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Simulation software and virtual environments for acceleration of agricultural robotics:Features highlights and performance comparison

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International journal of Agricultural and Biological Engineering 2018年第4期11卷 15-31页

作者： Redmond Ramin Shamshiri Ibrahim A.Hameed Lenka Pitonakova Cornelia Weltzien Siva K.Balasundram ian j.yule Tony E.Grift Girish Chowdhary Department of Agriculture Technology Faculty of AgricultureUniversiti Putra Malaysia43400SerdangSelangorMalaysia Dept.of ICT and Natural Sciences Faculty of Information Technology and Electrical EngineeringNorwegian University of Science and Technology(NTNU)Larsgårdsveien 2NO-6009ÅlesundNorway Department of Computer Science University of BristolBristolUnited Kingdom Leibniz Institute for Agricultural Engineering and Bioeconomy Max-Eyth-Allee 10014469 Potsdam-BornimGermany New Zealand Centre for Precision Agriculture(NZCPA) School of Agriculture and EnvironmentMassey UniversityPrivate Bag 11222Palmerston North 4442New Zealand Department of Agricultural and Biological Engineering University of Illinois at Urbana Champaign1304 West Pennsylvania Avenue UrbanaIL 61801USA

Research efforts for development of agricultural robots that can effectively perform tedious field tasks have grown significantly in the past *** robots are complex systems that require interdisciplinary collaborations between different research groups for effective task delivery in unstructured crops and plants *** the exception of milking robots,the extensive research works that have been carried out in the past two decades for adaptation of robotics in agriculture have not yielded a commercial product to *** accelerate this pace,simulation approach and evaluation methods in virtual environments can provide an affordable and reliable framework for experimenting with different sensing and acting mechanisms in order to verify the performance functionality of the robot in dynamic *** paper reviews several professional simulators and custom-built virtual environments that have been used for agricultural robotic *** key features and performance efficiency of three selected simulators were also compared.A simulation case study was demonstrated to highlight some of the powerful functionalities of the Virtual Robot Experimentation *** of the objects and scenes were presented as the proof-of-concept for using a completely simulated robotic platform and sensing systems in a virtual citrus *** was shown that the simulated workspace can provide a configurable and modular prototype robotic system that is capable of adapting to several field conditions and tasks through easy testing and debugging of control algorithms with zero damage risk to the real robot and to the actual *** review suggests that an open-source software platform for agricultural robotics will significantly accelerate effective collaborations between different research groups for sharing existing workspaces,algorithms,and reusing the materials.

关键词： agricultural robotics precision agriculture virtual orchards digital agriculture simulation software multi-robots

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Research and development in agricultural robotics:A perspective of digital farming

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International journal of Agricultural and Biological Engineering 2018年第4期11卷 1-14页

作者： Redmond Ramin Shamshiri Cornelia Weltzien Ibrahim A.Hameed ian j.yule Tony E.Grift Siva K.Balasundram Lenka Pitonakova Desa Ahmad Girish Chowdhary Department of Agriculture Technology Faculty of AgricultureUniversiti Putra Malaysia43400SerdangSelangorMalaysia Leibniz Institute for Agricultural Engineering and Bioeconomy Max-Eyth-Allee 10014469 Potsdam-BornimGermany Dept.of ICT and Natural Sciences Faculty of Information Technology and Electrical EngineeringNorwegian University of Science and Technology(NTNU)Larsgårdsveien 2NO-6009ÅlesundNorway New Zealand Centre for Precision Agriculture(NZCPA) School of Agriculture and EnvironmentMassey UniversityPrivate Bag 11222Palmerston North 4442New Zealand Department of Agricultural and Biological Engineering University of Illinois at Urbana Champaign1304 West Pennsylvania Avenue UrbanaIL 61801USA Department of Computer Science University of BristolBristolUnited Kingdom Department of Biological and Agricultural Engineering Faculty of EngineeringUniversiti Putra Malaysia

Digital farming is the practice of modern technologies such as sensors,robotics,and data analysis for shifting from tedious operations to continuously automated *** paper reviews some of the latest achievements in agricultural robotics,specifically those that are used for autonomous weed control,field scouting,and *** identification,task planning algorithms,digitalization and optimization of sensors are highlighted as some of the facing challenges in the context of digital *** concepts of multi-robots,human-robot collaboration,and environment reconstruction from aerial images and ground-based sensors for the creation of virtual farms were highlighted as some of the gateways of digital *** was shown that one of the trends and research focuses in agricultural field robotics is towards building a swarm of small scale robots and drones that collaborate together to optimize farming inputs and reveal denied or concealed *** the case of robotic harvesting,an autonomous framework with several simple axis manipulators can be faster and more efficient than the currently adapted professional expensive *** robots are becoming the inseparable parts of the modern farms,our conclusion is that it is not realistic to expect an entirely automated farming system in the future.

