凹形障碍全局路径规划的双蚁群完全交叉算法

为解决大量复杂凹形障碍环境中的路径规划问题.采用了计算机仿真技术,对双蚁群完全交叉算法进行了研究.通过对传统蚁群算法增加新型的距离改变启发因子,建立双蚁群完全交叉算法,并且融入最大最小蚁群算法思想,使蚁群算法应用在机器人路径规划领域,即使机器人环境中有大量复杂的凹形障碍,该算法仍能够规划出高质量的路径.仿真试验表明该算法得到最优路径率达到98%.     

江南花生地膜覆盖和灌溉的增减产效应研究

本文目的研究不同气候年型下,江南花生地膜覆盖栽培的适宜性。通过对江南花生种植进行地膜覆盖和生长中后期灌溉的田间试验表明,地膜覆盖在花生生长前期增温保墒,生育期明显提前,个体生长发育良好,生长后期降温保墒,提高经济性状。地膜覆盖增温保墒的增产率为58.4%,降温保墒的增产率为62.2%。在6月20日后采用灌溉处理,夏季高温干旱明显的2007年,旱地露地和覆膜、稻田露地产量比对照分别高出64.6%、37.2%、50.5%,稻田覆膜因土壤水分过多比对照减产40.2%。因此,出现高温干旱天气,及时灌溉能促进旱地栽培、稻田露地栽培花生生长和增产。降水过多会道导致稻田覆膜栽培花生减产,如果气象部门预报夏季降水偏多以连阴雨天气为主,应及时除去稻田地膜。     

Combining multi-source data to explore a mechanism for the effects of micrometeorological elements on nutrient variations in paddy land water

Paddy land plays a key role in global crop production. Thus, paddy land water is a potential source of nitrogen and phosphorus; both nutrients largely contribute to non-point source pollution because they usually vary closely with micrometeorological elements (MEs) during the growth period. However, few studies have focused on the mechanism of co-variation between nutrients and MEs at the field scale. The relationships between nutrients in the paddy land water and MEs as well as soil water content, soil temperature, and the normalized difference vegetation index (NDVI) are still unclear. In this paper, an in situ experiment was designed to obtain 5 years of meteorological data and nutrient data (nitrogen and phosphorus); the size of the experiment plot is in accordance with the spatial resolution of NDVI data. Multi-source meteorological and satellite data were integrated to explore the mechanism of co-variation. The results show that precipitation, air temperature, and solar radiation are the three MEs significantly affecting the nitrogen concentration in the paddy land water during the growth period. The air temperature is the most important ME influencing the phosphorus concentration. At the same time, the NDVI, as an effective indicator of the photosynthetic potential of rice used to explore the relationship between nutrients, has a prominent influence on soluble nutrients, especially on dissolved phosphorus. These findings could significantly improve our understanding about the responses of paddy land nutrients during the growth period to the surrounding drivers, inclusive of MEs, soil water, soil temperature, and NDVI. Undoubtedly, it is a potentially helpful means to monitor the sources of non-point pollution.     

低温秸秆降解菌的研究进展

秸秆原位还田是提高秸秆的综合利用率、培肥改土、提高土壤肥力的有效方法之一,已经成为持续农业和生态农业的重要内容,具有十分重要的作用。但是秸秆进入土壤之后,腐解缓慢,很难得到广泛的推广,因此通过开发秸秆降解菌加快秸秆纤维素的降解速度提高秸秆腐解效率成为秸秆还田技术的关键。本文对低温微生物、低温秸秆降解菌、以及施加菌剂对土壤养分、土壤酶活及微生物多样性的影响的研究现状进行了概述。     

利用SSR和SRAP标记分析花椰菜自交系的遗传多样性

为选育优质花椰菜新品种,指导种质资源引进和利用,本研究采用简单重复序(simple sequence repeat,SSR)标记和相关序列扩增多态性(sequence-related amplified polymorphism,SRAP)标记对38份花椰菜自交系进行了遗传多样性分析,分别从48对SSR引物、48对SRAP引物中各筛选出4对有效引物。4对SSR引物扩增的总条带数为47个,多态性条带为39个,平均多态性比率达83.0%;4对SRAP引物扩增的总条带数为86个,多态性条带为51个,平均多态性比率为59.3%,该结果显示花椰菜自交系间具有较丰富的遗传多样性。UPGMA聚类分析揭示了花椰菜自交系的熟期与其遗传差异相关。     

嫩板栗脱蒲试验台的设计与试验

基于国内板栗脱蒲机,针对六至八成熟的嫩板栗存在的机器脱蒲分离率低、适应性差、容易损伤及嫩板栗成熟周期短等问题,设计了一种嫩板栗脱蒲试验台。该试验台选用柔性挤压的脱蒲方法,利用旋转的脱蒲滚子与栅栏挤压杆相互揉搓挤压作用对嫩板栗进行脱蒲。该试验台的脱蒲滚子及栅栏挤压杆均可更换。通过试验对比,可以分析出不同类型的脱蒲滚子与挤压杆对板栗脱蒲的影响。此外,本试验台配备了变频器,可以在不更换电动机的前提下,将电动机的转速进行随意调节。测试结果表明:该试验台不同的脱蒲滚子、栅栏挤压杆及主轴的旋转速度都会对嫩板栗的脱蒲造成不同的影响,根据不同的数据可以为嫩板栗脱蒲机械提供不同的改善方案及理论依据。     

