水产养殖机器鱼设计与三维路径跟踪控制

为方便监测水质与水下鱼群活动,本研究设计了一款面向全水域实时监测的水产养殖机器鱼,并搭建了机器鱼控制系统,开展了机器鱼三维路径跟踪控制研究。在Serret-Frenet坐标系下建立了机器鱼三维空间路径跟踪误差模型,并基于LOS制导律和李雅普诺夫理论设计了一种模糊滑模控制器,最后利用Matlab仿真对本研究提出的控制算法的有效性进行验证。仿真结果表明：所设计的控制器能使机器鱼在模型参数不确定性、外部干扰未知的情况下实现三维路径跟踪控制,其控制精度和鲁棒性明显优于常规PID与滑模控制器。     

苜蓿智慧管理研究进展与应用

【目的】 结合现有苜蓿智慧管理研究进展,提出基于小型无人机+超声波检测在苜蓿智慧管理上的具体应用,为精准农业和苜蓿规模化生产的远程诊断提供思路。【方法】 文章以苜蓿为研究对象,以内蒙古呼伦贝尔市谢尔塔拉农牧场为研究区,在总结归纳当前苜蓿智慧管理研究及应用现状的基础上,进行了无人机+超声波的苜蓿田数据采集及应用。【结果】 研究进展表明与卫星相比,无人机在农作物识别与长势估算中,识别精度和速度表现出明显优势,苜蓿智慧管理的前提是数据的获取与分析,从无人机获取的代表苜蓿冠层高度信息的DSM数据能够显著提升苜蓿识别精度、苜蓿形态三维建模、苜蓿相对高度估算等方面,实时获取苜蓿生长过程中的相关参数使结果更为可靠。【结论】 该文总结现阶段苜蓿智慧管理研究进展,归纳现有研究成果的优势与不足,提出结合无人机采集的高分辨率图像和超声传感器,对不同状况下的苜蓿进行准确数据获取的方法。基于此方法配套相应的苜蓿管理决策支持系统,将可以为用户提供苜蓿长势、产量预测和实时灌溉、施肥等管理策略。     

咪唑型离子液体溶液中纤维素酶荧光活性测定

为考查纤维素酶在离子液体溶液中的酶活,采用荧光光谱分析法对离子液体中纤维素酶的荧光活性测定,研究离子液体的浓度、类型对纤维素酶的活性影响。结果表明:纤维素酶在咪唑类离子液体溶液中荧光活性随离子液体浓度的升高而降低。离子液体为[C4 mim]Cl、[C4 mim]Br,且浓度为0.1 mol/L使纤维素酶的荧光强度减低最小,即对酶活性影响最小。     

基于机载高光谱端元提取分析棉花生长期光谱变化

【目的】棉花在不同生长期的波谱曲线变化具有规律性,研究其时间序列上的反射光谱变化趋势与规律并监测长势,为基于无人机多光谱、高光谱遥感的作物长势监测提供借鉴和参考。【方法】使用多旋翼无人机搭载Rikola高光谱成像仪,获取棉花从花期到后期之间的高光谱影像。使用纯净像元指数算法和最大单形体体积算法进行端元提取,并以SR-3500光谱仪采集的地面光谱曲线为标准,光谱角度为评价指标,依次从端元提取算法效果、不同航高数据对比、光谱相关性、多期光谱曲线变化趋势等分析。【结果】最大单形体体积算法在60、80、100 m航高下波谱角度结果分别为0.065 8、0.065 9、0.067 7,相较于纯净像元指数算法结果更接近地面光谱仪数据,具有较优的相关性(R²均在0.99以上),且能更好地提取小样本端元。航高对端元提取的影响较小,同种算法在不同航高下提取结果差异均在2%以下。不同生长期棉花波谱曲线变化呈规律性,吸收谷与红边值在7月中旬到达峰值。标准植被指数与比值植被指数在7月上中旬达到最大值(0.841 7、11.630 5),增强型植被指数、差值植被指数、优化土壤调节植被指数在7月中下旬达到最大值(0.818 9、0.501 3、0.501 2)。【结论】最大单形体体积算法可较好的从棉花高光谱影像中提取出棉花波谱曲线,且100 m为较优的无人机数据采集航高。棉花在7月光合作用最大,对红光的强吸收、近红外波段强反射现象最为明显。     

农用无人车环境感知技术发展现状及趋势分析*

传统农业随着人口老龄化、生产劳动强度大等原因导致其发展受到制约。近年来随着信息化技术、智能控制技术、传感器技术的快速发展,使得农用无人车的应用成为可能,实现传统农业向智慧农业的转变。对目前农用无人车发展情况介绍的基础上,重点阐述农用无人车环境感知技术的发展现状,对不同传感器技术的特点和应用情况进行总结,并比较分析不同传感器技术的优缺点;同时在对目前传感器信息融合技术发展情况总结分析的基础上,指出农用无人车环境感知技术的发展与应用没能够遵循精细化农业的发展方向,对于农业生产环境结构化研究欠缺。对此文章融合精细农业思想,提出作业对象结构化和作业机器传感器融合技术并重的解决策略,最后为降低成本、提高普及性,指出农用无人车的环境感知技术层可拓展性等发展趋势。     

