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Table of Content

    26 March 2014, Volume 25 Issue 6
    A Force Analysis Method for Overconstrained Parallel Mechanisms
    Zhao Yongsheng, Xu Yundou, Yao Jiantao, Jin Linru,
    2014, 25(6):  711-717. 
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    Overconstraint defined on the general overconstrained parallel mechanism was called as passive overconstraint herein, the overconstraint introduced by the redundantly actuated parallel mechanism was called as active overconstraint.
    And then the overconstrained parallel mechanism was divided into passive overconstraint parallel mechanism, active overconstraint parallel mechanism and redundantly actuated overconstrained parallel mechanisms. The research status of force analysis for the passive and active overconstrained parallel mechanisms at home and abroad was described in detail. Therefore,a force analysis method for overconstrained parallel mechanisms was proposed. For the novel method, stiffness matrix of the supporting limb's constraint wrenches was defined, a general analytical expression for the solution of the constraint wrenches was derived by taking elastic deformations of the links and actuators into account. The proposed method can be applied to force distribution of general overconstrained parallel mechanisms, so it is of relatively strong versatility.

    Driving Magnetic Path Modeling and Numerical Analyses in Giant Magnetostrictive Pump
    Chen Long, Zhu Yuchuan, Yang Xulei, Xu Hongxiang
    2014, 25(6):  718-722. 
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    A novel structure of the GMP for the hybrid solid fluid actuator was designed herein. The magnetic circuit was modeled and then the numerical simulation of driving magnetic field distribution of the GMP was performed by FEM. The results of flux density in the giant magnetostrictive by emulating are similar to the results of theoretical calculation when they were compared with each other. The magnetic field uniformity of giant magnetostrictive rod was analysed by the FEM, and the results show that uniformity of radial magnetic field are higher than that of axial magnetic field. The influences of the size of giant magnetostrictive rod on the uniformity of axial magnetic field was also analysed. The roll-off in the driving flux density is observed by dynamic numerical simulation, and the validity of simulation results was validated by comparing the simulation results with the experimental ones.

    Bionic Joint Design Based on a Novel Over-constrained Spherical Parallel Mechanism
    Hou Yulei, Hu Xinzhe, Zhou Yulin
    2014, 25(6):  723-726,730. 
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    Two bionic joint mechanisms with four over-constraint chains were proposed based on the 3-RRR spherical 3-DOF spherical parallel mechanism, which could be applied to the shoulder and hip joint for humanoid robot. In the view of bionics, the center spherical pair was introduced based on the statics and stiffness characteristics analysis, which can realize the unloading for full or part of the static and the equilibrium of stiffness. The practical workspace was expanded widely with the improvement of the structure of the center spherical pair. The presentation and structure design of the novel bionic joint mechanism possess an important theoretical significance and practical value for the development of the humanoid robot joint.

    Effect of ZrO2 on Microstructure and Microhardness for Laser Sintered Al2O3/SiO2/ZrO2
    Wang Wei, Liu Yongxian, Fuh Y. X. Jerry
    2014, 25(6):  727-731. 
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    Herein,Al2O3/ZrO2/SiO2 system was treated by Nd:YAG laser via selective laser sintering process in the low power. By using scanning electron microscope and microhardness meter, surface morphology, fracture morphology, surface phase and surface mircohardness laser sintered before and after adding zriconia were analyzed respectively. The results indicate that some zirconium dioxide tetragonal phases transform to monoclinic phases which improve sintering sample fracture toughness in extent and increase parts whole life and reliability.

    Research on Tolerance Allocation of Globoidal Cam Mechanism Based on Improved Optimal Limit Deviation Method
    Yang Shiping, Wen Zhihui, Li Limin, Tan Yuanqiang, Chen Xiaogao
    2014, 25(6):  731-736. 
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    Based on the meshing theory, the meshing equations of a globoidal cam mechanism with error were deduced. By using the differential method, the motion accuracy influence coefficient expressions of the globoid cam mechanism were obtained. Firstly a simple tolerance allocation method was proposed. Then the improved optimal limit deviation tolerance allocation method was proposed by comprehensively considering the processing cost, size and the assembly performance of practical engineering. On the basis of that, the globoidal cam mechanism tolerance allocation problems were discussed. Targeted to a specific globoidal cam mechanism transmission system example, the tolerance distribution problems were solved by using two methods. The results show that the improved optimal limit deviation method is reasonable. A tolerance allocation method is provided for the globoidal cam mechanism, and provides reference for other spatial conjugate transmission mechanism tolerance allocation.

