农业机器人开放式结构控制系统的研究

在农业机器人控制系统的设计上采用开放式结构的思想。分析了开放式结构控制系统对硬件和软件的要求，采用PMAC(Programmable Multi-Axes Controller)运动控制卡以PC+DSP(Personal Computer & Digital Signal Processing)模式构建硬件平台；以RTLinux(Real Time Linux)为实时操作系统建立相应的软件体系结构，编写了PMAC基于RTLinux的驱动程序，并开发了相应的控制软件，设计出了具有开放式结构的农业机器人控制系统。以二自由度运动平台为控制对象进行了控制性能和实时性测试，当控制参数调整为：比例增益为19000，积分增益为1000，微分增益为1000，速度前馈为4700，加速度前馈为20，具有良好的瞬态特征、位置控制和速度控制性能；在RTLinux和Linux下运行相同任务消耗的时间分别为28.03s和30.28s。结果表明，该系统具有良好的控制性能和实时性。     

Quantification of Aluminum-Induced Changes in Wheat Root Architecture by X-ray Microcomputed Tomography

Root architectural traits are of fundamental importance for plant performance, especially under unfavorable soil conditions. This study examined the effect of aluminum (Al) toxicity in different growing media (nutrient solutions and soil) on root architecture of two wheat (Triticum aestivum L.) cultivars with different Al tolerances. Seedlings were grown in acidic and limed soil and in two contrasting nutrient solutions. Root systems of soil-grown plants were scanned using x-ray microcomputed tomography (µCT) while that of nutrient solution–grown plants were assesses using WinRhizo, 3 and 5 days after planting (DAP), respectively. Aluminum caused significant reduction of all examined root traits (number of seminal roots, root length, length of the longest seminal root, root surface area, and root volume). Growth in acidic soil caused significant reduction in root length, length of the longest seminal root, and root surface area at 5 DAP. Soil-grown plants produced a larger root system compared to plants grown in nutrient solutions. Aluminum toxicity–induced differences of root traits were also found between different nutrient solutions. Beside the well-known reduction of root length, Al toxicity had a profound effect on other root architectural traits. X-ray µCT has revealed root architectural changes under specific conditions of acidic, Al-toxic soil. Differences obtained in Al-induced effects on root architecture between different nutrient solutions as well as between different growing systems emphasize the need for further study of root architecture, especially under specific conditions of Al toxicity in acidic soils.     

芽苗菜智能化生产模式的研究

芽苗菜在我国已有10多年的栽培历史,但大多采用人工管理与家庭作坊模式,使管理繁琐,劳动力密集,难以实现规模化、工厂化生产,更因设施简陋与气候多变,难以做到常年生产与无公害操作。在芽苗菜的生产中,常因化肥农药的使用而造成产品的药残与环境的污染。借鉴国外先进的生产模式,结合我国实际,开发研究新型生产方式——智能化生产,以实现芽苗菜生产过程的智能化、工厂化与无公害化。这种模式的研究已成为当前芽苗菜生产中急需探索与解决的新课题,只有这样才能使这种功能型的保健蔬菜产业得以健康地发展。通过对传统生产模式的研究,提出了采用计算机环控技术代替人为的环境管理;运用物理杀菌技术、空间隔离、免基质栽培技术实现完全无公害无残留的生产转变;并通过计算机专家系统的应用,实现操作过程的简易化、傻瓜化与流程化,为芽苗菜常年生产和全年上市提供了强有力的技术保障,从而为这种新兴的蔬菜产业开辟一条提升发展的新路径、新模式。     

Study of Transform between Qualitative Analysis and Quantitative Analysis in Lighting Engineering

In order to establish the relationship between subjective sense and physical measurement in lighting engineering, the qualitative and quantitative analyses are connected through generalized Weber - Fechner Law. For practical application problems of lighting engineering, a proximate function of subjective sense deduced from physical measurement is brought forward. The experiment in advertising lighting shows that the result of this function is more exact and more closely to the practice than others. Using this proximate function, the illumination level, corresponding to given satisfaction level, can be found. In other words, the physical measurement corresponding to given subjective sense can be evaluated by using this proximate function, accordingly the design of lighting project can be directed reasonably.     

Design for the Incentive System of Architecture Market

Architecture market is a typical dynamic game market with incomplete information, in which exists three principal parts who are proprietors, supervising companies and contractors. There is a complex principal-agent relationship among them. With the analysis of the principal-agent relationship among proprietors, supervising companies and contractors, two dynamic games of incomplete information have been established and analyzed. If the proprietor only pay instant fee to supervising company, the supervising company will take weak supervise. Only with appropriate incentive way, the strong supervise can be done. Based on it, an incentive system is established to make the supervising companies and contractors work hard, to realize the given purpose of the proprietors.     

