面向多机器人的传统苹果园无线通信信号传播特性研究

为解决农业多机器人在传统苹果园行间协同作业时的通信节点最佳部署问题,研究了2.4GHz Wi-Fi信号在传统苹果园（苹果成熟期）中的传播特性。将信号发射、接收节点分别距地面高度0.45、0.55、0.65、0.75m垂直部署,依据多机器人直线型、小间距V形、大间距V形、并排型等4种典型编队方式将节点水平部署,测量通信信号在不同高度条件以及上述4种编队方式下不同距离处的接收强度。研究结果表明,4种编队方式中,以直线型编队方式下的信号衰减最缓慢。因此,传统苹果园中多机器人最佳的编队方式为直线型,节点部署高度最好在果树第一侧枝向下0.2m左右处。对路径损耗数据进行回归分析,发现其在每个无线通信信号节点高度、每种多机器人典型编队方式下均符合对数路径损耗模型,模型的R2在0.860~0.989之间。同时,建立了用于预测2.4GHz Wi-Fi信号在传统苹果园（苹果成熟期）中的路径损耗模型,并同期选择了其他苹果园验证了预测模型的准确性,R2在0.947~0.967之间,RMSE在1.489~2.432dBm之间。模型能较好地预测Wi-Fi信号在传统苹果园中的路径损耗情况,可为农业多机器人在传统苹果园中的通信节点部署提供参考。     

生菜叶中磷含量的光谱定量分析

为快速、准确检测生菜叶内的磷含量,提出了应用光谱技术结合化学计量法无损检测生菜叶内磷含量的方法。通过获取不同施磷量下生菜叶片于波长350~2500nm处的反射光谱,对光谱数据进行5点平滑和一阶导数变换后,利用联合区间偏最小二乘算法（siPLS）提取了与生菜叶磷元素相关的4个特征波段,即950~1070nm, 1430~1549nm,1906~2025nm和2144~2263nm。进一步利用连续投影算法（SPA）对全光谱波段和4个特征波段进行特征波长提取,分别筛选出变量63个和25个。分别对4个特征波段、63个和25个特征波长进行主成分降〖JP2〗维,当主成分数分别为7、5和4时,隐含层神经元数分别为7、5和3时,建立了siPLS+BPANN,SPA+BPANN,siPLS+〖JP〗SPA+BPANN生菜叶磷含量检测模型。研究结果表明：siPLS+SPA+BPANN模型的预测结果优于其他模型,验证集相关系数为0.911,验证均方根误差为479mg/kg。     

视觉导引AGV鲁棒特征识别与精确路径跟踪研究

针对AGV多分支路径与工位点标识的可靠识别以及导引路径的精确跟踪问题,提出了一种基于双视野窗口的鲁棒特征识别与精确路径跟踪方法。采用整幅视野范围作为模式识别窗口,在该窗口采用基于核主成分分析(KPCA)和BP神经网络的识别方法,将路径特征通过核函数映射到高维空间进行PCA降维,再利用BP神经网络识别降维后的样本矩阵。同时提出一种导引扫描窗口设置方法,该窗口范围取决于摄像机竖直视角以及摄像机安装倾斜角,在导引扫描窗口内将导引路径简化为直线模型并用最小二乘法拟合,针对拟合直线计算导引所需的路径偏差。实验结果表明,KPCA-BP方法显著提高了路径特征识别的实时性和鲁棒性,6类路径特征的平均特征识别正确率为99.5%;导引扫描窗口有效减小了导引路径直线拟合的计算误差,直线路径跟踪误差小于3 mm,曲线路径跟踪误差小于30 mm。     

基于地基激光雷达的叶倾角分布升尺度方法研究

地基激光雷达因其具有穿透力强,能够提取植被冠层三维结构信息的优势,是提取植被叶倾角分布(Leaf angle distribution,LAD)的理想数据源,因此将地基激光雷达数据与遥感影像结合获取大尺度叶倾角分布结果颇具潜力。以河北省保定市北部4个县为研究区,利用10个玉米样地的地基激光雷达数据提取叶倾角分布结果,使用主成分正变换提取玉米实测叶倾角分布数据中信息量最大的前3个主成分,再利用神经网络模型对所提取的主成分与Landsat8反射率数据结合建立关系模型,然后将训练好的模型应用于整个研究区进行升尺度转换,最后通过主成分逆变换,得到升尺度后平均叶倾角(Mean tilt angle,MTA)结果。对升尺度后LAD与实测LAD及升尺度后MTA与实测MTA进行交叉验证,结果表明,升尺度MTA与实测MTA的验证精度(R2)为0.786 2,均方根误差(RMSE)为3.04°。该结果表明,使用提取主成分方法建立光谱数据与叶倾角分布的关系模型从而达到升尺度转换的目的具有可行性,模拟精度较高,且误差较小。     

基于LVDS传输线延时检测技术的土壤含水率传感器

为实现土壤含水率的快速准确监测,设计了一种基于LVDS差分传输线延时检测技术的土壤含水率传感器。该传感器将高频振荡信号分路为两通道LVDS差分信号,一个通道用于测试土壤含水率,另一个通道用于提供参考信号。由于土壤中水分的变化改变土壤介电常数,从而导致测试通道LVDS差分总线上信号传输延时的变化,则传感器检测该通道信号的传输延时就可以确定土壤含水率。为了获得LVDS总线设计线宽和线间距的最优值,以LVDS总线阻抗值均方误差最小化为目标,构建了线宽和线间距的最优化计算模型,并通过遗传算法求解出了最优线宽为0.178 9 mm和最优线间距为0.223 8 mm。试验表明,根据该参数设计的传感器在50 MHz频率时,对体积含水率8.31%以上的砖红壤土和黄壤土的预测模型为线性模型,决定系数R2为0.964 2,绝对预测误差在2.45%以内。     