马铃薯新品种‘定薯4号’丰产性、稳产性、适应性 及品质分析

为了全面了解定薯4号的生产利用价值,以2013～2014年甘肃省马铃薯品种区域试验与品质检测数据结果为依据,通过产量、变异系数和回归系数对该品种和对照品种的丰产性、稳产性、适应性和品质进行分析比较。结果表明,定薯4号属于丰产性、稳产性和适应性强,淀粉加工和鲜食品质佳的优良品种,在土壤肥力中等的雨养农业区增产潜力极高。     

The high biodiversity and vulnerability of two Mediterranean bathyal seamounts support the need for creating offshore protected areas

1. Seamounts host some of the most important deep-sea ecosystems. The unique environmental characteristics of seamounts sustain rich biological hot spots, which, in recent times, have suffered the effects of intense fishing pressure.
2. Biodiversity and vulnerability data are extremely scarce for Mediterranean seamounts, and this, in addition to the complex socio-economic and juridical status of offshore sites, results in difficulty in identifying the best management strategies.
3. An extensive remotely operated vehicle (ROV) survey was used to characterize the megabenthic assemblages of the summits of two upper bathyal seamounts, Ulisse and Penelope (Ligurian Sea, north-west Mediterranean Sea). The biogeographic implications of these findings and the possible environmental factors favouring the occurrence of these communities are discussed.
4. High densities of abandoned, lost, or otherwise discarded fishing gear (mainly longlines) and a reduction in the average size of the fragile and slow-growing habitat-forming gorgonian Callogorgia verticillata indicate the occurrence of high levels of anthropogenic impacts on the summit regions, which are fishing grounds for artisanal and recreational fishers.
5. The recovery of fishing data describing the first catches in the 1970s proved to be useful in inferring the short- and long-term effects of fishing practices in these previously unexploited offshore areas. In particular, the local extinction of demersal top predators, subjected to exceptional catches nearly 50 years ago, highlights the slow recovery rate of such species.
6. Criteria defining vulnerability are discussed for the two study areas, and specific conservation actions, including the creation of regulated protected areas, are proposed.

     

并联式混合动力汽车瞬时控制策略研究与改进

通过对并联式混合动力汽车瞬时控制策略的研究,分别建立了动力电池在充电和放电两种工况下的等效油耗函数,考虑到动力电池SOC和混合动力汽车制动能量回收这两个因素的影响,导出了改进后的等效油耗瞬时控制目标函数,并建立了瞬时控制模型。针对某款并联式混合动力汽车,运用ADVISOR 2002软件,对改进前后的瞬时控制策略进行了仿真。     

Saliva chromogranin A in growing pigs: A study of circadian patterns during daytime and stability under different storage conditions

Salivary chromogranin A (CgA) is considered to be a biomarker of activation of the sympatho-adrenomedullary system, and has recently been proposed as a useful indicator of the acute stress response in pigs. The aim of the present study was to determinate whether salivary CgA concentrations in healthy growing pigs exhibits any circadian pattern during the daytime, and to evaluate its stability under different storage conditions. A total of 80 pigs (40 in spring and another 40 in autumn) of two different ages and genders were used. To establish the circadian pattern, saliva samples were collected at 07.00, 11.00, 15.00 and 19.00 h on two consecutive days. Pooled samples were used for the stability study and were measured on the day of sampling and periodically for up to 360 days later. Samples were stored at 4 °C, ?20 °C or ?80 °C and the effect of repeated freezing and thawing was also evaluated.No circadian pattern was detected for salivary CgA in either season and there were no significant effects of gender or age. However, mean salivary CgA concentrations were significantly higher (P < 0.0001) in the pigs sampled in autumn, compared to those sampled in the spring. Short term storage at 4 °C is recommended for up to 2 days, whereas frozen samples can be stored for 1 year at ?20 °C or ?80 °C, without substantial reduction in CgA values. In addition, samples can be frozen and thawed up to seven times without significant loss of the biomarker.     

双峰驼乳和牛乳中长链多不饱和脂肪酸质量浓度测定

采用国标法检测8份新疆双峰驼乳和7份荷斯坦牛乳中5种长链多不饱和脂肪酸的质量浓度和质量分数。结果表明：新疆双峰驼乳中亚油酸（LA）、α-亚麻酸（ALA）、花生四烯酸（ARA）、二十碳五烯酸（EPA）和二十二碳六烯酸（DHA）的平均质量浓度分别为142.99、18.09、9.83、1.51和1.30 mg/100 g,各种脂肪酸占总脂肪酸的比率依次为2.88%、0.37%、0.20%、0.031%和0.026%;荷斯坦牛乳中LA、ALA、ARA、EPA和DHA的平均质量浓度分别为88.37、5.13、6.57、0.69和4.24 mg/100 g,各种脂肪酸占总脂肪酸的比率依次为2.86%、0.17%、0.21%、0.023%和0.14%。