Abstract:By reviewing the development history of concepts and contents on land consolidation at home and abroad, the basic connotation and work needs of land consolidation in the new era were summarized. By analyzing the wide application of remote sensing in land consolidation works, the development of remote sensing monitoring of land consolidation was sorted out, the related key technologies and its research status were summarized, and then the development trend of related technologies and applications of land consolidation remote sensing monitoring were given. The application of remote sensing technology in land consolidation works for many years was systematically expounded from two angles. These two angles were different types and project stages of land consolidation. The different types of land consolidation included land resource survey and protection, land reclamation and ecological restoration, agricultural land consolidation, development of unused farmingsuitable agricultural land, construction land consolidation and ecological land consolidation and so on. The different project stages of land consolidation included potential and risk measurement, engineering planning, construction supervision and acceptance evaluation and so on. Finally, the research difficulties and development direction in the future were put forward based on summarizing the technical advantages and limitations. The research result can provide scientific reference for the implementation of remote sensing monitoring of land consolidation.

Abstract:Due to the traditional Zhang Zhengyou’s camera calibration method of picking robot existed the problems such as sensitive to initial value of camera model parameters and instability of calibration results, a camera calibration method based on improved shuffled frog leaping optimization and LM algorithm was proposed. The camera calibration was divided into two steps: the first step, calculating the initial values of the parameters of camera model with the shuffled frog leaping optimization, which avoided the sensitivity to the initial value of the camera model parameters that was directly calculated with the traditional Zhang Zhengyou’s camera calibration method; the second step, refining the initial values of the parameters of camera model that calculated in the first step with improved nonlinear optimization LM algorithm, which avoided must obtaining the Jacobi matrix to optimize the parameters of the camera model with the Zhang Zhengyou’s camera calibration method, which led to the instability of the calibration results. And the binocular vision calibration system of the picking robot was developed by OpenCV. The camera calibration experiments were carried out on the traditional Zhang Zhengyou’s camera calibration method, the camera calibration method based on genetic algorithm, the camera calibration method based on shuffled frog leaping optimization algorithm and the camera calibration method. The test results showed that the absolute error of the left camera focal length was 0.065~0.100mm, the relative error of the left camera focal length was 1.899%~12.652%, the average pixel error of the left plane target image was 0.166~0.175 pixel, the absolute error of the right camera focal length was 0.083~0.360mm, the relative error of the right camera focal length was 2.429%~11.484%, the average pixel error of the right plane target image was 0.103~0.114 pixel and the absolute error of distance of binocular camera was 1.866~2.789mm, the relative error of the distance between the binocular camera was 3.209%~4.874%, the convergence speed and stability, which were obtained by the camera calibration method, were all better than the other camera calibration methods in the above. So, these test results verified the calibration parameters obtained by the method had high accuracy and reliability.

Abstract:Maize seeds are of different shapes and sizes. It is the bottleneck that the maize seed lasercutting slices are orientated and positioned accurately for the molecular breeding genotype analysis to achieve high throughput with automation. The machine vision system means to recognize the maize feature regions for positioning lasercutting slices accurately in a single seed image. An area correlation filter was presented for describing the pixel with spatial constrain information. The definition of the round mask template was proposed for the seed morphological measurement. The round template size was determined by the area of a single maize seed. Some of pixel coordinate data were extracted to be classified from the target domains by the filtration of the area correlation filter. Through the bisectingmeans clustering with the specific initial clustering centers, the extracted data were divided into thin part class and thick part class. Also, their clustering centers were got, which were corresponded to the thin part class and two arc corner classes, respectively. The labeling partition operation was applied to the connected domains for finely adjusting and marking the centers of tip part and two arc corners. Finally, the coordinates of two interpolated pointpairs near the thick part were calculated. Through linking two pairs of interpolated points, the lasercutting lines were located with high precision. The seed clamping pose was determined according to the tip part center and the centroid of seed. Compared with SUSAN, SUSAN detector cannot be directly applied to locate the feature region of maize seed. The experimental results verified the effectiveness of the proposed method on yellow and white maize seeds.

Abstract:Canopy coverage is an important agronomic indicator. Image method is widely used in this field as a convenient, fast and accurate ground measurement method. Image background segmentation is the most critical step to obtain canopy coverage. Some segmentation algorithms have been limited to largeleaf plants or crops with relatively sparse growth. Few studies were on fine leaf crops, or no more valuable rules based on segmentation results. Therefore, taking wheat as an example, an IFOA-K-means algorithm based on HSV space was proposed. The K-means algorithm split the image background as a theoretical basis for obtaining coverage changes. Then the wavelet denoising algorithm was used to denoise the luminance component separately. The main segmentation algorithm was improved by the adaptive step size fruit fly algorithm (IFOA). The Kmeans algorithm was used to perform background segmentation on wheat images, and the global optimality of the adaptive fruit fly algorithm and local optimal features of the K-means algorithm were integrated to optimize the segmentation effect. The segmentation effect was better than the Ostu method based on genetic algorithm. It was better to remove the obvious interference factors such as drip irrigation belt, compared with the traditional Kmeans algorithm, the segmentation results were superior to the traditional algorithms in terms of running time and peak signal-to-noise ratio. The accuracy of wheat coverage was over 90%, the fit to the crop coefficient was as high as 0.9531, and the estimation of wheat growth status was estimated.

Abstract:The extraction of leaf network and the measurement of its trait parameters provide an important reference for the study of leaf vein ecology. Taking the leaves of six tree species (Sophora japonica, Populus tomentosa, Ailanthus altissima, Fraxinus pennsylvanica, Acer truncutum and Koelreuteria paniculata) with different leaf characteristics as object, the multiscale segmentation of the vein microscopy image was based on eCognition software. Firstly, the microscopic images were segmented. And then the spectral information and object geometry information of microscopic images objects were comprehensively applied to build the road extraction knowledge base. Thirdly, the results of vein extraction were improved and completed in order to increase the integrity of the vein network. The results showed that the optimal thresholds for leaf vein extraction were: scale parameter was 200, shape parameter was 0.7, tightness parameter was 0.3, brightness characteristics value was 230~280, spectral characteristic value was 180~230, geometric feature value was greater than 1.5. The extraction of leaf vein density measurement was more than 93%, which had high universality.

Abstract:In the research of pig body size measurement based on machine vision, the demand for posture of pig is high. Image frames of ideal posture need manual selection, which limits the application of body size measurement based on machine vision. To improve the image utilization rate and the efficiency of pig body measurement, pig species of Landrace and Large White were taken as the researches object. Kinect camera was used to obtain video data of pigs. An algorithm was proposed which can detect the posture of pig in the image. In this algorithm, the minimum external rectangles were computed to adjust the level of the pig’s body. Head and tail positions were identified by projection and difference methods. Boundary signature was used to determine whether part of the ears was missing. Image skeleton algorithm and Hough transform algorithm were applied to judge whether the pig body was skewed. On this basis, algorithms for measuring pig body size were designed. The top view and side view of video had 52016 frames, respectively. These frames of 103 sets of video data were tested by the posture detection algorithm and body size measuring algorithm. And 2592 frames of ideal posture frames were screened out. It produced high false negatives (432 frames) and very low false positives (0 frames). The results showed that the absolute deviation of body length was small. The body length deviation of each frame was less than 23%, and the consistency of the measurement results was high. The average accuracy of body width was 95.5%, the average accuracy of body height was 96.3%, and the average accuracy of body length was 97.3%. This research can be used to measure pig body size based on machine vision to improve measurement efficiency.