红枣气体射流冲击干燥收缩特性研究

Chinese jujube originated in China and has a long historical standing. China is the only country which can produce a great amount of Chinese jujube in the world. Modern research showed that the nutrition of Chinese jujube is abundant. Chinese jujube has great medicinal and food value, with high economic value and good prospects for development. Shrinkage characteristics of dates generally refer to volume shrinkage characteristics of whole dates. Large fruit and plump grain appearance of dates is the first choice of consumers to buy elements. The volume of dried jujube points to the consumer’s heart, and is an important indicator of consumers whether to buy. Jujube processing enterprises grade the date in accordance with its size, different grades dates have different value and price. Therefore, drying is the most important steps during the dates processing as it affects directly the quality of the product, and the shrinkage characteristics is the most important quality characteristic of Chinese jujube after drying. However, the traditional natural desiccation and desiccation in the drying room of the red dates has many problems. The conventional drying method for Chinese jujube has some disadvantages of severe shrinkage, long drying time and large energy consumption etc. Therefore, in order to improve the quality of dried Chinese jujube and reduce the shrinkage, it is imperative to replace the traditional drying method with the modern technologies. Air impingement drying technology was applied to dry Chinese jujube. The drying characteristics of shrinkage, moisture effective diffusivity considering shrinkage characteristics and the activation energy of Chinese jujube shrinkage were investigated under different air temperatures (55, 60, 65 and 70℃) and air velocities (6, 9, 12 and 15m/s). The dynamic changes of the regular pattern for the shrinkage characteristic of Chinese jujube in the air impingement drying process were studied, the results showed that the volume relative shrinkage ratio of Chinese jujube appeared to increase and then decrease with the increase of air temperature and air velocity. Considering shrinkage characteristics, the moisture effective diffusivity of Chinese jujube in the air impingement drying process through the Fick’s second law was obtained. The diffusivity appeared to increase and then decrease with the decrease in moisture content in dry basis of Chinese jujube. The Arrhenius equation calculated the shrinkage activation energy of the Chinese jujube was 1281kJ/mol. This research provided technical basis for shrinkage characteristics of Chinese jujube using air impingement drying technology.     

视觉导引AGV鲁棒特征识别与精确路径跟踪研究

针对AGV多分支路径与工位点标识的可靠识别以及导引路径的精确跟踪问题,提出了一种基于双视野窗口的鲁棒特征识别与精确路径跟踪方法。采用整幅视野范围作为模式识别窗口,在该窗口采用基于核主成分分析(KPCA)和BP神经网络的识别方法,将路径特征通过核函数映射到高维空间进行PCA降维,再利用BP神经网络识别降维后的样本矩阵。同时提出一种导引扫描窗口设置方法,该窗口范围取决于摄像机竖直视角以及摄像机安装倾斜角,在导引扫描窗口内将导引路径简化为直线模型并用最小二乘法拟合,针对拟合直线计算导引所需的路径偏差。实验结果表明,KPCA-BP方法显著提高了路径特征识别的实时性和鲁棒性,6类路径特征的平均特征识别正确率为99.5%;导引扫描窗口有效减小了导引路径直线拟合的计算误差,直线路径跟踪误差小于3 mm,曲线路径跟踪误差小于30 mm。     

行走式植树挖坑机的工作原理及结构分析

基于保护环境的原则,针对传统植树挖坑机的缺点,研发了一种挖坑质量高、速度快、安全可靠、劳动强度低、挖坑成本低以及能适应不同坑深要求、地形变化和土壤硬度等条件的新型植树挖坑机。分析了植树挖坑机的工作原理,对刀盘进行了受力分析,采用APDL参数化设计语言建立了挖坑机各零件的有限元模型。有限元分析的结果表明:新型行走式植树挖坑机能够满足工作要求,并且挖坑机的各零件能够满足刚度和强度要求。     

Lysozyme-glucose stearic acid monoester conjugate formed through the Maillard reaction as an antibacterial emulsifier

Lysozyme-glucose stearic acid monoester (HEL-GE) conjugate was prepared through the Maillard reaction as an antibacterial emulsifier. The molar ratio of GE to HEL was 1:1. The isoelectric point was 6-7, which is lower than that of native HEL. Spectroscopic studies indicated that the alpha-helix content was slightly lower but the conformation around Trp had not changed and that the surface of the conjugate was covered with the GE moiety. The conjugate maintained approximately 53-57% of the enzymatic activity of native HEL at 40-60 degrees C and exhibited considerable resistance to proteolysis. The denaturation temperature of the conjugate was approximately 74 degrees C, somewhat higher than that of control HEL, whereas the enthalpy was about one-third of that of control HEL. The emulsifying activity of the conjugate and the emulsion stability were much enhanced compared to those of native HEL, and the conjugate maintained approximately 70% of the bactericidal activity.