直流电机驱动农用履带机器人轨迹跟踪自适应滑模控制

为了提高农用履带机器人轨迹跟踪控制的性能,将履带机器人模型视为由电机驱动方程和运动方程组成的级联系统,在考虑了履带机器人运动学模型和电机驱动模型动态特性的基础上,构建了一种变倾斜参数的自适应积分滑模切换函数,基于这个函数设计了由等效控制和切换控制组成的自适应滑模控制,将机器人的位姿误差以及在线辨识的驱动电机时变不确定参数反馈至控制器中,计算出左右轮驱动电机的期望角速度,控制履带机器人运行。田间试验结果表明,当机器人分别以1,3,4 m/s速度运行时,在运动方向距离误差、侧向距离误差和航向角的误差分别在-0.04~0.04 m,-0.09~0.07 m和-0.03~0.05 rad范围内。因此,基于电机驱动的机器人自适应滑模控制具有良好的控制精度,能够满足田间实际作业的要求。     

High fluid shear strain causes injury in silver shark: Preliminary implications for Mekong hydropower turbine design

The Lower Mekong Basin is facing unprecedented threats to fish diversity from hydropower development. There is increasing pressure on developers and construction authorities to design solutions to improve fish survival through turbines, thus protecting the resources in regions being developed for hydropower. A hydraulic characteristic of hydropower turbines with known fisheries impacts is fluid shear stress. Elevated shear stress occurs where rapidly flowing water passes near spillways, screens and within turbine draft tubes. Shear stress can have adverse impacts on fish, but no work has assessed whether this holds true for Mekong River species. A flume was used to determine critical tolerances of silver shark, Balantiocheilos melanopterus (Bleeker), to shear stress rates at a high‐velocity jet which simulated a hydropower turbine. Fish were assessed for injury or mortality following exposure. Results were compared against a no‐shear control. Injury and mortality were greater at higher shear stress exposures. Injuries occurred at all shear exposure levels with mortality at shear levels higher than 600/s. This approach should help design future hydropower turbines if data on other species demonstrate similar results. If the likelihood of adverse impact is high, then shear stress will need to be considered in the design of future hydropower facilities.     

Turbine entrainment and passage of potadromous fish through hydropower dams: Developing conceptual frameworks and metrics for moving beyond turbine passage mortality

Potadromous fishes are vulnerable to involuntary entrainment through hydropower turbines. However, turbines can also provide a downstream passage route for potadromous fish. Here, we review evidence for turbine entrainment and passage in potadromous fish, and evaluate the effects of these processes on upstream and downstream populations. We develop conceptual frameworks and metrics to quantify vulnerability to turbine entrainment removals, and to quantify the efficiency of turbines as a downstream passage route. We highlight factors that influence these processes and provide case‐studies demonstrating their applicability. We found that juvenile potadromous fish are being entrained through turbines at rates high enough to impact upstream populations. Given that juvenile passage survival is often high, we argue that turbines provide an important downstream passage route for potadromous fish. We show that entrainment vulnerability is likely a function of interactions between in‐reservoir fish behaviour, habitat configuration and operations and thus not well captured by passage mortality estimates. Similarly, we show that while passage mortality can limit downstream passage efficiency, passage success is also dependent on reservoir and forebay navigation, along with survival and fitness in the downstream river. We advocate for a shift in focus away from estimates of passage mortality and injury, which have previously accounted for the majority of turbine passage research. Instead, we recommend an approach that focusses on quantification of the factors that influence downstream passage efficiency and entrainment vulnerability. Moreover, we highlight the need to better understand the broader scale impacts of these events on upstream and downstream populations.     

基于变分法的FY-3C土壤水分产品适用性分析

FY-3C作为我国风云三号首颗业务卫星,其上搭载的微波成像仪(MWRI)可提供全天候土壤水分数据。【目的】获取高质量土壤水分数据可以对合理利用土壤水资源提供参考,为农田干旱监控和预报提供基础参数。【方法】选取山东省农业气象站土壤水分数据对FY-3C土壤水分产品进行检验,为获取更高质量FY-3C土壤水分产品,选用变分订正方法对FY-3C土壤水分产品进行偏差订正。【结果】FY-3C升降轨土壤水分产品与地面站土壤水分相关系数R分别为0.481 6和0.408 2,RMSE分别为0.099 6和0.091 0 cm~3/cm~3。订正后FY-3C升降轨土壤水分产品与地面站土壤水分R分别为0.701 4和0.892 4,RMSE分别为0.021 7和0.011 cm~3/cm~3。对2016年3—4月山东省干旱过程订正前、后FY-3C土壤水分变化情况进行对比,订正后FY-3C土壤水分更准确地反映出此次干旱过程。【结论】FY-3C土壤水分产品可以准确反映土壤水分随时间的变化趋势,订正后FY-3C土壤水分产品与地面站土壤水分间误差减小、相关性提高。     

气候变化背景下中国主要作物农业气象灾害时空分布特征(Ⅱ):西北主要粮食作物干旱

基于中国西北地区1961-2010年149个气象站点逐日气象资料及春小麦、春玉米和夏玉米生育期资料,采用作物水分亏缺指数(CWDI)为作物干旱指标,明确了研究区域内3种作物干旱的空间分布特征和时间演变规律。研究结果表明:(1)3种作物生长季内及各生育阶段,干旱发生频繁,尤以特旱和重旱发生范围广、频率高,轻旱和中旱多发生在研究区域东部,甘肃南部和陕西南部等个别地区干旱发生频率相对较小。(2)春小麦生长季内干旱发生站次比为79.1%,春玉米生长季内干旱发生站次比为84.5%,夏玉米干旱发生站次比为77.4%;夏玉米生长季内站次比波动较小,春小麦和春玉米波动较大。总体而言,研究时段内春小麦生长期干旱发生站次比呈减小趋势,降幅为每10a减少0.55个百分点,春玉米和夏玉米干旱站次比呈增加趋势,增幅分别为每10a增加0.24个百分点和0.20个百分点。(3)研究区域东部春小麦和春玉米各生育阶段干旱强度呈增加趋势,西部呈下降趋势;夏玉米干旱强度在陕西北部、宁夏和河西走廊呈增加趋势,其它地区多为降低趋势。     

