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激光SLAM技术下移动机器人自主导航优化研究
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作者 金凯乐 李发元 杨婷 《激光杂志》 CAS 北大核心 2024年第5期20-24,共5页
在进行自主导航时,移动机器人躲避障碍物的能力较差,使得完成任务需要的时间较长。为此,提出一种激光SLAM技术下移动机器人自主导航优化方法。利用图优化理论,获取全部位姿拓展节点对应的子节点,通过闭环检测,计算误差最小的位姿,根据SP... 在进行自主导航时,移动机器人躲避障碍物的能力较差,使得完成任务需要的时间较长。为此,提出一种激光SLAM技术下移动机器人自主导航优化方法。利用图优化理论,获取全部位姿拓展节点对应的子节点,通过闭环检测,计算误差最小的位姿,根据SPA算法更新位姿,完成移动机器人的位姿估计。利用激光SLAM技术,输出优化后移动机器人位姿,使用A*算法,得到最优通行路径,引入DWA算法展开轨迹计算,实现移动机器人自主导航优化。实验结果表明,所提方法能够准确估计移动机器人位姿,在自主导航优化后,移动机器人自主导航路径长度仅为1 900 mm,转角次数仅为2次,运行周期仅为190次,平均速度高达280 mm/s,具有较好的移动机器人自主导航优化效果。 展开更多
关键词 位姿估计 激光SLAM技术 移动机器人 自主导航优化
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基于凸轮机构的新能源车转向与传动装置设计
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作者 李发元 张子宇 《机械设计》 CSCD 北大核心 2024年第S01期7-12,共6页
根据中国大学生工程实践与创新能力大赛工程基础赛道命题要求,针对新能源车行驶的复杂轨迹,设计了一种基于凸轮的转向机构方案。该机构由凸轮与配套的传动机构组成,通过将给定轨迹离散为若干点,根据轨迹总长度确定传动比,由此在极坐标... 根据中国大学生工程实践与创新能力大赛工程基础赛道命题要求,针对新能源车行驶的复杂轨迹,设计了一种基于凸轮的转向机构方案。该机构由凸轮与配套的传动机构组成,通过将给定轨迹离散为若干点,根据轨迹总长度确定传动比,由此在极坐标系下采用数值算法建立凸轮上各点极径、极角与轨迹点集的函数关系,得到了凸轮廓线。对设计结果进行了软件仿真与实物验证,结果表明:该转向及传动机构的设计是合理、高效的。 展开更多
关键词 新能源车 凸轮机构 曲率半径 差速器
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红军长征GIS课程思政实验案例建设探索与实践 被引量:9
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作者 熊礼阳 赵飞 +3 位作者 程瑶 杨昕 李发源 汤国安 《南京师大学报(自然科学版)》 CAS CSCD 北大核心 2021年第S01期40-48,共9页
铭记历史、缅怀先烈、弘扬红军长征精神,是实现中华民族伟大复兴的重要精神力量.大学生群体是祖国的未来和民族的希望.因此,关注、了解红军长征,弘扬长征精神,对于高校大学生树立中国特色社会主义的"四个自信"具有特殊意义和... 铭记历史、缅怀先烈、弘扬红军长征精神,是实现中华民族伟大复兴的重要精神力量.大学生群体是祖国的未来和民族的希望.因此,关注、了解红军长征,弘扬长征精神,对于高校大学生树立中国特色社会主义的"四个自信"具有特殊意义和价值.GIS教学中特有的地图化表达方式与时空化思维模式,可直观展现红军长征的历史过程,并从地理学的视角重新认知长征的相关史实和理念,可成为GIS教学中"思政进课堂"的经典案例.据此,本文以红军长征为案例,采用现代地理信息科学技术,力图重现红军长征的艰苦历程.通过红军长征路线信息符号化表达、红军长征路线地形特征分析、红军长征路线信息空间量算分析、红军长征GIS系统的设计与实现等实验案例的探索与实践,将思政教育与GIS课程教学相融合.让学生在学习红军前辈的长征革命精神的同时,也掌握GIS专业中点、线、面等数据在GIS系统中的有机集成、多途径可视化展示及空间分析等基本方法.最终使得红军长征GIS成为地理信息科学专业及地理学相关专业开展"思政进课堂"的经典案例. 展开更多
关键词 红军长征 地理信息科学 思政教育 课堂教学
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“地理信息系统原理”一流本科课程建设的探索与实践 被引量:27
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作者 张书亮 李发源 +2 位作者 杨昕 熊礼阳 汤国安 《地理信息世界》 2021年第1期7-11,共5页
“地理信息系统原理”是地理信息科学专业的核心基础课程,特别是在当前国家一流课程、课程思政等新的人才培养环境和要求下,开展课程的教育教学改革研究非常必要。从深化立德树人,破解课程思政教学难题;加强教材建设,助力课程改革;重视... “地理信息系统原理”是地理信息科学专业的核心基础课程,特别是在当前国家一流课程、课程思政等新的人才培养环境和要求下,开展课程的教育教学改革研究非常必要。从深化立德树人,破解课程思政教学难题;加强教材建设,助力课程改革;重视在线课程,积极建设线上优质课程教学资源;重构教学设计,构建“333”(3点驱动、3线课堂、3类方法)为核心的教学模式;多措并举,打造高水平课程教学团队等几个方面,探讨和介绍了南京师范大学“地理信息系统原理”国家线上线下混合式一流课程的建设经验与举措,对于当前“双万计划”背景下的地理信息科学专业开展高水平课程建设具有一定的指导意义。 展开更多
关键词 地理信息系统原理 GIS 一流课程 课程建设
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《地理信息系统原理》课程思政实验设计初探——以“一带一路”实验为例 被引量:13
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作者 李发源 焦浩洋 《南京师大学报(自然科学版)》 CAS CSCD 北大核心 2021年第S01期57-63,共7页
课程思政已成为专业课教学的关键环节之一,无论是理论课教学,还是实验课教学都有必要在教学设计过程中考虑课程思政的合理切入.本文以南京师范大学GIS原理课程实验教学为例,探讨了GIS原理课程实验的特点及在GIS原理实验中设计课程思政... 课程思政已成为专业课教学的关键环节之一,无论是理论课教学,还是实验课教学都有必要在教学设计过程中考虑课程思政的合理切入.本文以南京师范大学GIS原理课程实验教学为例,探讨了GIS原理课程实验的特点及在GIS原理实验中设计课程思政实验的初步探索,希望可为相关专业开展GIS实验课程思政教学提供参考. 展开更多