Abstract:The precision detection of wheatplanter seeding quantity is the key of the automation control and the foundation of realizing precise seeding. Currently, existing seeding detection methods mainly include photoelectricbased methods, imagebased methods and capacitancebased methods. For the photoelectricbased method, the detection accuracy of photoelectric sensor is affected by the vibration, light, temperature and other factors on the farmland. For the imagebased method, its high precision detection provides a new way to improve the performance of wheatplanter seeding. However, image processing technology requires special equipment with high cost, and cameras are easy to be interfered by external light. Consequently, it is difficult to be widely applied in the complex environment on the farmland. Compared with photoelectricbased and imagebased methods, the capacitancebased method is less affected by light and dust and thus has a strong environmental adaptability. Aimed at the problem of precision detection of wheatplanter seeding quantity, a precise detecting system for wheatplanter seeding quantity was developed based on the capacitance sensor. The corresponding parallel plates were designed to improve the detecting accuracy of the capacitance sensor. Then, the relationship between capacitance value and the quantity of wheat seeds under two modes of singleseed falling and severalseed falling was investigated in detail. For the mode of singleseed falling, a differential dynamic threshold method was proposed to detect the number of wheat seeds. The experiment results indicated that the maximum relative error was 1.54%. For the mode of severalseed falling, the least squares regression model between wheat seeds quantity and capacitance integral value was established at interval of 5r/min ranged from 20r/min to 55r/min. The experiment results showed that according to the principle of the actual speed and the closest speed to select the corresponding regression model，the system had high detection accuracy for different seeding speeds, and the relative error was between -2.16% and 2.23%. Consequently, the proposed system can achieve high detection accuracy under the different seeding modes and different seeding speeds.

Abstract:In order to solve the problem of poor uniformity of wheat precision seed metering device used in wide seedling strip, combined with wheat precision seeding technology, a kind of hookhole type wheat precision seed metering device used in wide seedling strip was proposed to ensure uniform distribution of seeds in rows, and the seeds in rows were not scattered. The design and theoretical analysis of key parameters were carried out. Single factor test on the effects of the horizontal distance of the seedlayer thickness adjusting plate, the arrangement of the hole, the number of hole, the inclination angle of the hole and the inclination angle of the bottom plate in seed box on seedfilling performance were studied by EDEM discrete element software, and then the parameters were determined. On this basis, the multiple quadratic regression rotation orthogonal combination test was carried out with the rotation speed of the typehole wheel, the vertical height of the seedlayer thickness adjusting plate and the length of the hole, and then the test data was analyzed by Design-Expert 8.0.6 software. The regression model and the influence of factors on the index were obtained. The influence relation of factors on the single rate was determined and the order of importance was the length of hole, the vertical height of the seedlayer thickness adjusting plate and the rotation speed of the celltype wheel in turn. Interaction between the length of cell and the rotation speed of the celltype wheel can not be ignored. The order of importance to the qualified rate was the vertical height of the seedlayer thickness adjusting plate, the rotation speed of the celltype wheel and the length of hole in turn. Based on the regression model, the parameters were optimized. The optimization results of the target parameters showed that when the rotation speed of the celltype wheel was 23.05r/min, the length of the hole was 7.00mm, and the vertical height of the thickness adjusting plate was 25.00mm, and then the qualified rate was 98.59%. The seed metering device under the optimized parameter combination was tested for seedfilling performance and seedmetering performance. The results showed that the qualified seedfilling rate was 98.01%, and the relative error between the test verification result and the simulation optimization result agreed well. The reliability of the simulation optimization result was verified. The variation coefficient of the seedfilling qualified rate among the four rows of seeders was only 1.20%, and the variation coefficient among the rows of the wide strip was small; the qualified seedmetering rate was 90.03%, coefficient of variation of the seedfilling qualified rate between rows was 1.50%, coefficient of variation of uniformity in a row was 16.54%. The performance of seed metering was much better than that of existing common grooved seedmetering device. The wheat precision seed metering device of hooktypehole solved the problem of nonuniform distribution of random scattered distribution in outer groove wheel seed metering device used in wide seedling strip. The research results provided a reference for the design of the wheat precision seeder used in wide seedling strip.

Abstract:Panax notoginseng is mainly grown in Yunnan Province. The row spacing and plant spacing of the seedlings of Panax notoginseng are about 5cm. In order to achieve highdensity precision seeding of Panax notoginseng，overcome the problem of easy blockage of trenching，a hole precision seedmetering device was designed. The main structure and the working principle of the metering device were expounded. The key structure parameters were determined through theoretical calculation according to planting requirements. According to the extensive testing combined with the experimental results of relevant scholars，the main factors which affected seeding performance of holedrop planter precision seedmetering device were determined，which were pricking hole column diameter，forward velocity and dropping seeds point to the pricking hole roll distance. The Panax notoginseng seeds in Wenshan were chosen for sowing object. Based on the threefactor fivelevel quadratic orthogonal rotating combination test method, the influences of pricking hole column diameter，dropping seeds point to the pricking hole roll distance and forward velocity on sowing performance were explored. The experimental results showed that the influence of negative pressure on the qualified rate was very significant (P<001). Based on the results of examination，it was found that the fitting of the equations was good，the best parameter combination was pricking hole column diameter of 24.5~29.5mm， forward velocity of 0.44~0.61m/s and dropping seeds point to the pricking hole roll distance of 330mm， and under the optimal condition，the qualified index was more than 90%，the missing index was less than 5% and the multiple index was less than 5%. The holedrop planter precision seedmetering device met the standard and requirements by comparing the results with the national standard and Panax notoginseng planting requirements. Field experiments were conducted to examine the performance of 2BQ-15 type precision planter for Panax notoginseng，the qualified index of the plantor was up to 93.5%，when the operating speed was 0.35m/s. The results indicated that precision seeding device for holedrop planter can meet the requirements of Panax notoginseng seeding.

Abstract:Aiming at the problems of complex topography, low level of potato mechanization and small planting scale in hilly mountainous areas of China, a triangular chain half cup spoonshaped potato precision planter was designed, which can realize the integration of fertilization, sowing, ditching and ridging, shaping, soilcovering and soilcompacting. The transmission mode of the “up and low” two sprocket of the traditional chain spoon potato planter was changed to the “triangular arrangement” of three sprockets, which increased the horizontal clearance area, relied on the gravity clear species, reduced the damage of seed potato, and realized the requirement of singlegrain precision sowing. Changing the spoontype device into a halfcup seedtaking device effectively increased the number of seed taken and improved the reliability of the seed taking. The working parameters of the fertilizer discharging system, the boottype opener and the seeding system were determined by the analysis and calculation. A set of ditching and ridging, shaping, soilcovering and soilcompacting device was designed to solve the problem of low ridge height and uneven ridge formation caused by large land viscosity in hilly mountainous areas. The field test results showed that when the working speed was 1.9~2.0km/h, the qualified grain distance index was 83.26%, the rebroadcasting index was 8.36%, and the missedairing index was 8.38%, the coefficient of variation was 22.31%, and the stability coefficient of the ridge height, ridge bottom width, ridge width and ridge distance were all above 97%. Performance index met national standards.

Abstract:To effectively reduce the damage to seedling stem caused by transplanting mechanism in the process of picking seedling，for the seedling pickup device penetrating into the root mass，an innovative extensible potted tomatoes seedling transplanting mechanism was proposed. Kinematic theory model was established according to its characteristic and working principle，computeraided analysis and optimization software was developed and used to obtain a set of structure parameters that satisfied the potted tomatoes seedling transplanting requirements. Absolute angle of the transplantingarm and absolute trajectory was analyzed，and the rationality and feasibility of the structural parameters were verified. The threedimensional modeling of the transplanting mechanism was established, which was used for the simulation testing，a physical prototype of the transplanting mechanism was subjected to the test bench on which the highspeed photography experiments were conducted，the results of working trajectory， theoretical trajectory and the virtual trajectory were essentially identical，verifying the validity and feasibility of the design. The performance test showed that the seedling picking was satisfactory as 92.8%，the transplanting success rate was 89.7％，the acceptability of planting was 86.4％ and the planting excellent rate was 59.4％，the quality of transplanting was satisfactory. The transplanting mechanism can meet the technical requirements of tomato pot seedlings transplanting，which would provide references for the design and development of the tomato transplanting mechanism.

Abstract:At present, the vegetable transplanting machinery in China is mainly semiautomatic transplanting machines. The transplanting efficiency depends on the speed of artificial seedling pickup, its productivity can no longer meet the market, and the efficiency of twoarm rotary automatic seedling pickup mechanism also has the potential to improve. In order to realize the highspeed seedling pickup operation, it was studied to increase the number of seedling pickup arms in the case of keeping the rotation speed of the seedling pickup mechanism unchanged. A threearm rotary vegetable plug seedling pickup mechanism under the condition of satisfying the specific seedling pickup action posture was designed. Mechanical seedling pickup was used instead of artificial seedling pickup to simulate a reasonable seedling pickup trajectory. Based on Visual Basic 6.0 auxiliary analysis software was developed and a set of institutional parameters that met the requirements of seedling pickup work were obtained through humancomputer interaction. Then a threedimensional model of the seedling pickup mechanism was established and the physical prototype assembly was completed. At rotation speed of 35r/min, the seedlingpicking speed of seedling pickup mechanism was 105 plants/(min·row), the running trajectory of the mechanism was very close to the simulation trajectory through camera analysis. The picking seedling test of the Coleus blumei seedlings was carried out and the test showed that the success rate of picking seedling reached 91.2%. It was proved that the design of threearm rotary vegetable plug seedling pickup mechanism was feasible.

