Research on multi-robot open architecture of an intelligent CNC system based on parameter-driven technology

This paper presents a multi-robot open architecture of an intelligent computer numerical control (CNC) system based on parameter-driven technology that has been developed for flexible and high-efficiency manipulation. An open architecture control system capable of distributed processing of decision-making and extraction of task information provides a premise for intelligent control and flexible operation. Intelligent detection with database feedback based on real-time assignment of tasks is proposed to achieve dynamic modification of the processing trajectory. In the context of flexible task control, a multi-robot architecture with collision-free path planning and a novel programming approach based on parameter-driven technology are developed. The proposed CNC system has been successfully implemented and demonstrated on an H-beam steel-cutting task that requires flexible and accurate machining.     

基于非参数乘法回归模型的农业景观步甲空间分布模拟

农业生产引起的景观变化是导致生物多样性丧失的重要原因,为评估农业景观结构变化对物种多样性的影响,探索农业景观物种空间模拟的方法,研究应用非参数乘法回归(NPMR)模型结合田间步甲取样数据,分析了步甲群落多样性、主要物种存在/不存在与取样点周围边长为200 m景观内景观结构之间的关系,建立研究区物种-景观分布预测模型,结合地理信息系统(GIS)技术建立研究区群落/物种空间分布预测图。结果表明:在群落水平上,景观结构对步甲群落多样性的影响不显著; 在物种水平上,黄斑青步甲(Chlaenius micans)、淡鞘婪步甲(Harpalus pallidipennis)受斑块密度的影响显著(p<0.05),黄斑青步甲、后斑青步甲(Chlaenius posticalis)和单齿婪步甲(Harpalus simplicide)受半自然生境类型数的影响显著(p<0.05),单齿蝼步甲(Scarites terricola)受半自然生境比例的影响显著(p<0.05),而蠋步甲(Dolichus halensis)受景观结构的影响较为复杂。通过模型预测,输出研究区域6个主要物种的空间分布模拟图,进一步分析发现在研究区域内,对景观结构较为敏感的6个步甲物种主要分布在农田与半自然生境相接的狭长地带。因此,利用非参数乘法回归模型可以很好地模拟步甲物种对农田景观结构的响应及其在景观中的空间分布变化。200 m×200 m尺度下,尽管步甲群落多样性不受景观结构的显著影响,但是存在部分步甲物种对景观结构响应显著,但不同物种对景观结构的响应不同。增加农田地块间半自然生境,并合理改善景观配置异质性将有利于对景观结构变化敏感步甲物种的维持。     

Non-isobaric phenomena in gaseous diffusion through adsorbent porous solids

Pressure gradients were generated during counter-diffusion of adsorbing gases within pelletized activated carbon pellets and modified molecular-sieving carbon pellets even though external isobaric conditions were maintained. Such non-isobaric phenomena were analysed with a zone reaction model which incorporated a flow equation, adsorption equilibrium relationships of gases, and adsorption rates. It was found that pressure gradients are induced within the porous solids by differences in diffusion rates, adsorptivities and adsorption rates of the counter-diffusing gases.     

Reporting harvested wood products in national greenhouse gas inventories: Implications for Ireland

During recent years harvested wood products (HWP) have received growing attention because they may be included in national greenhouse gas (GHG) inventories and possibly Kyoto Protocol (KP) accounting procedures in future commitment periods, with practical and economic consequences for both reporting and timber markets.The Intergovernmental Panel on Climate Change (IPCC) has identified three approaches to estimating and reporting carbon (C) stock in HWP; the stock-change approach, the production approach, and the atmospheric-flow approach. Should countries choose to report C stocks in HWP, one approach needs to be universally agreed for consistency. Using a model, the C stock both in use and in solid waste disposal sites (SWDS) at a national scale in Ireland was estimated and compared for the period 1961–2003 with uncertainty in the estimates generated using a Monte Carlo analysis. In 2003, the stock-change approach yielded the highest C sink, relative to the IPCC default approach of 375 Gg C yr⁻¹±40% with the production approach and atmospheric-flow approach estimating the stock change at 271 Gg C yr⁻¹±48% and 149 Gg C yr⁻¹±31%, respectively. On the basis of the model results, the implications of selecting one approach over another and the contribution HWP may have in the future to help Ireland reach its reduction target under the KP are discussed.     

