基于改进蚁群算法的农田平地导航三维路径规划方法

为解决农田平地机无人驾驶作业时缺乏局部规划，进而实现平地路径在线调整的问题，以平地作业土方合理运卸且路径最短为目的，提出了一种基于改进蚁群算法的农田平地导航三维路径规划方法。基于农田三维地势模型，采用改进的蚁群算法规划三维路径：以平地作业土方运载为决策方向，建立新的路径搜索节点，对比平地机作业时平地铲运载土方量和经过栅格计算所需的挖填土方量，根据土方运载任务设置信息素更新规则和启发函数，获取农田平地的最佳三维路径；基于平地机的运动学模型，设置农田平地机转向约束条件，根据约束条件对路径进行平滑优化，并建立三维路径规划的效果评价标准。仿真结果表明：相比于原始蚁群算法，该方法的路径规划效果评价指标提高33.3%以上，可以更好地指导农田平地机实现局部平地任务，而且大大缩短了路径生成时间和路径长度，使路径更为平滑，更适用于辅助农田平地的自动导航作业。     

基于改进蚁群算法的植保无人机路径规划方法

为了规划出更加高效的植保无人机路径，提出一种基于改进蚁群算法的植保无人机路径规划方法，该方法适用于多个具有复杂多边形边界与内部障碍物的三维作业区域。采用扫描方式生成水平面内的作业路径，经过离散化处理后，在三维地形曲面上插值，获得三维作业路径。在此基础上，建立作业路径生成算法，以三维作业路径总长度尽量短、作业路径数量尽量少为目标，对植保无人机作业航向进行寻优。改进蚁群算法通过附加记录作业路径进入点的机制，实现对三维作业路径的合理排序，生成总长度较短的转移路径。经过算例检验，针对同一作业区域规划出的三维作业路径与水平面内的作业路径的航向角存在较大差异，相差最大为92°，这说明考虑三维地形的必要性。算例中，将改进的蚁群算法与贪婪算法进行了对比，针对一系列相同的作业起点，改进的蚁群算法所得的转移路径总长度均较短，比贪婪算法所得结果缩短3%~28%；在未选定作业起点情况下，改进的蚁群算法与贪婪算法求得的转移路径总长度最小值分别为1661m与1763m，说明改进的蚁群算法具有良好的寻优能力。实例检验情况与算例所得结论基本一致。算例与实例中的作业区域边界与地形复杂，涵盖情况全面，表明本文提出的路径规划方法具有一定实用性。     

Effects of Compound Plant Nutrients on Rumen Fermentation Parameters,Rumen Microbiota and Fatty Acid Composition of Longissimus dorsi Muscle in Finishing Small Tail Han Sheep北大核心CSCD

This study was conducted to investigate the effects of compound p1ant nutrients (CPN) on rumen fermentation parameters, rumen microbiota and fatty acid composition of longissimus dorsi musc1e in finishing sma11 tai1 Han sheep. Sixteen 4-month-o1d finishing sma11 tai1 Han sheep with an initia1 body weight (BW) of (24.18±0.31) kg were random1y divided into two groups, name1y, with 8 rep1icates per group and 1 sheep per rep1icate. The sheep in the contro1 group were fed a basa1 diet, whereas the sheep of the contro1 group (CPN group) was fed the basa1 diet supp1ementation with 3‰ CPN. The experiment 1asted for 97 days after 7 days adaption. The resu1ts showed as fo11ows: compared with the contro1 group, 1) adding CPN decreased the concentration of ammonia nitrogen (NH3-N) (P<0.05); 2) CPN supp1ementation affected beta diversity of rumen microbiota; 3) the re1ative abundance of Acidobacteriota, Erysipe1otrichaceae_UCG-002, Lactobacillus, and Megasphaera were enhanced by adding CPN (P<0.05), whereas, the re1ative abundance of Bacteroidetes and Prevotella was 1ower (P<0.05); 4) the supp1ementation of CPN had no significant effect on fatty acid composition of longissimus dorsi musc1e of fattening sma11-tai1ed Han sheep (P>0.05); 5) the contents of tota1 MUFA, C18:1n9c, C14:1, C16:1, C18:2n6c, C18:3n3 and n-3PUFA in the longissimus dorsi musc1e were corre1ated with the re1ative abundance of Megasphaera, Erysipe1otrichaceae_UCG-002, Succiniclasticum and Ruminococcus (P<0.05). In conc1usion, CPN can regu1ate the rumen microbiota structure and reduce the rumen NH3-N concentration of fattening sma11-tai1ed Han sheep. In production practice, CPN can be used as a rumen eco1ogica1 regu1ator. © 2023 Authors. All rights reserved.     

