基于改进RRT算法的猕猴桃采摘机器人全局路径规划

为提高猕猴桃采摘机器人导航效率,提出一种基于采样状态实时引导随机树扩展的改进方法(Straight-RRT)。首先,针对传统RRT算法盲目搜索的问题,引入评价指数与阈值划分采样状态,根据采样状态决定采样节点的选取方式,实时引导随机树的扩展。其次,为增强算法对不同环境的自适应性及快速避开不规则障碍物,引入动态阈值并优化最近节点选择机制。最后对路径进行优化处理,去除路径冗余点并采用贝塞尔曲线平滑路径减小路径复杂度。基于棚架式猕猴桃果园环境进行路径规划实验,实验结果表明改进后算法在猕猴桃果园环境中具有更好的适应性及规划效率,为提高猕猴桃采摘机器人导航效率提供了解决方法。     

Jackknife method for estimating the variance of the age composition using two-phase sampling with an application to commercial catches of swordfish (Xiphias gladius)

An estimate of the age composition of a commercial swordfish catch and its variance was obtained using the replicate full jackknife estimator for two-phase sampling where the sampling units in the first phase are clusters (vessel-trips) and the units of the second phase are individual fishes. The jackknife variance estimator was compared with an analytical estimator of variance commonly used in fisheries studies which ignores the clustering, and assumes simple random sampling of individual fish. The application of these naïve estimators to the Chilean South Pacific swordfish fishery results in an underestimation of the variance. This is a consequence of using an inappropriate primary sampling unit of analysis in the first-phase sample where the vessel-trip unit is replaced by an individual fish unit, thus ignoring the intra-cluster correlation in age samples. The jackknife estimator of variance is an alternative useful for complex two-phase sampling designs.     

Verification of mean volume backscattering strength obtained from acoustic Doppler current profiler by using sound scattering layer

ABSTRACT:   Acoustic Doppler current profilers (ADCPs) have recently been used to estimate the dynamic characteristics and biomass of sound scattering layers (SSLs) or swimming speed of fish schools and to analyze SSL spatial distribution or various behavior patterns. This paper shows that it is necessary to verify mean volume backscattering strength (MVBS, dB) values acquired from each beam for quantitative analysis of the spatial distribution or the biomass estimates of such specific targets as SSL or a fish school when using an ADCP. In this study, the SSL was selected to be a homogeneous density layer over a large area and two methods were used to verify the MVBS values from each beam of the ADCP. First, a mutual comparison among four beams was conducted after calculating MVBS from the measured echo intensity. Second, the MVBS values were verified using comparison between the calculated MVBS from the 153.6 kHz ADCP and MVBS from three frequencies of a well-calibrated scientific echosounder. Moreover, the dominant scatterers (euphausiids) were collected by a framed midwater trawl. From these samples, biological data were used to identify the different frequency characteristics between two systems, using a distorted-wave Born approximation (DWBA) theoretical backscattering model in order to assess the averaged target strength and target strength TS differences for the three frequencies.     

Impact of sampling and storage technique,and duration of storage,on the composition of fresh grass when analysed using near‐infrared reflectance spectroscopy

The objective of this study was to examine the effect of sampling technique (pluck or cut), storage duration (immediate analysis, 24‐h or 48‐h), storage temperature (ambient or chilled) and storage conditions (air present, air excluded or breathable) on the composition of fresh grass sampled from a sward managed to simulate grazing. Treatments were repeated across four sampling dates, with grass samples stored in grip seal bags prior to analysis using near‐infrared reflectance spectroscopy. Grass sampled by ‘pluck’ had a higher crude protein and ME content, and a lower acid detergent fibre (ADF) content, compared to that sampled by ‘cut’. Grass stored for 48 h had a lower water soluble carbohydrate (WSC) and ME content and a higher ADF content than for immediate analysis. Samples stored for 24 h did not differ from immediate analysis. Grass stored at ambient temperature had a lower WSC and ME content compared to immediate analysis. Grass stored under ‘breathable’ conditions had a lower ME content and higher ADF content than immediate analysis or samples stored with air present or air excluded. It is recommended that grass for analysis should be sampled by cutting, stored chilled (4°C) in a sealed bag to minimize exposure to oxygen and analysed within 24 h of harvest.     

