机器人竞赛与大学生素质创新教育

针对机器人竞赛的飞速发展,提出项目驱动参加机器人竞赛提高大学生素质的思想。项目驱动的机器人竞赛为大学生素质教育的提高提供了良好的平台,通过机器人竞赛与机电系统创新平台建设项目,结合国内外机器人竞赛论述机器人竞赛与大学生素质教育的关系。机器人竞赛对大学生动手能力、机电系统创新设计能力、心理素质以及团队协作能力等的提高具有重要的意义。     

铁炭微电解处理高浓度甲醇废水的研究

采用铁炭微电解法处理某化工厂的高浓度甲醇废水。实验研究了进水pH值、反应时间、铁炭质量比、鼓入空气以及加入ClO2氧化剂等因素对废水处理结果的影响,结果表明实验的最佳工艺条件为：进水pH值为2、铁炭比为2、反应时间为14h,空气流速为500ml／min及加入ClO2（1：500）;废水的COD去除率≥95％,且出水的可生化性得到了极大的提高。     

黄土高原适于造林的雨水收集系统设计方法

根据黄土高原地区降水缺乏的自然条件 ,该文提出了 30 0mm到 6 0 0mm地区用于造林的集水设计与施工方法 .这种集水系统由不同形式、大小的种植区与产流区组成的微型集水区形成 ,其设计依据主要是降雨、产流区的径流系数、来自树木和土壤的蒸散、土壤水分亏缺及降水资源环境容量等等 .经过YJG(有机硅化学处理 )处理的产流区、拍光压实产流区和自然坡面的径流系数分别为 0 8 0 89,0 2 3 0 36 ,0 0 8 0 10 根据彭曼法计算的土壤水分亏缺量在 5 0mm到 30 0mm之间 .在降雨量为 4 0 0mm的地区经过YJG处理之后用材林每株林木的产流面积为 3 4m2 ,经济树种为 8 10m2 ;经过压光拍实处理之后用材林每株林木的产流面积为 6 8m2 ,经济树种为 10 12m2 ;自然坡面对于用材林每株林木的产流区面积为 8 10m2 ,经济树种为 12 15m2 采用这种系统经过YJG处理产流区、拍光压实产流区和保持自然坡面的微型集水区中树木的蒸腾量分别是总集水量的 4 7 6 5 % 5 3 31% ,2 4 10 % 36 93%和 18 6 5 % 2 9 5 5 % .这种大面积应用于黄土高原地区的系统被称为径流林业 .     

焊接机器人三维防碰撞力传感器的设计

设计了一种三维防碰撞力传感器,其可利用一个输入实现x、y、z三个方向的碰撞力测试,用在6-D.O.F串联焊接机器人末端时,既可以实现对机器人本身的保护,也可以安装在其他设备的末端执行器上实现对设备的保护.     

森林作业机器人研究动态

研发和利用森林作业机器人对于提高森林作业的质量与效率、促进经济增长具有重要意义。文中基于森林作业应用领域,提出森林作业机器人的分类方法;从采运、培育方面详细论述了国内外采运机器人、种苗机器人、整枝机器人、嫁接机器人、林用清理机器人和消防机器人的研究动态;依据近50年森林作业机器人的发展历史,提出未来森林作业机器人的关键技术与发展方向应集中在多足移动机构、多机械手协调作业、多传感器信息融合、新机器人等方面。     

“紫科1号”红豆杉微枝繁殖技术研究

以紫科1号红豆杉的6种半木质化枝条为扦插繁殖材料,经3种处理液预处理,在8种基质上进行扦插繁殖试验。结果表明:3~12 cm长的枝条均可用作插穗,选用长5 cm左右的枝条进行微枝繁殖较为节约材料;用IBA∶NAA=3∶2,总溶质浓度为1 000 mg/L的处理液速蘸基部后,插于黄心土∶河沙=3∶2的基质中,其后每周用稀释1 000倍的处理液喷洒1次,生根率平均可达97.36%。     

Spatial changes of soil solution and mineral composition in the rhizosphere of Norway‐spruce seedlings colonized by Piloderma croceum

