水产养殖水下作业机器人关键技术研究进展

传统水产养殖的水下作业任务主要依靠人工完成,劳动强度大,危险性高,水产养殖水下作业面临严峻的人工危机。随着技术进步和制造成本的降低,将水下机器人应用于水产养殖作业有着巨大的需求空间。机器人水下捡拾作业强耦合、多干扰、时变、多体、多环节、作业目标规格形状不一,且作业的精度和速度要求高,机器人水下精准作业是困扰水产养殖界多年的公认难题。本文在对水下机器人-机械手系统(underwater vehicle-manipulator system,UVMS)进行了系统分析的基础上,从弱光照、强耦合、非结构化海洋环境下UVMS的精准捕捞作业目标识别、时变多体捡拾作业条件下水下机器人-机械手系统动力学模型、多扰动条件下目标动物位置识别与定位模型、多约束条件下浅海养殖精准捡拾作业的优化控制等4个方面,对UVMS捕捞作业所涉及的关键技术的地位、国内外研究现状展开分析与讨论,并对所述关键技术的研究前景进行了展望,以期为水产养殖水下作业机器人软件开发提供理论依据和综合性参考。     

基于游程检测法重构集合经验模态的养殖水质溶解氧预测

为了提高水产养殖中溶解氧的预测精度,该文提出了基于集合经验模态(ensemble empirical mode decomposition,EEMD)分解、游程检测法重构、适宜的单项预测算法建模和BP神经网络非线性叠加的组合预测模型。该模型首先将溶解氧原始序列用EEMD分解法进行分解,得到了多个分量;其次,用游程检测法将这些分量重构成高频分量、中频分量和低频分量等3个分量;接着,针对高频分量波动性大且复杂、中频分量呈现周期性、低频分量几乎呈线性的特点,采用粒子群(particle swarm optimization,PSO)优化的最小二乘支持向量机(least square support vector machine,LSSVM)对高频项进行预测,采用极限学习机(extreme learning machine,ELM)对中频项预测,采用非线性回归(nonlinear regression method,NRM)对低频项预测;最后,将3个分量预测的结果用BP神经网络进行重构得到最终的预测结果。将该模型应用于江苏省溧阳市埭头黄家荡特种水产养殖场的溶解氧预测中,试验表明,该种以游程检测法重构EEMD为基础的混合预测模型的预测精度高于PSO-LSSVM和单一的ELM预测模型。在预测未来48 h的溶解氧值时,该模型的预测值与实测值的均方根误差RMSE为0.099 2、平均相对误差均值MAPE为0.078、平均绝对误差MAE为0.015 5,R~2为0.995 5。表明该模型有较好的预测精度和泛化能力,能够满足现代化水产养殖业对溶解氧精细化管理的高要求。     

Use of saline aquaculture wastewater to irrigate salt-tolerant Jerusalem artichoke and sunflower in semiarid coastal zones of China

In 2004 and 2005, the feasibility of agricultural use of saline aquaculture wastewater for irrigation of Jerusalem artichoke and sunflower was conducted in the Laizhou region using saline aquaculture wastewater mixed with brackish groundwater at different ratios. Six treatments with different electrical conductivities (EC) were included in the experiment: CK1 (rainfed), CK2 (irrigation with freshwater, EC of 0.02 dS m⁻¹), and saline aquaculture wastewater (EC of 39.2 dS m⁻¹) mixed with brackish groundwater (EC of 4.4 dS m⁻¹) at volumetric ratios of 1:1, 1:2, 1:3, and 1:4 with corresponding EC of 22.0, 16.1, 13.2, and 11.4 dS m⁻¹. Soil electrical conductivity (ECe) in the saline aquaculture wastewater irrigation treatments was significantly higher (P ≤ 0.05) than that in the rainfed or freshwater irrigation treatments, and the maximum value occurred in the 22.0 dS m⁻¹ treatment. The sodium adsorption ratio (SAR) ranged from 4.1 to 11.7 mmol^1/2 L^−1/2 and increased with decreasing salinity of irrigation water. The biomass of Jerusalem artichoke significantly decreased (P ≤ 0.05) when irrigated with saline aquaculture wastewater compared to the rainfed or freshwater irrigation treatments; however, the effect of salinity on root biomass was much smaller than the aerial parts. Concomitantly, the highest tuber yield of Jerusalem artichoke occurred in the 11.4 dS m⁻¹ treatment, while the highest seed yield of sunflower occurred in the rainfed treatment. Additionally, nitrogen and phosphorus concentrations of Jerusalem artichoke were significantly higher in the 11.4 dS m⁻¹ treatment than the other treatments. This study demonstrated that properly diluted saline aquaculture wastewater can be used successfully to irrigate Jerusalem artichoke with higher economic yield and nutrient removal, but not sunflower due to the difference in salt tolerance.     

