基于干扰观测器的直播机路径跟踪快速终端滑模控制

针对农田中存在不确定性干扰时,会导致建立的无人水稻直播机运动学模型精确度不高,从而使路径跟踪收敛时间长,跟踪效果较差等问题,提出由直播机运动学模型建立相应的非线性干扰观测器从而实现对不确定性复合干扰的精确观测。将观测到的干扰值补偿到运动学模型中以提高模型的精度,降低滑模控制的抖振。为了控制直播机沿指定路径作业并提高路径跟踪收敛时间,设计了一种快速终端滑模控制算法。基于李雅普诺夫判据检验了算法闭环系统的稳定性。使用Matlab/Simulink建立了农机运动学仿真模型,仿真结果表明,非线性干扰观测器能精确观测出系统的不确定性干扰。与不带干扰观测器的滑模控制算法相比,本文控制算法可有效减少收敛时间,抑制干扰带来的抖振。无人直播机水田作业实验表明,采用本文所提出的算法以1.2m/s的速度高效作业时,横向平均绝对偏差为0.0247m,均方差为0.0311m。并且转弯收敛速度快,无超调,路径跟踪精度满足实际作业要求。     

山区河流生态河道治理工程扰动区植被群落恢复的影响研究

工程扰动严重破坏原有地形地貌和生态植被,加剧生态环境的恶化与生态系统的退化,为减少水土流失和浅层滑坡,加速植被恢复和生态修复,对工程扰动区植被群落恢复进行研究是比较有意义的课题。研究选择生态治理后处于自然恢复期的石葵河作为研究对象,对工程扰动区不同水位的植被恢复进行季节性监测和实地调查,统计河道边坡植被恢复种类及数量、植被群落类型及其结构特征。经调查统计,常水位以上植被种类为43种,常水位以下只有17种;常水位以上Pielou均匀度指数为0.774,而常水位以下Pielou均匀度指数仅为0.397;常水位以上基本形成乔灌草垂直分布的植被群落结构,常水位以下全部是草本植物。说明水位变化对工程扰动区植被恢复有很大影响,水位变化不仅对植被恢复种类和数量有影响,而且还影响植被的生活型和生长型。     

人为干扰对西南喀斯特小流域生态恢复的影响

对退化生态系统的恢复,是喀斯特生态脆弱区域社会经济发展的重要保障。农业生产活动、石漠化治理、土地利用方式等,共同构成了影响喀斯特小流域生态系统退化和恢复的人为干扰因素。在前人对喀斯特石漠化小流域生态治理相关研究的基础上,以生态系统组成要素和生态恢复动态过程为出发点,分析并探讨人为干扰对于植被、土壤、凋落物、土壤生物结构、功能和多样性的扰动。提出生态治理和生态建设应注意对生态系统要素的维持和丰富,并加强对生态系统整体恢复和生态过程的研究,从而更好地促进喀斯特石漠化小流域生态系统的恢复。     

Occurrence and present status of coastal dolphins (Delphinus delphis and Tursiops truncatus) in the eastern Ionian Sea

• 1. Boat surveys aimed at studying short‐beaked common dolphins and common bottlenose dolphins in eastern Ionian Sea coastal waters were conducted between 1993 and 2003. During 835 survey days, 24 771 km of total effort was distributed within an area of 480 km², resulting in 428 common dolphin and 235 bottlenose dolphin sightings.
• 2. Individual photo‐identification was performed extensively throughout this study, making it possible to monitor the number of animals seen in the study area each year and their long‐term residency patterns.
• 3. Common dolphins declined across the study period, from 2.18 encounters/100 km in 1997 to 0.40 encounters/100 km in 2003. In contrast, there was a relatively stable presence of bottlenose dolphins, some individuals showing high levels of site fidelity and others using the area only occasionally.
• 4. The local decline of common dolphins and the low density of bottlenose dolphins appeared to reflect the general status of these cetacean species in the wider Mediterranean region, where common dolphins were classified as endangered in the IUCN Red List in 2003.
• 5. Based on the available evidence, we infer that the present unfavourable status of common dolphins in eastern Ionian Sea coastal waters is largely a consequence of prey depletion.

Copyright © 2005 John Wiley & Sons, Ltd.     