Abstract:An electric control system of sprayer was designed, which was driven by pure electric power and realized the unmanned selfpropelled function. The STM32F103ZGT6 microprocessor was used as core and KeilμVision5 development platform was adopted in the system. Based on modular thinking, the development of sprayer power system, network communication system, steering system and spraying system was respectively carried out to realize remote control, precise walking and intelligent spraying. The field test results illustrated that when the sprayer was steered at speed of 2~4km/h, the maximum rotation angle of the outer wheel was 23°, the minimum turning radius was 1.45m, and the turning path had no deviation, the steering was reliable. The average offset was 2.42m when the sprayer was straight running for 50m, the average deviation was 4.84cm/m, the offset was small, and the sprayer can be accurately controlled to drive by the route through the remote control. When the sprayer was spraying at top speed of 10km/h, the effective climb gradient was less than 25°. The sprayer was tested in field, the maximum cruising time was greater than or equal to 5.50h when the driving speed was 2~10km/h with sufficient power storage. In the maximum battery life, the number of dropped calls of network communication was no more than 1, and the communication reliability was good. When the remote control distance of the sprayer was in the range of 0~500m, the speed adjustment control, steering control and the response time of liquid medicine electromagnetic valve control were all less than 0.4s. The general working condition of field operation was satisfied. This control system can effectively realize the separation of man and machine, ensure the safety of operators, suitable for most small farms, and effectively improve the operation efficiency of wheat plant protection.

Abstract:The main technical problem of potato mechanical partition harvest is the large workload for farmers to pick up, high labor intensity and low harvest efficiency. A potato combined harvester based on multistage separation technology was developed on the basis of planting patterns and agronomic requirements. It could implement digging, potatosoil separation, soil cleaning and potato gathering simutaneously under the condition of double ridge and double row. The harvester was worked by the tractor’s traction, the key parts of the harvester included depth control device of loosing soil, device of cutting soil and seedings, device of digging, shaking device of potatosoil separation, device of transition separation, device of removing soil and impurities and collecting device. The harvester adopted multistage separation technology, which could effectively improve the separation efficiency of potatosoil, reduce impurity content and labor intensity significantly. Field tests showed that loss rates were 1.64% and 1.59%, damage rates were 1.72% and 1.48%, and bruising rates were 2.31% and 1.92% and the productivity were 0.41hm2/h and 0.54hm2/h when the harvesting speeds were 3.17km/h and4.16km/h, respectively. All the performance indexes met the requirements of NY/T 648—2015 Technical Specification for Quality Evaluation of Potato Harvester. In addition, the dynamic impact information of potatoes was obtained during harvesting based on the impact detection technology. It was confirmed that the key position of the combined harvester to produce greater impact force was the junction of separation sieve Ⅰ and separation sieve Ⅱ and the end of collecting device. Reducing the height difference between separation sieve Ⅰ and separation sieve Ⅱ and improving the buffering effect at the end of collecting device were effective measures to reduce damage rate and bruising rate. It could provide a technical reference for further exploring the technology of potatosoil separation and the research of potato combined harvester.

Abstract:During the field operation of high clearance selfpropelled sprayer, due to the high ground clearance, large quality and volume of whole vehicle, leading to difficulties in line changing and transfer operations that affects the efficiency of operation. In order to improve the operating efficiency of the sprayer, a steering mechanism and hydraulic steering system was designed, a control method of four wheel steering system based on PID was also proposed. Based on the mathematical model of the full hydraulic steering system, the simulation analysis of the steering system was carried out by Matlab/Simulink, the simulation result showed that: during the four wheel steering (4WS) process, the rear wheel followed the front wheel with a hysteresis of 0.04s, the maximum angle following error was 2.82°, the error was within the allowable range of Ackermans steering theory which satisfied the steering requirements. Then based on the developed 3WPG-3000 high clearance selfpropelled sprayer, a multiwheel steering system real vehicle test platform was built, and the tracking control test of the rear wheel to the front wheel angle was carried out，the result showed that during the random steering test in the field, the maximum angle following error was 2.60°, meeting the requirements of 4WS, verification of the responsiveness, accuracy and stability of the designed multiwheel steering system. The research results provided a theoretical basis for the development of multiwheel steering system of high clearance selfpropelled sprayer.

Abstract:Nowadays, the manual harvesting is the most common harvesting method of Lycium barbarum (L. barbarum), but the efficiency of the manual harvesting is low and the cost of that is high. In order to achieve the goal of high efficiency and low damage of the mechanical harvesting of L. barbarum, a portable vibrating and comb brushing harvester for L. barbarum based on the principle of vibrating and comb brushing was designed. Based on the separation principle of L. barbarum and the carpopodium, the mechanical model was adopted by single centralized mass method to establish the dynamic model of the harvester and the equations of the displacement, velocity and acceleration of contact point of ripe L. barbarum applied load by the harvester were obtained. In order to optimize the structure and working parameters of the harvester, the kinematics and dynamics simulation of the harvester was done through ADAMS. Results showed that the combination that the revolving speed of comb brush was 60～70r/min, the revolving speed of cam was 25～35r/min and the style of comb brush was Ⅱ, which was helpful to harvest L. barbarum. Three factors and three levels quadratic orthogonal revolving experiment was adopted to establish the mathematical model between the harvesting rate of ripe L. barbarum, harvesting rate of unripe L. barbarum, damage rate of ripe L. barbarum and revolving speed of comb brush, revolving speed of cam and style of comb brush. The influences of various factors on the harvesting rate of ripe L. barbarum, the harvesting rate of unripe L. barbarum and the damage rate of ripe L. barbarum were analyzed and the best combination was determined as the revolving speed of comb brush was 64.52r/min, the revolving speed of cam was 29.68r/min and the style of comb brush was Ⅱ. Field experiment results showed that the harvesting rate of ripe L. barbarum was 8912%, the harvesting rate of unripe L. barbarum was 5.87% and the damage rate of ripe L. barbarum was 6.24%. The research result provided a design basis for the later research of vibrating and comb brushing harvester for L. barbarum.

Abstract:Taking industrial and mining reclamation land as the research object, based on the ASD FieldSpec 4 hyperspectral remote sensing data, combined with the field survey data of soil heavy metal attributes, using regression analysis and feature selection methods, the retrieval research and experiment of soil heavy metal content based on hyperspectral data were carried out, and the selection and comparison of empirical models were conducted. The correlation between soil heavy metal concentration and spectral data was effectively improved by the first derivative and logarithmic reciprocal etc. On this basis, three regression analysis models, including partial least squares regression (PLSR), random forest regression (RFR) and support vector machine regression (SVMR) were used to carry out the inversion experiment of heavy metal content in soil. The results showed that the partial least squares regression (PLSR) had the highest precision for the retrieval of heavy metal concentration in the reclaimed soil, especially for the cadmium (Cd) concentration, which was the main obstacle factor in the area. The determination coefficient (R2) of fit for the set was 0.76. Particle swarm optimization (PSO), genetic algorithm (GA) and Relief F were used to optimize the partial least squares regression (PLSR) model. The results indicated that PSO can effectively reduce the dimension of characteristic band variables and further improve the model inversion. And the R2 of fit was increased from 0.76 to 0.84. In conclusion, based on hyperspectral data, the combination of partial least squares regression (PLSR) and particle swarm optimization (PSO) can effectively measure the concentration of heavy metals in the soil of industrial and mining reclamation area, and it can provide theoretical methods and technical support for the detection of land quality and ecological indicators in the reclamation area.

