刚柔耦合串联机械臂末端位置误差分析与补偿

机械臂连杆柔性、关节柔性等非线性变形的综合影响,导致其末端位置发生偏离而产生误差。本文以IRB1410型串联机械臂为研究对象,采用理论分析、仿真分析与实验验证相结合的方式,对机械臂末端位置误差进行分析与补偿研究。首先,建立机械臂刚柔耦合理论误差模型,并运用Newmarkβ法进行数值仿真分析;联合ANSYS和ADAMS进行刚柔耦合机械臂末端位置运动误差仿真;为了实现快速补偿,提出基于BP神经网络的伪目标点法对位置误差进行补偿,补偿后其位置误差均方根减小了68.3%,说明该方法具有较好的补偿效果;最后,自主设计并搭建了测量实验平台,采用所提算法进行了误差补偿实验,对比补偿前后距离误差,补偿后误差均方根减小了77.01%,验证了伪目标点法对柔性误差补偿的有效性。     

芍药蕾期叶片SPAD值与净光合速率的变化

以2个芍药品种大富贵与红艳争辉为材料,测定了芍药蕾期不同叶位叶面积、叶片SPAD值、净光合速率(Pn)。结果表明,现蕾初期叶面积从大到小依次为基部、中部、顶部,至现蕾末期,以中部叶面积最大;不同叶位的叶面积随着花蕾的发育不断增大,现蕾30 d叶面积达到最大,约为现蕾初期的3倍;不同叶位叶片的SPAD值在蕾后10 d迅速增大,之后增加幅度降低,大富贵高于红艳争辉;现蕾初期叶位越高,SPAD值越低;不同叶位叶片的Pn值随着生长发育均呈直线上升趋势,蕾后30 d的Pn值约为现蕾初期的3倍,大富贵的Pn值高于红艳争辉,不同叶位叶片的Pn值与SPAD值呈显著正相关。     

不同变黄时间对烟叶叶绿素及其主要化学成分含量的影响

以云烟87为试材,探讨了在烘烤过程中,不同变黄时间对烟叶叶绿素及其主要化学成分含量的影响。结果表明,延长变黄时间12 h 后,烟叶的总糖、还原糖、总氮、烟碱含量适宜,钾氯比值最高,化学成分最协调,工业可用性较好,综合经济效益最优。     

Evaluation of laryngeal function under the influence of various head and neck positions during exercise in 58 performance horses

The objective of this study was to examine laryngeal function at rest and during ridden exercise and to further analyse the impact of different head and neck positions on the laryngeal function in ridden sport horses. Fifty‐eight Warmblood horses were examined endoscopically during ridden exercise as well as during quiet breathing at rest before and after sedation. Four different head‐neck positions (unrestrained, reference, elevation and hyperflexion) were assessed during the exercise test. Laryngeal function was graded at rest and for every combination of gait and head and neck position during exercise. There was a significant correlation between the grade of laryngeal function during exercise and at rest both before (correlation coefficient = 0.794) and after (correlation coefficient = 0.741) sedation (P<0.01). No significant association was found between the grade of laryngeal function during exercise and the different head and neck positions.     

Influence of mapping resolution on assessments of stream and streamside conditions: lessons from coastal Oregon,USA

• 1. Digital hydrographic data are commonly employed in research, planning, and monitoring for freshwater conservation, but hydrographic datasets differ in spatial resolution and accuracy of spatial representation, possibly leading to inaccurate conclusions or unsuitable policies for streams and streamside areas.
• 2. To examine and illustrate the potential for different hydrographic datasets to influence in‐channel and streamside characterizations, a study area in the US Pacific Northwest was chosen because 1:100 000, 1:24 000, and densified 1:24 000 hydrography are available and widely used in research and management for several species of Pacific salmon and trout at risk. The potential was examined for differences among the digital hydrographic datasets in: (1) spatial extent to influence estimated abundances of fish habitat, streamside buffer conditions, and fish distributions; and (2) spatial position to influence estimated streamside buffer conditions and estimated stream gradient.
• 3. The analysis of spatial extent found the total stream length represented by the 1:100 000 hydrography was approximately one half that of 1:24 000 hydrography and only one fifth that of densified 1:24 000 hydrography. The 1:100 000 and 1:24 000 networks differed significantly for 13 out of 18 fish habitat attributes, and the three hydrographic datasets differed significantly for many characteristics in streamside buffers; fish distributions mapped at 1:24 000 added 6–14% of stream length to 1:100 000 distributions. The analysis of spatial position found few differences between the 1:100 000 and 1:24 000 hydrography in streamside buffer characteristics but significant differences in channel gradient.
• 4. Overall, hydrographic datasets differed only slightly in spatial position but differed in spatial extent to the point of representing different populations of streams. If species inhabiting larger streams (greater mean annual discharge) are of interest, then results derived from studies based on 1:100 000 hydrography should prove useful. However, higher‐resolution hydrography can be critical when designing and implementing strategies to protect fish and other aquatic species at risk in smaller streams.

Copyright © 2008 John Wiley & Sons, Ltd.     