    Research on Magnetization Method for High Speed High Precision Magnetic Flux Leakage Testing of Longitudinal Defects in Steel Pipes
    Feng Bo, Wu Jianbo, Yang Yun, Kang Yihua
    2014, 25(6):  736-740. 
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    In MFL testing with helical motion of steel pipes, the higher detection speed required longer detection sensor array, which made the covering area of the sensor array exceed the uniformly magnetized area. The signals obtained by each sensor of the sensor array will be different from each other in this case. For the restriction of detection speed and precision in longitudinal defect detection of steel pipes, the signal consistency in high speed MFL testing was studied. The influences of magnetic pole shoe structure on the uniformity of magnetic field on pipe surface were analyzed by finite element simulation as well as experiments.Based on the analysis, a magnetization method for MFL testing of longitudinal defects was proposed. The uniformly distributed magnetization zone on pipe surface is increased in this method. And the signal consistency becomes better for the same detection zone.

    Detection Model and Rectified Method  for Packaging Errors of TAS
    Yi Xinhua, Zhang Yanan, Niu Fenglian
    2014, 25(6):  741-747. 
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    Considering packaging errors of TAS composing of three CCD sensors and other factors to bring an uncertain impact of orientation detection and positioning accuracy for micro cylinder target, this paper presented a calibration model and experimental method. Using a spherical target with a diameter of 0.8mm as a detection reference target, position matrix was composed by placing the spherical target to different positions in the TAS. A normalized optimized linear method was proposed to resolve the homography matrix using position matrix which expressed the orientation relation for two CCD sensors, and the homography matrix can eliminate the packaging errors to reduce the effect of orientation detection for spherical target. Considering the existence of the position detection errors using image analysis to extract the center of spherical target,the position matrix was constructed by adding the Gaussian noise with the mean of  0 and variance of 0.5 pixels to analyze the detection errors  how to affect the resolution of homograph matrix. The simulation results prove that Gaussian noise has little effect on the homography parameters, thus the optimization method is verified to be robustness. To testify the orientation detection accuracy of cylindrical target using TAS, a high-precision experiment was set up. The orientation change of cylindrical target was measured rotating around the X-axis comparing with the change of actual orientation. The experimental results show that the maximum error is less than 0.009 degrees and the modified method is verified to be feasible.

    Study on Cooling and Lubrication Technology of Oil-on-water in Cutting 1Cr18Ni9Ti Stainless Steel
    Li Wenju, Wang Biao, Liu Yongjiang, Liu Guozhi,
    2014, 25(6):  747-750. 
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    The paper studied the oil-on-water(OoW) lubrication on its cutting performance via a contrast test that using four kinds of cutting methods i.e. dry cutting, emulsified liquid cutting, cryogenic gas cutting and OoW cutting. The results show that compared with the other three cutting methods, the main cutting force reduces obviously and the quality of the machined surface improves obviously and the wear of tools reduces significantly in the experiments using OoW lubrication.

    Singularity and Workspace Analysis of a 3-DOF Parallel Manipulator with Redundant Actuation
    Zhou Jiehua, Peng Xiafu
    2014, 25(6):  751-756. 
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    The Jacobian matrix of a 4-spherical joint-prismatic joint-spherical joint/spherical joint (4-SPS/S) was deduced by inverse position kinematics and differential method, and its singularity was analyzed by Gosselin singularity analysis and numerical analysis method. The main factors which determine the workspace of  the 4-SPS/S parallel manipulator
    with redundant actuation were researched, and the analytical derivations of branched-chain stroke restriction, rotation angle restriction of kinematic pairs and size interference between the branched-chains were deduced. The algorithm of rotary workspace was designed by forward position kinematics, which can avoid the complexity of numerical method and the uncertainty of geometric method, and can realize visual expression of rotary workspace.

