机耕道自动驾驶农机局部路径规划

针对机耕道场景下自动驾驶农机行驶的安全性、平稳性与规划实时性的实际需求,该研究提出了一种基于二次规划的局部路径规划方法。首先基于有限状态机构建农机机耕道行驶模式,其次采用横纵向解耦的方法,通过改进状态栅格法分别对农机速度行为和轨迹行为进行决策,随后利用二次规划方法生成满足多目标、多约束条件的农机轨迹和速度,得到最优路径,最后在多种行驶环境中进行仿真和实车试验,行驶参考速度为2 m/s。实车试验结果表明,在绕行静态障碍物场景中,规划轨迹的平均绝对曲率为0.021 m^-1,最大绝对曲率为0.056 m^-1,平均绝对横向误差为3.23 cm,最大绝对横向误差为8.69 cm,农机与障碍物外轮廓的距离大于0.76 m;在规避相向行驶、同向行驶和横穿机耕道的动态障碍物场景中,规划速度的平均绝对速度误差为0.08～0.12 m/s,绝对速度误差小于0.38 m/s,加速度变化范围为-0.38～0.44 m/s²。在规划周期为200 ms的仿真试验中,本文算法平均耗时48 ms,最大耗时75 ms,相比采用静态状态栅格法平均耗时减少38 ms,算法效率提升44%。研究结果可为机耕道场景下的农机局部路径规划提供技术支持。     

Cutting technic forPinus elliottii plantation of the multi-benefit management pattern

The cutting technic for thePinus elliottii plantation of the multi-benefit management pattern in the hilly region of Jiangxi Province was studied by establishing the model of growth progress according to Richards function and simulating the tending cutting on computer by use of dynamic programming. The results showed that the best time for the initial thinning was at tree age of 8–10 and final cutting was at tree age of 25. The optimal thinning project was 3 times of thinning cutting including the first thinning, and the thinning time was at tree ages of 8, 12 and 16, respectively. Their thinning intensities were separately 950, 700 and 300 trunks per hectare, and the preserved density was 550 trunks per hectare until the final cutting Foundation item: This study was supported by Natural Science Foundation of Jiangxi Province (A grant 0330023) Biography: WANG Qing-chun (1970-), male, Ph. Doctor, Senior Engineer in Academy of Forest Inventory & Planning, Jiangxi, Nanchang 330046, P.R. China. Responsible editor: Song Funan     

基于反馈回归法的用电量预测模型研究

多元线性回归法是用电量预测中常用的一种方法,带反馈的多元线性回归法是一种改进的回归方法,具有更高的精度.本文在此基础上进行了多次反馈,即利用带多次反馈的多元线性回归法,结合SPSS软件进行统计分析,并以陕西省用电量为例探究分析多次反馈的多元线性回归法在用电量预测中的应用,从而得到更精准的用电量预测模型.最后以四川省的用电量数据对模型进行了验证,体现出了该模型的优越之处.     

新疆博尔塔拉河干流段水量入,出关系分析

本研究运用线性系统的理论和单、双序列的频谱分析方法，分析了新疆博尔塔拉河干流段温泉站入流量、博乐站出流量的自谱特征和互谱关系。文中提出的几点结论可供流域水资源计算及评价参考     

线性回归分析在伐区采伐量测定中的应用

为提高伐区采伐量测算的准确性,避免根径材积表引起的偏差,提出了通过建立根径与胸径的线性回归方程,把根径换算成胸径,直接查胸径材积表得出伐区实际采伐量的方法。对该方法进行详细说明,并举例。论述了该方法的适用范围及要点。     

农业机械化与黑龙江省农业发展实证分析

从各国农业发展经验看,农业机械化对各国农业的发展具有重要的促进作用,而黑龙江省是我国的农业大省,有必要对其农业机械化与农业发展关系进行研究。为此,运用多元线性回归模型,分析了阻碍农业机械化的影响因素:农村剩余劳动力转移缓慢,农户分散经营,投入少。同时,提出了具体措施来提高黑龙江省农业机械化水平:促进农村剩余劳动力的转移,加大政府对农业机械的投入,建立农业机械化服务体系,以此促进农业机械作用的发挥从而推进黑龙江省农业的发展。     