关键词： agricultural robotics precision agriculture virtual orchards digital agriculture simulation software multi-robots

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成熟型教师学习动力的影响因素分析:基于系统动力学的视角

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教师教育学报 2025年第1期12卷 9-19页

作者：孙彩霞靳玉乐湖州师范学院教育学院浙江湖州321000 深圳大学教育学部广东深圳518000

高素质专业化教师队伍是建设教育强国的重要基石。高素质专业化教师队伍离不开教师持续学习。然而,如何激发并促进成熟型教师的再学习是教师专业化队伍建设的难点。回顾有关教师学习动机的已有研究发现,社会建构理论、动机理论、自我决... 详细信息

高素质专业化教师队伍是建设教育强国的重要基石。高素质专业化教师队伍离不开教师持续学习。然而,如何激发并促进成熟型教师的再学习是教师专业化队伍建设的难点。回顾有关教师学习动机的已有研究发现,社会建构理论、动机理论、自我决定理论、成人学习理论以及教师专业发展理论等是解释影响教师学习动力的主要理论模型。整合这些已有解释模型,基于个体特质、社会关系、社会环境与教师学习动力的互动关系建立分析框架,对7名成熟型教师的学习动力进行深度访谈,系统分析了影响成熟型教师学习动力的因素。研究得出结论:满足不同性别教师的成长需求,在变革和资源支持中增强教师效能感与成就感,以及转变教师的教学理念与学习观念,能够提升教师的学习动力;同伴的支持、引领与督促是成熟型教师学习动力的重要因素;为了学生的成长、满足学生的学习需求、受到学生鼓励与认可是成熟型教师学习的核心动力;家长期望与家长素质是成熟型教师学习的间接动力;孩子的成长是成熟型教师专业学习的推动力;职称评审是成熟型教师学习的显性动力;国家教育改革、“可见”的校长领导力、强大的专业平台、优质的教育资源,以及具有针对性的学习活动等这些能够调动学习氛围的因素都可以促进成熟型教师的学习。此外,由社会环境和个体相互作用带来的“面子”问题和“礼让”文化是制约成熟型教师学习动力的隐性因素。

关键词：成熟型教师学习动力教师队伍建设教育强国系统动力学

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Ensuring adequate statistics in particle tracking experiments

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Particuology 2021年第6期19卷 43-54页

作者： C.R.K.Windows-yule School of Chemical Engineering University of BirminghamEdgbastonBirmingham B152TTUnited Kingdom Institute for Multiscale Simulation Engineering of Advanced MaterialsFriedrich-Alexander Universitat Erlangen-NurnbergSchloBplatz 491054 ErlangenGermany

Particle tracking techniques such as magnetic particle tracking,radioactive particle tracking and positron emission particle tracking are widely used in academia and industry to image the dynamics of particulate and multiphase *** techniques can provide detailed data concerning a range of important,whole-field quantities based only on the time-averaged dynamics of a small number of tracer ***,in order for this data to be reliable,the duration over which these time-averages are taken must be suitably ***,the‘minimum averaging time’required to produce good statistics depends sensitively on the system in question and,at present,cannot be determined a priori in advance of an *** this paper,we take a step toward resolving this issue,using discrete element method simulations of a simple vibroﬂuidised granular bed to develop a series of scaling laws relating said minimum averaging time to a variety of key system *** scaling laws developed may be used by future experimentalists to predict the required averaging time for each given system during an experimental campaign,thus improving both the efficiency with which particle tracking techniques may be applied,and the reliability of the data produced thereby.

