基于RBF网络的联合收获机脱粒滚筒恒速控制

对联合收获机行走、收割、脱粒系统进行分析,提出了系统数学模型的基本形式.针对该模型的高阶次、非线性和难以准确获得具体参数等问题,将模型差分方程的基本形式分解为与控制信号无关和有关的2个部分,利用RBF神经网络技术分别对2个部分进行在线辨识,控制器根据辨识结果进行控制,构建了自适应控制.利用该系统进行了不同条件下的仿真和试验,试验证明利用RBF网络可快速有效地拟合被控对象.当对象参数发生变化时,系统可实现跟踪适应,达到较好的控制效果.     

Family by environment interactions in shell size of 43-day old silver-lip pearl oyster (Pinctada maxima), five families reared under different nursery conditions

To understand the influence the environment and associated genotype by environment interactions will exert on future silver-lip pearl oyster (Pinctada maxima) selective breeding programs, this study assessed the relative performance in four shell growth traits of spat from five full-sib families, when spat were communally reared at different salinities (29, 34 and 40 ppt), food availability (high, medium and low), food quality (high, medium and low), and in a hatchery vs. ocean environment for 43 days.Rearing environment was found to influence growth expression, with significant differences evident when oysters were grown at different salinities in the ocean instead of hatchery, or when fed algae of differing nutritional quality. As indicated by MANOVA, family comparative growth performances were also altered when the environment changed, with significant environment by family interactions apparent in the food quality, food availability and hatchery vs. ocean rearing treatments. Changes in salinity, however, did not affect relevant family performances.These results indicate that growth and relative family performance in P. maxima may change dependent on local environmental conditions and that genotype by environment effects may need to be considered in breeding programs for this species.     

Genotypic variation in grain cadmium concentration of lowland rice

Cadmium (Cd) contamination of paddy rice soils is commonly observed in the Yangtse River Delta, China. Large Cd uptake by rice plants and its translocation into the grains can entail human‐health risks. Genotypic variations in Cd uptake and a differential Cd partitioning into grains will be the basis for developing a rice screening or breeding tool for low grain Cd. A field experiment, conducted at the experimental farm of Jiaxing, Zhejiang province from 2002 to 2004, compared 38 rice genotypes of different types (indica vs. japonica) collected from the Yangtse River Delta. The results showed large differences in Cd concentrations in straw, brown rice, and grain chaff among the rice genotypes grown on Cd‐contaminated soil. Concentrations in brown rice ranged from 0.06 to 0.99 mg Cd kg^–1. The total Cd uptake in brown rice varied between 0.96 and 28.58 μg plant ^{– 1}. In general, indica‐type cultivars accumulated significantly more Cd than the japonica‐type cultivars. The Cd concentration in straw was highly correlated with that in brown rice. While significant differences in the Cd‐partitioning ratio (% share of total Cd uptake found in brown rice) among rice genotypes were observed, these were not correlated with Cd concentration of brown rice. This indicates that the Cd accumulation in rice grains appears to be governed mainly by the Cd uptake by the plant and probably not by differential Cd partitioning. The large genotypic variation suggests the possibility to lower the Cd content of rice by genotype selection. The development of such breeding tools should focus on low Cd uptake rather than Cd partitioning between straw and grain.     

基于机器视觉的水下河蟹识别方法

为了探测河蟹在池塘中的数量及分布情况,为自动投饵船提供可靠的数据反馈,提出了基于机器视觉的水下河蟹识别方法。该方法通过在投饵船下方安装摄像头进行河蟹图像实时采集,针对水下光线衰减大、视野模糊等特点,采用优化的Retinex算法提高图像对比度,增强图像细节,修改基于深度卷积神经网络YOLO V3的输入输出,并采用自建的数据集对其进行训练,实现了对水下河蟹的高精度识别。实验所训练的YOLO V3模型在测试集上的平均精度均值达86. 42%,对水下河蟹识别的准确率为96. 65%,召回率为91. 30%。实验对比了多种目标检测算法,仅有YOLO V3在识别准确率和识别速率上均达到较高水平。在同一硬件平台上YOLO V3的识别速率为10. 67 f/s,优于其他算法,具有较高的实时性和应用价值。     

