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In this research, the highly dense bulk Cu-5Sn alloy specimens were fabricated using selective laser melting (SLM). This study aims to establish the relationship between laser power (LP), scanning speed (SS) and hatch space (HS) with surface roughness (Ra) and density. To obtain Cu-5Sn alloy formed parts with high strength and low surface roughness. The microstructure and mechanical properties of SLMed Cu-5Sn were investigated.

The relative density (RD) was optimized using the response surface method (RSM) and analysis of variance. First, the Ra of SLMed formed specimens was studied to optimize the forming process parameters with a good surface. Then, the dense specimens were studied by ANOVA and the RSM to obtain dense specimens for mechanical property analysis.

Dense specimens were obtained by RSM and ANOVA. The tensile properties were compared with the casted specimens. The yield and ultimate strengths increased from 71 and 131 MPa for the cast specimens to 334 and 489 MPa for the SLMed specimens, respectively. The ductility increased significantly from 11% to 23%, due to the refined microstructure of the SLMed specimens, as well as the formation of many twin crystals.

The Ra, RD and mechanical properties of SLM specimens Cu-5Sn were systematically studied, and the influencing factors were analyzed together. This study provides a theoretical and practical example to improve the surface quality and RD.

To improve the robustness of missile control system and reduce the error, a missile attitude adaptive control method based on active disturbance rejection control technology (ADRC) and BP neural network is innovatively proposed.

ADRC improves the performance of the missile control system by estimating and eliminating the total disturbance of the system. BP neural network adjusts the parameters of ADRC controller according to the state of the system to realize adaptive control. Based on the control system and missile dynamics model, the convergence analysis of the extended state observer and the stability analysis of the closed-loop system after embedding BP neural network are given.

The simulation results show that the adaptive control method can adjust the coefficient of error feedback rate according to the system input, output and error change rate, which accelerates the response speed of missile attitude angle and reduces the attitude angle error.

BP–ADRC further improves the robustness and environmental adaptability of the missile control system. The BP–ADRC control method proposed in this paper is proved feasible.

Different from the traditional ADRC, the BP–ADRC feedback signal proposed in this paper uses the output signal and its rate of the closed-loop system instead of the system state quantity estimated by extended state observer (ESO). This innovative method combined with BP neural network can make the system output meet the requirements when ESO has errors in the estimation of missile dynamics model.

Tactile sensation is an important sensory function for robots in contact with the external environment. To better acquire tactile information about objects, this paper aims to propose a three-layer structure of the interdigital flexible tactile sensor.

The sensor consists of a bottom electrode layer, a middle pressure-sensitive layer and a top indenter layer. First, the pressure sensitive material, structure design, fabrication process and circuit design of the sensor are introduced. Then, the calibration and performance test of the designed sensor is carried out. Four functions are used to fit and calibrate the relationship between the output voltage of the sensor and the contact force. Finally, the contact force sensing test of different weight objects and the flexible test of the sensor are carried out.

The performance test results show that the sensitivity of the sensor is 0.93 V/N when it is loaded with 0–3 N and 0.23 V/N when it is loaded with 3–5 N. It shows good repeatability, and the cross-interference between the sensing units is generally low. The contact force sensing test results of different weight objects show that the proposed sensor performs well in contact force. Each part of the sensor is a flexible material, allowing the sensor to achieve bending deformation, so that the sensor can better perceive the contact signs of the grasped object.

The sensor can paste the surface of the paper robot’s gripper to measure the contact force of the grasping object and estimate the contour of the object.

In this paper, a three-layer interdigital flexible tactile sensor is proposed, and the structural parameters of the interdigital electrode are designed to improve the sensitivity and response speed of the sensor. The indenter with three shapes of the prism, square cylinder and hemisphere is preliminarily designed and the prism indenter with better conduction force is selected through finite element analysis, which can concentrate the external force in the sensing area to improve the sensitivity. The sensor designed in this paper can realize the measurement of contact force, which provides a certain reference for the field of robot tactile.