Al/NH_(4)CoF_(3)-Φ(Φ=0.5,1.0,1.5,2.0,and 3.0)binary composites and Al-NH_(4)CoF_(3)@P(VDF-HFP)ternary composites are fabricated via ultrasonication-assisted blending and electrostatic spraying.The effect of equivale...Al/NH_(4)CoF_(3)-Φ(Φ=0.5,1.0,1.5,2.0,and 3.0)binary composites and Al-NH_(4)CoF_(3)@P(VDF-HFP)ternary composites are fabricated via ultrasonication-assisted blending and electrostatic spraying.The effect of equivalence ratio(Φ)on the reaction properties is systematically investigated in the binary Al/NH_(4)CoF_(3)system.For ternary systems,electrostatic spraying allows both components to be efficiently encapsulated by P(VDF-HFP)and to achieve structural stabilization and enhanced reactivity through synergistic interfacial interactions.Morphological analysis using SEM/TEM revealed that P(VDF-HFP)formed a protective layer on Al and NH_(4)CoF_(3)particles,improving dispersion,hydrophobicity(water contact angle increased by 80.5%compared to physically mixed composites),and corrosion resistance.Thermal decomposition of NH_(4)CoF_(3)occurred at 265℃,releasing NH_(3)and HF,which triggered exothermic reactions with Al.The ternary composites exhibited a narrowed main reaction temperature range and concentrated heat release,attributed to improved interfacial contact and polymer decomposition.Combustion tests demonstrated that Al-NH_(4)CoF_(3)@P(VDF-HFP)achieved self-sustaining combustion.In addition,a simple validation was done by replacing the Al component in the aluminium-containing propellant,demonstrating its potential application in the propellant field.This work establishes a novel strategy for designing stable,high-energy composites with potential applications in advanced propulsion systems.展开更多
Sampling studies in North Dakota conducted from 1994 to 2003 showed that variable-rate N application could be practically directed with zone soil sampling. Results from variable-rate N studies using zone soil sampling...Sampling studies in North Dakota conducted from 1994 to 2003 showed that variable-rate N application could be practically directed with zone soil sampling. Results from variable-rate N studies using zone soil sampling were often less than rewarding due in part to the use of a whole-field predicted yield-based formula for developing the N recommendation in each zone. Nitrogen rate studies on spring wheat and durum were established in 2005 through 2009 with the objective to reexamine N recommendations and construct a new system if necessary. The results of the study and archived wheat N response data showed that the state should be divided into three separate N response regions. Within each region historic yields from low to high productivity were defined. The gross N rate was determined using the return-to-N concept developed in the US corn-belt states but with additional consideration for wheat protein value The gross N rate is then modified by credits for previous crop, soil test N from zone soil sampling, tillage systems, excessive straw from the previous year, relative susceptibility to nitrate leaching or denitrification. Finally, the user is encouraged to use common sense and consider whether particular fields have characteristics that require more or less N fertilizer than suggested by the recommendation formulas.展开更多
To adjust the variance of source rate in linear broadcast networks, global encoding kernels should have corresponding dimensions to instruct the decoding process. The algorithm of constructing such global encoding ker...To adjust the variance of source rate in linear broadcast networks, global encoding kernels should have corresponding dimensions to instruct the decoding process. The algorithm of constructing such global encoding kernels is to adjust heterogeneous network to possible link failures. Linear algebra, graph theory and group theory are applied to construct one series of global encoding kernels which are applicable to all source rates. The effectiveness and existence of such global encoding kernels are proved. Based on 2 information flow, the algorithm of construction is explicitly given within polynomial time O（｜E｜ ｜T｜.ω^2max）, and the memory complexity of algorithm is O（｜E｜）. Both time and memory complexity of this algorithm proposed can be O（ωmax） less than those of algorithms in related works.展开更多
