共查询到20条相似文献，搜索用时 46 毫秒
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为实现果蔬采摘机器人作业时自主行走,研究采用磁导引技术和PID算法等实现对预定路径的跟踪。以磁导引传感器作为导航传感器,在果蔬采摘机器人平台上搭建转向控制机构,依据磁导引传感器工作特性,提出PID算法作为导引算法。根据导引传感器得到机器人当前位置相对于导引磁条的距离偏差,作为PID控制器的输入,将机器人前轮期望转角和车体期望速度作为输出,在Mat Lab中对算法进行圆曲线跟踪仿真。仿真结果表明:机器人可快速跟踪到预定路线,跟踪误差在±30 mm以内,直线段稳定状态误差在±5 mm以内。 相似文献
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为了实现温室环境与作物信息的采集与监测,设计了可实现环境全方位移动监测的机器人。以机器人为研究对象,通过对机器人结构分析,建立了运动学模型;提出了基于航向角误差算法的路径跟踪控制方法,以实现对机器人转向和速度控制,使其按照期望路径运动,达到路径跟踪目的。仿真结果表明:所提出的路径跟踪控制算法,能使机器人较稳定快速地收敛于期望路径。试验结果表明:当机器人跟踪稳定后,直线路径跟踪横向误差范围为±8mm,圆弧路径跟踪横向误差范围为±11mm。本研究可为温室环境监测机器人路径跟踪控制提供参考。 相似文献
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基于改进Hu矩和遗传神经网络的稻飞虱识别系统 总被引：3，自引：0，他引：3
针对稻飞虱识别实时性差和BP神经网络分类有一定误差的问题,设计了1种基于DSP硬件平台和遗传神经网络算法的稻飞虱识别系统.系统硬件以AT89S52单片机控制拍摄移动装置,以DM6437处理器作为算法处理平台;系统软件设计主要包括基于改进Hu矩的特征值提取和基于遗传算法优化神经网络的识别算法.系统通过CCD摄像机拍摄稻飞虱视频信号传送到DSP识别系统,从中提取图像,识别图像中的稻飞虱.实验对稻飞虱、水蝇和潜蝇等80个样本进行了训练和测试,结果表明遗传神经网络对稻飞虱的正确识别率达到90％. 相似文献
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基于改进BP神经网络的水位流量关系拟合 总被引：2，自引：0，他引：2
李中志 《中国农村水利水电》2008,(10):30-32,35
水文测站需要精确的水位流量关系,这是一种非线性关系,用传统方法进行关系拟合会产生较大误差.利用神经网络对非线性系统处理的强大能力,基于附加动量、自适应学习率以及数值优化的改进BP神经网络方法,对水位流量关系进行了高精度函数逼近.首先,对改进BP神经网络算法进行了详细描述和分析;而后,通过实测水文数据的仿真计算研究,与现有最小二乘法、遗传算法等多种方法进行了对比,并进行水位流量关系曲线的绘制.仿真结果表明,相比目前已有的算法,采用改进BP算法可以达到更高的拟合精度,是一种有效的方法,能够满足水文测站对水位流量关系曲线拟合的要求. 相似文献
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针对目前工况识别率低降低了能量控制策略在实际行驶中的控制效果的问题,提出了神经网络算法优化行驶工况识别的方法.首先,利用降维后的特征值对典型工况进行分类,构建综合行驶工况.其次,建立模糊C均值聚类、概率神经网络、学习向量化神经网络、BP神经网络的工况识别模型并训练.最后对工况智能识别模型进行仿真验证.结果表明,BP神经... 相似文献
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为解决无人驾驶牵引式农机在非结构化环境中作业时直线跟踪精度低、上线速度慢、抗干扰能力差等问题,提出了一种基于模糊快速滑模控制的农用牵引式车辆直线路径跟踪控制方法。首先利用车辆运动学模型与参考路径建立牵引车辆直线路径跟踪误差模型,并提出一种基于模糊参数整定的快速滑模直线路径跟踪方法,解决了滑模控制算法的控制器抖振与机具快速上线问题。通过Lyapunov稳定性分析可知,所设计控制方法可保证牵引机具跟踪参考路径,同时铰接角收敛至零。最后,基于Simulink仿真与实车试验对该控制方法的有效性与优越性进行测试。田间实车试验表明,使用本文控制方法时,拖车和挂车最大路径跟踪横向误差分别为0.11、0.12 m,拖车和挂车跟踪误差方差分别为0.001 3、0.001 5 m2;相较于传统基于等速趋近律设计的滑模控制器,上线时间提升约58%,最大跟踪误差减小约66%。 相似文献
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李中志 《中国农村水利水电》2008,(10):30-32
水文测站需要精确的水位流量关系,这是一种非线性关系,用传统方法进行关系拟合会产生较大误差。利用神经网络对非线性系统处理的强大能力,文中基于附加动量、自适应学习率,以及数值优化的改进BP神经网络方法,对水位流量关系进行了高精度函数逼近。首先,对改进BP神经网络算法进行了详细描述和分析;而后,通过实测水文数据的仿真计算研究,与现有最小二乘法、遗传算法等多种方法进行了对比,并进行水位流量关系曲线的绘制。仿真结果表明,相比目前已有的算法,采用改进BP算法可以达到更高的拟合精度,是一种有效的方法,能够满足水文测站对水位流量关系曲线拟合的要求。 相似文献
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基于视觉导航和RBF的移动采摘机器人路径规划研究 总被引：2，自引：0，他引：2
为了提高采摘机器人自主导航和路径规划能力,提出了基于计算机视觉路径规划和RBF神经网络自适应逼近算法的导航方法。使用图像分割、平滑处理和边缘检测技术,根据图像像素灰度值确定了导航线的位置,利用逐行扫描的方法得到了导航离散点。路径规划和跟踪使用RBF神经网络逼近算法,通过逼近误差和权值控制路径跟踪的精度,系统响应的执行端使用液压伺服系统,提高了机器人自主导航的精度。以黄瓜采摘作为研究对象,在日光温室对机器人采摘作业进行了测试,通过测试得到了RBF神经网络的路径跟踪误差曲线。测试结果表明:机器人可以很好地逼近跟踪规划路径,其计算精度较高,跟踪效果较好。 相似文献
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Overland water and salt flows in a set of rice paddies 总被引：1，自引：0，他引：1
E. Playn O. Prez-Coveta A. Martínez-Cob J. Herrero P. García-Navarro B. Latorre P. Brufau J. Garcs 《Agricultural Water Management》2008,95(6):645-658
