基于粗糙遗传算法在打捆机齿轮箱故障诊断中的应用*

自走式连续作业打捆机是一款实现不停机连续打捆作业的新型秸秆收集装备,其关键功能部件齿轮箱发生故障会严重影响正常打捆工作。针对齿轮箱故障的防控和监测,提出一种结合粗糙集和遗传算法的故障诊断方法。该方法使用时域频域分析得到的多项故障特征参数作为条件属性,故障类型作为决策属性,并利用自适应遗传算法得到决策规则表,实现无需先验信息的属性约简和故障诊断。在齿轮箱故障诊断试验中,分别对不同故障类型进行信号采集和诊断分析,结果显示:该方法在无先验信息的条件下将12项故障特征参量约简为3项,根据决策规则表进行故障诊断的准确率为100%,结果表明该方法能准确判断故障的发生和故障类型,对实现故障监测和防控具有重要意义。     

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。     

Characterizing Spatial Variability of Soil Textural Fractions and Fractal Parameters Derived from Particle Size Distributions

Soil particle size distribution (PSD) is a fundamental physical property affecting other soil properties. Characterizing spatial variability of soil texture is very important in environmental research. The objectives of this work were: 1) to partition PSD of 75 soil samples, collected from a flat field in the University of Guilan, Iran, into two scaling domains using a piecewise fractal model to evaluate the relationships between fractal dimensions of scaling domains and soil clay, silt, and sand fractions and 2) to assess the potential of fractal parameters as an index used in a geostatistical approach reflecting the spatial variability of soil texture. Features of PSD of soil samples were studied using fractal geometry, and geostatistical techniques were used to characterize the spatial variability of fractal and soil textural parameters. There were two scaling domains for the PSD of soil samples. The fractal dimensions of these two scaling domains (D₁ and D₂) were then used to characterize different ranges of soil particle sizes and their relationships to the soil textural parameters. There was a positive correlation between D₁ and clay content (R² = 0.924), a negative correlation between D₁ and silt content (R² = 0.801), and a negative correlation between D₂ and sand content (R² = 0.913). The geometric mean diameter of soil particles had a negative correlation with D₁ (R² = 0.569) and D₂ (R² = 0.682). Semivariograms of fractal dimensions and soil textural parameters were calculated and the maps of spatial variation of D₁ and D₂ and soil PSD parameters were provided using ordinary kriging. The results showed that there were also spatial correlations between D₁ and D₂ and particle size fractions. According to the semivariogram models and validation parameters, the fractal parameters had powerful spatial structure and could better describe the spatial variability of soil texture.     

Worlding aspirations and resilient futures: Framings of risk and contemporary city‐making in Metro Cebu,the Philippines

In the Philippines, calls for creating ‘global’, ‘sustainable’ and ‘resilient’ cities are placing urban poor communities in increasingly precarious positions. These communities have long been the targets of urban development and ‘modernisation’ efforts; more recently the erasure of informal settlements from Philippine cities is being bolstered at the behest of climate change adaptation and disaster risk management (DRM) agendas. In Metro Cebu, flood management has been at the heart of DRM and broader urban development discussions, and is serving as justification for the demolition and displacement of informal settler communities in areas classed as ‘danger zones’. Using Kusno's (2010) interpretation of the ‘exemplary centre’ as a point of departure, this paper interrogates the relationship between DRM, worlding aspirations (Roy and Ong, 2011) and market‐oriented urbanisation in Cebu, and considers the socio‐spatial implications of these intersecting processes for urban poor communities. Through analysing the contradictions inherent in framings of certain bodies and spaces as being ‘of risk’ or ‘at risk’ over others, I argue that the epistemologies of modernity, disaster risk and resilience endorsed and propagated by the state are facilitating processes of displacement and dispossession that serve elite commercial interests under the auspices of disaster resilience and pro‐poor development.     

崎岖山地环境履带机器人降维变系数控制方法研究

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。     

Exogenous application of humic acid and salicylic acid to alleviate seedling drought stress in two corn (Zea mays L.) hybrids

Efficacy of 1?mM humic (HA) and salicylic (SC) acids on SC 260 and SC 705 corn seedlings to alleviate drought stress via polyethylene glycol was studied via hydroponics at Shiraz University, Iran in a factorial, randomized design, with four replicates each. Under stress, SC 260 had higher electrolyte leakage compared to SC 705, and exogenous application of HA combined with SA decreased SC 705 electrolyte leakage. As a general trend, photosynthetic pigment content, relative water content, root and shoot length, mean number and diameter of central and peripheral root metaxylem, and K⁺ accumulation were higher in SC 705 treated with HA and SA compared to SC 260. Application of HA with SA could be an effective and low cost approach to ensure seedling establishment and plant growth in fields affected by soil drought in the early season, especially for the SC 705 corn hybrid in semi-arid regions.     

