果园巡检机器人长臂抖动抑制方法

针对果园巡检机器人长臂因抖动而严重制约图像采集效率的问题,该研究提出基于臂体上3个部位的仰角构建单一反馈量进行抖动抑制的方法。首先基于臂体外伸段的有限元模态分析结果,通过固有频率和静变形的等效,建立三杆两扭簧等效机构的动力学模型。并基于微分平坦理论将3个倾角传感器读数合成为一个系统输出量,以平坦输出量作为被控量,采用PID控制器进行抑振试验,再利用自抗扰控制(Active Disturbance Rejection Control, ADRC)思想中对广义扰动的处理方法,将被控模型等效为二阶系统形式,并将模型信息代入到扩张状态观测器中进行对比试验。试验结果表明,基于本文构建的方法均能起到快速抑制长臂抖动的作用。在冲击作用致使末端产生10°幅值的抖动情况下,PID控制器实现了7 s内抑制大幅抖动,自抗扰控制器实现了8 s内快速抑制大幅抖动的效果。PID控制器的输出出现3次饱和现象且小幅较高频率抖动不易消除,而自抗扰控制器仅出现一次饱和,具有抖动抑制过程平滑的优点。本文的控制算法简洁适于在单片机等微型计算机系统中应用,系统结构简单成本低,可为现代农业装备研发与应用中解决长臂类结构抖动的主动抑制问题提供理论参考。     

基于双目视觉的香蕉园巡检机器人导航路径提取方法

为实现移动机器人香蕉园巡检自动导航,研究提出了一种基于双目视觉的香蕉园巡检路径提取方法。首先由机器人搭载的双目相机获取机器人前方点云,进行预处理后对点云感兴趣区域进行二维投影并将投影结果网格化,得到网格地图;然后采用改进的K-means算法将道路两侧香蕉树分离,其中初始聚类中心通过对网格地图进行垂直、水平投影以及一、二阶高斯拟合确定;最后基于最小包围矩形提取导航路径,将道路两侧网格以最小矩形框包围,提取两包围框中间线作为期望导航路径。测试结果表明,改进的K-means算法聚类成功率为93%,较传统方法提高了12%;导航路径提取平均横向偏差为14.27 cm,平均航向偏差为4.83°,研究方法可为香蕉园巡检机器人自动导航提供支持。     

基于Web的海洋计量检测实验室管理信息系统设计

介绍基于Web的海洋计量检测实验室管理信息系统的规划、分析与设计,采取了Browser／Web Server、JSP、JDBC和Jasper Reports等技术开发了本系统。阐述了本管理信息系统的体系结构、子系统划分,以及相关技术、安全策略、实施和运行机制,着重讨论系统需求、系统解决方案及数据库设计和程序设计的要点。     

Reproductive season and female maturity size of coconut crab <Emphasis Type="Italic">Birgus latro</Emphasis> on Hatoma Island,southern Japan

Information about reproductive season, size at sexual maturity and size-dependent reproductive potentials is important for efficient resource management. Such information is necessary to determine seasonal closures and minimum legal size limits. To conserve resources of coconut crab Birgus latro, which are in danger of extinction due to excessive exploitation, their reproductive season, female size at functional maturity and relationship between female size and reproductive potentials were investigated. The reproductive season started in early June and ended late August, and females with higher reproductive potentials showed a tendency to spawn early in the reproductive season. The prohibition of exploiting the resources during the reproductive season, especially early in the season, would be appropriate for sustainability of high reproductive outputs. Fifty percent of investigated females matured functionally at 24.5-mm thoracic length (TL). However, the size at which all females reached functional maturity was 32.3 mm TL, and there was a wide variation in the size of functional maturity among individuals. We must determine minimum legal size by taking the variation into account to allow all individuals to mate at least once before they are caught, which may prevent serious depression in reproductive rate and genetic diversity.     

影响简易瞬态工况法(VMAS)测量精度因素分析

控制在用车的排放已经成为共识,国家标准规定了几种在用汽车排放的测量方法,简易瞬态工况法(VMAS)是其中之一.给出了简易瞬态工况法(VMAS)检测设备系统的组成和测量原理,从设备自身、被检车辆、人为因素、燃油品质和周围环境等几个方面分析了影响简易瞬态工况法(VMAS)测量精度的因素.     

农业机械质量检验监督系统的研发与应用

针对农机质量检验业务量的急增和农机在生产和使用过程中质量投诉逐渐增多的问题,开发一套农业机械质量检验监督系统.通过该系统,各级农机生产、经营、使用、监管人员可以实现信息互联共享,并在业务上实现协同互动.系统已应用于广东省农机质量监督管理,应用实践表明,系统可以有效提高农业机械产品质量检验和投诉服务水平,对促进农业机械化...     

