黄瓜采摘机器人远近景组合闭环定位方法

针对黄瓜采摘机器人远景定位精度不高,以致切伤果实和茎蔓的问题,设计了一种基于机器视觉具有空间位置反馈功能的末端执行器。对温室环境下黄瓜果实采摘区域图像信息获取方法加以研究,综合HIS色彩空间H、S分量进行阈值分割,结合RGB色彩空间G通道边缘分布特征以及黄瓜形状特征,提取黄瓜采摘区域。基于摄像机线性透视模型,研究了采摘切割点空间定位方法,最终向采摘机械臂控制器反馈位置微调信息。采用远近景组合闭环定位方法,对采摘目标进行闭环定位,有效地解决了采摘机器人一次远景定位误差较大的问题。试验结果表明,排除温室复杂光照情况,机器人末端执行器定位精度达到2mm,满足采摘作业要求。     

北京生态涵养区农民增收长效机制研究

介绍了北京生态涵养区农民增收的基本情况,分析了制约农民增收的主要原因,并提出了促进生态涵养区农民增收的长效机制。     

Soil sulphur status following long-term annual application of animal manure and mineral fertilizers

 In agricultural systems with low S inputs, crops rely on the release of S from organic forms in the soil. In the Askov long-term experiments, started in 1894 on both sandy and loamy soils, soil S status following long-term application of animal manure and mineral fertilizers was investigated in the growing season of 1995. In a field trial with oil-seed rape (Brassica napus, L.) soil analysis, leaf tissue analysis, yield and S removal in plant material was used to characterize differences in availability of soil S. One half of all plots received 63 kg S ha^–1 as gypsum. Long-term fertilization with animal manure or NPK fertilizer increased the content of soil organic C in both soils and of organic S in the sandy soil compared with unfertilized plots. Although dry matter yields were unaffected, the S uptake in harvested crop parts increased considerably after S application. The amounts of N and S in harvested seeds and straw were closely related, but the N : S ratio decreased when S was applied. Soil and plant analyses both indicated that critical levels of S concentrations were reached, and that S application was capable of raising S concentrations well above the critical level. Because no additional mineralization from residual organic S took place, it was concluded that the residual S effect from long-term annual applications of animal manure or mineral fertilizers did not significantly increase the level of soil S available for crops with a short growing season, such as oil-seed rape. Received: 9 January 1998     

长期定位施肥土壤酶活性及其肥力变化研究

对小麦-玉米轮作区长期定位施肥土壤酶活性及其肥力变化的研究结果表明,与未施肥(对照)相比,长期施肥处理土壤脲酶、碱性磷酸酶、转化酶和过氧化氢酶活性均明显提高,其中有机肥(秸秆、厩肥)配施化肥效果明显优于单施化肥;施肥后休闲处理未提高土壤酶活性,表明施肥(化肥、有机肥)后作物根系及其分泌物具有刺激土壤酶活性的作用,且土壤酶活性高低与作物产量(即土壤肥力)相关性显著.     

长期施肥对南方典型水稻土养分含量及真菌群落的影响

利用江西省农业科学院31年的长期肥料定位试验,选取不施肥(对照)、单施化肥、70%化肥配施30%有机肥、50%化肥配施50%有机肥和30%化肥配施70%有机肥等5个处理,通过常规分析和454-高通量测序技术,研究了长期不同施肥条件下,我国南方典型水稻土养分含量和真菌群落结构的变化。结果表明,在酸性水稻土上,长期单施化肥显著降低土壤p H值,但随着有机肥配施比例的提高p H明显上升;有机和无机肥配施显著提高土壤有机质、有效氮磷含量以及微生物碳氮量。单施化肥土壤真菌18S r DNA序列数比配施有机肥的多1倍,但真菌种(属)数减少了11~40种;前20种优势真菌的丰富度占真菌总量的78.82%~91.51%,以子囊菌最多(7?13种),所占比例最大(23.13%?75.09%);与对照相比,配施有机肥的土壤中有14?15种优势真菌与之相同,而单施化肥的土壤中仅有10种一致;主成分分析结果表明单施化肥处理的真菌群落组成与其他各处理存在显著差异。因此,单施化肥造成土壤酸化加剧,真菌数量成倍增加,但种类显著减少,其丰富度和多样性明显降低,并改变优势真菌种群,相应提高了土壤病原真菌过度繁殖的风险。而有机和无机肥配施有利于维持水稻土壤健康生态环境和真菌种群多样性。     

Potassium Dynamics in US Coastal Plain Soils

ABSTRACT

Potassium (K) deficiency in crops in southern US Coastal Plain soils has been documented since the l880s. Long-term soil fertility studies such as Alabama’s “Cullars Rotation” experiment (circa 1911) have been conducted with K since 1911. Other Alabama long-term experiments on several Coastal Plain and related Hapludults, Paleudults, and Kandiudults also contain K variable treatments which have been monitored since 1929. Soil test data from these long-term experiments have allowed us to answer some practical questions regarding K dynamics in Coastal Plain soils. Potassium movement through the soil profile is dependent on the soil’s cation exchange capacity (CEC) but relative accumulation is greater in the plow layer regardless of soil CEC. While subsoil K testing may be useful for identifying situations where subsoil K has been depleted, this extra effort and expense is not necessary for most cropping situations. A crop will remove most of its K from the plow layer if it is present in sufficient quantity based on soil test. Crop depletion of plow-layer K to the point where yield may be reduced is gradual and may take 10–15 years or more depending upon soil CEC and initial soil K concentration. Depletion is most rapid in low CEC soils as would be expected. However, soil test K can vary considerably during the course of a crop season with the lowest soil test K concentrations occurring immediately after harvest.     

