基于蚁群-BFS算法的复杂环境下农业机器人全区域覆盖研究

目的 以路径重复率为优化目标解决农业机器人在数字生态农场中的全区域覆盖问题。方法 首先,将栅格地图中的障碍物进行膨胀处理,在此基础上进行矩形分区以及分区合并操作;然后,通过改进的蚁群算法规划分区间的遍历顺序、通过改进的广度优先搜索(Breadth first search, BFS)算法规划分区间终点与起点的衔接路径,从而实现机器人全区域覆盖。2种算法的具体改进方案为：分别通过人工免疫算法与粒子群算法改进遗传算法的选择与交叉算子,并将改进后的选择算子、交叉算子、原遗传算法变异算子与蚁群算法相结合改进传统蚁群算法信息素更新方法;建立动态函数以简化BFS算法规划的路径。结果 仿真结果表明,改进蚁群算法收敛时的迭代次数较传统蚁群算法减少了83.1%,路径长度相比减少了4.8%;由改进的蚁群算法与改进的BFS算法规划的机器人遍历路径重复率是传统蚁群算法和BFS算法的56%,且农业机器人能实现对农田区域的100%覆盖。结论 本研究提供了一种农业机器人在复杂环境的数字生态循环农场中进行全遍历覆盖的解决方案。     

Projections of temperature extremes based on preferred CMIP5 models:a case study in the Kaidu-Kongqi River basin in Northwest China

The extreme temperature has more outstanding impact on ecology and water resources in arid regions than the average temperature. Using the downscaled daily temperature data from 21 Coupled Model Inter-comparison Project(CMIP) models of NASA Earth Exchange Global Daily Downscaled Projections(NEX-GDDP) and the observation data, this paper analyzed the changes in temporal and spatiotemporal variation of temperature extremes, i.e., the maximum temperature(Tmax) and minimum temperature(Tmin), in the Kaidu-Kongqi River basin in Northwest China over the period 2020–2050 based on the evaluation of preferred Multi-Model Ensemble(MME). Results showed that the Partial Least Square ensemble mean participated by Preferred Models(PM-PLS) was better representing the temporal change and spatial distribution of temperature extremes during 1961–2005 and was chosen to project the future change. In 2020–2050, the increasing rate of Tmax(Tmin) under RCP(Representative Concentration Pathway) 8.5 will be 2.0(1.6) times that under RCP4.5, and that of Tmin will be larger than that of Tmax under each corresponding RCP. Tmin will keep contributing more to global warming than Tmax. The spatial distribution characteristics of Tmax and Tmin under the two RCPs will overall the same; but compared to the baseline period(1986–2005), the increments of Tmax and Tmin in plain area will be larger than those in mountainous area. With the emission concentration increased, however, the response of Tmax in mountainous area will be more sensitive than that in plain area, and that of Tmin will be equivalently sensitive in mountainous area and plain area. The impacts induced by Tmin will be universal and farreaching. Results of spatiotemporal variation of temperature extremes indicate that large increases in the magnitude of warming in the basin may occur in the future. The projections can provide the scientific basis for water and land plan management and disaster prevention and mitigation in the inland river basin.     

50年来湘中地区气候极值与农业气候指标动态变化趋势

利用湘中地区1961-2010年气象站逐日观测数据资料,选取与农作物密切相关的气候极值和农业气候指标,采用统计检验、趋势分析和Mann-Kendall突变检验等的方法,分析了湘中地区农业水热气候条件和气候极值,进而研究主要农业气候指标的变化倾向。研究发现：湘中地区近50年来,水热资源总体呈增加趋势;年强降水量呈增大趋势,尤其以夏季强降水量增加最为明显,表明夏季洪涝灾害的威胁加大;最高(低)气温阈值的变化表明极端高(低)温均呈缓解趋势,及其出现的天数在减少,说明由极端气候引起高温热害、低温冷害等气象灾害发生的可能性减小;≥0℃和≥10℃积温分别在1997年和2000年开始突变,上升趋势明显,表明湘中地区有效热量资源在增加;霜冻日数呈减小趋势,说明霜冻危害发生的风险在减小。这对确定合适的农业气候指标值和促进农业生产有重要的指导意义。     

Acoustic communication in fishes: Temperature plays a role

Temperature affects peripheral and central mechanisms of signal production and detection in ectothermic animals. This study reviews for the first time the effects of temperature on acoustic communication in fishes and analyses whether changes in sound properties are coupled to changes in auditory sensitivities. Effects of temperature on sound production have been studied in approximately one dozen families of teleosts. Calling activity increased or was unaffected by temperature, in the latter case probably because seasonal, daily and lunar rhythms also influence mating behaviour and calling. Sound characteristics (pulse repetition rate, fundamental frequency) are positively correlated with temperature if pulses are directly based on sonic muscle contractions. In fishes possessing other sonic mechanisms, the dominant frequency of their pulsatile pectoral sounds may increase as well. Auditory sensitivities were mainly determined in otophysines, which possess enhanced hearing abilities. Studies revealed that hearing increased with temperature, in particular at higher frequencies. We know close to nothing about whether temperature‐dependent changes in sound characteristics are coupled to changes in auditory sensitivity or mate choice. Female midshipman toadfish appear to choose males based on call frequency, which varies with temperature. Future studies need to address several topics: (i) temperature effects on sound production have to be separated from other sources of variation; (ii) effects on hearing need to be studied in many more taxa; (iii) potential negative effects of global warming on acoustic communication (because of temperature coupling) need to be investigated because fish constitute a major source of protein for humans.     

