In order to explore the mechanical properties of high-damping thick-layer rubber bearings，this paper studies the force characteristics of horizontal shear and vertical compression of high-damping thick-layer rubber bearings under vertical compressive stress. A model considering horizontal shear deformation is established，and a vertical stiffness correction theory is proposed based on compressive stress changes. To verify the accuracy of the theoretical model，three types of high-damping thick-layer rubber bearings with different first shape coefficients were designed for horizontal quasi-static shear and vertical compression tests. The results show that the equivalent horizontal stiffness and equivalent damping ratio of the high-damping thick-layer rubber bearing are changed by the restraint effect of the internal steel plate. As the vertical compressive stress increases，the horizontal equivalent stiffness gradually decreases. In the vertical compression test，as the vertical pressure increases，the vertical compressive stiffness presents nonlinear strengthening characteristics. Through the comparative analysis of theoretical and experimental results，it can be seen that the mechanical model of horizontal shear deformation constructed in this paper can better describe the mechanical properties of high-damping thick-layer rubber bearing in horizontal shear，and the vertical stiffness correction theory can accurately calculate its vertical stiffness. The deviations from the test results under different working conditions are all within 5%.

The large oscillation of the weight center on the sagittal plane can produce shock and oscillating force on the shoulders and back of the human body，which can cause muscle fatigue in the upper limbs. To alleviate the impact and oscillating force，a hip-joint driven backpack exoskeleton with adaptive adjustment of the weight-gravity center is proposed. Based on the five-bar model of the human body，the kinematic model of the gravity center in the human-weight system and the human-exoskeleton-weight system is established by the D-H method to analyze the trajectory of the gravity center. Based on the Newton-Euler method，the human dynamics model and the human-exoskeleton dynamics model are established. The changes in the human shoulder back forces and the lumbar，hip，and knee joint moments are obtained in the human-weight and human-exoskeleton-weight systems. Results are validated by the software OpenSim. Kinematics，dynamics，and software simulation show that the exoskeleton reduces the fluctuation of the gravity center，improves the torque distribution of each joint，and improves the load-bearing performance.

Seismic energy dissipation technology can significantly improve the seismic behavior of building structure. The effect of the damper depends on its effective connection with the main structure，there are few researches on the effective connection design method between the damper and the whole structure at present. In this paper，a cantilever wall structure with a new type of embedded parts is proposed for the intermediate column connection of metal dampers in engineering，and the design method and key points are given. In order to further explore the reliability of the design method and investigate the mechanical properties of the cantilever wall，two specimens were tested under quasi-static unidirectional loading and low-cycle reciprocating loading. The results show that the cantilever wall cracks begin to develop from the joint of embedded parts，and the stress in the corner and the core area of the embedded parts is larger when it is destroyed. Adding hidden beam and hidden column can better improve the load carrying capacity of the cantilever wall. The new embedded parts can be combined with the hidden beam and hidden column to make the cantilever wall bear larger damping force under the condition of small size，and ensure the damper to give full play to the seismic energy dissipation effect.

A fast robust control strategy based on variable power log-reaching law is proposed for a class of manipulator systems with uncertain random oscillations in the mounting base. The uncertain dynamic model of the system is established based on Euler-Lagrange equation，and the oscillation term of the base in the model is regarded as the uncertain external disturbance force of the manipulator system. A new approach law of variable power logarithm function is proposed，which can realize the rapid approach of the system state far away from the sliding mode surface，and ensure the effective chattering suppression after approaching the sliding mode surface. On this basis，combined with a fast terminal sliding surface，a fast robust controller is designed，which can further improve the state convergence rate of the system. The finite-time convergence of the controller is proved based on Lyapunov stability theory. An experimental platform is built to further verify the effectiveness of the controller.

Base swing will bring additional gyroscopic moment and inertia load to the rotating machinery，affecting the vibration and stability of the rotor system and even endangering the rotor operation. In order to effectively control the vibration of the active magnetic bearing （AMB）-flexible rotor system under the base swing，a base acceleration feedforward algorithm is proposed in this paper. With the dynamic model and the parameters of the base swing，the optimal compensation current to suppress the vibration can be directly obtained by the proposed algorithm. Because of no iteration and simple structure，the algorithm has strong rapidity and practicality. Furtherly，to eliminate the influence of modeling error on the compensation performance，a method to correct compensating current is suggested. After that，the influence of the proposed algorithm on the rotor vibration in the spin speed range including the first bending critical speed is simulated. Finally，on the test platform，the effectiveness of the algorithm was verified when rotor in suspension without spin，constant speed and acceleration under the base swing. The theoretical and experimental results agree that the vibration perpendicular to the swing axis increases obviously due to the inertia load. The additional gyroscopic moment increases the vibration along the swing axis，and the rising amplitude grows along with the increase of the rotor spin speed. The algorithm proposed can efficiently suppress the rotor vibration under the base swing in the spin speed range including the first bending critical speed.

