基于改进纯追踪模型的温室采摘运输自动跟随系统

基于Kinect体感感应技术,设计了一套温室果蔬采摘运输自动跟随平台。通过体感感应系统获取图片上像素点的深度信息,结合图像处理算法,逐行扫描确定人体图像并实时获取人体骨骼信息,计算了人体当前的三维坐标并记录人体走过的路径轨迹。系统采用自调整函数对路径进行优化,避免了剧烈转向行为,并对优化后的路径以模糊算法动态确定纯追踪模型的前视距离,从而实时调整转向和转角,实现了精准跟随和稳定跟随。试验结果表明,该跟随系统能在避免剧烈转向的前提下以较高的精度跟随,横向最大跟踪偏差不超过10.0 cm,最大深度偏差为5.5 cm,且系统性能不受光照条件影响,满足温室采摘运输要求。     

In situ net N transformations in pine,fir, and oak stands of different ages on acid sandy soil, 3 years after liming

Summary The effect of liming on in-situ N transformations was studied in two stands of different ages of each of Scots pine (Pinus sylvestris L.), Douglas fir [Pseudotsuga menziesii (Mirb.) Franco], and common oak (Quercus robur L.). The stands were located on acid sandy soils in an area with high atmospheric N input. The organic matter of the upper 10-cm layer of the soil, including the forest floor, had a relatively high N content (C: N ratio <25) in all stands. Using a sequential core technique, N transformations were measured in both control plots and plots that had been limed 3 years previously with 3 t ha^-1 of dolomitic lime. Limed plots had a higher net NO _inf3 ^sup- production and a higher potential for NO _inf3 ^sup- leaching than the controls in all stands except that of the younger oak. Net N mineralization did not differ significantly between limed and control plots in oak stands and younger coniferous stands but was significantly lower in the limed plots of the older coniferous stands. It is concluded that long-term measurements of net N mineralization in limed forest soils are needed to evaluate the effect of liming with respect to the risk of groundwater pollution.     

Earthworm biomass response to soil management in semi-arid tropical Alfisol agroecosystems

Earthworms recorded during 1989–1993 across 15 soil management treatments, comprising three different tillagexthree organic amendments (bare, farmyard manure, and rice straw) and six perennial ley treatments, belonged to two endogeic species, Octochaetona phillotti (Michaelsen) and Lampito mauritii Kinberg, while in a nearby undisturbed natural revegetation area three species were found, including the above two and Octonochaeta rosea (Stephenson). The earthworm biomass showed significant temporal and spatial variations and was higher during the post monsoon period than in the early rainy season. No worm biomass was recorded during the dry season. In the tillage and organic amendment treatments, the biomass was drastically reduced from September 1989 to September 1991 after the application of carbofuran and some herbicides, and was significantly reduced during these two years compared to that of 1992. The maximum monthly earthworm biomass ranged between 2.5 and 17.9 g m^-2 across the treatments and increased several-fold in the nearby natural revegetation area (75.9 g m^-2). It significantly increased in perennial ley treatments compared to annual treatments with organic amendments. Thus the earthworm biomass varied significantly (P<0.01) across the 15 treatments, indicating discernible effects of soil management.Visiting Scientist (under the Rockefeller Foundation Environmental Research Fellowship in International Agriculture)     

Laboratory study of SO2 dry deposition on limestone and marble: Effects of humidity and surface variables

The dry deposition of gaseous air pollutants on stone and other materials is influenced by atmospheric processes and the chemical characteristics of the deposited gas species and of the specific receptor material. Previous studies have shown that relative humidity, surface moisture, and acid buffering capability of the receptor surface are very important factors. To better quantify this behavior, a special recirculating wind tunnel/environmental chamber was constructed, in which wind speed, turbulence, air temperature, relative humidity, and concentrations of several pollutants (SO₂, O₃, nitrogen oxides) can be held constant. An airfoil sample holder holds up to eight stone samples (3.8 cm in diameter and 1 cm thick) in nearly identical exposure conditions. SO₂ deposition on limestone was found to increase exponentially with increasing relative humidity (RH). Marble behaves similarly, but with a much lower deposition rate. Trends indicate there is little deposition below 20% RH on clean limestone and below 60% RH on clean marble. This large difference is due to the limestone's greater porosity, surface roughness, and effective surface area. These results indicate surface variables generally limit SO₂ deposition below about 70% RH on limestone and below at least 95% RH on marble. Aerodynamic variables generally limit deposition at higher relative humidity or when the surface is wet.     

