猕猴桃采摘机器人末端执行器设计与试验

进行了棚架式栽培模式自然生长条件下簇生猕猴桃无损采摘机器人末端执行器的研究。基于果实与果柄的分离特性,提出面向机器人的果实采摘方法和简化几何模型,进行了果实与果柄分离试验的可行性验证;基于果实采摘方法设计了从底部接近、旋转包络分离毗邻果实并抓取、向上运动分离果实的末端执行器,并试制样机,进行了现场评价试验。结果表明,采摘模型能够实现果实与果柄的分离,末端执行器解决了毗邻果实分离问题,能够实现单个果实稳定抓取、无损采摘和采后抓持,成功率达到96.0%,平均单果耗时22 s。     

Extent and causes of site damage due to forestry traffic

Increased mechanization in the forestry means usually increased traffic on a ground which is also used as a growth substrate. In this state‐of‐the‐art article it is found that the traffic could have an areal extent of 10–30% of the site area mainly due to yarding at clear‐felling and thinning. In the future there could be up to 6 machine entries on the site till a stand age of 50 year.

Skidding is often recognized as the major cause of soil disturbance with 50–75% of the skid trails considered as apparently compacted. Rut formation after forwarders can also be a problem but harvesters seems to be forgotten or give minor problems.

In order to reduce soil compaction smaller machines must be considered on many sites. Maybe 5–10 tonnes machines with a real mean ground pressure of 60–70 kPa could give, thanks to good tyres, an acceptable level of soil disturbance.

High tractive forces and slip may contribute to the soil disturbance as much as double the ground pressure. Calculations show it is therefore better to carry the load than to skid. However, the change in weight balance of the machine due to the load is still a problem and maybe anti‐slip control could give the machine a better torque distribution.     

大兴安岭林区森工采运方式现状及发展趋势研究

本文论述了大兴安岭林区采运方式现状。分析了影响采运方式的因紊。提出了今后的发展方向。     

水稻机械割晒拾禾研究分析

建三江地区由于以往收获方式的单一,各种机械配置的不合理及农户对机械收获的认识不全面,收获条件差异等问题的存在,严重影响了水稻机械收获的进度。为了确保粮食保质保量的收获,通过对水稻割晒拾禾可行性、优越性、实施方案及可能存在的问题和注意事项的分析研究,在当地全面推广了水稻机械割晒和机械化直收相结合的收割方式,为实现水稻增产增收提供有利保证。     

Population dynamics of tree species in southern Quebec,Canada: 1970–2005

Over the last few decades, several phenomena contributed to modify the structure and composition of the eastern North American forests. Along with forest management, disturbances such as insect defoliation, global environmental changes, acid deposition, and rising atmospheric CO₂ concentrations, have been identified as phenomena that could affect forest structure and composition. Currently, there is very little quantitative information on the resulting effect of multiple disturbances on the main parameters of forest dynamics (growth, mortality, and recruitment). Using available data from the Quebec permanent sample plots network, we analyzed the ecological response of tree species populations to the combined effect of contemporary global environmental changes, disturbance regimes, and forest management practices over the last 30 years in southern Quebec. The results indicate that the main parameters of forest dynamics changed considerably over the last three decades. The last spruce budworm outbreak initiated a successional change in coniferous stands. The basal area of Abies balsamea and Picea glauca, the most abundant coniferous species, decreased by 29.7%, while pioneer species abundance increased. For late successional deciduous species, observed changes in forest dynamics appear to be mainly associated with global environmental changes rather than with natural disturbances or forest harvesting. The results indicate that inferring responses of tree population dynamics to global environmental changes can be very complex or even misleading considering the confounding effects of other disturbance agents. The results also suggest that the ecosystem-based management approach promoted by forest ecologists, aimed at maintaining landscape stand composition and structures similar to those characterizing natural environments, will not be easily achieved. Forest ecosystems are highly dynamic and disturbances other than tree harvesting appear to have been the major factors affecting their pattern of change over the last three decades. Forest managers should consider adaptive management approaches that will consider the contemporary evolution of forest ecosystems in a changing environment.     

角倍适宜采摘期研究

本文通过角倍在其速生阶段及成熟爆裂阶段的个体生长发育、单宁含量变化及其成熟爆裂等规律的研究,并根据社会经济条件及自然条件,提出了角倍的适宜采摘期最好是10月中旬,其次是9月底,从而可较9月初采摘嫩倍提高产量1倍左右。     

半边莲繁殖及采收技术

本文介绍了半边莲(LobeliaSchinensis)的生物特性、生长习性以及繁育采收技术,包括选地整地方法、种子繁殖方法、扦插繁殖方法、分株繁殖方法、组织培养繁殖方法、田间管理技术以及采收加工技术等。     

The North American long-term soil productivity experiment: Findings from the first decade of research

First decade findings on the impacts of organic matter removal and soil compaction are reported for the 26 oldest installations in the nation-wide network of long-term soil productivity sites. Complete removal of surface organic matter led to declines in soil C concentration to 20 cm depth and to reduced nutrient availability. The effect is attributed mainly to the loss of the forest floor. Soil C storage seemed undiminished, but could be explained by bulk density changes following disturbance and to decomposition inputs of organic C from roots remaining from the harvested forest. Biomass removal during harvesting had no influence on forest growth through 10 years. Soil compaction effects depended upon initial bulk density. Soils with densities greater than 1.4 Mg m⁻³ resisted compaction. Density recovery was slow, particularly on soils with frigid temperature regimes. Forest productivity response to soil compaction depended both on soil texture and the degree of understory competition. Production declined on compacted clay soils, increased on sands, and generally was unaffected if an understory was absent.     

苦竹各器官主要营养元素分布及采伐的养分输出

本文根据四川长宁苦竹(Pleioblastus amarus)各器官生物量以及其主要营养元素含量和储量,研究了苦竹采伐的养分输出问题。结果表明:苦竹各器官中N、P、K、Si、Ca、Mg等6种营养元素以代谢旺盛的竹叶和竹鞭中含量最高;6种养分元素在各器官贮存量(单位:kg.hm-2)从大至小的排序为:叶(510.8)>竹根(230.62)>杆(182.14)>枝(163.77>竹鞭(59.19)>竹蔸(41.16)。苦竹采伐的养分年输出量(单位:kg.hm-2)从大至小的排序为:Si(50.23)>K(38.77)>N(35.58)>Mg(4.55)>P(3.86)>Ca(3.31)。对比该地区的降雨输入,苦竹林地养分以Si失衡最为严重;其次为K、N。若采伐时将竹叶带出竹林,6种元素的养分输出总量将增加1.48倍。可见,竹叶归还林地对维持地力具有极其重要的作用。     

森林采运作业环境成本核算的研究

本文总结了森林环境服务价值评价的方法 ,在分析了森林有形产品的经济价值和无形产品的环境服务价值的基础上 ,建立了采运作业环境成本核算的数学模型。