Ectomycorrhizae (ECM) or the root‐fungal association in forest ecosystems provide a unique soil microenvironment where soil properties and processes differ from the bulk soil. In this study, we would like to better understand the role of ECM systems in mineral weathering and its implications to soil formation and nutrient cycling in forest ecosystems. Specifically, we would like to document the spatial variations in the composition of soil solution and mineralogy of the rhizosphere as influenced by the ECM of Norway spruce + Piloderma croceum. Two‐month‐old seedlings of Norway spruce (control and colonized by P. croceum) were cultivated in special rhizotrons designed to allow spatial collection of soil solution. We used A and C horizons of a Dystric Cambisol collected from Höglwald forest near Munich. Micro suction cups (5 mm x 1mm) were installed in colonized and control rhizotrons, and soil solution was collected from September to November 2000. Our results show that the concentrations of NH , Ca²⁺, and Mg²⁺ in the soil solution were lower in <1.0 cm than in >3.0 cm distance from the roots of Norway spruce, due to the possible range of influence of Piloderma mycelium reaching about 2–3 cm from the surface of the mycorrhizal root. In the rhizotron with soil from the A horizon, a higher phosphorus content in Piloderma‐colonized seedlings was observed. X‐ray diffraction data indicate that chlorite and possibly mica are being transformed to 2:1‐expanding clay minerals (probably smectite) within <1.0 cm distance from roots. The spatial variations in soil solution composition and mineral transformation are likely to be due to Piloderma colonization and concentrated mycelial growth within <1.0 cm distance from the roots. This is also evident in more intricate growth of mycelia on surfaces of micaceous minerals as compared to quartz. We assume that Piloderma modifies soil solution and mineralogy through acquisition of essential elements for its own survival and/or for the uptake by plant roots. However, the presence of spontaneous infection with wildtype ECM in the control plots may have altered the influence of Piloderma and must be taken into consideration when interpreting our results.     

水产养殖水下作业机器人关键技术研究进展

传统水产养殖的水下作业任务主要依靠人工完成,劳动强度大,危险性高,水产养殖水下作业面临严峻的人工危机。随着技术进步和制造成本的降低,将水下机器人应用于水产养殖作业有着巨大的需求空间。机器人水下捡拾作业强耦合、多干扰、时变、多体、多环节、作业目标规格形状不一,且作业的精度和速度要求高,机器人水下精准作业是困扰水产养殖界多年的公认难题。本文在对水下机器人-机械手系统(underwater vehicle-manipulator system,UVMS)进行了系统分析的基础上,从弱光照、强耦合、非结构化海洋环境下UVMS的精准捕捞作业目标识别、时变多体捡拾作业条件下水下机器人-机械手系统动力学模型、多扰动条件下目标动物位置识别与定位模型、多约束条件下浅海养殖精准捡拾作业的优化控制等4个方面,对UVMS捕捞作业所涉及的关键技术的地位、国内外研究现状展开分析与讨论,并对所述关键技术的研究前景进行了展望,以期为水产养殖水下作业机器人软件开发提供理论依据和综合性参考。     

基于气动柔性驱动器的侧摆关节特性

基于气动柔性驱动器（FPA）提出了一种新型的气动侧摆关节,该关节用于农业机器人多指灵巧手设计。侧摆关节主要由两个FPA组成,向两个FPA内腔中通入不同压力的压缩气体,可以实现左右两个方向的侧摆运动。对单个FPA的自由端进行力平衡分析,建立了侧摆关节静态模型,并对模型进行简化。完成了侧摆关节静态特性试验,试验结果与仿真曲线基本吻合,验证了静态模型的正确性,但存在一定误差（最大静态误差为0.035 rad）,分析了误差原因;对侧摆关节进行了动态特性试验,试验结果表明对于不同的期望值角度阶跃信号,侧摆关节开环阶跃响应时间大约是2 s（稳态值的公差带?=5%）。该侧摆关节可以明显改善农业机器人灵巧手的工作空间,进一步提高农业机器人灵巧手的适应性和灵活性。     

A novel technique using 1-MCP microbubbles for delaying postharvest ripening of banana fruit

This study aimed to investigate the application of microbubble technology for delaying banana ripening. A preparation of 1-MCP designed for use as a form of aqueous micro bubble (MBs) solutions was formulated. Banana fruit were immersed in 500 nL L⁻¹ of aqueous 1-MCP microbubbles (1-MCP-MBs) or fumigated with 500 nL L⁻¹ 1-MCP, then stored at 25 °C for 8 days. 1-MCP-MBs were more effective in delaying postharvest ripening than conventional 1-MCP fumigation. 1-MCP-MBs reduced the respiration rate and ethylene production compared to the control and 1-MCP fumigated fruit. Moreover, 1-MCP-MBs delayed yellowing and maintained firmness of banana fruit during storage. These results indicate that 1-MCP-MBs can be used as an alternative method for delaying the postharvest ripening of banana fruit, and its application for other commodities needs to be further elucidated.