Table of Content

25 January 2026, Volume 37 Issue 1

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Research Progresses of Current Carrying Tribological Behavior of Materials under Influences of Service Environment

SHEN Mingxue, CHEN Siyang, WU Haihong, XIAO Li, Wang Nenghui, JI Dehui

2026, 37(1):  2-13.  DOI: 10.3969/j.issn.1004-132X.2026.01.001

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The research progresses on current-carrying tribological behavior of materials under service environmental influences were reviewed herein. It was summarized that the tribological performance and the dynamic evolution of electrical arcs under various environmental conditions such as humidity， temperature， atmosphere， crosswind， and air pressure. The mechanism of current-carrying wear under different service environments was clarified， along with the roles of third‑body media （e.g.， water， ice， oxide films） induced by the environments in wear damage and arc erosion of the friction pairs. The intrinsic relationship between external environmental factors and material damage in current-carrying friction pairs was revealed to advance the development of current-carrying friction theory.

Tribological Properties of Polyelectrolyte-Modified PEEK Composite Materials

GAO Chuanbao, ZHANG Xinyue, CEN Jiajia, CHEN Qin, FENG Haiyan, CHEN Kai, ZHANG Dekun

2026, 37(1):  14-21.  DOI: 10.3969/j.issn.1004-132X.2026.01.002

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To enhance the tribological properties of PEEK， a “modify-then-form” approach was proposed. Hydrophilic SPMK was grafted onto the PEEK powder surface via UV-induced polymerization， then the PEEK-SPMK composites were prepared by hot-pressing. The friction and wear behaviors of modified PEEK under various operating conditions were analyzed， revealing the influence mechanism and lubrication mechanism of polyelectrolyte SPMK powder modification on the tribological behavior of PEEK composites.Results indicate that SPMK powder modification significantly enhances PEEK surface wettability. The friction coefficient（0.028） and wear rate（5.6×10{}^{-\mathrm{7}} mm³/（N·m）） of PEEK-SPMK in physiological saline are markedly reduced compared to pure PEEK.

Method for Accelerated Tribological Property Evolution Experiments of Conformal Contact Surfaces in Mixed Lubrication Regime

ZHANG Ziyang, GONG Yajing, WANG Yuechang

2026, 37(1):  22-29.  DOI: 10.3969/j.issn.1004-132X.2026.01.003

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An acceleration experimental design method for hybrid-lubrication conformal-contact surface tribological evolution was proposed. The method was based on the concept of “viscosity-reduction acceleration”， where the asperity contact states were preserved while the evolution of tribological behavior was accelerated by increasing the interaction frequency between surface asperities. The approach was validated by Plint TE-92 friction and wear tester.The results show that at the non-accelerated condition （sliding speed is as 0.2 m/s， temperature is as 25 °C， duration is as 20 min） and the corresponding accelerated condition （sliding speed is as 0.4 m/s， temperature is as 47 °C， duration is as 10 min） share the highly consistent values of friction coefficient， and 3D surface parameters Sq and Ssk. It indicates that the wear effect of 10-minute in test with accelerated parameters is equivalent to that of 20-minute in test with non-accelerated parameters.

Tribological Properties and Mechanism of Nanostructured Carbon Films under Coupling Effect of Temperature and Electric Field

YU Zhimin, CHEN Lei, FAN Xue

2026, 37(1):  30-39.  DOI: 10.3969/j.issn.1004-132X.2026.01.004

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The nanostructured carbon films including amorphous carbon films and graphene nanocrystalline carbon films were prepared on SiO₂ substrates. A self-designed reciprocating tribometer capable for applying coupled multi-physical fields was employed to investigate the tribological properties of the different nanostructured carbon films under the coupling effect of temperature and electric field. At room temperature， the electric field was the dominant factor for affecting the friction coefficient of nanostructured carbon films. When the temperature of tribopair was 200 ℃， temperature became the main influencing factor. Under the coupling effects of temperature and electric field， the structured evolution to graphitic-like structure leads the reduction of friction coefficient of amorphous carbon film. While the nanostructure of graphene nanocrystalline carbon film is stable， but the aggravated wear results in significant fluctuations of friction coefficient.

