Overview: The space gravitational wave detection telescope is one of the core payloads of the gravitational wave detection satellite, simultaneously expanding and contracting the transmitted beam. Optical path stability is one of the core indices for the telescope, closely related to its structural stability. To meet the ultra-high path stability and structural stability requirements posed by the gravitational wave detection mission, it is essential to study the structural deformation measurement of the telescope. Currently, there are still several shortcomings in the research of multi-degree-of-freedom deformation measurement methods for gravitational wave detection telescopes, such as inaccurate selection of measurement points, inability to decouple multi-degree-of-freedom coupling, and unclear identification of error sources in multi-degree-of-freedom measurement. This paper deeply investigates the high-precision measurement of structural deformation of space-borne telescopes designed for space gravitational wave detection. It preliminarily establishes a framework and method system for measuring the structural deformation of space-borne telescopes, theoretically describing the measurement principle of the method. The feasibility of this method applied to space gravitational wave detection is verified through simulation analysis and error decomposition. The paper focuses on resolving the issue of decoupling multiple degrees of freedom, establishing a mathematical model using analytical methods, and conducting preliminary validation using Zemax. Finally, noise analysis of the measurement system is carried out, with experimental testing of the main noise components in the measurement system, validating the correctness of the theoretical noise model proposed in this paper. The experimental results show that near 1 Hz, the displacement noise background of the single-link interferometer is 100 pm/Hz^1/2. At 1 mHz in the low-frequency range, the displacement noise background reaches 10 nm/Hz^1/2. The noise level of the measurement system below 1 mHz is mainly limited by environmental temperature noise, while above 10 mHz, it is primarily constrained by laser frequency noise, phase acquisition background noise, and vibration noise. During the development phase of the space gravitational wave detection telescope, the research on this measurement method is expected to fulfill the telescope's multi-degree-of-freedom deformation measurement needs. It also provides data feedback for telescope design and offers guidance for the study of the telescope's optical path stability.

Friction plays a critical role in dexterous robotic manipulation. However, realizing friction sensing remains a challenge due to the difficulty in designing sensing structures to decouple multi-axial forces. Inspired by the topological mechanics of knots, we construct optical fiber knot (OFN) sensors for slip detection and friction measurement. By introducing localized self-contacts along the fiber, the knot structure enables anisotropic responses to normal and frictional forces. By employing OFNs and a change point detection algorithm, we demonstrate adaptive robotic grasping of slipping cups. We further develop a robotic finger that can measure tri-axial forces via a centrosymmetric architecture composed of five OFNs. Such a tactile finger allows a robotic hand to manipulate human tools dexterously. This work could provide a straightforward and cost-effective strategy for promoting adaptive grasping, dexterous manipulation, and human-robot interaction with tactile sensing.

针对三维力传感器维间耦合干扰问题，以基于光纤布拉格光栅（Fiber Bragg Grating， FBG）的一体式三维力传感器为研究对象，提出了一种基于白鲨优化算法的优化极限学习机（White Shark Optimizer-Extreme Learning Machine， WSO-ELM）的非线性解耦算法。首先，设计了基于FBG的一体式三维力传感器，阐明该传感器波长漂移量与三维力的映射关系；然后，搭建静态标定实验系统，分析三维力耦合特征，并建立WSO-ELM算法三维力传感器解耦模型，利用白鲨优化算法（White Shark Optimizer， WSO）稳定、高效特点优化模型，寻找ELM神经网络隐含层神经元数与解耦时间的最佳参数组合，开展基于WSO-ELM的三维力传感器非线性解耦研究；最后，该传感器解耦后最大平均I类误差达到0.51%，最大平均II类误差达到0.65%，实现了基于WSO-ELM的三维力非线性解耦。为验证解耦效果，将WSO-ELM算法与极限学习机神经网络模型、反向传播神经网络、最小二乘法解耦效果进行对比实验。实验结果表明：WSO-ELM算法具有较好的解耦效果，能有效构建三维力维间耦合关系，同时降低传感器耦合干扰，提高传感器的测量精度，具有良好的非线性解耦能力。

随着放射性核束物理的快速发展，在远离β稳定线的原子核中发现或者预言了很多奇特核结构现象，包括变形晕、变形晕核中形状退耦合等。对这些奇特核现象的研究是当前核物理的重要前沿领域。协变密度泛函理论是目前最为成功的用于描述原子核结构性质的理论模型之一。本文介绍基于协变密度泛函理论对变形晕核研究的结果和进展。考虑连续谱效应的形变相对论Hartree-Bogoliubov理论实现了变形晕核的微观自洽描述并预言了镁-44中的变形晕和核芯与晕的形状退耦合现象。之后，该理论还被用于研究硼和碳等同位素链原子核中的变形晕现象。基于该理论的角动量投影计算表明：在变形晕核的低激发转动态中依然存在晕现象以及形状退耦合现象。

三轴快速刀具伺服（Fast Tool Servo， FTS）具有更高的刀具空间运动柔性，逐渐用于复杂光学曲面和微纳结构表面的切削加工。针对所研制电磁-压电混合驱动三轴FTS存在的轴间耦合、高频谐振和迟滞非线性等因素对轨迹跟踪性能的影响，研究综合补偿策略实现三轴空间轨迹的高性能跟踪控制。以陷波滤波器抑制系统高频谐振，以前馈解耦补偿弱化平面轴间耦合；针对法应力电磁驱动和压电驱动的迟滞非线性，提出以线性动力学模型级联Prandtl-Ishlinskii模型描述各轴的动态迟滞特性，并构建无需直接求逆的迟滞前馈补偿模型，实现系统的迟滞非线性补偿。谐波扫频测试结果表明：所采用的陷波滤波器可以很好地消除高频谐振，前馈解耦补偿可将平面XY轴间的耦合幅值降低约14 dB。宽频域内迟滞建模结果表明：平面XY轴和Z轴的动态迟滞建模误差分别小于±2.2%和±1.8%。以PID为主控制器，对宽频谐波（10~100 Hz）的跟踪结果表明：采用综合补偿策略获得各轴的最大跟踪误差约为仅采用逆动力学前馈补偿的25%~50%，进一步对空间螺旋球面轨迹进行了跟踪测试，证明了所构建的综合补偿控制策略的有效性。