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Design and experiment of a picking robot for Agaricus bisporus based on machine vision

International Journal of Agricultural and Biological Engineering 2024年第4期17卷 67-76页

作者： Jiangtao Ji Shucan Du Mengsong Li Xuefeng Zhu Kaixuan Zhao Shihao Zhang Xiang Ji College of Agricultural equipment Engineering Henan University of Science and TechnologyLuoyang 471003HenanChina Science&Technology Innovation center for Completed Set equipment Longmen LaboratoryLuoyang 471023HenanChina

Harvesting represents the crucial stage in the cultivation process of Agaricus bisporus *** important way for the production process of Agaricus bisporus to reduce costs and increase income is to ensure timely harvest of Agaricus bisporus,reduce harvesting costs,and improve harvesting *** are many disadvantages in manual picking,such as high labor intensity,time-consuming work and high *** this study,a set of mushroom picking platform including climbing mechanism,picking robot,and control system was designed and *** picking robot consisted of a truss mechanism,an image acquisition device,a mushroom collection device,and a picking *** profile picking actuator could realize the function of constant force *** online size detection algorithm for Agaricus bisporus based on deep image processing was *** algorithm included removal of abnormal noise points,background segmentation,coordinate conversion,and diameter *** precision picking system for Agaricus bisporus with coordinate compensation function controlled by Industrial Personal Computer was designed,and the visual control interface was developed based on *** the performance test,the reliability of machine vision recognition and the overall operating stability of the picking platform were *** test results showed that in the process of machine vision recognition,the recognition accuracy rate was higher than 92.50%,the missed detection rate was lower than 4.95%,the false detection rate was lower than 2.15%,and the diameter measurement error was less than 4.50%.The image processing algorithm had high recognition rate and small diameter measurement error,which could meet the requirements of picking *** picking platform’s picking success rate was higher than 95.45%,the picking damage rate was lower than 3.57%,and the picking output rate was higher than 87.09%.Compared with manual picking,the recognition accuracy rate of t

关键词： Agaricus bisporus picking platform machine vision robot

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Monotonicity Evaluation Method of Monitoring Feature Series Based on Ranking Mutual Information

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Journal of Shanghai Jiaotong university(Science) 2015年第3期20卷 380-384页

作者：赵春宇刘景江马伦张伟君 Baicheng Ordnance test center of China Academy of equipment Divisions 73 Unit 66362

As a prerequisite for effective prognostics, the goodness of the features affects the complexity of the prognostic methods. Comparing to features quality evaluation in diagnostics, features evaluation for prognostics is a new problem. Normally, the monotonic tendency of feature series can be used as the visual representation of equipment damage cumulation so that forecasting its future health states is easy to implement. Through introducing the concept of ranking mutual information in ordinal case, a monotonicity evaluation method of monitoring feature series is proposed. Finally, this method is verified by the simulating feature series and the results verify its effectivity. For the specific application in industry, the evaluation results can be used as the standard for selecting prognostic feature.

关键词： monotonicity evaluation monitoring feature ranking mutual information prognostics

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Adaptive subsequence adjustment with evolutionary asymmetric path-relinking for TDRSS scheduling

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Journal of Systems Engineering and electronics 2014年第5期25卷 800-810页

作者： Peng Lin Linling Kuang Xiang Chen Jian Yan Jianhua Lu Xiaojuan Wang Department of electronic Engineering Tsinghua University China electronic equipment of System Engineering Institute Tsinghua Space center Tsinghua University

Due to the limited transmission resources for data relay in the tracking and data relay satellite system （TDRSS）, there are many job requirements in busy days which will be discarded in the conventional job scheduling model. Therefore, the improvement of scheduling efficiency in the TDRSS can not only help to increase the resource utilities, but also to reduce the scheduling failure ratio. A model of nonhomogeneous parallel machines scheduling problems with time window （NPM-TW） is firstly built up for the TDRSS, considering the distinct features of the variable preparation time and the nonhomogeneous transmission rates for different types of antennas on each tracking and data relay satellite （TDRS）. Then, an adaptive subsequence adjustment （ASA） framework with evolutionary asymmetric path-relinking （EvAPR） is proposed to solve this problem, in which an asymmetric progressive crossover operation is involved to overcome the local optima by the conventional job inserting methods. The numerical results show that, compared with the classical greedy randomized adaptive search procedure （GRASP） algorithm, the scheduling failure ratio of jobs can be reduced over 11% on average by the proposed ASA with EvAPR.