基于微流控和比色光谱法的水产养殖海水氨氮含量检测

为实时、准确地获取水产养殖海水中氨氮含量,以大围网养殖海水中的氨氮为研究对象,在比色光谱法基础上结合微流控技术进行靛酚蓝法比色反应,实现对溶液中氨氮含量的定量检测。建立数据处理后相应的模型,并且对比了不同光谱预处理和不同样本集划分算法对建立预测模型的影响,其中多元散色校正（MSC）后再使用小波平滑的预处理方法结合排序法划分样本集建立的偏最小二乘（PLS）回归模型效果最优,建模集校正标准差（RMSEC）和预测集校正标准差（RMSEP）分别为0.0566mg/L和0.0677mg/L,相对分析误差（RPD）为6.8932;在优化条件下测得方法的线性范围和检测限分别为0.005~1.350mg/L和0.0036mg/L。对海水、自来水和养殖水体进行加标回收实验,平均回收率在94%~109%之间,相对标准偏差在2.3%~5.8%之间。结果表明,实验建模效果良好,操作简单、方便,实验快速、可靠、无污染,表明利用比色光谱法结合微流控技术检测氨氮方法可行。     

Modeling the water budget in a deep caldera lake and its hydrologic assessment: Lake Ikeda, Japan

The hydrologic assessment of a lake water budget can be helpful in achieving proper water management and sustainable water use. A model to analyze a lake water budget was developed and verified for Lake Ikeda, Japan. Lake evaporation was estimated by numerical analyses of lake water temperature and the lake energy budget. Inflow from the lake catchment area and leakage from the lake bottom were estimated based on the tank model and Darcy's law, and the model parameters were optimized by the shuffled complex evolution method. The estimated monthly lake evaporation rate is consistent with the evaporation rate estimated by the energy budget Bowen ratio method based on in situ data from 2004 to 2005. Moreover, the calculated time series of daily lake levels agrees well with those of measured lake levels during 1983 to 1999. Thus, the model is useful for evaluating the lake water budget. Numerical analysis reveals seasonal and annual variation characteristics in the water budget components. Precipitation, inflow from the catchment area, and river water supply are generally high during the rainy season from June to July with substantial annual variation. Lake evaporation is greatest in October and least in April, but the annual variation is relatively small. Agricultural water use is relatively high from April to September. There are no marked seasonal changes in leakage and drinking water use. The lake level is generally highest in September and lowest in March, which is characterized by seasonal changes in water budget components. The model was also applied to 17-year simulations under hypothetical hydrologic conditions to examine the effect of water use and agricultural water management on the lake level. Results indicate that river water supply, provided under the agricultural water management system, effectively compensates for the decrease in lake water resulting from agricultural water use.     

工厂化水产养殖智能监控系统设计

提出了一种工厂化水产养殖中具有可溯源功能的智能监控系统.系统利用PROFIBUS-DP总线和工业以太网技术实现了数据的传输与共享,利用模糊控制与神经网络相结合的算法实现了对数据的处理分析,并得到控制信号,进行闭环控制,利用无线射频识别技术( RFID)实现了水产品质量的可溯源功能.结果表明,养殖环境各关键环境因子均满足控制精度,水产品的可溯源信息写入与读出均完整有效,完全达到了设计要求,能够满足工厂化水产养殖智能化的需要.     

Reuse of domestic wastewater treated in macrophyte ponds to irrigate tomato and eggplant in semi-arid West-Africa: Benefits and risks

The scarcity of freshwater resources is a critical problem in semi-arid zones and marginal quality water is increasingly being used in agriculture. This paper aimed at evaluating the physico-chemical and biological risks on irrigated soils and fruits of macrophyte treated wastewater (TWW), the nutrients supply, and the effect on tomato and eggplant production in semi-arid Burkina Faso. During three years of experiments, treated wastewater was used, with fresh water as control, in combination with or without mineral fertilizer application at recommended rate (140 kg N/ha + 180 kg P₂O₅/ha + 180 kg K₂O/ha). The study revealed that the treated wastewater provided variable nutrients supply depending on year and element. The treated wastewater without mineral fertilizer improved eggplant yield (40% in average) compared to the freshwater. Both crops responded better to mineral fertilizer (52% for tomato and 82% for eggplant) and the effects of the treated wastewater and fertilizer were additive. As the N supply of TWW was very unsteady (8-227% of crop need), and P₂O₅ supply did not satisfy in whole crop need (3-58%) during any of the three years of experiment, we recommended that moderate N and P₂O₅ fertilizers be applied when irrigating with TWW in semi-arid West-Africa. On the contrary, the K₂O supply was more steady and close to crop requirement (78-126%) over the three years of experiment and no addition of K fertilizer may be needed when irrigated with TWW. Faecal coliforms and helminth eggs were observed in treated wastewater and irrigated soils at rate over the FAO and WHO recommended limits for vegetable to be eaten uncooked. Tomato fruits were observed to be faecal coliform contaminated with the direct on-foliage irrigation with treated wastewater. Our results indicate that treated wastewater can effectively be used as both nutrients source and crop water supply in market gardening in the semi-arid Sub-Saharan West Africa (SSWA) where freshwater and farm income are limiting. Yet consumers should properly cook or disinfect treated-wastewater irrigated vegetables before eating, and market gardeners should also be careful manipulating treated wastewater to avoid direct health contamination in this environment.     

