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1.
LIU Benli 《干旱区科学》2021,13(6):599-611
Saltation is the major particle movement type in wind erosion process. Saltating sand grains can rebound up to tens of times larger in length and height over hard surface(such as gravel surface) than over loose sand surface. Gravels usually have different faces, causing distinct response of the impacting grains, but the effects of the grain and gravel-surface contact angle on grain rebound are not yet well quantified. We performed full-range controlled experiments of grain saltation using different contact angles, grain sizes and impact speeds in still air, to show that contact angle increases the height of representative saltation path but decreases particle travel length. The results were compared with outputs from the COMprehensive numerical model of SALTation(COMSALT). Large saltation height of 4.8 m and length of 9.0 m were recorded. The maximum and representative saltation height over the gravel surface were found to be about 4.9 times and 12.8 times those over the loose sandy surface, respectively. The maximum saltation length may be reduced by 58% and the representative saltation height may be increased by 77% as contact angle increases from 20° to 40°. We further showed that the collision inertia contributes 60% of the saltation length, and wind contributes to the other 40%. These quantitative findings have important implications for modeling saltation trajectory over gravel surface.  相似文献   
2.
在传统验证平台一般都是利用Simulink+Carsim进行联合仿真,缺少在Ros中的调试,这样与实际情况不符。将在搭建Ros+Carsim+Simulink硬件在环环境中进行纯轨迹跟踪的验证。实验结果中设计轨迹与真实轨迹吻合度较高,即该仿真平台可以作为轨迹跟踪实验的实验平台。  相似文献   
3.
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。  相似文献   
4.
The fall armyworm(FAW), Spodoptera frugiperda is one of the most damaging crop pests, and it has become major threat to the food security of many countries. In order to monitor possible invasion of this pest into China, a searchlight trap was established in March 2018 in western Yunnan Province, China, where it has served as the "first station" for many pests that have migrated from Myanmar to China. A number of suspected FAW moths were captured and identified by DNA sequencing. The results showed that the FAW moth was first captured on December 11 and formed its first immigration peak in mid-December 2018. DNA detection revealed that the early invading FAW population was the "corn-strain". The field survey indicated that the pest mainly colonized corn in Pu'er, Dehong and Baoshan areas. Migration trajectory simulation implied that the moths might have mainly come from the eastern area in the mid-latitude region of Myanmar(20–25°N, 94–100°E). This case study confirmed the first immigration of FAW into China, and will be helpful for guiding monitoring and management work to control this pest.  相似文献   
5.
基于微生物燃料电池供能的无线温度传感系统设计   总被引:1,自引:1,他引:0  
微生物燃料电池(microbial full cell,MFC)是利用微生物作为生物催化剂将碳水化合物转化为电能的装置。针对MFC输出电压低、功率小、内阻大的特点,该文研制了一种具有最大功率点跟踪(maximum power point tracking,MPPT)功能的能量收集电路和两级升压电路;基于MSP430和CC2500芯片设计了环境温度传感系统。测试结果表明,MFC的输出电压维持在316~390 mV范围内,实现了最大输出功率的跟踪,MPPT电路和升压电路分别输出1.1和3.5 V电压;无线温度传感器以每13ms的周期将环境温度无线传输到远程终端,验证了环境温度传感系统在最大功率点处对无线传感器网络节点供电工作的可行性,可为实现MFC主动式能量收集提供参考。  相似文献   
6.
针对崎岖山地环境下自走式履带机器人自走姿态波动大、跟踪精度低等问题,研究了三维崎岖路面履带机器人控制方法。通过分析机器人在二维平整路面与三维崎岖路面的运动学模型,建立了降维运动学几何模型;设计了一种基于降维变系数的滑模控制方法,实现三维崎岖路面履带机器人的运动控制,并进行了平整路面与崎岖路面的路径跟踪仿真与试验。仿真结果表明,平整路面仿真中,行驶方向误差逐渐减小并趋近于0,侧向位置误差在±0. 2 m内波动,并可在1 s内完成姿态调整;崎岖路面仿真中,三轴位置误差均控制在±0. 1 m范围内,同样可在1 s内完成姿态调整。路径跟踪田间试验结果表明,平整路面和崎岖路面机器人跟踪稳定后的横向误差分别为-2. 9~8. 8 cm、-14. 3~21. 5 cm,姿态误差分别控制在±2°、±5°内,能够满足实际跟踪需求。  相似文献   
7.
