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。     

放牧强度对草甸草原植物群落特征及营养品质的影响

【目的】 植物群落特征是草地生态系统功能变化的敏感指标,是判别干扰条件下植被退化的重要生态学指标之一。研究不同放牧强度下温性草甸草原植物特征及品质变化情况,以了解放牧作用下草原植物退化的过程和机制,为退化草地生态恢复提供理论依据。【方法】 以呼伦贝尔草甸草原肉牛控制放牧试验为平台,分析6种不同放牧强度（对照区G0.00:0,轻度放牧G0.23:0.2 cow.AU/hm²,较轻度放牧G0.34:0.34 cow.AU/hm²,中度放牧G0.46:0.46 cow.AU/hm²,较重度放牧G0.69:0.69 cow.AU/hm²,重度放牧G0.92:0.92 cow.AU/hm²）下温性草甸草原植物群落数量特征、多样性、功能群与营养品质的变化,并探讨他们之间的相关性。【结果】 放牧强度大于0.34 cow.AU/hm²时,群落盖度、群落高度、群落地上生物量、原有优势植物（羊草(Leymus chinensis))和贝加尔针茅(Stipa baicalensis)）生物量、地下生物量、枯落物生物量均呈现显著降低（P<0.05）,退化指示植物生物量（冷蒿、二裂委陵菜、星毛委陵菜和寸草苔）显著增加（P<0.05）;随着放牧强度的增加,群落α多样性指数呈现先升高后降低的趋势,放牧强度为0.34—0.46 cow.AU/hm²时,草地群落α多样性指数最高,符合中度干扰假说;植物功能群禾本科植物及其优势植物重要值随着放牧强度的增加逐渐降低,当放牧强度大于0.23 cow.AU/hm²时,优势植物重要值显著降低（P<0.05）,莎草科与退化指示植物重要值显著增加（P<0.05）。放牧不同程度增加了植物粗蛋白、粗灰分、总磷、钙和无氮浸出物含量,显著降低了植物粗脂肪、中性洗涤纤维和粗纤维含量（P<0.05）;群落α多样性指数相互之间呈极显著正相关（P<0.01）,与植物功能群豆科植物和杂类草重要值呈显著正相关、与禾本科植物重要值呈负相关;植物功能群禾本科和毛茛科植物重要值与植物酸性洗涤纤维和钙呈显著负相关、与中性洗涤纤维呈显著正相关,莎草科植物重要值与之相反。【结论】 不同放牧强度下植物群落特征及营养品质发生不同程度的变化,放牧强度为0.23—0.34 cow.AU/hm²较为适宜,适度放牧有利于提高群落物种多样性,保持草地植物群落稳定,促进草地生态系统可持续发展。     

祁连山北坡3个季节性牧场夏季的土壤呼吸

以祁连山北坡高寒灌丛化草甸和高寒草原为对象,测定比较夏季、冬季和春秋季牧场的夏季土壤呼吸特征及与其影响因素之间的关系,为牧场碳汇管理提供依据。以高山灌丛化草甸为主的夏季牧场日均土壤呼吸速率(Rs)为0.26μmol·(m~2·s)~(-1),以高寒草原为主的冬季和春秋季牧场日均Rs分别为0.24和0.19μmol·(m~2·s)~(-1)。随放牧增强,冬季牧场Rs减小,春秋季和夏季牧场Rs增加。冬季牧场Rs与土壤含水量(soil mosture,SM)显著正相关(P0.05),Rs与放牧率(stocking rate,SR)和土壤温度(soil temperature,Ts)显著负相关(P0.05);春秋季牧场Rs与SR、光合有效辐射(photosynthetically awailable radiation,PAR)、Ts显著正相关(P0.05);春秋季牧场Rs与SM和群落盖度(community coverage,C)显著负相关(P0.05)。结构模型方程表明,冬季牧场放牧率通过Ts对Rs的负向间接作用最强,SM对Rs正向的直接作用次之;春秋季牧场群落盖度对Rs负向直接作用最大,放牧率对Rs正向的直接作用次之。冬季牧场Rs可分别由Rs=0.436-0.012Ts+0.018SM(R2=0.911,P=0.038)和Rs=0.707+0.002SR-0.02Ts(R2=0.775,P=0.037)估测;春秋季牧场可由Rs=-0.239+0.003PAR-0.001C(R2=0.979,P=0.004)估测。     

