基于Harris和卡尔曼滤波的农业机器人田间稳像算法

针对田间颠簸环境影响农业机器人采集实时稳定图像问题，提出了基于Harris和卡尔曼滤波的农业机器人田间稳像算法。首先，利用摄像头获取田间抖动视频图像序列，进行图像子区域划分并计算各区域灰度均方差，进而确定各区域Harris角点阈值；通过自适应角点阈值设置，增加角点距离约束，完成图像角点检测。然后，对检测出的角点进行光流跟踪，计算出帧间运动估计参数。最后，利用自适应卡尔曼滤波算法对运动估计参数进行平滑操作并动态调整滤波平滑性能，获得精确运动估计矢量。测试结果表明，改进后的Harris角点检测算法区域平均分布标准差减小；自适应卡尔曼滤波算法在保证平滑随机运动前提下，跟踪主动运动性能平均提升30.75个百分点；稳像后的图像峰间信噪比提升15.93%,单帧处理时间为25.66 ms,满足农业机器人30 f/s高速图像采集时同步稳像对实时性要求。     

Performance evaluation of forest co-management: a case study of Chunati Wildlife Sanctuary,Bangladesh

The objective was to evaluate the performance of the co-management of Nishorgo Support Project at Chunati Wildlife Sanctuary in Bangladesh. I adopted the Focus Groups Discussion method for opinion survey and applied the SWOTAHP technique for data analysis. Local people did not participate in the decision-making process of forest management and they perceived co-management as a threat to their livelihoods. Moreover, mistrust and misunderstanding among different stakeholders, political and ethical conflicts, lack of property rights of tribal communities, and lack of accountability and transparency were identified as the drawbacks of co-management.     

基于改进入侵杂草算法优化的PID生物质废弃物发酵热能控制模式

生物质废弃物发酵系统是一个大时滞系统，针对生物质发酵系统中的热能控制存在波动大、振荡多和超调大的问题，提出基于改进入侵杂草算法优化的PID生物质废弃物发酵热能控制方法，运用改进入侵杂草算法对PID控制器的参数进行在线调整。算例仿真表明，所提方法能够快速、稳定且高精度地实现对生物质废弃物发酵系统的热能控制，为沼气制取提供了稳定的热能环境，实现了沼气的稳定供应。      

昆明长水机场CFL-03边界层风廓线雷达数据算法应用分析

风廓线雷达作为一种以大气湍流为主要探测对象的测风雷达,随着风廓线雷达资料用途的拓展,对风廓线雷达回波信号功率谱数据处理提出了更高的要求。本文针对昆明长水机场CFL-03边界层风廓线雷达系统回波信号功率谱数据处理算法进行了应用分析。     

自动车床工序调整卡的计算机辅助设计

“经验式”和“创成式”是计算机辅助工艺过程设计的两种基本的技术方法.后一种技术方法虽然还不够成熟,但它在CAPP系统的设计与实现上具有很多的优势.描述了计算机辅助设计在自动车床加工中的一些应用,它涉及到工艺方案的制定和加工工序的安排.另外,它描述了一些特有的计算机算法和编程原理.     

改进型人工免疫否定选择算法的比较研究

针对经典否定选择算法内在运行机制的缺陷,给出了两种改进型否定选择算法,即基于红黑树的快速否定选择算法和基于矩阵形式的否定选择算法,理论分析与仿真实验验证了两种改进型算法的优越性和有效性。     

人工神经网络在水资源规划领域中的应用

本文从水资源现状及发展前景出发,介绍了如今被越来越重视的智能规划方法——人工神经网络,以及其在水文领域被广泛应用的BP算法.防治洪水灾害是水资源规划的一项重要内容,结合BP神经网络进行水文预报使得预报更为简便易于操作,预报精度较传统水文模型也有一定提高.因此加强人工神经网络的深入研究,并耦合其他方法,使其更为灵活广泛地应用于水文预报领域十分重要.     

基于节约算法的城市配送路径优化问题研究

基于城市配送物流业发展的实际需要,以江苏绿草地纯水有限公司为例,本文通过节约算法对配送路径进行了优化,列出节约程顺序表,然后按节约里程从大到小合并路径,绘制成配送中心与各客户点优化线路图,从而对配送线路进行优化,提出了最优配送方案。结果表明:该算法能够有效地优化城市配送的路线,降低配送成本。     

组合导航定位法为农机精准定位填补世界空白

最近，中国农业大学硕士研究生陈艳与张漫副教授，将GPS和摄像机两种传感器结合起来，并采用UKF滤波算法对采集到的信息进行融合，大大改善了农业机械的导航定位效果，此项研究填补了该领域的空白。     

Population structure,age and growth rates of conifer species and their relation to environmental variables at Malam Jabba,Swat District,Pakistan

This study focuses on age,growth rate and diameter distribution of pine forests in the Malam Jabba area,Swat District,Pakistan.Wood core samples were taken from twenty stands.Picea smithiana was the oldest at 234 years with a 112-cm diameter.Abies pindrow was 125 years with an 80-cm diameter while the oldest Pinus wallichiana was 122 years with 75-cm diameter.The fastest overall growth rate of 1.5±0.1 year/cm was for P.wallichiana on a west-facing aspect,while the slowest 5.8±2.6 year/cm growth was P.smithiana on an eastfacing exposure.P.wallichiana and A.pindrow exhibited marked differences in growth rates over a 5-year period.The highest growth was by P.wallichiana from 1966 to 2006.A.pindrow showed less growth over the same years,such pattern simultaneously reverse from 1911 to 1965.The relationship between diameter and age,diameter and growth rate and age and growth rate were correlated.P.wallichiana and A.pindrow ages were correlated with diameter and growth rates.P.smithiana age was positive correlated with diameter.Generally,topographic and edaphic factors did not show significant correlations with growth rates,although some appreciable correlations were recorded.The growth of P.wallichiana was correlated with elevation while A.pindrow was correlated with maximum water retaining capacity.Diameter and age produced uneven size classes and many size gaps,which could be the result of anthropogenic disturbances.