Cultivation of paddy rice in semiarid areas of the world faces problems related to water scarcity. This paper aims at characterizing water use in a set of paddies located in the central Ebro basin of Spain using experimentation and computer simulation. A commercial field with six interconnected paddies, with a total area of 5.31 ha, was instrumented to measure discharge and water quality at the inflow and at the runoff outlet. The soil was classified as a Typic Calcixerept, and was characterized by a mild salinity (2.5 dS m−1) and an infiltration rate of 5.8 mm day−1. The evolution of flow depth at all paddies was recorded. Data from the 2002 rice-growing season was elaborated using a mass balance approach to estimate the infiltration rate and the evolution of discharge between paddies. Seasonal crop evapotranspiration, estimated with the surface renewal method, was 731 mm (5.1 mm day−1), very similar to that of other summer cereals grown in the area, like corn. The irrigation input was 1874 mm, deep percolation was 830 mm and surface runoff was 372 mm. Irrigation efficiency was estimated as 41%. The quality of surface runoff water was slightly degraded due to evapoconcentration and to the contact with the soil. During the period 2001–2003, the electrical conductivity of surface runoff water was 54% higher than that of irrigation water. However, the runoff water was suitable for irrigation. A mechanistic mass balance model of inter-paddy water flow permitted to conclude that improvements in irrigation efficiency cannot be easily obtained in the experimental conditions. Since deep percolation losses more than double surface runoff losses, a reduction in irrigation discharge would not have much room for efficiency improvement. Simulations also showed that rice irrigation performance was not negatively affected by the fluctuating inflow hydrograph. These hydrographs are typical of turnouts located at the tail end of tertiary irrigation ditches. In fact, these are the sites where rice has been historically cultivated in the study area, since local soils are often saline-sodic and can only grow paddy rice taking advantage of the low salinity of the irrigation water. The low infiltration rate characteristic of these saline-sodic soils (an experimental value of 3.2 mm day−1 was obtained) combined with a reduced irrigation discharge resulted in a simulated irrigation efficiency of 60%. Paddy rice irrigation efficiency can attain reasonable values in the local saline-sodic soils, where the infiltration rate is clearly smaller than the average daily rice evapotranspiration. 相似文献
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车用发动机润滑油失效规律与更换周期研究 总被引：7，自引：0，他引：7
研究在正常使用条件下１０Ｗ／３０－ＱＣ级润滑油用于某型车用发动机时所表现的失效规律,确认期服从两参数Ｗｅｉｂｕｌｌ分布,并给出分布的尺度参数η和形状参数ｍ之最佳线性无偏估计（ＢＬＵＥ）同时,还为定量分析,计算车用发动机润滑油的使用可靠性和合理确定其更换周期提供了一套可供借鉴的方法,并给出了具体的计算实例。 相似文献
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赵国杰 《农业机械化与电气化》2011,(4):106-107
乡（镇）农技推广体系是农业发展的关键。介绍朝阳市农业技术推广体系的现状,针对目前体制及运行机制、服务手段等方面存在的问题,提出适合朝阳市乡（镇）农技推广体系改革与发展的对策,以期对全省农技推广体系改革和发展起到一些借鉴作用。 相似文献
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苑庆刚 《农业机械化与电气化》2010,(3):52-54
草莓果味酸甜爽口,营养价值高,为人们所喜爱的应市鲜果之一。由于草莓易受损伤和微生物侵染,因此其采收、贮藏过程极为重要。介绍草莓采收过程中的注意事项以及11种贮藏保鲜技术的实施步骤和操作方法,推介9种加工方式,为草莓产业化提供技术支持。 相似文献
