利用内部信息的农用自动引导行走车的研究(第2报)——MAP(Map And Planning)系统

介绍农用自动引导行走车研究的地图和路径计划系统(MAP系统)。针对农业领域作业的实际情况,建立了农田的环境模型和环境地图,并采用图论的方法开发了路径计划系统,进而构造了路径地图。     

Effects of different application timings of methane fermentation digested liquid to paddy plots on soil nitrogen and rice yield

Treatment of animal and food wastes using a methane fermentation technique is drawing considerable public attention as a suitable option for the utilization of biomass resources. The application of a fermentation byproduct (methane fermentation digested liquid) as an agricultural fertilizer has been investigated. Determining the appropriate timing required for applying digested liquid on a rice (Oryza sativa L.) paddy plot is important. The concentrations of soil nitrogen (N) components and rice yield should be considered because digested liquid contains both inorganic and organic N. This study compares the N transformation and the rice yield and growth at different application times over a period of 3 y. The effects of the timing of basal application on soil N were different and the timing that maximized the rice yield was different in each year. Days before ponding (DBP) affected soil N before mid-summer drainage, and rice growth rates at the panicle formation stage and the ear emergence stage. The effects of DBP disappeared before harvest. The results indicated that sufficient potentially mineralizable N existed regardless of DBP, and the effect of DBP lessened after the mid-summer drainage, which coincides with the period when N uptake is most active.     

Small-radius turning performance of an articulated vehicle by direct yaw moment control

This paper reports the turning performance of an articulated vehicle in which applying direct yaw-moment control is applied to reduce the turning radius. In the proposed method, a braking force is applied to the inner tires when the articulation angle reaches its maximum in turning, which generates a yaw-moment around the vehicle's centre of gravity. The yaw-moment allows the vehicle to turn in a small radius. To evaluate the performance in tight turns, experiments were conducted using a wheel loader on paved ground. The vehicle's turning radius, yaw rate and side-slip angle were determined from the data measured using two global positioning systems and a fibre-optic gyro sensor. In addition, results of a simulation were compared with experimental results from a test vehicle. The turning radius at a braking pressure of 4 MPa was at least 0.41 m smaller than that of 0 MPa. Experimental and simulated results proved that generating a yaw-moment by applying one-sided braking forces during turning decreases the turning radius.     

Integrating remote sensing and GIS for prediction of rice protein contents

In this study, protein content (PC) of brown rice before harvest was established by remote sensing (RS) and analyzed to select the key management factors that cause variation of PC using a GIS database. The possibility of finding out the key management factors using GreenNDVI was tested by combining RS and a GIS database. The study site was located at Yagi basin (Japan) and PC for seven districts (85 fields) in 2006 and nine districts (73 fields) in 2007 was investigated by a rice grain taste analyzer. There was spatial variability between districts and temporal variability within the same fields. PC was predicted by the average of GreenNDVI at sampling points (Point GreenNDVI) and in the field (Field GreenNDVI). The accuracy of the Point GreenNDVI model (r ² > 0.424, RMSE < 0.256%) was better than for the Field GreenNDVI model (r ² > 0.250, RMSE < 0.298%). A general-purpose model (r ² = 0.392, RMSE = 0.255%) was established using 2 years data. In the GIS database, PC was separated into two parts to compare the difference in PC between the upper (mean + 0.5SD) and lower (mean − 0.5SD) parts. Differences in PC were significant depending on the effective cumulative temperature (ECT) from transplanting to harvest (Factor 4) in 2007 but not in 2006. Because of the difference in ECT depending on vegetation term (from transplanting to sampling), PC was separated into two groups based on the mean value of ECT as the upper (UMECT) and lower (LMECT) groups. In 2007, there were significant differences in PC at LMECT group between upper and lower parts depending on the ECT from transplanting to last top-dressing (Factor 2), the amount of nitrogen fertilizer at top-dressing (Factor 3) and Factor 4. When the farmers would have changed their field management, it would have been possible to decrease protein contents. Using the combination of RS and GIS in 2006, it was possible to select the key management factor by the difference in the Field GreenNDVI.     

Encapsulation of molecular hydrogen in fullerene C60 by organic synthesis

In spite of their importance in fundamental and applied studies, the preparation of endohedral fullerenes has relied on difficult-to-control physical methods. We report a four-step organic reaction that completely closes a 13-membered ring orifice of an open-cage fullerene. This process can be used to synthesize a fullerene C60 encapsulating molecular hydrogen, which can be isolated as a pure product. This molecular surgical method should make possible the preparation of a series of C60 fullerenes, encapsulating either small atoms or molecules, that are not accessible by conventional physical methods.     

