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Method for the fruit tree recognition and navigation in complex environment of an agricultural robot

International Journal of Agricultural and Biological Engineering 2024年第2期17卷 221-229页

作者： Xiaolin Xie Yuchao Li Lijun Zhao Xin Jin Shengsheng Wang Xiaobing Han College of Agricultural equipment Engineering Henan University of Science and TechnologyLuoyang 471003HenanChina Collaborative Innovation center of machinery equipment advanced manufacturing of henan province Luoyang 471003HenanChina Longmen Laboratory Luoyang 471003HenanChina College of Intelligent and manufacturing Engineering Chongqing University of Arts and SciencesChongqing 402160China

To realize the visual navigation of agricultural robots in the complex environment of orchards,this study proposed a method for fruit tree recognition and navigation based on *** YOLOv5s model was selected and trained to identify the trunks of the left and right rows of fruit trees;the quadratic curve was fitted to the bottom center of the fruit tree recognition box,and the identified fruit trees were divided into left and right columns by using the extreme value point of the quadratic curve to obtain the left and right rows of fruit trees;the straight-line equation of the left and right fruit tree rows was further solved,the median line of the two straight lines was taken as the expected navigation path of the robot,and the path tracing navigation experiment was carried out by using the improved LQR control *** experimental results show that under the guidance of the machine vision system and guided by the improved LQR control algorithm,the lateral error and heading error can converge quickly to the desired navigation path in the four initial states of[0 m,−0.34 rad],[0.10 m,0.34 rad],[0.15 m,0 rad]and[0.20 m,−0.34 rad].When the initial speed was 0.5 m/s,the average lateral error was 0.059 m and the average heading error was 0.2787 rad for the navigation trials in the four different initial *** average driving was 5.3 m into the steady state,the average value of steady state lateral error was 0.0102 m,the average value of steady state heading error was 0.0253 rad,and the average relative error of the robot driving along the desired navigation path was 4.6%.The results indicate that the navigation algorithm proposed in this study has good robustness,meets the operational requirements of robot autonomous navigation in orchard environment,and improves the reliability of robot driving in orchard.

关键词： fruit tree recognition visual navigation YOLOv5 complex environments orchards

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Dynamic Modeling and Experimental Verification of an RPR Type Compliant Paralle Mechanism with Low Orders

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 83-94页

作者： Shuang Zhang Jingfang Liu Huafeng Ding Yanbin Zhang School of Mechatronics Engineering Henan University of Science and TechnologyLuoyangHenanChina Faculty of Materials and manufacturing College of Mechanical Engineering and Applied Electronics TechnologyBeijing University of TechnologyBeijingChina Key laboratory of advanced manufacturing technology Beijing University of TechnologyBeijingChina School of Mechanical Engineering and Electronic Information China University of Geosciences(Wuhan)WuhanChina center of machinery equipment advanced manufacturing of henan province LuoyangChina

Efficiency of calculating a dynamic response is an important point of the compliant mechanism for posture *** modeling with low orders of a 2R1T compliant parallel mechanism is studied in the *** mechanism with two out-of-plane rotational and one lifting degrees of freedom(DoFs)plays an important role in posture *** on elastic beam theory,the stiffness matrix and mass matrix of the beam element are established where the moment of inertia is *** improve solving efficiency,a dynamic model with low orders of the mechanism is established based on a modified modal synthesis ***,each branch of the RPR type mechanism is divided into a ***,a set of hypothetical modes of each substructure is obtained based on the C-B ***,dynamic equation of the whole mechanism is established by the substructure assembly.A dynamic experiment is conducted to verify the dynamic characteristics of the compliant mechanism.