Fong et al.analyzed variable-rate linear network coding for linear broadcast.However,the authors didn't investigate it for the other three types of linear network codes.In this paper,by simple and clear proofs,it ...Fong et al.analyzed variable-rate linear network coding for linear broadcast.However,the authors didn't investigate it for the other three types of linear network codes.In this paper,by simple and clear proofs,it is found that there are similar results for variable-rate linear generic and linear dispersion if the field size is large enough.It means that linear generics and linear dispersions of different dimensions can be implemented on the same network,while each non-source node is required to store only one copy of the local encoding kernel within a session.Moreover,an example is given to show that there isn't a similar result for linear multicast.展开更多
In order to increase the applying rate of liquid fertilizer and reduce environmental pollution, a slave computer control system for applying variable-rate liquid fertilizer was designed. The system used SMC as core pr...In order to increase the applying rate of liquid fertilizer and reduce environmental pollution, a slave computer control system for applying variable-rate liquid fertilizer was designed. The system used SMC as core processor and electrically controlled pressure regulator as execution component. The characteristic equation of the system was obtained by using classical control theory. Results indicated that the characteristic equation met the requirements of routh-criterion, which indicated the working process of the system was stable. Performance of the slave computer was verified via bench tests. Results demonstrated that there was no significant influence on the response from interclass error. The fertilization error was less than 0.9, and the fertilization accuracy was larger than 97%. The liquid fertilizer emitted by the fertilizing devices had no significant difference in uniformity, which met the demands of the slave computer control system for applying variable-rate liquid fertilizer.展开更多
By extending the notion of the minimum distance for linear network error correction code(LNEC), this paper introduces the concept of generalized minimum rank distance(GMRD) of variable-rate linear network error correc...By extending the notion of the minimum distance for linear network error correction code(LNEC), this paper introduces the concept of generalized minimum rank distance(GMRD) of variable-rate linear network error correction codes. The basic properties of GMRD are investigated. It is proved that GMRD can characterize the error correction/detection capability of variable-rate linear network error correction codes when the source transmits the messages at several different rates.展开更多
To determine the effects of preharvest arginine spraying on the nutritional level of broccoli and the mechanism of action of arginine in improving the storage quality of broccoli,arginine spraying(5 mmol/L)was conduct...To determine the effects of preharvest arginine spraying on the nutritional level of broccoli and the mechanism of action of arginine in improving the storage quality of broccoli,arginine spraying(5 mmol/L)was conducted at 0,1,3,and 5 days before harvest.The appearance,respiration rate,mass-loss rate,electrolyte leakage,glucosinolate,ascorbic acid,total phenol,total flavonoid,total sugar and sucrose contents,and sucrose phosphate synthase(SPS),invertase(INV),sucrose synthase synthesis(SSS)and cleavage(SSC)activities of broccoli samples were observed after 0,2,4,6,8,and 10 days of storage.The results showed that spraying arginine at 5 days preharvest(5-ARG)helped to inhibit broccoli respiration during storage,delay