Glomus-wetland rice mycorrhizas influenced by nursery inoculation techniques under high fertility soil conditions

 We investigated the effect of nursery inoculation techniques on mycorrhizal colonization and sporulation, growth responses, and nutrient (N and P) uptake to determine the suitable nursey inoculation method of wetland rice (Oryza sativa L.) under high-fertility soil conditions. Seedlings were produced in dry-nursery (DN, watered to 60% of –0.03 MPa) and wet-nursery (WN, 3–5 cm water from the soil surface) conditions with or without arbuscular mycorrhizal fungal (Glomus spp.) inoculation. Soil was γ-ray sterilized before use in this experiment. Mycorrhizal fungal colonization was 56% in DN and 23% in WN plants at 6 weeks of growth. The arbuscular mycorrhizal fungal colonization was significantly higher in plants of DN origin than in WN plants after transplantation to the pots, irrespective of growing stages. Mycorrhizal colonization was significantly decreased to 28% in DN plants and to 25% in WN plants at harvest. The grain yield was significantly influenced by nursery conditions. N and P acquisition of wetland rice plants inoculated with Glomus spp. was significantly greater than that of non-inoculated plants at maturity, especially in those originating from DN conditions. P translocation from shoots to grain was accelerated by mycorrhizas. Received: 6 April 1997     

何首乌组培快速繁殖技术的研究

对何首乌的组培快繁技术进行了研究。结果表明：采用MS＋6－BA1.0mg/L IBA 0.1mg/L的培养基能成功地诱导芽的分化。对于芽增殖，以MS＋6－BA 0.75mg/L IBA 0.05mg/L或MS＋6－BA 1.5mg/L IBA 0.1mg/L培养基较好，培养30d后芽增殖率可分别达到3.89和4.11。诱导生根以1／2MS＋IBA 0.5-1.25mg/L或1／2MS＋NAA0.5mg/L培养基较好，培养20d后生根率可达80．0％－86．7％。     

含河渠的分洪区洪水演进数值模拟

在分洪区内存在河渠的情况下，根据水流在河渠外区域和河渠内运动特点的不同，对已有的分洪区二维水流数学模型进行拓展，建立了相应的数学模型。该模型计算时能考虑河渠两侧有、无堤防两种情况，通过对概化地形的计算，证明了模型的合理性。     

Population size and specific potential of P-mineralizing and -solubilizing bacteria under long-term P-deficiency fertilization in a sandy loam soil

The effects of organic manure, mineral fertilizer (NPK), and P-deficiency fertilization (NK) on the individual biomass of young wheat plants, arbuscular mycorrhizal (AM) colonization in wheat root systems, population sizes of soil organic phosphorus mineralizing bacteria (OPMB) and inorganic phosphate solubilizing bacteria (IPSB) as well as soil P-mineralization and -solubilization potential were investigated in a long-term (18-year) fertilizer experiment. The experiment included five treatments: organic manure, an equal mixture of organic manure and mineral fertilizer, fertilizer NPK, fertilizer NK, and the control (without fertilization). Plant biomass, population sizes of soil OPMB and IPSB were greatly increased (P<0.05) by the application of organic manure and slightly increased by the balanced application of mineral fertilizer, while undiminished AM colonization in wheat root system was only observed in the case of the NK treatment. Compared to balanced fertilization, P-deficiency fertilization resulted in a significant increase (P<0.05) of OPMB-specific mineralization potential (soil P-mineralization potential per OPMB cell) and highest IPSB-specific solubilization potential (soil P-solubilization potential per IPSB cell), suggesting that OPMB and IPSB are likely more metabolically active in P-deficiency fertilized soils after long-term fertilizer management, and mycorrhizal plants are more dependent on AM in P-poor soils than in P-fertilized soils. Our results also showed the different effects of mineral fertilizer versus organic manure on soil P-mineralization and -solubilization potentials, as well as specific potentials of OPMB and IPSB in arable soils.     

丛枝菌根真菌对镉胁迫水稻秧苗生长发育的影响

【目的】探讨丛枝菌根真菌（Arbuscular mycorrhizal fungi,AMF）对镉胁迫水稻秧苗生长发育的影响,为利用AMF菌根技术减少稻米镉超标提供理论指导。【方法】分别在无镉胁迫和1 mg/kg镉胁迫的水稻育秧土壤中接种摩西斗管囊霉（Funneliformis mosseae,FM）和根内根孢囊霉（Rhizophagus irregularis,RI）,以接种等量高温高压灭菌后的FM+RI菌剂为对照,30 d时测定这2种AMF对水稻秧苗根系的侵染率,并分析其对秧苗株高、生物量、叶绿素含量以及镉含量的影响。【结果】在无镉胁迫的条件下,FM、RI对水稻秧苗根系的侵染率分别为33.4%和24.9%;与对照相比,FM和RI处理秧苗的株高分别增加8.6%和7.6%（P<0.05）,生物量和叶绿素含量无显著性差异。在1 mg/kg镉胁迫的条件下,FM、RI对根系的侵染率分别为25.1%和20.3%;与对照相比,FM和RI处理秧苗的株高分别增加26.5%和21.0%（P<0.05）,生物量分别增加33.1%和18.6%（P<0.05）,叶绿素含量分别增加16.1%和15.2%（P<0.05）,根系镉含量分别增加186.2%和207.7%（P<0.05）,地上部分镉含量分别减少40.2%和36.8%（P<0.05）,镉转运系数均降低80.0%（P<0.05）。【结论】FM和RI能够显著促进镉胁迫水稻秧苗的生长发育,增强根系对镉的固定能力,减少镉从地下部分到地上部分的转运。