Phosphate-solubilizing microorganisms associated with the rhizosphere of mangroves in a semiarid coastal lagoon

 The phosphate-solubilizing potential of the rhizosphere microbial community in mangroves was demonstrated when culture media supplemented with insoluble, tribasic calcium phosphate, and incubated with roots of black (Avicennia germinans L.) and white [Laguncularia racemosa (L.) Gaertn.] mangrove became transparent after a few days of incubation. Thirteen phosphate-solubilizing bacterial strains were isolated from the rhizosphere of both species of mangroves: Bacillus amyloliquefaciens, Bacillus licheniformis, Bacillus atrophaeus, Paenibacillus macerans, Vibrio proteolyticus, Xanthobacter agilis, Enterobacter aerogenes, Enterobacter taylorae, Enterobacter asburiae, Kluyvera cryocrescens, Pseudomonas stutzeri, and Chryseomonas luteola. One bacterial isolate could not be identified. The rhizosphere of black mangroves also yielded the fungus Aspergillus niger. The phosphate-solubilizing activity of the isolates was first qualitatively evaluated by the formation of halos (clear zones) around the colonies growing on solid medium containing tribasic calcium phosphate as a sole phosphorus source. Spectrophotometric quantification of phosphate solubilization showed that all bacterial species and A. niger solubilized insoluble phosphate well in a liquid medium, and that V. proteolyticus was the most active solubilizing species among the bacteria. Gas chromatographic analyses of cell-free spent culture medium from the various bacteria demonstrated the presence of 11 identified, and several unidentified, volatile and nonvolatile organic acids. Those most commonly produced by different species were lactic, succinic, isovaleric, isobutyric, and acetic acids. Most of the bacterial species produced more than one organic acid whereas A. niger produced only succinic acid. We propose the production of organic acids by these mangrove rhizosphere microorganisms as a possible mechanism involved in the solubilization of insoluble calcium phosphate. Received: 21 April 1999     

Influence of dietary fat and vitamin E supplementation on free radical production and on lipid and protein oxidation in turkey muscle extracts

The objectives of this study were to investigate the effects of dietary fat (6% soy oil or rapeseed oil or tallow) and alpha-tocopheryl acetate supplementation at two levels (30 or 200 ppm) on radical production, measured by ESR spectroscopy, and on lipid and protein oxidation in turkey muscle extracts oxidized by an enzymic system (NADPH, ADP, FeSO(4)/cytochrome P450 reductase). Two muscles were tested: pectoralis major (glycolytic) and sartorius (oxidative) muscles. Radical production measured by ESR was higher in pectoralis major muscle than in sartorius muscle, whereas lipid and protein oxidation was more important in sartorius muscle, showing the importance of the pro-/antioxidant ratio in oxidative processes in muscular cells and of the measurement methodology to appreciate the free radical production. Dietary fat had no effect on the level of ESR signals, whereas feeding of animals with soy oil induced higher oxidation of lipids. Protein oxidation was less sensitive to the nature of the dietary fat than lipid oxidation. Vitamin E supplementation significantly decreased radical production, as measured by ESR spectroscopy. Vitamin E also decreased lipid and protein oxidation, but the effect of vitamin E on protein oxidation was less pronounced than on lipid oxidation.     

Purification and characterization of polyphenol oxidase from banana (Musa sapientum L.) pulp

Polyphenol oxidase (EC 1.10.3.1, PPO) in the pulp of banana (Musa sapientum L.) was purified to 636-fold with a recovery of 3.0%, using dopamine as substrate. The purified enzyme exhibited a clear single band on polyacrylamide gel electrophoresis (PAGE) and sodium dodecyl sulfate (SDS)-PAGE. The molecular weight of the enzyme was estimated to be about 41000 and 42000 by gel filtration and SDS-PAGE, respectively. The enzyme quickly oxidized dopamine, and its K(m) value for dopamine was 2.8 mM. The optimum pH was at 6.5, and the enzyme activity was stable in the range of pH 5-11 at 5 degrees C for 48 h. The enzyme had an optimum temperature of 30 degrees C and was stable even after a heat treatment at 70 degrees C for 30 min. The enzyme activity was completely inhibited by L-ascorbic acid, cysteine, sodium diethyldithiocarbamate, and potassium cyanide. Under a low buffer capacity, the enzyme was also strongly inhibited by citric acid and acetic acid at 10 mM.     