关键词 GIS 实验设计 课程思政
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侵蚀型天坑演化研究
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作者 翟秀敏 张远海 +2 位作者 李发源 史文强 韦昊星 《中国岩溶》 CAS CSCD 北大核心 2021年第6期952-964,共13页
中国天坑研究学者通过系统调查,确立“tiankeng”作为标准地貌术语,并规范其形态特征,提出塌陷型天坑和侵蚀型天坑两种成因类型。文章以重庆武隆箐口天坑、陕西汉中伯牛天坑、马达加斯加安卡拉那高原的曼格里(Mangily)天坑、巴布亚新几... 中国天坑研究学者通过系统调查,确立“tiankeng”作为标准地貌术语,并规范其形态特征,提出塌陷型天坑和侵蚀型天坑两种成因类型。文章以重庆武隆箐口天坑、陕西汉中伯牛天坑、马达加斯加安卡拉那高原的曼格里(Mangily)天坑、巴布亚新几内亚穆勒高原的阿底(Atea)天坑为研究对象,通过对比分析4个天坑(群)发育的地层结构、地貌演化和水文地质特征等,论述侵蚀型天坑系统演化的共性特征,即三元或二元地层结构、深厚包气带和巨大地势差异、覆盖型岩溶分布、覆盖层对雨水的汇聚或夹层对地下水的汇聚等。基于侵蚀型天坑的成因条件,认为其发育阶段可分为:落水洞-竖井(地下河)阶段、侵蚀-竖井状大厅阶段、崩塌-天坑形成阶段和天坑退化阶段,并对侵蚀型天坑演化机理提出新的认识。 展开更多
关键词 侵蚀型天坑 天坑成因 演化阶段 窗式岩溶 崩塌
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Review of Digital Elevation Model (DEM) Based Research on China Loess Plateau 被引量:5
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作者 Tang Guo'an Ge Shanshan +1 位作者 li fayuan Zhou Jieyu 《Journal of Mountain Science》 SCIE CSCD 2005年第3期265-270,共6页
The Loess Plateau is one of the hot research areas for its specific geographical features. In resent years, with the establishment of national multi-scale DEMs and the perfection of DEM based digital terrain analysis ... The Loess Plateau is one of the hot research areas for its specific geographical features. In resent years, with the establishment of national multi-scale DEMs and the perfection of DEM based digital terrain analysis methods, new thoughts and methodologies have been constructed for the Loess Plateau research. This paper introduces the characteristics of DEM data, analyses the development stages of DEM applied in the Loess Plateau research, and discusses its further possible research direction. More discussions are focused on slope spectrum and its concept, as well as the significance in the Loess Plateau research. 展开更多
关键词 REVIEW DEM the Loess Plateau
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海南自贸港建设背景下语言能力提升对乡村振兴的助推
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作者 李发元 《语言科学》 CSSCI 北大核心 2022年第5期456-457,共2页
海南自贸港背景下语言能力提升工作,应深入调查研究海南语言现状、语言需求,做好顶层设计;通过提升语言能力,助推人的全面发展、助推乡村智慧治理、助推农村新业态发展,并对语言教育模式进行改革。
关键词 海南自贸港 语言能力 乡村振兴
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Geomorphology-oriented theoretical framework and construction method for value-added DEM 被引量:1
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作者 ZHANG Haiping TANG Guoan +2 位作者 XIONG liyang YANG Xin li fayuan 《Journal of Geographical Sciences》 SCIE CSCD 2024年第1期165-184,共20页
Digital elevation model(DEM)plays a fundamental role in the study of the earth system by expressing surface configuration,understanding surface process,and revealing surface mechanism.DEM is widely used in analysis an... Digital elevation model(DEM)plays a fundamental role in the study of the earth system by expressing surface configuration,understanding surface process,and revealing surface mechanism.DEM is widely used in analysis and modeling in the field of geoscience.However,traditional DEM has the