带有自锁式关节的农业六足机器人能耗优化模型及验证

六足机器人具有成为丘陵山区未来重要农业装备的潜力,但高能耗是其实际应用的技术瓶颈。普通机器人关节无自锁特性导致其在静立时也需耗能以克服重力,而如果让关节自锁以保证静立时不耗能,则运动能耗又将大幅提高。为此,该文以机器人在运动及静立过程中的综合能耗最少为目标,给出带部分自锁式关节的六足机器人设计方案,提出其能耗优化模型：引入经试验验证的关节正反向驱动力矩传递效率差异来修正现有模型缺陷,基于地面力学修正现有约束条件,针对自锁式关节不同配置给出对应的目标函数。以模型给出的能耗极小值为评定依据,对自锁式关节进行优化配置。试验及仿真结果表明：所提出的能耗优化模型比现有模型更准确,能进一步降低运动能耗40%以上;对特定构型的六足机器人,不使用自锁式关节时静立功耗超过38 W,所有关节均可自锁时运动能耗比前者高3倍以上;在应用该文优化模型和最优关节配置方案后,既可保证静立能耗为0,又可保证运动能耗与不使用自锁式关节时基本相当：完成30°下坡、平路、30°上坡行走时,运动能耗仅分别高出14.2%、16.3%、45.5%。该文提出的能耗优化模型可为带有自锁式关节的农业六足机器人设计和能耗优化提供理论支持。     

六足制孔机器人三自由度并联机械腿的误差模型及验证

为了研制六足制孔机器人,提出了一种基于(U+UPS)P+UPS机构的三自由度并联机械腿,建立了机械腿机构的误差模型与评价方法,并通过误差分析制造出机械腿试验样机,对试验样机进行了误差标定试验研究。首先,采用矢量链法建立了机械腿机构的误差矢量约束方程,得到了机械腿机构的误差传递模型。接着,定义了一组误差敏感性评价指标,并绘制了误差敏感性评价指标在机械腿机构工作空间内的分布曲面。然后,基于误差敏感性评价指标及机构其他机构学性能,采用蒙特卡罗法对机械腿进行了结构参数设计,选取了一组结构参数,制造了机械腿试验样机。最后,采用一套高精度机器人标定系统对机械腿试验样机进行了误差标定。试验表明:机械腿试验样机的位置误差实测值与理论值之间偏差均小于0.003 mm,姿态误差实测值与理论值之间偏差均小于0.05°,误差敏感性评价指标的实测值与理论值的差值均小于0.03。机械腿试验样机的误差均在合理范围之内,基本达到了设计要求。     

An observational study on precipitation chemistry data as a function of surface wind direction

Precipitation chemistry data were collected at 8 sites in the western part of the Netherlands over a period of 151/2 yr. Using specially-designed wind direction-dependent rain collectors, it is demonstrated that levels of ion constituents in rain water vary with wind direction, which can be assigned to different sources of contamination. The strongest variation was measured for Na⁺. As expected, trajectories over sea contributed most. Continental sources slightly reduced the variation for Cl^? and Mg²⁺. For both NH _inf4 ^sup+ and excess SO _inf4 ^sup2? , maxima were found in southeasterly rainfall. It is assumed that polluted air from the large industrial Ruhr Area crosses a region with strong NH₃ emissions in the Southeast of the Netherlands. The presence of ammonium sulfate was suggested. Minor variations were measured for NO _inf3 ^sup? (due to diffusely-spread emissions and possible sampling artefact) and for H⁺ and Ca²⁺ (dry-deposition effects). Over the period 1973–1987 excess-SO _inf4 ^sup2? levels decreased significantly (?3.3% yr^?1, p<0.01) which is consistent with reduced S emission in Western Europe. Over the last decade an upward trend in NO _inf3 ^sup? levels has been observed (3.2% yr^?1, p<0.05) which is possibly related to the increased usage of cars.     

Amino sugar determination in organic soils by capillary gas chromatography using a nitrogen-selective detector

A method is described for the analysis of amino sugars in humus layers by capillary gas liquid chromatography. After acid hydrolysis and reduction, amino sugar alcohols are baseline separated as their trifluoroacetates. Hexosamines are selectively detected using a nitrogen-specific, flameless thermoionic detector and quantified with p-aminophenol HCl as internal standard. This procedure is applied to determine the amino sugar contents and hence to characterize the relative role of fungi and bacteria in the decomposition process in a Lithic Borofolist.     

