六自由度农业采摘机器人驱动控制仿真研究

农业采摘机器人是21世纪精准农业的重要装备之一,利用仿真技术分析机器人的运行情况和合理的优化机器人是未来机器人的研究的重点.为此,采用Matlab/Simulink环境下的Simulink工具箱、SimPowerSystems模块库和powerlib模块库三者相结合的方法,建立了通用型六自由度机械手农业采摘(GMFS-360)机器人仿真模型并进行了仿真分析,利用Matlab的函数模块对机器人的运行性能进行了优化设定.然后,建立了农业采摘机器人的驱动控制系统仿真模型、定位控制系统仿真模型、速度和惯性矩系统仿真模型,实现了虚拟环境下机器人的各个旋转轴的驱动运行,通过仿真分析证明了控制算法和仿真模型的正确性.通过对农业采摘机器人仿真分析,可以直观地了解采摘机器人的构造原理及其运行状况,为农业采摘机器人的调试和具体实际操作提供理论依据和模型.     

城市隧道事故车辆“快递”装置

近年来隧道作为城市道路的一种形式大量建设,并作为城市快速路或主干路的一部分。隧道内一旦发生事故,事故地点将成为交通瓶颈,通行能力急剧下降,若不及时清除事故车辆,易导致隧道及相邻路网的严重瘫痪。本文结合南京市玄武湖隧道,设计隧道内事故车辆的快速运输装置,旨在对事故车辆进行"快递",将事故的时间损失降到最低,尽快恢复隧道畅通。     

歙县枇杷产业化的发展与对策

主要介绍了枇杷的生物学特性和营养价值、药用价值,在分析了歙县枇杷生产现状的基础上,指出了歙县枇杷产业化发展存在的问题,并提出了发展枇杷产业需要通过采取适度规模化生产、合理品种组成、加强产后服务、实现产品深加工和综合利用等对策。     

果园土壤水分数字化的研究

为实现果园土壤水分信息的长期可靠获取,使用超低功耗控制器MSP430F1222和微功耗无线射频收发芯片nRF905构成监测系统的无线传感器节点.同时,引入无线传感器网络的概念来适应果园面积广阔的特殊性和传感器配置灵活的要求.接收终端配备铁电非易失性RAM、液晶屏和按键,方便存储、查阅数据和参数设定.经过人工配土测试和果园现场运行,结果表明监测系统湿度的精度误差小于3%,且结构简单、功耗低、运行可靠,满足果园土壤水分监测的要求.     

果蔬汁加工技术进展

我国是水果和蔬菜生产大国,产量均居世界第一位。发展果蔬汁产业可以提高果蔬的附加值,具有明显的经济和社会效益。近年来,我国果蔬汁的加工技术取得了一定的进步。介绍了近年果蔬汁饮料加工领域的新技术,以及果蔬加工的发展方向。     

Aromatic polyimides with high melt index modified by 1,6-hexamethylenediamine

1,6-Hexamethylenediamine (HMDA) is utilized to synthesize copolyimides based on bisphenol-A dianhydride and 4,4-oxydianiline or 1,4-bis(4-aminophenoxy) benzene. The purpose of this study is to modify the processability of aromatic polyimides for textile processing and melt property requirements. Polyimides containing an aliphatic HMDA are synthesized via random and block copolymerizations. Variations in the aliphatic content produce a series of polyimides that have different thermal stability, mechanical properties, and processing characteristics. Based on the results, polyimides synthesized with 25 % HMDA have better mechanical properties compared to other contents of HMDA, and block copolyimides have better processability with higher melt index than random copolymers.     

生态文明教育系统:一个亟待完善的服务系统

生态文明教育是形成生态意识和生态行为的重要途径,是影响生态文明建设进程的重要因素.理想的生态文明教育系统是包含家庭教育、学校教育、企业教育和社会教育四大分系统在内的、拥有完整功能和流程的服务系统;各分系统在时间维度上相互衔接、在空间维度上相互独立,并在不同时空发挥各自的作用.但现行的生态文明教育系统尚未意识到其服务属性...     

沼液浸种对黑麦草种子发芽的影响

为了研究沼液浸种对黑麦草种子发芽的影响,设置4个浓度沼液分别浸泡黑麦草种子,分析种子各项发芽指标的变化。结果表明:各处理均能正常发芽,黑麦草种子的发芽率和发芽势等4项发芽指标均随着浸种沼液浓度的增加呈现先上升后下降的趋势,以75%沼液浓度浸种效果最优,但沼液浸种对发芽率和发芽势的影响要高于苗高和根长。综合分析认为利用沼液浸泡黑麦草种子是提高其生产性能的有力措施,适宜在生产中推广利用。     

Low levels of haptoglobin and putative amino acid sequence in Taiwanese Lanyu miniature pigs

Porcine haptoglobin (Hp) is an acute phase protein. Its plasma level increases significantly during inflammation and infection. One of the main functions of Hp is to bind free hemoglobin (Hb) and inhibit its oxidative activity. In the present report, we studied the Hp phenotype of Taiwanese Lanyu miniature pigs (TLY minipigs; n=43) and found their Hp structure to be a homodimer (beta-alpha-alpha-beta) similar to human Hp 1-1. Interestingly, Western blot and high performance liquid chromatographic (HPLC) analysis showed that 25% of the TLY minipigs possessed low or no plasma Hp level (<0.05 mg/ml). The Hp cDNA of these TLY minipigs was then cloned, and the translated amino acid sequence was analyzed. No sequences were found to be deficient; they showed a 99.7% identity with domestic pigs (NP_999165). The mean overall Hp level of the TLY minipigs (0.21 +/- 0.25 mg/ml; n=43) determined by enzyme-linked immunosorbent assay (ELISA) was markedly lower than that of domestic pigs (0.78 +/- 0.45 mg/ml; p<0.001), while 25% of the TLY minipigs had an Hp level that was extremely low (<0.05 mg/ml). In addition, the initial recovery rate (first 40 min) in the circulation of infused fluorescein isothiocyanate (FITC)-Hb was significantly higher in the TLY minipigs with extremely low Hp levels than those with high levels. This data suggests that the low concentration of Hp-Hb complex is responsible for the higher recovery rate of Hb in the circulation. TLY minipigs have been used as an experimental model for cardiovascular diseases; whether they can be used as a model for inflammatory diseases, with Hp as a marker, remains a topic of interest. However, since the Hp level varies significantly among individual TLY minipigs, it is necessary to prescreen the Hp levels of the animals to minimize variation in the experimental baseline. The present study may provide a reference value for future use of the TLY minipig as an animal model for inflammation-associated diseases.