关键词： Granular Particle tracking Positron emission particle tracking Radioactive particle tracking Magnetic particle tracking Particle tracking velocimetry

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Fluctuating resources,disturbance and plant strategies:diverse mechanisms underlying plant invasions

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journal of Arid Land 2013年第3期5卷 284-297页

作者： ian j RADFORD CSIRO Sustainable Ecosystems Davies LaboratoryPrivate Mailbag POAitkenvale 4814Australia Botany Department University of OtagoPO Box 56Dunedin 9054New Zealand

This paper examines the hypothesis that non-native plant invasions are related to fluctuating resource availability as proposed by Davis et al. （2000）. I measured relative functional responses of both invasive and native plants to changed resource availability due to nutrient enrichment and rainfall, and to increased disturbance. Data are presented from studies in two contrasting ecosystems. First is a series of glasshouse and field experiments on the invader Hieracium lepidulum and associated invasive and native species in subalpine temperate New Zealand. Second is a field study of invasive and native plant responses to altered disturbance regimes and rainfall from tropical savannas of north eastern Australia. Invaders responded differently from native species to changes in resource availability in both subalpine and tropical studies. However, invaders differed among themselves showing that different species exploit different functional niches to invade their respective habitats. These findings contribute to the contention that the fluctuating resource hypothesis does not provide a universal explanation for plant invasions. The diverse functional responses to increased resource availability among invaders in this and previous studies suggest that the cause of invasion depends on unique combinations of habitat and functional attributes of invaders and native assemblages. Such findings imply that universal predictions of what will happen under climate change scenarios across the globe will be difficult to make.

关键词： plant invasion plant strategies C-S-R triangle fluctuating resources disturbance

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Evaluation of coarse-grained CFD-DEM models with the validation of PEPT measurements

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Particuology 2023年第11期82卷 48-63页

作者： Hanqiao Che Dominik Werner jonathan Seville Tzany Kokalova Wheldon Kit Windows-yule School of Chemical Engineering University of BirminghamB152TTUK School of Physics and Astronomy University of BirminghamBirminghamB152TTUK

Computational Fluid Dynamics coupled with Discrete Element Method (CFD-DEM) is a commonly used numerical method to model gas-solid flow in fluidised beds and other multiphase systems. A significant limitation of CFD-DEM is the feasibility of the realistic simulation of large numbers of particles. Coarse-graining (CG) approaches, through which groups of multiple individual particles are represented by single, larger particles, can substantially reduce the total number of particles while maintaining similar system dynamics. As these three CG models have not previously been compared, there remains some debate, however, about the best practice in the application of CG in CFD-DEM simulations. In this paper, we evaluate the performance of three typical CG methods based on simulations of a bubbling fluidised bed. This is achieved through the use of a numerical validation framework, which makes full use of the high-resolution 3D positron emission particle tracking (PEPT) measurements to rigorously validate the outputs of CFD-DEM simulations conducted using various different coarse-graining models, and various different degrees of coarse-graining. The particle flow behaviours in terms of the particle occupancy field, velocity field, circulation time, and bubble size and velocity, are comprehensively analysed. It is shown that the CG simulation starts to fail when the size ratio between the bed chamber and the particles decreases to approximately 20. It is also observed, somewhat surprisingly, that the specific CG approach applied to interparticle contact parameters does not have a substantial effect on the simulation results for the bubbling bed simulations across a wide range of CG factors.

关键词： Coarse-graining Discrete element method Computational fluid dynamics CFD-DEM Positron emission particle tracking(PEPT) Bubbling fluidised bed

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Comparison of visual acuity outcomes between ranibizumab and bevacizumab treatment in neovascular age-related macular degeneration

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International journal of Ophthalmology(English edition) 2011年第1期4卷 85-88页

作者： ian j Constable ian L McAllister Timothy Isaacs Lions Eye Institute Centre for Ophthalmology and Visual ScienceUniversity of Western AustraliaPerthWestern AustraliaAustralia

AIM: To compare visual acuity (VA) outcomes between intravitreal injection of bevacizumab and ranibizumab in the treatment of neovascular age-related macular degeneration (AMD). METHODS: We conducted a consecutive, retrospective case series study in patients with newly diagnosed all type choroidal neovascularization (CNV) secondary to AMD who received an intravitreal injection of bevacizumab (1.25mg) or ranibizumab (0.3mg) at Lions Eye Institute, Western Australia from Mar. 2006 to May 2008. All patients received injection at baseline with additional monthly injections given at the discretion of the treating physician. Main outcome measures were changes in VA. RESULTS: There were 371 consecutive patients received injection at least in one eye with at least 6 months of follow up (median of 12.0 months). Bevacizumab treatment prevented 221 out of 278 (79.5%) patient from losing jection was not associated with VA outcome of benefit after adjusting the covariate (P=0.857). CONCLUSION: There are no difference in treatment efficacy in terms of VA between bevacizumab and ranibizumab in routine clinical condition.