基于NB-IoT技术的土壤重金属检测仪设计与验证

为解决土壤重金属检测准确度较低、实时性差以及数据分散的问题,该研究设计了一种基于窄带物联网(NarrowBand Internet of Things,NB-IoT)技术的土壤重金属检测仪.自主研发高准确度能量色散X射线荧光光谱仪,将测量得到的数据通过NB-IoT实时上传到数据集成云平台.设计试验探究了该设备的最佳测试...     

Atmospheric deposition in acid sensitive areas of Ireland — The influence of wind direction and a new coal burning electricity generation station on precipitation quality

Greater acidity and substantially higher annual deposition of the major ions, were recorded in the precipitation at Glencree (Co. Wicklow) on the east coast of Ireland compared to those recorded at the west coast sampling stations. The daily average deposition of hydrogen ions, non-marine sulphate and oxidized nitrogen was higher at all sampling locations when associated with air masses arriving from the east compared with those from the west, particularly at Glencree. The impact of emissions from the coal-fired power station at Moneypoint (Co.Clare) on the precipitation was negligible at all sampling locations except at Gortglass, a point 19 km to its east. At this sampling point the higher concentrations and deposition for hydrogen ion and non-marine sulphate were associated with air masses expected to show the influence of the Moneypoint power station.     

Comparison of stirring and vortex mixing for the extraction of available nutrients from soil using a laboratory robot

Abstract

We investigated the efficiency with which a laboratory robot is able to extract available nutrients from soil contained in tubes. We have shown that for vortex mixing, the volume of soil and extractant are of critical importance. In cases where the soil/extractant volumes are small (e.g. 2 mL soil: 10 mL extractant), extraction of all the nutrients investigated was good. However, keeping the ratio the same, but increasing the volumes to 6 mL soil:30 mL extractant leads to an overall decrease in extracting efficiency. Using a paddle stirrer to mix the soil and extractant together results in the same extraction efficiency across the range of soil/ extractant volumes.     

基于本征正交分解的水平轴风力机非定常尾迹特性分析

风力机的尾流效应对下游风力机的气动性能和疲劳载荷均有重要影响。为了研究叶尖速比对水平轴风力机非定常尾迹特性的影响,该研究在中性大气条件下采用基于致动线模型的大涡模拟（Large Eddy Simulation, LES）方法对不同叶尖速比下运行的风力机进行了数值模拟,并采用本征正交分解（Proper Orthogonal Decomposition, POD）方法对风力机尾迹结构进行了分析。结果表明,叶尖速比对风力机下游12D（D为风轮直径）范围内速度分布有显著影响,随着流向距离的增加,叶尖速比的影响逐渐减弱;风轮尾迹中2D处的速度亏损最大,在下游28.5D附近速度完全恢复;叶尖速比对风力机尾迹湍流强度有很大影响,叶尖速比为2时尾流湍流强度最弱,而叶尖速比为3时尾流湍流强度最大,说明该叶尖速比下尾流与大气边界层掺混作用剧烈,有利于尾迹速度恢复;叶尖速比对风力机尾迹结构的尺度和含能大小有显著影响,叶尖速比为3时尾迹中的大尺度结构及其含能占比最高,随着POD模态阶数的增加,尾流结构尺度和含能逐渐减小;风力机尾迹结构由反向旋转的高、低速涡对组成,其垂向尺度可达到整个边界层厚度,而风力机风能吸收利用效率主要体现在尾迹展向湍涡结构的尺度。该研究可为深入理解叶尖速比对风力机尾迹平均统计特征及结构演化的影响提供依据,为风力机优化设计和运行策略制定提供帮助。     

Quantitation of clovamide-type phenylpropenoic acid amides in cells and plasma using high-performance liquid chromatography with a coulometric electrochemical detector