关键词： nonhomogeneous parallel machines scheduling problem with time window (NPM-TW) adaptive subsequence adjustment (ASA) asymmetric path-relinking (APR) evolutionary asymmetric path-relinking (EvAPR).

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Modeling and Control of Maglev Train Considering Eddy Current Effect

Modeling and Control of Maglev Train Considering Eddy Curren...

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第三十九届中国控制会议

作者： Qing Yang Peichang Yu Jie Li Zhenxiang Chi Lianchun Wang National University of Defense Technology luoyang electronic equipment test center of China

At present, the control design of medium and low speed maglev train in EMS system mostly adopts the static levitation force modeling which ignores the influence of eddy current. The purpose of this paper is to model and analyze the maglev train with a speed of 200 km/h. In order to improve the accuracy of the control model, the attenuation effect of eddy current effect on the suspension force should be considered in the modeling. Based on the operation data of Tangshan Maglev test line, the accuracy of the eddy current effect parameters can be judged and the eddy current effect parameters will participate in the establishment of control model. Aiming at the nonlinearity and instability of suspension system, this paper will try to use the linearization method and PD control algorithm to make the system meet the expectation. This provides a theoretical basis for the acceleration of maglev train in the future.

关键词： Maglev train Eddy current PD control

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test and analysis of interference effects on dual frequency GNSS receiver

Test and analysis of interference effects on dual frequency ...

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第五届中国卫星导航学术年会

作者： Feng Li He Huang Haiqiang Yang Hong Liu Min Liu Haisong Jiao luoyang electronic equipments test center

ISBN: (纸本)9783642547362

High accuracy GNSS receivers generally eliminate ionospheric delay by adopting dual or multi frequency error correction model to obtain desirable positioning results. However, dual-frequency GNSS receivers also face with radio frequency interference （RFI） in actual application, especially in complicated electromagnetic environment. In this paper, the analysis of carrier to noise ratio（C/N 0 ） and standard deviation of positioning in interference was introduced, and a test on the actual performance of a typical dual-frequency GPS receiver in interference at the two working frequencies was presented. The test results showed that: as the intensity of interference increased, the C/N 0 of signal descends obviously, thereupon the pseudo-range measurement precision for viewed satellites declined, leading to the loss of positioning accuracy. DGPS carrier phase measurement was recommended under interference condition in this article. By the carrier phase differential approach, the measurement error caused in the course of RFI was eliminated, and better results can be achieved if the number of satellites viewed is favorable.

关键词： Interference . Dual‐frequency . Pseudo‐range positioning . Carrier phase differential.

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The configuration of Au^(δ+)-ZrO_(2)^(δ−)species induced activation enhances electrocatalytic CO_(2)to formate conversion

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Nano Research 2024年第7期17卷 6006-6015页

作者： Yongjian Jia Yadi Zhang Mengque Lin Yangyang Cheng Yanjie Xu National Engineering Research center for Technology and equipment of Environmental Deposition Lanzhou Jiaotong UniversityLanzhou 730070China Key Lab of Opt-electronic Technology and Intelligent Control of Ministry of Education Lanzhou Jiaotong UniversityLanzhou 730070China School of Environmental Engineering and Chemistry Luoyang Institute of Science and TechnologyLuoyang 471023China