农业机器人自主导航改进自适应滤波控制器研究

为提高导航精度与控制精度,对农业机器人的自主导航控制进行研究。结合Sage-Husa自适应滤波与强跟踪卡尔曼滤波两种算法优点,利用严格收敛判据,设计了改进的自适应卡尔曼滤波算法。新算法保证了系统的实时性和稳定性,且具有更好的滤波精度。利用变结构切换方法来阻止PID控制器积分饱和现象,有效解决了控制器过饱和问题。将改进的自适应滤波算法与变结构PID控制器相结合,可提高导航系统的稳定性和精度。对所提理论进行仿真与试验,结果表明该方法大幅度提高了滤波器抑制发散的能力和导航的控制精度。     

水产养殖无人导航明轮船运动仿真与试验

无人导航明轮船依据目前经验公式计算的明轮推力和实际推力偏差较大,不利于控制系统的设计,为此给出明轮驱动力计算方法,建立明轮船水动力仿真模型,并据此进行了正航和回转仿真。为验证模型,在试验艇上安装高精度GPS设备及通信装置,在设定明轮船航速0.4 m/s、左明轮转速60 r/min、右明轮转速40 r/min条件下进行了试验,测量并记录了航行轨迹数据,经GPS设备测量得到的回转直径为3.2 m。仿真和试验结果表明,通过控制明轮可以使明轮船实现正航和回转运动,具有较好的低速机动性和操纵性。     

采摘机器人视觉伺服控制系统设计

分析了采摘机器人目标位置与机器人关节角度之间的运动学关系,给出了两者之间的坐标变换公式.根据伺服控制特点,在机器人伺服控制中引入模糊PID控制方法,利用模糊控制策略在线自适应整定PID参数,提高了控制系统的动、静态性能.仿真和实验结果验证了设计的合理性和有效性.     

配电系统可靠性数据统计与分析

本文以某市配电系统为主要研究对象，通过与国内外配电系统可靠性数据的对比，找出该配电系统在网络结构，设备可靠性及运行管理方面的不足，提出提高其可靠性的技术与管理措施。     

Feasibility of using FGD gypsum to conserve water and reduce erosion from an agricultural soil in Georgia

Crop production in Georgia and the Southeastern U.S. can be limited by water. Highly-weathered, drought-prone soils are susceptible to runoff and erosion. Rainfall patterns generate runoff producing storms followed by extended periods of drought during the crop growing season. Thus, supplemental irrigation is often needed to sustain profitable crop production. Increased water retention and soil conservation would efficiently improve water use and reduce irrigation amounts/costs and sedimentation, and sustain productive farm land, thus improving producer's profit margin. Soil amendments, such as flue gas desulfurization (FGD) gypsum, have been shown to retain rainfall and/or irrigation water through increased infiltration while decreasing runoff (R) and sediment (E). Objectives were to quantify rainfall partitioning and sediment delivery improvements with surface applied FGD gypsum from an Ultisol managed to conventional till (CT) and to assess the feasibility of using FGD gypsum on agricultural land in southern Georgia. A field study (Faceville loamy sand, Typic Kandiudult) was established (2006, 2007) near Dawson, GA managed to CT, irrigated cotton (Gossypium hirsutum L.). FGD gypsum application rates evaluated were 0, 1.1, 2.2, 4.5, and 9 Mg ha^− 1. Gypsum treatments and simulated rainfall (50 mm h^− 1 for 1 h) were applied to 2-m wide × 3-m long field plots (n = 3). Runoff and E were measured from each 6-m² plot (slope = 1%). FGD gypsum plots averaged 26% more infiltration (INF), 40% less R, 58% less E, 27% lower maximum R rates (R_max), and 2 times lower maximum E rates (E_max) than control plots. Values of INF and water for crop use increased, and R, E, R_max, and E_max decreased as FGD gypsum application rate increased. Values of INF, R, E, R_max, and E_max for 9 Mg ha^− 1 plots were as much as 17% greater, 35% less, 1.9 times less, 35% less, and 1.9 times less than those from other FGD gypsum plots, respectively; and 40% greater, 40% less, 2.2 times less, 52% less, and 2.9 times less than those from control plots, respectively. Applying FGD gypsum to agricultural lands is a cost-effective management practice for producers in Georgia that beneficially impacts natural resource conservation, producer profit margins, and environmental quality. Agriculture in the Southeast provides a viable market for the electric power industry to convert disposal costs of FGD gypsum into a profitable commodity.