In this work, anti-reflective surface with superhydrophobicity/oleophobicity and enhanced abrasion resistance was fabricated on steel alloy surface. Two different surface patterns (i.e., parallel microgrooves and spot arrays) were created by nanosecond laser ablation and chemical immersion. The surface micro/nanostructure, spectral reflectance, wettability, and abrasion resistance of all the samples were determined. The experimental results showed that the laser-chemical treated surfaces exhibited much lower spectral reflectance and significantly enhanced surface integrities compared with the untreated surface. Firstly, the contact angles of water, glycerol, and engine oil on the laser-chemical treated surfaces were increased up to 158.9°, 157.2°, and 130.0° respectively, meaning the laser-chemical treated surfaces achieved both superhydrophobicity and high oleophobicity. Secondly, the laser-chemical treated surface showed enhanced abrasion resistance. The experimental results indicated that the spectral reflectance of the laser-chemical treated surfaces remained almost unchanged, while the laser-chemical treated surface patterned with parallel microgrooves sustained superhydrophobicity with a water contact angle of 150.2° even after more than one hundred abrasion cycles, demonstrating the superior mechanical durability. Overall, this fabrication method has shown its effectiveness for fabrication of multifunctional metal surface integrating the surface functionalities of anti-reflectivity, superhydrophobicity/high oleophobicity, and enhanced abrasion resistance.

Switched reluctance motors (SRMs) offer several advantages, including a magnet- and winding-free rotor, high mechanical strength, and exceptional output efficiency. However, the doubly salient pole structure and high-frequency switching power supply result in significant torque ripple and electromagnetic noise, which limit the application in the field of new energy vehicles. To address these issues, this paper proposes a direct instantaneous torque control (DITC) strategy based on an optimal switching angle torque sharing function (TSF). Firstly, an improved cosine TSF is designed to reasonably distribute the total reference torque among the phases, stabilizing the synthesized torque of SRM during the commutation interval. Subsequently, an improved artificial bee colony (ABC) algorithm is used to obtain the optimal switching angle data at various speeds, integrating these data into the torque distribution module to derive the optimal switching angle model. Finally, the effectiveness of the proposed control strategy is validated through simulations of an 8/6-pole SRM. Simulation results demonstrate that the proposed control strategy effectively suppresses torque ripple during commutation and reduces the peak current at the beginning of phase commutation.

In order to solve the problem that electric forklifts are prone to rollover when turning, a coordinated control strategy for anti-rollover of electric forklifts is proposed. A forklift dynamics simulation model with integrated centroid position is constructed, the stability of the forklift is judged by the phase plane area division method, the upper controller, including the active steering controller, and the differential brake controller are designed, the control weight coefficient of the active steering controller and the differential brake controller in different control domains is determined through the coordination controller, so as to obtain the required additional rear wheel rotation angle and additional yaw torque, and the braking force distribution controller exerts braking force to the wheel according to the additional yaw torque. A simulation model is built to verify the effectiveness of this control strategy, and the simulation results show that the control strategy can greatly reduce the risk of rollover when the forklift is cornering and further improve the stability of the forklift.

Aiming at the problems of slow convergence speed, insufficient precision, and easy trapping in local optima of the traditional Whale Optimization Algorithm (WOA) in mobile robot path planning, an Improved Whale Optimization Algorithm (IWOA) is proposed. The specific improvements include: using Logistic chaotic mapping to initialize the population, which enhances the randomness and diversity of initial solutions; designing a nonlinear convergence factor to avoid the algorithm entering the contraction encirclement phase prematurely and extend the global search time; introducing an adaptive spiral shape constant to dynamically adjust the search range for balancing exploration and exploitation capabilities; and integrating the bird navigation mechanism to optimize the individual update strategy through the companion position information, thereby improving the algorithm’s stability and convergence speed. Path planning simulations were conducted in 30×30 and 50×50 grid maps. The results show that compared with WOA, GA, and PSO, the path length of IWOA is shortened by 3.21%, 2.00%, and 7.76% respectively in the 30×30 map, and by 4.88%, 10.50%, and 23.55% respectively in the 50×50 map. The research indicates that IWOA has significant advantages in both path planning precision and efficiency, verifying its feasibility and superiority.

The statistical law of inside profile curves data points which vole's clawed toes had been analyzed. The least squares method was used to analyze the inside profile curves data points for fitting mathematical model and fitting curves were expressed by polynomial equations. The statistical law of the vole's clawed toes shows that: from the end of toes' bodies to the tiptoes at the clawed toes, there are four extreme points which changes alternately two times, that is, there are two maximum points and two minimum points, and the abscissa of each extreme point is very concentration, near the first extreme (minimum) point was taken as the base point, the second extreme (maximum) point is located near the 43.36% of the clawed toe's abscissa, and the third extreme point (minimum) is located near the 73.49% of the clawed toe's abscissa. According to the curvature statistics of four extremes, the extremum points of the curvature are more concentrated except for the third extreme point (minimum). From the macroscopic morphology view of the each curvature trendline, the each curvature trendline has obvious fluctuation characteristics, the curvature trendline of the posterior left thumb and the anterior right thumb are most obvious, the curvature trendline of the posterior right index finger is relatively small. This study are contributive to revealing the intrinsic geometric characteristics of voles' clawed toes contact with soil surface, and directing the efficient and energy-saving design of soil tillage components with similar functions.