    Research on Fluid-solid-thermal Coupling in Temperature Field of Hydraulic Slide Valves
    Yan Jingjiang, Ke Jian, Liu Huanlong, Zhou Dahai, Wang Guozhi
    2014, 25(6):  757-760. 
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    In the running process of a hydraulic slide valve in the middle and high pressure system, viscous heating made the temperature enhancement observably. Slide valves were distorted by the heating inflation. All that coursed the valve abrasion, clamping, even leading to the failure of the slide valve. So, this paper established the three-dimensional CFD models. The velocity, temperature and distortion of the spool valve were calculated and analyzed in the different openings, depths and widths. This paper finds numerically the variety trend of the highest velocity, the highest temperature and the highest distortion of the spool valve. So that it provides the powerful support and reference for analyzing the jamming mechanism of the spool valve.

    Optimum Design of Ultrasonic Vibration System of Combined Ultrasonic and Electrochemical Device
    Liu Zexiang, Kang Min, Tao Xiaoming
    2014, 25(6):  761-765. 
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    The 1/2 wavelength ultrasonic vibration system and the tool system with the guide of the local resonance theory were designed for the precision tool vibration system of combined ultrasonic and electrochemical machine for deep small holes. Based on the wave equation, an analytical model of 1/4 wavelength ultrasound transducer and the horn were established respectively. The structure sizes of the transducer and the horn size were obtained. By using the ANSYS software, the dynamics analysis, piezoelectric analysis and optimum design of the horn and the ultrasonic vibration system were accomplished and the optimum models of the horn and the ultrasonic vibration system were achieved. The analysis results show that the FEM is a useful method to design the horn and the ultrasonic vibration system, reduces the design cycle and design costs. The designed ultrasonic vibration system has good properties.

    Tool Path Planning for Point Cloud Surface Based on LS-SVM
    Wu Fuzhong
    2014, 25(6):  766-770. 
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    Aiming at the tool path planning problem of single-valued scattered point cloud surface, an algorithm based on LS-SVM was proposed. In the calculation process, a 2D point set was acquired by projecting the measured points onto plane, and the boundary feature points were extracted by method of meshing and Gauss mapping of points within boundary mesh. Thus the actual machining region was defined by the boundary points, and the parallel iso-planar tool path was planned in the planar region. Then the fitting surface model of the measured points was constructed by using LS-SVM. Mapping 2D tool paths to 3D space with this model, the cutter contact points were found out. Ultimately the cutter location points were obtained by offsetting cutter contact points along normal direction. The proposed algorithm was verified by an example. The results indicate that the present method can better solve the tool path generation problem of the incomplete measured points.

    Presence of Bispectrum's Prior Performance Based on Fault Diagnosis
    Wu Wenbing, Huang Yijian
    2014, 25(6):  771-775. 
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    Compared with AR power spectrum,bispectrum can eliminate Guassian noise effectively, and preserved singals' phase information. Both of the AR power spectrum and bispectrum obtained from  normal singals and fault singals which were acquired from a pressure relief valve's vibration show different peaks characteristics. This paper extracted features from  power spectrum and bispectrum' slices of the two kinds of singals, then the features were used as the input parameter of a BP neural network to diagnose faults of the valve. The experimental results indicate clearly the performance difference of bispectrum and AR power spectrum.

    A Fast Algorithm of Robust Gaussian Regression Filter
    Kong Ming, Guan Qingyan, Zhao Jun
    2014, 25(6):  776-779. 
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    To solve the time consuming problem in implementation of the robust Gaussian regression filter, an algorithm of fast convolution using truncated Gaussian weighting function was presented. On the basis of robust Gaussian regression filter and convolution function, the truncated Gaussian weighting function was derived, and its appropriate parameter was
    obtained through experiments. The experimental results show that the running time of robust Gaussian regression filter using truncated Gaussian weighting function is shortened obviously while maintaining the precision.

