沙漠灌溉机是一种集定点根部灌溉、范围性覆盖灌溉、给树苗施肥助长等功能于一体的灌溉机器,主要解决沙漠地区植树给树苗浇水时由于环境恶劣导致大型机器不便工作、人力损耗极大等问题。通过单片机嵌入式技术实现路径规划、灌溉方式选...沙漠灌溉机是一种集定点根部灌溉、范围性覆盖灌溉、给树苗施肥助长等功能于一体的灌溉机器,主要解决沙漠地区植树给树苗浇水时由于环境恶劣导致大型机器不便工作、人力损耗极大等问题。通过单片机嵌入式技术实现路径规划、灌溉方式选择、自主行走等智能化功能。其路径规划系统采用了技术比较成熟且相对稳定的SLAM(Simultaneous Localization and Mapping,即时定位与地图创建)算法,图像采集系统采用了OpenMV加神经网络算法进行自主图像识别,机械系统结合机械原理和机械设计内容采用了连杆机构和齿轮机构等多种机构。主控部分采用了STM32芯片结合单片机接口技术等原理对路径规划系统、图像采集系统和机械系统的控制进行了合理的模块化封装。展开更多
The saline wetlands,or'saladas',of Monegros Desert,NE Spain,contain biodiversity that depends on the estab- lishment of a prognostic monitoring system that can warn of approaching irreversible damage.In the co...The saline wetlands,or'saladas',of Monegros Desert,NE Spain,contain biodiversity that depends on the estab- lishment of a prognostic monitoring system that can warn of approaching irreversible damage.In the context of a lack of existing biodiversity inventories for the saladas,we determined their state of conservation and vulnerability using seven physical indicators:escarpment continuity,cropping,stone dumping,size,water occurrence,distance to roads,and proximity to irrigated areas.These features were combined into three meaningful indexes,i.e.,conservation,current vulnerability,and future vulnerability,thus creating an assessment of the preservation or degradation of saladas in the context of encroaching agricultural irrigation projects.The proposed indexes produced consistent results and showed that a great number of the Monegros wetlands were threatened,regardless of their size or frequency of water occurrence.Only 20% of the saladas studied were classified as being in a good or very good conservation,whereas 50% were in bad or very bad shape.A high current vulnerability was found for 60% of the saladas.For saladas located in land to be irrigated, we predicted that 73% would have a high or very high future vulnerability.Currently,58% of the saladas were in bad or very bad condition and fully 65% of the saladas,variable in size,presented a bad or very bad prognosis.Our approach provides a monitoring strategy for the conservation of saline wetlands threatened by agricultural intensification,especially irrigation.展开更多
文摘沙漠灌溉机是一种集定点根部灌溉、范围性覆盖灌溉、给树苗施肥助长等功能于一体的灌溉机器,主要解决沙漠地区植树给树苗浇水时由于环境恶劣导致大型机器不便工作、人力损耗极大等问题。通过单片机嵌入式技术实现路径规划、灌溉方式选择、自主行走等智能化功能。其路径规划系统采用了技术比较成熟且相对稳定的SLAM(Simultaneous Localization and Mapping,即时定位与地图创建)算法,图像采集系统采用了OpenMV加神经网络算法进行自主图像识别,机械系统结合机械原理和机械设计内容采用了连杆机构和齿轮机构等多种机构。主控部分采用了STM32芯片结合单片机接口技术等原理对路径规划系统、图像采集系统和机械系统的控制进行了合理的模块化封装。
基金Project supported by the Ministry of Education and Science,Spain (No.AGL2006-01283)the European Regional Development Fund (No.EX2006-0347).
文摘The saline wetlands,or'saladas',of Monegros Desert,NE Spain,contain biodiversity that depends on the estab- lishment of a prognostic monitoring system that can warn of approaching irreversible damage.In the context of a lack of existing biodiversity inventories for the saladas,we determined their state of conservation and vulnerability using seven physical indicators:escarpment continuity,cropping,stone dumping,size,water occurrence,distance to roads,and proximity to irrigated areas.These features were combined into three meaningful indexes,i.e.,conservation,current vulnerability,and future vulnerability,thus creating an assessment of the preservation or degradation of saladas in the context of encroaching agricultural irrigation projects.The proposed indexes produced consistent results and showed that a great number of the Monegros wetlands were threatened,regardless of their size or frequency of water occurrence.Only 20% of the saladas studied were classified as being in a good or very good conservation,whereas 50% were in bad or very bad shape.A high current vulnerability was found for 60% of the saladas.For saladas located in land to be irrigated, we predicted that 73% would have a high or very high future vulnerability.Currently,58% of the saladas were in bad or very bad condition and fully 65% of the saladas,variable in size,presented a bad or very bad prognosis.Our approach provides a monitoring strategy for the conservation of saline wetlands threatened by agricultural intensification,especially irrigation.
