小区株行条播机弹匣式上种装置的设计与试验

针对现有小区株行条播机手动上种人工劳动量大、工作效率低下的情况,设计了一种株行条播机弹匣式上种装置。上种装置包含直流电机、接近开关、种盒导梯、种子导流部件、种盒插板、种盒组、种盒推块、机架、护板、链轮传动机构及插板锁紧机构。为此,阐述了弹匣式上种装置的构造特点及工作原理,对极易卡滞的种盒推块入轨环节进行了对比和力学分析;研究了多种电控传感器与检测方案,并对电控部分的工作流程进行了设计。通过对弹匣式上种装置的可靠性试验表明:装置各项指标合格率达到93%以上,上种最终作业合格情况达到98.6%,装置的连续作业可靠性及上种准确性符合小区育种精密性要求。     

Risk of exceeding bioeconomic limit reference points in shrimp aquaculture systems

Abstract

Designing intelligent management strategies for shrimp aquaculture systems require recognising the uncertainty and risks associated with different processes of aquaculture production. To account for natural variability and other sources of uncertainty, estimates of appropriate aquaculture bio‐economic indicators are needed to re‐evaluate periodically the production system and establish new reference points and corresponding management strategies. This paper concentrates on this aspect of the management process and presents a simple classification of indicators and reference points for aquaculture production systems. The uncertainty causing variability in the estimated values of bio‐economic parameters is incorporated through the use of Monte Carlo analysis to estimate the probability of exceeding limit reference points. To illustrate this process, the risks (i.e. probabilities of exceeding bioeconomic limit reference points) associated to alternative timing of harvesting decisions were estimated by randomly generating uncertain prices and natural mortalities with the appropriate probability density functions and corresponding variance. Alternative approaches to deal with risk and uncertainty in data limited management contexts are discussed.     

Enzyme activities and microbial community structure in semiarid agricultural soils

This study investigated the effect of management on -glucosidase, -glucosaminidase, alkaline phosphatase, and arylsulfatase activities and the microbial community structure in semiarid soils from West Texas, USA. Surface samples (0–5 cm) were taken from a fine sandy loam, sandy clay loam, and loam that were under continuous cotton ( Gossypium hirsutum L.) or in cotton rotated with peanut ( Arachis hypogaea L.), sorghum ( Sorghum bicolor L.), rye ( Secale cereale) or wheat ( Triticum aestivum L.), and had different water management (irrigated or dryland), and tillage (conservation or conventional). The enzyme activities were higher in the loam and sandy clay loam than in the fine sandy loam. Soil pH was not affected by management, but the soil organic C and total N contents were generally affected by the different crop rotations and tillage practices studied. The trends of the enzyme activities as affected by management depended on the soil, but in general crop rotations and conservation tillage increased the enzyme activities in comparison to continuous cotton and conventional tillage. The soil enzyme activities were significantly correlated with the soil organic C ( r -values up to 0.90, P< 0.001), and were correlated among each other ( r -values up to 0.90, P <0.001). There were differences in the fatty acid methyl ester profiles between the fine sandy loam and the sandy clay loam and loam, and they reflected the differences in the enzyme activities found among the soils. For example, a 15:0 ranged from 1.61±0.25% in cotton-peanut/irrigated/no-till in the fine sandy loam to 3.86±0.48% in cotton-sorghum/dryland/conservation tillage in the sandy clay loam. There were no differences due to management within the same soil.Trade names and company names are included for the benefit of the reader and do not infer any endorsement or preferential treatment of the product by USDA-ARS     

基于单线激光雷达的割草机器人建图方法研究

针对单线激光雷达无法感知形状不规则的花丛问题,提出一种基于单线激光雷达的3D-SLAM方法,解决单线激光雷达不能实现多平面感知的问题。设计一个自动升降激光雷达高度装置,该装置主要由丝杆滑台、步进电机、雷达架、单线激光雷达等组成,通过丝杆滑台滑块的水平进给,控制激光雷达竖直运动。割草机器人在工作时,通过激光SLAM(同步建图与定位)技术检测障碍物信息,ROS(机器人操作系统)系统根据不规则障碍物的高度做出相应对策。通过对不同状态的建图效果进行量化和对比分析,试验结果表明：改进后与改进前相比,相对误差率降低1.04%;漏检率降低为0;避障率提高93.33%。本研究为割草机器人的准确定位与避障提供理论依据。     

基于多特征的田间杂草识别方法

该文阐述了通过利用植物的多种特征实现田间杂草的精准自动识别的方法。该方法先利用颜色特征分割土壤背景,然后利用位置和纹理特征识别行间和行内杂草,最后利用形态特征后处理误识别的作物和杂草。在实验室内利用实地采集的3～5叶期、不同作物行数的麦田图像对该方法进行了测试。作物和杂草的正确识别率最低为89%,最高为98%;处理时间最低为157 ms,最高为252 ms。试验结果表明：基于多特征的田间杂草识别方法具有较高的识别率和较快的识别速度。     

