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Pedosphere 2024年第2期34卷 361-373页

作者： Yixuan CHEN zhonghua WEN Jun MENG Zunqi LIU Jialong WEI Xiyu LIU Ziyi GE Wanning DAI Li LIN Wenfu CHEN National Biochar Institute Shenyang Agricultural UniversityShenyang 110866China Key Laboratory of Biochar and Soil Improvement Ministry of Agriculture and Rural AffairsShenyang 110866China

Phosphorus(P)is an essential element for plant growth but is often limiting in ecosystems;therefore,improving the P fertilizer use efficiency is *** and arbuscular mycorrhizal fungi(AMF)may enhance P cycling in paddy soils that contain high content of total P but low content of available P(AP).In this study,the effects of biochar addition and Rhizophagus irregularis inoculation on the organic and inorganic P contents and phosphatase activities in paddy soils,rice seedling growth,and AMF colonization were *** with no biochar addition,biochar addition enhanced the percentage of spore germination at day 7,hyphal length,most probable number,and mycorrhizal colonization rate of *** by 32%,662%,70%,and 28%on average,*** and *** altered soil P cycling and *** and ***,either individually or in combination,increased soil AP content by 2%–48%.Rice seedlings treated with biochar and *** produced greater biomass,improved root morphology,and increased nutrient uptake compared with those of the control without biochar and *** results suggest that combined application of biochar and *** is beneficial to rice cultivation in paddy soils with high content of total P but low content of AP.

关键词： arbuscular mycorrhizal fungi available P phosphorus fraction rice husk biochar seedling growth spore germination

Effect of casting process on the inner-wall band segregation of high-strength antisulfur pipes

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Baosteel Technical Research 2024年第1期18卷 27-36页

作者： LUO Ming ZHANG zhonghua Research Institute Baoshan Iron&Steel Co.Ltd.Shanghai 201999China

Controlling inner-wall band segregation is one of the difficulties in the production of high-strength antisulfur *** tests were carried out on different casting processes(superheat,mold electromagnetic stirring,end electromagnetic stirring,casting speed and soft reduction)for the smelting of high-strength antisulfur *** microstructures of continuous-casting billets and hot-rolled or tempered pipes were analyzed using a metallographic microscope and scanning electron *** mechanism and evolution law regarding the inner-wall band segregation of high-strength antisulfur pipes were studied,and the influence of different casting processes was explored.

关键词： high strength antisulfur pipe casting process spot segregation band segregation

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智能采棉机自动对行辅助驾驶控制技术研究

农机化研究 2022年第10期44卷 72-76页

作者：苗中华田大庆何创新李楠上海大学机电工程与自动化学院上海200444

为提高采棉机采收效率,降低驾驶员劳动强度,开发采棉机自动对行系统具有重要意义和实用价值。为此,采用机械机构碰撞棉花植株队列的方法,研究其碰撞规律、机械运动原理及采棉机转弯控制方式等内容,开发出能够对采棉机速度自适应的自动... 详细信息

为提高采棉机采收效率,降低驾驶员劳动强度,开发采棉机自动对行系统具有重要意义和实用价值。为此,采用机械机构碰撞棉花植株队列的方法,研究其碰撞规律、机械运动原理及采棉机转弯控制方式等内容,开发出能够对采棉机速度自适应的自动对行技术。工作时,通过实时采集车体航向和棉花队列之间的相对角度信息以及后轮的当前位置状态,经速度参数自适应的PID算法得到理想控制电压,由电压控制采棉机上的液压控制器,进而控制后轮转向;通过判断后轮位置传感器状态限制转向角度,并及时控制后轮回正,实现采棉机自动对行的功能。田间试验结果表明:采棉机可以长时间自动对行连续作业,作业结果满足采棉需求。

关键词：采棉机辅助驾驶自动对行速度参数自适应PID

Polysaccharides of Aspergillus cristatus attenuate obesity by regulating gut microbiota and gut microbiota-related metabolites

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Food Science and Human Wellness 2024年第3期13卷 1513-1530页

