农业机器人并联视觉云台研究

针对智能农用机器人对机器视觉工作范围的需求,提出了一种用于农业机器人的并联视觉云台设计方案。基于双摇杆的输入输出特性,提出了一种运动支链设计方法,用于构建二自由度全球面工作空间解耦并联机构。在此基础上,衍生出两种可行的运动支链P5R和PRR,基于这两种运动支链,设计了2种二自由度全球面工作空间并联视觉云台RRP5R和RRPRR。通过运动学分析,分别建立了2种机构的位置关系表达式;通过尺寸优化,得到了2种机构的最优杆长比;通过对比得出,RRP5R型并联视觉云台具有更好的输入输出性能;通过有限元分析,研究了载荷对RRP5R型并联视觉云台运动精度的影响。结果表明,RRP5R机构强度满足要求,但杆件的累积弹性变形导致运动副的位移偏差较大。     

格网化小麦生长模拟预测系统设计与实现

利用作物生长模型模拟小麦区域生产力,分析气候变化对农业生产的影响是研究粮食安全的热点问题之一。拥有操作方便、计算快速特点的小麦区域生产力模拟系统,可有效提高作物生长模型区域应用能力。该研究在分解小麦生长模型WheatGrow算法基础上,利用Python语言构建了格网化小麦生长模型,实现了基于空间格网数据的小麦区域生产力模拟。验证试验结果表明:模拟产量的均方根误差为1 070 kg/hm~2,标准均方根误差小于20%,系统所集成的WheatGrow模型具有较好的预测性;同时,结合格网数据分块构建区域模拟的并行计算策略,优化了区域模拟的性能。在此基础上,采用GIS组件式开发模式,在.NET平台下开发格网化小麦生长模拟预测系统,实现作物生长模型与GIS耦合,为研究区域小麦产量潜力,评估气候变化对小麦生长影响,制定农业决策提供软件工具。     

Design of Automatic Quasi-synchronizing Device in Rural Small Hydropower Station

Generator synchronization is an important and frequent operation in rural small hydropower station. In order to ensure that generator can be paralleled in the grid automatically, efficiently, and stably in the rural small hydropower station whose parallel in operation still needs to be accomplished manually. This paper described an automatic quasi-synchronizing device, based on 89C52 Single-chip Microcomputer （SCM）. Its hardware includes three modules and its software is structuralized. The device structure is simple, and its reliability is high and the maintenance is easy. Besides, convenient Human Machine Interface （HMI） makes the parameter setting simple and flexible     

藏绵羊卵巢组织学及卵泡超微形态的观察

旨在通过观察藏绵羊卵泡、黄体的组织学特征及卵泡的超微形态,探讨其与生理功能的关系。本研究运用大体解剖、常规组织切片和H.E染色及透射电镜技术对藏绵羊卵巢卵泡和黄体的组织结构特点以及卵泡的超微形态进行观察和分析。结果发现,藏绵羊黄体期和卵泡期卵巢的宽度和厚度存在显著差异（P<0.05）,而重量和长度无显著差异（P>0.05）;卵巢上的大多数卵泡通过颗粒细胞萎缩和纤维化而闭锁;黄体中膜黄体细胞（直径22 μm）和颗粒黄体细胞（直径50 μm）结构特征明显且分界清晰,其内部分布着丰富的毛细血管;通过观察卵泡的超微形态发现,随着卵泡的发育,卵泡细胞的形状由椭圆形变为多边形,数量增多且被膜细胞包围;细胞器数量和种类也增多且之间联系紧密,胞质可见分泌的皮质颗粒。结果表明,藏绵羊卵泡系统和黄体的组织学特点以及卵泡的超微形态与其他绵、山羊类似,随着卵泡的发育,血管增生较快,卵泡结构特征变化明显和细胞器致密化程度增加且卵泡在不同时期均会闭锁;黄体内部在毛细血管滋生下使两种黄体细胞结构更加完整且特征明显,这可能是藏绵羊在高原低氧环境下仍然能够发挥卵巢机能的重要基础保障。     

Ultrasonographic findings of the corpus luteum and the gravid uterus during heat stress in dairy cattle