关键词： Compliant parallel mechanism Dynamic model Modal synthesis method Dynamic experiment

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Detection of the farmland plow areas using RGB-D images with an improved YOLOv5 model

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International Journal of Agricultural and Biological Engineering 2024年第3期17卷 156-165页

作者： Jiangtao Ji Zhihao Han Kaixuan Zhao Qianwen Li Shucan Du College of Agricultural equipment Engineering Henan University of Science and TechnologyLuoyang 471003HenanChina Science&Technology Innovation center for Completed Set equipment Longmen LaboratoryLuoyang 471023HenanChina Collaborative Innovation center of machinery equipment advanced manufacturing of henan province Luoyang 471003HenanChina School of Art and Design Henan University of Science and TechnologyLuoyang 471003HenanChina

Recognition of the boundaries of farmland plow areas has an important guiding role in the operation of intelligent agricultural *** precisely recognize these boundaries,a detection method for unmanned tractor plow areas based on RGB-Depth(RGB-D)cameras was proposed,and the feasibility of the detection method was *** method applied advanced computer vision technology to the field of agricultural *** and improving the YOLOv5-seg object segmentation algorithm,first,the Convolutional Block Attention Module(CBAM)was integrated into Concentrated-Comprehensive Convolution Block(C3)to form C3CBAM,thereby enhancing the ability of the network to extract features from plow *** GhostConv module was also utilized to reduce parameter and computational ***,using the depth image information provided by the RGB-D camera combined with the results recognized by the YOLOv5-seg model,the mask image was processed to extract contour boundaries,align the contours with the depth map,and obtain the boundary distance information of the plowed ***,based on farmland information,the calculated average boundary distance was corrected,further improving the accuracy of the distance *** experiment results showed that the YOLOv5-seg object segmentation algorithm achieved a recognition accuracy of 99%for plowed areas and that the ranging accuracy improved with decreasing detection *** ranging error at 5.5 m was approximately 0.056 m,and the average detection time per frame is 29 ms,which can meet the real-time operational *** results of this study can provide precise guarantees for the autonomous operation of unmanned plowing units.

关键词： plow areas RGB-D camera YOLO object segmentation contour boundary average distance

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Tribological properties and tribomechanism of nickel nanoparticles in-situ synthesized in rapeseed oil

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Friction 2024年第3期12卷 474-489页

作者： Wenya XU Guangbin YANG Shengmao ZHANG Jun XU Yujuan ZHANG Tianhua SUN Ningning SONG Laigui YU Pingyu ZHANG Engineering Research center for Nanomaterials Henan UniversityKaifeng 475004China State Key Laboratory of Tribology in advanced equipment Tsinghua UniversityBeijing 100084China

Nickel(Ni)nanoparticles can be enriched on the surface of iron-based frictional pairs,which provides the possibility to get rid of the competitive adsorption between the polar species of vegetable oil and the surface-active nano-additives *** this paper,nickel acetylacetonate was used as a precursor to in-situ synthesize nickel nanoparticles with an average diameter of about 12 nm in rapeseed oil(RO)as the reducing agent,surface modifier,and solvent as *** tribological properties of the as-synthesized Ni nanoparticles were evaluated with a four-ball tribometer,and their tribomechanism was investigated based on the characterizations of the tribofilm on rubbed steel surfaces by the scanning electron microscopy(SEM),transmission electron microscopy(TEM),and X-ray photoelectron spectroscopy(XPS).It was found that the Ni nanoparticles in-situ prepared in the RO with a mass fraction of 0.3%can reduce the wear scar diameter(WSD)of the steel ball by 36%.This is because,on the one hand,the Ni nanoparticles are adsorbed on the rubbed steel surfaces to repair or fill up the micro-pits and grooves *** the other hand,Ni nanoparticles participate in tribochemical reactions with atmospheric O and steel substrate to form the tribochemical reaction film on the rubbed steel surfaces with the assistance of friction-induced heat and applied normal *** addition,an amorphous carbon film is formed on the rubbed surface via the carbonization of base oil under the catalysis of Ni *** adsorbed Ni layer,the tribochemical reaction film,and the carbon layer comprise a composite tribofilm composed of amorphous carbon,polar fatty acid,metallic nickel,iron oxides,and nickel oxides on the rubbed steel surfaces,which contributes to significantly improving the antiwear ability and load-carrying capacity of the RO for the steel-steel sliding pair.