Failure Probability Analysis of Temperature Field in Wet Friction Components Based on Macro-Micro Frictional Contact Model

WU Jianpeng, DING Ao, MA Biao, LI Heyan, WANG Liyong, YANG Chengbing

2026, 37(1):  40-50.  DOI: 10.3969/j.issn.1004-132X.2026.01.005

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Aiming at accurately quantifying the failure probability of temperature fields for wet friction components， a macro-micro friction contact model， with the interaction of thermal-mechanical coupling simulation and single asperity contact model， was established to acquire temperature， and a statistical model for temperature field failure probability was constructed. The method utilized kernel density estimation to establish the probability density function of failure parameters and emploied Monte Carlo simulation for probability calculation. Experimental results show high agreement between simulation data and test data. The established statistical model may effectively and accurately calculate the failure probability of wet friction components.

Operation Modal Analysis Method of Gear Grinding Machine Spindle Operations under Complex Working Conditions

LI Guolong, ZHAO Xiaoliang, WANG Yu, TAO Yijie

2026, 37(1):  51-59.  DOI: 10.3969/j.issn.1004-132X.2026.01.006

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Aiming at the problems that the spindle vibrations in grinding machines were complex and the modal characteristics were difficult to effectively identified under the service states. Based on adaptive noise complete ensemble empirical mode decomposition and correlation analysis， a method was proposed. The finite element modal analysis was used to define the frequency band range， and the wavelet threshold classification method was used to retain the modal feature information. In order to identify and eliminate the harmonic response generated by rotor， a method was used in signal cepstrum editing. Different noise reduction methods and 2-DOF examples show that the modal identification errors are reduced to 1.3% after processing by the proposed method， the fitting order is reduced 76.7% as the poles are stable， and the modal characteristics of the rotating parts are accurately identified for the machine tool in service.

Optimization of Roller Burnishing Parameters for Concave Circular-arc Surfaces of Turbine Disk Mortise Grooves

YU Changrui, LIU Liangbao, ZHOU Jinggang, ZHANG Han, HUANG Dong, ZHANG Ning, LI Xun

2026, 37(1):  60-65.  DOI: 10.3969/j.issn.1004-132X.2026.01.007

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To address the issues of reduced fatigue life in concave arc regions of GH4169 superalloy turbine disk mortise grooves due to stress concentration， the influences and mechanism of roller burnishing parameters on machined surface integrity indicators and specimen fatigue performance were investigated. The results demonstrate that， increasing the roller burnishing force significantly improves surface quality and enhances the fatigue performance of the specimens. Increasing the number of roller burnishing passes further improves surface quality， while increasing the roller burnishing feed rate diminishes the strengthening effect. Under the conditions of a roller burnishing force of 425 N， three roller burnishing passes， and a feed rate of 1 mm/s， the maximum fatigue cycles of the specimen reache 6.84×10⁵， which is double that of the non-strengthened specimen.

A Method for Solving Instantaneous Axes Based on Constraint Line

WANG Youli, GUO Jiacheng, WANG Xiaohui

2026, 37(1):  66-72.  DOI: 10.3969/j.issn.1004-132X.2026.01.008

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At present， the mainstream solution of spatial instantaneous axes was algebraic method， which was difficult to apply when the mechanisms were slightly complex. Starting from the perspective that the degrees of freedom of a mechanism were essentially constraints， the constraints of the motion pairs in the mechanisms were equivalent to the constraint lines between components， and the relationship between the number and geometric relationship of constraint lines on components and the degrees of freedom of components were studied. The properties and transmission laws of constraint lines on components were studied. It is proved that the intersection point of two constraint lines of a certain component is the instantaneous center， and the intersection line of two constraint surfaces is the instantaneous axis. The necessary and sufficient conditions for the existence of instantaneous centers and axes of components were demonstrated from a geometric perspective. Through geometric drawing and geometric analysis of constraint lines on components， the position of the instantaneous center or axis of each component in the mechanisms might be determined. The positions of instantaneous centers and axes were obtained through geometric drawing and analysis of the constraint lines on components. By geometric drawing and analysis of the constraint lines of the connecting rods in Bennett mechanisms， the degrees of freedom and instantaneous axis of the connecting rods in the Bennett mechanisms were solved， and the feasibility of using constraint lines to solve the instantaneous centers and axes was demonstrated．

High Precision Position and Posture Control of 6-DOF Parallel Platforms Driven by Pneumatic Muscles

