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。     

具有解析式位置正解的2T1R并联机构运动性能分析

求解具有解析式位置正解且部分运动解耦的并联机构,有利于后续的误差分析、动力学分析、运动轨迹规划与控制等。基于方位特征方程(POC)的并联机构设计理论与方法,设计了两种具有解析式位置正解且部分运动解耦的2T1R并联机构,并对这两种机构进行了方位特征、自由度及耦合度等主要拓扑性能分析;提出基于拓扑特征的运动学建模与求解方法,并据此求解了两种机构的解析式位置正解;基于导出的位置反解,分析了两种机构工作空间、奇异位形、动平台的速度与加速度变化规律。最后比较了两种机构的运动性能,选择了优选机型。为优选机型的动力学分析与样机研制提供了理论基础。     

Ecoviability for ecosystem‐based fisheries management

Reconciling food security, economic development and biodiversity conservation is a key challenge, especially in the face of the demographic transition characterizing many countries in the world. Fisheries and marine ecosystems constitute a difficult application of this bio‐economic challenge. Many experts and scientists advocate an ecosystem approach to manage marine socio‐ecosystems for their sustainability and resilience. However, the ways by which to operationalize ecosystem‐based fisheries management (EBFM) remain poorly specified. We propose a specific methodological framework—viability modelling—to do so. We show how viability modelling can be applied using four contrasted case‐studies: two small‐scale fisheries in South America and Pacific and two larger‐scale fisheries in Europe and Australia. The four fisheries are analysed using the same modelling framework, structured around a set of common methods, indicators and scenarios. The calibrated models are dynamic, multispecies and multifleet and account for various sources of uncertainty. A multicriteria evaluation is used to assess the scenarios’ outcomes over a long time horizon with different constraints based on ecological, social and economic reference points. Results show to what extent the bio‐economic and ecosystem risks associated with the adoption of status quo strategies are relatively high and challenge the implementation of EBFM. In contrast, strategies called ecoviability or co‐viability strategies, that aim at satisfying the viability constraints, reduce significantly these ecological and economic risks and promote EBFM. The gains associated with those ecoviability strategies, however, decrease with the intensity of regulations imposed on these fisheries.     

湘桂走廊白背飞虱早期虫源及灾变大气背景

为阐明湘桂走廊白背飞虱早期虫源及大气背景在其北迁过程中的影响,利用HYSPLIT软件模拟白背飞虱灾变性迁入高峰期、始见期后向轨迹,分别从个性及共性角度,分析湘桂走廊白背飞虱主要虫源地及其灾变大气背景。结果表明：（1）1991—2014年湘桂走廊白背飞虱的迁入始见期、首次迁入高峰期分别为0.9 d/10 a、1.6 d/10 a;（2）西南路径是湘桂走廊白背飞虱初始虫源迁入的主要路径,永福站、兴安站和全州站虫源西南路径占比分别为54%、50%、72%;（3）中南半岛白背飞虱借助微弱上升气流完成起飞,850 hPa高度上的强劲的西南气流、丰富的水汽条件有利于其北迁,降水是白背飞虱降落的重要大气动力机制。研究结果为白背飞虱的异地监测及科学防治提供科学依据。     

Identification of potential genomic regions for egg weight by a haplotype-based genome-wide association study using Bayesian methods

ABSTRACT

1. Theoretically, haplotype blocks might be a more suitable alternative to SNP genotypes as they are usually better at capturing multi-allelic QTL effects, compared to individual SNP genotypes in genome-wide association studies. The objectives of this study were to identify genomic regions related to egg weight traits by Bayesian methods (BayesA, BayesB, and BayesN) that fit fixed-length haplotypes using GenSel software.

2. Genotypes at 294,705 SNPs, that were common on a 600K Affymetrix chip, were phased for an egg-laying hen population of 1,063 birds. Recorded traits included first egg weight (FEW) and average egg weight at 28, 36, 56, 66, 72 and 80 weeks of age.

2. Fitting 1Mb haplotypes from BayesB resulted in the highest proportion of genetic variance explained for the egg weight traits. Based on the trait, the genetic variance explained by each marker ranged from 27% to 76%.

3. Different haplotype windows associated with egg weight traits only explained a small percentage of the genetic variance.

4. The top one 1-Mb window on GGA1 explained approximately 4.05% of total genetic variance for the FEW. Candidate genes, including PRKAR2B, HMGA2, LEMD3, GRIP1, EHBP1, MAP3K7, and MYH were identified for egg weight traits.