The effect of different concentrations of linseed oil or fish oil in the maternal diet on the fatty acid composition and oxidative status of sows and piglets

N‐3 polyunsaturated fatty acids (PUFA) are essential for foetal development. Hence, including n‐3 PUFA in the sow diet can be beneficial for reproduction. Both the amount and form (precursor fatty acids vs. long chain PUFA) of supplementation are important in this respect. Furthermore, including n‐3 PUFA in the diet can have negative effects, such as decreased arachidonic acid (ARA) concentration and increased oxidative stress. This study aimed to compare the efficacy to increase eicosapentaenoic acid (EPA) and docosahexaenoic acid (DHA) concentrations in the piglet, when different concentrations of linseed oil (LO, source of precursor α‐linolenic acid) or fish oil (FO, source of EPA and DHA) were included in the maternal diet. Sows were fed a palm oil diet or a diet including 0.5% or 2% LO or FO from day 45 of gestation until weaning. Linoleic acid (LA) was kept constant in the diets to prevent a decrease in ARA, and all diets were supplemented with α‐tocopherol acetate (150 mg/kg) and organic selenium (0.4 mg/kg) to prevent oxidative stress. Feeding 0.5% LO or 0.5% FO to the sows resulted in comparable EPA concentrations in the 5‐day old piglet liver, but both diets resulted in lower EPA concentrations than when 2% LO was fed. The highest EPA concentration was obtained when 2% FO was fed. The DHA level in the piglet liver could only be increased when FO, but not LO, was fed to the sows. The 2% FO diet had no advantage over the 0.5% FO diet to increase DHA in the piglet. Despite the constant LA concentration in the sow diet, a decrease in ARA could not be avoided when LO or FO were included in the diet. Feeding 2% FO to the sows increased the malondialdehyde concentration (marker for lipid peroxidation) in sow plasma, but not in piglets.     

Quantification of flight times of aerial treatments targeting invasive species: the interplay of helicopter or drone with bait-delivery systems,flight speed and bait form

BACKGROUND

Aerial treatments for invasive species management are now common, but we are unaware of any work published in the scientific literature quantifying how the interplay of numerous factors affects flight time and therefore operational costs. Here, we analyse aerial treatment data collected from two ant-eradication programmes, quantifying how the relationships between flight time and area are influenced by numerous aircraft/delivery system/bait/flight speed combinations.

RESULTS

For bait dispersal by helicopters, and when swath widths are equivalent, side-mounted Isolair was significantly more efficient than the simultaneous use of two underslung buckets, and use of two buckets was slightly but not significantly more efficient than one bucket. In this scenario, delivery by Isolair was, on average, 39.8% and 31.5% more efficient than the use of one or two buckets, respectively. However, when the swath width used with Isolair was halved to 10 m and flight speed was increased slightly, flight time was significantly greater compared to the other configurations. For bait dispersed by drone, flights conducted using an upgraded Flight Management System (FMS) and greater flight speed but smaller swath width were significantly more efficient than flights using the older FMS and lower flight speed. Over 10 and 50 ha the helicopter was 2.87 and 4.82 times more time efficient than the drone.

CONCLUSION

We encourage practitioners to publish data from their aerial treatments, and to try new methods, to accelerate improvements in efficiency and reduce the costs of aerial treatments. © 2023 The Authors. Pest Management Science published by John Wiley & Sons Ltd on behalf of Society of Chemical Industry.     

四倍体刺槐嫩枝插穗生根的解剖学观察

通过对四倍体刺槐嫩枝插穗扦插前和扦插后的切片观察,结果表明:(1)在插穗的切口处有愈伤组织,在愈伤组织内未发现产生根原基;(2)四倍体刺槐嫩枝茎内无潜伏根原基,不定根由诱生根原基发育形成,诱生根原基源于髓射线细胞的分裂和分化。     

外来有害生物红火蚁风险分析及防控对策

参照国内外有害生物风险分析方法，通过对外来有害生物红火蚁在我国的分布状况、潜在危害性、危害对象经济重要性、定殖和扩散的可能性和危险性管理难度的定性和定量分析，得出风险评估值R=1．861，表明该虫在我国属于中度危险的有害生物。必须通过检疫、监测等措施加强对红火蚁的监管，防止其扩散、危害。     

Apiculture and management of associated vegetation by the maya of Tixcacaltuyub,Yucatán,México

We present the results of field work and a series of interviews with Mayan beekeepers, in order to answer the following questions: (i) Which factors are relevant when establishing an apiary? (ii) How do Mayans choose the melliferous flora? (iii) How do Mayans manage the vegetation surrounding their apiaries? and (iv) What is their knowledge of flowering phenology and honey production cycle? Apiary establishment depends on: no apiaries established at a minimum distance of 3 km; water availability (i.e., “Haltunes”); direct access to roads; combination of old and young vegetation (particularly abundance of Gymnopodium floribundum). Melliferous flora is classified according to quality and quantitity of the honey produced; 34 species are considered important at different times of the year. Finest honey and arger quantities are obtained from G. floribundum, followed by Viguiera dentata; the worst honey is from Lysiloma latisiliquum. Management of vegetation is minimum, mainly cutting plants that could impede growing of important melliferous, or protecting ( = not cutting) the latter; nevertheless, some of the most important melliferous are dominant in the vegetation. Their knowledge of flowering phenology and production cycle are quite complex. We discuss the problems the beekeepers are facing in regards to forest clearing, commercialization of produces, etc.