MENG Deyuan, ZHANG Meng, LIU Songyong, TANG Chaoquan

2026, 37(1):  73-82.  DOI: 10.3969/j.issn.1004-132X.2026.01.009

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To address the control challenges such as the complex output force characteristics of pneumatic muscles， and the significant parameter uncertainties and uncertain nonlinearities of the 6-DOF parallel platforms， a cross-coupling adaptive robust controller in joint spaces was developed to enhance the control capability for coordinated joint motions by back-stepping method. The proposed controller featured a two-layer cascade structure. Each layer integratd an online parameter estimation module and a nonlinear model-based robust control module. The parameter estimation module employed an online recursive least square estimation algorithm to reduce the extents of parametric uncertainties， while the robust control module utilized a nonlinear robust control method to attenuate the effects of parameter estimation errors， uncertain nonlinearities and disturbances. Experimental results demonstrate that the proposed controller may significantly improve the tracking accuracy of the parallel platforms. During lifting， in the pocesses of 3-DOF composite translational motion and 6-DOF hybrid pose motion， the mean tracking error of position tracking error remains within 0.84 mm， and the mean tracking error of posture tracking error is confined to 0.03°. Furthermore， the controller exhibits strong performance robustness against disturbances.

Friction and Wear Properties of MoS₂/Zn Films under Vacuum Atomic Oxygen Irradiation

ZHU Qianye, FENG Shangyu, SHI Yanbin, PU Jibin

2026, 37(1):  83-91.  DOI: 10.3969/j.issn.1004-132X.2026.01.010

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MoS₂/Zn lubricating films were prepared by magnetron sputtering， and the influences of atomic oxygen on tribological properties of the films were investigated. Results show that Zn incorporation promotes the preferential growth of MoS₂ along the direction parallel to the （002） crystal plane， resulting in a dense and ordered film structure that effectively suppresse atomic oxygen erosion into the film. The friction coefficient of the MoS₂/Zn multilayer film is as 0.02 and the wear rate is as 1.9×10⁻⁷ mm³/（N·m） under atomic oxygen conditions （rotation speed is as 2 r/min， MoS₂ target current is as 1.6 A， and Zn target current is as 0.3 A）. The MoS₂/Zn multilayer films exhibite better tribological properties in atomic oxygen environment. Under an irradiation dose of 6.12×10²⁰ atoms/cm²， the average friction coefficient of the MoS₂/Zn multilayer film decreases to 0.01. This performance improvement mainly stemmed from the synergistic lubrication effects between MeO _x formed after irradiation and the residual MoS₂.

Adaptive Variable Impedance Constant Force Control of Robotic Grinding under Unknown Environments

GUO Wanjin, TIAN Yuxiang, LI Qianhui, CAO Chuqing, ZHAO Lijun, XU Mingkun, LIU Xiaoheng, HOU Xudong

2026, 37(1):  92-104.  DOI: 10.3969/j.issn.1004-132X.2026.01.011

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To solve the problems of insufficient adaptive adjustment ability of robotic constant force grinding due to the uncertainty of environmental parameters under unknown environments， a robotic adaptive variable impedance constant force control method with real-time estimation of unknown environmental parameters was proposed. In the proposed method， the adaptive sliding mode control was used as the inner loop control， and the environmental parameter estimation and adaptive variable impedance control were used as the outer loop control. The robotic platform experimentsal results show that the proposed method may realize the tracking of the expected grinding forces， and has high adaptability to the robotic grinding operations under unknown environmental conditions.

Gear Fatigue Damage Prediction with Coupling Effect of Environmental Randomness and Load Sequence

WANG Rong, LI Junjie, ZHENG Wenge, WANG Jia, HE Mingrong

2026, 37(1):  105-113.  DOI: 10.3969/j.issn.1004-132X.2026.01.012

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To accurately assess the fatigue damage of wind turbine gears under operational conditions， a prediction framework that integrated environmental randomness and load temporal characteristics was proposed. A nonlinear damage correction model was utilized to calculate and analyze the influences of different wind speeds on the fatigue damage of gears. The results indicate that the bending fatigue damage of gears in the low wind speed range is dominated by high-frequency low-amplitude cyclic stresses， while the contact fatigue of gears in the high wind speed range is significantly exacerbated by extreme loads accumulation. The rated wind speed range is identified as the main risk interval for gear fatigue damages. Based on the damage analysis results， a quantitative speed control strategy was proposed to extend the service life of the gearbox， providing a basis for the reliability design of the gearbox and the control of the wind turbine hub speed.

