番茄采摘机器人机械臂避障路径规划

以关节型机械臂避开垂直茎秆或撑杆采摘番茄为研究对象,提出了一种基于构形空间的关节型机械臂避障路径规划方法.利用空间映射原理,将关节型机械臂工作空间的三维避障问题转换为平面R-R机械臂避开障碍圆的问题,用临界碰撞关节角建立C-障碍空间的映射计算模型,将工作空间的位置避障转换为构形空间连杆关节角的计算.以能量最优函数优选避障规划的关节终点角度,利用A*算法计算平面R-R机械臂的避障关节角路径,获得一系列表示空间连杆位置的相交竖直面,并在竖直面内进行其余关节角的规划.避障采摘番茄的试验表明,机械臂带动夹持器能成功绕过直线状障碍物,引导夹持器到达果实目标位置,证明对平面R-R机械臂的空间映射建模是正确的,验证了提出的避障路径规划方法是可行的,可以应用于番茄的自动收获.     

Whitened kernel surface: A fast and reliable method for assessing Fusarium severity on cereal grains by digital picture analysis

Fusarium head blight (FHB) is a cereal disease of major importance responsible for yield losses and mycotoxin contaminations in grains. Here, we introduce a new measurement approach to quantify FHB severity on grains based on the evaluation of the whitened kernel surface (WKS) using digital image analysis. The applicability of WKS was assessed on two bread wheat and one triticale grain sample sets (265 samples). Pearson correlation coefficients between Fusarium‐damaged kernels (FDK) and WKS range from r = 0.77 to r = 0.81 and from r = 0.61 to r = 0.86 for the correlation between deoxynivalenol (DON) content and WKS. This new scoring method facilitates fast and reliable assessment of the resistance to kernel infection and shows significant correlation with mycotoxin content. WKS can be automated and does not suffer from the “human factor” inherent to visual scorings. As a low‐cost and fast approach, this method appears particularly attractive for breeding and genetic analysis of FHB resistance where typically large numbers of experimental lines need to be evaluated, and for which WKS is suggested as an alternative to visual FDK scorings.     

A new framework of spatial targeting for single-species conservation planning

Context

Organisations acting to conserve and protect species across large spatial scales prioritise to optimise use of resources. Spatial conservation prioritization tools typically focus on identifying areas containing species groups of interest, with few tools used to identify the best areas for single-species conservation, in particular, to conserve currently widespread but declining species.

Objective

A single-species prioritization framework, based on temporal and spatial patterns of occupancy and abundance, was developed to spatially prioritize conservation action for widespread species by identifying smaller areas to work within to achieve predefined conservation objectives.

Methods

We demonstrate our approach for 29 widespread bird species in the UK, using breeding bird atlas data from two periods to define distribution, relative abundance and change in relative abundance. We selected occupied 10-km squares with abundance trends that matched species conservation objectives relating to maintaining or increasing population size or range, and then identified spatial clusters of squares for each objective using a Getis-Ord-Gi* or near neighbour analysis.

Results

For each species, the framework identified clusters of 20-km squares that enabled us to identify small areas in which species recovery action could be prioritized.

Conclusions

Our approach identified a proportion of species’ ranges to prioritize for species recovery. This approach is a relatively quick process that can be used to inform single-species conservation for any taxa if sufficiently fine-scale occupancy and abundance information is available for two or more time periods. This is a relatively simple first step for planning single-species focussed conservation to help optimise resource use.

     

BMC ecology image competition 2017: the winning images

For the fifth year, BMC Ecology is proud to present the winning images from our annual image competition. The 2017 edition received entries by talented shutterbug-ecologists from across the world, showcasing research that is increasing our understanding of ecosystems worldwide and the beauty and diversity of life on our planet. In this editorial we showcase the winning images, as chosen by our Editorial Board and guest judge Chris Darimont, as well as our selection of highly commended images. Enjoy!     

Regional differences in aspen (Populus tremuloides Michx.) seedling response to an established nursery protocol

New Forests - In seedling-based reforestation operations, seed source is known to be an influential variable affecting outplanting success. Adaptive variation among seed sources may also be an...     