Large heavy-duty bearings have special working conditions. Under low speed conditions，the impact duration is prolonged，the system response amplitude is reduced，and the fault information is easier to be covered by noise. Acoustic emission technology has been widely used in the field of structural health monitoring and equipment condition detection because of its sensitivity to weak damage. The spatial localization method in acoustic emission technology can be used to accurately locate faults of large bearing with low speed and heavy load. The localization effect depends on the accurate arrival time of signals. The identification and accurate separation of each acoustic emission event is a major challenge at present. Gate recurrent unit network （GRU） can consider the internal in sequence data and extract temporal correlation features，which has certain advantages in signal processing. Akaike information criterion （AIC） can effectively identify two different stochastic processes. In this paper，an acoustic emission signal time of arrival picking method based on GRU and AIC is proposed. The results based on the lead and test data show that the proposed method has great potential in determining the large，heavy-duty，low-speed bearings acoustic emission signal arrival time by comparing with the traditional AIC，threshold discrimination and short term averaging/long term averaging.

Considering the complexity of solving the seismic response of the energy-dissipated isolated structure with six-parameter viscoelastic damper under the excitation of Li Hongjing spectrum，a concise solution that can obtain random seismic response is proposed. The analysis model of six-parameter viscoelastic damper with support is adopted，and the mathematical modeling of energy dissipation and isolation structure with viscoelastic damper is realized by differential constitutive equation. Combined with complex mode method and the pseudo excitation method （PEM），the unified expression of frequency domain solution for system series response （displacement，velocity and damper force） of vibration isolation system is obtained. Taking Li Hongjing spectrum as the excitation power spectrum，the excitation power spectrum and the eigenvalue function of structural frequency response are simplified，and the concise analytical solutions of the system response power spectrum，response spectral moment and response variance under the random excitation are obtained. An example is given to verify the accuracy and efficiency of the proposed method in analyzing the dynamic response of the system compared with the traditional response analysis method such as the PEM，and the influence of different support stiffness on the vibration reduction effect of the damper is discussed.

The nonlinear dynamic systems exhibit particular behaviors when subjected to combined deterministic and stochastic excitation. A semi-analytical method for calculating the nonstationary response of a fractional nonlinear oscillator subjected to combined excitation is proposed. Representing the system response as a sum of a deterministic component and zero-mean stochastic component leads to two equivalent sub-equations for the differential equation of motion. The time-varying harmonic balance method is used for the nonstationary solution of the deterministic differential sub-equation，while the statistical linearization method is utilized for obtaining an equivalent linear substitution for the stochastic sub-equation. A semi-analytical solution of the equivalent linear equation is obtained by the Prony-SS and Laplace transform technique. The unknown deterministic/stochastic response components are obtained by solving the derived nonlinear algebraic equations simultaneously. Monte Carlo simulations demonstrate the applicability and accuracy of this method.

The traditional Tuned Mass Damper （TMD） has many issues，such as large additional mass requirement，limited installation space restrictions and large motion stroke required when the mass block vibrates. Based on the principle of translation-rotation mutual transformation and conservation of kinetic energy，the rotary inertia virtualizing translational mass based Tuned Mass Damper （RTMD） is proposed in this paper. The conceptual design of RTMD control system is carried out，and the motion equation of RTMD control system is established with the reference of a single degree of freedom system. The influence law of RTMD control system parameters on the vibration control effect of structure is analyzed. It is discovered that the control effect is closely related to the system’s physical mass ratio，inertial mass ratio，damping ratio，and such regulations can be applicable to general multiple degrees of freedom systems. The correctness of the design parameters of the RTMD control system and the realizability of the control system are verified by shaking table test of the design model. The results of time domain analysis and frequency domain analysis show that the dynamic response obtained from shaking table test is consistent with the dynamic response of numerical simulation，which verifies the correctness of the established theoretical equations of RTMD control system.

In allusion to inadequate research on damage identification of multi-tiered reinforced soil retaining wall，a large shaking table test of two-tiered reinforced soil retaining wall was carried out. The time domain identification method was used to analyze the dynamic response characteristics of the model under horizontal seismic loading，and the distribution laws of the natural frequency and damping ratio of the upper and lower retaining walls were expounded. The corresponding relationship between the structural damage degree and the natural frequency and damping ratio was explored. The results show that the natural frequencies of the upper and lower retaining walls are basically the same before loading，and the damping ratio decreases with the increase of wall height. With the accumulation of loading conditions，the natural frequency gradually decreases and the damping ratio gradually increases. The distribution curves of natural frequency and damping ratio are fitted by polynomial method. The comparative analysis shows that when the natural frequency decreases by 0~15.41% and the damping ratio increases by 0~299.35%，the structure is basically intact. When the natural frequency decreases 15.41%~18.92% and the damping ratio increases 299.35%~360.07%，the structure is slight damage. When the natural frequency decreases by 18.92%~21.29% and the damping ratio increases by 360.07%~398.21%，the structure is in the middle damage stage； when the natural frequency decreases by 21.29%~29.60% and the damping ratio increases by 398.21%~532.99%，the structure is destroyed.