基于OFDM-MIMO移动通信模型的采摘机器人设计

为了提高果树采摘机器人的智能化和自动化水平,提高机器人的实时通信和在线控制能力,实现机器人作业过程的远程控制,在采摘机器人通信系统中引入了OFDM-MIMO模型,并将移动4G技术应用到了机器人的设计中,突破了机器人控制距离限制,实现了机器人的跨区域无线通信。机器人采用视觉传感器和4G网络采集并传输图像,图像数据可以在远程浏览器端实时显示,便于掌握机器人作业信息。当机器人碰撞传感器发出信号时,可以利用OFDM-MIMO信道模型进行图像的高效传输,并将视觉传感器采集的图像信息传送给远程控制端,在采摘出现失误时可以及时地调整机器人的状态,实现果实采摘的在线控制。同时,设计了机器人的实验样机,并对机器人的果实定位能力和通信能力进行了实验和仿真。实验和仿真结果表明:该种机器人可以有效地识别普通果实和套袋果实,并且通信实验测试和仿真测试的结果吻合,从而验证了结果的可靠性及OFDMMIMO模型在采摘机器人通信系统中的可行性。     

Study of Semen Cryopreservation for Banna Mini-pig Inbred Line

In this study, different concentrations of glycerol were added to semen cryoprotective extenders of Banna Mini-pig inbred line (BMI), different thawing solutions and thawing methods were studied. After thawing, the motility, the rates of plasma integrity and acrosome integrity were compared to optimize the cryopreservation method of BMI semen. The results showed that the motility, the rates of plasma integrity and acrosome integrity were significantly higher in 2% and 3% glycerol groups than those in 1%, 4% and 5% glycerol groups (P<0.05);The motility, the rates of plasma integrity and acrosome integrity were significantly higher in thawing solution Ⅰ than those in thawing solution Ⅱ, Ⅲ and Ⅳ (P<0.05); Through comparing the motility, the rates of plasma integrity and acrosome integrity, the thawing effect in 40℃ 6 s and 50℃ 6 s groups were better than that in 38℃ 30 s (P<0.05). In conclusion, the optimal semen cryoprotective method for BMI was 2% or 3% glycerol as cryoprotectant, using thawing solution Ⅰ to thaw at 40℃ 6 s or 50℃ 6 s.     

铜仁市密集烤房散叶堆积烘烤技术推广

为实现传统烟草农业向现代烟草农业的转变,满足不断提升的规模化种植水平需求,解决制约铜仁市烟叶质量持续提升的烘烤问题,散叶堆积烘烤,是提升中、上部烟叶烘烤质量最行之有效的新技术.具有烤出烟叶成熟特征明显、颜色均匀而鲜亮、减少挂灰和微青烟、单叶重增加、编烟下烟劳力减少、提高装烟量而增加烘烤面积等优点.为此,铜仁市在原有密集烤房配套散叶设备基础上,新（改）建大卧密集烤房增加散叶烘烤设备,实施散叶烘烤,全面提升烟叶烘烤质量,实现烤烟生产持续、稳定、健康发展.     

生物有机液体混合肥对甜高粱根系形态特征的影响

为揭示生物液体有机混合肥对陕北农牧交错区青贮饲草作物根系形态特征的影响,通过盆栽控制试验,以甜高粱(Sorghum bicolor L.)为材料,设置不同浓度的生物活性水(BMW)(B1、B2、B3和B4)和Aidoora溶液(A1、A2和A3)处理,并测定甜高粱幼苗期的根系形态特征。结果表明:在大多数单一液体肥和混合液体肥下,甜高粱的根系生物量(RB)、根冠比(RSR)、根系体积(RV)、总根长(TRL)、根系表面积(RSA)、平均根直径(RAD)、比根长(SRL)和比根面积(SRA)均显著高于CK,表明BMW和Aidoora溶液有利于促进甜高粱苗期根系生物量积累和根系吸收能力;甜高粱的RB、TRL和RSA两两间均呈明显的正相关关系,表明根系表面积和总根长均随着根系生物量的升高而增加。综上分析表明,B3A2和B3A3相对于其他BMW和Aidoora混合液体肥,有利于促进甜高粱幼苗根系生物量积累和根系形态建成。     

