果园巡检机器人长臂抖动抑制方法

针对果园巡检机器人长臂因抖动而严重制约图像采集效率的问题,该研究提出基于臂体上3个部位的仰角构建单一反馈量进行抖动抑制的方法。首先基于臂体外伸段的有限元模态分析结果,通过固有频率和静变形的等效,建立三杆两扭簧等效机构的动力学模型。并基于微分平坦理论将3个倾角传感器读数合成为一个系统输出量,以平坦输出量作为被控量,采用PID控制器进行抑振试验,再利用自抗扰控制(Active Disturbance Rejection Control, ADRC)思想中对广义扰动的处理方法,将被控模型等效为二阶系统形式,并将模型信息代入到扩张状态观测器中进行对比试验。试验结果表明,基于本文构建的方法均能起到快速抑制长臂抖动的作用。在冲击作用致使末端产生10°幅值的抖动情况下,PID控制器实现了7 s内抑制大幅抖动,自抗扰控制器实现了8 s内快速抑制大幅抖动的效果。PID控制器的输出出现3次饱和现象且小幅较高频率抖动不易消除,而自抗扰控制器仅出现一次饱和,具有抖动抑制过程平滑的优点。本文的控制算法简洁适于在单片机等微型计算机系统中应用,系统结构简单成本低,可为现代农业装备研发与应用中解决长臂类结构抖动的主动抑制问题提供理论参考。     

山东省畜禽粪便的环境污染现状及风险评价

以耕地和水环境保护为出发点,根据山东省各地市近五年来畜禽养殖量数据,采用排泄系数法估算畜禽粪便的产生量,在此基础上计算了畜禽粪便的耕地负荷和水体等标污染指数等指标,综合评价了各地市畜禽养殖业的发展对土壤和水环境产生的污染压力。研究发现：2014-2018年山东全省畜禽粪便的平均耕地污染风险指数为0.77~0.84,预警级别为Ⅲ级;全省平均水体等标污染指数由9.26逐渐降低为4.46,对应的预警级别由Ⅱ级降为Ⅰ级。表明畜禽污染已对土壤环境产生风险,潍坊市尤为突出;而畜禽污染对水体环境基本无污染风险,但不同地区间存在差异,聊城市的水体污染风险仍相对较高。此外,依据土壤养分平衡理论和山东省耕地面积估算,山东省2018年畜禽的最高承载数量（以猪当量计）为12 873万头。本研究为优化畜禽养殖结构、推动区域畜禽养殖业绿色发展、保护区域生态可持续发展提供了理论参考。     

Computed tomography of testicular torsion in a juvenile dog with unilateral cryptorchidism

A 14-week-old male unilaterally cryptorchid Clumber spaniel was presented for acute lethargy. Physical examination revealed abdominal pain, and a single testis was palpated in the scrotum. Abdominal ultrasound and computed tomography (CT) revealed a poorly vascularized, ovoid structure immediately caudal to the left kidney with scant regional peritoneal effusion. Left intra-abdominal testicular torsion was confirmed at surgery, and routine cryptorchidectomy was performed. The patient recovered uneventfully from anesthesia and surgery.Key clinical message:The most common CT characteristics of testicular torsion were present in this case and correlated well with sonographic findings to allow for rapid, accurate diagnosis and surgical planning of unilateral, non-neoplastic, intra-abdominal cryptorchid testicular torsion in a juvenile dog. Contrast enhanced CT facilitated accurate localization of the undescended testis and evaluation of testicular perfusion and may be a useful alternative to ultrasound for diagnosing testicular torsion, especially in indeterminate cases.     

施钾对兰州百合叶片抗旱性生理指标的影响

采用田间试验,研究了钾肥对兰州百合开花期叶片抗旱生理指标的影响.结果表明,施钾量在0~150kg/hm2范围内,随着钾肥施入量的增加,丙二醛含量降低,可溶性糖含量、过氧化氢酶活性和脯氨酸含量增加,但施钾量超过150 kg/hm2时,丙二醛含量略有上升,可溶性糖含量、过氧化氢酶活性和脯氨酸含量有所下降.在施氮量225 kg/hm2和施磷量150 kg/hm2的不打顶处理下叶片丙二醛含量低于其它处理,脯氨酸含量、过氧化氢酶活性和可溶性糖含量高于其它处理;且在施氮量225 kg/hm2、施磷量150 kg/hm2和施钾量150 kg/hm2的不打顶处理下,丙二醛含量出现最小值,脯氨酸含量、过氧化氢酶活性和可溶性糖含量呈现最高值.     

