基于逆运动学降维求解与YOLO v4的果实采摘系统研究

为提高采摘设备的执行效率，采用六自由度机械臂、树莓派、Android手机端和服务器设计了一种智能果实采摘系统，该系统可自动识别不同种类的水果，并实现自动采摘，可通过手机端远程控制采摘设备的起始和停止，并远程查看实时采摘视频。提出通过降低自由度和使用二维坐标系来实现三维坐标系中机械臂逆运动学的求解过程，从而避免了大量的矩阵运算，使机械臂逆运动学求解过程更加简捷。利用Matlab中的Robotic Toolbox进行机械臂三维建模仿真，验证了降维求解的可行性。在果实采摘流程中，为了使机械臂运动轨迹更加稳定与协调，采用五项式插值法对机械臂进行运动轨迹规划控制。基于Darknet深度学习框架的YOLO v4目标检测识别算法进行果实目标检测和像素定位，在Ubuntu 19.10操作系统中使用2000幅图像作为训练集，分别对不同种类的果实进行识别模型训练，在GPU环境下进行测试，结果表明，每种果实识别的准确率均在94%以上，单次果实采摘的时间约为17s。经过实际测试，该系统具有良好的稳定性、实时性以及对果实采摘的准确性。     

黄岩水果苗木与农产品检疫现状及对策建议

在1981-2018年黄岩水果类苗木及非种用农产品调运检疫中,共调出柑橘、杨梅和枇杷等苗木10 475批次,11 051.42万株;柑橘果实等非种用农产品147 689批次,852 920.95 t。基于柑橘等水果苗木调运检疫数量变化与水果产业发展变化关系,分析了果苗检疫存在的问题,包括无证育苗现象较普遍、检疫申报不规范、疫情信息不对称和漏检逃检等,提出了水果类苗木生产经营实行许可证制度、严格遵守植物检疫规程、建立种苗调运可追溯和到达地报告复检制度等建议,这对做好调运植物检疫工作有积极意义。     

Cultivation effects on soil texture and fertility in an arid desert region of northwestern China

In arid desert regions of northwestern China, reclamation and subsequent irrigated cultivation have become effective ways to prevent desertification, expand arable croplands, and develop sustainable agricultural production. Improvement in soil texture and fertility is crucial to high soil quality and stable crop yield. However, knowledge on the long-term effects of the conversion of desert lands into arable croplands is very limited. To address this problem, we conducted this study in an arid desert region of northwestern China to understand the changes in soil physical-chemical properties after 0, 2, 5, 10, 17, and 24 years of cultivation. Our results showed that silt and clay contents at the 17-year-old sites increased 17.5 and 152.3 folds, respectively, compared with that at the 0-year-old sites. The soil aggregate size fraction and its stability exhibited an exponential growth trend with increasing cultivation ages, but no significant change was found for the proportion of soil macroaggregates (>5.00 mm) during the 17 years of cultivation. The soil organic carbon (SOC) content at the 24-year-old sites was 6.86 g/kg and increased 8.8 folds compared with that at the 0-year-old sites. The total (or available) nitrogen, phosphorus, and potassium contents showed significant increasing trends and reached higher values after 17 (or 24) years of cultivation. Changes in soil physical-chemical properties successively experienced slow, rapid, and stable development stages, but some key properties (such as soil aggregate stability and SOC) were still too low to meet the sustainable agricultural production. The results of this long-term study indicated that reasonable agricultural management, such as expanding no-tillage land area, returning straw to the fields, applying organic fertilizer, reducing chemical fertilizer application, and carrying out soil testing for formula fertilization, is urgently needed in arid desert regions.     

Effects of sediment load on the abrasion of soil aggregate and hydraulic parameters in experimental overland flow

The breakdown of soil aggregates under rainfall and their abrasion in overland flow are important processes in water erosion due to the production of more fine and transportable particles and, the subsequent significant effect on the erosion intensity. Currently, little is known about the effects of sediment load on the soil aggregate abrasion and the relationship of this abrasion with some related hydraulic parameters. Here, the potential effects of sediment load on soil aggregate abrasion and hydraulic parameters in overland flow were investigated through a series of experiments in a 3.8-m-long hydraulic flume at the slope gradients of 8.7 and 26.8%, unit flow discharges from 2×10~(–3) to 6×10~(–3) m~2 s~(-1), and the sediment concentration from 0 to 110 kg m~(–3). All the aggregates from Ultisols developed Quaternary red clay, Central China. The results indicated that discharge had the most significant(P0.01) effect on the aggregates abrasion with the contributions of 58.76 and 60.34%, followed by sediment feed rate, with contributions of 39.66 and 34.12% at the slope gradients of 8.7 and 26.8%, respectively. The abrasion degree of aggregates was found to increase as a power function of the sediment concentration. Meanwhile, the flow depth, friction factor, and shear stress increased as a power function along with the increase of sediment concentration at different slope gradients and discharges. Reynolds number was obviously affected by sediment concentration and it decreased as sediment concentration increased. The ratio of the residual weight to the initial weight of soil aggregates(Wr/Wi) was found to increase as the linear function with an increasing flow depth(P=0.008) or Reynolds number(P=0.002) in the sediment-laden flow. The Wr/Wi values followed a power function decrease with increasing friction factor or shear stress in the sediment-laden flow, indicating that friction factor is the best hydraulic parameter for prediction of soil aggregate abrasion under different sediment load conditions. The information regarding the soil aggregate abrasion under various sediment load conditions can facilitate soil process-based erosion modeling.     