A high-performance liquid chromatography (HPLC) method was developed for measuring the concentrations of clovamide-type phenylpropenoic acid amides (N-caffeoyldopamine and N-caffeoyltyramine) in cell and plasma samples. The separation was performed on a Nova-Pak C18 column using an isocratic buffer with a coulometric electrochemical detector with four electrode channels. Using the HPLC method, N-caffeoyldopamine and N-caffeoyltyramine could be detected with good peak resolutions at respective retention times (4 and 6.4 min). The calibration curves were linear over the ranges (0.1 and 100 microM), and their lower limit of detection was as little as 100 fmol. For quantifying N-caffeoyldopamine and N-caffeoyltyramine in cell and plasma samples, the samples were extracted by extraction methods with more than 95% recoveries. After extraction, the amides were detected with the same sensitivity, peak resolutions, and retention times. Using this method, plasma concentrations of N-caffeoyltyramine were determined in blood samples collected at 12, 24, 30, 36, 48, 60, and 75 min after the oral administrations of N-caffeoyltyramine (0.5 mg and 2 mg/30 g body weight). This HPLC method with an electrochemical detector is the first reported method able to quantify N-caffeoyldopamine and N-caffeoyltyramine in biological samples with excellent detection limits, peak resolutions, discrete retention times, and consistent reproducibility.     

Determination of acidic herbicides and related compounds in water and soil by capillary gas chromatography using a nitrogen-phosphorus detector

Methods are described for the determination of acidic herbicides and related compounds in water and soil. Eight acidic herbicides and related compounds were extracted from water using either dichloromethane or an XAD-2 resin column. The acidic moieties were derivatized with 2-cyanoethyldimethyl(diethyl)aminosilane. The derivatized compounds were separated using capillary gas chromatography and quantitated using a nitrogen-phosphorus detector. Extraction from water using dichloromethane or an XAD-2 resin column resulted in recoveries greater than 90% at 0.1 ppb with an average coefficient of variation (CV) of 6%. In soils extracted with aqueous acetonitrile-acetic acid and partitioned into dichloromethane, recoveries at 500 ppb were greater than 75% with an average CV of 3.3%. The methods are rapid and there are few interferences.     

基于可穿戴设备的母猪产后行为识别

产后母猪行为监测是智慧养殖的重要研究方向。该研究基于可穿戴设备对母猪产后行为进行识别。可穿戴设备内置9轴姿态传感器（包括加速度计、陀螺仪和磁力计）分别固定在母猪的耳部和后腿,采集体动、饮水、进食、哺乳、熟睡和静卧6种典型产后行为数据。根据实际应用场景中的硬件和网络条件,采用适用于低功耗可穿戴设备数据流的时域特征提取方法和随机森林算法构建母猪产后行为识别模型。行为识别试验结果显示,部署在后腿的传感器能够更好地识别母猪的产后行为,基于随机森林算法的母猪行为识别模型的平均准确率为96.16%。与基于逻辑回归、朴素贝叶斯、支持向量机、决策树、全连接神经网络和卷积神经网络6种行为识别模型的对比试验结果显示,基于随机森林的母猪行为识别模型的准确率明显提高。研究结果可为母猪产后行为监控和健康评估提供参考。     

苹果四臂采摘机器人系统设计与试验

针对鲜食苹果智能化高效采收需要,该研究设计了四臂并行采摘的“采-收-运”一体式机器人系统,以代替人工采收作业。以中国矮砧密植高纺锤果树为对象,根据树冠内果实空间分布特征,提出了四臂并行采摘执行部件的作业方式;建立了基于多任务深度卷积网络的果实可见区域识别模型,实现受遮挡果实离散区域语义分割及其归属关系的端到端判别;在此基础上,根据果实表面局部点云信息对其质心进行空间定位;提出了基于时间最优的四臂协同采摘任务规划方法,以实现机械臂对树冠内不同区域的高效遍历。最后在采摘机器人关键部件集成的基础上,在矮砧密植标准果园进行生产试验。试验结果表明,机器人对树冠内可见果实的识别率为92.94%,被识别果实中定位精度满足机器人采摘操作要求的比例为90.27%;机器人平均采摘效率为7.12 s/果,其中四臂协同采摘效率约为单臂采摘效率的1.96倍;对可见果实采摘成功率为82.00%,对树冠内全部果实的采收率为74.56%,枝叶遮挡干涉是造成采摘失败的主要原因。该研究可为鲜果智能化采摘模式的探索应用提供技术支撑。     

Determination of D-chiro-Inositol in tartary buckwheat using high-performance liquid chromatography with an evaporative light-scattering detector

A simple method for rapid determination of d- chiro-inositol (DCI) (a potent mediator of insulin metabolism) contained in tartary buckwheat ( Fagopyrum tataricum L. Gaench) was developed on the basis of high-performance liquid chromatography coupled to an evaporative light scattering detector (ELSD). DCI was separated from an extract of tartary buckwheat on an Alltech Prevail Carbohydrates ES 5 mum column. During postcolumn detection, DCI was detected by ELSD. The detection limit was 100 ng. This method was sensitive enough for determining DCI in tartary buckwheat and its related products.     

