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。     

地貌发育阶段判识方法研究——以泥河沟流域和枣子沟流域为例

为更加准确判识小流域地貌发育阶段，以黄土高原综合治理小流域——陕西省淳化县泥河沟流域和乾县枣子沟流域为例，分别应用盒分维方法和Horton分维方法进行水系分维值的计算，并利用面积高程积分和地貌信息熵进行验证。结果表明，泥河沟和枣子沟流域水系盒分维值分别为1.886和1.827。根据Strahler曲线积分值和地貌信息熵方法验证结果表明，盒分维方法计算的水系分维值对流域地貌发育阶段的判识更加准确、可靠；这2个流域地貌处于侵蚀发育阶段的壮龄期，其生态敏感性整体上处于较低水平，生态环境抗干扰能力增强并趋于更加稳定的状态。     

驻极体对大肠杆菌的影响研究

为了有效防止空气中的大肠杆菌附着在食物等表面对人和动物造成腹泻等肠道疾病。以聚四氟乙烯制作的驻极体薄膜为试材,用控制变量法与理论分析和试验研究相结合的方法测得带负电和带正电的驻极体薄膜对大肠杆菌的影响数据。结果表明：带负电的驻极体薄膜对大肠杆菌的正常生长具有抑制作用,最高抑制率达到70.82%;带正电的驻极体薄膜促进了大肠杆菌的生长,最高促进率达到54.65%。进一步用光学显微镜观察到在带正电的驻极体薄膜下处理后的大肠杆菌菌落生长密集,带负电的驻极体薄膜处理后的菌落生长稀疏。驻极体薄膜对大肠杆菌生长造成影响的机制主要是静电场影响了大肠杆菌分子的膜电位,进而影响大肠杆菌的生长。带负电的驻极体薄膜对大肠杆菌具有良好的抑制作用,可为生产与驻极体灭菌有关的材料提供理论依据。     

青土湖干涸湖底2种典型固沙植物群落土壤粒径分布分形特征与养分关系研究

以石羊河流域下游青土湖干涸湖底人工梭梭林和白刺灌丛沙包土壤为研究对象，通过分析2种植物群落5种立地条件土壤粒径分布和分形特征及其与土壤养分的关系，揭示了湖底2种典型植物群落土壤粒度的分布特征。结果表明:1）研究区固沙植被0~10 cm土壤颗粒以细砂粒为主，没有粗砂粒，其中白刺灌丛沙包表层极细砂含量、土壤颗粒物分形维数较梭梭林和对照区高。2）土壤颗粒分形维数与各粒级颗粒百分含量的关系差异较大，分形维数与黏粒、极细砂含量呈显著正相关，与细砂、中砂含量呈显著负相关，但是与粉粒含量关系不显著。土壤颗粒分形维数越大，土壤所含的细粒物质越多。3）土壤分形维数D值、黏粒、粉粒含量与有机质（SOM）、全N（TN）呈正相关性，土壤颗粒物的分形维数越大、土壤黏粒、粉粒含量越高，则土壤有机质、全N含量越高。综合分析，固定白刺灌丛表层土壤沙化程度相对较低，其他类型风蚀严重，因此，应积极采取生物措施和工程措施开展生态修复防治风蚀和盐尘暴的发生。     

Impacts of fractal features of soil on moisture infiltration capacity of typical stands in Jinyun mountain of Chongqing city

The soil structure was expressed with fractal dimensions of particle size distribution (PSD), aggregate size distribution (ASD), and soil pore size distribution (SPD). The effect of soil fractal features on soil infiltration velocity and process was studied. The result of the fractal feature shows that fractal dimensions of PSD are obviously greater than those of ASD and SPD, and in different soil genetic horizons, the fractal dimension of ASD has the greatest variability, and shows a downtrend on the top-to-bottom genetic horizon. According to the soil infiltration process curve, the infiltration process was divided into three phases: (1) the initial phase (0–5 min), (2) the transition phase (5–30 min), and (3) the stable phase (30–180 min). In the initial phase of infiltration, the soil structure of soil genetic horizon A was the major influencing factor; in the transition phase of infiltration, the pore distribution of soil horizon AB and soil structure of horizon B were the major influencing factors; in the stable phase of infiltration, the soil structure of horizon C was the major influencing factor to the infiltration velocity. Soil infiltration process is influenced comprehensively by soil PSD, ASD, and SPD. In the overall soil water infiltration, the infiltration in shrub forest land was much faster than that in other land uses, and in the initial infiltration phase, arable land soil infiltration was much faster than that in forest land, and in the stable infiltration phase, the infiltration velocity in forest land was faster than that in arable land. __________ Translated from Journal of Beijing Forestry University, 2006, 28(3): 73–78 [译自: 北京林业大学学报]     

