基于PID直流电机驱动的移动式采摘机器人设计

为了提高移动式采摘机器人的控制效率和移动精度,将直流电机驱动电路引入到采摘机器人移动控制系统的设计中,并采用PID算法对移动速度进行调节,从而避免采摘机器人在移动过程中产生较大的速度波动,提高其作业时的平稳性。为了验证PID算法在采摘机器人移动控制系统上使用的可行性,模拟葡萄采摘机器人的作业环境,对采摘机器人移动过程的速度控制进行了仿真模拟,结果表明:达到速度预定目标时,PID算法比常规算法具有更快的响应速度,调节过程也更加平稳。     

Ecological and landscape effects on genetic distance in an assemblage of headwater fishes

Environmental divergence along hierarchically structured longitudinal gradients may constitute barriers to gene flow in river networks for headwater specialised species. While known, this phenomenon has not been well studied, especially with regard to degree of headwater specialisation. We examined six headwater species that differ in habitat specialisation to assess whether patterns of differentiation vary according to geographic or environmental distance. We also identified regional environmental or anthropogenically induced fragmentation effects by comparing within‐drainage patterns of genetic distance across replicate watersheds. We used a comparative modelling framework to determine whether isolation by distance or isolation by resistance of large river habitats was a better predictor of genetic distance across species. The influence of reservoir presence and regional network characteristics that may influence the hydrology and size of large river habitats were also assessed. Resistance effects from large rivers were closely related to headwater specialisation, with increased specialisation leading to increased resistance and loss of drainagewide population connectivity. These results affirm that dendritic networks naturally fragment headwater specialised species. Further isolation from anthropogenic fragmentation was detected in two of the six drainages, indicating interactions with system‐specific conditions. Landscape variables related to the hydrology of large rivers also affected genetic distance in predicted ways, supporting the importance of large rivers in genetically structuring headwater species in drainage networks.     

海贝柱自动晾晒设备设计

针对当前传统人工晾晒海贝柱效率低下、容易造成污染等问题。设计了海贝柱自动晾晒机械,采用阶梯式晾晒生产线对湿海贝柱分级晾晒,多条晾晒生产线分时、高效的工作,机器上方设有遮板以保证晾晒作业不被污染而且不受天气条件的影响。整机采用stm32单片机、传感器等技术实现自动化作业,机器控制系统监测到生产线发生故障或海贝柱出现堆积时会立即停止工作以便于检查故障、减少损失。试验结果表明:机械晾晒不会造成海贝柱内的营养成分的流失,机械晾晒海贝柱的干基含水率达到30%仅需12h,机械晾晒海贝柱能节省大量的干燥时间,显著的提高了晾晒效率,避免了人工晾晒过程导致的二次污染和损失。该研究为海贝柱自动晾晒机械的研制提供了技术参考。     

浅析广西产业扶贫发展与成效

广西的产业扶贫是当下整个广西的脱贫攻坚工作的重要组成部分，探讨广西产业扶贫的探 索过程和成效，对促进广西贫困地区脱贫，实现全面建设小康社会，有着积极的意义。     

双斜盘多排式轴向柱塞马达转矩特性分析

为了实现多级转速和转矩的输出,轴向柱塞马达必须使用节流阀、减压阀等耗能元件来改变输入压力和流量,但同时降低了效率。新型双斜盘多排式轴向柱塞马达可以利用其结构的特殊性,实现输出转矩的多样性。本文基于双斜盘多排式轴向柱塞马达的结构特点及工作原理,推导了该马达在不同工作方式下的理论瞬时转矩和转矩不均匀系数,并通过Matlab分析了内外马达转矩系数比对转矩不均匀系数的影响,设计了马达的实验液压系统并搭建了实验平台,对马达进行了原理性实验,并进行了数据分析。实验结果表明,在额定压力和额定排量下,该马达能实现多种不同的转速与转矩输出,随着内外马达转矩系数比的增大,低速大转矩的转矩不均匀系数越小,高速低转矩不稳定系数越大,通过合理设计可以实现马达在不同工作状态下的稳定运行,验证了新型马达在结构原理上的可行性,为新型轴向柱塞马达的改进设计提供了实验依据。     

A genetic linkage map in southern‐by‐spring oat identifies multiple quantitative trait loci for adaptation and rust resistance

We developed 178 recombinant inbred lines from a southern‐by‐spring oat population designated as “TxH.” These lines were genotyped to generate a high‐quality linkage map that resolved 6,902 markers into 21 linkage groups that matched closely with the latest hexaploid oat consensus map. Three major quantitative trait loci (QTLs) affecting heading date were found in locations that are consistent with known QTLs and candidate genes, and two other QTLs affecting heading date were found in novel locations. Five QTLs affecting plant height were found. Both sets of QTLs are responsible for transgressive segregation observed for these two traits. Four QTLs affecting resistance to crown rust, caused by the pathogen Puccinia coronata f. sp. avenae, were identified. Two of these QTLs are consistent with known clusters of rust resistance genes, while two may represent new locations of novel rust resistance genes. A complete set of SNP sequences suitable for generating markers for molecular selection is provided.     