关键词： nickel(Ni)nanoparticles rapeseed oil(RO) in-situ synthesis tribological properties tribomechanism

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Surface chemical microenvironment engineering of catalysts by organic molecules for boosting electrocatalytic reaction

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Chinese Chemical Letters 2024年第8期35卷 15-24页

作者： Xianxu Chu Lu Wang Junru Li Hui Xu henan Key Laboratory of Biomolecular Recognition and Sensing College of Chemistry and Chemical EngineeringShangqiu Normal UniversityShangqiu 476000China Key Laboratory of advanced Catalytic Materials and Technology Advanced Catalysis and Green Manufacturing Collaborative Innovation CenterChangzhou UniversityChangzhou 213164China

Electrocatalysis is a surface-sensitive process,in which the catalytic activity of electrocatalyst highly re-lates to the surface adsorption/desorption behaviors of the reactants/intermediates/products on the cat-alytically active *** chemical microenvironment engineering via organic molecules functional-ization is a promising strategy to tune the electrocatalytic activity since it can well modify the elec-trode/electrolyte interface and alter the reaction *** this review,we summarize the recent progress of surface microenvironment engineering of electrocatalysts induced by organic molecules func-tionalization,with the special focus on the organic molecule-assisted growth mechanism and unique electronic *** importantly,the applications of organic molecule functionalized catalysts in var-ious electrocatalytic reactions are also systematically summarized,along with a deep discussion on the conclusion and *** work will open a new avenue for the construction and modification of advanced electrocatalysts based on organic molecule-mediated interface engineering.

关键词： Chemical microenvironment engineering Organic molecules Electrocatalysis Functionalization Interface

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Gelation mechanisms of gel polymer electrolytes for zinc-based batteries

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Chinese Chemical Letters 2024年第5期35卷 97-116页

作者： Mengjun Sun Zhi Wang Jvhui Jiang Xiaobing Wang Chuang Yu Collaborative Innovation center of henan province for Green manufacturing of Fine Chemicals Key Laboratory of Green Chemical Media and ReactionsMinistry of EducationSchool of Chemistry and Chemical EngineeringHenan Normal UniversityXinxiang 453007China Key Laboratory for Yellow River and Huaihe River Water Environment and Pollution Control Ministry of EducationHenan Key Laboratory for Environmental Pollution ControlSchool of EnvironmentHenan Normal UniversityXinxiang 453007China State Key Laboratory of advanced Electromagnetic Engineering and Technology School of Electrical and Electronic EngineeringHuazhong University of Science and TechnologyWuhan 430074China

Zinc-based batteries(ZBs)have been deemed as a potential substitute for lithium-ion batteries due to its unique advantages of abundant resources,low cost and acceptable energy *** great progress in designing electrode materials has been made,the development of high-performance ZBs still remain challenges,such as the dendrite growth of zinc anode,hydrogen evolution reaction,limited electrochemical stability window,water evaporation and liquid *** polymer electrolytes(GPEs),including hydrous GPEs with low content of active water and anhydrous GPEs without the presence of water,are proposed to avoid these ***,employing GPEs is conductive to fabricate flexible devices owing to the good mechanical *** date,most of researches focus on discovering new GPEs and exploring its application on flexible or wearable *** reviews also have outlined the polymer matrixes and advances of GPEs in various battery *** this,herein,we seek to summarize the gelation mechanisms of GPEs,involving physical gel of polymer,chemical crosslinking of polymer and chemical polymerization of ***,the preparation methods are also *** addition,not only the features and central conundrum of GPEs are analyzed but also the corresponding strategies are discussed,contributing to design GPEs with ideal properties for high-performance ZBs.