Carbon source and trophic position of pelagic fish in coastal waters of south-eastern Izu Peninsula,Japan, identified by stable isotope analysis

ABSTRACT:   It is important to clarify trophic dynamics in marine ecosystems for management of the fishing ground. Organic carbon sources and trophic position of pelagic fishes in the coastal waters of the south-eastern Izu Peninsula, Japan, were examined on the basis of carbon and nitrogen stable isotope distributions. The δ¹³C of the fishes was mostly distributed from −19 to −16‰ for nektonic fishes (13 species of adults and immatures) and planktonic fishes (10 species of larvae and juveniles), close to the δ¹³C values of particulate organic matter and planktonic decapods. These δ¹³C signatures for the inhabitants of the water column were in contrast with the high δ¹³C values (mainly −16 to −13‰) for demersal fishes of Scorpaeniformes and benthic polychaetes collected in the surf zone. These results indicate that nektonic and planktonic fishes depend on phytoplankton for carbon supply. The δ¹⁵N signatures suggest that the trophic position ranged 3.1–4.5 for the nektonic fishes and 2.9–3.7 for the planktonic fishes, premised on trophic level 3 for larval Japanese anchovy Engraulis japonicus . Thus, planktivorous fishes should be mainly assigned to trophic levels 3 and 4 in this area.     

Machine learning highlights the importance of primary and secondary production in determining habitat for marine fish and macroinvertebrates

1. Species distribution models for marine organisms are increasingly used for a range of applications, including spatial planning, conservation, and fisheries management. These models have been constructed using a variety of mathematical forms and drawing on both physical and biological independent variables; however, what might be called first-generation models have mainly followed the form of linear models, or smoothing splines, informed by data collected in the context of fish surveys.
2. The performance of different classes of variables were tested in a series of species occurrence models built with machine learning methods, specifically evaluating the potential contribution of lower trophic level data. Random forest models were fitted based on the classification of the absence/presence for fish and macroinvertebrates surveyed on the US Northeast Continental Shelf.
3. The potential variables included physical, primary production, secondary production, and terrain variables. For accepted model fits, six variable importance measures were computed, which collectively showed that physical and secondary production variables make the greatest contribution across all models. In contrast, terrain variables made the least contribution to these models.
4. Multivariable analyses that account for all performance measures reinforce the role of water depth and temperature in defining species presence and absence; however, chlorophyll concentration and some specific zooplankton taxa, such as Metridia lucens and Paracalanus parvus, also make important contributions with strong seasonal variations.
5. Our results suggest that lower trophic level variables, if available, are valuable in the creation of species distribution models for marine organisms.

     

Fish species redundancy in estuaries: A major conservation concern in temperate estuaries under global change pressures

1. Fish assemblages in estuaries have a much lower species richness (number of taxa) when compared with the combined numbers of freshwater and marine species from adjacent aquatic ecosystems. This is primarily because of the relatively harsh and fluctuating physico-chemical conditions in estuaries compared with the more stable freshwater and marine environments.
2. A comprehensive fish survey of estuaries in South Africa is used as a basis to determine fish species richness in subtropical, warm temperate, and cool temperate systems along the coast, and to assess the degree of redundancy in the different biogeographic regions.
3. In general, only one or two species belonging to each of the detritivorous, piscivorous, zoobenthivorous, and zooplanktivorous fish guilds are numerically well represented in the larger cool temperate estuaries, but between four and 10 species in each of these guilds are usually recorded in the larger subtropical estuaries.
4. Although the overall low redundancy of fish species groups in estuaries has already been formally recognized in the literature, this short note highlights the sensitivity of certain trophic guilds in temperate South African estuaries to any form of redundancy, a characteristic that may be equally applicable, based on declining species richness with increasing latitude, to temperate estuaries in other parts of the world.

     

不同结果部位对栖霞大香水梨果实香气的影响

以套袋和不套袋栖霞大香水梨为试材,采用固相微萃取(SPME)和气相色谱-质谱联用(GCMS)技术,研究了不同结果部位对梨果实香气的影响。结果表明,不同结果部位果实香气物质种类和含量存在显著差异,套袋树外围东部果实香气物质种类最多,为35种,含量最高,为4 076.01 ng/g,外围北侧香气物质种类最少,为24种,内膛下部果实香气物质含量最低,为421.22 ng/g。不套袋树外围南面的果实香气物质种类最多,为42种,含量最高,为10 001.14 ng/g,外围北面果实的香气物质种类最少、含量最低,分别为24种和357.08 ng/g。     

深化科企合作 提升山东种业创新能力

文章总结了山东种业科技发展的现状,分析了商业化育种过渡期内实行科企合作的必然性,剖析了深化科企合作面临的困境,如政策支持不配套、商业化育种机制不完善、缺乏完善的种业科研成果评估体系和交易平台、现有科企合作模式不能满足现代种业发展需要等,针对问题从完善法律法规、完善商业化育种机制、加大支持力度、创新合作模式等角度提出了深化科企合作的发展对策,以期为促进山东种业快速发展提供参考。