Effects of coumestrol administration to maternal mice during pregnancy and lactation on renal Ca metabolism in neonatal mice

The present study was conducted to clarify the effects of coumestrol administration to maternal mice during pregnancy and lactation on serum Ca and Ca metabolism in their neonatal mice. From 6.5 to 16.5 days post coitus and from 3 to 10 days after parturition, maternal mice were administered at 200 µg/kg body weight/day of coumestrol. Coumestrol administration did not affect weight gains, serum Ca and the expression of vitamin D receptor (VDR) protein in the kidney of neonatal mice, but weight gains of maternal mice were decreased by coumestrol administration. Coumestrol administration increased the messenger RNA (mRNA) expressions of epithelial Ca channels 1 (ECaC1) and VDR in the kidney of neonatal mice, and also increased the mRNA expressions of ECaC2 in the kidney and small intestine of male neonatal mice. The mRNA expressions of ECaC1, ECaC2, calbindin‐D_9k (CaBP‐9k) and estrogen receptor (ER)α in the kidney and VDR in the small intestine of male neonatal mice were higher than those of female mice. Thus, coumestrol administration to maternal mice during pregnancy and lactation may affect renal Ca metabolism in neonatal mice, especially male neonatal mice via maternal milk.     

Localization of CO2 source by a hexapod robot equipped with an anemoscope and a gas sensor

A hexapod robot was developed to explore an agricultural field and gather agronomical information such as soil nutrients and plant growth. In addition, a sensor device for the robot to track a gas source was developed. The sensor device consisted of a CO₂ gas sensor and an anemoscope. The gas sensor detected the concentration of CO₂ in the surroundings, and the anemoscope indicated the upwind direction from the robot. An indoor test was conducted during which the hexapod robot tracked windward direction using the sensor device. According to the results, the hexapod robot with the sensor device successfully localized a CO₂ source that was in the upwind direction. The robot paused on the spot under windless conditions, and walked windward as soon as the wind started blowing again.     

Estimation of rice protein content before harvest using ground-based hyperspectral imaging and region of interest analysis

Protein content, which represents rice taste quality, must be estimated in order to create a harvesting plan as well as next year’s basal dressing fertilizer application plan. Ground-based hyperspectral imaging with high resolution (1 × 1 mm per pixel) was used for estimating the protein content of brown rice before harvest. This paper compares the estimation accuracy of rice protein content estimation models generated from the mean reflectances of five regions of interest (ROIs): the overall target area, dark area (less illuminated parts of the rice plants), canopy area (leaves, yellow leaves, and ears), leaf area, and ear and yellow leaf area. The size of the target sampling area was 0.85 × 0.85 m. An R + G + B histogram and a GNDVI–NDVI image were used to separate the target area into the individual ROIs. The values of the coefficient of determination R ² and the root mean square error of prediction (RMSE) were similar for each model: R ² ranged from 0.83 to 0.86 and RMSE ranged from 0.27 to 0.30% for all models except for the dark area model, where R ² = 0.76 and RMSE = 0.35%. There were no significant differences in the magnitude of the estimation error among all models. This result indicates that it is not necessary to obtain an image with a ground resolution that is greater than 0.85 × 0.85 m per pixel to estimate rice protein content before harvest. This result should provide useful information when deciding the altitude of platforms for imaging rice fields.     

Mechanisms of perception of laid lines in Japanese paper

Laid lines are observed frequently in Japanese paper. For restoration of historic document paper, the laid line intervals should be consistent between the restoration paper and the original paper for harmonized appearance. Considering this prerequisite, the perception mechanisms of the laid lines are discussed. Laid lines can be easily observed against backlight. However, there are several cases where laid lines are not visible against backlight, but are clearly visible with diffuse reflected light. With paper sheets formed on screens with short bamboo splint pitches, laid lines were observed only with diffuse reflected light. Within these sheets, there was no fiber mass distribution or surface roughness that correlated with the periodicity of the laid lines. On the other hand, paper sheets produced using long splint pitches exhibited light transmission unevenness, fiber mass unevenness, and surface roughness. Microscopic observations using two-way low-angle illumination revealed the following mechanism. In the flow sheet-forming method, fibers are oriented strongly in the cross-splint direction in the first layer while some fibers rotate and become aligned along the interspaces between the splints in the second layer during dehydration. Bidirectionally oriented fibers perpendicular to each other result in a contrasting reflectivity perceived as laid lines.