Three-dimensional computer-aided human factors engineering analysis of a grafting robot

The objective of this research was to conduct a human factors engineering analysis of a grafting robot design using computer-aided 3D simulation technology. A prototype tubing-type grafting robot for fruits and vegetables was the subject of a series of case studies. To facilitate the incorporation of human models into the operating environment of the grafting robot, I-DEAS graphic software was applied to establish individual models of the grafting robot in line with Jack ergonomic analysis. Six human models (95th percentile, 50th percentile, and 5th percentile by height for both males and females) were employed to simulate the operating conditions and working postures in a real operating environment. The lower back and upper limb stresses of the operators were analyzed using the lower back analysis (LBA) and rapid upper limb assessment (RULA) functions in Jack. The experimental results showed that if a leg space is introduced under the robot, the operator can sit closer to the robot, which reduces the operator's level of lower back and upper limbs stress. The proper environmental layout for Taiwanese operators for minimum levels of lower back and upper limb stress are to set the grafting operation at 23.2 cm away from the operator at a height of 85 cm and with 45 cm between the rootstock and scion units.     

保护性措施对农田土壤风蚀影响的室内风洞模拟

为寻求合理的保护性耕作措施,试验设计了砾石覆盖、秸秆覆盖、覆盖与留茬组合的措施和4个风速等变量,研究风速、覆盖物和覆盖度与风蚀量、抗风蚀效率、风沙流结构的关系,比较多种措施之间的抗风蚀效果优劣.结果表明:1)4个设定风速下30％ ～ 90％覆盖度的秸秆覆盖的抗风蚀效率在54％ ～ 92％之间,砾石覆盖为26％～72％,30％的砾石覆盖或30％的秸秆覆盖与3种留茬高度的组合措施下,平均抗风蚀效率均在70％ ～ 78％之间;2)随着覆盖度的增加,砾石覆盖措施最小可抑制的有效风速值从8.0 m/s逐渐增大到12.5 m/s,秸秆覆盖措施从10.1m/s增加到了14.3 m/s;3)覆盖处理下0～62 cm高度内的输沙量大部分集中在0～26 cm;4)覆盖与留茬组合措施的输沙量多集中在60 cm以内.     

染色体步移技术克隆已知序列侧翼启动子的研究进展

启动子是基因表达调控的关键顺式作用元件,也是基因工程表达载体的一个重要元件.对启动子结构和功能的阐释,有助于基因表达的时空控制.选择恰当方法克隆序列未知的启动子有着非常重要的意义和广阔的应用前景.随着PCR技术的问世,基于PCR扩增的染色体步移技术进行启动子克隆具有较好的可操作性,其在基因的分子生物学和基因工程研究方面也是一项重要的技术策略.本文讨论了近年来以PCR为基础的染色体步移技术克隆启动子的方法,主要包括反向PCR、接头介导PCR、半随机引物PCR三大类,归纳比较了其克隆原理和研究进展,为克隆己知序列旁侧未知启动子序列提供参考.     

Aerodynamic roughness of cultivated soil and its influences on soil erosion by wind in a wind tunnel

Serious soil erosion on cultivated soil by wind occurs extensively in semiarid regions. Surface roughness of cultivated soil that can be characterized by aerodynamic roughness length (z₀) has important implications to wind erosion. Here we report the wind tunnel results of aerodynamic roughness lengths of five treated soils and soil wind erosion rates at different z₀ and wind velocities. The results suggest that the diameter of the largest soil clods exposed and uniformly distributed on the soil surface is an important factor that controls aerodynamic roughness length. Negatively related to aerodynamic roughness length under provided wind velocity, wind erosion rate is a function of z₀ and wind velocity for cultivated soil. Erosion rates decreased with aerodynamic roughness length especially when z₀ is smaller than 0.1 cm and increase non-linearly with wind velocity, and that the smaller the aerodynamic roughness is, the more rapid that increase will be. Regression model comprising z₀ and wind velocity is developed for predicting wind erosion rates for cultivated soil, which quantitatively reflects the influences of aerodynamic roughness length on soil erosion at various wind velocities.