Abstract:Massive meteorological data is limited in storage and analysis on the traditional WebGIS platform. A distributed computing and storage framework based on Hadoop to manage and analyze a large number of meteorological data was proposed. The HDFS distributed file storage framework was used in Hadoop ecosystem to store and manage massive meteorological data. In the aspect of parallel computing and analysis of massive data, MapReduce was used as the basis of distributed computing programming model. This model can make decision for agricultural production by analyzing massive climatic data. The application of regional large data decision analysis suitable for crop growth and the analysis of large data for meteorological disaster assessment were tried out. It had great application value for the research of climate change information extraction and analysis in agricultural production decisionmaking and other fields. Finally, the frontend pages displayed the analysis results in threedimensional form by using the geographic information system spatial visualization technology, which made the analysis results more intuitive, and easier to analyze and decisionmaking, and then the impact of size of data and the number of nodes in the cluster on computing timeconsuming was analyzed and compared, and the configuration was tuned the most efficient. Experiment results showed that using distributed multinode cluster can effectively improve the storage and calculation efficiency of massive meteorological data, and solve the limitations of traditional WebGIS platform.

Abstract:Forest landscape spatial pattern and identification differences in their internal hierarchical characteristics are important basis for forest resource management and ecological environment planning. Huocheng forest farm, locating in the western section of north slope of Tianshan Mountain in Xinjiang, a place with relatively stable landscape diversity, was selected as typical study area, based on forest resource inventory data for management and digital elevation model (DEM) date, and with the support of geoinformation system (GIS), dimension reduction method of principal component analysis (PCA) and landscape pattern indices (LPIs), the spatial patterns and grading characteristics of forest landscape in the forest region were studied through landscape classification and landscape index analysis. The following results were obtained. In the first place, the forest landscape pattern had obvious hierarchical characteristics in the north slope of Tianshan Mountain. At different levels of organizational hierarchy, landscape was seriously fragmentized, and the patch size showed considerable spatial variability, in addition, with the refinement of forest landscape organizational hierarchy, spatial variability of some landscape indexes core patch area, fragmentation, landscape richness, adjacency were increased. In the second place, at a higher grade level, patches density (PD), average patch area (AREA_MN), landscape shape index (LSI) and perimeter area fractal dimension (PAFRAC) were key indexes for summarizing the spatial pattern of forest landscape. The research result can provide a strong reference for optimizing forest landscape pattern and healthy management of forest landscape resources in landscape level by using the dimensionality reduction method of landscape pattern information. Most noteworthy, the protection and refinement management of forest landscape resources should be fragmentation, richness and spatial adjacency of landscape.

Abstract:The evaluation of cultivated land quality can provide support for the management of cultivated land quality. In order to objectively obtain the distribution of cultivated land quality in the province and reduce the evaluation error caused by time breakpoints, an evaluation method of cultivated land quality was constructed based on NPP inversion of longterm sequence remote sensing data. Firstly, rice and maize were identified by using timeseries LSWI and EVI data under the constraints of ploughing maps. Then, the MODIS MOD09A1 data from 2000 to 2010 were used, combined with the meteorological site data, the VPM model was used to calculate the NPP of rice and corn respectively, and the average NPP value was obtained for many years, reflecting the longterm growth of cultivated crops. The anomaly analysis method was used to eliminate the differences in crop types, and the evaluation results of the quality of cultivated land were obtained. Finally, with Jilin Province as the research area, the method proposed was empirically analyzed. The experimental results showed that the longterm sequence NPP cultivated land quality inversion results were consistent with the overall spatial distribution of cultivated land quality utilization. Among them, the inversion results were accurate in the central and northern parts of Jilin Province due to the concentrated arable land. The plaques in the southern mountainous areas were broken, and the cultivated land was mixed with the forest land, resulting in high inversion results. Therefore, the longterm NPP cultivated land quality evaluation method constructed was feasible for the evaluation of provincial and central contiguous arable land quality, and can provide scientific support for the evaluation of cultivated land quality in China.

Abstract:A set of ultrasonic echo signal detection system was constructed based on lowcost ultrasonic sensors, and a quantification test bench was established based on the cylindrical surface leaf blade distribution model. Based on the orthogonal center composite design experiment, a quantitative relationship among the mean value of ultrasonic echo signals, canopy density and detection distance was established, namely the plant canopy density quantitative model. The variance analysis of the established plant canopy density quantification model showed that the plant canopy density quantitative model was very significant, and the loss of quasisimulation was not significant. The R2 and predicted R2 by the plant canopy density quantification model were 0.9885 and 0.9114, respectively, indicating good agreement between the experimental values and the predicted values. In order to verify the reliability of the established plant canopy density quantitative model, four canopy densities were used in indoor to perform verification tests at three different distances. The experiment results showed that the minimum relative error between the measured value and the model measured value was 1.230%, the maximum relative error was 13.650%, and the average relative error was 6.120%. The plant canopy density quantitative model had a good applicability to the canopy density measurement of the indoor test bench. Three Osmanthus trees were selected to verify the model in the outdoor and nine test points were selected for each tree. The experiment results showed that the minimum relative error of the measured density and the model density was 3.959% and the maximum relative error was 20600%, and the average relative error between the measured density and the model measured density of three Osmanthus trees was 11.244%, 12.246% and 9.628%, respectively. Therefore, the plant canopy density quantitative model established was suitable for outdoor density measurement of Osmanthus trees.

Abstract:In order to solve the problem of remote sensing image plant community background, only the traditional image processing method based on pixel spectral information fails to make full use of its image feature information, which makes the extraction effect poor. Aiming at the complex features of plant species and the blurring of interclass boundaries, the continuous distribution of regions was taken as the research object. A highresolution remote sensing image plant community automatic classification based on the convolutional neural network (CNN) was proposed. The UAV images were segmented to obtain regular block images, and the features of block images were abstracted and learned by CNNbased VGGNet and ResNet models to automatically acquire deeper abstract and more representative image block deep features. The extraction of the plant community distribution area was performed to output the automatic classification results of the plant community in the form of superposition of the original image and the result image. The number of samples with different gradients was used as the training sample. The influence of the number of training samples with different gradients on the automatic classification results was analyzed by the proposed method. The experimental results showed that the number of training samples had a significant impact on the classification accuracy. After improving its generalization ability, the modeling accuracy of ResNet50 model and VGG19 model was improved from 86.00% and 83.33% to 92.56% and 90.29%, respectively. The classification accuracy of ResNet50 model was varied from 83.53% to 91.83%, while the classification accuracy of the VGG19 model was varied from 80.97% to 89.56%. Compared with the traditional supervised classification method, the deep convolution network significantly improved the classification accuracy. Through the analysis of classification result, it was found that the number of training samples should not be less than 200, and the CNNbased ResNet50 model showed the best classification results.

Abstract:In order to explore the way of rational utilization of soil and water resources in coastal reclamation area, the feasibility of improving saline soil and water for irrigation with biochar was studied. A pot experiment was carried out in the soil of Jiangsu Yancheng reclamation area. By setting up the different soil biochar contents (0 and 5%) with three kinds of salinity (1g/L, 3g/L and 5g/L) in three growth stages (seedling, jointing and male stage, filling period), the cycle irrigation of fresh and saline water (“saline fresh fresh”, “fresh saline fresh” and “fresh fresh saline”) were carried out. The effects of biochar amendment and cycle irrigation on soil salt distribution and physiological growth of Maize (Zea mays L.) at different growth stages were studied. The results were as follows: maximum biochar Na+ adsorption was found at the highest salinity level. Under the three cycle irrigations of fresh and saline water, the salt content in the upper soil of 5% biochar treatment was significantly lower than that of the 0 biochar treatment. At the same time, the salt content in the lower layer was increased greatly, indicating that the biochar could alleviate the salt accumulation of surface soil and promote the soil salt moving to deep layer. The saline water irrigation reduced the maize photosynthesis capability parameters and chlorophyll content, because the salt resistance of maize was relatively weak in the nutrition stage, its inhibition was more obvious than that in the reproductive stage, while the treatment of biochar improved the photosynthetic parameters and chlorophyll content in all growth stages, and the favorable effect was especially significant in 5g/L saline water treatment. The plant height and leaf area of maize plant were decreased greatly and the maize growth was limited obviously under the “fresh saline fresh” alternate irrigation. Meanwhile, the amendment of biochar had a better gain effect on the plant height and leaf area of maize plant. The amendment of biochar improved the water condition of crops and mitigated the ion toxicity caused by salt stress. The leaves of maize showed lower leaf water potential and Na+/K+. The cycle irrigation method of “saline fresh fresh” and “fresh saline fresh” was not beneficial to the growth of maize, resulting in a significant decrease in the dry matter and yield index; the biochar amendment effectively reduced the stress effect of saline irrigation and promoted maize growth, thus enhancing the efficiency of cycle irrigation with fresh and saline water. In conclusion, the addition of biochar into soil was beneficial to land reclamation in coastal reclamation area, effectively controlling soil salinity and inhibiting soil secondary salinization. Furthermore, biochar can also improve the feasibility of cycle irrigation with saline water. Biochar mitigated the effect of salt stress in the sensitive period of crops due to its adsorption ability, reduced production loss and improved the saline water use efficiency. The research result can provide scientific basis and theoretical support for the rational development and utilization of saline water and the sustainable development of agriculture in coastal reclamation area.

