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1.
为了实现苹果机器采摘过程中的柔顺抓取以减小果实损伤,该文在对苹果抓取过程的力学特性变化规律分析的基础上,提出了苹果采摘机器人柔顺抓取的参数自整定阻抗控制方法。首先,利用Burgers黏弹性模型表征苹果的流变特性,将抓取过程分为匀速加载、夹持减速、应力松弛3个阶段,在此基础上求解获得苹果形变量随时间的变化规律和果实接触力与变形量的变化关系。然后,求解出所设计的基于力的阻抗控制系统的期望输入以及抓取环境接触力模型。最后,针对阻抗控制器参数对接触力的影响,构造阻抗参数自整定变化函数,完成改进阻抗控制系统设计。仿真及试验结果表明:依据果实抓取模型及变形规律求解期望位置的方式来模拟末端执行器对苹果的抓取过程是可行的,所建立的抓取环境接触力模型在一定程度上能够避免将环境模型简化为一阶模型而产生的误差。改进阻抗控制得到的期望抓取力更加平顺,其超调量约为2.3%,接触力调节时间减小到0.48 s,接触力的超调量约为2%,较未改进阻抗控制的接触力超调量减小了37.5%。研究结果可为苹果采摘机器人的柔顺控制方法提供参考。 相似文献
2.
机器人柔性抓取试验平台的设计与抓持力跟踪阻抗控制 总被引：1，自引：5，他引：1
为减小机器人在采摘过程中对果蔬的损伤,设计了机器人柔性抓取试验平台,提出了一种适合末端执行器双指抓取果蔬的抓持力跟踪阻抗控制算法,该算法将末端执行器抓持果蔬系统等效为阻抗-导纳模型,使手指力/位控制等效为期望的惯量-阻尼-刚度模型,可按需调节其参数实现抓持力与位置的动态关系。期望抓持力与采集果蔬实际接触力的偏差作为外环力阻抗控制器的输入,控制器生成对内部位置环参考轨迹的校正量。该算法仅考虑沿末端执行器双指夹持果蔬方向,避免了使用多自由度机械臂阻抗控制算法的复杂性,提高了控制的实时性,同时对抓取系统模型的不确定和力扰动具有较强的鲁棒性。机器人抓取试验证明了双指抓持力反馈阻抗柔顺控制算法的有效性,可实现机器人柔性抓取,减小抓取果蔬损伤和保证品质。该研究可为农业机器人无损抓取和采摘提供关键技术。 相似文献
3.
基于流变特性的不同品种苹果果皮质地评价 总被引：3，自引：3，他引：0
为探究苹果果皮表面碎裂损伤的原因和评价不同品种果皮的质地。采用电子万能试验机对丹霞、红富士和新红星苹果果皮进行拉伸松弛和蠕变特性试验,得到了果皮松弛的初始应力、残余应力、应变保持和蠕变的初始应变、应力保持、蠕变量;建立了苹果果皮松弛和蠕变的数学模型,对松弛和蠕变特性参数进行了相关性和主成分分析。结果表明:松弛和蠕变试验结果揭示出不同品种果皮的流变特性和内部组织结构存在差异。不同品种果皮的初始应力较大时,松弛平衡后的残余应力较大;初始应变较大时,蠕变量较小。新红星果皮的弹性因子贡献率较高,而红富士果皮的黏性因子贡献率较高,反映出红富士果皮表面中较新红星和丹霞果皮表面容易碎裂损伤,在采收、运输等过程中红富士的果皮较新红星和丹霞的果皮易受机械损伤。研究结果可为苹果品种的优育及其质地评价体系的建立和完善提供参考。 相似文献
4.
气动柔性末端执行器设计及其抓持模型研究 总被引：4，自引：3，他引：1
针对目前刚性结构的农业果实采摘机械手柔顺性不足而易损伤抓取目标的缺点,设计了一种柔性末端执行器结构。该末端执行器由3个气动柔性弯曲关节作为手指部分、1个气动柔性扭转关节作为腕部,给出了手指部分和腕部的数学模型。分析了该末端执行器抓取圆柱形目标时的夹持模式和抓取球形目标时的抓握模式。仿真分析并试验研究了抓取目标物体重力和半径变化对末端执行器内腔压力的影响。结果表明建立的抓持模型能够反映该末端执行器的基本特性,研制的柔性末端执行器能够应用于农业果实的采摘作业。 相似文献
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6.
