Modelling agroforestry systems of cacao (Theobroma cacao) with laurel (Cordia alliodora) and poro (Erythrina poeppigiana) in Costa Rica III. Cycles of organic matter and nutrients

Models for cycles for organic matter and nutrients element (N, P, K, Ca and Mg) are presented for the agroforestry systems of cacao (Theobroma cacao) withCordia alliodora orErythrina poeppigiana in Turrialba, Costa Rica. For the models, system reserves (soil, humus, vegetation divided into leaves, branches, stems, fine roots, fruits) and transference between compartments (production and decomposition of litter residues) inputs (fertilizer, rainfall) and outputs (harvests) of the system are considered. The implications of the models are discussed in detail. Aspects of net primary production in the systems studied are considered. N fixation is calculated on the basis of balances. Analysis of soil water showed high variations that coincided with rainfall patterns and pruning of theE. poeppigiana. For part I see Vol. 4, No. 3, 1986 For part II see this issue Agroforestry Project, CATIE/GTZ (Tropical Agricultural Research and Training Center/Gesellschaft für Technische Zusammenarbeit), Turrialba, Costa Rica     

A framework for a modular modelling approach for agroforestry

There are a number of problems with conventional methods for implementing models of agroforestry systems, including the difficulties of building, modifying and understanding them. One way of addressing these problems is to adopt a modular modelling approach, in which a model is constructed by linking a number of submodels, which in turn may consist of smaller computational units.This paper presents a basic framework for the design of a modular modelling approach suitable for agroforestry modelling. This approach is based on a close correspondence between the notion of module in modelling and of subroutine in a programming implementation of a model, so that selecting and linking modules is analogous to choosing and issuing calls to subroutines. This approach has the potential for enabling the complex modelling structures that are required for agroforestry modelling, such as spatial aspects and the representation of individual trees, to be handled in a consistent and uniform manner.The approach requires that subroutines should be held as symbolically-represented structures, rather than just source code in a programming language, so that they can be referenced as discrete units, and internally modified by symbol-processing operations. It is shown that the logic-programming language Prolog is well-suited to the task of representing subroutines in template form, ready to be fleshed out and combined into a single program in response to the selections made by a user. Prolog's suitability for the development of a user-friendly model design interface is also discussed, enabling models to be constructed simply by selecting options from a menu of design choices.     

Modelling agroforestry systems of cacao (Theobroma cacao) with laurel (Cordia alliodora) and poro (Erythrina poeppigiana) in Costa Rica III. Cycles of organic matter and nutrients

Models for cycles for organic matter and nutrients element (N, P, K, Ca and Mg) are presented for the agroforestry systems of cacao (Theobroma cacao) withCordia alliodora orErythrina poeppigiana in Turrialba, Costa Rica.For the models, system reserves (soil, humus, vegetation divided into leaves, branches, stems, fine roots, fruits) and transference between compartments (production and decomposition of litter residues) inputs (fertilizer, rainfall) and outputs (harvests) of the system are considered.The implications of the models are discussed in detail.Aspects of net primary production in the systems studied are considered.N fixation is calculated on the basis of balances. Analysis of soil water showed high variations that coincided with rainfall patterns and pruning of theE. poeppigiana.For part I see Vol. 4, No. 3, 1986 For part II see this issueAgroforestry Project, CATIE/GTZ (Tropical Agricultural Research and Training Center/Gesellschaft für Technische Zusammenarbeit), Turrialba, Costa Rica     

The Role of Mangroves in Retaining Penaeid Prawn Larvae in Klang Strait,Malaysia

The mangrove-fringed Klang Strait, Malaysia, retains approximately 65 billion penaeid prawn larvae annually prior to their settlement in coastal nursery grounds. This phenomenon appears to be due principally to tidal currents and lateral trapping in mangrove-fringed channels, the wind playing an insignificant role.     