靖州杨梅引种试验与表型聚类分析

以靖州的传统品种木洞光叶和木洞大叶杨梅为对照,比较引进的早佳、早荠蜜梅、晚荠蜜梅、黑晶、荸荠种、东魁6个品种的叶片形态、果实品质、成熟期等主要农艺性状,并对品种叶片和果实表型性状进行聚类分析。结果表明,早佳与木洞光叶杨梅聚为一类,但早佳成熟期提早约7 d,表现出较好的早熟特性,具有极好的推广应用前景;荸荠种具有核小、可食率高等特点,在靖州表现出良好的适应性;东魁果大、商品性佳,其株产和售价是当地传统品种的1.96~1.98倍和2.67~3.48倍,栽培经济效益显著。     

活性氧调控果实发育成熟的研究进展

活性氧(reactive oxygen species,ROS)存在于整个植物生长发育过程,一旦积累过多会导致氧化应激反应,但是适度的氧化胁迫有利于果实成熟。本文对活性氧影响果实成熟的生理机制,活性氧与激素互作调控果实成熟的机理,活性氧调控果实成熟的分子机制,以及活性氧与钙离子调控采后果实后熟等相关研究进展进行了总结和评述,旨在通过总结活性氧直接或间接调控果实衰老成熟的研究进展,为今后利用活性氧调控果实成熟提供理论依据和参考。     

3个四季草莓品种在川西高原栽培研究

以圣安德瑞斯、波特拉和蒙特瑞3种四季草莓为材料,在茂县进行夏季栽培比较试验,通过各品种的农艺性状及果实内、外在品质等指标进行分析对比以及灰色关联度分析,结果表明:圣安德瑞斯的长势最好；圣安德瑞斯的果实虽然大而重但糖酸比较低,口感较差,风味偏酸,蒙特瑞的固酸比最高,风味最好； 3个品种加权关联度排名依次为蒙特瑞、圣安德瑞斯、波特拉。结论：在茂县及相应高原区域栽培条件下,蒙特瑞的综合适应性最佳。     

‘金艳’猕猴桃果实生长规律及不同采收期对其品质的影响

以‘金艳’猕猴桃为材料,研究其果实生长动态规律及不同采收期(谢花后153 d、168 d、183 d和198 d)(Ⅰ、Ⅱ、Ⅲ、Ⅳ)的软果品质。结果表明：金艳猕猴桃在凉山州西昌市一般4月中旬进入盛花期；在生育期内,果实尺寸(纵、横径)呈前期逐渐增大,后期趋于平稳的变化,谢花后59 d内为果实快速膨大期,谢花后101 d进入生长缓滞期；随采收期延迟,果实软熟时可溶性固形物、干物质和糖酸比呈逐渐升高的趋势；早期采收(Ⅰ、Ⅱ)果实软熟时可溶性固形物、干物质、糖酸比和总氨基酸偏低,淀粉和粗纤维较高；晚期采收(Ⅲ、Ⅳ期)果实软熟时可溶性固形物、干物质、糖酸比较高,淀粉和粗纤维较低,风味更浓,口感更佳；Ⅳ期维生素C和总氨基酸含量最高,但采收较晚不利于当年鲜果销售；若作为鲜果,其最佳采收期为Ⅲ期,Ⅱ期和Ⅳ期可作为备选采收期；作为保健品加工原料,最佳采收期为Ⅳ期。     

