The process of synthesizing 4-N, N-dimethylaminothiobenzoic acid (DMATBA) with 4-N,N-dimethylaminobenzoyl chloride and NaHS as raw materials was studied, involving the influence of the type of reaction solvent, reaction concentration, n (NaHS): n (4-N,N-dimethylaminobenzoyl chloride) feed ratio, reaction time, reaction temperature and n (NaHS): n (HCl) dosage ratio on the yields of the product. The effects of solvent type, reaction concentration, n (NaHS) : n (4-N, N-Dimethylaminobenzyl Chloride) feeding ratio, reaction time, reaction temperature, n (NaHS) : n (HCl) dosage ratio of on product yield were investigated. Experimental results show that the best synthesis process in this screen involved reaction solvent DMF, reaction concentration 1.0 mol/L, n (NaHS): n (4-N,N-dimethylaminobenzoyl chloride) = 2:1, reaction time 2.5 h, reaction temperature 25 oC, n (NaHS): n (HCl) = 1:1 (PH = 3); after acidification, extraction, and vacuum distillation, the total yield of DMATBA can reach 82.1%, and the purity is 93.6%.

According to the demand of electric power inspection, a design scheme of an elastic obstacle crossing inspection robot based on an adjustable five-bar mechanism is proposed. The main contents of the design include: 3D digital modeling, motion simulation, static load analysis, structural optimization analysis, and obstacle-crossing mechanism design. The UG kinematics simulation module is used to simulate the motion of the anti-vibration hammer to overcome obstacles, which verifies the feasibility of the scheme.

The process of membrane distillation to aim at treating the wig wastewater was designed.The effects of feed temperature, feed flow rate, feed pH, surfactant concentration in feed, running time on permeation flux and rejection of direct contact membrane distillation (DCMD) were investigated. Meanwhile, the contaminated membrane was characterized and cleaned. The results showed that the permeation flux is about 66 kg/m2·h and the rejection rate is above 99.25% after running for 100 hours under the condition that the feed temperature is 60 ℃, the feed flow rate is 120 L/h, the cooling water flow rate is 60 L/h, and the feed pH is 1.48. The pH of the produced water was 6.82, COD and TDS are not detected. The produced water meets the regulations of the emission. It is feasible to treat the wig treatment by DCMD.

In view of the classic particle swarm algorithm in PID controller parameter setting method of its effect is often poor, this paper puts forward an improved particle swarm algorithm optimization design of the PID controller parameter setting, on the basis of the particle swarm to join the crossover operator of genetic algorithm, and the particle swarm of inertia weight factor into a dynamic parameter, The applied PID controller improves the adaptive tuning of parameters, and the rapidity and stability are better than those of the classical PSO PID controller. With the help of Matlab to simulate the response curve of the system, according to the comparison of the system performance index improvement.

In people's life and some industrial production, will involve the problem of liquid level control, but the water tank level is often automatic control effect is not good. This paper first introduces the status quo of water tank level control and control deficiencies, and then carries on the design of active disturbance rejection controller, based on the traditional PID combined with active disturbance rejection control technology. Secondly, the hardware system of this design system is designed and selected. Finally, through the lower computer programming, upper computer state, program running and upper computer screen monitoring and experimental results analysis, the control system has achieved the automatic control effect of water tank liquid level has been greatly improved.

For the difficult problem of small water floating object recognition, a deep learning-based target recognition method is improved. In this paper, an improved YOLOv5s target recognition algorithm is used to recognize water floating objects. First, according to the characteristics of the shape of floating objects on the water surface, the improved K-means algorithm is used to re-cluster the anchor boxes, then, Squeeze-and-Excitation networks module is added and then α-IOU is applied to the YOLOv5s network. The experimental results show that, compared with the standard YOLOv5s algorithm, the precision and average precision of the improved YOLOv5s algorithm are increased by 2% and 4% respectively, which verifies the effectiveness of the algorithm. This method can overcome the influence of water surface environment and effectively identify floating objects on the water surface.