Factors affecting fish assemblage structure during seasonal stream drying

Abstract –  We evaluated fish assemblage structure during stream drying in north west Arkansas in 2002 and 2003. We sampled fish with a seine and backpack electrofisher and measured habitat variables along transects. Linear regression models were selected a priori and ranked according to Akaike's Information Criterion. In 2002, total fish density was negatively related to pool area and maximum depth, and positively related to canopy openness and substrate diversity. Similarly, central stoneroller ( Campostoma anomalum , Rafinesque) and creek chub ( Semotilus atromaculatus , Mitchill) densities were negatively related to maximum pool depth. In 2003, fish species richness was positively related to pool area whereas total fish, central stoneroller, and creek chub densities were negatively related to maximum pool depth. In addition, total fish density was negatively related to substrate diversity. Results indicated that physical factors are important predictors of fish assemblage structure during stream drying. However, differences among response variables between years indicated that the magnitude of stream drying might be critical in intermittent streams.     

Status of aquatic and riparian biodiversity in artificial lake ecosystems with and without management for recreational fisheries: Implications for conservation

1. Humanity is facing a biodiversity crisis, with freshwater-associated biodiversity in a particularly dire state. Novel ecosystems created through human use of mineral resources, such as gravel pit lakes, can provide substitute habitats for the conservation of freshwater and riparian biodiversity. Many of these artificial ecosystems are subject to a high intensity of recreational use, however, which may limit their biodiversity potential.
2. The species richness of several taxa (plants, amphibians, dragonflies, damselflies, waterfowl, and songbirds) was assessed and a range of taxonomic biodiversity metrics were compared between gravel pit lakes managed for recreational fisheries (n = 16) and unmanaged reference lakes (n = 10), controlling for non-fishing-related environmental variation.
3. The average species richness of all the taxa examined was similar among lakes in both lake types and no substantial differences in species composition were found when examining the pooled species inventory. Similarly, there were no differences between lake types in the presence of rare species and in the Simpson diversity index across all of the taxa assessed.
4. Variation in species richness among lakes was correlated with woody habitat, lake morphology (surface area and steepness), and land use, but was not correlated with the presence of recreational fisheries. Thus, non-fishing-related environmental variables had stronger effects on local species presence than recreational fisheries management or the presence of recreational anglers.
5. Collectively, no evidence was found that anglers and recreational fisheries management constrain the development of aquatic and riparian biodiversity in gravel pit lakes in the study region; however, the conservation of species diversity in gravel pit lakes could benefit from an increasing reliance on habitat enhancement activities.

     

楚雄州2012～2014年6种猪繁殖障碍性疫病的血清流行病学调查

[目的]了解楚雄州猪繁殖障碍性疫病的流行情况.[方法]采用血清学方法调查了楚雄州2012～2014年6种猪繁殖障碍性疫病的感染情况.[结果]楚雄州猪圆环Ⅱ型病毒病总阳性率达到89.41％,猪伪狂犬病总阳性率达到47.00％,猪细小病毒病阳总性率达到47.46％,猪乙型脑炎病总阳性率达到49.39％,猪衣原体病总阳性率达到24.36％,猪弓形虫病总阳性率达到23.98％.[结论]6种繁殖障碍性疫病广泛存在于楚雄州,此调查结果为控制繁殖障碍性疫病的流行提供了一定的参考依据.     

毛竹种群空间格局及分株间关联性——重复空间点格局分析

随着空间调查数据的增多和有重复的空间格局试验设计的需要,重复空间点格局分析方法不断得到研究和应用。采用有重复的空间点格局分析方法研究了不同营林模式下毛竹种群的空间分布格局及其分株间的空间关联性。结果表明：I类经营模式下形成的毛竹种群空间格局呈现随机分布,II类和III类经营模式分别在1.6-2.2 m和0.4-2.6 m尺度上达到了均匀分布的显著水平,表现为随着经营干扰强度的增大,毛竹种群在小尺度（〈3 m）上趋向于均匀分布;在较大尺度（〉4 m）上,3种营林模式毛竹种群空间格局均表现为随机分布;母株与新分株的空间关联性在3种营林模式下较为一致的表现出小尺度上的正关联,并在III类经营模式下,0.6 m、0.8 m和2.2 m尺度上达到了正关联的显著水平,而在较大尺度上,3种营林模式母株与新分株空间格局均表现为无明显的关联性。     

清香木天然林物种多样性及稳定性对不同干扰强度的响应

选择清香木(Pistacia weinmannifolia)典型群落样地,划分为不同干扰类型。采用物种丰富度、Simpson指数(D)、Shannon-Wiener指教(H)和均匀度指数(E)等物种多样性指数及改进的M-Godron稳定性测定方法,对清香木天然种群的物种多样性和稳定性进行分析。结果表明:清香木群落乔木层和草本层物种多样性表现为干扰弱干扰强,而灌木层为干扰弱干扰强;在不同干扰强度下群落稳定性均靠近稳定状态,其相对的稳定性比较是干扰强干扰弱,表现出与群落物种多样性不同的趋势。