作者： Mingzhi Zhu Bohao Shang Fang Zhou Yong Yuan Feiyan Yin Jin Cao Jianan Huang Kunbo Wang Xin Zeng Maiquan Li zhonghua Liu College of Horticulture Hunan Agricultural UniversityChangsha 410128China College of Life Sciences Huaibei Normal UniversityHuaibei 235000China Hunan Tea Group Co. Ltd.Changsha 410128China School of Food Science and Technology Hunan Agricultural UniversityChangsha 410128China

Golden-flower fungus,the only dominant microorganism determining the Fu-brick tea quality through fermentation and the important microbe in Liupao tea,is considered a potential probiotic fungus based on its anti-obesity ***,the classification of golden-flower fungi is still controversial;the anti-obesity effect of golden-flower fungus polysaccharides remains *** this study,we identify a golden-flower strain as Aspergillus cristatus based on morphological characteristics and multigene phylogeny analysis,which resolves the controversy of ***,we find *** polysaccharides(ACPS)attenuate obesity in *** modulate gut bacterial *** which Akkermansia,Akkermansia muciniphila,Bacteroides,Romboutsia,Blautia,and Desulfovibrio are considered the core microbes regulated by *** increase fecal total short-chain fatty acid content and serum,hepatic,and fecal total bile acid ***,ACPS-induced gut microbiota alteration plays a causal role in the protection from obesity,according to a fecal transplantation ***,ACPS ameliorate obesity by regulating gut microbiota and gut microbiota-related metabolites.

关键词： Golden-flower fungus Aspergillus cristatus Polysaccharides Obesity Gut microbiota

Pose measurement of small-size aircraft based on machine vision

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Pose measurement of small-size aircraft based on machine vis...

第40届中国控制会议

作者： Yunhui Li Ou Fang zhonghua miao Ju Huo School of Mechatronic Engineering and Automation Shanghai University School of Electrical Engineering and Automation Harbin Institute of Technology

In small-size aircraft ground tests,pose measurement is significant for the validation of aircraft control and guidance algorithm development and performance *** order to achieve a precise value of the pose in the aircraft ground test,Firstly,an aircraft ground test localization system based on machine vision has been established and proposed a global localization method for the smaller sizes of aircraft ground ***-view matching of feature points is realized by using the spatiotemporal consistency *** method of uncertainty analysis is used to realize the high precision 3D reconstruction of feature points from multiple *** pose parameters of the aircraft are solved by using the pose estimation algorithm of non-collinear *** feasibility and accuracy of the pose measurement algorithm are verified by simulation and actual *** experimental results show that:under the condition of the measurement range is 6000 mm×6000 mm×3000 mm,the size of the aircraft is about 400 mm,and the 3D positioning accuracy of the feature points is 2.9 mm,the theoretical accuracy of the pose measurement algorithm based on vector crossover can reach 0.5°（3σ） and 3 mm（3σ） *** actual relative measurement accuracy up to 1.3 °（3σ） and 4 mm（3σ）.It meets the requirements of stable and reliable performance evaluation,high precision,and strong anti-jamming ability of small-size aircraft guidance and control system.

关键词： Machine vision Ground test of aircraft Pose estimation Vector cross

Experimental verification of formation control in nonholonomic multi-mobile robots

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Experimental verification of formation control in nonholonom...

第40届中国控制会议

作者： Dongdong Wang Jin Zhou Chuangxin He zhonghua miao School of Mechatronic Engineering and Automation Shanghai University Shanghai Institute of Applied Mathematics and Mechanics and Shanghai Key Laboratory of Mechanics in Energy Engineering Shanghai University

Mobile robots is one of the well-known nonholonomic system. A new kinematic consistency controller is proposed for a nonholonomic mobile robot model with an integrated approach of kinematic and torque controllers to accomplish tracking control of the target trajectory. In this paper, the reliability of the controller is demonstrated using simulation software and a two-drive wheel mobile robot experimental platform to validate the controller.

关键词： nonholonomic mobile robots tracking controller experimental validation

Research on Auto-follow Row Assist Technology of Cotton Picker with Adaptive Speed

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Research on Auto-follow Row Assist Technology of Cotton Pick...