关键词： Gelation mechanisms Gel polymer electrolytes Zinc-based batteries Gelation methods

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Pulsed current-assisted twelve-roll precision rolling deformation of SUS304 ultra-thin strips with exceptional mechanical properties

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International Journal of Extreme manufacturing 2024年第4期6卷 291-305页

作者： Wanwan Fan Tao Wang Jinxiong Hou Zhongkai Ren Qingxue Huang Guanghui Wu College of Mechanical and Vehicle Engineering Taiyuan University of TechnologyYingze West Street 79Taiyuan 030024Shanxi ProvincePeople's Republic of China Engineering Research center of advanced Metal Composites Forming Technology and equipment of Ministry of Education Taiyuan University of TechnologyYingze West Street 79Taiyuan 030024Shanxi ProvincePeople's Republic of China National Key Laboratory of Metal Forming Technology and Heavy equipment Taiyuan University of TechnologyYingze West Street 79Taiyuan 030024Shanxi ProvincePeople's Republic of China College of Aeronautics and Astronautics Taiyuan University of TechnologyYingze West Street 79Taiyuan 030024Shanxi ProvincePeople's Republic of China

Innovative pulsed current-assisted multi-pass rolling tests were conducted on a 12-roll mill during the rolling deformation processing of SUS304 ultra-thin *** results show that in the first rolling pass,the rolling reduction rate of a conventionally rolled sample(at room temperature)is 33.8%,which can be increased to 41.5%by pulsed current-assisted rolling,enabling the formation of an ultra-thin strip with a size of 67.3μm in only one rolling *** three passes of pulsed current-assisted rolling,the thickness of the ultra-thin strip can be further reduced to 51.7μ*** clearly compare the effects of a pulsed current on the microstructure and mechanical response of the ultra-thin strip,ultra-thin strips with nearly the same thickness reduction were *** was found that pulsed current can reduce the degree of work-hardening of the rolled samples by promoting dislocation detachment,reducing the density of stacking faults,inhibiting martensitic phase transformation,and shortening the total length of grain *** a result,the ductility of ultra-thin strips can be effectively restored to approximately 16.3%while maintaining a high tensile strength of 1118 ***,pulsed current-assisted rolling deformation shows great potential for the formation of ultra-thin strips with a combination of high strength and ductility.

关键词： pulsedcurrent-assisted SUS304 ultra-thinstrip rolling reductionrate work-hardening mechanical properties

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Giant low-field reversible magnetocaloric effect at liquid helium temperature of niobium and iron co-substituted EuTiO_(3) compounds

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Journal of Rare Earths 2024年第4期42卷 710-715页

作者： Zhihong Hao Quanyi Liu Huicai Xie Yan Zhang Zhaojun Mo School of Rare Earth and New Materials Engineering Ganzhou Innovation Center of Rare Earth Permanent Magnet Material Advanced Manufacturing and Intelligent Equipment TechnologyGannan University of Science and TechnologyGanzhou341000China Ganjiang Innovation Academy Chinese Academy of SciencesGanzhou34119China School of Materials Science and Engineering Taiyuan University of Science and TechnologyTaiyuan030024China

Giant magnetocaloric effect(MCE)materials in the liquid helium temperature region have attracted a lot of attention in the field of low-temperature magnetic refrigeration(MR).In this study,a series of niobium(Nb)and iron(Fe)co-substituted EuTiO_(3) perovskites with cubic structure(space group pm3m)was successfully fabricated,and their magnetic properties as well as cryogenic magnetocaloric effects were investigated in *** expected,the introduction of Nb and Fe can significantly modulate the magnetic phase transition and magnetocaloric effect of the EuTiO_(3) *** increasing Fe concentration,two local minima corresponding to the AFM-FM magnetic phase transition near 5.0 K and FM-PM transition near 10 K with no hysteresis in the thermomagnetic curves are observed,which is attributed to an enhancement of FM *** the same time,the gradually widened-ΔSM-T curves and the two peaks with a broad shoulder lead to considerable refrigeration capacity(RC).With the field change ofΔH=2 T,the calculated values of-ΔS_(M)^(max) for the EuTi_(0.9375-x)Nb_(0.0625)Fe_(x)O_(3)(x=0.075,0.1,0.125,0.15)compounds are 24.2,17.6,14.5 and 14.0 J/(kg·K),*** corresponding RC values were calculated to be 144.6,138.3,151.2 and 159 J/kg,***,the values of-ΔS_(M)^(max) for EuTi_(0.8625)Nb_(0.0625)Fe_(0.075)O_(3) are 8.6 and 15.1 J/(kg·K)under low field changes of 0.5 and 1 T,*** giant low-field reversible magnetocaloric effect makes them attractive candidates for magnetic refrigeration in the liquid helium temperature region.

