机器人稳态分析的一种新方法

提出一种机器人稳态分析新方法,以D-H矩阵的逆矩阵,构建由工具坐标系到机械臂关节空间坐标系之间的线性射映关系,即一种新型的雅可比矩阵,由此导出由工具坐标系到关节坐标系之间力和力矩的传递函数。和传统的稳态分析方法相比,减少矩阵叉积次数,且能得出和关节空间力和力矩关系相一致的表态式,并能用D-H矩阵验证求解的正确性。     

固态发酵大豆制备的抗氧化肽的活性分析

综合评价用固态发酵法制备的大豆抗氧化肽的抗氧化活性.通过T-AOC方法测定总抗氧化能力、通过水杨酸法测定·OH、通过邻苯三酚法测定O2ˉ、通过卵磷脂法测定脂质体过氧化、通过POV值法测定抗油脂自氧化.大豆抗氧化肽的总抗氧化能力为50.07 U、对羟基自由基的清除率达到85.68%、抑制邻苯三酚自氧化能力达到23.61 U/mL、抑制脂质体过氧化率为34.58%、对油脂过氧化抑制抑制率为30%.用固态发酵法制备出的大豆抗氧化肽具有较强的还原能力、能清除羟基自由基、抑制邻苯三酚自氧化,并能够对脂质体过氧化和油脂过氧化具有一定的清除作用能力.     

杉木双系种子园无性系开花习性与异交率及其间的关系研究

基于对杉木双系种子园中成对无性系开花习性的多年观察及多年对杉木双系种子园的同工酶实验,运用EM算法估计各无性系的异交率大小,并使用DPS统计软件,详实地研究了异交率与开花习性诸多因素间的关系,其结果为:Y=0.877 7+0.104 4X1-0.615 8X2+0.354 4X3-0.061 8X4。上式中:X1为异系雄球花量,X3为异系开花同步性指数,它们对异交率的影响有正效应;而X2为系内开花同步性指数,X4为X3/X2之比,它们对异交率的影响有负效应。影响力的大小次序为:X2>X4>X3>X1。根据异交率与开花习性的关系研究,可以发现:今后新建杉木双系种子园时,挑选系内开花同步性小,而系间开花同步性大的双亲材料时,其后代异交率较高。     

Multiple resistance of Papaver rhoeas L. to 2,4‐D and acetolactate synthase inhibitors in four European countries

The issue of cross‐ or multiple resistance to acetolactate synthase (ALS) inhibitors and the auxinic herbicide 2,4‐D was investigated in Papaver rhoeas L., a common and troublesome weed in winter cereals, in a broad‐scale study across four European countries. A combination of herbicide sensitivity bioassays and molecular assays targeting mutations involved in resistance was conducted on 27 populations of P. rhoeas originating from Greece (9), Italy (5), France (10) and Spain (3). Plants resistant to the field rate of 2,4‐D were observed in 25 of the 27 populations assayed, in frequencies ranging from 5% to 85%. Plants resistant to ALS‐inhibiting herbicides (sulfonylureas) were present in 24 of the 27 populations, in frequencies ranging from 4% to 100%. Plants resistant to 2,4‐D co‐occurred with plants resistant to sulfonylureas in 23 populations. In four of these, the probability of presence of plants with cross‐ or multiple resistance to 2,4‐D and sulfonylureas was higher than 0.5. ALS genotyping of plants from the field populations or of their progenies, identified ALS alleles carrying a mutation at codon Pro197 or Trp574 in 2,4‐D‐sensitive and in 2,4‐D‐resistant plants. The latter case confirmed multiple resistance to 2,4‐D and ALS inhibitors at the level of individual plants in all four countries investigated. This study is the first to identify individual plants with multiple resistance in P. rhoeas, an attribute rarely assessed in other weed species, but one with significant implications in designing chemical control strategies.     

All-around 3D plant modeling system using multiple images and its composition

In this study, we developed an all-around 3D plant modeling system that operates using images and is capable of measuring plants non-destructively without any contact. During the fabrication of this device, we selected a method capable of performing 3D model reconstruction from multiple images. We then developed an improved SfM-MVS (Structure from Motion / Multi-View-Stereo) method that enables 3D reconstruction by simply capturing images with a camera. The resulting image-based method offers a high degree of freedom because the hardware and software can comprise commercially available products, and it permits the use of one or more cameras according to the shape and size of the plant. The advantages of the image-based method are that 3D reconstruction can be conducted at any time as long as the images are already taken, and that the desired locations can be observed, measured, and analyzed from 2D images and a 3D point cloud. The device we developed is capable of 3D measurements and modeling of plants from a few millimeters to 2.4 m of height using this method. This article explains this device, the principles of its composition, and the accuracy of the models obtained from it.     