长期定位施肥对无石灰性潮土理化性质的影响

[目的]为改善土壤理化性质和促进农业可持续发展提供理论依据。[方法]通过田间试验研究长期定位不同施肥对无石灰性潮土理化性质的影响。[结果]单施有机肥处理的土壤含水量最高,CK的土壤含水量最低。施用有机肥处理的土壤容重较小,CK和无机肥处理的土壤容重较大。施用有机肥处理的土壤孔隙度显著高于不施有机肥处理和CK。施用有机肥、化肥处理和CK的土壤有机质含量分别约为原始土样的7．5、2．8和2．3倍。施用有机肥处理的土壤pH值提高了0．62,施用无机肥处理的土壤pH值降低。长期定位不同施肥对土壤速效养分氮磷钾含量的影响为：有机—无机肥料配施〉单施大量有机肥〉无机肥配施〉单施氮肥〉不施肥。[结论]有机—无机肥料配施能有效改善无石灰性潮土的理化性质。     

Organic input quality is more important than its quantity: C turnover coefficients in different cropping systems

Annual C input to soil is a major factor affecting soil organic carbon (SOC) dynamics. However different types of C-sources can have different behaviour, in relation to their chemical characteristics and how they interact with soil. Root-derived C, in particular, should be more efficient than other organic materials as a result of the physicochemical and biological characteristics of the surrounding environment, leading to a reduction in the C decomposition rate.To test this hypothesis, we considered a long-term experiment underway in Northern Italy since 1962, comparing permanent meadow and 6 different crop rotations over a wide range of nutrient inputs, in both organic and inorganic forms. C inputs from amendments were measured and those from crops were calculated using allometric functions and crop and residues yields. The time evolution of SOC was studied through a single-pool, first-order kinetic model, allowing the estimation of humification coefficients for residues, roots, farmyard manure and cattle slurries.The highest value of the humification coefficient was estimated for farmyard manure, which confirmed its high efficiency in stabilising SOC content. Root C presented a humification coefficient 1.9 times higher than above-ground plant materials while slurries were intermediate, with a humification coefficient roughly half that of farmyard manure and even lower that of roots.The quality of C input thus seems of fundamental importance for evaluating the sustainability of different cropping systems in terms of SOC dynamics.     

The positive relationship between soil quality and crop production: A case study on the effect of farm compost application

In order to ensure sustainable agriculture, and for evaluating the effects of management practices on soil processes, tools for assessing soil quality are required. The development and use of a multiparameter index, which includes a wide range of soil properties, have been tested and found useful by several studies. However, soil quality measurements are ‘stand-alone’ tools unless they are either linked to important soil functions, used to characterize (agro)ecosystems or used to predict sustainability or productivity. In our study, the relationship between crop production and soil quality was assessed in a six year old field experiment studying the effect of farm compost (FC) amendment in a crop rotation of potato, fodder beet, forage maize and Brussels sprouts. To justify the hypothesis that repeated FC amendment results in both improved soil quality and consequently higher crop yields, a wide range of chemical, biological and physical soil properties were measured and integrated into a soil quality index (SQI). Next, crop yields were used as a functional goal to verify the causal relationship between SQI and crop production. Our results showed that there were significant changes in chemical, physical and biological soil quality as a result of repeated FC amendment. This was evidenced for example by a remarkable increase in both soil organic carbon (SOC) and total N content. Microbial biomass, the relative amount of bacterivorous nematodes and earthworm number were significantly increased as well and, together with SOC and total N, indicated as the dominant factors in assessing soil quality. The integration of these key indicators into the SQI revealed higher SQI values when FC was applied. In addition, crop yields were increased in all FC treated plots by which SOC was pointed out as the most important indicator influencing crop production. Finally, a causal relationship was observed between soil quality and the yield of potato and fodder beet. We conclude that our SQI may be a promising and useful tool to compare different (soil) management practices in relation to a strategic, regional goal, e.g., sustainable high yields. Before generalizing, we recommend a thorough validation of our SQI in other long-term field experiments.     

用ENSO事件的特征进行褐飞虱发生程度长期预测的研究

根据江西省泰和县1991～2007年褐飞虱发生程度的资料及1990～2007年ENSO事件的特征值资料,采用相关分析和逐步回归分析方法,建立了泰和县褐飞虱发生程度(Y)的长期预测模型:Y′=-0.20790X1+0.22877X2+4.05618,其中X1为上一年厄尔尼诺的强度,X2为当年3月南方涛动指数(Southern Oscillation Index,SOI)。该模型1991～2007年的历史拟合符合率为82.35%,2008～2009年的预报准确率为100%,并预测2010年泰和县褐飞虱发生程度为中等(3.11级)。