关键词： Magnetocaloric effect Refrigeration capacity Magnetic entropy change Rareearths

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Effect of Co on Solidification Characteristics and Microstructural Transformation of Non-equilibrium Solidified Cu-Ni Alloys

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Journal of Wuhan University of Technology(Materials Science) 2024年第2期39卷 444-453页

作者：安红恩 Bih-Lii Chua Ismail Saad Willey Yun Hsien Liew Materials Engineering Research Group Faculty of EngineeringUniversity Malaysia Sabah88400 Kota KinabaluSabahMalaysia College of Mechanical and Electronic Engineering Huanghe Jiaotong UniversityJiaozuo 454950China henan Engineering Technology Research center on Intelligent manufacturing Technology and equipment Jiaozuo 454950China Centre of Research in Energy and advanced Materials Faculty of EngineeringUniversiti Malaysia SabahJalan UMS88400 Kota KinabaluSabahMalaysia Nano Engineering and Materials Research group Faculty of EngineeringUniversity Malaysia Sabah88400 Kota KinabaluSabahMalaysia

Non-equilibrium solidification structures of Cu55Ni45 and Cu55Ni43Co2 alloys were prepared by the molten glass purification cycle superheating *** variation of the recalescence phenomenon with the degree of undercooling in the rapid solidification process was investigated using an infrared *** addition of the Co element affected the evolution of the recalescence phenomenon in Cu-Ni *** images of the solid-liquid interface migration during the rapid solidification of supercooled melts were captured by using a high-speed *** solidification rate of Cu-Ni alloys,with the addition of Co elements,was ***,the grain refinement structure with low supercooling was characterised using electron backscatter diffraction(EBSD).The effect of Co on the microstructural evolution during nonequilibrium solidification of Cu-Ni alloys under conditions of small supercooling is investigated by comparing the microstructures of Cu55Ni45 and Cu55Ni43Co2 *** experimental results show that the addition of a small amount of Co weakens the recalescence behaviour of the Cu55Ni45 alloy and significantly reduces the thermal strain in the rapid solidification *** the rapid solidification phase,the thermal strain is greatly reduced,and there is a significant increase in the characteristic undercooling ***,the addition of Co and the reduction of Cu not only result in a lower solidification rate of the alloy,but also contribute to the homogenisation of the grain size.

关键词： non-equilibrium solidification recalescence effect solidification character microstructure

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原位渗硼激光熔覆FeCoCrNiMn涂层的摩擦学性能研究及其在齿轮修复中的应用

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表面工程与再制造 2024年第3期24卷 65-67页

作者： Dongya Zhang Xiaoyu Suo JinYuan Liu Zhongwei Li Yanchao Zhang Hongxing Wu Key Laboratory of manufacturing equipment of the Shaanxi province School of Mechanical and Precision Instrument Engineering Xi’an University of Technology Xi’an PR China State Key Laboratory of Solidification Processing Center of Advanced Lubrication and Seal Materials Northwestern Polytechnical University 710072 Xi’an China

高速重载的机械作业中,齿轮易发生点蚀、粘着和磨损,从而导致轮齿断裂和磨损失效。本文通过激光熔覆与渗硼集成的方式对失效齿轮进行修复实验,并对其摩擦学性能和修复后振动特性进行了系统研究。与母材相比,硼化物表面的平均硬度提高了8... 详细信息

高速重载的机械作业中,齿轮易发生点蚀、粘着和磨损,从而导致轮齿断裂和磨损失效。本文通过激光熔覆与渗硼集成的方式对失效齿轮进行修复实验,并对其摩擦学性能和修复后振动特性进行了系统研究。与母材相比,硼化物表面的平均硬度提高了8.37倍,耐磨性提高了15.60倍。

关键词：激光熔覆平均硬度渗硼硼化物机械作业摩擦学性能磨损失效高速重载

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