defect of single attribute,which is difficult to support the research in earth system science oriented to geoscience process and mechanism mining.Hence,realizing the value-added data model on the basis of traditional DEM is necessary to serve digital elevation modeling and terrain analysis under the background of a new geomorphology research paradigm and earth observation technology.A theoretical framework for value-added DEM that mainly includes concept,connotation,content,and categories,is constructed in this study.The relationship between different types of value-added DEMs as well as the research significance and application category of this theoretical framework are also proposed.The following are different methods of value-added DEMs:(1)value-added methods of DEM space and time dimensions that emphasize the integration of the ground and underground as well as coupling of time and space,(2)attribute-based value-added methods composed of material(including underground,surface,and ground)and morphological properties,and(3)value-added methods of features and physical elements that consider geographical objects and landform features formed by natural processes and artificial effects.The digital terrace,slope,and watershed models are used as examples to illustrate application scenarios of the three kinds of value-added methods.This study aims to improve expression methods of DEMs under the background of new surveying and mapping technologies by adding value to the DEM at three levels of dimensions,attributes,and elements as well as support knowledge-driven digital geomorphological analysis in the era of big data. 展开更多
关键词 spatial data model value-added DEM digital terrain analysis geomorphological ontology GEOMORPHOLOGY
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顾及对象特征的地面式光伏电站提取及减碳效益评估 被引量:4
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作者 于方圆 曹家玮 +1 位作者 李发源 李思进 《地球信息科学学报》 CSCD 北大核心 2023年第3期529-545,共17页
准确、高效地获取地面光伏电站的空间部署现状,科学估算光伏电站发电效益及其碳减排成效,对未来光伏电站建设的合理布局与光伏资源的有效利用具有重要意义。本文以我国西部新疆维吾尔自治区、青海省和西藏自治区作为研究区:(1)使用以Res... 准确、高效地获取地面光伏电站的空间部署现状,科学估算光伏电站发电效益及其碳减排成效,对未来光伏电站建设的合理布局与光伏资源的有效利用具有重要意义。本文以我国西部新疆维吾尔自治区、青海省和西藏自治区作为研究区:(1)使用以ResNet50作为骨干网络的ResNet50-UNet网络分割模型自动提取地面光伏电站,在深度学习广泛应用于遥感语义分割/地表覆盖分类的背景下,本文未局限于单一地对网络模型的不断改进上,而同时考虑了如何充分发挥输入样本的自身优势,研究中基于Sentinel-2A遥感影像挖掘光伏电站纹理特征,强调地物固有特征在智能化深度学习中的应用价值,模型提取精度得到显著提升;(2)针对提取结果边界精度较差的问题,提出结合ArcGIS和eCognition多尺度分割优化处理光伏电站提取结果的技术路线,高保真还原地面光伏电站真实形态。经后处理优化,提取结果的Kappa系数达93.71%,mIoU值达94.05%;(3)碳减排效益评估时,准确估算光伏电站发电量是进行该工作的重要前提,本文基于光伏电站提取结果,从内部结构复杂的光伏用地中准确提取发电量估算公式中的重要参数之一——光伏方阵面积,实现了大区域范围下光伏电站发电量的有效估算,进一步探究光伏能源与传统化石能源之间的碳源效应,助力我国双碳目标的早日实现。 展开更多
关键词 光伏电站 纹理特征 深度学习 Sentinel-2A影像 发电量估算 减碳效益
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不同CaCl_(2)试剂组合对西葫芦种子低温萌发的影响
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作者 王艳芳 李发远 +3 位作者 李灵芝 施光安 李海平 段旭锦 《北方园艺》 CAS 北大核心 2021年第15期40-45,共6页