第40届中国控制会议

作者： Chuangxin He Chao Wu Nan Li zhonghua miao School of Mechanical and Electrical Engineering and Automation Shanghai University

In order to improve the alignment quality of the cotton picker and reduce the labor intensity of the driver,an auto-follow row assist technology of the cotton picker based on speed adaptive is *** the 4 MY-6 cotton picker produced by MODERN AGRICULTURAL EQUIPMENT Co.,*** the research platform,The course deviation is used as the input of the controller,The controller adjusts the PID parameters online according to the speed of the cotton picker,and then adjusts the Angle of the rear wheel,so that the head of the cotton picker can automatically align with the cotton *** field experiment results show that the method proposed in this paper can adapt to the change of the cotton picker’s walking speed well,and has a good effect on the auto-follow row,which provides a technical reference for automatic navigation of cotton harvesting operation.

关键词： Cotton picker auto-follow row adaptive control Course tracking

Design of Vision Control System of Tomato Picking Robot

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Design of Vision Control System of Tomato Picking Robot

第40届中国控制会议

作者： Chuangxin He Chunyu Deng Nan Li zhonghua miao School of Mechatronic Engineering and Automation Shanghai University

Tomato picking is a relatively complex production link in the overall process of tomato *** is the labor-intensive work and it is urgent to use automated picking of tomato ***,this article mainly uses the depth camera and the six-degree-of-freedom manipulator to study the construction of the visual servo system,the modeling and kinematics simulation of the manipulator in the automatic tomato picking *** have established a robot visual servo system that can be directly grasped based on the robot operating system（ROS）.The system acquires fruit targets through visual sensors,uses the depth and color information of the targets,and uses coordinated control strategies for hands and eyes at different *** tomato picking space is divided into multiple picking sub-regions,and the picking path planning is combined with the obstacle avoidance algorithm to improve the overall efficiency of tomato picking.

关键词： Picking robot ROS vision servo system hand and eye coordination strategy

Distributed Consensus Control of Nonlinear Multiagent Systems Satisfying Incremental Quadratic Constraints

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Distributed Consensus Control of Nonlinear Multiagent System...

第40届中国控制会议

作者： Yuchen Qian zhonghua miao Xiaojin Zhu Chuangxin He the School of Macaronic Engineering and Automation Shanghai University

In this paper, we investigate the problem of leaderless consensus control for the multiagent systems with nonlinear dynamics satisfying incremental quadratic constraints. A distributed dynamic consensus protocol, decided by communication among neighboring agents, has been presented to render nonlinear agents consensus by choosing appropriate coupling weights without knowing full state information. Further, extensions to consensus strategies with nonlinear dynamics for the leaderfollowing fashion are also addressed. In contrast to the conventional nonlinear consensus control methodologies, the proposed approach generalizes the Lipschitz condition and the combined condition of one-sided Lipschitz and quadratic inner-boundness conditions to a new generalized type of nonlinearity, which shows us a less conservative result in the Lyapunov proof. Finally,the simulation results for six agents are presented to show the feasibility and effectiveness of the proposed control protocol.

关键词： Distributed consensus control incremental multiplier matrix(δMM) incremental quadratic constraints(δQC) nonlinear multiagent systems

Intelligent vehicle pedestrian tracking based on YOLOv3 and DASiamRPN

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Intelligent vehicle pedestrian tracking based on YOLOv3 and ...

第40届中国控制会议

作者： Chuangxin He Xu Zhang zhonghua miao Teng Sun School of Mechanical and Electrical Engineering and Automation Shanghai University

In the field of robot and autopilot,aiming at the difficulty that the traditional single target pedestrian tracking algorithm needs manual frame selection,this paper puts forward a pedestrian tracking algorithm which blends YOLOv3 and DASiam RPN to realize the designated pedestrian *** algorithm automatically selects the tracking target through YOLOv3,and then uses the tracking target as the template to input into DASiamRPN for *** real-time pedestrian tracking experiment based on the Kinect camera was carried out,and the tracking effects of SiamRPN,Deepsort,SiamFC and Mosse+KCF algorithms were *** experimental results show that the optimal running speed of DASiamRPN is 34 fps while ensuring the tracking ***,the algorithm has been applied to Bulldog robot based on ROS,and the pedestrian tracking is realized successfully,which verifies the real-time and robustness of the algorithm.

关键词： Pedestrian tracking YOLO DASiamRPN ROS