Electrochemical CO_(2)conversion into value-added chemicals is a promising technology to solve the greenhouse effect and recycle chemical ***,the electrochemical CO_(2)reduction reaction(e-CO_(2)RR)is seriously compromised by weak CO_(2)adsorption and a rough CO_(2)activation process based on the chemical inertness of the CO_(2)molecule and the formed fragile metal–C/O *** this paper,we designed and fabricated Au particles embedded in ZrO_(2).The configuration of Au particles being of positive charge and ZrO_(2)with negative charge is induced and generated by metal–support interactions(MSIs).As a result,Au/ZrO_(2)@C presents a big difference in the CO_(2)conversion compared with the known work,affording a formate yield of 112.5μmol·cm^(−2)·h^(−1)at−1.1 V *** hydrogen electrode(RHE),and a max formate Faradaic efficiency of up to 94.1%at−0.9 V *** superior performance was attributed to the activated Au–ZrO_(2)interface to form the Au^(δ+)*** insitu Fourier transform infrared(FTIR)spectroscopy and theoretical calculations show that the MSIs configuration can be inclined to the*OCO intermediate generation on Au^(δ+)species activating CO_(2)molecules and then accelerate the formation of the*OCHO intermediate in e-CO_(2)RR,thereby favoring the CO_(2)conversion to formate.

关键词： electrochemical CO_(2)reduction reaction(e-CO_(2)RR) Au_(δ+)species formic acid *OCHO intermediate metal-support interactions

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Battle damage assessment based on an improved Kullback-Leibler divergence sparse autoencoder

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Frontiers of Information Technology & electronic Engineering 2017年第12期18卷 1991-2000页

作者： Zong-feng QI Qiao-qiao LIU Jun WANG Jian-xun LI State Key Laboratory of Complex Electromagnetic Environment Effects on electronics and Information System Luoyang 471003 China MOE Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai 200240 China luoyang electronic equipment test center of China Luoyang 471000 China

The nodes number of the hidden layer in a deep learning network is quite difficult to determine with traditional methods. To solve this problem, an improved Kullback-Leibler divergence sparse autoencoder （KL-SAE） is proposed in this paper, which can be applied to battle damage assessment （BDA）. This method can select automatically the hidden layer feature which contributes most to data reconstruction, and abandon the hidden layer feature which contributes least. Therefore, the structure of the network can be modified. In addition, the method can select automatically hidden layer feature without loss of the network prediction accuracy and increase the computation speed. Experiments on University ofCalifomia-Irvine （UCI） data sets and BDA for battle damage data demonstrate that the method outperforms other reference data-driven methods. The following results can be found from this paper. First, the improved KL-SAE regression network can guarantee the prediction accuracy and increase the speed of training networks and prediction. Second, the proposed network can select automatically hidden layer effective feature and modify the structure of the network by optimizing the nodes number of the hidden layer.

关键词： Battle damage assessment Improved Kullback-Leibler divergence sparse autoencoder Structural optimization Feature selection

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Design and experiment of intelligent sorting and transplanting system for healthy vegetable seedlings

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International Journal of Agricultural and Biological Engineering 2021年第4期14卷 208-216页

作者： Mingyong Li Xin Jin Jiangtao Ji Pengge Li Xinwu Du College of Mechatronics Engineering Henan University of Science and TechnologyLuoyang 471003HenanChina 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

Healthy vegetable seedlings are surviving seedlings with good biological *** planting of healthy seedlings in the mechanized transplanting process can effectively avoid the reduction in yield caused by missed *** at the current transplanting machinery that cannot achieve the selective planting of healthy seedlings,a healthy seedling intelligent sorting and transplanting system was *** system consisted of a seedling delivery mechanism,sorting mechanism,photoelectric sensor,image sensor,PLC control system,and computer control *** can realize automatic transmission of seedling trays,automatically identify the information of healthy seedlings in the trays and selectively transplant *** it can reduce the missed planting rate caused by the poor quality of plug seedlings after planting and the lack of seedlings in the hole.A sorting test of plug seedlings was carried out for the age-appropriate pepper plug seedlings cultivated in the *** results showed that the system had an average recognition accuracy rate of 89.14%and an average sorting success rate of 93.20%in the process of sorting suitable age pepper plug *** whole system can identify,sort and transplant the plug seedlings of appropriate age according to healthy information,and effectively avoid missing *** research can provide technical support for the intelligent upgrade of transplanting equipment.