5. Several genomic regions, potentially associated with egg weight traits, were identified, some of which overlapped with known genes and previously reported QTL regions for egg production traits.     

吊杯式栽植器运动轨迹优化与试验

针对吊杯式移栽机膜上成穴移栽时膜面穴口大的问题，建立栽植机构的运动模型，通过分析栽植器的运动轨迹特性得出，当栽植器的运动轨迹为余摆线，且余摆线环扣最大横弦的距离等于轨迹线与地膜交点间的距离，栽植器在上拔阶段水平方向零速度点两侧打开，有利于减小膜面穴口尺寸。通过仿真分析和膜上移栽番茄盘苗试验得出，运动轨迹特征系数λ对膜面穴口的纵向尺寸影响显著，对横向尺寸和倾斜率影响不明显。随着λ值的增大，穴口纵向尺寸先减小然后增大，在移栽频率为50和55株·min^-1时，λ为1.093的穴口纵向尺寸分别为10.12 cm和9.49 cm，是最小值； 两种移栽频率条件下，随着λ值的增大，移栽株距分别从39.8 cm减小到33.5 cm和从39.1 cm减小到33.1 cm。该结论可用于指导吊杯式移栽机结构和工作参数的优选。     

油菜基质块苗移栽机取苗装置设计与试验

针对现有油菜基质块苗取苗装置在取苗过程易脱苗和基质损失率高等问题，设计了一种往复夹取式取苗装置。根据垂直苗盘取苗、平行铅垂线投苗的取苗臂位置要求，确定了取苗装置各构件尺寸关系，构建了取苗臂的运动学模型，得出其位移方程及相对运动轨迹。以减小取苗轨迹水平间距及取苗轨迹高度为优化目标，基于Matlab软件优化取苗装置各构件参数为：主动杆长度75.10mm，取苗臂长度335.26mm，从动杆长度100.42mm，机架长度171.32mm，该参数组合下，取苗轨迹水平间距为173.20mm，取苗轨迹高度为29.56mm。构建了取苗回程苗块的动力学模型，分析了苗块临界脱苗方程，结合苗块力学特性参数测定试验，得出最小取苗夹持力为7.07N，确定了末端执行器气缸缸径为20mm。应用ADAMS软件获得仿真取苗轨迹，运用高速摄影技术测定实际取苗轨迹高度和取苗轨迹水平间距，经对比分析，实际值与理论值、仿真值的相对误差均小于3%，验证了取苗装置设计的合理性。台架试验表明，取苗成功率为93.33%，脱苗率为2.86%，基质损失率为3.75%，满足油菜基质块苗移栽要求。     

Genomic prediction for meat and carcass traits in Nellore cattle using a Markov blanket algorithm

This study was carried out to evaluate the advantage of preselecting SNP markers using Markov blanket algorithm regarding the accuracy of genomic prediction for carcass and meat quality traits in Nellore cattle. This study considered 3675, 3680, 3660 and 524 records of rib eye area (REA), back fat thickness (BF), rump fat (RF), and Warner–Bratzler shear force (WBSF), respectively, from the Nellore Brazil Breeding Program. The animals have been genotyped using low-density SNP panel (30 k), and subsequently imputed for arrays with 777 k SNPs. Four Bayesian specifications of genomic regression models, namely Bayes A, Bayes B, Bayes Cπ and Bayesian Ridge Regression methods were compared in terms of prediction accuracy using a five folds cross-validation. Prediction accuracy for REA, BF and RF was all similar using the Bayesian Alphabet models, ranging from 0.75 to 0.95. For WBSF, the predictive ability was higher using Bayes B (0.47) than other methods (0.39 to 0.42). Although the prediction accuracies using Markov blanket of SNP markers were lower than those using all SNPs, for WBSF the relative gain was lower than 13%. With a subset of informative SNPs markers, identified using Markov blanket, probably, is possible to capture a large proportion of the genetic variance for WBSF. The development of low-density and customized arrays using Markov blanket might be cost-effective to perform a genomic selection for this trait, increasing the number of evaluated animals, improving the management decisions based on genomic information and applying genomic selection on a large scale.     

植物在生态旅游中的作用及其功能评价

通过调查分析,从植物的美学特点、植物的特殊用途、珍稀濒危植物、古树名木等方面来探讨植物在生态旅游中的作用;根据植物在生态旅游中的作用,建立了植物在生态旅游中的功能评价指标体系层次结构模型,并运用AHP方法确定了各指标的权重。