    Constructing Transition Surface Based on Curve Projection
    Yang Yunzhi, Wang Xiaoping, Zhang Weizhong, Yi Ben
    2014, 25(6):  780-784. 
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    Based on blending surface method by combination functions,a new algorithm of designing G1 continuous curve on the base surface was proposed. Given an arbitrary sequence of points and the tangent directions of the points,a space curve can be designed. By using the normal projection method,the curve was projected orthogonally onto the base surface
    and thus the blending contact curve  was obtained. In this way, the contact curve can be placed at the appropriate position according to the design requirements as the borderline of the blending surface. The new methods were presented to generate auxiliary surface and reparameterize local base surface, which extended the capability of the blending method. The effectiveness and feasibility of the new algorithm were illustrated with an instance of blending wing body.

    Trajectory Planning of a 4-DOF Parallel Kinematic Manipulator While Considering Jerk Impact
    Lu Song, Zhao Yongjie, He Jun, Chen Shaobo
    2014, 25(6):  784-788. 
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    Taking a 4-DOF 3PUS-PRU parallel manipulator as the object of study,an inverse jerk model of the manipulator was presented with the kinematic chain vector equations. A 7-order polynomial curve was proposed without rigid shock and soft shock existing in the platform motion. The joints' movement was calculated through the inverse kinematics. The simulation results show that the joints' curves of position, velocity, acceleration and jerk with time are smooth and continuous without any dithering, thus the motion characteristics of manipulator is superior and the method of trajectory planning is feasible.

    Acoustic Sensitivity Analysis Using Distributed Source Boundary Point Method with Adjoint Variable Method
    Chen Jian, Chen Litao, Zhang Bingrong
    2014, 25(6):  789-794. 
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    Against the situation that the number of performance measures was in general less than the number of design variables, acoustic sensitivity analysis based on the DSBPM with adjoint variable method was proposed, and an acoustic sensitivity model based on this method was established, and then calculation formulas were deduced. The proposed method can reduce computational costs significantly compared to the direct differentiation method, as the number of performance measures is in general less than the number of design variables, the correctness of this method was shown by the numerical simulation finally. An experiment of a vibrating box was investigated here, where the design variable was the thickness of the cover plate, comparison of the sensitivity results shows that the proposed method is correct.

    Principle Stress Rule for Crack Propagation Direction of V Notch Crack Tip and Its Application
    Wang Zhenwei, Tian Ye, Chen Feng, Zhang Yannian
    2014, 25(6):  794-799. 
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    Around the crack propagation direction at the tip of V notch, this paper described the stress field and strain field of crack tip, as well as the stress strength factor. The principle stress rule for cracked direction was discussed in detailed. Firstly, a numerical calculation method was applied to solve the stress and strain field at the tip of V notch. Through the third order fitting of characteristic parameters of crack tip, the calculation errors were analyzed and the displacement field at the tip of notch can be obtained further. Then, a numerical model of crack tip was constructed and the finite element analysis method was adopted to calculate the stress strength factor and notch strength factor. Based on above calculation results, the principle stress rule is proposed to calculate the crack propagation direction at the tip of V notch. Finally, an experiment on LY8 was conducted to validate above calculation method and rule.

    Simulation and Experiment of Soft Abrasive Flow Machining Based on Improved Low-Reynolds-number Turbulence Model
    Yuan Qiaoling, Ji Shiming, Wen Donghui, Tan Dapeng, Zhang Li
    2014, 25(6):  800-807. 
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    To solve the difficulty in simulating flow characteristics,especially characteristics near the wall,during the precise soft abrasive flow machining of  the structural surfaces of molds, a method based on improved low-Reynolds-number turbulence model was proposed herein. This improved model could simulate turbulences of both high and low-Reynolds numbers, thus had  higher simulation precision for the wall regions.U-shaped groove, a common machining workpiece, was selected as the object of the simulation. In the experiments,the internal flow field of the U-shaped groove,
    especially the flow characteristics near the wall, was simulated numerically. The analyses show that when initial pressure p0 is in the range of 2.5MPa to 4.5MPa, the internal flow is incompletely developed turbulence. The internal flow when p0 is 4.5MPa is analyzed in detail. It is found that in the flow path, both the pressure and velocity are higher at the center and lower on sides. In addition, pressure and velocity are higher in regions closer to the bottom of the U-shape. As the velocity of the abrasive flow increases, the driving force on the abrasive particles also increases, thus more particles collide with the wall per unit time. The collision experiments demonstrate that the abrasive particles' velocity of collision with the wall calculated by simulation is in accordance with the experimental data,and the machining experiments further validated the numerical simulation results.