Abstract:Evaporation capacity is the targeting index of water resources management and water disaster control under the global climate change. Attribution analysis of evaporation capacity concentrates on the annual scale in most researches. The verification of the corresponding attribution needs multiscale analysis. Daily meteorological data were selected at 819 stations in China from 1961 to 2015, in addition to potential evaporation (ETp). The trend and change points of annual ETp were excavated according to the time series analysis method at stations. Another special method was proposed based on diurnalscale total differential quadrature of Penman equation. This method was directly applied for the contributions of meteorological variables on the first order difference of daily ETp. It was further used for the accumulative contributions of meteorological elements on the changes in mean daily ETp. According to the contributions, the driving forces and corresponding reasons of the changes in evaporation capacity were analyzed. It was concluded that the mean value of the tendency rates was -33mm/（10a） at all stations. It spatially presented negative in Western and Eastern China and positive in Central China. Mean value of change points was 1987 at all stations. The driving force of decreasing ETp was decreasing net radiation in Eastern China. Corresponding accumulative contribution rate was 280. The driving force of decreasing ETp was increasing relative humidity in Western China. Corresponding accumulative contribution rate was 175. The driving forces of increasing ETp were increasing temperature and wind speed in Central China. Corresponding accumulative contribution rates were 355 and 121, respectively.

Abstract:Crop growth directly depends on natural elements such as precipitation, light and temperature, and which is most sensitive to global climate change. Based on the meteorological observations and solar radiation data of Henan Province from 1960 to 2015, the corn climatic production potential of 159 countylevel spatial units was estimated by using the gradual correction method and the planting space of corn was optimized. The results showed that under the background of global climate change, driven by both temperature and precipitation, the climate productivity potential of maize in Henan Province showed an inverted Ushaped dynamic change from 1960 to 2015. The space of high climate potential of maize production continued to migrate to the west of Henan Province, and the disadvantaged climate potential areas were concentrated in the north of Henan Province since 2000. And 61.11% of the advantage cultivation area coincided with the advantage potential area, but there was a big deviation between the other potential areas and the current situation of planting areas. There were three types of corn planting: increasing planting scale appropriately, decreasing planting scale gradually and maintaining stability.

Abstract:It is of great importance to intuitively exhibit the spatial distribution characteristics of soil organic carbon density (SOCD) in range of 0~40cm soil depth and analyze the main influencing factors of organic SOCD. SOCD in dry farming region was calculated based on the sampling points obtained in 2017. The spatial threedimensional distribution characteristics of SOCD was simulated by inverse distance weighting method, and the influencing factors of SOCD was analyzed with the help of geographical weighted regression. The results showed that the SOCD in northeast was higher than that of southwest, and SOCD in different types of soil had large difference. Climate was the major influencing factor on SCOD in dry cropping areas. Moreover, climate and clay content had upward tendency to SOCD with the increase of soil depth. Annual average temperature had negative correlation with SOCD. It can be seen from the space that the regression coefficient was the highest in the northeast dry farming region of Heilongjiang Province, followed by Jilin and Liaoning Provinces in the central region of Heilongjiang Province and low in North China in all subregions, the regression coefficient of precipitation and SOCD was lower than 001, and the correlation was very small. The clay content was positively correlated with SOCD. The research results could provide effective support for estimating of organic carbon reserves and promoting carbon sequestration and emission reduction policies in the future.

Abstract:In order to explore the response of photosynthate production characteristics of rice to water consumption process in black soil region, the experiment was carried out by lysimeter at the rice irrigation experiment station of Heilongjiang Province in 2017. The U7（76） experiment was conducted to analyze the effects of water consumption at each stage on photosynthate production characteristics of rice. The results showed that the effect of water consumption at early tillering stage and milky stage（ET1 and ET6）on tiller rate was not significant. Water consumption from the midtillering to headingflowering（ET2~ET5）had a significant effect on tiller rate, influence order from large to small was ET4, ET5, ET3 and ET2. There was significantly positive correlation between water consumption at the late tillering stage and leaf area index. Leaf photosynthetic potential was most sensitive to ET4 response. There was significantly positive correlation between ET3 and effective leaf area rate, ET4 was significantly and positively correlated with effective leaf area ratio and high efficient leaf area ratio; ET5 was significantly and positively correlated with the maximum dry matter accumulation and population growth rate. ET1, ET3 and ET6 had no significant effect on the output rate of stemsheath matter. ET2, ET4 and ET5 had significant effects on the output rate of stemsheath matter（P<0.05）, effect order from large to small was ET5, ET2 and ET4. For the conversion rate of stemsheath matter, the effect of ET1 and ET4 on the conversion rate of stemsheath matter was not significant, the effect of water consumption at other stages on the conversion rate of stemsheath matter was significant (P<0.05). Impact order from large to small was ET5, ET6, ET3 and ET2, and the impact of ET3 on the conversion rate of stemsheath matter was negative. There were linear relationship between stomatal conductance, transpiration rate, chlorophyll content and net photosynthetic rate in the leaves, the relationship between intercellular CO2 concentration and net photosynthetic rate was quadratic function curve. The response of leaf chlorophyll content and net photosynthetic rate to ET4 and ET5 was remarkably significant（P<0.01）. There was a significant negative effect of ET3 on net photosynthetic rate. 

Abstract:n agricultural production, the characteristics of water absorption and release of super absorbent polymers (SAP) are generally affected by soil solution and nutrient icons. The study on SAP of absorption and release of water and nutrients was mainly focused on through laboratory tests. These tests were used to investigate the kinetics of repeated absorption and release of water and nutrients in three particle sizes of SAP (0.8~1.6mm, 1.6~3.5mm and 3.5~5.0mm) at different NH4H2PO4 concentrations (0.02mol/L, 0.04mol/L and 0. 08mol/L). The results indicated that the water absorption rate of SAP reached the maximum value initially, and then decreased gradually and finally tended to reach the swelling equilibrium state. The water absorbency was decreased with the increase of solution concentration while water absorbency under different particle sizes of SAP ranked as follows:1.6~3.5mm, 3.5~5.0mm and 0.8~1.6mm. Meanwhile, the water absorbency was decreased with the 〖JP〗increase of water absorption times. The ability of SAP to absorb water and the amount of water released per hour were decreased with the increase of rotational speed (soil suction). The water retention rate was decreased with the increase of solution concentration when releasing water, while the water retention rate under different particle sizes of SAP ranked as follows: 0.8~1.6mm, 3.5~5.0mm and 1.6~3.5mm. However, the influence of centrifugation times on water retention rate was not significant. The concentrations of NH+4N and PO34P of the released solution were decreased with the increase of rotational speed (soil suction). The cumulative amounts of NH+4N and PO3-4P were increased with the increase of concentration of solution, while the cumulative amounts of NH+4N and PO3-4P under different particle sizes of SAP ranked as follows: 1.6~3.5mm, 3.5~5.0mm and 0.8~1.6mm. The cumulative amounts of NH+4N and PO3-4P were decreased with the increase of centrifugation times. It can be concluded that the amount of water absorbing, releasing and nutrient releasing at particle size of 1.6~3.5mm for SAP were much more than the other treatments.

