自动折叠喷洒臂的设计及运动学特性

为了解决当前卷盘式喷灌机所配套的喷灌车自动化水平较低的问题,设计了一种基于电动缸驱动的自动折叠喷洒臂,并在喷洒臂之间连接处设计了一种当喷洒臂完全展开时能够实现自密封的端面密封铰链.基于喷洒臂完全折叠时收拢于车架两侧,完全伸展时铰链左右铰合密封等特征建立各杆件参数约束方程,确定了喷洒臂的各杆件尺寸.通过矢量方程法对喷洒臂进行运动学分析,以电动杆推杆的转角、位移、速度、加速度为输入量,各杆件的角位移、角速度、角加速度为输出量,通过Simulink搭建喷洒臂的运动仿真框图并进行分析.结果表明:完全折叠时,喷管1与水平方向呈90°夹角;伸展过程中,各喷管运动平稳,且始终保持在水平直线方向;完全展开时,3个喷管转动90°,且各喷管铰接处完全闭合不发生水泄漏现象,说明设计具有一定的合理性.     

车载智能土壤采样系统设计与试验

针对传统土壤样本采集操作复杂、劳动强度大、采集精度低和缺乏信息化管理的问题，设计了一种车载智能土壤采样系统。该系统安装于无人驾驶采样车上，系统包括土壤样本自动采集装置和电气控制系统。对系统整个工作过程进行分析，确定了各关键机构及控制硬件的主要工作参数。电气控制系统以运动控制器为控制核心，土壤样本自动采集装置对不同深度范围的土样进行采集，并按地理位置信息分类收集，通过RFID读写器将GPS系统定位所解算的目标采样点的经纬度地理信息和采样深度等信息写入收集土样采样筒底部的电子标签中。性能试验表明，安装于无人驾驶采样车的车载智能土壤采样系统工作运行稳定、可靠，能够对农耕层0~200mm任意深度范围的土壤进行自动分层采样，效率高、精度高、全程自动化，能够按照位置信息进行分类管理，较好地满足了智能化高质量采集土样的需求。     

Quantitative trait loci responsible for the difference in γ-oryzanol content in brown rice between japonica-type and indica-type rice cultivars

γ-Oryzanol is a main oleophilic component in rice bran oil and has been well recognized as a good dietary supplement for human health, as well as having uses in industrial materials. japonica-type rice cultivars generally showed significantly higher contents of total γ-oryzanol in brown rice compared with indica-type cultivars, although within-group variation was significant. The objective of this study was to explore quantitative trait loci (QTLs) responsible for the difference in the γ-oryzanol content between japonica-type and indica-type rice cultivars, using recombinant inbred lines (RILs), backcross inbred lines (BILs), and corresponding chromosome segment substitution lines (CSSLs) derived from crosses between japonica-type and indica-type. Results from RILs and BILs showed that eight QTLs were detected with R² from .09 to .16. Nine candidate regions for QTL were also suggested from corresponding CSSLs. These QTLs from RILs and BILs and the candidate regions from CSSLs were not overlapped, although one QTLs was mapped near the boundaries of the respective candidate region. At four QTLs and three candidate regions, alleles or segments from japonica-type caused higher contents than those from indica-type. On the other hand, at the other four QTLs and six candidate regions, alleles or segments from indica-type caused higher contents than those from japonica-type, which is a reverse result to the parental differences. This result strongly suggested that alleles with increasing effects on γ-oryzanol content could be accumulated not only from japonica-type but also from indica-type, leading to a potential for increase in γ-oryzanol content in future breeding programs.     

类人机器人全能运动的稳定性研究

类人机器人全能运动包括不同粗糙平面上的快速行走、越障、踢球、格斗等,稳定性是上述运动的关键环节。本文从分析机器人关节角与零力矩点（ZMP）的关系入手,研究提高机器人运动稳定性的新方法。具体步骤是先粗调校正机器人姿态,然后确定各关节角度,得到保证稳定运动的关节角范围。最后依托韩国GP型机器人进行测试,结果表明了所提出方法的有效性。     

Advance in study of batokines

Brown adipose tissue is a type of adipose tissue and is present in all mammals. It is not only the main site for adaptive thermogenesis in vivo, but also secretes and releases many cytokines in the form of endocrine to regulate a variety of metabolic processes and prevent and treat obesity and metabolic diseases. Therefore, identification of the types and effects of brown adipocytokines (batokines) may be crucial for the treatment of a variety of obesity-related metabolic diseases. Based on the latest research progress, batokines and their functions are reviewed.     