Predicting regeneration establishment in Norway spruce plantations using a multivariate multilevel model

This study predicts the regeneration establishment on 3-year-old Norway spruce (Picea abies (L.) Karst.) plantations in southern Finland using regeneration survey data. Regeneration establishment was described by seven response variables: number of planted spruces, natural Scots pines (Pinus sylvestris L.), natural spruces, natural seed-origin birches (Betula pubescens Ehrh. and B. pendula Roth.) and other broadleaves (i.e. sprout-origin birches and other broadleaves than birch), as well as height of crop-tree spruce and dominant height of broadleaves. Due to the multivariate (several responses for each plot) and multilevel (plot, stand, municipality, forest centre) structure, regeneration establishment was modelled by fitting a multivariate multilevel model with explanatory variables such as temperature sum, site fertility, soil quality and method of site preparation. In the model, the numbers of tree seedlings were modelled using over-dispersed Poisson distributed equations, and the tree heights were modelled using normally distributed linear equations. The estimated fixed and random parameters of the equations were logical, and there was no serious bias in predicting the regeneration establishment in the independent test data set. This modelling approach can be used to predict the regeneration establishment stochastically by taking into account the large unexplained variation in regeneration models.     

Dissolved oxygen controls summer habitat of Clear Lake Hitch (Lavinia exilicauda chi), an imperilled potamodromous cyprinid

Clear Lake Hitch is an imperilled minnow endemic to Clear Lake, Lake County, California, United States listed as threatened under the California Endangered Species Act (ESA) and a candidate for listing under the United States ESA. It exhibits a potamodromous life cycle whereby adults, which reach up to 6 + years in age and over 350 mm in length, migrate into Clear Lake's ephemeral tributaries briefly during spring to spawn. Conservation and management of Clear Lake Hitch is inhibited, in part, by a lack of information on the lacustrine habitat of nonbreeding individuals within Clear Lake. To address this problem, we sampled Clear Lake Hitch with gill nets in a stratified random sampling design to determine the distribution and habitat associations in early summer 2017 and 2018. We identified abundance-habitat relationships for juveniles and adults using Bayesian zero-inflated negative binomial generalised linear mixed modelling. Results indicated that dissolved oxygen concentration was the most important habitat feature measured; juveniles and adults were substantially more abundant in normoxic (≥2 mg/l) than in hypoxic (<2 mg/l) habitat. Both also exhibited weak positive relationships with chlorophyll fluorescence, suggesting relatively productive habitats may support higher numbers of Clear Lake Hitch. Spatially, juveniles were most abundant in nearshore habitats while adults were ubiquitous, indicating an ontogenetic habitat expansion that may be associated with a resource availability-predation risk trade-off. Management actions undertaken to improve hypoxia problems in Clear Lake would also improve Clear Lake Hitch habitat.     

五道河林场次生用材林龄级结构调整及评价

龄级结构是森林结构中最重要的结构之一 .该文对河北省五道河林场的次生用材林的龄级结构用数学规划方法进行了调整 ,并用欧氏距离和平衡率 2方法对龄级结构调整的结果进行了评价 ,效果良好     

基于线阵CCD的油菜条播排种器播量在线监测装置的设计及试验

针对油菜条播机窝眼轮式排种器存在多粒种子同时下落难以监测的问题,设计加装了一种基于线阵CCD传感器的播量监测装置。监测装置发射端采用点光源,通过一组凸透镜形成由平行光线覆盖的种子监测区域,接收端采用线阵CCD传感器,通过实时监测像素值的连续变化,监测油菜种子播量,从而实现对播量的精确计量。运用室内试验台架,对窝眼轮式油菜排种器进行了单粒排种、排种计数、播量监测以及漏播和堵塞报警试验。结果表明:投种高度小于150 mm时,监测装置对单粒投种的监测准确率达100%;排种轴转速分别为20、30和40r/min时,监测装置对1000粒油菜种子计数的准确率分别为98.98%,98.26%和97.32%,对于5、10和20min连续排种播量计量的准确率均能达到97%以上。