以‘春翡翠’西葫芦种子为试材,采用CaCl_(2)溶液、CaCl_(2)+脲基二琥珀酸四钠(HIDS)溶液、CaCl_(2)+黄腐酸(FA)溶液、去离子水(CK)浸种,研究不同CaCl_(2)试剂组合浸种对低温下种子萌发的影响,以期为提高西葫芦抗冷性提供参考依据。结... 以‘春翡翠’西葫芦种子为试材,采用CaCl_(2)溶液、CaCl_(2)+脲基二琥珀酸四钠(HIDS)溶液、CaCl_(2)+黄腐酸(FA)溶液、去离子水(CK)浸种,研究不同CaCl_(2)试剂组合浸种对低温下种子萌发的影响,以期为提高西葫芦抗冷性提供参考依据。结果表明:与对照相比,添加CaCl_(2)的3个处理均可提高西葫芦种子在低温下的萌发能力,表现为CaCl_(2)+FA>CaCl_(2)+HIDS>CaCl_(2)>CK。与对照相比,CaCl_(2)+FA浸种效果最好,浸种后西葫芦种子发芽率、发芽势、发芽指数、活力指数显著提高2.48%、2.48%、1.15%、14.71%;根长、鲜质量、干质量显著增加15.12%、46.47%、13.35%;CaCl_(2)+FA溶液浸种提高了芽苗中渗透调节物质含量及抗氧化酶活性,使芽苗中脯氨酸、可溶性糖、可溶性蛋白质含量、超氧化物歧化酶、过氧化物酶活性分别增加14.52%、180.00%、31.78%、1.52%、53.53%;超氧阴离子自由基、过氧化氢含量分别降低了131.97%、35.83%。综上所述,不同CaCl_(2)试剂组合均可减轻低温对种子萌发的伤害,其中CaCl_(2)与FA组合浸种缓解低温伤害效果最佳。 展开更多
关键词 CaCl_(2)试剂组合 西葫芦种子 低温 萌发
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Slope spectrum critical area and its spatial variation in the Loess Plateau of China 被引量:19
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作者 TANG Guoan SONG Xiaodong +2 位作者 li fayuan ZHANG Yong XION-Gliyang 《Journal of Geographical Sciences》 SCIE CSCD 2015年第12期1452-1466,共15页
Slope spectrum has been proved to be a significant methodology in revealing geomorphological features in the study of Chinese loess terrain. The determination of critical areas in deriving slope spectra is an indispen... Slope spectrum has been proved to be a significant methodology in revealing geomorphological features in the study of Chinese loess terrain. The determination of critical areas in deriving slope spectra is an indispensable task. Along with the increase in the size of the study area, the derived spectra are becoming more and more alike, such that their dif- ferences can be ignored in favor of a standard. Subsequently, the test size is defined as the Slope Spectrum Critical Area (SSCA). SSCA is not only the foundation of the slope spectrum calculation but also, to some extent, a reflection of geomorphological development of loess relief. High resolution DEMs are important in extracting the slope spectrum. A set of 48 DEMs with different landform areas of the Loess Plateau in northern Shaanxi province was selected for the experiment. The spatial distribution of SSCA is investigated with a geo-statistical analysis method, resulting in values ranging from 6.18 km^2 to 35.1 km^2. Primary experimental results show that the spatial distribution of SSCA is correlated with the spatial distribution of the soil erosion intensity, to a certain extent reflecting the terrain complexity. The critical area of the slope spectrum presents a spatial variation trend of weak-strong-weak from north to south. Four terrain parameters, gully density, slope skewness, terrain driving force (Td) and slope of slope (SOS), were chosen as indicators. There exists a good exponential function relationship between SSCA and gully density, terrain driving force (Td) and SOS and a loga- rithmic function relationship between SSCA and slope skewness. Slope skewness increases, and gully density, terrain driving force and SOS decrease with increasing SSCA. SSCA can be utilized as a discriminating factor to identify loess landforms, in that spatial distributions of SSCA and the evolution of loess landforms are correlative. Following the evolution of a loess landform from tableland to gully-hilly region, this also proves that SSCA can represent the development degree of local landforms. The critical stable regions of the Loess Plateau represent the degree of development of loess landforms. Its chief significance is that the per- ception of stable areas can be used to determine the minimal geographical unit. 展开更多