Topological Design and Performance Analysis of 3-DOF Parallel Mechanisms with Alternately Used Moving Platforms

ZHU Xiao, SHEN Huiping, LI Ju, LI Tao, YE Pengda, ZHU Wei

2026, 37(1):  114-125.  DOI: 10.3969/j.issn.1004-132X.2026.01.013

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According to the theory and method of topological design for parallel mechanisms based on azimuthal characteristic equations， a 3-DOF parallel mechanism with alternately used moving platforms was designed. The mechanism generated two output motion modes by swapping the moving platform. The characteristics of the mechanism such as topological characteristics， kinematics performance， and dynamics performance were analyzed and calculated under two different modes. Topological characteristics were composed of position and orientation characteristics， degrees of freedom， and coupling degree. Kinematics performances were composed of symbolic forward and inverse position solutions， workspace， and singularity. Dynamics performances were composed of driving force variations. Then， the dimensional parameters of the mechanisms were subjected to an optimal design with the goal of achieving a reachable workspace. Finally， a conceptual design was conducted for the application scenario of using the mechanisms in automated object packaging productions.

Dynamic Performance of Finger Seals under Rotor Tilt Conditions

SHI Yansong, LU Fei, ZHOU Zhigang, BEN Xiaokang

2026, 37(1):  126-134.  DOI: 10.3969/j.issn.1004-132X.2026.01.014

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To investigate the influences of rotor tilt on the performance of finger seals， a 3D finite element model incorporating rotor tilt was developed， and a corresponding method for leakage rate calculation was proposed. The effects of tilt reference positions and tilt angles on seal displacement， contact pressure， leakage clearance， and flow paths were systematically analyzed. The results indicate that rotor tilt significantly increases system leakage， and the leakage at a 2° tilt exceeds 3 times leakage at 0°. When the rotor is tilted， the contact pressure of the lower finger boots decreases. In finger lift-off phase， the leakage path exhibits a stepped profile axially and asymmetric wedge-shaped distributions circumferentially， with pad warping severity increasing with tilt angles.

Thermal-mechanical Deformation Characteristics of High Parameter CO₂ Mixed Gases Dry Gas Seals under Turbulence Lubrication with a Two-way Coupling Model

CHEN Wei, LIU Meihong, DENG Qiangguo, MAO Wenyuan, SUN Xuejian, XU Hengjie

2026, 37(1):  135-146.  DOI: 10.3969/j.issn.1004-132X.2026.01.015

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To address the challenges of prominent real gas effect， turbulence effect and end-face thermal-mechanical deformations of CO₂ mixed gases DGS under high-speed and high-pressure operating conditions， a two-way thermal-mechanical deformation model of CO₂ mixed gases DGS was constructed considering turbulence and real gas effects. The model was solved using combined finite difference and finite element methods， and the thermal-mechanical deformation behavior of CO₂ mixed gases DGS was analyzed. The influences of turbulence effect on sealing clearance inclinations were discussed under different operating conditions. The results show that turbulence effect decreases the equilibrium film thickness and increases the temperatures of gas film and sealing ring. The impacts of turbulence effect on mechanics deformation of sealing end faces are negligible. At low rotational speed， the turbulence effect reduces the thermal-mechanical deformations of sealing end faces， whereas the opposite occurs at high rotational speed. At high inlet pressure， the turbulence effect effectively increases converging gaps between sealing end faces. At low inlet temperature， the turbulence effect effectively inhibits the formation of divergent gaps between sealing end faces.

Nonlinear Degradation Modeling and Online Prediction of Remaining Life for Equipment with Measurement Errors

PENG Caihua, LI Jianhua, REN Lina, JIA Shilin

2026, 37(1):  147-161.  DOI: 10.3969/j.issn.1004-132X.2026.01.016

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The existing online prediction methods for remaining life typically updated the drift parameters of stochastic degradation models based on Bayesian theory， while did not update the diffusion parameters. So a new method was proposed to simultaneously update both drift parameters and diffusion parameters. A stochastic degradation model was established considering multiple degradation modes， and the probability density functions of lifetime and remaining life were derived based on the first-passage-time principle. The initial parameters of the model were estimated offline by maximum likelihood method. Subsequently， the drift parameters and diffusion parameters were updated online by integrating Bayesian theory and expectation maximization algorithm. The effectiveness of the proposed method was validated by capacitor degradation data， gyroscope drift data， and aluminum alloy components crack growth data.

