基于Kinect动态手势识别的机械臂实时位姿控制系统

基于Kinect动态手势识别达到实时控制机械臂末端位姿的效果。位置控制信息的获取采用Kinect计算手部4个关节点在控制中的位置变动,数据噪声在控制中易引起机械臂误动作和运动振动等问题,为了避免噪声对实时控制的不利影响,采用卡尔曼滤波跟踪降噪。姿势控制信息通过采集手部点云经滤波处理后应用最小二乘拟合的方式获取掌心所在平面,运用迭代器降噪处理。系统通过对手部位置和姿势信息的整合、手势到机械臂空间坐标映射及运动学求解来实时控制机械臂末端位姿。实验结果证明,手势控制系统满足控制要求,简单、易于操作,机械臂实时响应速度快、运动准确。     

大型收获机械发动机孔组位置度误差在线检测方法

发动机是收获机械的动力源，其安装位置精度将直接影响整机装配质量，进而关系机器的作业效率和可靠性。由于收获机械底盘机架结构复杂、表面粗糙度大，现有测量方法及设备难以满足大跨距孔组位置度误差测量需求，针对收获机械发动机安装孔位置度的自动化测量需求，提出了基于机器视觉的大跨距孔组位置度误差在线检测方法，通过建立孔组位置度误差模型，使用多部工业相机获取安装孔二维图像，通过相机在线标定、图像增强处理、特征提取、坐标变换等手段，实时测取并计算安装孔组之间的位置度误差。在此基础上，基于LabWindows/CVI平台，开发了自动检测软件，实现了发动机安装孔位置度的快速检测。以某型玉米收获机底盘机架发动机安装孔组为对象开展了试验研究，结果表明，利用该方法能够有效获取安装孔组的位置度关系，建立的孔组位置度误差模型能够进行误差分析与评定，在分辨率和测量精度上均优于传统测量方式，检测效率较高，能够满足生产线自动化检测需求。     

导叶位置对S型轴伸贯流泵装置水力性能的影响

为了研究不同导叶位置对S型轴伸式贯流泵装置水力性能的影响,设计了4种不同导叶相对位置的方案,并分别针对小流量(Q=0.8Q0)、设计流量(Q=1.0Q0)、大流量(Q=1.2Q0)3种工况下的S型轴伸贯流泵装置进行了数值模拟计算。对比数值模拟结果与试验结果,并分析计算结果的外特性与内特性,通过模型试验验证了数值模拟计算结果的准确性。结果表明,泵装置效率和扬程随导叶相对位置逐渐增大呈现先上升后下降的趋势,导叶与叶轮之间的相对距离存在最优值A=10 mm,在此位置时,泵装置效率和扬程相对最高,导叶体水力损失与出水流道水力损失相对最小,导叶体对于动能的回收能力强。小流量与设计流量工况下,出水流道进口平均涡角的大小随导叶相对位置先减小后增加,对应出水流道水力损失先下降后上升的趋势。大流量工况下,平均涡角不随导叶相对位置变化而变化。     

Contrasting intraspecific dietary shifts in two terapontid assemblages from Australia’s wet‐dry tropics

Abstract – This study assessed the size‐related patterns of dietary resource use in terapontid assemblages from two north Australian wet‐dry tropical river systems exhibiting contrasting long‐term flow regimes. Substantially higher size‐related dietary divergence in the form of additional trophic guilds and lower levels of dietary overlap were evident among terapontids from the comparatively stable Daly River system, particularly during the dry season. Relatively restricted expression of size‐related dietary shifts in conjunction with higher levels of dietary overlap and no significant seasonal effects on dietary overlap were features of assemblage interaction in the highly variable Burdekin River. Results highlight size‐related dietary shifts as a complex aspect of terapontid trophic habits, and one that can exhibit considerable spatial dynamism.     

Effects of Night Temperature,Spikelet Position and Salicylic Acid on Yield and Yield‐Related Parameters of Rice (Oryza sativa L.) Plants

Periodic episodes of heat stress and seasonally high night temperatures (HNT) are predicted to occur more frequently in the current changing weather environment. These events affect aspects of crop growth and development, including oxidative‐stress damage, reducing crop yield and quality. Salicylic acid (SA), a naturally occurring phenolic compound, associated with thermo‐tolerance, prevents oxidative damage by detoxifying superoxide radicals and altering antioxidant capacity in plants. A study was conducted to determine the effects of HNT and SA on multiple rice yield‐determining parameters with special emphasis on effects of HNT and SA at different spikelet positions in the panicle. Plants were grown under ambient night temperature (27 °C) or HNT (32 °C) in the greenhouse. They were subjected to HNT through use of continuously controlled infrared heaters, starting from 2000 h to 0600 h. The HNT did not affect productive tillers, main‐stem panicle length or number of primary branches per panicle; however, reduced yield resulted from significant negative effects on spikelet fertility (SF), grain length and width. The grains located at the base of the panicle showed decreased fertility, length and width. Application of SA increased antioxidant capacity, thereby preventing damage to membranes, hence increasing yield by predominantly affecting SF in rice plants.     