关键词 digital elevation model slope spectrum critical area spatial variation independent geomorphological unit Loess Plateau
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Geomorphological inheritance for loess landform evolution in a severe soil erosion region of Loess Plateau of China based on digital elevation models 被引量:16
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作者 XIONG liYang TANG GuoAn +3 位作者 YUAN BaoYin LU ZhongChen li fayuan ZHANG Lei 《Science China Earth Sciences》 SCIE EI CAS 2014年第8期1944-1952,共9页
The influence of pre-quaternary underlying terrain on the formation of loess landforms, i.e., the geomorphological inheritance issue, is a focus in studies of loess landforms. On the basis of multi-source information,... The influence of pre-quaternary underlying terrain on the formation of loess landforms, i.e., the geomorphological inheritance issue, is a focus in studies of loess landforms. On the basis of multi-source information, we used GIS spatial analysis methods to construct a simulated digital elevation model of a pre-quaternary paleotopographic surface in a severe soil erosion area of the Loess Plateau. To reveal the spatial relationship between underlying paleotopography and modern terrain, an XY scatter diagram, hypsometric curve, gradient and concavity of terrain profiles are used in the experiments. The experiments show that the altitude, gradient and concavity results have significant linear positive correlation between both terrains, which shows a relatively strong landform inheritance relationship, particularly in the intact and complete loess deposit areas. Despite the current surface appearing somewhat changed from the original shape of the underlying terrain under different erosion forces, we reveal that the modern terrain generally smoothes the topographic relief of underlying terrain in the loess deposition process. Our results deepen understanding of the characteristics of geomorphological inheritance in the formation and evolution of loess landforms. 展开更多
关键词 loess landform landform inheritance underlying paleotopography digital elevation model
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Geomorphology-oriented digital terrain analysis:Progress and perspectives 被引量:6
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作者 XIONG liyang TANG Guoan +1 位作者 YANG Xin li fayuan 《Journal of Geographical Sciences》 SCIE CSCD 2021年第3期456-476,共21页
