番茄收获机械手轨迹跟踪模糊控制仿真与试验

针对番茄收获机械手动力学模型不精确和外界扰动问题,该文采用计算力矩-模糊补偿相结合的控制方法进行了番茄收获机械手轨迹跟踪控制研究。通过自适应模糊逻辑系统补偿机械手动力学模型中的不确定部分,模糊逻辑系统的参数基于Lynaponv稳定性理论自适应调节,并利用ADAMS与MATLAB进行仿真试验。结果表明,对比计算力矩法,计算力矩-模糊补偿控制算法中各关节轨迹跟踪误差明显减小且收敛趋势明显。关节1至关节7平均轨迹跟踪精度分别提高了70.29%、94.72%、0.61%、74.29%、89.75%、86.41%和67.14%。该控制方案中各关节控制力（矩）均呈规律性变化,增加扰动信号亦未使输出力（力矩）出现抖振和突变,启动力（矩）最大出现在移动关节2和转动关节4,分别为453N和98.33 N·m。研究结果可为番茄收获机械手轨迹跟踪控制系统的深入研究奠定基础。     

The development of a methodology using fuzzy logic to assess the performance of cropping systems based on a case study of maize in the Po Valley

The development of tools for evaluating the sustainability of cropping systems is fundamental to providing reliable information on crop performance. In this study, an integrated index [Performance Index (PI)] was developed based on environmental, production and cost variables. In this approach, data are aggregated using a fuzzy logic‐based procedure to deal with the inherent subjectivity at each aggregation step. The PI was tested for three cropping systems in the Po Valley (northern Italy) where maize was grown using minimum tillage, sod seeding and conventional tillage. The methodology proved to be effective for evaluating the three systems. In contrast to other methods for evaluating cropping systems such as those based on agro‐ecological indicators (AEIs), direct aggregation of measured variables reduces the risk of losing information because the level of abstraction in the mathematical formalization of AEIs is usually higher. This advantage is counterbalanced by an increase in the data needed for the evaluation process. The use of domain experts and the mathematical management of subjective decisions should encourage the use of the methodology in other regions and cropping systems.     

测井储层参数研究平台业务逻辑层设计

测井储层参数研究平台采用．NET4层结构体系，自下而上依次为数据库、数据访问层、业务逻辑层和表示层。给出了业务逻辑层的设计，它分为业务对象接口、业务对象和业务对象工厂3个模块。实用表明，面向接口的设计思想、合理的设计模式和反射技术，使其具有良好的模块独立性和可维护性。     

博弈架构下我国食品安全问题研究

界定了商品真假(食品是否安全)的一般内涵,分别对单商家、双商家、多商家商品出售进行了博弈分析,表明在无相关约束机制下,商家出售假货(问题食品)是博弈的必然结果,会使食品安全问题日益突出。提出了解决食品安全问题的博弈路径:需引入健全有效的监管机制,改变原有的博弈结构,食品安全问题自然会得到解决;另外,道德机制的引入,使全社会流淌着道德的血液,是解决该问题的一个低成本甚至无成本的补充措施。     

一种基于PLC的高速远程控制果蔬智能分选技术研究

果蔬分选是农业果蔬产后不可缺少的重要环节,以可编程逻辑控制技术为核心的自动化生产线为现代农业的智能化发展提供了新途径.为提高果蔬的分选效率,减少本地分选的人工成本,将数据采集、数据处理、无线通讯、智能控制等技术深度融合,研究一种可远程控制的果蔬智能分选机制,并通过可编程逻辑控制器(PLC)自动化数据采集与机械控制和.NET Core架构的分布式网络控制方法两方面对远程控制分选方案进行研究,配合合适的糖度-质量等果蔬品质模型,实现高速远程在线果蔬智能分选.基于该分选技术的软硬件方案进行试验,对控制策略和分选精确度进行仿真.结果表明,与传统的果蔬分选技术相比,该系统从系统成本、反应速度、分拣精度、管理效率等方面均有优势,果蔬分选精度能达93％以上,可以实现远程故障排查,节省了人工成本,具有推广应用价值.     