Fruiting position during development of ‘Nules Clementine’ mandarin affects the concentration of K,Mg and Ca in the flavedo

Adequate K, Mg and Ca supply is important to develop well-structured and functional cell walls and membranes in fruit, and insufficient levels or imbalances of these minerals are known to be involved in various postharvest disorders. Microclimatic variation exists in the ‘Nules Clementine’ mandarin tree canopy and results in lower photosynthetically active radiation (PAR) levels and temperature as well as a higher humidity inside the tree canopy. The aim of this experiment was to determine the impact of this variation in microclimate on accumulation patterns of K, Ca and Mg in the flavedo of the fruit rind during stages II and III of fruit development. Fruit mass, dimensions, rind colour development and mineral composition of the flavedo were measured to describe the condition of fruit borne on the outside and inside of the tree's canopy. The data revealed that canopy position influenced mineral nutrient accumulation patterns in the flavedo. Outside fruit flavedo accumulated significantly higher concentrations of Ca and Mg in all three seasons (2005–2007). In contrast, inside fruit flavedo (shaded fruit) accumulated significantly higher levels of K compared with outside fruit flavedo. The accumulation of K and Ca differed from that of kiwifruit and apple in that Ca concentration increased and K decreased towards maturity. These results suggest that xylem, as in citrus leaves, is the main vasculature supply conduit to the citrus fruit flavedo for mineral nutrients. The reduction of transpiration potential by lower temperatures and higher humidity inside the canopy could be responsible for the reduced accumulation of Ca and Mg. The high K concentration of inside fruit flavedo is suggested to be a stress response, due to the low light levels, to maintain osmotic potential in the shaded rind tissue, and this imbalance could possibly lead to a reduction in rind condition, which manifests through rind breakdown symptom development.     

玉米秸秆拉伸特性的试验研究

该文利用二次正交旋转组合试验设计方案,深入研究了含水率、叶鞘位置和取样位置3个因素对玉米秸秆拉伸特性的综合影响。结果表明,含水率和取样位置的单因素效应对玉米秸秆的拉伸特性有显著影响,而叶鞘位置基本上不影响拉伸特性。此外,含水率和取样位置的交互作用对拉伸特性也有显著的影响,且随着玉米秸秆样品的取样位置的不断升高,顶部和底部的秸秆样品的最大拉伸载荷和抗拉强度的变化与含水率的变化截然相反,可能是因为不同位置的秸秆有着不同特性的内部组织结构。该研究为玉米秸秆机械化收获装备的设计提供依据。     

坡向和坡位对小流域梯田土壤有机碳、氮变化的影响

坡向和坡位是影响土壤有机碳（SOC）和全氮（TN）变化的两大重要地形因素。研究其对小流域梯田SOC和TN变化的影响,对预测黄土高原地区坡改梯条件下土壤碳汇变化具有重要意义。本文以黄土丘陵沟壑区高泉沟小流域为例,区分东、西两种坡向,再根据海拔区分上（2220～2326 m）、中（2130～2220 m）、下（1938～2130 m）三种坡位,共采集213个土壤样品,研究坡向、坡位对梯田耕层（0～20 cm）SOC和TN的影响。结果表明,西向坡SOC和TN含量分别比东向坡高22.8%和13.6%（p0.1）,东西向坡的中、下坡位SOC和TN含量均大于上坡位。在西向坡,SOC含量下坡位（8.78 g/kg）最高,中坡位（7.82 g/kg）次之,上坡位（7.46 g/kg）最低;与上坡位相比,中坡位和下坡位的TN含量提高了12.1%,24.2%。在东向坡,SOC含量中坡位（7.15 g/kg）最高,下坡位（6.28 g/kg）次之,上坡位（5.37 g/kg）最低;与上坡位相比,中坡位和下坡位的TN含量提高了37.3%,29.4%。坡向与坡位的交互作用对流域SOC的空间分布影响显著（p0.1）。坡向、坡位对土壤碳氮比值（C/N）也有显著影响（p0.1）。这一结果对准确估算流域梯田SOC和TN的变化提供了参考。     

不同土层灌水对苹果幼苗抗氧化还原系统的影响

基于盆栽试验,研究了不同深度滴灌对植株膜伤害和抗氧化酶的影响。结果表明,自然干旱和2/3土层灌水处理叶片丙二醛和抗氧化酶活性较高,植株受旱;2/3土层供水、1/3土层供水和表层供水叶片丙二醛和抗氧化酶活性较自然干旱低,植株生长较好;同一处理灌水根区域的根系抗氧化酶活性较低。适宜苹果幼苗生长的灌水处理为表层供水和1/3土层供水。     

四明湖水库浮游生物现状调查及评价

2006-2007年分4次对余姚四明湖水库水质理化指标、浮游生物群落结构进行了调查,并进行了多样性指数分析及渔产潜力估算。结果表明,四明湖水库浮游植物种类共计8门、47种(属),其中以绿藻为最优势类群,占总密度的36.2%;浮游动物共计3大类、30种,其中原生动占40%;浮游植物年均生物量为10.20mg/L,浮游动物年均生物量2.36mg/L。从水体理化指标数据来看,四明湖水库水质属于II～IV类;从浮游植物群落结构和多样性指数分析结果来看,水库属于富营养水平;根据相关公式估算四明湖水库的鱼产潜力为2076kg/hm2。