基于全质心WLS-HDS-TWR算法的无人驾驶农业机械协同定位算法研究

针对室内全球导航卫星系统（Global navigation satellite system,GNSS）信号受遮挡时,农用车辆协同定位精度低、稳定性差、信号丢包等问题,本文开展面向超宽带（Ultra wideband,UWB）调频技术的室内外农用车辆协同定位算法研究。首先,搭建三基站多边测距定位模型,实现主基站绝对位置标定以及辅助基站绝对位置坐标的变换求解;其次,提出全质心加权最小二乘的高速双边双向（Weighted least squares high double sided two-way ranging,WLS-HDS-TWR）农机协同定位算法,基于泰勒级数展开的WLS估计算法,求解主车位置。同时,提出面向室内环境的多状态基站组合的UWB定位模块布设模式,并验证其可行性;通过飞行时间法（Time of flight,TOF）获取主从车距离信息,融合GNSS标定位置信息、主车坐标信息以及测距信息,实现主从车协同定位。最后,基于Prescan/Simulink搭建联合仿真平台,验证提出算法的可靠性;通过农用履带车辆开展室内及室外协同定位实车试验,试验结果表明：全质心WLS-HDS-TWR协同定位算法可有效解决室内GNSS信号缺失问题,室内环境下,定位精度较HDS-TWR及全质心LS-HDS-TWR算法分别提高26.98%和22.03%,满足智能农机协同定位作业需求。     

栀子花化学成分的GC/MS分析

采用超声波提取栀子花提取液,然后对其化学成分进行GC/MS分析。从栀子花中分离确定出27种主要成分,其中萜类物质含量相对较高。     

Prediction of transverse shrinkages of young-growth Sitka spruce (Picea sitchensis) and western hemlock (Tsuga heterophylla) with ultrasonic measurements

Abstract

The objective of this study was to examine the potential of acoustic measurement as a rapid and nondestructive method to predict the dimensional stability of young-growth Sitka spruce and western hemlock. Ultrasonic velocity, peak energy, specific gravity, and radial and tangential shrinkages were measured on twenty-four 25-×102-×y 25-mm specimens obtained from a 58-year-old stand in Southeast Alaska. We found that specific gravity and peak energy of ultrasonic signals were not good predictors of transverse shrinkage, as indicated by poor correlations. Ultrasonic velocity, on the other hand, was found to be a significant predictor of transverse shrinkage and therefore has good potential to be used as a field method to evaluate dimensional stability. The single-parameter prediction model explained 86% of transverse shrinkages in western hemlock and 71% of transverse shrinkages in Sitka spruce. Further study is needed to test the capability and feasibility of using acoustic velocity to predict both longitudinal and transverse shrinkages of wood in standing trees.     

马桑根瘤内生菌纯培养物的分离、回接及其生物学特性

多次采用根瘤切片法直接从野生的马桑根瘤中分离内生菌纯培养物均未获成功;但用同样方法从温室里人工接种形成的马桑根瘤中却分离到大量纯培养物。其中273株经盆栽回接后发现有24株能侵染结瘤;少数菌株还通过半固体斜面和珍珠岩盆栽回接成功。对10株纯培养物表型特性的研究表明,它们均具有Frankia的形态和培养特征;生理类型除有A、B两型外,尚出现有一类A、B混合型,其中凡属B型菌株的均能侵染结瘤,A型则不能,两株A、B混合型中有1株能结瘤,另1株却不能;碳、氮源利用特性和其它Frankia基本相似;细胞壁组分既有Ⅲ型也有Ⅱ型;全细胞鉴别性糖大多为木糖和半乳糖,少数菌株只含有半乳糖或木糖,或含有半乳糖、木糖和阿拉伯糖。DNA中G+C mol%为65%～74%。     

超声波辅助提取西瓜番茄红素工艺优化

研究了一元溶剂、二元溶剂、三元溶剂对西瓜番茄红素提取效率的影响,应用正交试验优化了超声波辅助混合溶剂提取西瓜番茄红素工艺。结果表明,一元溶剂中石油醚、乙酸乙酯对西瓜番茄红素的提取效果较好;二元混合溶剂中,乙酸乙酯-丙酮(7∶1)的提取效果最好;三元混合溶剂中乙酸乙酯∶丙酮∶甲醇(7∶1∶1)的提取效果最好;提取西瓜番茄红素的最佳溶剂是体积比为7∶1的乙酸乙酯-丙酮混合溶剂。超声波提取西瓜番茄红素的最佳工艺为超声波功率225 W,超声温度50℃,超声时间20 min,料液比为1∶5(g∶m L)。     

响应面法优化超声波提取山楂皮渣三萜酸工艺

以山楂皮渣为原料,在单因素试验的基础上,通过响应面法对超声波提取三萜酸物质的工艺条件进行优化。结果表明,超声波辅助提取山楂皮渣三萜酸的最佳工艺条件为:超声温度58℃,超声时间30 min,乙醇浓度81%,液料比9∶1(m L/g),提取2次。在此工艺条件下,山楂皮渣中三萜酸的提取率达(2.332±0.031)%。经过验证,所得工艺参数准确,可用于山楂皮渣三萜酸的提取。     

星点设计-效应面法优化梓树果实总黄酮的超声提取工艺

以梓树果实为材料,利用星点设计—效应面法对总黄酮的超声提取工艺参数进行优化研究。选择乙醇浓度、料液比、提取时间为自变量,总黄酮提取量为因变量,对自变量各水平进行多元线性回归和多项式拟合,采用效应面法选取较佳工艺条件,并进行预测分析。结果表明:梓树果实总黄酮的最佳提取工艺参数为乙醇浓度59%,料液比1∶44,提取时间39 min。在此工艺条件下梓树果实总黄酮提取量测定值为22.289 4 mg.g-1,最佳工艺验证结果与模型预测值相差-1.84%。     

COMPARATIVE ORGAN IMAGING: THE GASTROINTESTINAL TRACT

Diagnostic radiology of the esophagus, stomach, small and large intestine, mesentery, and pancreas is reviewed. Survey and contrast radiography remain the principal imaging methods used to evaluate gastrointestinal diseases in animals. Of the other imaging techniques, scintigraphy has potential in assessment of esophageal and gastric motility disorders, and detection of intestinal hemorrhage. Ultrasonography is useful for imaging the pancreas and gastrointestinal mass lesions.     

THE FIRST TWENTY-ONE YEARS OF VETERINARY DIAGNOSTIC ULTRASOUND

The veterinary literature of 1966–1986 was searched for articles and books related to the use of diagnostic ultrasound in animals. There were 492 references, categorized as follows: general, 30; small animal applications, 169; large animal applications, 248; blood pressure measurement, 23; ultrasound-guided biopsy, 4; miscellaneous, 18.     

超声波辅助提取木棉花多糖

利用超声波辅助提取木棉[ Gossampinus malabarica (Dc.) Merr.]花多糖,先考察了不同科液比、超声波功率、提取时间、提取温度和提取次数对木棉花多糖提取率的影响,然后利用正交试验优化木棉花多糖的提取工艺,并对结果进行分析.结果显示,木棉花多糖最佳提取工艺参数为,料水质量比1∶60、提取温度60℃、超声波功率250W、提取时间20 min、提取2次.