半梯形隶属函数下土壤养分流失的模糊数学模型——以皖南山区为例

研究旨在通过皖南山区土壤检测报告给定的一些数据和信息分析养分流失程度,为合理的土壤养分管理提供可靠依据,采用指导性抽样选取样本,利用半梯形隶属度函数构建模糊数学模型,结合变异系数法,计算出不同地形类别的土壤养分流失程度。研究结果表明:以MATLAB仿真软件生成土壤养分的分布情况为直观依据,构建模糊数学模型发现多坡地的丘陵区域土壤养分流失最为严重。该模型的分析结果更贴近该地区土壤养分现状。研究验证了模糊数学模型在山区耕地土壤养分流失研究中的实用性。该模型能够很好的评估出土壤养分流失程度,为科学施肥护壤提供了理论依据。     

进口散装粮食取制样工作发展现状、存在问题及对策

取制样工作是进口粮食检验检疫的重要前提和基础。本文从检验检疫对制取样品的需求出发,系统分析了进口散装粮食取制样工作以人工操作为主的发展现状以及存在的重视程度不够、标准体系不完善、技术设备投入不足、工作效率低、样品代表性差、上下游发展不协同、影响公正执法等诸多问题,提出了通过加快自动化取制样系统的研究和应用等应对措施。     

监测采样间隔对作物模型性能的影响研究

为了获得不同监测采样间隔对作物生长模型的影响规律,避免现有研究和应用中存在的主观性或随意性,以番茄叶片蒸腾速率和CO2交换率为对象,采用3 种采样间隔数据及2 种常用方法进行建模、预测和比较研究。研究结果显示,在15、30、60 min的监测采样间隔下,番茄叶片蒸腾速率模型和CO2交换率模型的预测误差是不同的,GA-BP神经网络模型的预测能力普遍优于纯二次回归模型,但两者的结论是一致的,即对蒸腾速率和CO2交换率而言,最合适的监测采样间隔分别为30 min和15 min。本研究结果为监测采样间隔的设定、试验数据的选取和建模方法的运用提供依据,对作物模型研究和应用具有重要意义。     

基于径向基神经网络的叶轮轴面投影图优化

为了提高余热排出泵的效率,采用拉丁超立方试验设计方法对叶轮轴面投影图上的前盖板圆弧半径、后盖板圆弧半径、前盖板倾角和后盖板倾角4个几何变量进行35组叶轮方案设计,应用ANSYS CFX 14.5软件对余热排出泵进行定常数值模拟,得到设计工况下的效率,应用径向基神经网络建立效率与轴面投影图的4个几何变量之间的近似模型,最后采用遗传算法对近似模型进行极值寻优,获得最优的轴面投影图几何参数组合。研究结果表明:对比原始泵的数值模拟性能曲线和试验外特性能曲线,两者吻合较好;径向基神经网络能较好地预测泵设计点效率;优化的轴面投影图使得余热排出泵的水力效率提高了6.18个百分点,改善了叶轮内流场特性。因此,叶轮轴面投影图的优化设计方法是可行的。     

四旋翼飞行器农田位置信息采集平台设计与实验

作为对传统农田信息采集方式的补充,提出了一种基于小型飞行器的采集方式.阐述了四旋翼飞行器的工作原理,并设计了农田信息采集平台,制作出的样机载重为3.5kg,滞空时间大于20 min.设计了惯性测量系统,在测试翻滚角误差小于0.5°时确定融合算法权重系数K为12,利用PID闭环控制,实现3 m高度悬停飞行的偏移误差不超过5 m.在平台上搭载Trimble 5700型GPS接收机进行了实时数据采样实验,结果表明人工采样与飞行采样数据误差约为1.4m,表明该平台具有采集农田位置信息的基本能力.     

月壤采样试验验证机构运动性能研究

为开展月壤采样试验,设计了一种可以实现姿态调整的3自由度并联机构,根据机构运动特点,采用修正的KG(Kutzbach-Grübler)公式计算机构的自由度,利用封闭矢量法求解该机构位置逆解,并建立机构速度、加速度和可操作度性能评价指标。提出一种基于速度性能与可操作度性能为目标,采用多目标遗传算法优化机构结构参数,对优化后的结构参数进行分析,得到该机构工作空间、速度性能、奇异性和可操作度性能。研究表明:动平台姿态α、β在-0.35~0.35 rad时,机构速度性能最好;可操作度性能指标均在[4,5]区间范围内,不会产生奇异位形,有较好的可操作性能,验证该机构能够满足月壤采样试验功能要求,对开展月壤采样试验验证具有一定的实用价值。