Digital terrain analysis(DTA)is one of the most important contents in the research of geographical information science(GIS).However,on the basis of the digital elevation model(DEM),many problems exist in the current r... Digital terrain analysis(DTA)is one of the most important contents in the research of geographical information science(GIS).However,on the basis of the digital elevation model(DEM),many problems exist in the current research of DTA in geomorphological studies.For instance,the current DTA research appears to be focused more on morphology,phenomenon,and modern surface rather than mechanism,process,and underlying terrain.The current DTA research needs to be urgently transformed from the study of landform morphology to one focusing on landform process and mechanism.On this basis,this study summarizes the current research status of geomorphology-oriented DTA and systematically reviews and analyzes the research about the knowledge of geomorphological ontology,terrain modeling,terrain derivative calculation,and terrain analytical methods.With the help of DEM data,DTA research has the advantage of carrying out geomorphological studies from the perspective of surface morphology.However,the study of DTA has inherent defects in terms of data expression and analytic patterns.Thus,breakthroughs in basic theories and key technologies are necessary.Moreover,scholars need to realize that DTA research must be transformed from phenomenon to mechanism,from morphology to process,and from terrain to landform.At present,the research development of earth science has reached the critical stage in which the DTA research should focus more on geomorphological ontology.Consequently,this study proposes several prospects of geomorphology-oriented DTA from the aspects of value-added DEM data model,terrain derivatives and their spatial relations,and macro-terrain analysis.The study of DTA based on DEM is at a critical period along with the issue on whether the current GIS technology can truly support the development of geography.The research idea of geomorphology-oriented DTA is expected to be an important exploration and practice in the field of GIS. 展开更多
关键词 digital terrain analysis GEOMORPHOLOGY ONTOLOGY digital elevation model terrain derivative geographical information science
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FA、HIDS对CaCl2缓解低温弱光下西葫芦幼苗伤害的影响 被引量:2
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作者 李发远 郭建林 +4 位作者 张国香 施光安 常领山 张杰纯 李海平 《腐植酸》 2020年第6期32-37,60,共7页
本试验以低温敏感型西葫芦为试验材料,研究低温弱光下叶面喷施CaCl2(T1)、CaCl2+脲基二琥珀酸四钠(T2)、CaCl2+黄腐酸(T3)对西葫芦幼苗生长的影响,以喷施清水为对照(CK)。结果表明:与CK相比,T1、T2、T3处理降低西葫芦幼苗中过氧化氢(H2... 本试验以低温敏感型西葫芦为试验材料,研究低温弱光下叶面喷施CaCl2(T1)、CaCl2+脲基二琥珀酸四钠(T2)、CaCl2+黄腐酸(T3)对西葫芦幼苗生长的影响,以喷施清水为对照(CK)。结果表明:与CK相比,T1、T2、T3处理降低西葫芦幼苗中过氧化氢(H2O2)、超氧阴离子自由基、丙二醛(MDA)含量,提高抗氧化酶活性、可溶性糖、可溶性蛋白和脯氨酸含量。其中T3处理效果最好,茎粗、株高和叶面积分别比CK显著增加26.55%、14.13%、24.08%,地上部及地下部干重、全株干重、壮苗指数、根冠比分别比CK显著增加5.02%、69.23%、12.44%、63.11%、60.31%,H2O2、超氧阴离子自由基、MDA含量分别比CK显著降低26.13%、37.27%、47.57%,过氧化物酶(POD)、超氧化物歧化酶(SOD)和过氧化氢酶(CAT)活性分别比CK显著增加18.33%、2.42%和43.90%,脯氨酸、可溶性糖和可溶性蛋白含量分别比CK显著增加75.88%、4.64%和7.61%。综上,CaCl2与黄腐酸协同处理对缓解低温弱光下西葫芦幼苗伤害效果最佳。 展开更多
关键词 黄腐酸 西葫芦 低温弱光 CACL2
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