基于硬件在环仿真实现的纯跟踪轨迹控制

在传统验证平台一般都是利用Simulink+Carsim进行联合仿真,缺少在Ros中的调试,这样与实际情况不符.将在搭建Ros+Carsim+Simulink硬件在环环境中进行纯轨迹跟踪的验证.实验结果中设计轨迹与真实轨迹吻合度较高,即该仿真平台可以作为轨迹跟踪实验的实验平台.     

视觉导引AGV鲁棒特征识别与精确路径跟踪研究

针对AGV多分支路径与工位点标识的可靠识别以及导引路径的精确跟踪问题,提出了一种基于双视野窗口的鲁棒特征识别与精确路径跟踪方法。采用整幅视野范围作为模式识别窗口,在该窗口采用基于核主成分分析(KPCA)和BP神经网络的识别方法,将路径特征通过核函数映射到高维空间进行PCA降维,再利用BP神经网络识别降维后的样本矩阵。同时提出一种导引扫描窗口设置方法,该窗口范围取决于摄像机竖直视角以及摄像机安装倾斜角,在导引扫描窗口内将导引路径简化为直线模型并用最小二乘法拟合,针对拟合直线计算导引所需的路径偏差。实验结果表明,KPCA-BP方法显著提高了路径特征识别的实时性和鲁棒性,6类路径特征的平均特征识别正确率为99.5%;导引扫描窗口有效减小了导引路径直线拟合的计算误差,直线路径跟踪误差小于3 mm,曲线路径跟踪误差小于30 mm。     

一种非刚性运动目标图像跟踪的改进算法

针对玉米秸秆粉碎后抛撒运动的特点，提出一种改进的变形模板跟踪算法实现非刚性目标的运动跟踪，在两个方面对原有的算法进行了改进：1)选择适当的预测方法，减少遮挡物体对研究目标的影响。2)通过选择适当的特征区域把运动目标限制在局部区域，而不是对整帧图像进行处理。试验证明了该算法在目标跟踪的实现效率、精确性方面有一定的优势。     

兔骨髓间充质干细胞的分离培养及肝内示踪

通过分离培养兔骨髓来源的间充质干细胞(MSCs),示踪其肝内移植命运,为MSCs的细胞治疗肝脏疾病提供理论依据和试验支持.采取全骨髓贴壁培养法分离培养兔骨髓MSCs,利用携带增强型绿色荧光蛋白(EGFP)的慢病毒载体感染MSCs,选择最优转染效率,并移植入经D-氨基半乳糖诱导的急性/亚急性肝衰竭受体兔体内,荧光显微镜下...     

基于DM642的高地隙小车的田间路径识别导航系统

为了实现智能小车在各种不同的路径下稳定高效的进行图像导航,该文以自主设计了满足于设施农业用的四轮独立驱动的高地隙小车作为平台,采用TI公司的TMS320DM642高性能数字多媒体处理器为核心处理器,建立了识别路径的视觉检测系统,实现了对多种路径标识的实时采集和图像显示,提出了用于实际路径检测的图像处理的改进算法,包括利用2G-R-B颜色特征识别绿色植物、中心线法提取路径、双折线拟合的Hough变换提取路径、多折线拟合的Hough变换提取路径等,以实现小车的自主导航。试验结果表明所开发的路径识别与跟踪控制系统能对不同颜色的标识线、绿色植物与裸露地面的分界线等一系列路径进行识别和导航控制,系统适应性好、抗干扰能力强,稳定性高、实时性好,满足无人控制的农田作业需求,节省劳动力,提高生产效率。该研究可为应用于田间作业的高地隙小车的路径识别与跟踪控制系统设计提供参考。     

高炮催化区跟踪方法在湖南的个例分析

简要介绍了湖南人影高炮作业情况与效果评估方法,并对高炮催化区跟踪方法进行个例检验,结合湖南实例,实现该算法在湖南的个例运用分析.利用长沙、岳阳2个降水过程,对多个回波跟踪区域进行连续跟踪,详细分析了回波跟踪的合理性;选择湖南郴州的一次高炮防雹作业,对其催化区进行跟踪,并对催化区内最大反射率和垂直液态含水量进行统计分析.结果表明,利用TREC算法,能够合理跟踪回波在空间的垂直位置与水平位置,较好地跟踪作业时催化区域移动,从而为高炮作业效果评估提供了一个有意义的参考.     