electrolyte leakage,and maintain broccoli color.Furthermore,during the growth stage,total sugar accumulation was higher in the 5-ARG group.In addition,during the storage period,sucrose synthesis was accelerated,while sucrose cleavage was inhibited,resulting in more sucrose retention in postharvest broccoli.In conclusion,5-ARG resulted in the accumulation of more nutrients during the growth process and effectively delayed the quality decline during storage,thereby prolonging the shelf life of broccoli.Therefore,this study provides a theoretical basis for improving postharvest storage characteristics of broccoli through preharvest treatments.展开更多
To study the influence of silicon(Si)on 2,4,6,8,10,12-hexanitro-2,4,6,8,10,12-hexaazaisowurtzitane(CL-20),NC/CL-20 composite explosives and Si/NC/CL-20 composite explosives were prepared by the electrostatic spraying ...To study the influence of silicon(Si)on 2,4,6,8,10,12-hexanitro-2,4,6,8,10,12-hexaazaisowurtzitane(CL-20),NC/CL-20 composite explosives and Si/NC/CL-20 composite explosives were prepared by the electrostatic spraying method.The morphology,structure and thermal decomposition properties of the samples were analyzed using scanning electron microscopy(SEM),X-ray energy spectroscopy(EDS),infrared spectroscopy(FT-IR),and simultaneous thermal analyzer(TG-DSC).Additionally,the combustion process of the samples was tested using a high-speed camera.The results show that the addition of nano-Si contributes to the formation of composite explosives with regular morphology and smaller particle size.The Si/NC/CL-20 composite explosive has better and more uniform sphericity,with an average particle size of 73.4 nm,compared to the NC/CL-20 composite explosive.The Si/NC/CL-20 composite explosive which produced by the electrostatic spraying method,achieves physically uniform distribution of the components including NC,CL-20,Si.The addition of Si promotes the thermal decomposition of CL-20.In comparison to the NC/CL-20 composite explosive,the activation energy of the Si/NC/CL-20 composite explosive decreases by 16.78 kJ/mol,and the self-accelerated decomposition temperature and the critical temperature of thermal explosion decreases by 3.12 K and 2.61 K,respectively.Furthermore,Si/NC/CL-20 composite explosive has shorter ignition delay time and faster combustion rate compared to the NC/CL-20 composite explosive,which shows that Si can improve the combustion performance of CL-20.展开更多
The spraying robot for building exterior walls is an innovative technology in the field of modern construction.This paper discusses its design structure,application cases,technical benefits,and industrial impacts.Rese...The spraying robot for building exterior walls is an innovative technology in the field of modern construction.This paper discusses its design structure,application cases,technical benefits,and industrial impacts.Research shows that this type of robot improves the efficiency and quality of exterior wall construction.Its intelligent design enhances operation accuracy and safety,reduces costs and risks,and strengthens application ability in complex environments,showing broad application prospects and symbolizing the development trend of intelligence and automation in the industry.In the future,it is necessary to strengthen its intelligence and adaptive ability further,explore multi-function design,promote automation technology,and ensure construction safety and economic benefits.展开更多