苹果采摘机器人对振荡果实的快速定位采摘方法 总被引：9，自引：9，他引：0
为解决由于果实振荡影响采摘机器人采摘效率的问题,该文研究了苹果采摘机器人在果实振荡状况下的快速采摘方法。首先对振荡果实进行动态连续采集,其次对所采集的图像进行振荡果实识别并提取其二维质心坐标,然后由FFT建模,求取果实的振荡周期,在测得振荡果实的深度距离后,计算出采摘机器人直动关节的行程速度,随即开始采摘,抓取时果实正处于平衡位置。最后通过试验可知,采摘成功率达到84%,对于果实静态状况下采摘速度较快的采摘机器人来说,采摘振荡果实,该研究方法明显优于以往采摘方法,能够显著提高采摘机器人果实采摘的整体速度。此外,该采摘方法简单、通用性好,可满足苹果等类球状果实采摘机器人的需要,对实现其实用化和商品化提供参考。 相似文献
7.
脐橙采摘机器人末端执行器设计与试验 总被引：5，自引：4，他引：1
针对脐橙无损采摘的需求,基于欠驱动原理设计了一种双V型手指脐橙采摘机器人末端执行器,主要由吸附机构、夹持机构和旋切机构3部分组成,吸附机构可以实现果实与果簇快速分离,夹持机构能够对果实进行无损稳定夹持,旋切机构可以将果实与果梗快速分离。建立脐橙数学模型并分析了手指工作空间。依据夹持机构的受力分析,并对关键部件进行了选型。结合电阻式薄膜压力传感器设计了手指的力反馈系统,使夹持机构达到稳定无损采摘要求。搭建末端执行器实体样机,以步进电机转速为因素,以单果采摘时间、采摘成功率和损伤率为指标,进行了105次采摘试验,根据试验结果,选取250 r/min作为最佳步进电机转速,此时单果采摘时间为1.76 s,采摘成功率为94.28%,损伤率为0。该文研究的脐橙采摘末端执行器采摘速度高、控制难度低、与机械臂集成度高,可为脐橙采摘机器人的整体研发提供参考。 相似文献
8.
果蔬采摘机器人末端执行器的柔顺抓取力控制 总被引：12，自引：10，他引：2
为了尽可能减小采摘机器人末端执行器在采摘过程中对果蔬的损伤,提出了一种基于广义比例积分(GPI,generalized proportional integral)的抓取力矩控制方法。首先,对由电机驱动的末端执行器建立模型,推导出电机输入电压与负载力矩之间的数学关系;然后,利用积分重构器设计GPI力矩反馈控制器,将力偏差转化为电机的输入电压控制。该方法不需要对力矩跟踪误差进行求导计算,避免了求导所带来的系统延时和噪声问题。仿真和实物抓取试验结果表明,采用GPI的末端执行器力矩控制对跟定信号的跟踪误差达到10-3量级,具有良好的力矩跟踪能力,与传统PI(proportional integral)控制方法相比,其控制力矩和电机控制电压输出平稳,降低了末端执行器抓取时对果蔬的损伤,无损采摘效率达到90%,比PI控制的采摘完好率高出8个百分点,适合于对果蔬的柔顺抓取控制。该研究可为果蔬采摘机器人无损采摘提供参考。 相似文献
9.
宽皮柑橘剥皮机对辊式剥皮装置工艺参数优化 总被引：1，自引：3，他引：1
为了提高宽皮柑橘在机械剥皮过程中的果皮去净率,降低果肉损伤率,该文以桔瓣罐头加工的主要原料温州蜜柑为试验对象,以预处理方式、对辊转速、拨板移动速度作为主要影响因素,利用自行开发设计的剥皮机研究各因素对对辊式剥皮装置剥皮效果的影响。在主要影响因素的单因素试验的基础上再进行正交试验,试验结果表明,预处理方式、对辊转速、拨板移动速度对柑橘果皮去净率影响显著(P0.05),对果肉损伤率的影响较小;运用综合平衡法获得的最佳参数为:热蒸汽加热3 min、对辊转速为60 r/min、拨板移动速度为12.98 mm/s,此参数条件下得到的柑橘机械剥皮果皮去净率为100%,果肉损伤率为1.96%,研究结果可为对辊式柑橘剥皮设备的运行及优化提供技术依据。 相似文献
10.