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对引进的谷子新品种金谷子耐旱TG118进行品种比较试验和多点试种。结果表明：该品种抗旱、耐瘠、适应性强,稳产、高产、抗病抗风抗倒伏强,品质优良,粮草兼用,种植简单,省工易管;一般产量在6000kg/hm2以上,比当地主栽品种增产20%以上。最高产量达9450kg/hm2,适于在辽西北地区推广应用。 相似文献
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对《种子法》存在问题的探讨 总被引：1，自引：0，他引：1
李鹏 《农业机械化与电气化》2011,(6):129-130
《种子法》是我国种植业第一部法律。自实施以来,为依法加强种子管理提供了有力的法律支撑,促进我国种子产业发生翻天覆地的变化。但随着依法管理工作的深入和种子产业的快速发展,《种子法》及配套规章的一些问题逐步显现出来。对《种子法》及配套规章存在的问题进行深入分析,对需要进一步补充的章节以及需要调整的内容进行深入探讨,以求更加完善和明确。 相似文献
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瓦房店市是我国重要的水果生产基地,在国内水果生产领域占有重要地位。随着水果市场化的不断深入,如何满足和适应国内外市场需求成为瓦房店市水果生产的关键问题。从瓦房店市水果生产实际出发,阐述了实施水果生产标准化的必要性,提出了发展水果生产标准化的具体措施。 相似文献
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M. G. Bos H. van den Bosch H. Diemont H. van Keulen J. Lahr G. Meijerink A. Verhagen 《Irrigation and Drainage Systems》2007,21(1):1-15
The rural sustainability index is a scientifically based tool to quantify the performance of agriculture. The sustainability
of crop production is quantified from three perspectives; people, planet and profit. Within each perspective, one condition
was selected that must be met to warrant agriculture. These are: No hazardous work should be used within the crop production
chain; agricultural crops should not be grown on land allocated to nature by national law or regulations and, when a GM-crop
is present or is introduced in a region, it should not harm development opportunities of other farmers. If these excluding
conditions are met, the sustainability of agriculture is assessed through five performance indicators on school attendance,
water use and consumption, fertilizer use, pesticide use, and farm income. For each of the five indicators, critical values
and target values have been given that limit the transition range between non-sustainable and sustainable production. The
five indicators are combined into a sustainability index. The index aims at improving the socio-economic position of farmers
while protecting the environment.
相似文献
| M. G. BosEmail: |
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About 30 years have passed since the Government of Egypt embarked on implementing a series of large scale drainage projects. At present, about 3.8 million acres have been provided with drainage systems on the basis of systematic pre-drainage investigations and designs. The target is to provide drains in approximately 6.4 million acres in the Nile Valley and Delta.The implementation of the subsurface drainage system is carried out by the public sector and private contractors under direct supervision of governmental regional departments. The implementation process depends on many factors related to the drainage material, machinery, manpower, site requirements, farmers and organizations involved. Problems and constraints are sometimes challenging, however, the annual rate of implementation has gradually increased to 170,000 acre/year.This paper discusses the different aspects involved in the implementation process of drainage systems. The development in materials, machinery and construction technologies will be reviewed. Institutional and management factors are going to be also considered. 相似文献