Abstract:The extraction of shoulder lines of valleys on the Loess Plateau is the basis of constructing the surficial spatial distribution of soil and water loss. A shoulderline extraction method was proposed by using optimized topographical texture information. Based on the 1∶10000 DEM data and GF-1 remote sensing images, areas with obvious shoulder lines of valleys on the Loess Plateau were taken as the research object. Considering texture features of the gray level cooccurrence matrix of the terrain, along with geometrical structures of ground objects, terrain texture and differences of adjacent pixels, the gully edge of the typical watershed was extracted by using the objectoriented method. The extraction results were further validated by comparing with the morphological characteristics of the slope and the draining characteristics of the catchment. The results showed that elevation, illumination simulation, surface depth of cut, slope and other related weakness, as well as the topography texture features such as homogeneity, variance, contrast, correlation, etc., were employed in the ridgeline extraction. Compared with empirical interpretation based on experts’ knowledge, offsets within four pixel for over 90% of the grid, with the average of absolute errors within 2~3 pixel and the maximum error was 4~6 pixel. The method fully exploited the features of strong correlation and heterogeneity between pixels in the upstream and downstream of the ditch margin, which had strong antinoise ability and effectively weakened the mixing of positive and negative topography units. It also reduced the data redundancy of postprocessing, and realized the balance of classification accuracy, efficiency and operability, which provided an effective method and approach for the macroscopic landform differentiation on the Loess Plateau.

Abstract:Volatile fatty acids (VFAs) production process via anaerobic digestion from rice straw is highly promising due to the preferable economic value of mixed shortchain fatty acids. However, the VFA fermentation has critical disadvantage as low digestion rate of rice straw owing to the relatively short digestion time. To increase the VFAs yield and enhance rice straw utilization, the anaerobic digestion (AD) digestate from the VFAs production was exploited for the second stage VFAs production. The first stage VFAs production was conducted by three different pretreatment methods and three different fermentation temperatures, thus the AD digestate of all sets after fermentation was used as substrates for the second stage VFAs production, and VFAs potential production for all AD digestate sets still needed to be investigated. The AD digestate of all sets was directly fermented at the same temperature of 35℃ for the second stage VFAs production without further additional pretreatment. The results revealed that all sets can have more stable and suitable pH value at the second stage. Both hydrothermal and 2% HCl sets had higher VFAs yield at the second stage. The maximum VFAs yield was achieved under the condition of 1% Ca(OH)2 pretreatment and temperature of 35℃. By combining the two stages together, the total VFAs yield of 1% Ca(OH)2 group was enhanced from 0.07~0.20g/g at the first stage to 0.27~0.38g/g in total. The mass balance analysis was based on the hypotheses that the initial substrate was 100g rice straw and 1% Ca(OH)2 pretreatment was chosen at the first stage. The 1% Ca(OH)2 and 35℃ group produced 12.24g VFAs at the first stage and 11.69g VFAs at the second stage. The VFAs yield for the combined twostage was 95.5% greater than that of the first stage. The research result could provide useful reference for enhancing VFAs yield by further fermentation of the AD digestate obtained from the first stage.

Abstract:Aiming to analyze the flow field characteristics of the vortex separator in the circulating biological flocculation system, the test scale vortex separator was taken as the research object. The noncontact flow field test technique, particle image velocimetry (PIV) technology, was used to measure the flow field in the test scale vortex separator and analyze different hydraulic powers of vortex separator. The distribution of velocity, velocity and vorticity in the flow field of cyclone separators (248 s, 83 s and 49 s) under residence time condition was analyzed. The results showed that under different HRT conditions, the lower left corner and upper region of the inner region of the vortex separator showed a certain vortex. At the same time, with the acceleration of the HRT, the velocity direction in the inner sleeve was approximately the same, only a small two flow was produced near the wall of the cylinder, and the velocity direction of the particle in the silo was also tending to be the same. Although HRT was accelerated, the axial and radial velocity was changed little, and the proportion of different size and velocity was basically the same; the clockwise and clockwise vortices were basically the same under different conditions, and the slower the HRT was, the smaller the vorticity of the flow field was, and the higher vorticity distribution tended to be uniform with the fast vorticity distribution of the HRT, that was, the high vorticity. The region was gradually increased; the PIV test limited penetration ability because of the certain laser energy. Therefore, the results of the complex structure to the PIV test still needed to be improved. The research results had important reference value for improving the structure of vortex separator and selecting the best working condition.

Abstract:In order to meet the requirements of apple internal quality inspection, the apple internal quality sorting manipulator was designed based on the visible/near infrared spectroscopy detection technology and the sorting manipulator. The device consisted of three parts: clamping mechanism, near infrared spectroscopy acquisition system and control system. The manipulator clamped the apple and collected the nearinfrared spectral data of the apple. The spectral data was analyzed by the predictive model in the upper computer software, and the spectral curve and predicted result were displayed. Based on this device, the visible and nearinfrared reflection spectra of apple in the range of 650～1100nm were collected. Totally 200 apples were used for the experiment, including 150 apples in the prediction set and 50 apples in the verification set. The soluble solids content of the apples was measured by temperaturecompensated refractometer after the collection of spectral information. The collected spectra were pretreated by Savitzky-Golay smooth (SG-smooth), standard normal variable transformation (SNV) and multiplication scattering correction (MSC). The partial leastsquares prediction model of the apple’s SSC was established with spectral data as independent variable and soluble solids as dependent variable. The prediction result that preprocessed with the multiscattering correction (MSC) method was the best. The correlation coefficients of the calibration set and the verification set of the prediction model were 0.9782 and 0.9701, respectively, and the root mean square errors were 0.2746°Brix and 0.3263°Brix, respectively. Finally, the accuracy of models was tested. The reflect spectra of 20 samples were collected, and then the real values of these samples’ SSC were measured. The prediction model could give satisfactory results with the correlation coefficient of 0.9573 and the root mean square error of prediction of 0.4224°Brix. The results indicated that this device can satisfy the requirements of apple internal quality detection with high accuracy and good performance.

Abstract:Currently, the near infrared transmission spectrum of moldy core in apples was seriously affected by the size of fruit. In order to solve the problem, a transmission spectrum correction method based on size of fruit was proposed. A spectrum acquisition platform was constructed to acquire the transmission spectra (350~1100nm) of 327 Fuji apples and their diameters were measured with a vernier caliper. The spectrum of healthy apples with diameter of 80mm was used as reference. Comparing the spectrum of 327 apples with the reference spectrum, a formula was built. The attenuation index of transmitted light in the fruit can be easily found by using the formula and diameters. Then the transmission spectrum was modified with the help of attenuation index. Error back propagation artificial neural networks (BP-ANN) and support vector machine (SVM) measurement model were established based on corrected spectrum and original spectrum. The results showed that the accuracy of the models based on corrected spectrum was much higher than those of the others, and its recognition accuracy rate reached 99.34% for the training set and 90.20% for the test set. The recognition rate of the model was 7.84 and 5.89 percentage points higher than that of the original spectrum. The results showed that the effect of the size on transmission spectra can be corrected by this method, and the method had high identification accuracy. Meanwhile, the results would provide theoretical basis for the development of online detection of internal quality in apples and provide a new idea for the study of internal disease detection models for different agricultural products.

Abstract:The supervision and verification of grain bulks is an important segment during storage. Reliable reserves monitoring method for grain storage can effectively guarantee national grain quantity security. To solve the problems such as time consuming, labor cost and other problems in the manual audit of reserves, a monitoring method for grain storage quantity based on correlation analysis was proposed. Firstly, the autocorrelation and intercorrelation of the temperature measurement planes in the grain bulks were analyzed, so that the abnormal date and planes were detected. Secondly, the autocorrelation and the intercorrelation of temperature measurement lines in the abnormal date were analyzed, and the abnormal lines were detected in the abnormal date. Then the autocorrelation and intercorrelation of the temperature measurement points in the abnormal temperature line were analyzed. The number of abnormal points was counted, and the type of abnormal occurrence and the abnormal proportion were determined according to the number. At the same time, the granaries were selected in three storage grain areas: low temperature zone, medium temperature zone and high temperature zone for correlation analysis. According to the analysis results, the threshold of autocorrelation coefficient of temperature measurement plane was set to be 08, the threshold of change rate of intercorrelation coefficient was [-0.15d-1, 0.15d-1]; the threshold of autocorrelation coefficient of temperature measurement line was 0.8; and the autocorrelation coefficient of temperature measurement point was 0.8. Meanwhile, the analysis results showed that the correlation between temperature measurement lines and points in short period can not be used as an anomaly criterion. The supervision test of grain storage was carried out. The test results showed that the grain storage supervision method based on the correlation analysis can not only realize the reserves monitoring, but also detect the local heating and other anomalies of grain bulk. The purpose was to analyze the correlation coefficient of grain temperature data in the granaries of several different grain storage areas, monitor the quantity of grain and provide a theoretical basis for the analysis of grain data in different regions.