    Reliability Assessment of Electric Spindle Based on Degradation Values Distribution
    Zi Jiaojiao, Liu Hongzhao, Jiang Xi, Liu Lilan
    2014, 25(6):  807-812. 
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    It is difficult to assess the reliability of an electric spindle with high reliability and long lifetime in relatively short time. Based on the degradation value distribution method, the reliability of an electric spindle was evaluated. First of all, the failure principle of electric spindle was analyzed. Moreover, according to the basic principle of degradation value distribution and degradation test data, an assessment about electric spindle was made. Four commonly used reliability indexes of an electric spindle were calculated. In the meantime, reliability curves, failure probability density and failure rate were drawn. Finally, mean lifetime and characteristics lifetime of an electric spindle were evaluated. It has certain significance for products with long lifetime for the researches of reliability.

    Research on Vibration Band Gap of Three-dimensional Quaternary Phononic Crystals with Tungsten Core
    Chen Yuan, Wu Xingcheng , Zhou Minggang, Wang Yanqing, Zhu Shuai
    2014, 25(6):  813-817. 
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    Based on the phononic crystals research status and basic theory, the influences of filling ratio and structure proportion of scatter cell on the first band gaps border frequency and width were investigated by the lump mass method. It is shown that the structure exists the band gaps at low frequency. As filling ratio increasing, the frequency band gap border moves to the direction of low frequency and the band gap width increases. The change of structure proportion of the scatter cell has great influence on the band gaps border frequency and width. The results provide basis and effective method of vibration band gap for the researches of phononic crystals.

    Research on Decontamination Effect and Damage of High-pressure Water Jet Cleaning to Matrix
    Guo Qi, Li Fangyi, Li Shuo, Nie Yanyan
    2014, 25(6):  817-820. 
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    High-pressure water jet cleaning technology was used to impact on the work pieces of different hardness. White-light interferometer was used to measure surface roughness variation of work pieces before and after the experiments and observe the microstructure of surface damage after the impacts. The research shows that when decoating through the high-pressure water jet cleaning, starting at the open surface, it will be expanded rapidly and the decoating speed will increase linearly. The surface quality variation has nothing to do with the initial surface quality and is only influenced by the water jet impact environment. Water jet causes surface damage, producing holes of special shape. The kind of holes are smooth in the middle and gradually alteration as concave-convex-concave along the radial direction.

    Foot Trajectory Planning for a Hexapod Biomimetic Robot Using Free Gait
    Li Manhong, Zhang Jianhua, Zhang Minglu
    2014, 25(6):  821-824. 
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    A new hexapod biomimetic robot with deformable joints and wheels was designed. Moving with multiple kinds of motion patterns, such as wheeled mode and footed mode,the robot possessed better flexibility and adaptability to the environment. A kinematic model of the robot was built with vector method and solved by geometric relations. The maximum stride length which was allowed when the robot walked along a given path with free gait was analyzed. Two foot trajectories including parabola and line-parabola were planned for different terrains. Simulation results show that the foot trajectory planning method is reasonable and feasible.