钻孔误差产生原因及防止方法探究

职业学校钳工实习教学的钻孔是钳工专业一项重要基本操作技能,要求进行系统的技能和技巧训练,掌握加工要求较高的孔及位置精度的方法。但由于钻孔中的累积误差很难完全消除,钻孔的位置精度也就很难保证,因此如何消除或减少钻孔的误差是钳工实习教学中的难点和终点。文章从钻孔误差产生的原因和防止方法两个角度出发,探索了钳工实习教学中,如何消除或减少钻孔误差的教育教学生产实践。     

UG残料粗加工方法研究

残料加工对编程来说是一个比较复杂的环节,不同的软件拥有不同的功能,对不同形状的零件有不同的加工方法,文章针对UG CAM模块,了解其残料加工的原理,优化这些加工方法,追求更安全、更高效的残料粗加工方法。     

Air layering and its potential in propagating Uapaca kirkiana: a fruit tree from the miombo woodland,Tanzania

The potential to propagate Uapaca kirkiana through air layering was investigated at Igumbilo forest, Tanzania. The objective was to determine the effect of time of setting air layers and use of indole-3-butyric acid (IBA) to promote rooting. Air layers were initiated on young shoots, 1-to 2-years old, growing on mature trees. After root initiation, they were detached, potted and reared at the nursery for a further three months. Thereafter they were harvested and assessed. Two factors were investigated: effect of time at which air layers were initiated (June, September and December), and influence of IBA at 50, 100 and 150 mg l^?1concentrations. Varied rooting successes were realised, being influenced by time at which air layers were initiated, IBA concentration or both. Optimal rooting of 82.5% was realised in June-initiated air layers treated with 50 mg l^?1 IBA. Air layers initiated in December and treated with the control had the poorest rooting (46.7%). Application of 100 mg l^?1 IBA during June significantly improved the number of roots, root length and root biomass produced. The increase in rooting ability during June is partly linked to better nutritive status, since most plants at this time have sufficient food reserves acquired during the active photosynthetic rainy period of January–May. The period is also associated with minimal plant developmental activities such as budding and flushing, which are usually antagonistic to rooting. Thus, air layering is a potential technique to propagate U. kirkiana, and can contribute effectively to capture desirable traits rapidly disappearing because of ongoing deforestation and maintain the desired fruit tree attributes once attained. Further studies are recommended to determine its cost effectiveness in relation to other vegetative techniques.     

简单交通信号灯控制器的设计

本文方案主要由脉冲信号产生电路、定时计数电路、计时显示电路,主控电路、译码驱动组成。     

寒区马鹿发情鉴定与最佳输精时间的确定

为使寒区马鹿人工授精有标准可循,并提高其受胎率,对2007年大兴安岭地区马鹿人工输精记录进行了分析。结果表明：生产中,寒区马鹿发情鉴定采取＂公鹿试情为主,人为观察为辅＂综合判定的方式比较准确。人工输精最佳时机是发情末期母鹿拒绝试情公鹿爬跨前的1h到拒绝爬跨后的3h。这一个时段母鹿外观特征主要变化是由兴奋转为安静,从接受公鹿爬跨转为拒爬,外阴肿胀基本消退、颜色呈淡红或暗紫色。     

新生牛血清促细胞生长活性检测方法的建立与应用

牛血清是医药生物技术产品中重要的原辅材料之一,做好牛血清的质量控制是提高生物制品质量的重要环节。本研究通过应用PK15、BHK21和ST三种兽用生物制品研制中常用的细胞作为载体,选用国内同等价位5个不同厂家生产的新生牛血清作为比较对象,采用细胞倍增时间测定法、细胞克隆形成率测定法、细胞三次连续传代培养法、MTT比色法和微量终点稀释法五种血清质量鉴定的方法进行比较,检测新生牛血清的促细胞生长活性,最终确定了MTT比色法作为便捷高效快速筛选新生牛血清的检测方法。