Abstract:Temperature mismanagement and physical damage are considered as the most common causes for postharvest losses of fresh fruit. The partition packaging and common packaging without partitions were taken as research objects. A three dimensional mathematical shear stress transport (SST) k-ω model of computational fluid dynamics (CFD) was established to simulate the temperature and velocity field distribution of partition packaging and common packaging under the same boundary condition and the same initial condition. Compared with cooling time, cooling rate and cooling uniform of two packages, the partition package and common package were basically the same, the difference of cooling temperature was not more than 0.67℃, the maximum difference of cooling rate was 0.012℃/min, and the coefficient of temperature variation of partition packaging was slightly larger than that of common packaging temperature. The two kinds of packaging had the same precooling effect and met the precooling requirement in cold chain transport. Compared with experimental results, the root mean square error of two packaging results was 1.13℃ and the average relative error was 8.2%, which proved the rationality and accuracy of simulated result. The research result was of great significance for the relationship between balance temperature loss and physical damage.

Abstract:βCarotene is used as a precursor of vitamin A with potent antioxidant activity through singlet oxygen quenching and deactivation of free radicals. Nevertheless, the chemical instability of βcarotene limits its utilization as a nutraceutical ingredients in food industry. Tea polyphenols are often regarded as a highly effective antioxidant for some food applications. Antioxidants such as (-)epigallocatechin3gallate (EGCG) can play dual role in lipid oxidation in oilinwater emulsions in that it can scavenge free radicals but can also reduce transition metals to make them more prooxidative. Therefore, it is important to test the effect of EGCG on βcarotene degradation before it was used in foods. The chemical properties of βcarotene emulsions were characterized, which were stabilized by αlactalbumin (αLA) at different pH values with EGCG as antioxidant. βCarotene concentration and color during storage as well as interfacial EGCG concentration of the emulsions were measured. EGCG can inhibit βcarotene degradation in emulsions at both pH values. After 7 d storage, the percentage of βcarotene remained in the emulsions at pH value of 2.0 without EGCG and with 0.5000% EGCG was 50.45% and 89.37%, respectively. When the maximum concentration of EGCG (0.1000%) was added to the emulsion at pH value of 7.0, 93.48% of the total βcarotene remained after 7 d storage. The color was changed by EGCG addition in emulsions at pH value of 7.0, however, EGCG had no effect on the color of emulsions at pH value of 2.0. The concentration of interfacial EGCG was higher in the emulsions at pH value of 7.0 than that in the emulsions at pH value of 2.0 which can result in higher βcarotene remaining rate in the emulsions at pH value of 7.0.

Abstract:The space mutagenesis Lactobacillus paracasei A-4-2 with excellent acid production capability, which was preserved in the laboratory, was selected as the object. The characteristics of A-4-2, including morphology, tolerance, extracellular polysaccharide content and gene expression of βgalactosidase were measured by electron microscopy, low pH value and fluorescence quantitative PCR. The differences of the acid resistance, bile salt, extracellular polysaccharide, surface hydrophobicity and gene expression of βgalactosidase were also evaluated between wild strains and mutant ones. The results showed that there was no significant difference of the morphology between the mutant strain and the wild ones. The survival rate of mutant strain was significantly higher than that of wild one (P＜0.05), which was cultivated for 1h or 2h at pH value of 3.5. For the acid capacity evaluation of fermentation strains after 7d cultivation at different pH values, mutant strain on the number of living bacterium was significantly higher than that of wild one (P＜0.05), however, the ability of acid resistance, bile salt and extracellular polysaccharide was not changed, the surface hydrophobicity showed an significant decrease. The activities of βgalactosidase and gene expression were significantly higher than those of the original strain (P＜0.05). The results indicated that the activity of βgalactosidase was closely related to the acid production capability.

Abstract:Slightly acidic electrolyzed water is a kind of bactericidal preparation with pH value slightly lower than 7.0 by electrolyzing dilute hydrochloric acid solution or electrolyzing low concentration dilute hydrochloric acid and electrolyte (NaCl/KCl) under nondiaphragm condition. It has a strong ability to kill pathogenic bacteria, but there is little research on the ability and mechanism of killing fungal spores by slightly acidic electrolyzed water. The killing effect of slightly acidic electrolytic water on pure culture spore suspension and in situ culture of Botrytis cinerea was studied, and the germicidal mechanism of water on Botrytis cinerea was preliminarily studied by scanning electron microscopy and transmission electron microscopy. The results showed that the bactericidal ability of slightly acidic electrolyzed water to Botrytis cinerea was increased significantly with the increase of sterilization time and available chlorine concentration (ACC), and bactericidal rate can achieve 99.99% when the available chlorine concentration was not less than 30mg/L and kill time was 10min. The growth state of Botrytis cinerea colony in situ after treatment with slightly acidic electrolytic water showed that slightly acidic electrolytic water could inhibit colony expansion, and the higher the concentration was, the stronger the inhibition effect was. After 3d of treatment with slightly acidic electrolytic water with 30mg/L available chlorine, the mycelium gradually turned yellow and withered until death, and the colony was stopped. It was suggested that microacid electrolyzed water can kill the new spores of Botrytis cinerea and inhibit the growth of mycelia. Through microscope observation of scanning and transmission electron, it was found that treatment with acidic electrolyzed water can make separation of membrane and cell wall, cytoplasmic overflow and abnormal lysis of organelles. It was speculated that these may be the reasons which can achieve the bactericidal effect.

Abstract:In order to reduce the false alarm rate of autonomous obstacle avoidance for intelligent forklift trucks in dried fruit warehouse and improve the utilization rate of warehouse space, combining with the characteristics of the operating environment of forklift truck, and basing on the laser sensor SICK-LMS111 and SICK-NAV350, a dynamic identification zone that the detection range was changed along with the speed and equivalent steering angle was set up to effectively detect obstacles in the direction of travel. Then, feature control point obtained by obstacles was taken as the segmentation point, and the quartic fiveorder quasiuniform Bspline curves were used to generate the obstacle avoidance path by combining front and rear segments of curve, which met the multiconstraint conditions such as the minimum turning radius, the continuous curvature and the maximum angular velocity of steering wheel. By carrying out the obstacle avoidance path planning tests on the straight road section and the turning in the warehouse, the results showed that the obstacle avoidance paths satisfied various constraints, the curvature was not more than 1.06×10-3mm-1, equivalent steering angle was not more than 60°, angular velocity of equivalent steering wheel was not greater than 1.05rad/s, which effectively verified the feasibility of the algorithm. It can be used as a reference for obstacle avoidance technology of similar large warehouse intelligent vehicles.

Abstract:Aiming at the complexity of terrain in the hilly area of Southern China and the lack of traffic ability of traditional farmland transportation vehicles, an eightwheel unmanned ground vehicle with bionic hydraulic swing arm mechanism was proposed and designed. The vehicle was driven by hydraulic motor, controlled by line of sight remote and steers by slipping. The posture of the vehicle can be adjusted by four swing arms to adjust to accommodate different forms of ground barriers. The obstaclesurmount performance was the fundamental factor that restricted the adoption of the platform. So the unmanned vehicle attitude planning model and the obstaclesurmount dynamics model were established, and the barrier performance of the unmanned platform in the typical vertical obstacle was obtained. In order to verify the theoretical analysis, a secondary development simulation platform was established in ADAMS, and a prototype experiment on dynamics was carried out. The research result showed that the eightwheel fourarm unmanned ground vehicle can climb vertical wall with height of 1.13 times the diameter of the tire by the posture planning and dynamics performance, and had a good ability to pass through the complex ground environment to meet the walking demand of agricultural transport vehicles in the hilly terrain in complex farmland terrain.