Kinetics of leaf extension in maize: Parameterization for two tropically adapted cultivars planted on two dates at Gatton

The kinetics of extension of individual leaves and component laminae and sheaths in maize were studied in two field experiments at Gatton (Australia) using two cultivars, Pioneer 3527 and Pioneer C87, in one experiment and Pioneer C87 only in the second. Destructive sampling based on non-destructive observations to ensure accurate representation of the population was used to establish timing of leaf initiation, leaf tip appearance, ligule being able to be discerned and full extension of organs. The appearance and extension of leaves were related to thermal time, calculated from temperature measured in the region of cell division and extension. Extension of leaves and sheaths was analysed using the first three phases of a four phase framework consisting of two exponential phases, rapid (linear) extension and transition to final organ length. The last phase was not examined as there were insufficient data. Final organ length was related to leaf position, and linear extension rates of leaves and laminae were linearly related to final organ length, with differing equations for upper and lower leaves. The study has proposed extensions to an existing analytical approach, and argues that regular patterns of extension of leaves and sheaths can be explained in relation to the position of the ear using a physiological approach.     

Genetic and environmental variation in architecture and yield components in determinate white lupin (Lupinus albus L.)

Summary Determinate architecture is of great interest for lupin production in Europe but the extent of genetic and environmental variation in the structure and yield of determinate lupins must be evaluated. Forty-three genotypes of determinate autumn-sown white lupin were studied in four environments in France in 1991/92 and 1992/93. Wide variation was observed for phenological (dates of mainstem and branch flowering, date of end of flowering and date of maturity), morphological (numbers of branch orders, branches and leaves) and seed characters (seed yield, mean seed weight, number of seeds/m²). Both genetic and environmental effects contributed to the observed variation. Heritabilities were high for all characters, and the interaction between genotype and location effects was low. There were significant positive correlations of flowering dates with vegetative plant development including the number of branches, number of leaves and number of branch orders. Seed yield and phenological and archtectural characters were significantly correlated. Distribution of yield on the vegetative orders showed important variations according the genotype, and the variations were related to variation for the architecture. There are possibilities for yield improvement using morphological characters in determinate autumn-sown lupin.     

基于多协议的温室智能物联网系统研究

智能物联网系统应用已成为现代温室大棚发展的方向。物联网协议众多、复杂,分布于诸层中。物联网感知设备与控制器间以无线协议为主,一类适用于近距离、低速率、低功耗、低成本、低复杂度无线通信,一类适用于远距离、低比特率、低功耗无线通信。网关与园区网络间以无线或有线连接,移动智能终端与云端服务器间以移动互联网接入。在基于多协议的温室智能物联网系统应用实例中,针对猕猴桃对生长环境的需求,设计了物联网系统架构,综合考虑温室诸多因素,合理选择ZigBee、IEEE 802.11x、TCP/IP以及4G/5G多种协议,并且为配合多协议应用选择了适宜的物联网设备。结果表明:传感网由无线信号收发模块连接至控制器,再经网关接入该地园区网络,然后传输数据给云端服务器存储,在互联网和移动互联网等网络通信基础上,实现感知、传输、处理功能。多协议智能物联网系统工作良好,性能稳定,达到了预期效果。     

Intramammary antibiotics with complementary acupuncture decreases milk serum N-acetyl-beta-D-glucosaminidase concentrations in dairy cattle with subclinical mastitis

The objective of this research is to determine whether intramammary antibiotics with complementary acupuncture can reduce bovine mammary inflammation due to subclinical mastitis. Lactating cows were selected based on milk with a somatic cell count (SCC) greater than 500,000 cells/ml. Pre- and post-treatment milk samples were collected to determine SCC, aerobic bacterial content, milk ion conductivity, total protein, lactate dehydrogenase (LDH) and N-acetyl-beta-D-glucosaminidase (NAGase) concentrations. Milk serum was prepared from milk samples by double centrifugation. Concentrations of LDH and NAGase were determined using commercial enzyme-linked immunosorbent assays. Cows being treated with intramammary antibiotics were separated by random assignment to the acupuncture group (n = 10) and a no-acupuncture (control) group (n = 9). Both the acupuncture and control group were restrained for 30 min in a head catch 12 hr apart for a total of four times. For front quarters affected by subclinical mastitis, the acupuncture points used were spleen (SP) 12, SP 17, SP 18, SP 21, stomach (ST) 18 and conception vessel (CV) 12. For rear quarters affected by subclinical mastitis, the acupuncture points used were bladder (BL) 30, BL 30-1, BL 49, kidney (KI) 10, conception vessel (CV) 2 and CV 3. All parameters were compared using a Student t test. Significance was defined as p < .05. Compared to control cows, complementary acupuncture treatment reduced NAGase enzymatic activity in quarters of cows with subclinical mastitis. The reduction in NAGase suggests that complementary acupuncture treatment may be associated with healing of the damaged mammary epithelial cells, which are the primary source of NAGase activity in milk serum.