基于激光雷达的巡检机器人导航系统研究

智能巡检机器人能够高效、可靠地完成巡检任务,降低工作人员的劳动强度,准确、稳定的导航定位是巡检机器人执行巡检任务的基础。本文研究了基于激光雷达的巡检机器人导航系统,可实现机器人在室内外环境下的地图建立、路径规划和导航定位。导航系统由远程监控平台与巡检机器人组成,远程监控平台发布巡检任务、监控机器人状态、查询与存储检测数据,巡检机器人可实现自主导航定位、遍历检测点、执行数据采集等巡检任务,二者通过无线网络实现远程数据交互。融合激光雷达与编码器信息,使用高鲁棒性Gmapping算法建立二维环境地图。根据地图与检测点信息,采用分支界定算法搜索最优巡检路线,以减少巡检时间和能源消耗。使用自适应蒙特卡罗定位(AMCL)算法估计机器人位置和姿态,结合巡检路线,进行导航定位。根据横向偏差与航向偏差,通过经典的PID算法完成机器人驱动控制。机器人搭载可见光相机与红外相机,可对目标进行可见光通道与红外通道的融合图像检测。对巡检机器人进行了室内导航定位试验,试验结果表明,在1 m/s的速度下,位置与航向偏差的平均绝对误差(MAE)分别小于5 cm和1.1°,标准差(SD)分别小于5 cm和1.5°,能够满足巡检导航定位的要求。     

Carbohydrate composition in relation to structural stability, compactibility and plasticity of two soils in a long-term experiment

The effects of tillage on soil organic carbon content, carbohydrate content, monosaccharide composition, aggregate stability, compactibility and plasticity were investigated in a field experiment on a gleysol and on a cambisol under winter barley in South-East Scotland. Two long-term treatments (direct drilling and conventional mouldboard ploughing for 22 years) were compared with short-term direct drilling and broadcast sowing plus rotavation for 5 years. Carbohydrate released sequentially to cold water, hot water, 1.0 M HCl and 0.5 M NaOH was determined after hydrolysis as reducing sugar equivalent to glucose in both fresh and air-dried samples. All other measurements were made on dry soils only. About 3% of the soluble carbohydrate was extracted by cold water, 10% by hot water, 12% by HCl and 75% by NaOH from both the dry and fresh soils. The total reducing sugars of the fractions were proportional to the total organic carbon determined by dichromate oxidation or C analysis. Organic carbon and carbohydrates were concentrated near the surface of the direct drilled soil, but were more uniformly distributed with depth in the ploughed soil. The surface soil under direct drilling was more stable, less compactible and had greater plasticity limits than under ploughing. However, particle size distributions were unaffected by tillage so that differences in soil properties were attributed to differences in the quantity and quality of organic matter. Differences in compactibility, structural stability and plasticity limits between depths and tillage treatments correlated with total carbon and with total carbohydrates. The hot water extractable carbohydrate fraction correlated best with aggregate stability and the NaOH fraction correlated best with compactibility and plastic limit. Both fractions were greatest in the long-term direct drilled soil. The hot water fraction had a galactose plus mannose over arabinose plus xylose ratio of 1.0–1.6 in comparison to 0.4–0.7 in the NaOH fraction indicating that the microbial contribution within the hot water-soluble fraction was the greater. The hot-water fraction was likely to contain more exocellular microbial polysaccharides involved in the stabilizing of soil aggregates. The hot-water and NaOH carbohydrate fractions may be good indicators of soil organic matter quality relevant to the preservation of good soil physical conditions.     

鸡蛋新鲜度的光特性无损检测

光学特性正越来越广泛应用于农产品质量分析、新鲜度和成熟度检测中。本研究目的是探讨光特性无损检测鸡蛋新鲜度的原理和实现方法。试验以200个不同新鲜度的鸡蛋为研究对象，在温度为(28±2)℃，相对湿度为55%的贮藏条件下，在200～800 nm光谱测量范围内对鸡蛋的新鲜度与贮藏时间的相关性进行了追踪光透射特性试验，同时对鸡蛋新鲜度与不同贮藏时间的相关性进行了分析。通过Origin 6.0对光谱透射数据的统计分析建立了透射率与波长，透射率与贮藏时间的相关数学模型，其相关系数分别为0.86和0.94，并找出了用于检测新鲜度的特征波长为465 nm。试验结果表明鸡蛋的透射特性应用于鸡蛋新鲜度检测具有可行性和快速性。     

黑土区范围界定及水土保持防治策略

采用"3S"技术与野外踏勘、抽样调查与定位研究、科学试验、生态理论与经济理论相结合的集成研究和现有科研成果整合的技术路线,以GIS平台叠置分析技术为支撑,开展了典型黑土区、东北黑土区(广义黑土区)的范围界定和水土保持区划,东北黑土区面积为103.02万km2,其中水蚀面积17.95万km2、风蚀面积3.40万km2、冻融侵蚀面积6.24万km2,针对各分区的特征提出了基本的防治策略。