Nantai town is located at the south of Liaoning Province, North is Anshan, Haichengis on the south, Shenda expressway, Hada highway and railway crisscross the town fromnorth to south. Nantai town covers an areas of 95...Nantai town is located at the south of Liaoning Province, North is Anshan, Haichengis on the south, Shenda expressway, Hada highway and railway crisscross the town fromnorth to south. Nantai town covers an areas of 95 square Kgs with 23 administrativevillages, 4 sub-district offices, 1 economic development zone and there are 15 thousandfamilies and 54 thousand populations. Nantai town is a trial place for overall structuralreform in Liaoning Province and a center on larger-scale production, processing anddistributing of boxes and bags nationwide.展开更多
目的解决导向辊生产车间物料输送AGV的激光传感器存在的信息复杂度低、重复率高,且在不断迭代重采样过程中极易丢失正确位姿附近粒子造成定位失败等问题。方法提出一种基于视觉的自适应蒙特卡洛定位算法。建立相机观测模型和自动导引运...目的解决导向辊生产车间物料输送AGV的激光传感器存在的信息复杂度低、重复率高,且在不断迭代重采样过程中极易丢失正确位姿附近粒子造成定位失败等问题。方法提出一种基于视觉的自适应蒙特卡洛定位算法。建立相机观测模型和自动导引运输车本体运动模型,对观测模型进行去畸变处理,完成相机标定;设计基于视觉的自适应蒙特卡洛算法,获取特征信息,并用词袋模型进行分类,使用激光雷达构建2D栅格地图,采用特征点匹配估计位姿,实现AGV自我精确定位。结果仿真实验结果表明,本文所提算法与传统自适应蒙特卡洛定位(Adaptive Monte Carlo Localization,AMCL)算法相比,可使机器人更加快速地收敛到精度较高的位姿,具有更好的定位性能。结论基于视觉的AMCL算法设计,实现了导向辊生产车间机器人的高精度定位,优化了作业流程,提高了生产线系统智能化运行水平,可为其他场景定位应用提供参考。展开更多
Alfalfa （Medicago sativa） is difficult to ensile successfully because of the low content of moisture and water-soluble carbohydrates （WSC） in fresh alfalfa and the high buffering capacity in fresh alfalfa. Here, w...Alfalfa （Medicago sativa） is difficult to ensile successfully because of the low content of moisture and water-soluble carbohydrates （WSC） in fresh alfalfa and the high buffering capacity in fresh alfalfa. Here, we conducted a study to evaluate the effects of three lactic acid bacteria （LAB） inoculants （Lactobacillus case/, lactobacillus plantarum, and Pediococcus pentosaceus） on silage quality, in sitE/ruminal degradability, and in vitro fermentation of alfalfa silage. The first cut of alfalfa was wilted, chopped, and randomly divided into four groups： the control （CON） and control mixed with three separate LAB inoculants （106 cfu g-1）. Simmental steers with a body weight of （452±18） kg and with installed rumen fistulas were prepared for in situ degradation and for in vitro gas production. LAB inoculants had a lower （P〈0.05） content of butyric acid than the CON group. Among them, the L. casei inoculated silage had a higher （P〈0.05） content of water-soluble carbohydrate （WSC） and a lower （P〈0.05） NH3-H content. The effective degradation （ED） of crude protein in LAB inoculation decreased （P〈0.05）, while the ED of acid detergent fiber increased （P〈0.05） in situ fermentation. The alfalfa silage with LAB inoculants produced more carbon dioxide （P〈0.05）. The NH3-H content of mixed incubation fluid in L. casei inoculated silage was lower （P〈0.05） compared with other groups. Therefore, this study showed that LAB inoculants could improve both ensiling quality and degradation. In particular, the L. casei inoculations exhibited better performance by limiting proteolysis during ensiling.展开更多
The above-ground net primary production(ANPP) and the precipitation-use efficiency(PUE) regulate the carbon and water cycles in grassland ecosystems, but the relationships among the ANPP, PUE and precipitation are sti...The above-ground net primary production(ANPP) and the precipitation-use efficiency(PUE) regulate the carbon and water cycles in grassland ecosystems, but the relationships among the ANPP, PUE and precipitation are still controversial. We selected 717 grassland sites with ANPP and mean annual precipitation(MAP) data from 40 publications to characterize the relationships ANPP–MAP and PUE–MAP across different grassland types. The MAP and ANPP showed large variations across all grassland types, ranging from 69 to 2335 mm and 4.3 to 1706 g m^(-2), respectively. The global maximum PUE ranged from 0.19 to 1.49 g m^(-2) mm^(-1) with a unimodal pattern. Analysis using the sigmoid function explained the ANPP–MAP relationship best at the global scale. The gradient of the ANPP–MAP graph was small for arid and semi-arid sites(MAP <400 mm). This study improves our understanding of the relationship between ANPP and MAP across dry grassland ecosystems. It provides new perspectives on the prediction and modeling of variations in the ANPP for different grassland types along precipitation gradients.展开更多
文摘Nantai town is located at the south of Liaoning Province, North is Anshan, Haichengis on the south, Shenda expressway, Hada highway and railway crisscross the town fromnorth to south. Nantai town covers an areas of 95 square Kgs with 23 administrativevillages, 4 sub-district offices, 1 economic development zone and there are 15 thousandfamilies and 54 thousand populations. Nantai town is a trial place for overall structuralreform in Liaoning Province and a center on larger-scale production, processing anddistributing of boxes and bags nationwide.