Movement patterns of seaward migrating European eel (Anguilla anguilla) at a complex of riverine barriers: implications for conservation

River infrastructure such as weirs and hydropower stations commonly present migrating fish with multiple potential passage routes. Knowledge of the cues fish use to navigate such environments is required to protect migrants from hazardous areas and guide them towards safe passage; however, this is currently lacking for many species. Employing high‐resolution positioning telemetry, this study examined movements of downstream migrating adult European eel, Anguilla anguilla, as they encountered a complex of water control structures in one location on the River Stour, southern England. The distribution of eels across five potential routes of passage differed from that predicted based on proportion of discharge alone. Certain routes were consistently avoided, even when the majority of flow passed through them. Passage distribution was partially explained by avoidance in the vicinity of a floating debris boom. Movement paths were nonrandomly distributed across the forebay and eels moved predominantly within a zone 2–4 m from the channel walls. Understanding of avoidance and structure oriented movementation exhibited by eels will help advance effective guidance and downstream passage solutions for adults.     

Fishing for conservation of freshwater tropical fishes in the Anthropocene

1. The ecosystem services provided by freshwater biodiversity are threatened by development and environmental and climate change in the Anthropocene.
2. Here, case studies are described to show that a focus on the shared dependence on freshwater ecosystem functioning can mutually benefit fisheries and conservation agendas in the Anthropocene.
3. Meeting the threat to fish biodiversity and fisher livelihood is pertinent in developing regions where there is often a convergence between high biodiversity, high dependency on aquatic biota and rapid economic development (see Kafue River, Logone floodplain, Tonle Sap, and Rio Negro case studies).
4. These case studies serve as evidence that biodiversity conservation goals can be achieved by emphasizing a sustainable fisheries agenda with partnerships, shared knowledge and innovation in fisheries management (see Kafue River and Kenai River case studies).
5. In all case studies, aquatic biodiversity conservation and fisheries agendas are better served if efforts focused on creating synergies between fishing activities with ecosystem functioning yield long‐term livelihood and food security narratives.
6. A unified voice from conservation and fisheries communities has more socio‐economic and political capital to advocate for biodiversity and social interests in freshwater governance decisions.

     

基于两层协调模型的多级扬水灌区供水调配优化

针对宁夏回族自治区扬水灌区水资源紧缺、供水扬程高、不同灌溉方式并存、供水调配困难、运行成本高等问题,开展了多级扬水灌区的供水调配优化研究。考虑研究区供水具有多层次、相互联系、组成复杂、影响因素众多等特点,建立了具有二层递阶结构的供水调配多目标优化模型。模型以各层缺水量平方和最小和运行功耗最小为目标,考虑不同灌溉时段影响,第1层建立单个泵站供水调度优化模型,以进行单个泵站控制区内各时段输蓄水量分配优化;第2层建立多级泵站供水调配优化模型,以优化系统内各级泵站系统各时段供水量和提水量。两层之间以供水量作为协调变量,依据大系统分解-协调原理进行求解,充分考虑了不同层次之间水量调配和主体利益的协调。灌区应用表明,所构建模型能有效进行多级扬水灌区水量调配优化,给出了核定水量下各级泵站系统水量分配优化方案,优化方案较好地缓解了各级泵站间的供水调配时空矛盾,显著减小了系统缺水量。研究结果可为灌区管理者进行实际水量调配和管理提供决策支持和技术支撑。     

Habitat suitability,coverage by protected areas and population connectivity for the Siamese crocodile Crocodylus siamensis Schneider, 1801

1. With estimates of fewer than 1000 mature individuals in the wild, the critically endangered Siamese crocodile, Crocodylus siamensis Schneider, 1801, is one of the least known and at the same time most threatened crocodilian species in the world. Populations have already been depleted to approximately 20% of their former size with habitat destruction, alterations, and loss being the main drivers of population declines.
2. Habitat suitability models were computed using a combination of bioclimatic and remote sensing variables as environmental predictors to evaluate habitat suitability and coverage by designated protected areas across the species’ distributional range. In addition, population connectivity as well as current and future habitat fragmentation through dam construction was assessed by performing population connectivity models.
3. Habitat suitability models show the spatial extent of suitable habitat to be high (46%), although only a small proportion is covered by designated reserves (11%). Population connectivity models showed remnant populations to be highly fragmented. Considering habitat suitability, coverage of reserves and population connectivity the lower Mekong River Basin stretching from the Xe Champhon and Xe Xangxoy rivers in Lao PDR to the Srepok and Sekong rivers in eastern Cambodia seem to be particularly important for future conservation prioritization for C. siamensis.
4. The presently established protected area network is unsatisfactory in terms of size and population connectivity and needs to be significantly improved to successfully sustain viable populations of the critically endangered Siamese crocodile in the future.

Copyright © 2014 John Wiley & Sons, Ltd.     

自动雨量站常见故障和排除方法及维护

通过对山西省永济市气象局72年安装的长春DYYZ2型雨量传感器和山西省技术装备中心研制的采集器为例,分析乡镇自动雨量站的常见故障,提出了排除办法及维护时的注意事项。