牛蒡自动播种机的研制

现阶段,我国主要采用人工播种牛蒡,存在诸多问题。为此,在现有牛蒡种植方法的基础上,研制了一种牛蒡自动播种机,由铅蓄电池、电动机、动力传动部分、行走机构、筛种机构和播种机构等组成。行走机构能够实现在田地垄上自动行走,筛种机构能按照一定的距离筛出种子且每次仅筛出1粒种子,播种机构能够实现自动播种牛蒡。试验结果表明:该播种机播种成功率达90%以上,且能耗较低,可以广泛应用于牛蒡机械化种植。     

APPLICATION OF DECOMPOSITION COORDINATION METHOD OF LARGE - SCALE SYSTEMS AND METHOD OF NONLINEAR PROGRAMMING TO ECONOMIC SCHEDULING OF POWER SYSTEM

In this paper,we discuss a mathematical mode) for optimization of active power dispatch of large-scale hydro-thermal power systems with cascaded hydropower stations. The following factors are taken into account: the variation of the head in the hydropower stations, water transport delay between cascaded stations etc. Using the decomposition-coordination method of large scale systems, we obtain a three-layer-hierarchical coordination system and a three-layer-hierarchical computational structure. We also discuss the computational methods which are used by each hierarchy. We have taken a test computation and analysing the result of an actual hydrothermal power system. The computational results show that it may obtain a satisfactory economic benefit. The paper provides some research work on the economic scheduling of hydrothermal power systems by the decomposition-coordination method of large-scale systems,multiplier method and a new variable metric method.     

Reducing tillage intensity affects the cumulative emergence dynamics of annual grass weeds in winter cereals

Annual grass weeds such as Apera spica‐venti and Vulpia myuros are promoted in non‐inversion tillage systems and winter cereal‐based crop rotations. Unsatisfactory weed control in these conditions is often associated with a poor understanding of the emergence pattern of these weed species. The aim of this study was to investigate, understand and model the cumulative emergence patterns of A. spica‐venti, V. myuros and Poa annua in winter cereals grown in three primary tillage regimes: (i) mouldboard ploughing, (ii) pre‐sowing tine cultivation to 8–10 cm soil depth and (iii) direct drilling. Direct drilling delayed the cumulative emergence of A. spica‐venti and V. myuros (counted together) in contrast with ploughing, while the emergence pattern of P. annua was unaffected by the type of tillage system. The total density of emerged weed seedlings varied between the tillage systems and years with a higher total emergence seen under direct drilling, followed by pre‐sowing tine cultivation and ploughing. The emergence patterns of all species were differently influenced by the tillage systems, suggesting that under direct drilling, in which these species occur simultaneously, management interventions should first and foremost consider that A. spica‐venti and V. myuros emerge over a longer period to avoid control failures.     

基于直流电机与全液压转向器直联的自动转向系统研究

针对农机装备电控液压自动转向系统生产成本高及电动方向盘自动转向系统中控制力矩小、存在自由行程的问题,设计了基于直流电机与全液压转向器直联的自动转向机构及其电控系统,该系统主要包括自动转向执行机构、自动转向控制器和液压转向机构等。自动转向执行机构与原车液压转向机构连接实现自动转向功能,考虑了底盘阿克曼角的自动转向控制器实现车轮转向的精确控制,通过在转向驱动电机输出轴安装电磁离合器和转向柱扭矩传感器实现人工驾驶模式和自动驾驶模式的自动切换。试验结果表明,车轮转角响应平均稳态误差小于0.1°,最大稳态误差为0.158°,±20°阶跃信号最快响应时间达1.2 s,超调量小于1%,可以满足对各种轮式农机的自动导航辅助驾驶转向系统性能的要求。     

Seed survival and predation of Anoda cristata in soyabean crops

Anoda cristata is a troublesome annual broad-leaved weed in summer crops in the rolling Pampa in Argentina; seeds are the only source of regeneration of this species. Seed persistence or depletion is the result of survival and loss processes, including predation. The objective of this study was to determine survival at two burial depths in undisturbed soil and predation rates of A. cristata seeds in soyabean crops in different rotations and tillage systems. Survival was discontinuous and decreased to 25% after 35 months, after which no further reduction in survival was observed to the end of the experiment at 96 months. No differences in seed survival between seeds placed on the soil surface and buried 5 cm below the soil surface were found at 80 months, but at later times survival was lower for seeds placed on the soil surface. Predation rates ranged between 0.3% day⁻¹ and 6.7% day⁻¹. Of the models tested, a polynomial regression of the rate of predation with time gave the best representation of seed predation. From January to July, predation was higher in non-tillage plots in the wheat/soyabean rotation. There was no significant difference in predation rates between tillage systems in the soyabean monoculture and no difference between planting densities. Higher crop residue levels in non-tillage plots in the wheat/soyabean rotation was the dominant factor influencing seed predation, probably because such habitat favours the presence of seed predators.