Abstract:A novel parallel manipulator with two rotations and two translations was proposed. The moving platform of the parallel manipulator was connected to the fixed base through four kinematic limbs. Four prismatic joints can be used as actuations to fully control the motion of manipulator. The mobility and motion characteristic of the manipulator were analyzed by using Lie Group theory. Position model of the parallel manipulator was established. Inverse and forward position solutions were analyzed. It was demonstrated that the analytical expressions can be obtained for the inverse and forward position solutions. Partially decoupled motion characteristic of the manipulator was analyzed. Position of the moving platform can be determined by two limbs. Singularity analysis was conducted based on Jacobian matrix. Singular configurations, including inverse kinematic singularity, forward kinematic singularity and combined singularity were analyzed. Workspace and singularity curves were determined. It was found that the singularities located near the boundary of the workspace and the parallel manipulator had relatively high rotational capability. The rotational ranges in two directions were -44°~60° and -35°~52°, respectively. Performance analysis was carried out by using the method of motion/force transmission. Performance distribution over the orientation workspace was sketched. Global performance index was used in optimal design of the manipulator. The proposed parallel manipulator can be used in many fields such as five axis machine and motion simulator.

Abstract:The static performance of a new type of serialparallel hybrid bionic leg mechanism was analyzed. The bionic mechanical leg structure was composed of a 2DOF planar parallel mechanism and an RPR mechanism in series，which had the characteristics of large carrying capacity and fast walking. Firstly, the leg structure layout of the bionic robot was introduced, and the kinematics model of 2DOF planar mechanism was established. According to the kinematic model, the static transfer model of 2DOF parallel mechanism was established by using the virtual work principle. Secondly, the static bearing capacity performance evaluation index performance evaluation index and the force input equilibrium performance index were established by the vector extremum method, the distribution diagram of these two indexes in the working space was plotted, and the distribution law of these two indexes in the working space was analyzed. The analysis results showed that the static bearing capacity and moment equilibrium performance of 2DOF parallel plane parallel mechanism were distributed symmetrically. The performance index of mechanical bearing capacity was maximum at the bottom of working space, and was decreased gradually upward, and then it was minimum at the top. The torque balance performance index was better in the middle part of the working space. The worse the performance index was closing to the boundary, the worse it was for the mechanism. Finally, the correctness of the static analysis of performance was verified by some examples and simulations, which provided a reference for the trajectory planning of the serialparallel hybrid mechanical leg.

Abstract:The intelligent grasping robot can efficiently and reliably perform various handling tasks, reducing the labor intensity of the staff, and accurate object positioning was the basis for the robot to perform the handling task. A robotic grasping system was studied by using Kinect sensor. The robotic grasping system consisted of three subsystems (object detection system, object positioning system and robot motion system). The image information of the object acquired by Kinect sensor was firstly used to train a single multibox detection (SSD) model, and then the object’s category was detected according to the SSD model, the border of the object in the image and pixel coordinate and depth value of the border were obtained. In order to obtain the mapping between the coordinate information of the object in the threedimensional space and the pixel information in the image, the camera can be calibrated by ZHANG Zhengyou calibration method to obtain the intrinsic parameters, extrinsic parameters and distortion parameters. The robot system and the vision system were connected by the Kinect camera handeye calibration, and then the threedimensional coordinates of the object in the robot base coordinate system were obtained by coordinate transformation to realize the object positioning. Finally, the robot inverse kinematics was introduced to solve the joint angle, and the robot motion was driven to complete the grasping and carrying task. Object’s positioning and conveying experiments were conducted. The mean absolute error of the object in x and y directions was 5.2mm and 2.8mm, respectively. The mean absolute error of object height was 4.5mm. The success rate of the object grabbing and carrying experiment was 97%. The experimental results showed that the robotic grasping system proposed was valid to perform object detection, object positioning and conveying task.

Abstract:Agricultural robot technology can reflect the level of a country’s agricultural mechanization, and the level of agricultural mechanization is an important indicator of a country’s level of agricultural modernization. At present, the agricultural robots in China have made great progress. Taking an agricultural robot as the research object, and the robot kinematics method was used to analyze the relationship between various joints, including the analysis of positive kinematics and inverse kinematics. Firstly, threedimensional software was used to design the structure. According to the structural characteristics of the robotic arm, the D-H method was used to establish the link coordinate system. The relationship between two adjacent links was represented by a homogeneous transformation matrix, and the positive kinematics equations with joint variables as input were obtained. Based on the positive equation of motion, according to the structural characteristics of the robot arm itself and the actual working conditions, the constraints were set, and inverse kinematics analysis was performed by using the inverse transformation method. The analytical expressions of the joint variables were obtained. The results of the calculations of positive kinematics and inverse kinematics were mutually verified. The simulation model of the robotic arm was established by using Adams simulation software. The kinematics simulation was performed. The simulation results were in accordance with the theoretical calculations, and the correctness of the solution results of positive kinematics and inverse kinematics was verified. The research results provided a theoretical basis for followup trajectory planning of agricultural robot control, which laid a foundation for the intelligent operation of agricultural robots.

Abstract:The carrying capacity of a mechanism is closely related to its line vector force. A thorough isotropic analysis of line vector forces was presented. The results showed that the isotropic condition can be satisfied when the line vector forces were evenly distributed on a conical surface with a conetop angle of 109.472°. In addition, since few three degreesoffreedom (DOFs) translational redundantly actuated parallel manipulators were reported, by combining the isotropic line vector forces, a method for the type synthesis of 3DOF, redundantly actuated translational parallel mechanisms (PMs) was proposed, in which the arrangement of the active joints was taken into account in advance. Using this method, firstly a kinematic chain with a twist system reciprocal to both the constraint and actuation wrenches was constructed, and then the active joint reciprocal to the constraint wrenches but not to the actuation wrench was constructed. Thus, a series of typical redundantly actuated PMs with isotropic actuation forces were obtained. Finally, the 4P〖TXX-〗RRR PM was analyzed as an example, and the results showed that the isotropy of the loadcarrying capacity can always be satisfied during its movement, because the condition of force Jacobian matrix was always equal to one, which to some extent verified the correctness of the isotropic analysis and the synthesis method proposed in this research. For this method, it not only satisfied the expected requirements, but also meant that the active joints no longer needed to be selected, and the rationality of the selection did not need to be considered, which provided a new method for the type synthesis of parallel manipulators.

Abstract:Through the external torque observer based on generalized momentum and the admittance control scheme, the robotic dragging teaching without torque sensor was realized, in which the elastic friction model was used to estimate the joint friction torque, and the friction estimation value of the joint starting stage was planned. Based on the dynamics model and motion information of the robot, an external torque observer based on generalized momentum was established to observe the external torque exerted by the operator on the robot. Admittance control scheme was adopted to generate the joint motion trajectory according to the observed external torque, and the dragging teaching robot was realized. The elastic friction model was used to model the friction of the joint, and the Stribeck friction term was introduced into the model to estimate the friction torque of the joint at low speed and static state. In order to solve the difficulty of dragging in the stationary state of joint, the friction estimation of the joint starting stage was planned, and the joint driving torque was also increased temporarily, so as to realize the easy drag of the joint. Meanwhile, the starting planning scheme did not affect other movement stages of the robot joints. Experiment results showed that the control scheme can effectively realize the dragging teaching of industrial robot without torque sensor. At the same time, the starting planning scheme can effectively reduce the external torque and time of joint starting stage. The estimated torque of more than 26N·m was generated in the starting stage. The starting time of the joint can be reduced by 70% compared with the unused starting planning scheme.The joint had a certain antiinterference ability in the starting stage.

Abstract:In order to solve the issues of hydroponic lettuce manual harvesting with low quality but high cost, a harvester was designed and manufactured. The leaves lying on the hydroponics planting board were gathered by the holding rods before cutting the stem. The key components of the harvester were calculated; for instance, the device of gathering leaves up, the cutter bar and conveyer device. The damage area was measured by using image processing method. The factors those would influence the leaf damage were generalized. The influence of gathering angle and gathering height on damage area was analyzed though the mechanical analysis and highspeed photography. Orthogonal test was utilized to study the influence of gathering velocity, gathering angle, gathering height and velocity of putting lettuce down on damage area. The results showed that the order of significance was gathering angle, gathering height, velocity of putting lettuce down and gathering velocity. The optimized combination of factors that gave the minimum damage area was obtained, and the value of gathering velocity, gathering angle, gathering height and velocity of putting lettuce down were 100mm/s, 15°, 70mm and 100mm/s, respectively. The average value of damage area was 432mm2, and the average value of damage degree was 0.13%, which meant that the optimization was obvious. This research offered a reference for designing the harvester which would harvest more than one hydroponic lettuce.