叶轮出口边对双蜗壳泵压力脉动的影响

泵的叶轮扫掠蜗壳隔舌时产生的压力脉动是引起船用泵振动噪声的原因之一.为尽可能弱化这一影响,分别设计了叶片出口边与前后盖板基本面垂直和倾斜的2种不同形式叶轮,将其配置在相同的双蜗壳中,通过数值计算与样机试验相结合的手段,对蜗壳内9个不同位置的压力脉动情况进行对比分析.结果表明:出口边倾斜的叶轮相比于出口边垂直的叶轮可明显改善蜗壳内次脉动的“驼峰”现象,且可以进一步降低隔舌处主波动的压力峰值;对蜗壳内2个隔舌稍前的位置,出口边倾斜的叶轮反而会使得该点的压力系数幅值明显增大,且该点主波动的周期数发生改变;2种叶轮出口边的不同形式对蜗壳出口位置的压力脉动的影响基本相同;采用出口边倾斜叶轮对改善因叶轮与隔舌间的液流压力脉动是可行的.     

减氮配施有机肥对滴灌春小麦花后同化物转运和籽粒灌浆特性的影响

【目的】研究减氮条件下新疆滴灌小麦高产高效的调控途径,分析滴灌春小麦花后同化物转运和籽粒灌浆特性的调控效应,为新疆滴灌春小麦的高产优质栽培提供科学依据。【方法】设置不同减氮配施有机肥处理,采用裂区设计,氮素为主区,品种为副区;于2019年在田间滴灌条件下设置7种减氮配施有机肥水平(N_CK、N₅、N₁₀、N₁₅、N₂₀、N₂₅、N₀),比较分析不同减氮配施有机肥处理条件下,强筋小麦新春38号和中筋小麦新春49号的花后同化物转运及籽粒灌浆特性的变化。【结果】在灌浆期内,花后干物质(茎、叶)随灌浆期推进呈先升后降趋势,峰值出现在花后14 d,而穗干物质则呈逐渐增大的变化。随减氮配施有机肥程度增加,2个品种的花后干物质积累、花后干物质转移率、花后贡献率、粒重及灌浆各参数均呈现先增后减的趋势,在N₁₅处理下各指标均达到最优值,N₁₅>N₂₀>N₂₅>N₁₀>N₅>N_CK>N₀。2个品种的快速累积持续时间(t₂~t₁)、平均灌浆速率(V_mean)、最大灌浆速率(V_max)与粒重间均存在显著关系,且平均灌浆速率与粒重间的直接效应最大,2个品种的直接通径系数为1.034 7和0.957 3。在N₁₅处理下, V_mean相比其它处理分别增长了1.92%～30.58%(新春38号),1.02%～27.93%(新春49号)。【结论】在减氮配施有机肥处理下,以N₁₅处理(85%N+15%有机肥)的花后干物质积累量、花后转运率及贡献率最高,籽粒粒重最高,与之相关的灌浆各参数表现最优,即N₁₅处理为最优配比组合。     

农网配电线路损耗分析

配电网起着输送和分配电能的作用,线路损耗给供电企业造成很大的成本投入,降低能源的利用率。分析配电网线路损耗的原因,提出降低线路损耗的具体措施,以期为配电网节能降耗、安全运行提供参考。     

MBBR和LSP工艺在污水深度处理中的性能探究

指出了MBBR工艺和LSP工艺属于当前应用较多的新型水处理工艺。当将传统的好氧曝气池改造为MBBR工艺时,改造结果表明:COD降低30.8%,BOD 5降低42.8%,氨氮降低25.0%,总氮降低17.2%,SS降低57.9%,总磷降低26.7%;而LSP工艺通过形成复杂的微生物食物链,消耗剩余污泥量,实现对污泥的减量化处理。应用到改造工程中,产泥量降低67.5%,同时能够强化处理系统的生化功能,COD和BOD 5都有明显降低,分别降低了11.7%和12.1%。