文摘目的解决导向辊生产车间物料输送AGV的激光传感器存在的信息复杂度低、重复率高,且在不断迭代重采样过程中极易丢失正确位姿附近粒子造成定位失败等问题。方法提出一种基于视觉的自适应蒙特卡洛定位算法。建立相机观测模型和自动导引运输车本体运动模型,对观测模型进行去畸变处理,完成相机标定;设计基于视觉的自适应蒙特卡洛算法,获取特征信息,并用词袋模型进行分类,使用激光雷达构建2D栅格地图,采用特征点匹配估计位姿,实现AGV自我精确定位。结果仿真实验结果表明,本文所提算法与传统自适应蒙特卡洛定位(Adaptive Monte Carlo Localization,AMCL)算法相比,可使机器人更加快速地收敛到精度较高的位姿,具有更好的定位性能。结论基于视觉的AMCL算法设计,实现了导向辊生产车间机器人的高精度定位,优化了作业流程,提高了生产线系统智能化运行水平,可为其他场景定位应用提供参考。
基金funded by the projects of the National Public Welfare Industry (Agriculture) R&D Program,China (201303061)the China Agricultural Research System (CARS-39)
文摘Alfalfa （Medicago sativa） is difficult to ensile successfully because of the low content of moisture and water-soluble carbohydrates （WSC） in fresh alfalfa and the high buffering capacity in fresh alfalfa. Here, we conducted a study to evaluate the effects of three lactic acid bacteria （LAB） inoculants （Lactobacillus case/, lactobacillus plantarum, and Pediococcus pentosaceus） on silage quality, in sitE/ruminal degradability, and in vitro fermentation of alfalfa silage. The first cut of alfalfa was wilted, chopped, and randomly divided into four groups： the control （CON） and control mixed with three separate LAB inoculants （106 cfu g-1）. Simmental steers with a body weight of （452±18） kg and with installed rumen fistulas were prepared for in situ degradation and for in vitro gas production. LAB inoculants had a lower （P〈0.05） content of butyric acid than the CON group. Among them, the L. casei inoculated silage had a higher （P〈0.05） content of water-soluble carbohydrate （WSC） and a lower （P〈0.05） NH3-H content. The effective degradation （ED） of crude protein in LAB inoculation decreased （P〈0.05）, while the ED of acid detergent fiber increased （P〈0.05） in situ fermentation. The alfalfa silage with LAB inoculants produced more carbon dioxide （P〈0.05）. The NH3-H content of mixed incubation fluid in L. casei inoculated silage was lower （P〈0.05） compared with other groups. Therefore, this study showed that LAB inoculants could improve both ensiling quality and degradation. In particular, the L. casei inoculations exhibited better performance by limiting proteolysis during ensiling.
基金jointly funded by the Strategic Priority Research Program of the Chinese Academy of Sciences(XDA20020401)the Young Foundation of Institute of Mountain Hazard and Environment(SDS-QN-1702)National Natural Science Foundation of China(Grant No.41571205)
文摘The above-ground net primary production(ANPP) and the precipitation-use efficiency(PUE) regulate the carbon and water cycles in grassland ecosystems, but the relationships among the ANPP, PUE and precipitation are still controversial. We selected 717 grassland sites with ANPP and mean annual precipitation(MAP) data from 40 publications to characterize the relationships ANPP–MAP and PUE–MAP across different grassland types. The MAP and ANPP showed large variations across all grassland types, ranging from 69 to 2335 mm and 4.3 to 1706 g m^(-2), respectively. The global maximum PUE ranged from 0.19 to 1.49 g m^(-2) mm^(-1) with a unimodal pattern. Analysis using the sigmoid function explained the ANPP–MAP relationship best at the global scale. The gradient of the ANPP–MAP graph was small for arid and semi-arid sites(MAP <400 mm). This study improves our understanding of the relationship between ANPP and MAP across dry grassland ecosystems. It provides new perspectives on the prediction and modeling of variations in the ANPP for different grassland types along precipitation gradients.
