The organization is affected by a variety of random factors during the exercise. In order to improve the motion reliability of the mechanism, it is very important to evaluate the motion reliability at the beginning of design. The error model of collaborative robot mechanism is established based on D⁃H method and finite⁃element method. The fourth⁃order moment method is used to establish the mechanism motion reliability model. The reliability model of mechanism motion interval is established based on envelope function method. The model of rigid⁃flexible coupling parameterization with clearance is established by using ADAMS. Motion reliability simulation of collaborative robot was made with ADAMS/insight. And calculate the motion reliability within 9 s. Compared with Monte Carlo simulation（MCS）. The advantages of the fourth⁃moment method and the envelope function method in the analysis of motion reliability are proved.

Melting characteristics of MSW incineration fly ash was analyzed by high temperature tubular furnace in the paper, including the material migration of fly ash at high temperature and the leaching analysis of molten glass. The results show that with the increase of reaction temperature, the molten slag produced by fly ash melting decreases relative to the original fly ash, and the volatile matter of fly ash increases at high temperature. The density of the melt vitreum is 5 times more than the stacking density of fly ash, which has good volume reduction effect. The content of chloride ion in fly ash slag became less, most chlorine elements volatilized into gas phase and secondary fly ash. The influence of the Cl- entering gas on the corrosion caused by the melting system will be a process problem to be solved in the future.

Reducer as an important transmission, there is a very wide range of applications in many areas. A new design of reducer for oil pumping unit in oil field was introduced, and the modeling, assembly and simulation analysis of Pro/E software was used. The interference of gear running was obtained by position simulation, and the operation condition of internal gear of reducer was directly reflected. The drive ratio was verified through kinematics simulation| through dynamic simulation, the force of the mechanism was obtained, and the vibration condition of the mechanism was obtained by the force analysis. Direct application of Pro/E simulation could greatly improve the design efficiency.

he hydrogen desulfurization of four kinds of low-quality diesel oils using HPL-1 as was studied on a smallsized hydrogenation unit. The reaction kinetics and the effects of reaction temperature, reaction pressure, volume space velocity and volumetric hydrogen/oil ratio on desulfurization rate have been investigated. The results showed the optimal hydrodesulfurization condition as follows: reaction temperature 360 ℃, pressure 7.0 MPa, space velocity 1.0h^-1, and volumetric hydrogen/oil ratio 800:1. Under this condition, the lowquality diesel desulfurization rate can be reached up to 9657%. Moreover, a 0.5 order kinetic model for lowquality diesel was setabilished based on the factors of pressure, hydrogen/oil ratio and space velocity parameters correction. The results indicate that the experimental values and simulation values are in good coincide for four kinds of low-quality diesel sulfur content.

n this paper, according to the domestic and foreign scholars on the research status of FRP concrete continuous beam, the mechanical performance of FRP and loading characteristics of FRP concrete beams, the following aspects are worked. This paper makes flexural property research by means of 3 FRP continuous beams and 2 FRP simple supported beams test, this test considers reinforcement ratio impact on the beams and measures cracking load, crack propagation law, midspan and support strain, and summarize the loaddeflection of FRP concrete continuous beams. Basing on the results of the test and the research of scholars at home and abroad, this paper calculates and analysis the ductility of the FRP concrete beams.

The foreign and domestic technology conditions and development tendency of product pipeline were assessed. In allusion to the rapid development of Chinakazakhstan and Chinarussia multinational pipelines, the difference between China and Russia standard were carried out recently. But the oil product pipeline was not involved. The comprehensive operation standard of Russia oil product pipeline was selected. The advantages of the standard were expounded, including detailed oil product arrangement principle, and decreasing the mixing oil by using process buffing piston and limiting the original process mixing oil, and the determination of allowable minimum flow velocity, and strictly controlling the mixing oil cutting concentration, quantitatively blending calculation of mixing oil. Finally, recommendations were made to raise the level of operation standards of Chinese oil product pipeline.

The corn straw was hydrolyzed by diluted acid via microwave radiation under the conditions of the metal salt ferrous sulfate as catalyst. The effect on the reducing sugar production rate was investigated by the concentration of ferrous sulfate, sulfuric acid content, ratio of liquid to solid, the microwave radiation power, time and pressure. The results show that the product yield can reach 38.5% under the best hydrolysis conditions: ferrous sulfate mass fraction of 3%, sulfuric acid mass fraction of 2%, mass ratio of liquid to solid 15, the microwave radiation power 187.5 W, the microwave radiation time 30 min and the microwave radiation pressure 0.3 MPa. Compared to the method without ferrous sulfate or without microwave radiation, this method shows higher yields by 1.1 and 2.8 times, respectively. 

How to measure the innovative talent has become the primary problem of solving petrochemical company’s competition for original innovation superior. To solve this problem, AHP was used to build a quality evaluation system about innovative talents for petrochemical companies in the article, along with the use of questionnaire and the Delphi method. The article indicates that the expertise, curiosity and endurance and perseverance, innovative approaches and practical ability are the most important quality indicators of the innovative talents in the petrochemical companies.

Three-dimensional clouds for rendering natural scenes are essential. 3D Simplex noise technology is a new kind of noise generation method which is improved by 3D Perlin noise. 3D Simplex noise technology was used to generate 3D noise gray-scale images. Through the noisy image sharpening and color conversion, the 3D Simplex noise images were converted to blue sky and white clouds images, and finally with time function of the GLSL shading language, the fluttering clouds were achieved. The experiment results show that the 3D Simplex noise is low computational complexity to generate realistic images of the cloud and the generated realistic images of the cloud are effective.

The process of oxidation reactions and solvent extraction for coking diesel with hydrogen peroxide as an oxidant and methanol as the extractant was studied. The influences of the oxidants amount, reaction time, oxidation temperature, the ratio of oxidants to catalyst, the ratio of oil to extraction agent were investigated. The optimal operation conditions are as follows: reaction temperature 60 ℃，oxidation time 60 min，volume ratio of oxidants to diesel 0.1，formic acid as a catalyst，volume ratio of oxidants to catalyst 1.0; volume ratio of extraction to oil 1.0，extracting at room temperature for 20 min. The results show that the yield of diesel fuel is 93.0%，and the sulfur content of diesel can be reduced to less than 350 μg/g.

Today there is no testing instruments for compress natural gas(CNG) station in our country, so a testing system for CNG regulator station was designed. Based on LabWindows/CVI software from Natural Instrument(NI) Company and virtual instrument technology, the system provides a scientific basis for novel designing and improving for regulators and monitoring devices as result of realizing many real-time detection and control of operating parameters for the regulator. Experimental results show that the system has some good features, such as convenient detection, reliable operation and user-friendliness, which can perfectly meet testing requirements of characteristic parameters of the CNG regulator station.