电动拖拉机PC-DSPM电机电子变极策略与分析

针对田间作业和转场运输等不同工况时的行驶速度需求,该研究提出使用双凸极变极永磁（pole-changing doubly-salient permanent magnet,PC-DSPM）电机作为电动拖拉机的驱动电机,通过变极获得驱动电机的多种机械特性。基于气隙磁场调制理论,将PC-DSPM电机气隙磁场中的主要工作谐波分为2组,采用电子变极改变电枢绕组连接方式,从而选择不同组别的气隙磁场谐波参与机电能量转换,形成PC-DSPM电机3种运行模式。根据不同模式下的转矩-转速曲线,选取电机在恒功率区的2个变极切换点,并据此将拖拉机的运行速度划分为0～7.7、7.7～10.5和10.5～32.7 km/h共3个区间。为实现平滑变极,构建自抗扰控制和跟踪微分器的PC-DSPM电机变极策略。与采用自抗扰控制的阶跃响应变极相比,虽然2个切换点处的变极时间分别延长至400和600 ms,但变极过程中dq轴电流过渡平稳,转矩波动分别下降8.5%和11.8%,转速恒定在920和1 250 r/min。研究结果可为实现电动拖拉机多工况高效运行及变极永磁电机平滑切换提供理论参考。     

Modeling the egg and larval transport pathways of the Antarctic toothfish (Dissostichus mawsoni) in the East Antarctic region: New insights into successful transport connections

The Antarctic toothfish (Dissostichus mawsoni) is an important fishery species widely distributed in the Southern Ocean, especially in areas covered by sea ice. Understanding fish distributions and life cycles, including the transport and survival of eggs and larvae, is essential for the assessment and sustainable management of the fishery. However, owing to difficulties with in situ winter observations, information on the early life stages of D. mawsoni is lacking. Here, we investigated the transport pathways of fish eggs and larvae through a particle tracking study, using satellite-derived ocean surface velocities in the East Antarctic region, which includes important D. mawsoni habitats and exploratory fisheries. Our results indicate that particles released from continental slopes are more likely to be successfully transported to suitable settlement grounds than those released from the BANZARE Bank (the southern region of the Kerguelen Plateau), which is situated further north and has been hypothesized to be a potential spawning ground for D. mawsoni. This study demonstrates successful source–settlement connections in relation to ocean recirculation and suggests important settlement regions for D. mawsoni larvae in the East Antarctic region.     

融合YOLOv7和BYTE多目标跟踪的多类别海珍品计数方法

针对目前养殖过程中海珍品计数方法成本高、效率低、计数精度难以保障等问题,该研究以真实底播养殖环境下的海珍品为研究对象,以水下拍摄的海珍品视频为数据源,提出一种基于视频多目标跟踪的多类别海珍品计数方法。首先,采用性能优异的YOLOv7算法实现海珍品目标检测器,为多目标跟踪提供输入;然后,结合真实养殖环境下同类别海珍品外观相似性高、不清晰等特点,借鉴BYTE算法的多目标跟踪思想,设计多类别轨迹生成策略和基于轨迹ID号的计数策略,提出一种多类别海珍品跟踪与计数方法。并提出一套更适用于基于轨迹ID号计数方法的评估指标。试验结果表明,改进平均计数精度、改进平均绝对误差、改进均方根误差及帧率分别为91.62%、5.75、6.38和32帧/s,各项指标多优于YOLOv5+DeepSORT、YOLOv7+DeepSORT、YOLOv5+BYTE、YOLOv7+BYTE等算法,尤其改进平均计数精度、帧率指标比YOLOv5+DeepSORT高了29.51个百分点和8帧/s,且在改进平均绝对误差、改进均方根误差指标上分别降低19.50和12.08。该研究方法可有效帮助水产养殖企业掌握水下海珍品数量,为现代化渔业的测产研究提供技术参考,为水产养殖的智慧管理提供科学决策依据。     

Phototropic Leaflet Reorientation in Alfalfa Germplasm Selected for Leaf Color and Size

Solar tracking has been described in several agronomic and wild species, yet variation within a given species has not been reported. To address that issue, photoperiod leaflet reorientation in response to vectorial light was measured in three alfalfa ( Medicago sativa L.) germplasm pools selected from the cultivar Ladak 65. Dark-leaf germplasm responded to all photosynthetic photon flux densities (PPFD) (100 to 700 μmol/m²/s) with no detectable lag period. Following a 24-h dark treatment only high PPFD (600 to 700μmol/m²/s) elicited reorientation. Pale-leaf germplasm responded to intermediate (300 to 400 μmol/m²/s) and high PPFD in a similar manner; however, the low (100-125μmol/m²/s) PPFD treatment had little effect on reorientation. The 24-h dark treatment decreased reorientation at all PPFD. Small-leaf germplasm responded equally to all PPFD and was not affected by the 24-h dark treatment. The results suggest that available energy levels may influence the reorientation response. Carbonyl cyanide m -chlorophenylhydrazone, an inhibitor of photophosphorylation, and 3-(3,4-dichlorophenyl)-1,1-dimethylurea, an inhibitor of non-cyclic photosynthetic electron transport, reduced reorientation only in the pale-leaf type. These results suggest that stored energy reserves were adequate to maintain leaflet reorientation in the absence of photosynthesis in all but the pale-leaf germplasm. In that germplasm photosynthetically generated energy may be required to support reorientation.