Olfactory responses of Stegobium paniceum to different Chinese medicinal plant materials and component analysis of volatiles

Stegobium paniceum (L.) (Coleoptera: Anobiidae) is among the major pests of stored products, causing great damage to stored Chinese medicinal plant materials (CMPMs) in China. Effective control strategies are urgently needed. The aim of this study was to explore the role of volatile organic compounds in the host preference of S. paniceum. First, the olfactory behavioral responses of S. paniceum adults to volatiles from four CMPMs (Panax notoginseng, Angelica sinensis, Gastrodia elata, and Peucedanum praeruptorum) were tested in Y-tube olfactometer experiments. Then, the volatile composition of these plant materials were analyzed by gas chromatography-mass spectrometry (GC-MS). S. paniceum showed significant preferences for volatiles from the four CMPMs, compared with clean air (CA). When S. paniceum was presented with choices among different CMPMs, it showed the strongest preference for P. notoginseng, followed by A. sinensis, then G. elata, and P. praeruptorum. GC-MS analysis identified 43, 34, 28 and 60 components in the volatile profiles of P. notoginseng, A. sinensis, G. elata, and P. praeruptorum, respectively. Falcarinol (14.4%), 3-n-butyl phthalide (78.7%), p-cresol (40.1%), and β-pinene (29.1%) were the most abundant components of the volatiles of P. notoginseng, A. sinensis, G. elata, and P. praeruptorum, respectively. The olfactory responses of S. paniceum to the four CMPMs demonstrated that host-related volatiles play an important role in the host-searching process by adult beetles. This information will be useful for the development of safe and effective trapping strategies for this pest.     

Estimating aboveground biomass of a mangrove plantation on the Northern coast of Vietnam using machine learning techniques with an integration of ALOS-2 PALSAR-2 and Sentinel-2A data

ABSTRACT

Aboveground biomass (AGB) of mangrove forest plays a crucial role in global carbon cycle by reducing greenhouse gas emissions and mitigating climate change impacts. Monitoring mangrove forests biomass accurately still remains challenging compared to other forest ecosystems. We investigated the usability of machine learning techniques for the estimation of AGB of mangrove plantation at a coastal area of Hai Phong city (Vietnam). The study employed a GIS database and support vector regression (SVR) to build and verify a model of AGB, drawing upon data from a survey in 25 sampling plots and an integration of Advanced Land Observing Satellite-2 Phased Array Type L-band Synthetic Aperture Radar-2 (ALOS-2 PALSAR-2) dual-polarization horizontal transmitting and horizontal receiving (HH) and horizontal transmitting and vertical receiving (HV) and Sentinel-2A multispectral data. The performance of the model was assessed using root mean square error (RMSE), mean absolute error (MAE), coefficient of determination (R²), and leave-one-out cross-validation. Usability of the SVR model was assessed by comparing with four state-of-the-art machine learning techniques, i.e. radial basis function neural networks, multi-layer perceptron neural networks, Gaussian process, and random forest. The SVR model shows a satisfactory result (R² = 0.596, RMSE = 0.187, MAE = 0.123) and outperforms the four machine learning models. The SVR model-estimated AGB ranged between 36.22 and 230.14 Mg ha^?1 (average = 87.67 Mg ha^?1). We conclude that an integration of ALOS-2 PALSAR-2 and Sentinel-2A data used with SVR model can improve the AGB accuracy estimation of mangrove plantations in tropical areas.     

Inhibitory effects of odor substances,geosmin and 2-methylisoborneol,on early development of sea urchins

Geosmin (1α,10β-dimethyl-9α-decanol) and 2-methylisoborneol ((1-R-exo)-1,2,7,7-tetramethyl-bicyclo-(2,2,1)-heptan-2-ol) (MIB) are volatile terpene derivatives, and have received a great deal of attention because they can cause musty/muddy off-flavor in water and food resources. By the Ames test, these metabolites showed no mutagenicity but antimicrobial activity toward tester strains. While these compounds are produced by various organisms living in aquatic environments, there are few reports of their effects on aquatic organisms. The effects of geosmin and MIB on sea urchin development were examined. The estimated IC₅₀ (50% inhibitory concentration) values for the formation of the fertilization membrane were 16.67 mg geosmin l⁻¹ and 68.77 mg MIB l⁻¹; those for the cell cleavage were 16.58 mg geosmin l⁻¹ and 66.86 mg MIB l⁻¹, suggesting that the toxicity of geosmin and MIB toward sea urchins are comparable to their toxicity toward Salmonella tester strains in the Ames test. These values are far greater than concentrations of these substances observed in aquatic environments with severe muddy off-flavor problems.     