关键词： intelligent agriculture sorting and transplanting system healthy vegetable seedling design experiment image sensor

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Design and test of 2ZYM-2 potted vegetable seedlings transplanting machine

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International Journal of Agricultural and Biological Engineering 2020年第1期13卷 101-110页

作者： Xin Jin Qun Cheng Bo Zhao Jiangtao Ji Mingyong Li College of Agricultural equipment Engineering Henan University of Science and TechnologyLuoyang 471003China Collaborative Innovation center of Machinery equipment Advanced Manufacturing of Henan Province Luoyang 471003China Chinese Academy of Agricultural Mechanization Sciences Beijing 100083China

In order to improve the efficiency and quality of transplanting vegetables in dry land,based on the seedling technology,transplanting effect and analysis of the planting process,a potted vegetable seedlings transplanting machine was *** mainly comprised rotary disc type feeding mechanism,five-bar duckbill type planting mechanism(simulated duckbill mechanism,disc cam,connecting rod,crank,fork,cable)and power transmission *** on the physical parameters of the seedlings and design requirements,it was determined that the diameter of the duckbill was D=90 mm,the opening and closing angle was 25°,and the taper angle was 17°.A test bench with adjustable parameters was built by analyzing the structure of the planting mechanism and the motion of the working *** digital speckle technique was used to optimize the parameters,so that the length of the crankshaftΙwas S1=100 mm,the length of the crankshaftΙΙwas S2=80 mm,the length of the connecting rodΙwas S3=140 mm,the length of the connecting rodΙΙwas S4=260 mm,the length of rod to connecting the rack was S6=314 mm,and the height of planting track was H=450 *** to the above parameters and the control requirements of the duckbill mechanism,the cam stroke was determined to be S=15 *** the initial phase difference between the two cams was 180°.The experiment was carried out with pepper seedlings as transplanting *** results showed that when the planting frequency was 50-70 plants/min,the seedling upright rate was 93%-91.1%,the planting depth qualified rate was 96%-92%.The leakage rate was 0-0.26%,the variation coefficient of plant spacing was 0.37%-0.67%,the injury rate was 0%,and the mechanical damage degree of the mining surface was 2.43-3.77 mm/*** machine can effectively improve the quality of transplanting,which can meet the production needs and design requirements of the mechanism.

关键词： seedling transplanting planting mechanism digital speckle parameter optimization test analysis

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Development and test of an electric precision seeder for small-size vegetable seeds

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International Journal of Agricultural and Biological Engineering 2019年第2期12卷 75-81页

作者： Xin Jin Qianwen Li Kaixuan Zhao Bo Zhao Zhitao He Zhaomei Qiu College of Agricultural equipment Engineering Henan University of Science and TechnologyLuoyang 471003China Collaborative Innovation center of Machinery equipment Advanced Manufacturing of Henan Province Luoyang 471003China Chinese Academy of Agricultural Mechanization Sciences Beijing 100083China

An electric seeder for small-size vegetable seeds was designed based on the power drive and the optical fiber detection *** seeder is driven by electric power during the sowing *** the same time,using the fiber sensor technology to monitor the sowing condition,the seeder is more efficient with high seeding precision in terms of different seed *** order to achieve the precision seeding for the 2-10 mm seeds,the driving motor is equipped in the rear *** power drive reduces pollution and *** the other components of the electric seeder were modularly *** seeder was designed with buckle,which could be quickly disassembled on the sowing machine to replace the sowing *** can quickly adjust row spacing and sowing depth during sowing process to meet the requirements of agricultural *** test was carried out for coriander,pakchoi,and radish on the accuracy and monitoring of the system,*** results showed that during the field operation,the sowing precision of the sowing machine was 95%.When the seeder worked at the speeds of 3 km/h and 4 km/h,the relative error of the monitoring precision of the system was less than 6%.This system can meet the real-time monitoring requirements of the seed metering device and improve the quality of the sowing work.

关键词： precision seeding electric seeder nest eyed sowing wheel electric power drive field test vegetable seed

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