Influence of harvest date within the season and cold storage on cherimoya fruit ripening

Cherimoya ripening with and without prior storage at 8 degrees C was studied in fruit harvested on early- (EH), mid- (MH), and late-season (LH) dates. Most of the differences in the ripening behavior were observed between EH cherimoyas and fruit from the other two harvest dates. During ripening of nonstored fruit, the increases in ethylene production and respiration rates and in soluble sugars and organic acids contents were faster in EH than in the other fruits (which ripened 1 day later). These differences could be due to variations in the physiological stage at harvest as a result of the different heat units (degree/month) accumulated in the last month of fruit development. During ripening of cold-stored fruit the differences in the time to the onset of the increase in ethylene production and in the accumulation of malic and citric acid were minimized, especially after longer storage times, and the relationship of harvest date with the increases in respiration rate was lost. Glucose and fructose accumulation was reduced by prior cold storage, especially after longer storage duration and in MH and LH fruit, but sucrose hydrolysis was almost complete, as in nonstored fruit. It is suggested that glucose and fructose accumulation is more sensitive to low temperature than sucrose metabolism and that this differential sensitivity is more marked in MH and LH cherimoyas. The time to ripen was inversely related to prior cold storage duration and was dependent on harvest date: the later the harvest date, the longer storage time it took to shorten subsequent ripening.     

Ellagic acid, vitamin C, and total phenolic contents and radical scavenging capacity affected by freezing and frozen storage in raspberry fruit

The ellagic acid, total phenolic, and vitamin C contents in four raspberry cultivars (Heritage, Autumn Bliss, Rubi, and Zeva) grown in Spain were detected and quantified by HPLC in fresh, just frozen, and stored fruits at -20 degrees C for a one year period. Ellagic acid [207-244 mg kg(-)(1) of fresh weight (fw)], total phenolic (137-1776 mg kg(-)(1) of fw), and vitamin C (221-312 mg kg(-)(1) of fw) contents in raw material were higher in the late cultivars Zeva and Rubi than in the early cultivars Autumn Bliss and Heritage. The freezing process slightly affected the values of extracted ellagic acid, total phenolic, and vitamin C content. At the end of long-term frozen storage (12 months), no significant change of total phenolic content extracted was observed, but significant decreases of 14-21% in ellagic acid and of 33-55% in vitamin C were quantified. Free radical scavenging capacity measured as antiradical efficiency (AE) depends on the seasonal period of harvest. Late cultivars, Rubi (6.1 x 10(-)(4)) and Zeva (10.17 x 10(-)(4)), showed higher AE than early cultivars, Heritage (4.02 x 10(-)(4)) and Autumn Bliss (4.36 x 10(-)(4)). The freezing process produced a decrease of AE values in the four cultivars ranging between 4 and 26%. During the frozen storage, the AE values reached after the freezing process remained unchanged.     

Aroma potential of two bairrada white grape varieties: Maria Gomes and Bical

Maria Gomes and Bical are the main white grape varieties in Portuguese Bairrada Appellation, which represent 80% and 15%, respectively, of white vineyard. To estimate their aroma potentialities, free and potential volatile components from the musts were examined. The free volatile components were extracted using a liquid-liquid continuous method and were analyzed by gas chromatography-mass spectrometry. The potential volatile compounds were determined after elimination of the free components by heat and enzymatic treatments. Principal component analysis was used to establish relations between the compounds and the varieties and also the form (free or in potential). Maria Gomes has 11.5 mg/L volatile compounds, of which 33% are in free form; Bical has 4.4 mg/L volatile compounds, of which 46% are in free form. A total of 59 compounds was identified and quantified. In Maria Gomes, the sum of the terpenoids is within the perception limits for hotrienol (0.21 mg/L) and linalool (0.20 mg/L). In Bical, benzyl alcohol and phenylethylethanol represent 20% of the volatile compounds. Considering that the volatile composition pattern of Maria Gomes and Bical varieties are different, wine-making technologies should be developed specifically for each variety.