    Research on Heat Transfer Mechanism in Grinding Zone for MQL Surface Grinding
    Mao Cong, Zou Hongfu, Huang Yong, Zhou Zhixiong
    2014, 25(6):  826-831. 
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    The material removal thickness in the grinding zone was changing along the grinding direction during MQL grinding. The movement characteristics of the droplets were different and easily affected by the spraying parameters. Therefore, the temperature distribution in the grinding zone was exhibited highly nonlinear characteristics, and the heat transfer mechanism for the MQL surface grinding was extremely complex. The two important factors(namely, the diameter and speed of the droplet) which influenced on the heat transfer in the grinding zone were analyzed according to the atomization mechanism. Based on the difference of heat transfer characteristics for the droplet at different surface temperatures, the grinding zone was divided into four different heat transfer zones: non-boiling, nucleate boiling, transitional boiling and stable film boiling. The related mathematical models of heat transfer coefficient in the grinding zone were established. In addition, the temperature field in the grinding zone was simulated by using the finite element method(FEM) and measured by single pole thermocouple method.It is found that the FEM results and experimental results are very close, which demonstrates that the theory of surface heat transfer coefficient during MQL surface grinding is creditable.

    Abrasive Field Analysis of Mould Free Surface Polishing for a New Gasbag Polishing Method
    Zhang Li, Li Yanbiao, Jin Mingsheng, Piao Zhongyu, Ji Shiming,
    2014, 25(6):  832-835. 
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    In order to improve the efficiency and quality of mould free surface polishing, a new gasbag polishing technology based on flexible polishing idea was applied. The motion trial, pressure distribution and polishing force distribution of abrasive particles in polishing contact area were studied first. Then, the motion model expression and pressure model expression of abrasive particles were established. The influence rules of abrasive particle diameters for polishing force and internal shear stress of workpiece were provided. The internal shear stress distribution of workpiece in the polishing process was researched and the material fatigue removal mechanism was clear. It provides the theoretical foundation for the application of gasbag polishing technology.

    Revised Methods of Tool Trajectory Parameters in Path Combination Optimization for a Spray Painting Robot
    Zeng Yong, Gong Jun, Xu Ning, Zheng Lei, Zhao Shitian
    2014, 25(6):  836-841. 
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    In order to solve the interference problem of the coating distribution which lead to the coating thickness error increase when one patch between two patches in path combination optimization. Two methods including direct revise and spray height revise were proposed to revise spray trajectory parameters. Based on the position of borders between each patches, the problem was divided into parallel and approximate parallel to discuss. Based on two revised methods, the trajectory planning methods and the optimization of spray parameters were given. Simulation and numerical analysis show that when revised spacing distance is bigger than ideal value, the direct revise method can be used to planning spray trajectory, otherwise the optimized direct revise method will be used. The error of coating thickness of the spray height revise method is less than that of the direct revise method about 3μm. Combination of two revise methods can solve the approximate parallel problem effectively.

    Collaborative Development and Rapid Structural Design Based on Full Parametric Concept Car Body
    Song Kai, Duan Libin, Chen Tao, Cheng Aiguo
    2014, 25(6):  842-847. 
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    The automobile industry today is facing the problem that use of the traditional method leads to a long design cycle and the slow process of program changes at the phase of conceptual design in vehicle developing process. To solve this problem, a procedure of collaborative development and design, together with rapid structural design technology for a full parametric concept car body, was introduced. Several kinds of parameterized parts database were built for the series models of a company. And a full parametric concept car body model was rapidly built using the modular modeling technique. It is proved that the accuracy of the model meets practical requirements. In the case of developing a body in white of a new vehicle, the high efficiency of the procedure of collaborative development and the feasibility of rapid structural design for the full parametric concept car body are demonstrated.

    Estimation of Power Battery SOC Based on Peukert Equation and Extended Kalman Filtering
    Li Bo, Zhao Youqun
    2014, 25(6):  848-851. 
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    There were many factors that can affect battery's SOC, such as temperature, current, cycle life and so on, Peukert equation was an adaptive way to estimate SOC. Former Peukert equation without considering temperature factor, actually n and K coefficients of Peukert equation can change with different temperatures. Therefore, with Peukert equation based on different temperatures and currents, Ampere-hour method and composite electrochemical model, the state and measurement equations of battery model can be created, then dynamic SOC could be estimated by extended Kalman filtering. The results indicate the estimation precision of Ni-MH battery's SOC is higher 7%~8% than the traditional Ah method.