A Review of Thermal Characteristics for Planetary Roller Screw Mechanisms

QIAO Guan, CHEN Jiaqi, TANG Shufeng, LIU Guoqiang, LIU Geng

2026, 37(1):  162-173.  DOI: 10.3969/j.issn.1004-132X.2026.01.017

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In a long period of high-speed and heavy-load conditions， the planetary roller screw mechanisms accumulated much heat. Thus， the rise of internal temperature of the system， and thermal deformations led to the lubrication performance degeneration， even the failure of the mechanisms. According to the structural characteristics of the planetary roller screw mechanisms， the mechanism of its thermal characteristics was revealed. And， the progresses of thermal characteristics research were analyzed and summarized from the aspects of heat source， thermal characteristics analysis methods， temperature rise and thermo-mechanics coupling， thermal deformatios， thermal errors and the structural. Then， the research trends in thermal characteristics of the planetary roller screw mechanisms were discussed and predicted.

A Topology Optimization Method Based on End-to-end Deep Learning Framework TOPO-U-Net

WANG Hao, LUO Haodong, SHI Yazhong, WANG Liwen, ZHANG Wei, WANG Zhong

2026, 37(1):  174-183.  DOI: 10.3969/j.issn.1004-132X.2026.01.018

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To address the problems such as “grey elements” and “computational cost” in structural topology optimization， an end-to-end deep learning model TOPO-U-Net was proposed. The model integrated high and low feature extraction modules， depth separable convolution， and group normalization. In addition， an evaluation method was designed based on intermediate density element deviation function. Experiments show that the intermediate density deviation rate of the proposed model reaches 85.42%. And， the average optimization computation time is as 1% of that required by the SIMP method， which may significantly reduce the number of “grey elements”， improve the manufacturability of complex structures and computational efficiency of topology optimization.

Design of Smart Tool Holders and Systems Based on Multi-sensor Information Fusion

GAO Yuan, WU Qiwei, SONG Yang, QU Da

2026, 37(1):  184-191.  DOI: 10.3969/j.issn.1004-132X.2026.01.019

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In order to effectively monitor the physical characteristics in machining processes， accurately determine the abnormal machining conditions， and optimize the machining processes， a self-developed multi-source information fusion-based smart tool holder and system was introduced. Based on finite element analysis of force-sensitive components， structure modals and vibrations of tool holders， a system for multi-source sensing smart tool holders was constructed. Combined with methods such as time series neural network modeling of temperature transfer， the online monitoring of cutting forces， vibrations and tool tip cutting temperature was achieved. Test results show that the system reaches a force resolution of approximately 21.1 mN and a relative error of less than 2.5% in predicting transient temperatures of the tool tips， validating the good monitoring capabilities for various physical quantities. Meanwhile， based on the analysis of the characteristics of dynamical physical quantities such as acceleration and force， a probabilistic judgment method for the early warning of abnormal tool collisions was proposed， which may improve the accuracy of judging the normal collision when the tool cuts into the workpiece.

Density Gradient IWP Lattice Structural Force-energy Synergistic Response

WANG Guangyang, JI Xiaogang, NIU Guofa, MEI Jianchi

2026, 37(1):  192-200.  DOI: 10.3969/j.issn.1004-132X.2026.01.020

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TPMS lattice structures were a type of lightweight structure based on mathematical surfaces， which widely used in additive manufacturing. Among them， the I-wrapped package（IWP） demonstrated suitability for aerospace lightweighting due to the combination of low mass and high strength， while the tunable mechanics properties confered potential for medical applications. Therefore， a series of IWP lattice structures were designed with the same relative density， where the density gradients included linear， sine， and cosine function gradients. To reveal the optimization potential of gradient design， comparative analyses were conducted between uniform lattice structures and gradient structures. DLP technology was employed to produce lattice structures， and compression tests were performed to study mechanics response， energy absorption response， and stress distribution of each structure， ultimately selecting the best force-energy synergistic response structure and validating the reliability of the compression tests through finite element simulation. The results indicate that for the projection relationship curves of each gradient structure， the peak variation patterns are highly consistent with the monotonicity of the constructed gradient functions. The sine lattice（SIN） structure demonstrates excellent force-energy synergistic response， bearing high stress while stable energy absorption， with the energy absorbed per unit volume of the SIN structure increasing by 17.65% compared to uniform structures when reaching densification strain.