The fall armyworm(FAW, Lepidoptera: Noctuidae), Spodoptera frugiperda(J. E. Smith), invaded China in mid-December 2018; since then, it has become a great threat to Chinese agricultural production. Qinling Mountains–Huaihe River region(QM–HRR) is the transitional zone between northern and southern China, an important region for both corn and wheat production. Based on the actual occurrence of QM–HRR invaded by FAW in 2019, daily mean surface air temperature and nocturnal wind conditions at 925 hPa were examined, and migratory routes of FAW moths originated in QM–HRR were modeled by a forward-trajectory-analysis approach. The results indicated that migratory activities of FAW adults emerged in QM–HRR were initiated from late June. The moths from western QM–HRR, where has complex topographic terrain, mainly flied to Ningxia and Inner Mongolia before mid September. However, FAW moths from the eastern QM–HRR primarily engaged in high-altitude northward transport assisted by the prevailing southerly winds before mid August, and the North China Plain was identified as the main destination of FAW. Meanwhile, the migration trajectories of FAW moths had a possibility to reach the Northeast China Plain. From mid August, FAW moths in eastern QM–HRR largely migrated southward and returned to the Yangtze River Valley. This study provides detailed information on the occurrence and migration routes of FAW moths from QM–HRR and will be helpful for early warning and development of integrated pest management strategies for the control of this exotic insect pest.  相似文献   
8.
Understanding spatial population structure and biocomplexity is critical for determining a species’ resilience to environmental and anthropogenic perturbations. However, integrated population models (IPMs) used to develop management advice for harvested populations have been slow to incorporate spatial dynamics. Therefore, limited research has been devoted to understanding the reliability of movement parameter estimation in spatial population models, especially for spatially dynamic marine fish populations. We implemented a spatial simulation–estimation framework that emulated a generic marine fish metapopulation to explore the impact of ontogenetic movement and climate‐induced distributional shifts between two populations. The robustness of spatially stratified IPMs was explored across a range of movement parametrizations, including ignoring connectivity or estimating movement with various levels of complexity. Ignoring connectivity was detrimental to accurate estimation of population‐specific biomass, while implementing spatial IPMs with intermediate levels of complexity (e.g. estimating movement in two‐year and two‐age blocks) performed best when no a priori information about underlying movement was available. One‐way distributional shifts mimicking climate‐induced poleward migrations presented the greatest estimation difficulties, but the incorporation of auxiliary information on connectivity (e.g. tag‐recapture data) reduced bias. The continued development of spatially stratified modelling approaches should allow harvested resources to be better utilized without increased risk. Additionally, expanded collection and incorporation of unique spatially explicit data will enhance the robustness of IPMs in the future.  相似文献   
9.
  1. Taxonomic and functional trajectories of benthic assemblages were studied in shallow soft-bottom sediments in the bay of Saint-Brieuc (Western English Channel). Changes were assessed at different spatial and temporal scales using a macrobenthic dataset based on 38 stations sampled in 1987 and 2019, coupled with data from one station sampled annually between 2005 and 2019 as part of the European Water Framework Directive monitoring programme.
  2. Taxonomic trajectories indicated 1) changes in the structure and distribution of benthic assemblages, 2) an homogenization of the assemblages, and 3) significant functional shifts.
  3. Fishing activities and nutrient enrichment are probably strong drivers of the observed changes, as suggested by the higher mortality rate of fragile, flexible, tubiculous and burrowing species, and the increase in the abundance of opportunistic species in the assemblages. Certain populations of macroinvertebrates seem jointly controlled by climate change and by the aforementioned local factors of disturbance.
  4. The Community Trajectory Analysis framework appears as a new and interesting method to track ecological changes in marine ecosystems by measuring change with respect to a baseline state, to help define ecological recovery (station returning to the initial ecological state) and departure (station presenting increased changes over time), and to analyse trajectory similarity.
  5. According to the degradation of habitat over time, we identify the need for the implementation of knowledge-based conservation strategies, especially within Natura 2000 sites.
  相似文献   
10.
自动导航插秧机路径跟踪系统稳定性模糊控制优化方法   总被引:4,自引:0,他引:4  
为了提高自动导航插秧机路径跟踪系统的稳定性,提出了一种利用模糊控制调整纯追踪模型前视距离的路径跟踪方法。在考虑自动转向系统一阶惯性环节的情况下,建立插秧机运动学模型,分析了在跟踪直线时纯追踪模型的稳定性条件;基于此稳定性条件,以速度和横向偏差为输入,以前视距离为输出,建立模糊控制模型实时调整纯追踪模型的前视距离;以洋马VP6E型水田插秧机为实验平台对所提出方法进行了实验验证,结果证明,该方法能有效提高路径跟踪系统的稳定性。  相似文献   
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