放牧对土壤理化性状及植被多样性的影响

放牧是家畜饲养方式之一,是草地最简单而又有效的利用方式,但放牧中的家畜家禽通过采食牧草、践踏土壤和牧草以及粪便排泄影响着草地植被和土壤,不同的强度的放牧对地下土壤与地上植被的影响不同,本文综述了近几年来放牧对地下部土壤有机质、氮、磷、钾,土壤容重、有机碳以及微生物多样性的影响,对植被多样性及草群成分的影响等,旨在为今后家畜放牧行为研究以及放牧科学研究提供理论依据。     

Analysis on the migration of first-generation Mythimna separata (Walker) in China in 2013

Mythimna separata (Walker) is an important pest which can cause serious damages to cereal crops. In the past two decades, several heavy outbreaks have taken place in northern China. In order to develop a fine-scale method of forecasting outbreaks, population data were collected in northern China using searchlight traps and ground light traps. A background weather pattern analysis and trajectory analysis were performed via the Weather Research and Forecast (WRF) and FLEXPART models. Our results showed that heavy migration of first-generation M. separata appeared in northern China in 2013. In Yanqing District, Beijing, the cumulative number of captured adults in searchlight traps was around 250 000 and the daily maximum for trapped moths was 86 000. During the peak period, the majority of M. separata moths arrived after 00:00 every night. The sex ratio (female:male) at each monitoring site was greater than 1 and greatly fluctuated with population dynamics. During the migration peak, prevailing downdraft winds benefited M. separata moths to land passively. Trajectory simulation showed that immigrants were from Anhui, Jiangsu and Hubei provinces and most of them could continue to fly into the northeastern regions of China. These results provide technical support for fine-scale forecasting of the outbreak of M. separata at meso- and micro-scale.     

Long-term grazing exclusion influences arbuscular mycorrhizal fungi and their association with vegetation in typical steppe of Inner Mongolia,China

It is not certain that long-term grazing exclusion influences arbuscular mycorrhizal(AM) fungi and their association with steppe vegetation. In this study, soil and plant samples were collected from two sites of grazing exclusion since 1983(E83) and 1996(E96), and one site of free-grazing(FG) in the typical steppe of Xilinguole League, Inner Mongolia, China, and assayed for soil basic physicochemical properties, AM fungal parameters, aboveground biomass and shoot phosphorus(P) uptake as well. The results showed that long-term grazing exclusion of E83 and E96 led to less drastic seasonal changes and significant increases in spore density, hyphal length density and root colonization intensity of AM fungi and even soil alkaline phosphatase activity, by up to 300, 168, 110 and 102%, respectively, compared with those of FG site. In addition, the total aboveground biomass and shoot P uptake of E83 and E96 were 75–992% and 58–645%, respectively, higher than those of FG. Generally, the root colonization intensity, spore density, and hyphal length density of AM fungi were all positively correlated with the aboveground biomass and even shoot P uptake of plant. These results may imply that grazing exclusion play a critical role in increasing the growth of AM fungi, and subsequently, may increase plant P uptake and aboveground biomass production. Moreover, the spore density could sensitively reflect the impacts of long-term grazing exclusion on AM fungi since survival strategy of spores in soil.     

