面向草莓抓取的气动四叶片软体抓手研制

农林业中果蔬的自动化采摘需求日趋强烈,末端抓手是实现无损采摘的关键。传统的末端抓手以刚性结构居多,现有的各种柔性抓手也存在抓取力不足、包覆性不佳等缺点。本文以草莓的无损采摘为研究对象,提出将草莓外部轮廓曲线作为设计曲线,设计了一种新型气动四叶片软体抓手。首先,对软体抓手的结构做仿真优化,提出一种安全地附着在目标物表面的设想。然后,在进行草莓表面的最小破坏应力试验的基础上,测试了软体抓手的末端力,验证了其实现无损抓取的可行性。再次,利用动态捕捉技术,研究了软体抓手叶面的弯曲变形规律。最后,选择使用弧线型气体通道的软体抓手进行了草莓抓取测试,结果证明了气动四叶片软体抓手可以实现草莓的无损抓取,抓取成功率达90%,破损率为2%,表明所研制的四叶片软体抓手用于草莓抓取时具有良好的稳定性和实用性,可用于草莓采摘的末端执行器。本研究也可为其他易损果蔬的采摘技术提供理论基础和技术支撑。     

发展我国冻干蔬菜产业大有可为

本文介绍了真空冷冻干燥食品的发展现状、特点及其工艺流程 ,着重讨论了发展冻干食品工业的广阔前景     

Temperature and pressure effects on supercritical CO2 extraction of tomato seed oil

Tomato seed oil was extracted with supercritical carbon dioxide in a semibatch-flow extractor within the temperature range 313–343 K and the pressure range 10.8–24.5MPa. The extraction rates increased with pressure, but decreased with temperature increase because of the variation in solvent density and resultant differences in oil solubility. The fatty acid composition of the extracted oil was similar to that of soybean oil.     

Tannins/melamine–urea–formaldehyde (MUF) resins substitution of chrome in leather and its characterization by thermomechanical analysis

A new sulfonated melamine–urea–formaldehyde (MUF) resin of relatively low melamine content, prepared according to a sequential formulation, has been shown to be highly effective when coupled with different natural vegetable tannins to produce leather with the same good characteristics of leather prepared with chrome salts. In particular, the antishrinkage effectiveness of the leather prepared according to the new approach is comparable to that obtained with chrome tanned leathers. The comparison of the traditional leather shrinkage temperatures test method with a new thermomechanical analysis (TMA) test method in tension yields thermograms presenting three major modulus of elasticity (MOE) peaks. These are closely connected to molecular level phenomena determining the shrinkage temperature of leather. The three determining parameters appear to be as follows: (1) The average value of the temperatures at which the three MOE peaks occur: the higher the value of this average, the lower is the shrinkage of leather. (2) The average of maximum MOE values of the TMA peaks: the higher this average is, the better is the leather in regard to antishrinkage effectiveness. This means the leather maximum MOE at each peak is a measure of the resistance to the contraction force induced by heat. (3) The relative intensity of the first TMA peak in relation to the second: the higher the value of the MOE for the first TMA peak is in relation to the second peak, the lower the leather shrinkage appears to be. However, it has not been possible to better define or quantify this latter effect. This new TMA test method in tension has also yielded a mathematical relationship correlating the thermogram peak temperatures and MOE averages with the traditional shrinkage temperature to a high degree of confidence. A previous TMA test method, in compression, has proven to yield more problematic and finally not very reliable results when one needs to apply it to a wide variety of different cases. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 88: 1889–1903, 2003     

植物油、脂肪酸和植物油甲酯在塔河稠油掺稀降黏中的应用评价

稠油由于富含沥青质、胶质等重质组分而具有很高的黏度，给稠油的开采和运输带来了很大的困难。降低稠油黏度进而改善其流动性成为一项十分重要的工作。以植物油、脂肪酸及植物油甲酯为掺稀介质，以塔河油田稠油为研究对象，考察对比了3种不同的掺稀介质对稠油的掺稀降黏效果。研究结果表明，3种掺稀介质对稠油具有良好的掺稀降黏效果，在同一掺稀比下，植物油甲酯对稠油的降黏效果最显著，其次是脂肪酸，再次是植物油。通过斑点试验考察了掺稀介质和稠油的相容性和体系稳定性。结果显示，植物油甲酯与稠油相容性和稳定性最好，脂肪酸和植物油与稠油的相容性和稳定性相对较差。     

纤维表面处理对植物纤维增强水泥的物理力学性能影响

植物纤维增强水泥的力学性能具有湿敏感性，随湿度增加弯曲强度下降幅度较大。本文工作采用的几种浸渍处理纤维表面的方法，有效地改善了这种状况，其中一种经处理的纤维增强水泥较没有处理的对比试样在饱水状态下的弯曲强度提高了67％，气干状态提高了18％，缩小了二者间的差距。     

Layout Optimization for Greenhouse WSN Based on Path Loss Analysis

When wireless sensor networks (WSN) are deployed in the vegetable greenhouse with dynamic connectivity and interference environment, it is necessary to increase the node transmit power to ensure the communication quality, which leads to serious network interference. To offset the negative impact, the transmit power of other nodes must also be increased. The result is that the network becomes worse and worse, and node energy is wasted a lot. Taking into account the irregular connection range in the cucumber greenhouse WSN, we measured the transmission characteristics of wireless signals under the 2.4 Ghz operating frequency. For improving network layout in the greenhouse, a semi-empirical prediction model of signal loss is then studied based on the measured data. Compared with other models, the average relative error of this semi-empirical signal loss model is only 2.3%. Finally, by combining the improved network topology algorithm and tabu search, this paper studies a greenhouse WSN layout that can reduce path loss, save energy, and ensure communication quality. Given the limitation of node-degree constraint in traditional network layout algorithms, the improved algorithm applies the forwarding constraint to balance network energy consumption and constructs asymmetric network communication links. Experimental results show that this research can realize the energy consumption optimization of WSN layout in the greenhouse.     

30%苄氨基嘌呤悬浮剂对芹菜生长和品质的影响

田间条件下研究了不同浓度苄氨基嘌呤悬浮剂对芹菜生长和品质的影响。结果表明,剂量浓度在60~120 mg/kg范围内均可提高芹菜的株高和产量,120 mg/kg剂量浓度处理对亩产量和株高的提高幅度达到了显著水平(P<0.05);药剂对芹菜安全性和品质分析结果表明,试验药剂30%苄氨基嘌呤悬浮剂各剂量浓度对芹菜均没有明显药害,对芹菜的干物质重量、维生素(Vc)和可溶性固形物含量均无显著影响。     

对鸡头米中提取栲胶的研究

在芡实栲胶提取中初步研究结果表明：在使用65％的乙醇的水溶液，粒度为0．3cm方块，浸提温度选择在55℃，浸出时间选择在2h，乙醇水溶液中的水应使用蒸馏水，加入适量的表面活性剂。浸提液的酸碱性为中性等条件下可得到栲胶9％～13％。