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1.
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。 相似文献
2.
为更加准确判识小流域地貌发育阶段,以黄土高原综合治理小流域——陕西省淳化县泥河沟流域和乾县枣子沟流域为例,分别应用盒分维方法和Horton分维方法进行水系分维值的计算,并利用面积高程积分和地貌信息熵进行验证。结果表明,泥河沟和枣子沟流域水系盒分维值分别为1.886和1.827。根据Strahler曲线积分值和地貌信息熵方法验证结果表明,盒分维方法计算的水系分维值对流域地貌发育阶段的判识更加准确、可靠;这2个流域地貌处于侵蚀发育阶段的壮龄期,其生态敏感性整体上处于较低水平,生态环境抗干扰能力增强并趋于更加稳定的状态。 相似文献
3.
木材断裂裂纹及应力场的分形研究 总被引:7,自引:0,他引:7
木材材料的各向异性夺致木材断裂裂纹具有强烈的非均质性,其在二维空间内的分布县有非线性特征。运用数盒子法对裂纹发育带在二维平面内的分布进行了分形特征研究,发现木材裂纹县有明显的分形规律,分形维数为1.2-1.5;通过比较不同时问段的裂纹发育情况,发现裂纹的分形维数随斡裂纹的扩展星增加的趋势。对木材断裂过程的应力场进行分形研霓的结果表明,裂纹应力场伞表现出分形的特征,并且分形维数在裂纹尖端处最小,在远离裂纹尖端处较大。 相似文献
4.
The soil structure was expressed with fractal dimensions of particle size distribution (PSD), aggregate size distribution
(ASD), and soil pore size distribution (SPD). The effect of soil fractal features on soil infiltration velocity and process
was studied. The result of the fractal feature shows that fractal dimensions of PSD are obviously greater than those of ASD
and SPD, and in different soil genetic horizons, the fractal dimension of ASD has the greatest variability, and shows a downtrend
on the top-to-bottom genetic horizon. According to the soil infiltration process curve, the infiltration process was divided
into three phases: (1) the initial phase (0–5 min), (2) the transition phase (5–30 min), and (3) the stable phase (30–180
min). In the initial phase of infiltration, the soil structure of soil genetic horizon A was the major influencing factor;
in the transition phase of infiltration, the pore distribution of soil horizon AB and soil structure of horizon B were the
major influencing factors; in the stable phase of infiltration, the soil structure of horizon C was the major influencing
factor to the infiltration velocity. Soil infiltration process is influenced comprehensively by soil PSD, ASD, and SPD. In
the overall soil water infiltration, the infiltration in shrub forest land was much faster than that in other land uses, and
in the initial infiltration phase, arable land soil infiltration was much faster than that in forest land, and in the stable
infiltration phase, the infiltration velocity in forest land was faster than that in arable land.
__________
Translated from Journal of Beijing Forestry University, 2006, 28(3): 73–78 [译自: 北京林业大学学报] 相似文献
5.
Lü Ning 《中国林学(英文版)》2003,5(1):39-43
Internal wood surfaces can be treated as fractals, which are between Euclidean geometry and complete randomness. The fractal dimension Dfs is very informative in investigating the roughness of the internal surfaces of wood. In this study, the water sorption isotherms, including adsorption and desorption isotherm, of untreated, benzene-alcohol extracted and delignified (after benzene-alcohol extracted) spruce (Cuninghamia lanceolata) were measured at 30℃. On the basis of these isotherms, the Dfs values were calculated by FHH equation, which is based on multimolecular sorption. The results showed that both groups of Dfs values (respectively calculated from adsorption and desorption isotherms) of untreated, benzene-alcohol extracted and delignified wood have same order, that is, untreated > benzene-alcohol extracted - delignified. Therefore, the conclusion can be made that the benzene-alcohol extractives have significant contribution to the fractal geometry of internal wood surfaces. Lignin also has influ 相似文献
6.
7.
8.
The present paper addresses the question which visual features trigger people’s often more positive affective responses to natural compared to built scenes. Building on notions about visual complexity and fractal geometry, we propose that perceived complexity of magnified scene parts can predict the greater fascinating and restorative qualities of natural versus built scenes. This prediction was tested in an experiment in which 40 participants viewed and rated 40 images of unspectacular natural and built scenes in their original size, and at 400% and 1600% magnification levels. Results showed that the original, unmagnified natural scenes were viewed longer and rated more restorative than built scenes, and that these differences were statistically mediated by the greater perceived complexity of magnified parts of natural scenes. These findings fit with the idea that fractal-like, recursive complexity is an important visual cue underlying the restorative potential of natural and built environments. 相似文献
9.
以黄金宝幼树为研究对象,经过2a左右的生长观察,分析其树冠的分形维数及其枝系构型,采用主成分分析方法对9个枝系构型指标进行分析,结果表明,黄金宝树冠幅均值的分形维数为0.57,冠幅面积的分形维数为0.18,树冠体积的分形维数为0.21;该时期以高生长为主,各枝处于生长状态,但四级枝条较少,枝条由一级转化为二级的能力高于二级转化为三级和三级转化为四级。主成分分析结果还表明,第一主成分贡献率为40.37%,第二主成分贡献率为21.61%;通过第一和第二主成分分析体现了黄金宝树该阶段的2种生态适应机制,即冠幅、冠幅面积、冠幅体积和枝径均值均趋于增大,逐步分枝率3,4和枝条倾角则均趋于减小。 相似文献
10.
从非线性角度研究期锌市场,运用R/S分析法对期锌市场进行分析,发现期锌市场的Hurst指数为0.6183,其价格收益率序列是分维时间序列,具有分形结构,维数为1.6174。期锌市场的平均周期长度为176天,具有强持续性和相关性。关联系数为19.47%,远远大于国外相关市场。在风险方面,期锌市场的风险比期铜市场的要小,而比股票市场的风险要大。 相似文献