不确定场景下无人农机多机动态路径规划方法

在现代化农业中,越来越多的龙头企业或农村合作社提供一系列的农业作业专业化服务,引入多台农机进行规模化作业,不仅提高了效率,而且可以实现抢种抢收,减少自然灾害的风险。目前,多台农机并行作业仍以预先计划的固定农机和静态的固定路线为主,但在实际耕种、收割等作业中,常会出现农机突发故障、农机临时增加、农机工作效率不一致等不确定场景,这些不确定性给多台农机集群控制带来巨大挑战。因此,研究不确定场景下多机动态路径规划方法具有十分重要的理论意义和实用价值。该研究以总作业时长为综合优化目标,综合各种不确定场景,针对轮式自动驾驶拖拉机,提出了改进的迭代贪婪（Improved Iterated Greedy, IIG）方法进行多机动态路径规划,解决以往传统方法在不确定情况发生后路径规划结果低效甚至失效的问题。试验表明,该方法在不确定场景下可及时、高效的动态调整路径规划方案,能够为不同数量、不同性能的农机迭代找到当前最优路径。与传统的并排作业方法相比,IIG优化的矩形农田作业路径总作业时间平均下降约35%,且随着农机性能差异越大,节省时间越多;与迭代贪婪（Iterated Greedy, IG）方法相比,IIG在一般播种作业中总掉头时间平均减少约17%。该方法在不确定场景下路径优化效果较好,且具有很好的鲁棒性及环境适应性,可为农田无人作业多机路径规划提供参考。     

空气源热泵烤房与生物质新能源烤房对烤后烟叶经济效益的影响

为空气源热泵烤房及生物质新能源烤房的推广提供参考,比较常规燃煤烤房、空气源热泵烤房及生物质新能源烤房烘烤烟叶的用工成本、能耗成本、烟叶等级及经济性状差异。结果表明:空气源热泵烤房烤后烟叶经济性状最佳,上等烟率、中等烟率、橘黄烟率分别达81.00%、19.00%和95.05%,无下等烟;用工成本、能耗成本空气源热泵烤房均比生物质新能源烤房和常规燃煤烤房低40%以上,综合效益提高13%以上。     

松墨天牛对焉尾松树的危害与综合防治技术

指出了松墨天牛是危害焉尾松树正常生长的主要害虫,又是松材线虫病的主要传媒昆虫,对我国松林资源构成严重威胁,针对其生物特性及危害特点进行了长期观察研究,结合实践中的防治措施,探讨了相应的综合防治办法,使防治区天牛的种群数量得到了有效控制.     

中职学校德育课课程改革初探

随着新一轮的中职学校德育课课程改革的深入开展和中职学生主体意识的增强,传统的德育课教学有许多方面需要进一步改进和完善.在中职学校德育课教学中实施高效良性的师生互动,能提高德育课的教学实效和学生的思想道德素质,为学生职业生涯发展奠定基础.     

福建省将乐县金溪建电站前后雨水情变化分析

本文通过对将乐县金溪建电站前的1953～1978年、建电站后的1990～2009年雨水情进行分析,结果表明:自然状态下的将乐县(1953～1978年)无论雨水大小,每年都有洪水超过警戒水位,年最大洪水发生时间在4～7月;1953～1978年有16年的当年最大洪峰水位发生在当年最大日降雨量当日至第16日内,频率为61.5...     

梨树栽培管理关键技术

指出了梨树具有高度的营养价值、经济价值、生态价值,从林地的选择、林地整地、苗木栽植、树园管理、树形期修剪、果实采收贮运及梨树栽培管理技术等方面提出了关键技术实施要点,并对梨树的发展前景做出了评估.     

Estimating spatial mean soil water contents of sloping jujube orchards using temporal stability

Estimating spatial mean soil water contents from point-scale measurements is important to improve soil water management in sloping land of semiarid areas. Temporal stability analysis, as a statistical technique to estimate soil water content, is an effective tool in terms of facilitating the upscaling estimation of mean values. The objective of this study was to examine temporal stability of soil water profiles (0–20, 20–40, 40–60 and 0–60 cm) in sloping jujube (Zizyphus jujuba) orchards and to estimate field mean root-zone soil water based on temporal stability analysis in the Yuanzegou catchment of the Chinese Loess Plateau, using soil water observations under both dry and wet soil conditions. The results showed that different time-stable locations were identified for different depths and the temporal stability of soil water content in 20–40 cm was significantly (P < 0.05) weaker than that in other depths. Moreover, these time-stable locations had relatively high clay contents, relatively mild slopes and relatively planar surfaces compared to the corresponding field means. Statistical analysis revealed that the temporal stability of root zone soil water (0–60 cm) was higher in either dry or wet season than that including both, and soil water exhibited very low temporal stability during the transition period from dry to wet. Based on the temporal stability analysis, field mean soil water contents were estimated reasonably (R² from 0.9560 to 0.9873) from the point measurements of these time-stable locations. Since the terrains in this study are typical in the hilly regions of the Loess Plateau, the results presented here should improve soil water management in sloping orchards in the Loess Plateau.     

大白菜软腐病苗期抗性及其与成株期抗性的关系

对６６个大白菜品种苗期抗性的测定结果表明，不同品种对细菌根系侵入和潜伏侵染的抗性存在显著差别；同一品种幼苗对侵入侵染的抗性与对潜伏侵染的抗性间没有相关性。幼苗期的组织含菌量与成株的田间软腐病发病程度有一定的相关性。并初步建立了大白菜对软腐病苗期抗性的鉴定方法。     

Effects of dietary oregano essential oil supplementation on growth performance,intestinal antioxidative capacity,immunity, and intestinal microbiota in yellow-feathered chickens

Essential oils are plant-derived aromatic volatile oils, and they contain bioactive compounds that have been shown to improve poultry nutrition. In this study, we investigated the effects of oregano essential oil (OEO) on intestinal antioxidative capacity, immunity, and gut microbiota of young yellow-feathered chickens. A total of nine hundred and sixty 1-d-old female Qingyuan partridge chickens were randomly allocated to four treatment groups with six replicates of 40 birds each, and the feeding trial was lasted for 30 d. The controls were fed on a basal diet without in-feed antibiotics; the birds in the antibiotic group were fed the basal diet supplemented with 20 mg/kg virginiamycin; the remaining birds were fed the basal diet containing 150 or 300 mg/kg OEO, respectively. Dietary supplementation with 150 or 300 mg/kg OEO increased average daily feed intake (P = 0.057) and average daily gain (P < 0.05). The activities of glutathione peroxidase and total antioxidative capacity in plasma, jejuna, and ileal mucosa were increased by OEO supplementation (P < 0.05), with a trend of lower jejunal content of malonaldehyde (P = 0.062). Moreover, dietary OEO increased the content of secretory immunoglobulin A (P = 0.078) and the relative expression of Claudin 1, Mucin 2, and Avain beta-defensin 1 in ileum (P < 0.05). Sequencing data of 16S rRNA indicated that dietary OEO increased the relative abundance of Firmicutes phylum, and Clostridium and Lactobacillus genera, and decreasing that of Romboutsia. Functional analyses indicated that microbial amino sugar and nucleotide sugar metabolism, replication, and repair systems were higher in OEO groups than those of controls and antibiotic treatment. In conclusion, dietary supplementation with OEO enhanced growth performance, alleviated local oxidative stress in intestine, improved production of natural antibodies, and favorably modulated intestinal microbiota composition.