苹果采摘路径规划最优化算法与仿真实现 总被引：3，自引：0，他引：3
采摘路径规划对苹果采摘机器人的工作效率有很大的影响,为了提高苹果采摘机器人采摘效率,研究了采摘路径规划最优化方法。将苹果采摘的路径规划问题转化为三维的旅行商问题进行求解,结合图像识别得到的苹果位置特征,提出了有限域信息素自适应更新的改进蚁群算法,避免了基本蚁群算法求解过程中的早熟和局部收敛的问题,研究了三维模型的建模和驱动方法。试验结果表明将蚁群算法用于解决苹果采摘路径规划问题,当苹果数量达到250个时,改进蚁群算法迭代次数是基本算法的25.3%,而搜索到的最优路径是其94.3%,可见改进算法在搜索次数和最优结果上都有明显的优势。本研究为苹果采摘机器人采摘路径规划的提供理论参考。 相似文献
11.
低氮和干旱胁迫对富士和秦冠生长及氮素利用的影响 总被引：2，自引：2，他引：0
【目的】以富士（Fuji）、 秦冠（Qinguan）嫁接在平邑甜茶（Malus hupehensis Rehd.）上的当年生盆栽苗为试验材料,采用砂培方法,研究了缺氮胁迫和干旱对富士和秦冠生长情况、 光合参数、 植株各部位氮磷钾含量及氮素利用效率的影响,分析比较了低氮干旱条件下富士和秦冠生长及氮素利用的差异,以期为果树生产高效肥水利用提供理论指导。【方法】试验共设四个处理: 正常氮正常水（ZZ）、 低氮正常水（DZ）、 正常氮干旱（ZG）、 低氮干旱（DG）。氮素和水分均设置两个水平,分别为正常氮（6 mmol/L NO-3-N）、 低氮（0.3 mmol/LNO-3-N）、 正常供水（保持盆中砂子相对含水量为饱和含水量的80%~85%）、 干旱处理（保持盆中砂子相对含水量为饱和含水量的60%~65%）。【结果】富士和秦冠的生物量（茎和叶）、 株高茎粗等生长指标以及光合速率、 气孔导度、 蒸腾速率均为正常氮正常水（ZZ）＞低氮正常水（DZ）＞正常氮干旱（ZG）＞低氮干旱（DG）,并且相对应处理下秦冠的以上指标均高于富士;正常供水下,缺氮处理使富士、 秦冠的根冠比比正常氮处理均有所增加,富士提高了2.05%,秦冠提高了22.40%。富士和秦冠的氮、 磷、 钾含量均表现出正常氮正常水（ZZ）＞低氮正常水（DZ）＞正常氮干旱（ZG）＞低氮干旱（DG）; 氮、 钾元素含量在植株各部位的分布顺序依次是叶＞根＞茎,磷元素则是根＞叶＞茎;光合氮素利用效率（PNUE）和氮素利用效率表现为秦冠处理之间差异极显著,富士处理之间差异不显著;秦冠的PNUE和NUE明显高于富士,在低氮正常水（DZ）处理下,秦冠氮肥利用率比富士高42.07%,在低氮干旱（DG）处理下高64.14%;低氮胁迫下富士和秦冠的NUE显著提高,并且秦冠提高的幅度高于富士。【结论】施用氮肥能够显著提高富士与秦冠的干物质量,同等水肥条件下,秦冠生长优于富士;水分亏缺会减少叶片对氮的吸收,干旱条件下适度增施氮肥,可提高果树的抗旱能力;低氮干旱胁迫下秦冠的生长指标、 光合指标及氮素利用效率指标均优于富士,表现出较强的抗低氮干旱胁迫的能力。 相似文献
12.
