基于神经网络PID的无人机自适应变量喷雾系统的设计与试验

【目的】针对传统植保无人机在定量喷施作业时由于飞行速度的变化造成施药不均匀以及传统控制算法无法满足无人机变量喷雾系统所需的实时性和稳定性等问题,设计一种基于神经网络PID的自适应无人机变量喷雾系统。【方法】采用风压变送器测出无人机的飞行速度,根据速度采用脉宽调制(PWM)方法进行自适应变量喷雾,同步用流量传感器测出实际喷雾流量,融合BP神经网络PID控制算法调节喷雾流量。由MATLAB构建BP神经网络PID控制算法,并与PID、模糊PID和神经元PID对比及分析;田间试验过程中,对比分析无人机定量喷雾与随飞行速度改变的变量喷雾效果,采用水敏纸获取雾滴沉积量分布,分别从整体区域、飞行方向和喷杆方向评价沉积量分布的均匀性。【结果】算法仿真对比试验结果表明,与PID、模糊PID和神经元PID相比,BP神经网络PID阶跃响应上升时间分别少28.57%、84.73%和31.03%,正弦跟踪平均误差分别小63.01%、87.03%和0.58%,方波跟踪平均误差分别小74.00%、79.53%和6.80%,鲁棒性强,无静差,超调量为1.20%;喷雾对比试验结果表明,本系统能够根据飞行速度自适应调节喷雾流量,实际流量与目标流量的平均偏差为8.43%,水敏纸扫描结果表明总体区域雾滴沉积量的变异系数对比定量喷雾平均降低26.25%,喷杆方向平均降低18.79%。【结论】该研究结果可为农业航空变量喷雾技术的应用提供理论基础。     

Comparison of the behavior of skipjack (Katsuwonus pelamis), yellowfin (Thunnus albacares) and bigeye (T. obesus) tuna associated with drifting FADs in the equatorial central Pacific Ocean

We evaluated the behavior of skipjack (Katsuwonus pelamis), yellowfin (Thunnus albacares) and bigeye tuna (T. obesus) associated with drifting fish aggregating devices (FADs) in the equatorial central Pacific Ocean. A total of 30 skipjack [34.5–65.0 cm in fork length (FL)], 43 yellowfin (31.6–93.5 cm FL) and 32 bigeye tuna (33.5–85.5 cm FL) were tagged with coded transmitters and released near two drifting FADs. At one of the two FADs, we successfully monitored the behavior of all three species simultaneously. Several individuals remained around the same FAD for 10 or more days. Occasional excursions from the FAD were observed for all three species, some of which occurred concurrently for multiple individuals. The detection rate was higher during the daytime than the nighttime for all the species, and the detection rate for bigeye tuna was higher than for yellowfin or skipjack tuna. The swimming depth was deeper during the daytime than nighttime for all species. The fish usually remained shallower than 100 m, but occasionally dived to around 150 m or deeper, most often for bigeye and yellowfin tuna during the daytime. The swimming depth for skipjack tuna was shallower than that for bigeye and yellowfin tuna, although the difference was not large, and is probably not sufficient to allow the selective harvest of skipjack and yellowfin tuna by the purse seine fishery. From the detection rate of the signals, bigeye tuna is considered to be more vulnerable to the FAD sets than yellowfin and skipjack tuna.     

Development of external and neutrally buoyant acoustic transmitters for juvenile salmon turbine passage evaluation

Fish can sustain injury or mortality when they pass through hydroelectric facilities. To develop a method to monitor the passage and survival of juvenile salmonids without bias through turbines within the Federal Columbia River Power System, we developed and fabricated two designs of neutrally buoyant transmitters: Type A (sutured to the dorsal musculature of the fish anterior to the dorsal fin) and Type B (two-part design attached with wire pushed through the dorsal musculature, ventral to the dorsal fin). To determine the efficacy of the two designs under non-turbine passage-related conditions, fish had one of the tags attached and were held for 14 days to determine any potential effects of the tags on growth, survival and tissue damage. We also evaluated the attachment method by monitoring tag retention. These two neutrally buoyant tag designs were compared to nontagged individuals and those surgically implanted with current Juvenile Salmon Acoustic Telemetry System (JSATS) transmitters and passive integrated responder (PIT) tags. In addition, two suture materials (Monocryl and Vicryl Rapide) were tested for attachment of Type A tags. When compared with non-tagged individuals, fish tagged with Type A tags did not differ significantly with respect to growth or mortality over a 14-d holding period. However, fish tagged with Type B transmitters had lower growth rates than the nontagged controls or other tag treatments. The efficacy of two designs was also compared to nontagged individuals under shear exposure. Fish were exposed to a submerged, 6.35-cm-diameter water jet at velocities ranging from 3.0 to 12.2 m/s in a water flume to simulate turbine conditions within the Columbia River basin. Throughout the shear exposure study, no mortalities or tag loss were observed. There was also no significant difference in the rates of shear injury between untagged fish and fish tagged with Type A or Type B tags. When tissue damage was assessed for tagged individuals exposed to shear forces, those tagged with Type A tags showed lower rates and severity of injury when compared to Type B-tagged fish. Overall, Type A tags may be a viable tag design for juvenile Chinook salmon passing through hydropower facilities.     

西气东输站场压力及差压变送器免拆解校验方法

西气东输站场以往校验压力变送器、差压变送器时,需要拆解引压管接头、二阀组组件和五阀组组件上的排污管,然后连接校表仪器校验。通过对未带二阀组组件的压力变送器加装改进的二阀组组件、对已带二阀组组件的压力变送器和差压变送器的排污管加装校表专用接头的方法,实现了压力变送器、差压变送器校验时的免拆解。避免了由于多次拆解引起的引压管接头处易漏气、丝扣处易滑丝、引压管变形安装后产生应力等生产运行风险,减小了校表人员的工作量和设备在校表期间的不备用时间,相对提高了设备的可用率,可为解决类似管道问题提供参考借鉴。（图6,参6）