AlCoCrFeNi and AlCoCrFeNiSi high entropy alloy(HEA)coatings have been prepared by high velocity oxygen fuel spraying,and the microstructure,mechanical properties as well as wear behaviors of the two HEA coatings were ...AlCoCrFeNi and AlCoCrFeNiSi high entropy alloy(HEA)coatings have been prepared by high velocity oxygen fuel spraying,and the microstructure,mechanical properties as well as wear behaviors of the two HEA coatings were studied.With Si element addition,the surface and cross-sectional microstructure of HEA coating are refined,and it was found that both HEA coatings have a body-centered cubic structure,and the X-ray diffraction peaks of AlCoCrFeNiSi HEA coating deviate to the right.The microhardness,bonding strength nanohardness and elastic modulus of AlCoCrFeNi HEA coating increased with addition of Si element due to the fact that Si promotes uniformly distribution of other elements.In terms of wear properties,coefficient of friction and the wear rate were reduced with Si element addition,and the two HEA coatings have similar wear mechanism at the same loads.And at lower loads,the wear mechanism is abrasive wear,adhesive and slight oxidative wear,it is turn to oxidative wear and severe abrasive wear while the load is increased.The AlCoCrFeNiSi HEA coating has a higher corrosion potential and a lower corrosion current density,indicating improved corrosion resistance.This enhancement is attributed to the presence of Si,which reduces interatomic spacing and results in a more compact atomic arrangement.Consequently,element migration and chemical reactions are reduced,leading to the formation of a denser and more uniform passivation film.展开更多
针对玉米杂草识别过程中因光照变化导致识别精确度低及漏检问题,该研究以幼苗期玉米及其伴生杂草为研究对象,设计一种基于WEED-YOLOv10的玉米杂草检测方法。首先,通过无人机快速采集田间高分辨率图像构建了玉米杂草数据集;其次,以YOLOv...针对玉米杂草识别过程中因光照变化导致识别精确度低及漏检问题,该研究以幼苗期玉米及其伴生杂草为研究对象,设计一种基于WEED-YOLOv10的玉米杂草检测方法。首先,通过无人机快速采集田间高分辨率图像构建了玉米杂草数据集;其次,以YOLOv10n为基线网络,将骨干网络替换为ConvNeXtV2以增强特征提取能力;继而,为避免因模块拼接可能带来的信息冗余或丢失问题提升对光照干扰的鲁棒性,嵌入CBAM注意力机制;然后,引入SlimNeck结构优化网络计算效率,有效平衡了模型计算资源消耗与特征表征能力;最后,使用Focaler-EIoU损失函数进一步提高模型定位精度。试验结果表明,WEED-YOLOv10在精确率、召回率、mAP@50、mAP@50:95和F1分数上分别达到85.4%、88.1%、90.9%、48.5%和86.7%,较基准模型分别提升了2.4、2.9、3.5、7.0、2.6个百分点,各项精度指标均优于其他对比模型,部署在NVIDIA Jetson orin NX上的图片推理速度达到28.7帧/s,实现了检测速度与精度的平衡。进一步地,基于WEED-YOLOv10开发对靶喷药系统,该系统实时捕捉并解析来自模型的识别信号,实现对除草喷施装置的精准调控。田间试验结果显示,对靶喷药系统施药准确率为93.7%,喷洒覆盖率为90.5%,对靶偏差为1.45cm,杂草实时检测速度为20.1帧/s,实现了自动化的玉米田间除草作业。该研究为复杂光照场景下农田杂草治理提供了可靠的技术方案,对推动农业智能化作业具有重要意义。展开更多
针对复杂果园环境下实时动态差分(real-time kinematic,RTK)信号易丢失以及传统激光同步定位与建图(simultaneous localization and mapping,SLAM)方法在复杂果园中因几何特征离散不稳定及局部环境相似度高导致的定位精度偏低的问题,该...针对复杂果园环境下实时动态差分(real-time kinematic,RTK)信号易丢失以及传统激光同步定位与建图(simultaneous localization and mapping,SLAM)方法在复杂果园中因几何特征离散不稳定及局部环境相似度高导致的定位精度偏低的问题,该研究提出了一种融合树干几何特征与改进回环描述子的果园喷雾机器人高精度激光惯性定位与建图方法。该方法引入树干几何特征提取算法,利用树干表面的高稳定性构建高置信度的点面约束,强化前端配准精度;后端利用果园树木空间分布特征,设计基于树干拓扑结构的回环描述子与双重判别机制,有效检测回环并消除累积误差。在BotanicGarden公有数据集和自制苗圃.数据集上的试验表明,该方法在复杂果园场景下的定位精度较FAST-LIO2和SC-LIO-SAM分别提升约42.4%和48.3%,可为果园喷雾机器人高精度自主作业提供可靠的定位支持。展开更多
基金supported by the National Natural Science Foundation of China(No.51706105)。
文摘Al/NH_(4)CoF_(3)-Φ(Φ=0.5,1.0,1.5,2.0,and 3.0)binary composites and Al-NH_(4)CoF_(3)@P(VDF-HFP)ternary composites are fabricated via ultrasonication-assisted blending and electrostatic spraying.The effect of equivalence ratio(Φ)on the reaction properties is systematically investigated in the binary Al/NH_(4)CoF_(3)system.For ternary systems,electrostatic spraying allows both components to be efficiently encapsulated by P(VDF-HFP)and to achieve structural stabilization and enhanced reactivity through synergistic interfacial interactions.Morphological analysis using SEM/TEM revealed that P(VDF-HFP)formed a protective layer on Al and NH_(4)CoF_(3)particles,improving dispersion,hydrophobicity(water contact angle increased by 80.5%compared to physically mixed composites),and corrosion resistance.Thermal decomposition of NH_(4)CoF_(3)occurred at 265℃,releasing NH_(3)and HF,which triggered exothermic reactions with Al.The ternary composites exhibited a narrowed main reaction temperature range and concentrated heat release,attributed to improved interfacial contact and polymer decomposition.Combustion tests demonstrated that Al-NH_(4)CoF_(3)@P(VDF-HFP)achieved self-sustaining combustion.In addition,a simple validation was done by replacing the Al component in the aluminium-containing propellant,demonstrating its potential application in the propellant field.This work establishes a novel strategy for designing stable,high-energy composites with potential applications in advanced propulsion systems.