The cell and molecular basis of mechanical, cold, and inflammatory pain

Peripheral pain pathways are activated by a range of stimuli. We used diphtheria toxin to kill all mouse postmitotic sensory neurons expressing the sodium channel Nav1.8. Mice showed normal motor activity and low-threshold mechanical and acute noxious heat responses but did not respond to noxious mechanical pressure or cold. They also showed a loss of enhanced pain responses and spontaneous pain behavior upon treatment with inflammatory insults. In contrast, nerve injury led to heightened pain sensitivity to thermal and mechanical stimuli indistinguishable from that seen with normal littermates. Pain behavior correlates well with central input from sensory neurons measured electrophysiologically in vivo. These data demonstrate that Na(v)1.8-expressing neurons are essential for mechanical, cold, and inflammatory pain but not for neuropathic pain or heat sensing.     

Transformation of the nitrogen cycle: recent trends, questions, and potential solutions

Humans continue to transform the global nitrogen cycle at a record pace, reflecting an increased combustion of fossil fuels, growing demand for nitrogen in agriculture and industry, and pervasive inefficiencies in its use. Much anthropogenic nitrogen is lost to air, water, and land to cause a cascade of environmental and human health problems. Simultaneously, food production in some parts of the world is nitrogen-deficient, highlighting inequities in the distribution of nitrogen-containing fertilizers. Optimizing the need for a key human resource while minimizing its negative consequences requires an integrated interdisciplinary approach and the development of strategies to decrease nitrogen-containing waste.     

长春地区鹿源性大肠杆菌的分离鉴定和耐药性分析

调查吉林省长春市周边地区（榆树、农安、九台、双阳和德惠）腹泻梅花鹿源大肠杆菌的血清型分布和耐药性。对梅花鹿源大肠杆菌进行分离、培养和生化反应鉴定;并对所得菌株进行玻片凝集法确定血清型;用平板扩散法或肉汤微量稀释法测定其对15种抗菌药物的敏感性;利用PCR方法检测9种耐药基因。共得到127株大肠杆菌,84株大肠杆菌属于36种不同的血清型,其中47株属于11种血清型,即O2,O7,O9,O21,O26,O87,O126,O128,O138,O142和O154;所得菌株对15种抗菌药物呈现不同程度的耐药性;耐药基因strB、strA、aadA、tetA和sul2在被检菌株中最为流行。菌株对磺胺类和四环素耐药性最严重,而且大多数菌株呈多重耐药性;对阿莫西林、卡那霉素较为敏感。对临床用药有指导意义。     

Process modelling in demand-driven supply chains: A reference model for the fruit industry

The growing importance of health in consumption is expected to result in a significant increase of European fruit demand. However, the current fruit supply does not yet sufficiently meet demand requirements. This urges fruit supply chains to become more demand-driven, that is, able to continuously match supply capabilities to changing demand requirements. Realisation of such dynamic supply chains requires the design of customised supply chain configurations and subsequently the engineering of enabling information systems. Reference process models can be valuable means to support this. Based on a case study in four European countries, this paper presents a reference model for designing business processes in demand-driven fruit supply chains. The model consists of a reference modelling framework and an application of the framework to fruit supply chains. The framework defines process models at different levels of abstraction and includes a method of how they can be composed from a repository of building blocks. The applied model comprises a definition of the model building blocks in fruit supply chains and a set of pre-configure models (templates). Together, they combine fruit-specific knowledge with the reuse of generic knowledge as captured in cross-industry standards. The developed reference model bridges the gap between supply chain design and information systems engineering by providing a consistent set of process models that are on the one hand understandable for business managers and on the other hand serve as a basis for information system implementation.     

Peculiarities of the biology of the specimens of the Prunus L. Genus under the conditions of the South of the Russian Far East

The seasonal rhythms of the development of the plants of 15 taxons of the Prunus L. genus in the south of the Russian Far East were analyzed. Based on the biological features of the plants, a dendrogram of phylogenetic interrelations of species within the genus was constructed.     

Paleontological Evidence of Varitions in Length of Synodic Month since Late Cambrian

The values of length of synodic month, obtained from tidally controlled periodical growth patterns in mollusks and stromatolites for several geologic periods, indicate that the deceleration rate of the earth's rotation has not been constant. Two breaks in slope, in the Pennsylvanian and Cretaceous, may be related to changes in distribution of continents, oceans, and adjacent shallow seas.