半咸水人工湿地净化越冬养殖循环水的效果

为拓展人工湿地在水产养殖上的应用,该文研究了半咸水人工湿地的循环水越冬系统中暗纹东方鲀越冬养殖效果和净化效能。结果表明,经过166d越冬养殖,暗纹东方鲀越冬成活率(76.94±13.87)%,饵料系数5.49±1.77。在无任何外源能源加温的情况下,系统水温保持在暗纹东方鲀幼鱼的生存最低温度以上。在半咸水环境下(7.6‰～9.9‰),人工湿地对养殖水有良好的净化效果:总氮去除率为30.5%、总氨氮为69.6%、亚硝酸盐为96.1%、硝酸盐为9.7%、总磷为18.4%、COD为38.8%、总悬浮物为79.7%,循环水经过人工湿地后水质符合国家渔业用水标准;越冬期间,越冬养殖池水质状况良好;除TN和NO3-N在越冬期间的去除率比在夏季的明显低外,其他主要污染物的去除率与夏季比较没有明显变化。在试验负载范围内,系统去除量随进水污染负载量的增加而增加;通过建立预测模型预测出湿地养殖面积比值0.36～0.97,与实际值1.26相比,养殖密度尚有提高的空间。因此,人工湿地能持续有效地去除暗纹东方鲀越冬循环水养殖系统中的主要污染物,说明该系统能在越冬养殖生产实际应用。     

Environmental correlates of two macro-decapods distribution in Central Italy: Multi-dimensional ecological knowledge as a tool for conservation of endangered species

Using a multi-dimensional ecological design, this study aimed first to analyse whether local environmental conditions can account for the spatial segregation of two Italian native decapods, the crayfish Austropotamobius italicus and the river crab Potamon fluviatile, in Central Italy freshwater ecosystems. Second, we aimed to analyse which environmental variables were more closely associated with the presence/absence of the two decapods in specific sites within their distribution area. Following a factorial design, a total of 32 sites were selected in two neighbouring geographic areas, one occupied by crayfish and one by crabs. Within each distribution area, eight streams where the decapod was present and eight where it was not present were selected. At each site, macro-invertebrate community composition and 16 abiotic variables were recorded and analysed with multi-variate methods. Variations in physical (minimum and maximum temperatures), chemical (calcium, oxygen, nitrate and nitrite) and geomorphological (substrate composition) parameters explained spatial segregation of P. fluviatile and A. italicus in the study area. The occurrence of crayfish reflected variations of chemistry (such as pH, calcium, nitrate and nitrite concentrations), temperature, water depth and substrate composition. On the contrary, the presence of the river crab, within its occurrence zone, was not associated to any biotic and abiotic parameters and was probably affected by anthropogenic pressure and uncontrolled harvesting. These findings provide fundamental ecological data for the maintenance of the two decapod natural populations as well as for the selection of areas and streams adequate for their reintroduction.     

应用耕水机养殖南美白对虾的试验

为探索一条新的水产养殖途径,该文利用耕水机进行南美白对虾养殖对比试验。在一个养殖周期内对溶解氧、温度、pH值和亚硝酸盐等水环境因子及南美白对虾生长情况、品质和经济效益进行了分析研究。试验结果表明：与非耕水机养殖比较,使用耕水机能够提高水体溶解氧均匀度和温度均匀度,增加池塘溶解氧含量;维持水体pH值在7.6～8.9之间;降低水体亚硝酸盐含量;对虾生长速度快且品质优良;节约耗电量56.9%、饵料15.5%、药费45.4%;提高单位面积产量20.1%。试验和分析结果证明使用耕水机能够改善水体环境,降低养殖成本,增加养殖收入,有较高的实际应用价值。