蓝莓果渣花色苷大孔树脂纯化工艺研究

以蓝莓果渣为原料,利用大孔树脂分离纯化蓝莓果渣花色苷。对比了D101和AB-8两种不同极性的大孔树脂静态吸附和解吸效果。结果表明,AB-8型大孔树脂吸附率和解吸率分别为88.5%、64.7%;D101型大孔树脂吸附率和解吸率分别为86.7%、61.2%,AB-8型大孔树脂吸附率和解吸率均优于D101型大孔树脂,故选用AB-8型大孔树脂对蓝莓果渣进行纯化试验。AB-8型大孔树脂最佳吸附和解吸条件为吸附平衡时间4 h,解吸平衡时间4 h,花色苷溶液pH 3.0,解吸液pH 3.0,解吸液乙醇体积分数60%,上样质量浓度1 mg/mL,上样流速1 mL/min,洗脱流速1 mL/min。纯化后蓝莓果渣花色苷色价约为纯化前的3倍,糖和蛋白质等杂质大幅降低,纯度有了较大提高。     

New insights into the thermodynamics and kinetics of triacylglycerols crystallization

Understanding the transition from an isotropic liquid state to an organized crystalline state of triacylglycerols has great significance when designing lipid-based materials in general and food products in particular. In the current research, the balance between the demand for the tuning-fork (Tf) conformation, which is the suitable conformation for most crystalline organizations, and the supply of these molecules was discussed. Based on the negative dependency of the nucleation rates and the induction times on temperature, it was suggested that the limiting factor for the nucleation process is the conversion from the Tf conformation to any other conformation. On the other hand, based on the positive dependency of the melting temperatures and enthalpies on crystallization temperature, and the organized morphologies obtained at higher temperatures, it was suggested that the limiting factor during the crystal growth process is the conversion to the Tf conformation from another conformation.     

Cowpea resistance and bioactivity of two diatomaceous earths against Callosobruchus maculatus (F.) (Coleoptera: Chrysomelidae) on three cowpea varieties

The bruchid, Callosobruchus maculatus (F.) is the most important pest of stored cowpea in tropical climates. Experiments were conducted to evaluate the susceptibility of three cowpea varieties and the bioactivity of SilicoSec® and FossilShield® against this insect pest under ambient laboratory conditions at the contents 0, 0.5, 1, 1.5 and 2 g/kg of cowpea. The Dobie susceptibility index for cowpea genotypes was estimated to compare their relative tolerance to this insect pest. Adult mortality was assessed after 1, 2, 4 and 6 days of exposure followed by the evaluation of the F₁ progeny. Population increase, percentage seed damage and weight loss were assessed after three months of storage. The results showed that the CRPS and TN5-78 varieties were highly susceptible to C. maculatus, while Lori variety was moderately susceptible to the weevil. SilicoSec® and FossilShield® caused a significant and increasing bruchid mortality according to the dose rates and periods of exposure. Malathion 5% caused complete mortality after one day exposure time. SilicoSec® was more effective than FossilShield® on the three varieties of cowpea. The greatest dose of SilicoSec® and FossilShield® (2 g/kg) caused 100% mortality on all three varieties; 4 days of exposure in the Lori variety was the shortest exposure time leading to complete mortality. Regarding LD₅₀ and LD₉₅ values, it was observed that C. maculatus adults are more susceptible to SilicoSec® than to FossilShield®.The two formulations of diatomaceous earth (1.5 g/kg) reduced the F₁ progeny by more than 70%, and produced less than 10% of seed damage and weight loss for the three varieties of cowpea. The varietal resistance and the use of diatomaceous earth against C. maculatus in storage could represent an alternative to Malagrain® for the protection of the cowpea.