压缩机组停机保压控制逻辑优化

结合中亚天然气管道WKC1首站2台SOLAR TITAN 130/C453型燃气轮机/离心式压缩机组的轴封形式、停机保压控制策略及存在风险,对停机保压程序、密封气供应程序和联动设备进行讨论、提出停机保压程序优化和改进策略,在未增加任何额外投资的情况下,有效解决了首站备用SOLAR机组保压时间短、启动速度慢、附属设备磨损快及天然气放空能耗大等问题.优化改进后的系统有效缩短了备用机组的启机时间,保障了压缩机组的正常运行,降低了对上游土库曼斯坦气源方的负面影响,以及停机状态下的放空损失及生产能耗.(表1,图5,参4)     

Assessing coincidence between priority conservation areas for vertebrate groups in a Mediterranean hotspot

The effectiveness of selecting umbrella species or groups of species to protect other groups is a key and unresolved issue in conservation planning. We detected areas important to the four groups of terrestrial vertebrates inhabiting Andalusia (southern Spain) according to four conservation-value criteria, i.e., richness, rarity, vulnerability, and endemicity. We calculated coincidences between criteria and taxa by the degree of correlation and fuzzy overlap between the different criteria for the same group (intra-group coincidence) and between the different groups of species for the same criteria (inter-group coincidence). For the groups to be appropriate umbrella species, inter-group coincidence should be high. The results showed that intra-group coincidence was high, but inter-group coincidence was low. Thus, zones of importance to each group of species tended to be located in different places compared to the other groups, and therefore none of them should be used as an indicator or umbrella group to protect the others. This result has implications for conservation policy, as the Andalusian authorities should not assume that protecting a site important to one group of species will also be relevant to conserve the other groups. Nevertheless, we identified the areas of relatively high conjoint importance for all the groups, and the best umbrella group in this region, which proved to be reptiles.     

可编程控制器在南通狼山空中缆车中的应用

介绍了可编程控制器（ＰＬＣ）在南通狼山空中缆车中的应用及该系统的软、硬件结构。系统采用日本ＯＭＲＯＮ公司生产的Ｃ６０Ｐ－ＣＤＲ－Ａ主机、Ｃ６０Ｐ－ＥＤＲ－Ａ扩展机和少量的中间继电器来代替传统的继电－接触器控制系统,各接触器都有辅助触点反馈回ＰＬＣ,采用行程显示技术以实时显示吊厢的实际位置,出进站时的加减速均采用软硬件双重控制,用梯形图编制开／停车逻辑控制、速度给定处理、行程显示、各种紧停及报警处理程序。实践证明,该系统具有有效的故障自诊断能力,灵活的控制方式,检修、维护更简便,可靠性大大提高。     

建立在三元逻辑基础上的三元科学

提出了由三元运算(+, *, R)和三元真值(1,0,-1)构成的三元逻辑系统和据此建立三元科学的思想。采用以三阶方阵(二阶张量)描写三元相互作用为特征的三元数学方法,根据最小作用量原理导出了三元物理系统方程组,由此提出了解决三体问题的途径,并提出了三元宇宙模型。     

可编程控制器在南通狼山空中缆车中的应用

介绍了可编程控制器（ＰＬＣ）在南通狼山空中缆车中的应用及该系统的软、硬件结构。系统采用日本ＯＭＲＯＮ公司生产的Ｃ６０Ｐ－ＣＤＲ－Ａ主机、Ｃ６０Ｐ－ＥＤＲ－Ａ扩展机和少量的中间继电器来代替传统的继电－接触器控制系统,各接触器都有辅助触点反馈回ＰＬＣ,采用行程显示技术以实时显示吊厢的实际位置,出进站时的加减速均采用软硬件双重控制,用梯形图编制开／停车逻辑控制、速度给定处理、行程显示、各种紧停及报警处理程序。实践证明,该系统具有有效的故障自诊断能力,灵活的控制方式,检修、维护更简便,可靠性大大提高。