Modelling agroforestry systems of cacao (Theobroma cacao) with laurel (Cordia alliodora) and poro (Erythrina poeppigiana) in Costa Rica

The agroforestry systems of cacao (Theobroma cacao) under laurel (Cordia alliodora) and cacao under poro (Erythrina poeppigiana) were studied at CATIE, Turrialba, Costa Rica. An inventory was taken of the organic matter and nutrients (N, P, K, Ca, and Mg) separating the species into their compartments (leaves, branches, trunks and roots). Studies of the litter and of the mineral soil (0–45 cm) yielded these results: Patterns of nutrient accumulation are discussed in relation to the characteristics of these agroforestry systems.     

Modelling agroforestry systems of cacao (Theobroma cacao) with laurel (Cordia alliodora) and poro (Erythrina poeppigiana) in Costa Rica II. Cacao and wood production,litter production and decomposition

During 7 years (1979–1985) cacao harvests (beans and husks) have been recorded for the agroforestry systems ofTheobroma cacao underCordia alliodora andErythrina poeppigiana shade trees. The mean oven dry cacao yields were 626 and 712 kg.ha⁻¹.a⁻¹ cocoa beans underC. alliodora andE. poeppigiana respectively. Harvests have gradually increased over the years and the plantation has now reached maturity. Annual extraction of N, P, K, Ca and Mg in fruits, which is relatively small, was calculated on the basis of chemical analyses. The following average values were found (kg.ha⁻¹.a⁻¹): At the age of 8 years, theC. alliodora trees have reached 26.7 cm diameter (DBH) and 14.0 m in height. Mean annual growth (from age 5 to 7) is 14.6 m³.ha⁻¹.a⁻¹. Natural plant residue production has been measured for 4 years (Nov. 1981–Oct. 1985). UnderE. poeppigiana it has reached a value of 8.91 t.ha⁻¹.a⁻¹ and underC. alliodora 7.07 t.ha⁻¹.a⁻¹. The shade trees have contributed 57 and 47% respectively. Transference and decomposition rates are high and important in the nutrient cycles. The nutrient content of the litter was analysed and corresponding average yearly transfers were (kg.ha⁻¹.a⁻¹): For part I see Vol. 4, No. 3, 1986. Agroforestry Project, CATIE/GTZ (Tropical Agricultural Research and Training Center/Gesselschaft für Technische Zusammenarbeit), Turrialba, Costa Rica     

Genomic best linear unbiased prediction method reflecting the degree of linkage disequilibrium

The degree of linkage disequilibrium (LD) between markers differs depending on the location of the genome; this difference biases genetic evaluation by genomic best linear unbiased prediction (GBLUP). To correct this bias, we used three GBLUP methods reflecting the degree of LD (GBLUP‐LD). In the three GBLUP‐LD methods, genomic relationship matrices were conducted from single nucleotide polymorphism markers weighted according to local LD levels. The predictive abilities of GBLUP‐LD were investigated by estimating variance components and assessing the accuracies of estimated breeding values using simulation data. When quantitative trait loci (QTL) were located at weak LD regions, the predictive abilities of the three GBLUP‐LD methods were superior to those of GBLUP and Bayesian lasso except when the number of QTL was small. In particular, the superiority of GBLUP‐LD increased with decreasing trait heritability. The rates of QTL at weak LD regions would increase when selection by GBLUP continues; this consequently decreases the predictive ability of GBLUP. Thus, the GBLUP‐LD could be applicable for populations selected by GBLUP for a long time. However, if QTL were located at strong LD regions, the accuracies of three GBLUP‐LD methods were lower than GBLUP and Bayesian lasso.     