This paper proposed a new path planning and path following control method for mobile robots based on improved A* algorithm and PID control algorithm, which is suitable for complex maze environments. In the proposed method, the problem of too many turning points of the A* algorithm is solved, and the generated expected path is safe and smooth by extending the obstacles and the fourth-order cubic uniform B-spline optimization method. Afterwards, a PID controller is designed based on the kinematic model of the two-wheel differential robot based on the forward viewpoint. The performance of the proposed method is tested in a specially designed framework. As a verification, detailed experiments are carried out from the two aspects of path planning and path following. The results show that the planning path has few turning points and the path is smooth, and the designed PID controller can control the mobile robot to achieve better path following effect. Finally, the proposed method is validated in a complex maze environment, and the results show that the proposed method enables the robot to traverse the maze without collision.

In order to solve the problem that the chattering phenomenon in sliding mode control affects the trajectory tracking control performance of the ball and plate system, backstepping sliding mode control method combined with a command filter is proposed. Firstly, the mathematical model of the ball and plate system is established, and the general sliding mode control law is designed according to the system error equation. Secondly, a compound system with command filter is constructed and an error backstepping controller is designed. Finally, the global asymptotic stability of the whole closed-loop system is proved by Lyapunov theory. The simulation results show that this method can effectively suppress the chattering phenomenon and further strengthen the disturbance-rejection performance.

The fermentation process is an extremely important part of the fuel ethanol production process, and the temperature of the mature mash during the fermentation process directly affects the yield and efficiency of fuel ethanol fermentation. In order to solve this problem, this paper adopts Honeywell's PKS system to design a control system for the outlet temperature of the heat exchanger in the liquefaction plant. The Profit Loop algorithm is used to replace the conventional PID control method. The results show that the improved system has higher control accuracy and can be popularized in the field of engineering applications.

The light scattering phenomenon of particles is studied, and a Chin-Shifrin transform inversion algorithm for particle size measurement of pulverized coal is proposed. The algorithm uses a linear array CCD as the photodetector, and calculates the scattered light intensity of small-sized particles based on the Fraunhofer diffraction principle. On the basis of analyzing the principle of the algorithm, the calculation formula of the corresponding integral angle interval for inversion is given. Through numerical simulation, the Chin-Shifrin transformation is used to invert the average particle size of 90um pulverized coal particles. The simulation results show that the relative error of particle size distribution measurement is less than 4%.

Aiming at the problem of constant water level control of water tank level, the dynamic mathematical model of single tank is established by mechanism analysis method. The dynamic matrix control algorithm is a single tank liquid level predictive control algorithm. Taking the state equation of liquid level as the prediction model, a dynamic matrix controller is designed and implemented. At present, the constant water level control of water tank liquid level is realized. The simulation results show that the proposed dynamic matrix control algorithm for liquid level of single tank has fast response speed, short adjustment time, strong anti-interference ability and good control effect.

The Steam drum is an important hub for the boiler system to be heated and generate steam, and it is an important task for the safe and stable operation of the boiler system to control the liquid level of the boiler drum to be within the set range. In this paper, the dynamic relationship between the steam drum level and the supply water and steam consumption is studied, and the automatic control system of the boiler drum level is designed based on the Siemens S7-300 PLC by using the three-impulse control method, combined with the differential antecedent PID control algorithm. After the system was applied into operation, it effectively improves the control quality of steam drum liquid level, which acquires good application effect.

With the continuous development of Internet technology, the potential security risks and attack threats in the network are more diversified and complicated. In this paper, the development trend of cyberspace security and the deficiency of practical teaching of network security attack and defense in colleges and universities are mainly studied, the design and research of college students’ attack and defense practice teaching platform based on cyberspace security is put forward combined with the actual situation, and the realization method, technology and function of the platform are discussed in detail, so as to apply this platform to students’ practical teaching and training, which helps improve students’ interest in learning cyberspace security and enhance students’ practical application ability of network security.

Aiming at the problem of sampling risk in traditional text statistics, text mining technology is used to extract information with analytical value in relevant literature, natural language processing technology is introduced to extract and clean literature information for subject words, and text clustering is used to combine knowledge graph and data visualization. Provide the basis for analyzing the current situation, hotspots and development trends of related literature research directions. Taking education literature as an example, the research shows that natural language processing technology and clustering method combined with data visualization can provide strong data support for analyzing the current research hotspots and development trends in the field of education.

