intelligence, a software that offer information push service has been designed. The subscription number of WeChat platform is used to response users’ requests. The public API of platform is used to get users’ requests and push the customized messages to subscribers. The content of requests and responses are stored in MySQL database with the keywords that has been customized by subscribers. The proposed system is aim to offer a push service for enterprise and technical personnel, satisfies the requirements of pushing the customized scientific intelligence timely.

Recursive system convolutional codes (RSC codes) are the commonly used coding form for Turbo sub-encoders. For blind recognition problem of RSC codes, a novel method is proposed to recognize code parameters and generator polynomials. Firstly, code parameters are estimated by analyzing matrix constructed from the received codeword. Then, the mathematical model for recognition of generator polynomials is derived according to RSC codes’ characteristics, and the specific implementation steps are introduced. Finally, simulation results from Matlab show that the performance of the method is obviously more excellent than other methods, which indicates great significance to further research on Turbo codes.

The paper mainly introduces the general situation, planning features and architectural features of the Xinmin street historical and cultural blocks. Through the analysis of street pattern, spatial texture, environment and architectural characteristics of blocks, the paper demonstrates the typical features of city streets in the modern puppet period and puts forward some protection thinking of the historical blocks.

The community structure is a vital property of complex networks. As special networks the weighted networks also have community structure. Nowadays the studies of overlapping community draw attentions of researchers. However, the scale of networks become huge, so it requires the algorithm has lower time complexity and higher classification accuracy. Many existing algorithms cannot meet these two requirements at the same time. So we propose a novel overlapping community detection algorithm. Firstly we apply maximum degree node and its some special adjacent nodes as the initial community, and then expand the initial community by adding eligible nodes to it, finally other communities can be found by repeating these two steps. Experiments results show that our algorithm can detect overlapping community structure from weighted networks successfully, and also reveal that our method has higher division accuracy and lower time complexity than many previously proposed methods.

In this paper, the international common CFD software were installed on the flat three-dimensional optimal design wing tip and winglet wing for three-dimensional simulation, and use the results post-processing software post-processing.

This paper introduces the general model of Markov repairable system, combined with the typical design of 750kV substation communication system, put forward the Markov general model for 750kV substation communication system, a communication system reliability evaluation system based on the state of the equipment. Sensitivity analysis of the equipment failure rate and repair rate parameters on the system reliability, the failure rate and repair rate impact on system reliability, to develop communication system state maintenance, and provide a method to improve the reliability of system.

Generally the cardiac pacemaker is supplied power by micro battery, but the battery lifetime is limited, the Wireless Power Transmission (WPT) technology is a new method to supply power source for the cardiac pacemaker. Firstly the structure of the WPT system in the cardiac pacemaker were introduced. Then, Coupling transformer and rectifying and regulating circuit were designed. Finally, the test system of the WPT in the cardiac pacemaker was established, and the resonance frequency was 596 kHz, When the work frequencywas equal to the resonance frequency, the output power was maximal; when the input voltage of the primary winding was 5.8V, the voltage of the cardiac pacemaker may be up to 8.8V, which could effectively drive the cardiac pacemaker Record S, the results show the design is feasible.

Through the analysis of historical and cultural blocks protection of the China FAW, this article puts forward the shift from the building to the blocks about the industrial heritage protection in the new period, thinks the protection category of industrial heritage should be expanded moderately and pays attention to the life authenticity protection. This paper lays stress on the collection of industrial heritage historical information to form the urban culture resources characteristic and also on the industrial tourism in the development of cities, then embodies the thinking of the industrial city value in the field of industrial heritage. Finally, the paper presents the urban industrial heritage as a resource should be carried on the overall evaluation and reservation, should be established the related planning systematically and should be protected, developed and utilized reasonably.

Using mechanism design and dynamic analysis software, the simulation is conducted about grasping operation and moving objects for multi redundant manipulator on the basis of mechanism design and theoretical research, as well as the snake crawling motion simulation. The simulation results validate the correctness of theory analysis. The each joint driving torque data and curve provided the effective data basis for the design and development of a prototype.

Discrete element software is used to simulate the excavation of a rock slope in Puli-Xuanwei Expressway in Yunnan Province. Through monitoring displacement development characteristics in different positions of slope, the result shows that the minimum horizontal displacement under excavation exists in the top of the slope, meanwhile the maximum horizontal displacement occurs in the foot and waist of the slope, and the maximum vertical displacement occurs in the top of the slope. Comparing rock slope in such conditions as different stratum angles, directions, rock characteristics and thickness, it concludes possible failure modes of slope and the variation law of safety coefficient under different conditions. This paper is instructive and offers reference for the practical engineering.

To resolve the problem of no guidance about how to set the values of numerical meta-parameters and difficulty to achieve optimization of Deep Boltzmann Machines, genetic algorithms are used to develop an automatic optimizing method named GA-RBMs (Genetic Algorithm-Restricted Boltzmann Machines) for this model’s aided design. Based on the Restricted Boltzmann Machines’ features and evaluation function, a genetic algorithm is designed and realizes the global search of satisfied structure. We also initialize the network’s weights to determine the number of visible units and hidden units. The experiments were conducted on MNIST digits handwritten datasets. The results proved that this optimization reduced the dimension of visible units and improved the performance of feature extracted by Deep Boltzmann Machines. The network optimized has good generalization performance and meets the demand of Deep Boltzmann Machines’ aided design.