Kyle Devey Michael Mucalo Gordon Rajendram Joseph Lane 《Communications in Soil Science and Plant Analysis》2015,46(4):72-80
Laser-induced breakdown spectroscopy (LIBS) is a new technique for the analysis of plant material. This study investigates the application of LIBS to pasture-based plant samples. The LIBS measurements were obtained from pelletized pasture samples (100 samples) that had been also analyzed by inductively coupled plasma–optical emission spectroscopy (ICP-OES) following microwave digestion for calibration and comparison purposes. Comparisons for elements sodium (Na), potassium (K), magnesium (Mg), calcium (Ca), manganese (Mn), iron (Fe), copper (Cu), zinc (Zn), boron (B), phosphorus (P), and sulfur (S) showed that LIBS could be used for almost all the standard profile total elements with concentrations down to low mg/kg levels (observed error of Na: 0.024 percent, K: 0.18 percent, Mg: 0.016 percent, Ca: 0.073 percent, P: 0.017 percent, Mn: 31 mg/kg, Fe: 150 mg/kg, Zn: 6.6 mg/kg, and B: 1.1 mg/kg). Elemental analysis at less than mg/kg levels was not possible using LIBS. The elements S and Cu were particularly difficult to analyze with reliability using LIBS at the concentration levels found in the plant samples. Replacing microwave digestion and subsequent ICP analysis with a direct analysis of dried plant samples using LIBS has the potential to improve the productivity and reduce the cost of testing. 相似文献
13.
I.L. Boyd 《Biological conservation》2010,143(7):1664-1674
“Wicked” problems are those that are complex and that change when solutions are applied. Many conflicts in conservation fall into this category. The study approached the problem of how to constrain the apparent wickedness of a problem in the conservation management of a species by using simple empirical indicators to carry out iterative assessment of the risk to a population and to document how this risk evolves in relation to the addition of new data and the implementation of management actions. Effects of high levels of uncertainty within data and also concerning population structure were examined through stochastic simulation and by exploration of scenarios. Historical trends in the example used, the Steller sea lion, showed rapid declines in abundance in some regions during the 1980s. The current total population is 130,000-150,000 Steller sea lions through Alaska and British Columbia and this number has been stable since about 1990 in spite of regional differences in population dynamics. Regional differences in the sequence of changes in the number of pups and non-pups, suggested that an internal re-distribution of juveniles could have happened between 1980 and 1990. Current productivity also appears close to the long-term mean. Stochastic population projection using various scenarios showed that, based upon this history, the risk of extinction for the population has declined and is below reasonable thresholds for considering the population to be endangered. The trends in risk suggest that management actions taken since 1990 have probably been effective. Consequently, the conservation management objectives for the Steller sea lion are probably being met. The approach provides a mechanism, based upon experience and scenario analysis, for exploring future policy options and may help to constrain the debate amongst stakeholders about the cost-benefit trade-offs associated with different options. 相似文献
14.
Soil-profile distribution of primary and secondary plant-available nutrients under conventional and no tillage 总被引：1，自引：0，他引：1
Nutrient distributions under no tillage (NT) compared with conventional disk-and-bed tillage (CT) management in the warm, humid region of the southeastern USA need to be assessed so that future placement, quantity, and type of fertilizers can be altered, if necessary, to efficiently match crop demands. We determined soil-profile distributions of pH, N, P, S, K, Ca, Mg, Na, Zn, Fe, Mn, and Cu to a depth of 0.9 m at the end of 8.5 years of continuous CT and NT management on a Weswood silty clay loam (fine, mixed, thermic Fluventic Ustochrept) in southcentral Texas. Most dramatic changes occurred within the 0–0.05 m depth, where soil under NT had lower pH, Fe, and Cu than under CT, but greater P, K, Zn, and Mn. Greater P and K under NT than under CT also occurred below the till-zone (0.15–0.3 m). At a depth of 0–0.3 m, soil under NT contained greater amounts of extractable P, K, Zn, Fe, Mn, and Cu than under CT. Nitrogen fertilization had little effect on nutrient distributions, except resulting in greater extractable K at 0–0.05 m and greater nitrate at 0–0.15 m. Few changes in soil-profile distributions were observed for extractable S, Ca, Mg, and Na. Long-term continuous use of NT on this fine-textured, high-fertility (except for N) soil had no apparent adverse effects on nutrient distributions relative to CT, but enhanced conservation and availability of P, K, Zn, Fe, Mn, and Cu near the soil surface where crop roots proliferate. 相似文献
15.
《中国生态农业学报》2014,(8)
正The Center for Agricultural Resources Research(CARR),the Institute of Genetics and Developmental Biology(IGDB),Chinese Academy of Sciences,invites applicants for several research group leader positions.CARR is one of the research organizations in Chinese Academy of Sciences(CAS).We seek nominations and applications from individuals who have expertise and a record of accomplishment in research areas related to ecology,agro-hydrology, 相似文献
16.