Interactive effects of family and stocking density on survival and growth of the sea urchin Strongylocentrotus intermedius

To investigate the effects of family, stocking density, and their interaction on mortality, growth rate, and size dispersal in the sea urchin Strongylocentrotus intermedius, 1,440 juveniles from six full‐sib families were exposed to three stocking densities, that is, low stocking density (LD), middle stocking density (MD), and high stocking density (HD), and reared for 10 months in sea‐based suspended cages. The results demonstrated significant family effects on cumulative mortality rate (CMR); specific growth rate for test diameter (SGR for TD); specific growth rate for body weight (SGR for BW); coefficient of variation for body weight at the 10th month (CV for BW₁₀); and significant stocking density effects on SGR for TD, SGR for BW, and CV for BW₁₀. Statistically significant family by stocking density interaction was only found in SGR for TD. A certain degree of family‐ranking inversions occurred in SGR for TD. The present study provides evidence for the existence of family by stocking density interaction on the growth rate of test diameter in the family selection for S. intermedius. More attention should be paid to this interaction effect to select correct parents in S. intermedius.     

基于直流电机与全液压转向器直联的自动转向系统研究

针对农机装备电控液压自动转向系统生产成本高及电动方向盘自动转向系统中控制力矩小、存在自由行程的问题,设计了基于直流电机与全液压转向器直联的自动转向机构及其电控系统,该系统主要包括自动转向执行机构、自动转向控制器和液压转向机构等。自动转向执行机构与原车液压转向机构连接实现自动转向功能,考虑了底盘阿克曼角的自动转向控制器实现车轮转向的精确控制,通过在转向驱动电机输出轴安装电磁离合器和转向柱扭矩传感器实现人工驾驶模式和自动驾驶模式的自动切换。试验结果表明,车轮转角响应平均稳态误差小于0.1°,最大稳态误差为0.158°,±20°阶跃信号最快响应时间达1.2 s,超调量小于1%,可以满足对各种轮式农机的自动导航辅助驾驶转向系统性能的要求。     

杀青方式对机采绿茶理化品质的影响

为了提高茶树机采绿茶杀青品质,以机采鲜叶为原料,比较微波、汽热、电热滚筒和电磁滚筒耦合热风4种杀青方式所制机采绿茶的感官品质、茶叶内含成分、色泽和香气。结果显示：电磁滚筒耦合热风杀青所制绿茶的感官得分（89分）最高,所制干茶的色相值（a/b）相对更绿（p<0.01）,酚氨比较低（p<0.05）,非酯型儿茶素、酯型儿茶素和儿茶素总量也相对较低（p<0.01）;电磁滚筒杀青所制绿茶的栗香型成分含量较高,如藏红花醛、癸醛、β-环柠檬醛、庚醛和3,7-二甲基-2,6-二辛烯醛等高级醛类,香叶基丙酮、β-紫罗酮和1-戊烯-3-酮,反式-2-辛烯醇、芳樟醇、反式-橙花叔醇等,以及二甲硫、2-甲基呋喃和1-乙基吡咯等杂环化合物,说明电磁滚筒耦合热风杀青集成了不同工艺特点,所制机采绿茶滋味鲜爽,栗香明显,该工艺有利于提高机采绿茶品质,对实际生产具有指导作用。     

Orange peel fragment improves antioxidant capacity and haematological profile of Nile tilapia subjected to heat/dissolved oxygen‐induced stress

This study evaluated the ability of orange peel fragment (OPF) to act as a functional feedstuff, influencing growth, haematological profile, and antioxidant enzyme activity of Nile tilapia subjected heat/dissolved oxygen‐induced stress (HDOIS). A group of 440 male Nile tilapia (31.7 g ± 0.34) was randomly distributed in 40 250‐L aquaria (11 fish/tank) and fed five practical diets with graded levels of OPF at 0%, 0.2%, 0.4%, 0.6%, and 0.8% for 70 days. The diets were formulated to contain 30% crude protein and 18 MJ/kg crude energy. After the feeding period, growth performance was evaluated and six fish per treatment were sampled for haematological profile and antioxidant enzyme activity, before and after HDOIS. Then, fish were subjected to HDOIS (32°C/2.3 mg/L dissolved oxygen) for three days and the same haematological profile and antioxidant enzyme activity were determined. There was no effect of OPF on the haematological profile, either before or after HDOIS. The polynomial regression model was used to express the relationship between antioxidant enzymes activity and OPF supplementation level. The maximum activity of superoxide dismutase, catalase, and glutathione peroxidase was reached at 0.66%, 0.63%, and 0.68% of OPF respectively. Results of the present study suggest that a dietary supplementation level of 0.63%–0.68% of orange peel fragment was appropriate to maintain Nile tilapia haematological profile and improve its antioxidant capacity under HDOIS.