Binocular Vision Localization and Measurement Based on Lightweight HRNet

REN Jiaqi, XU Sixiang, DONG Binhui, TANG Ao, SONG Yuchen

2026, 37(1):  201-208.  DOI: 10.3969/j.issn.1004-132X.2026.01.021

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Aiming at the problems of low efficiency in binocular vision measurements based on feature point detection and high computational complexity of neural networks， a binocular vision localization and measurement method was proposed based on a lightweight HRNet. The lightweight HRNet was built upon the original HRNet by replacing the convolutional modules to reduce the number of parameters， introducing Transformer to extract global image features， and employing a multi-level upsampling fusion strategy to capture the multi-scale feature information. Compared with the original HRNet model， the lightweight HRNet reduces model parameters by 95.40%， while computational loads and normalized mean errors are decreased by 94.27% and 6.25% respectively. In terms of 3D measurement， the relative errors of the method combining lightweight HRNet with binocular vision reache 0.256%， enabling high-precision detection on hardware with low computational power.

Prediction of RUL and Uncertainty Quantification Evaluation Methods for High-end Rotating Machinery

CUI Shuo, LIU Xiuli, LI Xiangjie, WU Guoxin

2026, 37(1):  209-222.  DOI: 10.3969/j.issn.1004-132X.2026.01.022

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To address the challenges of accuracy and uncertainty quantification in RUL prediction of high-end rotating machinery， a prediction method was proposed based on VDGP. The method achieved recursive uncertainty quantification by constructing a deep Gaussian process update model， and enhanced large-scale data processing capability through the use of inducing points and variational inference. Experiments on the C-MAPSS and wind turbine planetary gearbox datasets demonstrate that VDGP achieves higher prediction accuracy and narrower confidence intervals compared to the standard Gaussian process methods. On the C-MAPSS FD002 dataset， the root mean square error and scoring function are reduced by 0.21% and 45.3% respectively， relative to the best baseline method.

Construction of Driving Risk Field Model Considering Driver Cognitive Processing in Edge Scenes

ZHOU Bin, YANG Zhifeng, ZHANG Junning, DONG Yuanfa, PENG Wei

2026, 37(1):  223-232.  DOI: 10.3969/j.issn.1004-132X.2026.01.023

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During the human-vehicle co-driving processes， driver's emotional changes would lead to cognitive changes， which in turn altered the vehicle risk field. Therefore， a human factor risk field model was constructed considering driver's cognitive-emotional state. Firstly， vehicle driving data and driver physiological signals were collected and analyzed through driving simulator experiments. Then， the driver factors in the human factor risk field were calibrated. Finally， experimental data were collected through a 6-DOF driving simulator， and the risk indicators of the human factor risk field were compared with multiple traditional risk indicators. The results show that the human factor risk field model is more effective and may evaluate the driving risks of drivers stably with different emotions in edge scenarios.

Body Posture Planning Method for Unmanned Walking Excavators under Complex Terrain Environments

ZHAO Dingxuan, GUO Rui, WANG Shuo, YAN Changchang, WANG Zihe, ZHANG Tianci

2026, 37(1):  233-242.  DOI: 10.3969/j.issn.1004-132X.2026.01.024

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In unstructured terrain operations， the posture planning of UWE was of great significance for ensuring chassis stability and operational safety. A multi-objective optimization-based posture planning method was proposed herein. A 7-DOF kinematic model of the chassis was established， and the walking leg trajectories were generated by NURBS curves. A nonlinear multi-objective planning model integrating terrain constraints was constructed， with posture deviation and energy consumption were defined as optimization objectives. The proposed method was validated through high-fidelity mathematical-physical co-simulation and field experiments. The proposed planning method ensures that the UWE may traverse complex terrain with good posture.

Research on Automatic Binding Devices for Anchor Net in Coal Mine Excavation Working Faces

TIAN Liyong, LI Minghao, YU Ning, YANG Xiuyu

2026, 37(1):  243-253.  DOI: 10.3969/j.issn.1004-132X.2026.01.025

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To enhance the efficiency and quality of anchor net binding， an automatic anchor net binding device was designed. Based on TRIZ， the structural design of handheld actuators， power driving devices and flexible shaft transmission mechanism was carried out， and a 3D model of the automatic anchor net binding device was established. A model of a brushless DC motor commutation speed control system was established. It is verified that the motor response speed and output torque meet the binding requirements. Torsion angle of the flexible shaft was analyzed. The maximum torsion angle is as 49.560°， while the motor operation lag time is as 0.017s. A prototype was made based on the design parameters， and the average binding time for 10 sets of anchor net binding tests ia as 1.8s. The actions of each mechanism of the device are consistent with the simulation results.