The results of the same modal analysis exhibit obvious diversity due to the different options of the finite element types and the modeling methods. Modal analysis was carried out on EMU aluminum alloy welded profile using finite element analysis, then mode shape and natural frequency of each model was abstracted, and then the results of simulation and experimental were contrastively analyzed. Based on these, a fast and reliable modeling method and a reasonable element type were obtained, which would be able to eliminate the blindness of the choice of modeling methods and element type, thus achieving a more reasonable theoretical analysis results that provide the reference for structure design and verification and the basis for improving the efficiency and precision of simulation analysis.

In order to achieve the metal flow law in high-speed cold roll-beating, the metal flow state was analyzed on the basis of the principle of high-speed cold roll-beating and the Law of Minimum Resistance. The finite element analysis model was established based on the processing of involute spline; high-speed cold rolling forming process was simulated. The equivalent strain and the flow track of a set of nodes on the contact surface on different time are analyzed, the flow law of each node is given, and simulation analysis result is compared with theoretical analysis result.

The mechanical arm of multi degree freedom can be used as a mechanical arm by surrounded and grasping operation, but also can be used as mobile robot on the ground. In the case of the not fixed base, the bionic motion is studied. In this paper, the mechanism relationship of the mechanical arm is analysized, and the manipulator the joint angle changes are obtained on creeping movement of the mechanical arm.

Different from the traditional single databases, there is a big difference between different layers’ data of multi-level database. The differentiation of categorical attributes is small. Traditional database intrusion detection process is simply to consider the point to point data detection between the layers, without considering the similarity between the layers and ignoring the optimization for detected properties of the applied classification between the levels, resulting in lower detection accuracy. In order to avoid the above-mentioned defects of the conventional algorithm, this paper propos an intrusion detection model of multi-layered network by introducing the coarse-to-fine concept. The intrusion feature of computer database is extracted to be used as the basis for intrusion detection of database. The particle swarm distinguish tree is established to make the hierarchical processing for nodes. Through the probability operation of database intrusion detection in different layers, intrusion detection of multi-layer, distributed and large differences database can be achieved. Experimental results show that the use of the intrusion detection algorithm for multi-layer, distributed and large differences database, can increase the security of the database, ensure the safe operation of the database.

Three main computational models in hypersonic slip flow are derived and analyzed in detail and then compared by numerical simulation in which 2D cylinder hypersonic slip flow with Mach number 10 and Knudsen number 0.002, 0.01, 0.05, 0.25 are examined, results come out that the improved Maxwell slip model shows better applicability.

Xianning is located in the fourth pole of economic growth core area of The Central Triangle, through the location entropy analysis method we can know that, tourism industry is an advantaged industry in Xianning and the adjacent region of The Central Triangle, and have their own advantages and characteristics of tourism resources. According to the space constraint issues on function realization of advantaged tourism resources in Xianning, space breakthrough strategy based on The Central Triangle pattern has been presented.

In online education, the three-dimensional image is transmitted remotely via the network, the amount of information contained in a three-dimensional image is higher than the two-dimensional pixel, reconstruction is also more complex than the two-dimensional, once interference is present, the three-dimensional features of image lost. To avoid these shortcomings, an anti-interference transmission method based on new remote image network is presented for online education. Image enhancement method is applied to strengthen the contents of the image, and support vector machine method is utilized to optimize the compression process of wavelet coefficients, and ensure low-loss compression. Experimental results show that the algorithm benefits remote network education in transmitting three-dimensional image to the terminal accurately and the image compression losses are reduced.

The magnitude, distribution of earth stress are important parameters. In this paper, based on the hydraulic fracturing test data and logging data, the model of earth stress has been established. The vertical stress (Sv),the maximum horizontal stress (SH), the minimum horizontal stress (Sh) can be calculated by logging data with this model. The profiles of earth stress along the depth with continuous distribution can be determined, and stress spatial distribution has been described.

On the basis of the PYR type joint kinematics, redundant manipulator motion planning and bionic motion about surrounded grasping, creeping crawling, serpentine movement is researched. The motion planning of the mechanical arm by grab and surrounded was carried out based on geometric analysis. The grasping operation model meets the operation conditions. According to the creeping, serpentine movement of the bionic motion principle, the 5 section of 11 degree of freedom, the bionic worming crawling and the snake like motion planning about 8 joints and 17 degrees of freedom mechanical arm were given, combined with a full range of joint mechanism design and kinematics theory.

Functionalized magnetic silica nanospheres were prepared by hydrolyzation of tetraethyl orthosilicate (TEOS) on Fe3O4and modification of Fe3O4/SiOx. Structure of functionalized magnetic silica nanospheres were characterized by transform infrared spectroscopy (FTIR) and differential thermal analysis (DTA). Cellulase was immobilized on functionalized magnetic silica nanospheres through cross-linking method. Saccharification rate of the immobilized cellulase is 70 % of that of free cellulase. The saccharification of the immobilized enzymes after 8 continuous uses still have 10 % of the initial saccharification rate, which demonstrate the potential of this immobilized cellulase for biofuel production.