文摘Sampling studies in North Dakota conducted from 1994 to 2003 showed that variable-rate N application could be practically directed with zone soil sampling. Results from variable-rate N studies using zone soil sampling were often less than rewarding due in part to the use of a whole-field predicted yield-based formula for developing the N recommendation in each zone. Nitrogen rate studies on spring wheat and durum were established in 2005 through 2009 with the objective to reexamine N recommendations and construct a new system if necessary. The results of the study and archived wheat N response data showed that the state should be divided into three separate N response regions. Within each region historic yields from low to high productivity were defined. The gross N rate was determined using the return-to-N concept developed in the US corn-belt states but with additional consideration for wheat protein value The gross N rate is then modified by credits for previous crop, soil test N from zone soil sampling, tillage systems, excessive straw from the previous year, relative susceptibility to nitrate leaching or denitrification. Finally, the user is encouraged to use common sense and consider whether particular fields have characteristics that require more or less N fertilizer than suggested by the recommendation formulas.
基金Project(60872005) supported by National Natural Science Foundation of China
文摘To adjust the variance of source rate in linear broadcast networks, global encoding kernels should have corresponding dimensions to instruct the decoding process. The algorithm of constructing such global encoding kernels is to adjust heterogeneous network to possible link failures. Linear algebra, graph theory and group theory are applied to construct one series of global encoding kernels which are applicable to all source rates. The effectiveness and existence of such global encoding kernels are proved. Based on 2 information flow, the algorithm of construction is explicitly given within polynomial time O（｜E｜ ｜T｜.ω^2max）, and the memory complexity of algorithm is O（｜E｜）. Both time and memory complexity of this algorithm proposed can be O（ωmax） less than those of algorithms in related works.
基金Sponsored by the National Natural Science Foundation of China and the Research Grants Council of Hong Kong Joint Research Scheme(Grant No.60731160626)the National Natural Science Foundation of China(Grant No.60821001and61003287)+1 种基金the 111 Project(Grant No.B08004)the Fundamental Research Funds for the Central Universities(Grant No.BUPT2009RC0220)
文摘Fong et al.analyzed variable-rate linear network coding for linear broadcast.However,the authors didn't investigate it for the other three types of linear network codes.In this paper,by simple and clear proofs,it is found that there are similar results for variable-rate linear generic and linear dispersion if the field size is large enough.It means that linear generics and linear dispersions of different dimensions can be implemented on the same network,while each non-source node is required to store only one copy of the local encoding kernel within a session.Moreover,an example is given to show that there isn't a similar result for linear multicast.
基金Supported by the Science and Technology Research Project of the 12th Five-year Plan(2011BAD20B03-01)
文摘In order to increase the applying rate of liquid fertilizer and reduce environmental pollution, a slave computer control system for applying variable-rate liquid fertilizer was designed. The system used SMC as core processor and electrically controlled pressure regulator as execution component. The characteristic equation of the system was obtained by using classical control theory. Results indicated that the characteristic equation met the requirements of routh-criterion, which indicated the working process of the system was stable. Performance of the slave computer was verified via bench tests. Results demonstrated that there was no significant influence on the response from interclass error. The fertilization error was less than 0.9, and the fertilization accuracy was larger than 97%. The liquid fertilizer emitted by the fertilizing devices had no significant difference in uniformity, which met the demands of the slave computer control system for applying variable-rate liquid fertilizer.