Aiming at the defects of K-means clustering algorithm that the number of clusters is unknown in advance and cannot deal with non-convex distributed data sets, a clustering algorithm based on evolutionary idea and its cluster fusion algorithm are proposed, The algorithm embeds the K-means clustering algorithm into the framework of evolutionary clustering algorithm. By adjusting the distance doubling parameter, the data objects will be divided gradually, and the number of clusters k will be determined adaptively, Then, a middle circle density cluster fusion algorithm based on the nearest distance and a middle circle density cluster fusion algorithm based on representative classes are proposed to fuse the clusters with high similarity, so that the k value gradually tends to the real value. Experiments show that this method has good practice.

A bilinear INAR (1) model is constructed based on binomial thinning operator with random coefficients, and the statistical properties of the model are derived. The modified moment estimation method is used to estimate the parameters of the model and the simulation research is carried out. Finally, an example is given to show that the bilinear INAR (1) model based on binomial thinning operator with random coefficients is more suitable for the data.

Under gas-gun loading, the change of light transmittance of liquid benzene under multiple shock compression was observed online by light transmission method. The results show that the light transmittance of benzene remains good under the first impact loading; After the second impact, when the pressure reaches 2.27GPa and the temperature is 543K, the light transmittance begins to decline; With the increase of pressure and temperature, the light transmittance decreases more obviously. It can be seen from the phase diagram that the liquid benzene enters the phase region of benzene II after the second impact. At this time, the crystalline phase transition of benzene sample occurs, which leads to the change of light transmittance.

In order to ensure the safe and stable operation of the power plant steam turbine in the high temperature and high speed environment, a sudden vibration fault identification method of high and intermediate pressure rotor of steam turbine in power plant is proposed. According to the shafting vibration characteristics of the high and medium pressure rotor vibration of the power plant turbine, the integrated eddy current displacement sensor is used to collect the corresponding fault signal, and the wavelet packet analysis is used to extract the high and medium pressure rotor vibration mutation fault characteristics, and the extracted fault characteristics are used as input. Input the fault features into the RBF neural network optimized by artificial fish swarm algorithm, and output the identification result of the vibration mutation type of the high and medium pressure rotor of the steam turbine of the power plant. During the experiment, the method in this paper was used to identify 9 common faults, such as mass unbalance, rotor thermal bending, shaft misalignment, rotating parts flying off, dynamic and static friction, steam flow excitation, structural resonance, insufficient structural rigidity, and rotor cracks. The experimental results show that the method decomposes and reconstructs the high-pressure rotor vibration mutation fault signal of the power plant steam turbine with high quality, and the obtained fault identification result is the same as the actual fault, the identification accuracy is high, and the result is reliable.

In response to emergencies such as infectious disease outbreaks and the practical needs of multi-functional nursing beds, a new multi-functional nursing bed was designed and developed. For rapid treatment and nursing, this nursing bed can realize the functions of lifting back, cleaning stool and folding bed body.Using SolidWorks for 3D modeling, through ANSYS Workbench for 3d model simulation analysis, get the motion curve of each mechanism and bed plate force cloud, proved the rationality of the design of each mechanism and the stability of the bed body.

Using the finite element software ANSYS Workbench, the static analysis of the clamping jaws of the exhaust pipe welding fixture clamping mechanism was carried out, and the deformation and stress distribution of the clamping jaws were obtained. On the premise that the gripper meets the strength and stiffness requirements of exhaust pipe welding, the size of the gripper is optimized by the response surface optimization method in multi-objective optimization. First, the mathematical model of gripper optimization is established, and the objective function and constraints are set. Conditions, and then parameterize each size of the gripper, and obtain the  coptimal design size of the gripper by calculation. The topological optimization of the jaw structure is then carried out by the variable density method to reduce its mass. Comparing the deformation and stress distribution before and after optimization of the clamping jaw the results show that the weight of the campina jaw is reduced by 27.9% when the stress and deformation meet the design requirements after the optimization.