M.A. Callaham Jr. J.M. BlairT.C. Todd D.J. KitchenM.R. Whiles 《Soil biology & biochemistry》2003,35(8):1079-1093
The responses of tallgrass prairie plant communities and ecosystem processes to fire and grazing are well characterized. However, responses of invertebrate consumer groups, and particularly soil-dwelling organisms, to these disturbances are not well known. At Konza Prairie Biological Station, we sampled soil macroinvertebrates in 1994 and 1999 as part of a long-term experiment designed to examine the effects and interactions of annual fire, mowing, and fertilization (N and P) on prairie soil communities and processes. For nearly all taxa, in both years, responses were characterized by significant treatment interactions, but some general patterns were evident. Introduced European earthworms (Aporrectodea spp. and Octolasion spp.) were most abundant in plots where fire was excluded, and the proportion of the total earthworm community consisting of introduced earthworms was greater in unburned, unmowed, and fertilized plots. Nymphs of two Cicada genera were collected (Cicadetta spp. and Tibicen spp.). Cicadetta nymphs were more abundant in burned plots, but mowing reduced their abundance. Tibicen nymphs were collected almost exclusively from unburned plots. Treatment effects on herbivorous beetle larvae (Scarabaeidae, Elateridae, and Curculionidae) were variable, but nutrient additions (N or P) usually resulted in greater densities, whereas mowing usually resulted in lower densities. Our results suggest that departures from historical disturbance regimes (i.e. frequent fire and grazing) may render soils more susceptible to increased numbers of European earthworms, and that interactions between fire, aboveground biomass removal, and vegetation responses affect the structure and composition of invertebrate communities in tallgrass prairie soils. 相似文献
17.
Grete Skrede Berit Karoline Martinsen Anne-Berit Wold Stein-Erik Birkeland Kjersti Aaby 《Acta Agriculturae Scandinavica, Section B - Plant Soil Science》2013,63(3):193-208
Abstract A 3-year study was carried out to investigate quality parameters in 14 tree fruit and berry species grown in southern Norway. The species were blueberry, apple, aronia, sour cherry, sweet cherry, red raspberry, strawberry, blackcurrant, gooseberry, red currant and elderberry, harvested along with wild bilberry, cloudberry and lingonberry. Significant differences between species were identified for all quality parameters. The coefficient of variation between species was lowest for pH (12.5%), dry matter (18.9%) and soluble solids (25.3%), followed by titratable acids (59.3%), total phenolics (83.8%), antioxidant capacity FRAP (85.7%) and antiradical power by the DPPH-assay (97.8%), total monomeric anthocyanins (132%) and ascorbic acid (137%). Average coefficient of variation within species were lower and ranged from 4 (pH) to 62% (ascorbic acid). Only the FRAP values were significantly affected by harvesting year with lower levels in 2004 than in 2005 and 2006. There were significant interactions between species and harvesting year for dry matter, soluble solids, pH, ascorbic acid and FRAP. The results indicate generic ranges in composition within species independent upon growing location and climate, and the composition of the tree fruits and berries is not likely to deviate from these ranges. It is concluded that desirable composition of tree fruits and berries and their products should primarily be achieved by selection among species rather than searching fors broadened variation within individual species. 相似文献
18.
Yoav Bashan Bernardo Salazar Ma. Esther Puente Macario Bacilio Robert Linderman 《Biology and Fertility of Soils》2009,45(6):585-594
To evaluate the feasibility of long-term desert reforestation technology of mixed vegetation, cardon cactus (Pachycereus pringlei) seedlings from indoor and outdoor nurseries were planted in the field adjacent to one seedling of potential legume nurse
trees: mesquite amargo (Prosopis articulata), yellow palo verde (Parkinsonia microphylla), and blue palo verde (Parkinsonia florida). Some of the planting holes were also supplemented with common dairy compost. Additionally, the combinations of legume tree–cactus
were inoculated with either a consortium of desert arbuscular mycorrhizal (AM) fungi, plant growth promoting bacteria (PGPB;
the diazotroph Azospirillum brasilense Cd, and the phosphate solubilizer Paenibacillus sp.), or a mixture of all. The field experiments were evaluated periodically during 30 months for survival and growth. Cardons
reared in an outdoor screen house survived better in the field than those reared in a controlled growth chamber and hardened
later outdoors. Association with any legume nurse tree increased survival and enhanced growth of untreated cardons. For cardons
growing alone, application of either compost, AM fungi, and all the treatments combined increased survival. For these plants,
no treatment affected plant growth during the first 3 months after transplanting. Later, all treatments, except for AM fungi,
enhanced plant growth. However, only 2 years after transplanting the enhanced growth effect of AM fungi was also significant.