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。     

几种化学杀菌剂对茭白胡麻叶斑病的控制效果

为筛选出高效低毒并对作物安全的防治药剂,为茭白胡麻叶斑病的田间防治提供科学依据,选择7种常用杀菌剂进行田间药效试验,测定7种药剂对‘余茭4号’茭白胡麻叶斑病的防治效果。结果表明,供试7种杀菌剂中,12.5%烯唑醇可湿性粉剂的防效在用药7 d和14 d后达64.0%和55.67%,在7种杀菌剂防效中表现最优,同时12.5%烯唑醇可湿性粉剂处理的茭白与对照处理在株高上无显著差异,且植株的分蘖数显著高于对照。因此,推荐12.5%烯唑醇可湿性粉剂为茭白胡麻叶斑病发生初期使用的杀菌剂。     

Are dual-purpose and male layer chickens more resilient against a low-protein-low-soybean diet than slow-growing broilers?

ABSTRACT

1. Although fattening dual-purpose types or male layer hybrid chickens appears more ethical than the common practice of culling day-old male layer chicks, the lower feed efficiency of these birds raises concerns. Replacing feed ingredients that compete with food production by those of lower value for human nutrition would be beneficial.

2. Lohmann Dual (LD), a modern dual-purpose type, Lohmann Brown (LB), a male layer hybrid, and Hubbard JA 957 (HU), a slow-growing broiler type, were fattened for nine weeks on two diets (control or ?20% crude protein; n = 6 × 12 birds). Growth, carcass and meat quality were analysed.

3. Growth performance of HU exceeded that of LD and especially of LB. The growth depression caused by the low-protein diet fed to LD (?7%) was only half of that found in HU (?13%). The LD fed the control diet had the same feed efficiency as the HU fed the low-protein diet. Even the LB had a lower performance and feed efficiency with the low-protein diet in growth. There was a gradient in carcass properties (weight, dressing percentage, breast meat yield, breast proportion and breast angle) from HU to LD to LB, with some additional adverse effects of the low-protein diet especially in HU. There were some breed differences in fatty acid profile in the intramuscular fat.

4. In conclusion, the dual-purpose type used complied with regulations for Swiss organic poultry systems in terms of growth rate and was found to respond less when fed a low-protein diet than the slow-growing broiler type. The LB males were inferior in all growth and carcass quality traits. Future studies need to determine the exact protein and amino acid requirements of dual-purpose and layer hybrid chickens and the economic feasibility of the systems, especially for organic farming.     

Estimates of genetic variance and variance of predicted genetic merits using pedigree or genomic relationship matrices in six Brown Swiss cattle populations for different traits

The amount of variance captured in genetic estimations may depend on whether a pedigree‐based or genomic relationship matrix is used. The purpose of this study was to investigate the genetic variance as well as the variance of predicted genetic merits (PGM) using pedigree‐based or genomic relationship matrices in Brown Swiss cattle. We examined a range of traits in six populations amounting to 173 population‐trait combinations. A main aim was to determine how using different relationship matrices affect variance estimation. We calculated ratios between different types of estimates and analysed the impact of trait heritability and population size. The genetic variances estimated by REML using a genomic relationship matrix were always smaller than the variances that were similarly estimated using a pedigree‐based relationship matrix. The variances from the genomic relationship matrix became closer to estimates from a pedigree relationship matrix as heritability and population size increased. In contrast, variances of predicted genetic merits obtained using a genomic relationship matrix were mostly larger than variances of genetic merit predicted using pedigree‐based relationship matrix. The ratio of the genomic to pedigree‐based PGM variances decreased as heritability and population size rose. The increased variance among predicted genetic merits is important for animal breeding because this is one of the factors influencing genetic progress.     

乳腺中脂肪细胞的转化和更迭

雌性动物的乳腺组织是由胚胎时期的外胚层发育而来,出生时只有少量导管和皮下基质结构,而后在性成熟、妊娠和泌乳期乳腺发育达到峰值,这一特点使乳腺成为出生后唯一可以重复再生的器官。在乳腺发育到退化的循环中,乳腺的上皮细胞、基质白色脂肪细胞、棕色脂肪细胞和肌上皮细胞经历了一系列转化和更迭,脂肪细胞的动态转化反映了乳腺的功能变化。研究乳腺细胞的转化和更迭与母畜的泌乳直接相关,对延续母畜的生产效率有重要意义。本文就乳腺中脂肪细胞转化方面的最新研究进展进行综述,为深度揭示乳腺发育过程中细胞更迭的机制提供前沿研究信息。