1960-2009年青海省极端降水事件的变化特征

利用1960-2009年青海省26个气象台站的降水资料,采用线性倾向估计法、反距离加权法、M—K突变检测等方法,研究了青海省50a来极端降水事件变化的空间分布以及时间变化特征。结果发现,近50a来,青海省极端降水天数、最大的1d和5d降水总量、中雨天数和逐年平均降水强度均表现为增加(强)趋势,只有极端降水天数通过了0.05的置信度检验;各极端降水指数变化趋势存在空间差异,祁连山地区极端降水天数、最大的1d和5d降水总量、中雨天数和逐年平均降水强度增加趋势明显,青海省东部地区增加不明显或呈微弱减少趋势;青海省极端降水事件在0.05的置信度下发生了明显的突变现象,且各极端降水指标与年降水总量有很好的相关性。     

基于自适应升温模拟退火算法的农业机器人全区域覆盖策略

目的 提出一种复杂农田环境下农业机器人全区域覆盖策略,以便合理规划农业机器人的工作遍历路径。方法 根据农田实际生产环境定义农业机器人复杂工作环境模型,并在此基础上建立一级分区与二级分区的概念。引入遗传算法变异操作的思想,建立基于贪婪机制的模拟退火算法优质可行解生成方法;建立解集多样性的概念,设计基于自适应升温的模拟退火算法改进方法,以此求解分区间的最佳遍历顺序问题。通过A*算法与八邻域搜索法相结合进行农业机器人跨区域衔接路径规划,依此,实现机器人覆盖全区域。结果 仿真结果表明,改进的模拟退火算法所规划的路径长度分别比传统遗传算法和模拟退火算法减少了14.7%和10.1%,收敛时的迭代次数分别减少9.8%和59.1%;农业机器人全区域覆盖仿真试验中遍历路径重复率为14.86%。高地隙喷药机器人现场遍历试验中,路径重复率为15.83%。结论 研究结果可为农业机器人在复杂农田环境中全遍历覆盖提供研究思路。     

Revealing past needle density in Pinus spp.

The number of short shoots per shoot length, or needle density, is species typical, and it shows year‐to‐year variation within species. By modification of the needle trace method, long‐term needle density chronology was produced in a Scots pine (Pinus sylvestris L.) stand, located at the northern timberline in Finland. Treewise, needle density varied between 9 and 14 short shoots per long shoot (stem internode) centimetre, the annual minimum and maximum values being 5 and 37 short shoots cm^?1. The stand‐specific long‐term average was 10.5 short shoots cm^?1, and the mean annual value varied between 17 and 8 short shoots cm^?1 in 1951 and 1984, respectively. The long‐term pattern in needle density was one of decline with time between 1950 and the mid‐1970s, then to slightly increase on entering the 1990s. The years when the density was relatively high were 1957, 1968 and 1981, indicative of some climatic extremes.     

基于高SBS阈值的HNLF产生高重复频率超短光脉冲

基于光纤中的四波混频(FWM)产生高重复频率超短光脉冲的原理,并为抑制光纤中的受激Brillouin散射(SBS),采用非均匀掺杂高SBS阈值非线性光纤,通过FWM对双拍频信号进行整形压缩,实验上获得了100GHz的高重复率超短光脉冲序列,进而分析了入纤功率对输出光脉冲的影响。     

近52年西北干旱区极端温度事件季节性时空分析

利用西北干旱区83个气象站点1961—2012年逐日最低（高）气温资料，对其极端温度事件季节性时空变化规律进行分析与预测，以期更好地为其生态保护和农业生产服务。结果表明：(1)时间趋势上，日极端低（高）温均值呈上升趋势，尤其是1981年后升幅明显增加，冬秋季升温最显著；日极端低（高）温极低（高）值有增多趋势，其中暖昼（夜）日数有增加趋势，夜（昼）指数变化最快的季节为夏秋季；1979—1986年，上述指数变化趋势发生突变（冬季先开始）；除夏季日极端低温极低值外，其他指数在2013—2020年季节变化与1961—2012年的增减趋势一致。(2)空间分布上，暖昼（夜）日数最大值、冷昼（夜）日数最小值均在北疆分区，而内蒙-宁夏分区的增减速率变化最快；2013—2020年，新疆全境春季冷昼、冷夜日数急剧减少，内蒙-宁夏分区、南疆分区夏季日最低（高）气温极值急剧降低（上升）。     

杉木无性系结实强度的遗传变异

首次以结实强度为指标,评价杉木种子园无性系的结实能力,以利提高无性系再选择的准确性。结果表明杉木无性系结实强度具有较高的重复系数,单株为０．２５０－０．４７７,无性系为０．５００－０．７３３,为中等遗传控制,无性系间ＣＶ３６．３３％－１２１．８１％,无性系内分株间为２７．２７％－６２．７３％,系间变异大于系内变异。可提高无性系结实能力评价精度和无性系再选择的可靠性。