文摘By extending the notion of the minimum distance for linear network error correction code(LNEC), this paper introduces the concept of generalized minimum rank distance(GMRD) of variable-rate linear network error correction codes. The basic properties of GMRD are investigated. It is proved that GMRD can characterize the error correction/detection capability of variable-rate linear network error correction codes when the source transmits the messages at several different rates.
文摘To determine the effects of preharvest arginine spraying on the nutritional level of broccoli and the mechanism of action of arginine in improving the storage quality of broccoli,arginine spraying(5 mmol/L)was conducted at 0,1,3,and 5 days before harvest.The appearance,respiration rate,mass-loss rate,electrolyte leakage,glucosinolate,ascorbic acid,total phenol,total flavonoid,total sugar and sucrose contents,and sucrose phosphate synthase(SPS),invertase(INV),sucrose synthase synthesis(SSS)and cleavage(SSC)activities of broccoli samples were observed after 0,2,4,6,8,and 10 days of storage.The results showed that spraying arginine at 5 days preharvest(5-ARG)helped to inhibit broccoli respiration during storage,delay electrolyte leakage,and maintain broccoli color.Furthermore,during the growth stage,total sugar accumulation was higher in the 5-ARG group.In addition,during the storage period,sucrose synthesis was accelerated,while sucrose cleavage was inhibited,resulting in more sucrose retention in postharvest broccoli.In conclusion,5-ARG resulted in the accumulation of more nutrients during the growth process and effectively delayed the quality decline during storage,thereby prolonging the shelf life of broccoli.Therefore,this study provides a theoretical basis for improving postharvest storage characteristics of broccoli through preharvest treatments.
基金National Natural Science Foundation of China(No.22275150)。
文摘To study the influence of silicon(Si)on 2,4,6,8,10,12-hexanitro-2,4,6,8,10,12-hexaazaisowurtzitane(CL-20),NC/CL-20 composite explosives and Si/NC/CL-20 composite explosives were prepared by the electrostatic spraying method.The morphology,structure and thermal decomposition properties of the samples were analyzed using scanning electron microscopy(SEM),X-ray energy spectroscopy(EDS),infrared spectroscopy(FT-IR),and simultaneous thermal analyzer(TG-DSC).Additionally,the combustion process of the samples was tested using a high-speed camera.The results show that the addition of nano-Si contributes to the formation of composite explosives with regular morphology and smaller particle size.The Si/NC/CL-20 composite explosive has better and more uniform sphericity,with an average particle size of 73.4 nm,compared to the NC/CL-20 composite explosive.The Si/NC/CL-20 composite explosive which produced by the electrostatic spraying method,achieves physically uniform distribution of the components including NC,CL-20,Si.The addition of Si promotes the thermal decomposition of CL-20.In comparison to the NC/CL-20 composite explosive,the activation energy of the Si/NC/CL-20 composite explosive decreases by 16.78 kJ/mol,and the self-accelerated decomposition temperature and the critical temperature of thermal explosion decreases by 3.12 K and 2.61 K,respectively.Furthermore,Si/NC/CL-20 composite explosive has shorter ignition delay time and faster combustion rate compared to the NC/CL-20 composite explosive,which shows that Si can improve the combustion performance of CL-20.
基金Design and Research of Intelligent Construction Device for the“Water-in-Sand”Process of High-Rise Building Exterior Wall(Project No.2022KQNCX189)。
文摘The spraying robot for building exterior walls is an innovative technology in the field of modern construction.This paper discusses its design structure,application cases,technical benefits,and industrial impacts.Research shows that this type of robot improves the efficiency and quality of exterior wall construction.Its intelligent design enhances operation accuracy and safety,reduces costs and risks,and strengthens application ability in complex environments,showing broad application prospects and symbolizing the development trend of intelligence and automation in the industry.In the future,it is necessary to strengthen its intelligence and adaptive ability further,explore multi-function design,promote automation technology,and ensure construction safety and economic benefits.
基金supported by the National Natural Science Foundation of China(Nos.52175196 and 52275218)the National Key R&D Program of China(No.2022YFB3706600).