扰动下铡草机切碎辊负荷控制器设计与试验

为提高铡草机切碎作业的控制性能、作业质量及减小能耗,基于线性预测控制并结合铡草机切碎作业特点建立目标函数,由切碎运动学误差模型推导采样周期以解决控制鲁棒性,切碎动力学模型推导控制时域及预测时域以提高控制响应性,设计了铡草机切碎辊负荷控制器。Simulink仿真表明：经计算和回归优化选出的预测参数组采样周期、预测时域、控制时域为0.8、15、2 s时,其控制精度及鲁棒性最好、作业能力最大、对扰动的响应速度最快、抑制能力最强及能耗(9.27×10⁶ J)最小。现场试验结果表明：该优化预测参数组模型控制器,能够对铡草机切碎负荷有效跟踪控制,产品质量符合标准要求,同时实现了铡草机作业能力的提高,使系统控制响应更迅速,生产效率更高和单位作业能耗(1.382×10⁷ J)更小。该控制器参数模型建立方法为类属饲草作物收获机控制系统的设计提供了参考。     

高地隙四轮独立驱动喷雾机路径跟踪模型预测控制

针对传统燃油驱动、前轮转向的高地隙喷雾机传动效率低、碳排放高、环境污染、智能化水平低、灵活性差等问题,本研究提出了一种适用于无人驾驶的高地隙四轮独立驱动（Four Wheel Independent Drive,4WID）喷雾机。其采用混合动力、前后双转向桥的4WID,转向半径小,前后轮的运行轨迹高度一致,能够减少田间植保作业时的压苗现象。考虑水田极端作业环境下驱动轮的滑移、陷坑等问题,基于喷雾机线性时变的运动学模型（LTV）,构建了考虑驱动轮滑移的分层路径跟踪控制。上层模型预测控制（Model Predictive Control,MPC）器根据预期路径、车辆当前位置,获得喷雾机的转向角和运动速度,实现路径跟踪。下层以模糊控制和积分分离PID控制构建驱动轮滑移控制器,从而实现路径跟踪、运动速度、驱动轮滑移的有效控制,提高了喷雾机在复杂作业环境中的稳定性和路径跟踪精度。采用Adams/Matlab的联合仿真结果表明,在复杂的工况条件下,喷雾机驱动轮的滑移率依然控制在±20%之内,防止驱动轮发生过度滑移对车速和转向角产生不良影响,有利于喷雾机稳定性的提升。本喷雾机能够快速准确地跟踪期望路径,与未考虑驱动轮滑移的控制相比,能够适应更加复杂的工作环境,跟踪精度有明显提升。     

Predicting summer fin whale distribution in the Pelagos Sanctuary (north-western Mediterranean Sea) to identify dynamic whale–vessel collision risk areas

1. Mediterranean fin whales aggregating in the Pelagos Sanctuary in summer to feed are exposed to vessel collision risk, particularly from high-speed ferries.
2. This study developed models to predict summer fin whale distribution using a generalized additive model (GAM) and MaxEnt, with the aim of providing a tool to identify potential high whale–ferry collision risk areas along ferry routes within the Pelagos Sanctuary during summertime.
3. Models were trained using sightings data collected in the summer months of 2009–2018 on board ferries crossing the central area of the Pelagos Sanctuary. Environmental predictors were bathymetry and mean sea surface chlorophyll concentration of the annual spring bloom period.
4. The predictive ability of GAM and MaxEnt was assessed using existing knowledge of summer fin whale distribution in the region. GAM (deviance explained = 20.2%) predictions matched documented distributions more closely than that of MaxEnt, with highest predicted fin whale occurrence in deep offshore waters (>2000 m) encompassing the central north-western and western regions, and in the south-eastern region, consistent with known fin whale habitats within the Pelagos Sanctuary. Inter-annual variability was evident, influencing collision risk areas.
5. Collision risk was estimated as a function of the overlap between the predicted probability of fin whale occurrence and ferry density estimated from Automated Identification System data. Ferry routes that cross the northern and eastern regions of the Pelagos Sanctuary presented relatively higher collision risk.
6. Areas with changes in risk intensity between the years were temporally and spatially dynamic: some appeared intermittently throughout the study period while others persisted over consecutive years or recurred in different years.
7. Due to the vastness of the Pelagos Sanctuary, vessel speed reduction maybe a more practical measure to manage collision risk than re-routing shipping lanes. A combination of Seasonal Management Areas and Dynamic Management Areas approaches could be adopted for high-risk areas.