检索结果-南通市图书馆

结合YOLOv5与双目视觉定位的摘果机械臂控制研究

在线全文

学校读者我要写书评

暂无评论

农机化研究 2024年第7期46卷 38-43页

作者：李俊萩王甲一孔德肖张晴晖西南林业大学大数据与智能工程学院昆明650224

为满足果实采摘需求,设计了一种基于YOLOv5与双目视觉定位的采摘机器人。通过一个全向轮底盘搭载六自由度机械臂,利用YOLOv5目标检测算法实现果实种类识别及平面坐标测量;利用双目视觉实现深度坐标测量,将两者相融合并转换得到机械臂坐... 详细信息

为满足果实采摘需求,设计了一种基于YOLOv5与双目视觉定位的采摘机器人。通过一个全向轮底盘搭载六自由度机械臂,利用YOLOv5目标检测算法实现果实种类识别及平面坐标测量;利用双目视觉实现深度坐标测量,将两者相融合并转换得到机械臂坐标系下的果实三维坐标x、y、z,由三维坐标进行逆运动学解算得到机械臂各个关节角度,最终通过控制关节角度的改变实现果实抓取,并结合Android、物联网技术实现实时视频远程查看与机器人远程控制。试验结果表明:基于YOLOv5实现3种果实识别模型的训练,模型精确率99.7%,召回率99.8%,mAP(0.95)89.03%,每种水果的识别准确率平均为95%;机械臂投射到二维平面进行逆运动学解算,降低了运算量与运算时间,平均解算时间为0.252s。分别对仿真桃子、桔子、石榴进行采摘50次,平均单次采摘时间为13.48、13.91、13.76s。系统具有良好的实时性与准确性,适宜布署于嵌入式系统,满足果实采摘需要。

关键词： YOLOv5 双目视觉机械臂逆运动学果实采摘

维普期刊数据库博看期刊

Corrigendum to“GmTOC1b negatively regulates resistance to Soybean mosaic virus”.[Crop j.11(2023)1762-1773]

在线全文

学校读者我要写书评

暂无评论

The Crop j.urnal 2024年第1期12卷 320-320页

作者： Yuhang Zhang Haiping Du Tiantian Zhao Chunmei Liao Tu Feng j.n Qin Baohui Liu Fanj.ang kong Zhij.n Che Liyu Chen Guangdong Key Laboratory of Plant Adaptation and Molecular Design Guangzhou Key Laboratory of Crop Gene EditingInnovative Center of Molecular Genetics and EvolutionSchool of Life SciencesGuangzhou UniversityGuangzhou 510006GuangdongChina Hebei Laboratory of Crop Genetics and Breeding National Soybean Improvement Center Shijiazhuang Sub-CenterHuang-Huai-Hai Key Laboratory of Biology and Genetic Improvement of SoybeanMinistry of Agriculture and Rural AffairsInstitute of Cereal and Oil CropsHebei Academy of Agricultural and Forestry SciencesShijiazhuang 050035HebeiChina School of Ecological Engineering Guizhou University of Engineering ScienceBijie 551700GuizhouChina School of Agriculture Ningxia UniversityYinchuan 750021NingxiaChina College of Life Science Hebei Normal UniversityShijiazhuang 050024HebeiChina

The authors regret to report a mistake in the text and an associated change necessary to section 3.6 of the *** page 1766 in the right-hand column,line 4,the heading of subsection 3.6“GmWRKY40 represses the expression of PR genes”should be changed to“GmWRKY40 promotes the expression of PR genes”.The authors would like to apologize for any inconvenience caused.

关键词： Cor heading resistance

Preparation of Pure Copper Powder from Acidic Copper Chloride Waste Etchant

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

j.urnal of Materials Science & Technology 2008年第1期24卷 141-142页

作者： H.S.Hong M.S.kong j.K.Ghu j.K.Lee H.G.Suk Plant Engineering Center.Institute for Advanced Engineering Yongin 449-863 Korea Dept. of Advanced Mater. Eng. Korea Polytechnic University Shihung 429-793 Korea Nano-surface Treat. Tech. Team Korea Inst. of Industrial Technology Incheon 463-130 Korea Dept. of Mater. and Met. Eng. Kangwon National University Samcheok 245-711 Korea

The method for the recycling of copper from copper chloride solution was developed. This process consists of extraction of copper, purification and particle size reduction. In the first step, reductive metal scraps were added to acidic copper chloride waste enchants produced in the PCB industry to obtain copper powder. Composition analysis showed that this powder contained impurities such as Fe, Ni, and water. So, drying and purification were carried out by using microwave and a centrifugal separator. Thereby the copper powder had a purity of higher than 99% and spherical form in morphology. The copper powder size was decreased by ball milling.