In the presence of the legume nurse trees, transient positive effects on cardon growth were recorded. General evaluation after
30 months of cultivation showed that the treatments positively affected cardon growth when growing alone or in combination
only with mesquite amargo but not with the other two legume trees. This study proposes that young legume trees have the capacity
to enhance survival and growth of cardon cactus, depending on the legume cactus combination. Additional treatments such as
compost or PGPB can either amplify the effect or else attenuate it. 相似文献
19.
Detailed karyotypes and 4C DNA amounts have been studied in five cultivars of Cajanus cajan and 20 species belonging to Cajanus, Rhynchosia, Dunbaria, Flemingia and Paracalyx. C. cajan shows intraspecific variability and its karyotype is most similar to that of C. cajanifolius (sect. Cajanus) in the morphology and number of satellite chromosomes and the lack of any correlation between chromosome size within the complement and asymmetry. Karyotypes of C. lineatus and C. sericeus belonging to sect. Atylia are similar with respect to maximum r-index and the ratio of longest and shortest chromosomes in their respective complements. C. acutifolius (sect. Frutocosa) is distinct in having a very low ratio (1.44) between the longest and the shortest chromosomes, while in C. albicans, C. goensis, C. scarabaeoides (sect. Cantharospermum) there is no chromosome pair with r-index >2.0. C. mollis and C. volubilis (sect. Volubilis) show similarity with regard to ratio between the longest and the shortest chromosomes and a distinct chromosome pair with an arm ratio of 2.7 and C. platycarpus is distinct (sect. Rhynchosoides) in having the smallest ratio (1.36) between the longest and the shortest chromosomes. 4C DNA amounts in Cajanus and Rhynchosia vary between 3.28 pg to 11.69 pg and 4.92 pg to 11.13 pg respectively, while in Dunbaria, Flemingia and Paracalyx these vary between 4.70 and 7:06 pg. In the genus Cajanus karyotypic features and 4C DNA amounts agree with the sectional classification and bring out a close relationship between C. cajan and C. cajanifolius. This is supported by studies based on seed protein patterns, isozyme analysis, trypsin and chymotrypsin inhibitor patterns, RFLP and RAPD data and crossability relationships. A clear relation between DNA amount and abnormalities effecting the extent of pairing and recombination in interspecific hybrids shows the importance of this study in developing future breeding programme involving C. cajan and its wild relatives that are of potential value. 相似文献
20.
《Communications in Soil Science and Plant Analysis》2012,43(7):865-877
Potassium (K) fixation and release in soil are important factors in the long-term sustainability of a cropping system. Changes in K concentration and characteristics of K fixation and release in rhizosphere and nonrhizosphere soils in the rapeseed (Brassica napus L.)–rice (Oryza sativa L.) rotation were investigated using a rhizobox system. The concentrations of different forms of K in both rhizosphere and nonrhizosphere soils decreased with plants compared to without plants, regardless of K fertilizer application. Potassium uptake by crops mainly came from the rhizosphere soil. In the treatment without K fertilizer (–K), the main form of K supplied by the soil to the crops was 1.0 mol L?1 nitric acid (HNO3) nonextractable K, followed by nonexchangeable K, and then exchangeable K. In the treatment with K fertilizer (+K), the main K forms supplied by the soil to the crops were exchangeable K and nonexchangeable K. The amount and rate of K fixation after one cycle of the rapeseed–rice rotation was greater in rhizosphere soil than in nonrhizosphere soil. The amount and rate of K fixation of soil in the +K treatment were significantly less than in the –K treatment. The cumulative amounts of K released with 1.0 mol L?1 ammonium acetate (NH4OAc) and 1.0 mol L?1 HNO3 extraction increased with the increasing numbers of extractions, but the K-releasing power of soil by successive extraction decreased gradually and finally became almost constant. The release of K was less in rhizosphere soil than in nonrhizosphere soil. The release of K in the +K treatment was similar to that in the –K treatment in rhizosphere soil, but the K release in nonrhizosphere soil was greater with the +K than the –K treatment. Overall, the information obtained in this study will be helpful in formulating more precise K fertilizer recommendations for certain soils. 相似文献