履带式油菜播种机模糊自适应纯追踪控制器设计与试验

针对在丘陵山区小田块中大型农业机械运移不便、作业效率不高和田头调头操作受限等问题,设计了一种针对轻简履带式车辆的基于运动学模型和几何模型的模糊自适应纯追踪控制器。以轻简履带式油菜播种机为研究平台,结合北斗RTK构建了一套自动导航作业系统,根据播种作业需求采用有限状态机设计了田间自动导航作业控制策略。开展了模糊自适应纯追踪控制器与纯追踪控制器的仿真及实地对比试验。仿真结果表明,与纯追踪控制器相比,模糊自适应纯追踪导航控制器具有上升时间短和超调小等特点。水泥路面试验表明,当行驶速度为0.8m/s时,模糊自适应纯追踪控制器最大跟踪偏差为0.039m,平均绝对偏差为0.018m。在旱田路面前进速度0.5、0.8、1.2m/s下,直线导航跟踪最大跟踪偏差分别不大于0.082、0.086、0.092m,平均绝对偏差分别不大于0.031、0.032、0.034m。并对自动导航作业系统进行试验,试验结果表明,所设计的导航控制器直线跟踪稳定,满足丘陵山区小型田块油菜播种要求。     

四轮独立驱动高地隙无人喷雾机轨迹跟踪自适应控制

针对高地隙喷雾机在自主导航作业中因侧滑影响而导致轨迹跟踪精度降低的问题,提出一种基于四轮独立驱动(4WID)高地隙无人喷雾机的自适应控制方法。首先,建立4WID高地隙喷雾机的运动学模型;然后基于运动学几何约束和速度约束,引入两个表征侧滑效应的参数构建改进位姿误差模型;最后将参数自适应与反步控制方法结合,设计自适应控制律实时估计并补偿侧滑效应。以典型的U形作业路径为例,在考虑和不考虑侧滑的情况下分别进行了仿真和试验验证。仿真结果表明：本文提出的控制算法在喷雾机出现侧滑的情况下可以保证较高的轨迹跟踪精度;水田试验表明,当喷雾机在常规作业速度3.6km/h时,与不考虑侧滑的轨迹跟踪控制算法相比,喷雾机轨迹跟踪的横向平均绝对误差减小至0.041m,标准差减小至0.059m;纵向平均绝对误差减小至0.018m,标准差减小至0.015m;航向平均绝对误差减小至2.56°,标准差减小至3.57°。     

苹果采后加工碰撞损伤影响因素研究

针对苹果在清洗、分级和包装等采后加工过程中损伤率较高的问题,以红富士苹果为试验材料,利用自制的苹果跌落试验台,研究跌落高度、果实质量、碰撞材料对苹果碰撞损伤的影响。通过3因素3水平正交试验,分析试验因素对苹果碰撞损伤体积影响显著性;并通过试验确定苹果在2种碰撞材料下的碰撞损伤临界跌落高度。试验结果表明:影响苹果碰撞损伤体积的因素显著性由高到低依次为跌落高度、碰撞材料、果实质量;3种质量苹果与2种碰撞材料的碰撞损伤临界跌落高度为150 g苹果与普通碳素钢、PE板碰撞损伤临界跌落高度值分别为59.06 mm和70.93 mm;200 g苹果与普通碳素钢、PE板碰撞损伤临界跌落高度值分别为51.70 mm和63.03 mm;250 g苹果与普通碳素钢、PE板碰撞损伤临界跌落高度值分别为41.65 mm和49.88 mm。     

考虑应力敏感性影响的三项式产能方程

低渗透气藏存在较强的应力敏感性,大量岩石实验数据回归研究表明,幂函数渗透率应力敏感性经验方程相关性相对较好,而前人利用该关系式来研究低渗透气藏气井产能的报道较少。在这样的背景下,利用幂函数应力敏感性经验公式,综合考虑渗透率应力敏感效应、启动压力梯度、紊流效应和表皮系数,建立了一个新的适用于低渗透异常高压气井的三项式产能方程。不同参数组合情况下的气井流入动态曲线对比研究结果表明,应力敏感性、启动压力梯度和紊流效应对低渗透气藏气井产能的影响较大,在产能评价研究时必须予以考虑。     

西藏飞蝗对青稞危害损失与防治指标初步探讨

利用笼罩接虫的方法,测定西藏飞蝗虫口密度与青稞产量损失率（％）的关系,结果表明,青稞产量损失随着西藏飞蝗虫口数量增加而增加,西藏飞蝗的虫口密度（X）与产量损失率（Y）的关系为：y=-15．39＋10．25x;从而确定青稞田西藏飞蝗的理论防治指标2头／m^2。     

Determination of a tissue and sediment threshold for tributyltin to protect prey species of juvenile salmonids listed under the US Endangered Species Act

• 1. The purpose of this report is to determine the concentrations of tributyltin in sediments that would be protective against adverse effects on prey species of salmonids listed under the US Endangered Species Act.
• 2. Two approaches for determining adverse sediment concentrations due to tributyltin (TBT) contamination are presented here. The first is the equilibrium partitioning (EqP) approach, which relies on a sediment‐water partition coefficient and toxicological data for water exposures. The EqP approach utilizes the large water quality database that has been generated over the last two decades for TBT and provides strong evidence for adverse effects at low exposure concentrations.
• 3. The second approach involves determination of a TBT tissue residue that is considered harmful for most species, which is then used to predict the sediment concentration that would likely produce this adverse tissue concentration.
• 4. Both approaches are presented here because they generally support each other but based on the information presented below, and the inherent difficulty in measuring porewater concentrations, the tissue residue approach is the recommended method for determining adverse sediment concentrations.
• 5. Using this analysis, the protective sediment concentration for TBT proposed here is 6000 ng g^?1organic carbon. Direct effects are not expected on salmonids at this sediment concentration because of their relatively short residence time in the estuary, general lack of interaction with sediment, and relatively high metabolic capacity. This concentration may ensure adequate abundance of salmonid prey species; however, it may not be low enough for the protection of sensitive benthic species.

