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为解决农田平地机无人驾驶作业时缺乏局部规划,进而实现平地路径在线调整的问题,以平地作业土方合理运卸且路径最短为目的,提出了一种基于改进蚁群算法的农田平地导航三维路径规划方法。基于农田三维地势模型,采用改进的蚁群算法规划三维路径:以平地作业土方运载为决策方向,建立新的路径搜索节点,对比平地机作业时平地铲运载土方量和经过栅格计算所需的挖填土方量,根据土方运载任务设置信息素更新规则和启发函数,获取农田平地的最佳三维路径;基于平地机的运动学模型,设置农田平地机转向约束条件,根据约束条件对路径进行平滑优化,并建立三维路径规划的效果评价标准。仿真结果表明:相比于原始蚁群算法,该方法的路径规划效果评价指标提高33.3%以上,可以更好地指导农田平地机实现局部平地任务,而且大大缩短了路径生成时间和路径长度,使路径更为平滑,更适用于辅助农田平地的自动导航作业。 相似文献
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P. Bella C. Moretti G. Licciardello C. P. Strano A. Pulvirenti S. Alaimo M. Zaccardelli F. Branca R. Buonaurio J. G. Vicente V. Catara 《Plant pathology》2019,68(2):278-287
Xanthomonas campestris pv. campestris (Xcc) is the causal agent of black rot in Brassicaceae. It is widespread in Italy and severe outbreaks occur under conditions that favour disease development. In this study a multilocus sequence typing approach (MLST) based on the partial sequence of seven loci was applied to a selection of strains representative of the main areas of cultivation and hosts. The aim was to investigate whether the long tradition of brassica crops in Italy has influenced the evolution of different Xcc populations. All loci were polymorphic; 14 allelic profiles were identified of which 13 were unique to Italian strains. Based on the seven loci, the most common genotype within the Italian Xcc strains (AP1) was also the most representative genotype found in worldwide Xcc strains. This genotype was included in a new clonal complex in addition to three other clonal complexes already identified in Xcc populations. The phylogenetic reconstruction using a concatenated dataset of four conserved protein-coding genes, dnaK, fuyA, gyrB and rpoD, showed that the Italian strains belonged to two genetic groups. Physiological races were also investigated for the first time in Italy. The race structure of Xcc was determined by inoculating eight differential Brassica lines belonging to five species and showed that, in Italy, race 4 is the most widespread, followed by races 1 and 6. No correlation was found between allelic profiles, host of isolation, geographical origin and races, although a prevalent race was identified within the same clonal complex. 相似文献
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J. M. Zeng J. Nifong Y. Liu C. J. Huang D. H. Fang R. S. Lewis Y. P. Li 《Plant pathology》2019,68(9):1616-1623
Black shank, caused by the soilborne pathogen Phytophthora nicotianae, is one of the most devastating diseases affecting tobacco production in China. The most effective strategy for reducing economic loss from this pathogen is development and use of resistant tobacco varieties. Multiple sources and systems of resistance have been developed in the Western Hemisphere; however, populations of P. nicotianae are variable around the world, including the predominance of different races. Different P. nicotianae isolates may react differently on tobacco plants with different systems of resistance, a possibility that could complicate the breeding of cultivars with resistance that is effective in different tobacco production regions worldwide. The objective of this research was to evaluate an array of tobacco germplasm possessing different systems of genetic resistance to black shank disease in tobacco-growing regions of Yunnan, China. Resistance types included simply inherited resistance mechanisms introgressed from wild Nicotiana relatives and polygenic partial resistance systems of N. tabacum origin. The loci of Wz exhibited high level resistance to black shank in the five diverse disease environments in Yunnan, China. K326 Php/−Wz/− genotype and Beinhart 1000 exhibited the greatest levels of resistance in both 2015 and 2016. Field observed results for 13 tobacco genotypes were highly correlated with those tested in growth chamber evaluation. These findings suggest that both Wz− and Beinhart 1000-mediated resistance have important commercial value in flue-cured tobacco breeding programmes in China. Cultivars developed for black shank resistance in China may also have utility in other tobacco-growing areas. 相似文献
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