文摘AlCoCrFeNi and AlCoCrFeNiSi high entropy alloy(HEA)coatings have been prepared by high velocity oxygen fuel spraying,and the microstructure,mechanical properties as well as wear behaviors of the two HEA coatings were studied.With Si element addition,the surface and cross-sectional microstructure of HEA coating are refined,and it was found that both HEA coatings have a body-centered cubic structure,and the X-ray diffraction peaks of AlCoCrFeNiSi HEA coating deviate to the right.The microhardness,bonding strength nanohardness and elastic modulus of AlCoCrFeNi HEA coating increased with addition of Si element due to the fact that Si promotes uniformly distribution of other elements.In terms of wear properties,coefficient of friction and the wear rate were reduced with Si element addition,and the two HEA coatings have similar wear mechanism at the same loads.And at lower loads,the wear mechanism is abrasive wear,adhesive and slight oxidative wear,it is turn to oxidative wear and severe abrasive wear while the load is increased.The AlCoCrFeNiSi HEA coating has a higher corrosion potential and a lower corrosion current density,indicating improved corrosion resistance.This enhancement is attributed to the presence of Si,which reduces interatomic spacing and results in a more compact atomic arrangement.Consequently,element migration and chemical reactions are reduced,leading to the formation of a denser and more uniform passivation film.
文摘针对玉米杂草识别过程中因光照变化导致识别精确度低及漏检问题,该研究以幼苗期玉米及其伴生杂草为研究对象,设计一种基于WEED-YOLOv10的玉米杂草检测方法。首先,通过无人机快速采集田间高分辨率图像构建了玉米杂草数据集;其次,以YOLOv10n为基线网络,将骨干网络替换为ConvNeXtV2以增强特征提取能力;继而,为避免因模块拼接可能带来的信息冗余或丢失问题提升对光照干扰的鲁棒性,嵌入CBAM注意力机制;然后,引入SlimNeck结构优化网络计算效率,有效平衡了模型计算资源消耗与特征表征能力;最后,使用Focaler-EIoU损失函数进一步提高模型定位精度。试验结果表明,WEED-YOLOv10在精确率、召回率、mAP@50、mAP@50:95和F1分数上分别达到85.4%、88.1%、90.9%、48.5%和86.7%,较基准模型分别提升了2.4、2.9、3.5、7.0、2.6个百分点,各项精度指标均优于其他对比模型,部署在NVIDIA Jetson orin NX上的图片推理速度达到28.7帧/s,实现了检测速度与精度的平衡。进一步地,基于WEED-YOLOv10开发对靶喷药系统,该系统实时捕捉并解析来自模型的识别信号,实现对除草喷施装置的精准调控。田间试验结果显示,对靶喷药系统施药准确率为93.7%,喷洒覆盖率为90.5%,对靶偏差为1.45cm,杂草实时检测速度为20.1帧/s,实现了自动化的玉米田间除草作业。该研究为复杂光照场景下农田杂草治理提供了可靠的技术方案,对推动农业智能化作业具有重要意义。
文摘针对复杂果园环境下实时动态差分(real-time kinematic,RTK)信号易丢失以及传统激光同步定位与建图(simultaneous localization and mapping,SLAM)方法在复杂果园中因几何特征离散不稳定及局部环境相似度高导致的定位精度偏低的问题,该研究提出了一种融合树干几何特征与改进回环描述子的果园喷雾机器人高精度激光惯性定位与建图方法。该方法引入树干几何特征提取算法,利用树干表面的高稳定性构建高置信度的点面约束,强化前端配准精度;后端利用果园树木空间分布特征,设计基于树干拓扑结构的回环描述子与双重判别机制,有效检测回环并消除累积误差。在BotanicGarden公有数据集和自制苗圃.数据集上的试验表明,该方法在复杂果园场景下的定位精度较FAST-LIO2和SC-LIO-SAM分别提升约42.4%和48.3%,可为果园喷雾机器人高精度自主作业提供可靠的定位支持。