关键词： Copper chloride liquid waste Printed circuit board (PCB), Liquid waste Highpurity copper powder

在线全文

学校读者我要写书评

暂无评论

人造矿石固化核废物进展与展望

能源环境保护 2024年第5期38卷 104-114页

作者：王越陈迪云孔令军广州大学环境科学与工程学院广东广州510006 青海民族大学化学化工学院青海西宁810007

发展核电是实现国家“双碳”目标、推动产业结构转型升级的重要途径。核能资源开采、利用和后处理产生核废物,由于其半衰期长,对环境造成潜在危害,因此构建多重屏障以安全有效地处置核废物是避免环境风险的重要措施。固化预处理是核废... 详细信息

发展核电是实现国家“双碳”目标、推动产业结构转型升级的重要途径。核能资源开采、利用和后处理产生核废物,由于其半衰期长,对环境造成潜在危害,因此构建多重屏障以安全有效地处置核废物是避免环境风险的重要措施。固化预处理是核废物处置的首要屏障。人造矿石固化核废物因具有耐辐照、高稳定性、低增容比的特点,被认为是构建核废物固化首要屏障的理想方法。综合论述了人造矿石固化核废物的研究进展,系统阐述了人造矿石固化放射性核素的方法和矿石类型,并结合人造矿石形成的结构和理化特征,阐明人造矿石固化放射性核素的机制,提出了适合不同放射性核素固化的人造矿石类型和方法。同时,分析了固化放射性核素辐照对人造矿石晶相结构特征和稳定性的影响,为人造矿石固化放射性核素的策略提供了重要的科学支撑,为实际应用奠定了重要的理论基础。

关键词：核废物处理人造矿石固化放射性核素多重屏障环境风险

同方期刊数据库

INFLUENCE OF SILICON IN STEELS ON GALVANIZED COATINGS

在线全文

学校读者我要写书评

暂无评论

Acta Metallurgica Sinica(English Letters) 2006年第2期19卷 85-90页

作者： C.S. Che j.T. Lu G. kong Q.Y. Xu j.H. Chen College of Materials Science and Engineering South China University of Technology Guangzhou 510640 China

After steel sheets （0.37wt%Si） pre-electroplated with a thin layer of pure Fe were immersed in molten zinc for various time, the change in the microstructure of the galvanized coating on the steel and the change of α-Fe/Г interface were studied. The EDS （energy dispersive sepectroscopy） resuits show that excessive silicon accumulates on the surface of the steel substrate due to the low solubility of silicon in the Г layer after the Fe layer is depleted by the increasing growth of the compound layers. With the movement of α-Fe/Г interface towards the substrate by the Fe/Zn reaction, silicon-rich α-Fe peels off from the substrate and breaks into particles. The particles, much like an inert marker in a Kirkendall effect experiment, move towards the δ layer through the Г layer because silicon-rich α-Fe can not be adsorbed in the Г layer. On reaching the 8/F interface, the particles quickly dissolve in the δ layer, and accelerate its growth, resulting in the gradual disappearance of the Г layer. At the same time, the normal coating is quickly changed into coatings typical of reactive steels as silicon dissolved in the δ layer soon diffuses toward the ζ layer. A similar process may happen in the initial stage of galvanizing reactive steels on a small scale, although it is hard to be observed.

关键词： Zn coating intermetallics steel electrodeposition

Chemical and Biological Evaluation of Maturity of Pig Manure Compost at Different C/N Ratios

在线全文

学校读者我要写书评

暂无评论

Pedosphere 2001年第3期11卷 243-250页

作者： HUANG GUOFENG WU QITANG LI FANGBAI and j. W. C. WONG College of Natural Resources and Environment, South China Agricultural University, Guangzhou 510642 (China) Department of Biology, Hong kong Baptist University, Hong kong (China) 华南农业大学广东 510642 香港浸会大学香港

Aerobic static pile composting (mechanical turning every 3 days) of pig manure was prepared at & m3 windrow heaps. Sawdust was used as the bulking agent to provide additional carbon and to increase the porosity of the substrate. Two treatments at initial C/N ratios of 30 and 15, respectively, were designed in the study. Dissolved organic carbon (DOC), soluble NH+4-N, C/N ratios in solid and aqueous phases, E4/E6 ratios, and seed germination index (GI) were determined to evaluate the maturity of the co-composts. Seed germination index, a biological parameter, was suggested as one of the most reliable maturity indicators for organic compost. The results showed that the treatment at the initial C/N ratio of 30 reached maturity after 49 days of composting; however, the treatment at the initial C/N ratio of 15 should require composting time of longer than 63 days to obtain maturation. Chemical multi-indicator evaluation was necessary, and the GI measurement was the recommended approach for maturity evaluation in the study.

关键词： C/N ratio composting maturity pig manure

Effects of bile salts and divalent cations on the adsorption of norfloxacin by agricultural soils

在线全文

学校读者我要写书评

暂无评论

j.urnal of Environmental Sciences 2014年第4期26卷 846-854页

作者： Xuesong kong Shixiang Feng Xu Zhang Yan Li School of Resources and Environmental Science Wuhan University