关键词： age-related macular degeneration anti-VEGF bevacizumab ranibizumab choroidal neovascularization

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Considerations for exerkine research focusing on the response to exercise training

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journal of Sport and Health Science 2024年第2期13卷 130-132页

作者： ian A.j.Darragh Brendan Egan School of Health and Human Performance Dublin City UniversityGlasnevinDublin D09 V209Ireland Florida Institute for Human and Machine Cognition PensacolaFL 32502USA

García-Hermoso and colleagues1 recently published a systematic literature review and meta-analysis on exercise training-induced changes in exerkine concentrations in type 2diabetes mellitus patients,providing a contemporary view on how exerkines respond to exercise *** review prompted us to highlight 2 additional considerations that should be taken into account when studying the response of exerkines to exercise ***,whether exerkines can exhibit discordant responses to acute exercise compared to exercise training,and secondly,the need to consider the residual effects of the most recent exercise bout.

关键词： acute exercise prompt

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Opioid growth factor and the treatment of human pancreatic cancer:A review

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World journal of Gastroenterology 2014年第9期20卷 2218-2223页

作者： ian S Zagon Patricia j McLaughlin Department of Neural and Behavioral Sciences Pennsylvania State University College of Medicine Hershey PA 17033 United States

Opioid growth factor (OGF), chemically termed [Met5]-enkephalin, and its receptor, OGF receptor (OGFr), form a biological axis that tonically regulates cell proliferation by delaying the G1/S interface of the cell cycle under homeostatic conditions or in neoplasia. Modulation of the OGF-OGFr pathway mediates the course of pancreatic cancer, with exogenous OGF or upregulation of OGFr repressing growth of human pancreatic cancer cells in culture and in nude mice. OGF therapy alone or in combination with standard chemotherapies such as gemcitabine and 5-fluorouracil results in enhanced inhibition of DNA synthesis and tumor growth. Molecular manipulation of OGFr confirms that the receptor is specific for OGF’s inhibitory action. Preclinical studies have warranted Phase I and Phase II clinical trials using OGF infusions as a treatment for patients with advanced, unresectable pancreatic cancers. OGF, an endogenous neuropeptide, is a safe, non-toxic, and effective biotherapy that utilizes the OGF-OGFr axis to mediate pancreatic tumor progression.

关键词： Enkephalins DNA synthesis Pancreatic adenocarcinoma Opioids Nude mice Receptor transfection

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Effect of cylinder wall parameters on the final packing density of mono-disperse spheres subject to three-dimensional vibrations Author links open overlay panel

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Particuology 2024年第8期91卷 211-225页

作者： jack R.Grogan Andrei L.Nicuşan Christopher R.K.Windows-yule School of Chemical Engineering The University of BirminghamEdgbastonBirminghamB152TTUK

Achieving densely packed particles is desirable within the industries of ceramics,pharmaceuticals,defence and additive *** this work,we use the discrete element method(DEM)to determine the effect of wall parameters on the final packing density of mono-disperse spheres subject to 4 varying three-dimensional vibration and fill *** focus specifically on the impact of the container wall parameters on the particles'final packing *** on from the validation of the DEM simulation the particle-wall coefficient of restitution,the particle-wall coefficient of rolling friction and the particle-wall coefficient of sliding friction were varied individually and the effect on the final packing density *** relatively low particle-particle friction glass beads,the effect of these wall properties had no discernible effect on the final packing density *** on from these findings the particle-wall properties were varied at the extreme values of particle-particle coefficient of rolling friction and particle-particle coefficient of sliding *** a particle-particle coefficient of sliding friction=1,increases in particle-wall coefficient of restitution resulted in a minor increase in the final packing density of particles though this was not statistically *** a particle-particle coefficient of sliding friction=1,increases in particle-wall coefficient of rolling friction resulted in a minor decrease in the final packing density of the particles though again not to a degree where the trend can,with complete certainty,be distinguished from the random error across the ***,when the particle-particle coefficient of sliding friction=1,increases in particle-wall coefficient of sliding friction resulted in a significant decrease in the final packing density of *** decrease was attributed to the propagation of force chains throughout the *** significant decrease in final packing density with

关键词： Vibropacking Packing Densification Vibration Discrete element method Friction Wall friction Restitution

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