The objectives of this study were to assess alterations in, echogenic appearance, size and blood flow in the corpus luteum, the placentomes and the blood flow in umbilical and uterine arteries that heat stress can cause in cooled pregnant dairy cows. Pregnant cows were allocated in two groups and the gravid uteri, along with the ipsilateral corpora lutea were examined during the winter (group W, n = 9) or the summer (group S, n = 10). The grey-scale ultrasound and colour flow imaging of the corpus luteum and placentome were performed. In addition, the umbilical and uterine artery diameters and haemodynamic parameters in the vessels were calculated. At the time of ultrasonographic examination, cortisol concentrations were higher, and progesterone levels tended to be lower in group S compared to group W. The grey-scale ultrasound evaluation of corpora lutea and placentomes was lower in group S compared to group W. The diameter of umbilical artery and the blood volume in the vessel were less in group S than in group W. We infer that heat stress affects foetal blood supply and possibly the structure of placentomes and corpora lutea, but it differently affects the blood flow characteristics in the umbilical and uterine arteries.     

2BMMD-4型夏棉精量免耕播种机的设计与试验

鉴于黄淮海麦棉轮作区土层深厚和根茬量大、韧性强的特点,以及免耕播种机作业要求,设计了2BMMD-4型棉花精量免耕播种机,能一次实现破茬、开沟、防堵、施肥、播种、覆土及镇压等功能。该机具具有独特的苗带清理及作业防堵、播种深度调节以及作业仿形功能。同时,利用SolidWorks以及ANSYS软件对2BMMD-4型免耕播种机的苗带浅旋装置进行了模态分析。结果表明,该机刀轴在设计转速下对应的频率远小于各阶固有频率,不容易发生共振。田间试验表明,该播种机作业性能达到了设计要求。     

A MIMD PARALLEL ALGORITHM TO SOLVE TRIDIAGONAL TOEPLITZ LINEAR EQUATIONS

The rank one updating formula and the parallel eliminating algorithm for linear recurrence systems ane combined fo form a MTMD parallel algorithm fo solve tridiagonal Toeplitz Cinear equations. This algorithm has a simple strictire and requires onlty a few storages as well as in-terprocessor communications. There is no special demand on the number of processors in the parallel system. The speedup can come dose to p12 comparing with the LU decomposition method (p is the number of processors). It is worth pointing out that it is proposed algcmthn that considels and organizes the parallel arithmetic in the first order linear ricurrence systems with constant coefficients.     

A FINITE ELEMENT ALGORITHM FOR PARALLEL PROCESSING OF MULTI-FRONTS

In this paper,a new algorithm for solving large-scale finite element system is presented, which utilizes the architecture of parallel processing. Firstly, the structure is partitioned into sub-regions. Then multi-fronts are used to assemble and eliminate concurrently in every sub-region. Thus the condensed interface stiffness matrices and load vectors are obtained. By serially assembling and solving global equation to get interface displacements and backing to every sub-region, the inter-nodal displacements and element stresses can be solved. The results of computation show that it can not only increase the speed of computation,but also save the memory space of computer effectively. This algorithm is an effective method for solving large-scale structural finite element systems.     

3-RRPaR并联机构刚体动力学建模与分析

针对一种具有冗余结构的3-RRPaR并联机构,根据拉格朗日乘子法建立动力学模型,进而对冗余并联机构进行动力学分析。首先,分析了3-RRPaR并联机构的结构特征,确定了冗余结构的结构构型;然后,利用闭环矢量法建立并联机构的逆运动学模型,利用拉格朗日乘子法建立并联机构的动力学模型;最后,利用Matlab分别对并联机构空载和加载时的动力学方程进行数值求解,绘制了动力学响应曲线,根据拉格朗日乘子与约束力矩的关系求解出驱动杆的驱动力矩,将计算结果与ADAMS虚拟仿真结果进行对比分析,验证了动力学建模方法的正确性。结果表明,动平台加载后,驱动杆的驱动力矩也随之增大,但其数值变化规律与空载时基本相同。本研究为该并联机构的动力学控制和机构性能研究奠定了基础,也为其他结构冗余并联机构的刚体动力学建模提供了方法和思路。