The effects of bile salts （sodium cholate and sodium deoxycholate, 0-20 mmol/L）, divalent cations （Ca^2＋, Mg^2＋, Cu^2＋ and Zn^2＋, 0-20 mmol/L） or pH （3.0-10.0） on the adsorption of norfloxacin by three selected soils （Paddy_H, Paddy_G and Red_j. were systematically studied. Soil adsorption of norfloxacin follows a pseudo second-order kinetics model, and the maximum adsorption capacity has been determined from the nonlinear fit of the Langmuir isotherm model to be 88.8, 88.1 and 63.0 μmol/g for the adsorption onto Paddy_H, Paddy_G and Red_j. respectively. The results indicate that norfloxacin has a high adsorption affinity for the agricultural soils tested and that the organic content of these soils have at least a slight influence on this adsorption. The adsorption of norfloxacin to soils was strongly dependent on pH and exhibited a maximum at approximately pH 6. The presence of divalent cations prominently suppressed the adsorption of norfloxacin by paddy soils, which followed an order of Cu^2＋〉 Mg^2＋〉 Ca^2＋〉 Zn^2＋, and by red soil, which followed an order of Cu^2＋〉 Zn^2＋〉 Ca^2＋〉 Mg^2＋. The adsorption of norfloxacin （by the soils studied） sharply decreased as the amount of bile salts was increased. For uncharged norfloxacin at environmentally relevant pH values, such factors as soil type, exogenous divalent cations and macromolecules significantly altered the environmental fate and transport of norfloxacin between aquatic and soil interfaces.

关键词： adsorption agricultural soil bile salts divalent cation norfloxacin

过表达lncRNAHEM2M改善非酒精性脂肪肝病小鼠的肝脏损伤

在线全文

学校读者我要写书评

暂无评论

南方医科大学学报 2024年第1期44卷 1-8页

作者：孔祥张腾张妍高灵犀汪文汪梦燕王国栋吕坤皖南医学院非编码RNA基础与临床转化安徽省重点实验室安徽芜湖241001 皖南医学院弋矶山医院中心实验室安徽芜湖241001 皖南医学院弋矶山医院内分泌科安徽芜湖241001 皖南医学院弋矶山医院消化内科安徽芜湖241001 皖南医学院药学院//安徽省多糖药物工程技术研究中心安徽芜湖241002

目的探讨过表达长链非编码RNA(lncRNA)HEM2M对非酒精性脂肪肝病(NAFLD)小鼠肝损伤的影响。方法野生型C57BL/6(WT)和条件性髓系细胞lncRNAHEM2M过表达(MYKI)小鼠分别喂饲普通饮食(ND)和高脂饮食(HFD),即为WT+ND、MYKI+ND、WT+HFD和MYKI+HFD组。12周后行腹腔糖耐量及胰岛素耐量试验后处死小鼠,检测小鼠血清和肝脏组织的肝功能指标,制备肝脏组织切片后行HE染色和F4/80免疫组化染色,ELISA法检测肝脏组织中IL-6、IL-1β和TNF-α水平,qRT-PCR检测M1型(TNF-α、iNOS和IL-6)和M2型(Arg-1、YM-1和IL-10)巨噬细胞标志物mRNA表达,免疫印迹检测肝脏组织中P-AKT、T-AKT、NLRC4、caspase-1和GSDMD蛋白表达,比色法和免疫荧光测定肝脏组织caspase-1活性。结果与HFD喂饲的WT小鼠相比,MYKI+HFD小鼠肝功能损伤减轻(P<0.01),肝脏脂肪变缓解,肝脏巨噬细胞浸润减少,糖耐量损伤及胰岛素抵抗改善(P<0.01);MYKI+HFD小鼠肝脏组织IL-6、IL-1β和TNF-α水平降低(P<0.01),M1型巨噬细胞标志物mRNA表达减少(P<0.01),M2型mRNA表达增加(P<0.01);MYKI+HFD小鼠肝脏组织NLRC4炎症小体活性降低(P<0.01),活性caspase-1减少,GSDMD-N蛋白表达降低(P<0.05)。结论过表达lncRNAHEM2M降低NAFLD小鼠肝脏炎症因子水平,进而改善胰岛素抵抗并抑制肝脏NLRC4炎症小体激活,减少肝细胞焦亡,最终改善NAFLD小鼠肝脏损伤。

关键词： lncRNAHEM2M 巨噬细胞非酒精性脂肪肝细胞焦亡

维普期刊数据库博看期刊

The structure of L*-inverse semigroups

在线全文

学校读者我要写书评

暂无评论

Science China Mathematics 2006年第8期49卷 1065-1081页

作者： REN Xueming & SHUM Karping Department of Mathematics, Xi’an University of Architecture and Technology, Xi’an 710055, China Faculty of Science, The Chinese University of Hong kong, Hong kong, China Department of Mathematics Xi'an University of Architecture and Technology Xi'an 710055 China Faculty of Science The Chinese University of Hong Kong Hong Kong Hong Kong

The concepts of L*-inverse semigroups and left wreath products of semigroups are introduced. It is shown that the L*-inverse semigroup can be described as the left wreath product of a type A semigroupΓand a left regular band B together with a mapping which maps the semigroupΓinto the endomorphism semigroup End(B). This result generalizes the structure theorem of Yamada for the left inverse semigroups in the class of regular semigroups. We shall also provide a constructed example for the L*-inverse semigroups by using the left wreath products.

关键词： L*-inverse semigroups type A semigroups left regular bands left wreath products.