花椒窄吉丁对寄主果实挥发物的触角电位及行为反应

使用触角电位仪测定花椒窄吉丁两性成虫对10种寄主果实挥发物的触角电位（EAG）反应，使用Y型嗅觉计测定其对8种强烈EAG反应的挥发物的行为反应。结果表明:1）寄主果实的10种挥发物均可引起花椒窄吉丁不同程度的EAG反应，100 μg·μL^-1时胡椒酮和正葵醛分别引起雌虫和雄虫最大的EAG反应绝对值，d-柠檬烯、月桂烯在100 μg·μL^-1时引起雄虫最大的EAG反应绝对值；然而在10 μg·μL^-1时引起雌虫的EAG反应绝对值最大。10种挥发物中，花椒窄吉丁对（±）-α-乙酸松油酯和罗勒烯的EAG反应相对较弱。2）配对T检验发现仅反式-2-己烯醛对两性成虫的EAG反应存在极显著的性别差异(P＜0.01)，而所测的其他挥发物对两性成虫的EAG反应不存在性别差异(P＞0.05)。3）1~100 μg·μL^-1的芳樟醇对雄虫驱避显著，10~100 μg·μL^-1的正葵醛对两性成虫均驱避显著，1~10 μg·μL^-1的胡椒酮、10~100 μg·μL^-1的γ-松油烯对雌虫驱避显著(P＜0.05)，10~100 μg·μL^-1的月桂烯、0.1~1 μg·μL^-1的d-柠檬烯对雄虫引诱显著。雄虫对1~100 μg·μL^-1的反式-2-己烯醛驱避反应显著；雌虫仅对10 μg·μL^-1的反式-2-己烯醛驱避反应显著，反式-2-己烯-1-醇在0.1~1 μg·μL^-1时对雌虫驱避显著；但在10~100 μg·μL^-1时对雌虫引诱显著。说明一定浓度的月桂烯、d-柠檬烯、反式-2-己烯-1-醇对花椒窄吉丁具有引诱作用，一定浓度的芳樟醇、正葵醛、胡椒酮、γ-松油烯、反式-2-己烯醛、反式-2-己烯-1-醇对花椒窄吉丁具有驱避作用，可作为引诱剂或驱虫剂成分进一步开发利用。     

刺梨果实发育过程中糖和黄酮的积累及其与光照强度变化的相关性

【目的】研究不同光照强度对刺梨（Rosa roxburghii Tratt.）果实发育过程中糖和总黄酮的积累规律及其对光照强度变化的生理关联性,为刺梨果实的品质调控提供科学依据。【方法】以4年生的‘贵农5号’刺梨结果树为材料,以自然光照强度为对照,设置光照强度减弱20%、40%、60%的3个处理（分别用R0（CK）、R20、R40、R60表示）,分析测定不同发育时期刺梨果实中可溶性糖和总黄酮的积累量、相关合成代谢酶活性及其与光照强度变化的相互关系。【结果】在刺梨果实生长发育过程中,糖和总黄酮类物质不断积累,但不同发育时期的积累量有明显差异。在果实缓慢生长期之后,果实中的糖分开始快速积累,到成熟期可溶性总糖和蔗糖的积累量达到最高,其中蔗糖的积累量占可溶性总糖的36.97%。刺梨果实中葡萄糖和果糖的积累量至快速膨大期达到最大,但仅占果实成熟期可溶性总糖最大积累量的10.50%和18.18%。刺梨果实属于蔗糖积累型。刺梨果实中的总黄酮从幼果期开始就快速积累,一直持续到果实快速膨大期,之后总黄酮的积累量增加不明显。刺梨果实发育过程中,不同光照强度下的果实中糖和总黄酮的积累量差异显著,光照强度减弱不利于果实中糖和总黄酮的积累。蔗糖合成酶（SS）、蔗糖磷酸合成酶（SPS）、转化酶（IVR）和丙氨酸解氨酶（PAL）、肉桂酸-4-羟基化酶（C4H）、4-香豆酸辅酶A连接酶（4CL）、查尔酮合成酶（CHS）分别是影响果实中糖和黄酮类物质合成代谢的关键酶,光照强度变化与刺梨果实中糖、总黄酮的积累量以及相关合成代谢酶的活性变化密切关联。光照强度减弱会明显抑制SS、SPS、IVR、PAL、C4H、4CL、CHS的活性。在刺梨果实整个发育过程中,SS和SPS对光照强度减弱的反应敏感。刺梨果实中糖与总黄酮的积累量呈极显著正相关,果实中糖和总黄酮的积累量以及SS、SPS、IVR、PAL、C4H、4CL、CHS的活性均与光照强度变化呈显著或极显著正相关。【结论】刺梨果实为蔗糖积累型,果实缓慢生长期之后,果实中的糖分开始快速积累,果实中总黄酮的积累量从幼果期开始迅速增长,一直持续到快速膨大期。光照强度减弱不利于刺梨果实中糖和黄酮类物质的积累。生产中可以通过改善光照条件,增加刺梨果实中糖和黄酮类物质的含量,提高刺梨果实的品质。