Organic globules in the Tagish Lake meteorite: remnants of the protosolar disk

Coordinated transmission electron microscopy and isotopic measurements of organic globules in the Tagish Lake meteorite shows that they have elevated ratios of nitrogen-15 to nitrogen-14 (1.2 to 2 times terrestrial) and of deuterium to hydrogen (2.5 to 9 times terrestrial). These isotopic anomalies are indicative of mass fractionation during chemical reactions at extremely low temperatures (10 to 20 kelvin), characteristic of cold molecular clouds and the outer protosolar disk. The globules probably originated as organic ice coatings on preexisting grains that were photochemically processed into refractory organic matter. The globules resemble cometary carbon, hydrogen, oxygen, and nitrogen (CHON) particles, suggesting that such grains were important constituents of the solar system starting materials.     

Evaluation of a Midhumeral Block of the Radial,Ulnar, Musculocutaneous and Median (RUMM Block) Nerves for Analgesia of the Distal Aspect of the Thoracic Limb in Dogs

Objective: To evaluate a technique for midhumeral peripheral nerve blockade in the dog. Study Design: Cadaveric technique development; in vivo placebo‐controlled, prospective crossover study. Animals: Canine cadavers (n=38) and 8 clinically healthy, adult hound dogs. Methods: A technique for peripheral block of the radial, ulnar, musculocutaneous, and median nerves (RUMM block) was evaluated using cadaver limbs. Eight purpose‐bred, research dogs were anesthetized; a RUMM block was performed on each thoracic limb. One limb from each dog randomly received 0.5% bupivacaine and the opposite limb was assigned to receive sterile saline solution as a control. After recovery from anesthesia, skin sensation at selected dermatomes was evaluated for 24 hours using a mechanical stimulus. Weight‐bearing, conscious proprioception, and withdrawal reflex were also evaluated. One month after initial testing, each dog was reanesthetized and each limb received the opposite treatment. Results: Sensory thresholds were significantly increased over baseline measurements when compared with control limbs for all nerves. Complete sensory block was achieved in radial (15/16), ulnar (3/16), musculocutaneous (8/16), and median (11/16) nerves, using a mechanical stimulus of analgesia. Complete simultaneous block of all nerves was only obtained in 1 of 16 limbs. Conclusion: RUMM block resulted in desensitization of the skin in the associated dermatomes for 4–10 hours. Complete sensory block of the dermatomes supplied by the radial nerve was most consistent. Clinical Relevance: RUMM block may be an effective technique to provide adjunctive analgesia for dogs undergoing surgery of the distal aspect of the thoracic limb.     

Morphological variability of Atlantic salmon Salmo salar and brown trout Salmo trutta in different river environments

Abstract – The morphologies of sympatric juvenile Atlantic salmon Salmo salar parr and brown trout Salmo trutta parr were compared between Irish rivers with contrasting hydraulic environments – a high‐gradient and a low‐gradient tributary from the River Barrow catchment, south‐east Ireland and a high‐gradient river from the Burrishoole catchment, west of Ireland. The two catchments differ markedly in mean annual precipitation (849.0 mm year^?1 and 1370.3 mm year^?1 for the Barrow and Burrishoole catchments, respectively). Parr of both species demonstrated morphological variation between and within catchments. Changes in metrics such as pectoral fin length, body depth and body length between and within catchments suggest that hydraulic forces were a major determinant of morphological variation. Both species from the Burrishoole catchment had relatively larger pectoral fins, longer heads, larger eyes and shallower bodies than conspecifics from the Barrow catchment. In rivers subject to frequent rainfall‐driven high discharges, such as those in the Burrishoole catchment, a more fusiform body and head shape coupled with larger pectoral fins may reduce the energetic cost of maintaining position in the water column, as well as increase stability and manoeuvrability. The larger eyes in both parr species in the Burrishoole catchment could further be a response to the lower visibility of the more turbid and peat‐stained waters or to the reduced prey availability. The results of this study demonstrate that local adaptation to flow conditions can yield morphologically distinct populations and that multiple species can exhibit parallel phenotypic responses to changing environmental conditions.