Contributions of Extractives and Lignin to the Fractal Geometry of Internal Wood Surfaces

Internal wood surfaces can be treated as fractals, which are between Euclidean geometry and complete randomness. The fractal dimension Dfs is very informative in investigating the roughness of the internal surfaces of wood. In this study, the water sorption isotherms, including adsorption and desorption isotherm, of untreated, benzene-alcohol extracted and delignified (after benzene-alcohol extracted) spruce (Cuninghamia lanceolata) were measured at 30℃. On the basis of these isotherms, the Dfs values were calculated by FHH equation, which is based on multimolecular sorption. The results showed that both groups of Dfs values (respectively calculated from adsorption and desorption isotherms) of untreated, benzene-alcohol extracted and delignified wood have same order, that is, untreated > benzene-alcohol extracted - delignified. Therefore, the conclusion can be made that the benzene-alcohol extractives have significant contribution to the fractal geometry of internal wood surfaces. Lignin also has influ     

木材断口分形的初步研究

木材是一种天然的多孔性生物高分子材料,结构复杂且变异性大,所以木材断裂表面定量分析的难度很高,对于木材内部裂纹产生、发展的研究一直没有大的突破.在木材断裂力学的研究中,国内外科学家运用传统的断裂试验方法研究居多,但普遍结论是规律不明显或找不到规律(费本华,1999).木材研究者们一直在寻找一种定量描述木材断裂表面形态的新指标,并希望在此基础上预测木材强度和了解木材断裂机制(Schmitt et al.,1996;Qin et al.,1999).     

Root architecture in relation to tree-soil-crop interactions and shoot pruning in agroforestry

Desirable root architecture for trees differs between sequential and simultaneous agroforestry systems. In sequential systems extensive tree root development may enhance nutrient capture and transfer to subsequent crops via organic pools. In simultaneous systems tree root development in the crop root zone leads to competition for resources.Fractal branching models provide relationships between proximal root diameter, close to the tree stem, and total root length or surface area. The main assumption is that a root branching proportionality factor is independent of root diameter. This was tested in a survey of 18 multipurpose trees growing on an acid soil in Lampung (Indonesia). The assumption appeared valid for all trees tested, for stems as well as roots. The proportionality factor showed a larger variability in roots than in stems and the effects of this variabilily should be further investigated. A simple index of tree root shallowness is proposed as indicator of tree root competitiveness, based on superficial roots and stem diameter.Pruning trees is a major way to benefit from tree products and at the same time reduce above-ground competition between trees and crops. It may have negative effects, however, on root distribution and enhance below-ground competition. In an experiment with five tree species, a lower height of stem pruning led to a larger number of superficial roots of smaller diameter, but had no effect on shoot:root ratios or the relative importance of the tap root.     

3种沙漠植物地上部分形结构与生物量的自相似性

应用自相似原理,分别研究极干旱地区塔克拉玛干腹地和吐鲁番盆地地下水浇灌区柽柳、梭梭和沙拐枣植株的地上分形结构与各自地上部生物量的关系.通过分析3种植物的枝长、冠幅和体积与地上部生物量之间的统计自相似性,发现在统计拟合精度上自相似模型不如BP神经网络模型,但分析植株生长的地域性差异时,缺少像分形维数这样的定量化描述.     

基于分形维木材表面粗糙度的研究

应用分形维对木材表面粗糙度特征进行研究。首先，对Sarkar和Chaudhuri提出的分形维计算方法做了改进：其次，以60个树种为研究对象，提取和分析木材表面的分形维数。得出结论：分形维数能够反映木材表面的粗糙程度，可作为木材表面粗糙度的一种度量？