Published in 2002 by John Wiley & Sons, Ltd.     

From small-scale habitat loopholes to decadal cycles: a habitat-based hypothesis explaining fluctuation in pelagic fish populations off Peru

The Peru‐Humboldt Current system (HCS) supports the world's largest pelagic fisheries. Among the world's eastern boundary current systems, it is the most exposed to high climatic stress and is directly affected by El Niño and La Niña events. In this volatile ecosystem, fish have been led to develop adaptive strategies in space and time. In this paper, we attempt to understand the mechanisms underlying such strategies, focusing on the El Niño 1997–98 in Peru from which an extensive set of hydrographic, capture and acoustic survey data are available. An integrated analysis of the data is crucial, as each has substantial shortcomings individually; for example, both catch data and acoustic surveys may easily lead to wrong conclusions. Existing hypotheses on anchovy and sardine alternations lead us to a ‘habitat‐based’ synthetic hypothesis. Using our data, an integrated approach evaluated how fish responded to habitat variation, and determined the consequences in terms of fish‐population variability. Various factors occurring at a range of different spatio‐temporal scales were considered: interdecadal regime (warm ‘El Viejo’/cool ‘La Vieja’ decadal scale); strength and the duration of the El Niño Southern Oscillation event (interannual scale); population condition before the event (interannual scale); fishing pressure and other predation (annual scale); changes in reproductive behaviour (intra‐annual scale); presence of local upwelling (local scale). During El Niño 1997–98, anchovy was able to exploit a small‐scale temporal and spatial ‘loophole’ inside the general unfavourable conditions. Moreover, sardine did not do better than anchovy during this El Niño and was not able to take advantage of the ‘loophole’ opened by this short‐term event. Our results question the traditional view that El Niño is bad for anchovy and good for sardine.     

菲律宾蛤仔对石油烃的污染动力学和阈值研究

以食用菲律宾蛤仔为研究对象,采用半静态动力学富集实验方法,探讨双壳贝类对石油烃的污染动力学特征。结果表明:经过4d石油烃在贝体和水环境之间达到稳态平衡;生物富集系数(BCF)为545;浓度为0.068 mg/L的石油烃水体组,富集平衡后贝体内的石油烃含量高于贝体内的石油烃异味阈值(25~30mg/kg)。参考USEPA、GB18421-2001等关于双壳贝类中石油烃限量的规定,根据石油多环芳烃的毒力机理,把菲律宾蛤仔对石油烃污染的安全阈值定为0.03~0.05mg/L较为合理。     

运输应激对比格犬血常规及生化指标的影响

为了研究运输应激伴随的冷应激、驱赶、捕捉及饲料改变等多重应激对比格犬血常规和血液临床生化指标造成的影响,并且评估1周适应性饲养时间的合理性。以30只比格犬作为试验对象,对其适应性饲养前后的血常规和血液临床生化指标进行检查,并对数据进行分析发现,适应性饲养前犬的血常规和生化指标都有显著变化,1周的常规适应性饲养后,犬应激症状消失,血常规和生化检查指标均回复正常;这说明应激对比格犬造成了显著的影响,1周的适应性饲养是合理且必须的。     

The influence of various confounding factors on mechanical nociceptive thresholds in the donkey

ObjectiveTo evaluate a mechanical nociceptive threshold (MNT) testing device in the donkey, and to investigate the influence of potential confounders on MNTs generated.Study designProspective, randomised.AnimalsSixteen castrated male donkeys aged 4–9 years, weighing 105–170 kg.MethodsMechanical nociceptive thresholds were measured using an actuator with three pins placed on the dorsal aspect of the distal limb, connected to a force meter. The pins (surface area 15 mm²) were extruded onto the limb by pressurising an air-filled syringe, until the MNT force (when foot-lift was observed) or 25 N (cut-off force) was reached. Effect on MNT of presence of a companion donkey, the limb tested, rate of application of force, testing location, level of distraction, ambient temperature and hair cover at the test site was evaluated. Long and short-term repeatability of MNT was assessed. Data were analysed using general linear models and Mann–Whitney U tests, p < 0.05 was considered significant.ResultsIncreasing the rate of force application significantly increased the mean ± SD MNT from 9.2 ± 2.0 N when applied at 0.4 N sec^?1 to 10.6 ± 2.1 N when applied at 1.2 N sec^?1 (p = 0.001). No other factors significantly influenced MNT. Mean MNT remained stable over a 3 week period, however MNTs were significantly (p = 0.006) higher (12.8 ± 3.0 N cf 10.3 ± 1.9 N) after a 12 month interval.Conclusions and clinical relevanceWhen designing studies measuring MNT in donkeys, rate of application of force must be standardised. Donkeys’ MNTs have good short-term stability suggesting this technique is appropriate for short-term analgesiometry studies; however variability of MNTs over the long-term is greater.