封育年限对伊犁绢蒿荒漠土壤有机氮组分的影响

为探究荒漠土壤有机氮组分对封育年限的响应规律,研究了不同封育年限(封育时间为0、1、4和11a)对中度退化伊犁绢蒿(Seriphidium transiliense)荒漠草地土壤全氮(total nitrogen,TN)、轻组氮(light fraction organic nitrogen,LFON)、颗粒氮(particulate organic nitrogen,PON)、微生物量氮(soil microbial biomass nitrogen,SMBN)及其分配比例的影响。结果表明,与封育0a相比,其它封育年限5-10、10-20、30-50cm土层的TN含量均显著降低(P0.05),且0-50cm土层TN含量随封育年限延长呈"降-升"趋势;封育11a,0-5cm土层PON含量达到最高,而封育4a,5-10和20-30cm土层PON分配比例显著增加;0-20cm土层LFON含量增加显著,且0-5cm土层含量最高。0-50cm土层SMBN随封育年限增加呈"降-升"趋势,而封育4a,5-10和20-30cm土层SMBN分配比例显著高于封育0a和封育1a(P0.05);0-10cm土层LFON和0-50cm土层LFONR与封育年限呈显著正相关。总之,短期封育(1~11a)下,中度退化伊犁绢蒿荒漠土壤全氮含量仍未得到恢复,但促进了LFON、PON、SMBN及其分配比例的增加。     

Impact of grassland contract policy on soil organic carbon losses from alpine grassland on the Qinghai–Tibetan Plateau

Carbon storage in the soils on the Qinghai–Tibetan Plateau plays a very important role in the global carbon budget. In the 1990s, a policy of contracting collective grasslands to smaller units was implemented, resulting in a change from the traditional collective grassland management to two new management patterns: a multi‐household management pattern (MMP: grassland shared by several households without enclosures) and a single‐household management pattern (SMP: grassland enclosed and used by only one household). In 2016, 50 MMP and 54 SMP winter pastures on the Qinghai–Tibetan Plateau were sampled to assess the differences in soil organic carbon (SOC) between the two management patterns. Results showed that average SOC was significantly greater under MMP than under SMP, with an estimated 0.41 Mg C/ha/yr lost due to SMP following the new grassland contract. Based on the government's grassland policy, four grassland utilization scenarios were developed for both summer and winter pastures. We found that if the grassland were managed under SMP, likely C losses ranged between 0.31 × 10⁷ and 6.15 × 10⁷ Mg C/yr across the Qinghai–Tibetan Plateau relative to MMP, which more closely resembles pre‐1990s grassland management. Previous estimates of C losses have only considered land use change (with cover change) and ignored the impacts driven by land management pattern changes (without cover change). The new data suggest that C losses from the Qinghai–Tibetan Plateau are greater than previously estimated, and therefore that the grassland contract policy should be reviewed and SMP households should be encouraged to reunite into the MMP. These findings have potential implications for land management strategies not only on the Qinghai–Tibetan Plateau but also other grazing regions globally where such practices may exist.     

放牧强度对高寒草甸群落碳氮磷化学计量特征的影响

植被生态化学计量特征是高寒草甸生态系统稳定性的基础,但其对放牧管理的响应仍不清楚。为此,以2011年在青海海北高寒矮嵩草(Kobresia humilis)草甸建立的不同放牧强度试验地为研究对象,于2014年植物生长季的5月-9月,通过测定禁牧(对照,CK)、轻度放牧(light grazing,LG)、中度放牧(moderate grazing,MG)和重度放牧(heavy grazing,HG)样地的地上植被生产力和植被群落结构及群落叶片碳(carbon,C)、氮(nitrogen,N)、磷(phosphorus,P)含量,研究放牧强度对高寒草甸群落生态化学计量的影响。结果表明,MG能显著提高地上生物量和优良牧草禾草类植物的生物量比例,C含量的变异均在MG处理下最大,此结果支持了中度干扰理论;重牧能显著提高群落叶片的N含量(P0.05);放牧管理对叶片P含量的影响无明显规律;禁牧有利于系统N和P的周转。本研究结果显示,适度的放牧强度有利于高寒草甸生产力的提高,而禁牧可能通过改变群落优势种增强系统的N、P循环强度。