3D modeling and reconstruction of plants and trees: A cross-cutting review across computer graphics,vision, and plant phenotyping

This paper reviews the past and current trends of three-dimensional (3D) modeling and reconstruction of plants and trees. These topics have been studied in multiple research fields, including computer vision, graphics, plant phenotyping, and forestry. This paper, therefore, provides a cross-cutting review. Representations of plant shape and structure are first summarized, where every method for plant modeling and reconstruction is based on a shape/structure representation. The methods were then categorized into 1) creating non-existent plants (modeling) and 2) creating models from real-world plants (reconstruction). This paper also discusses the limitations of current methods and possible future directions.     

考虑定常能量损失因子的柱塞泵效率特性建模

针对轴向柱塞泵效率特性模型难以保证全工况下模型预测精度的问题,提出利用定常能量损失因子对现有的轴向柱塞泵总效率计算模型进行优化.首先,利用能量守恒定律对轴向柱塞泵的能量损失构成进行了研究,分析了轴向柱塞泵总效率计算模型误差产生的原因;其次,建立了全工况下轴向柱塞泵效率特性模型,并验证了其有效性;最后,对变排量工况下轴向柱塞泵的效率特性进行仿真分析与试验验证.研究结果表明:在变转速、变压力与变排量工况下,考虑定常能量损失因子的效率特性模型均可准确预测轴向柱塞泵的总效率,且在全工况范围内,模型的效率预测最大相对误差仅为4.8%;考虑定常能量损失因子的柱塞泵总效率模型能够完成全工况范围内轴向柱塞泵总效率的精确预测,这为柱塞泵的节能优化设计与节能控制提供了基础.     

黑龙江省大豆品种数据库建模

从种子推广人员、育种工作者、农户等多种人员需求的角度,对黑龙江省育成大豆品种信息进行了分析,将大豆品种信息归纳为品种来源、产量表现、特征特性、栽培要点、审定情况等内容,按照软件工程学和数据库原理,建立了大豆品种数据库模型,绘制了实体关系图。依据此图可以在Microsoft SQL或其他数据库软件下建立物理的数据库,建立良好的查询,为农业生产等应用提供服务。     

虾塘水体中浮游植物群落特征及其与营养状况的关系

通过对虾养殖期间的连续监测结果;讨论和阐述了虾塘水体中浮游植物群落特征及其与营养状况的关系。虾塘中浮游植物在生态学上主要表现为群落构成简单、优势种单一且演替速度快,从而决定了该环境中浮游植物群落的不稳定性。无机氮营养盐（IN）是浮游植物繁殖生长的限制性因素,二者之间里较好的幂函数衰减曲线关系（R＝0．76）,且当浮游植物密度降至3．2×103细胞／ml时,水环境中的IN呈跃升趋势,此时所对应的透明度为0．6±0．2m。     

饲料中添加不同水平的维生素D_3对草鱼幼鱼生长和体成分的影响

本文以酪蛋白和脱脂豆粕为蛋白源,糊精为糖源,玉米油和豆油为脂肪源的半纯化饲料为基础饲料,研究维生素D3对草鱼(Ctenopharyngodon idellus)幼鱼生长及体成分的影响。维生素D3共设0,100,200,500,1000,2000,3000 IU/kg 7个添加梯度,每一梯度设3个重复,每个重复放养60尾初始体质量(3.86±0.34)g的草鱼,在(26.9±3)℃的流水系统中养殖8周。结果显示:维生素D3对草鱼幼鱼增重率、特定生长率、饲料系数、存活率、体水分、粗蛋白质、粗脂肪含量和血清钙浓度没有显著性影响(P>0.05);对照组和添加100 IU/kg维生素D3的试验组中,草鱼幼鱼的粗灰分显著低于其它试验组(P<0.05);与对照组相比,饲料中添加维生素D3对全鱼钙磷含量、血清磷离子浓度以及碱性磷酸酶活性影响显著(P<0.05)。根据维生素D3对全鱼钙磷含量的影响,草鱼幼鱼饲料中维生素D3适宜的添加量为1000 IU/kg。