Aiming at decreasing the component complexity and cost of flower transplanting machine,an integrated transplanting method for picking and planting flower seedlings was proposed,and a hybrid-driven five-bar parallel me...Aiming at decreasing the component complexity and cost of flower transplanting machine,an integrated transplanting method for picking and planting flower seedlings was proposed,and a hybrid-driven five-bar parallel mechanism was designed.A“beak-shaped”trajectory was designed for integrated transplanting requirements,and meantime,either the posture requirements of transplanting claw were determined.Based on the transplanting trajectory of the mechanism,a corresponding mathematical model for solving the link parameters was established,and then the five-bar mechanism was divided into two bar groups,optimization was conducted in two steps based on genetic algorithm and NSGA-II algorithm.Consequently,the optimal solution of the hybrid-driven five-bar parallel mechanism for flower seedling transplanting was obtained.Compared with similar designs,the trajectory displacement of the proposed mechanism is larger in the condition of smaller link size,which indicates that the mechanism can effectively decrease the machine size.The real-time controllable motor angular acceleration fluctuation is smaller and the commutation times are less,which has the advantage of reducing the difficulty of the mechanism control system.Subsequently,the correctness of the design method is verified by kinematics simulation.Finally,the synchronous linkage motion control methods of the two motors were designed,a transplanting experiment of the prototype was carried out,the picking success rate had reached 90%-93.4%and transplanting success rate was 80.5%-86.9%during experiment,which showed that the integrated operation of picking and planting flower seedlings can be realized by the proposed mechanism.展开更多
High-density and precise genetic linkage map is fundamental to detect quantitative trait locus (QTL) of agronomic and quality related traits in cultivated peanut (Arachis hypogaea L.). In this study, three linkage map...High-density and precise genetic linkage map is fundamental to detect quantitative trait locus (QTL) of agronomic and quality related traits in cultivated peanut (Arachis hypogaea L.). In this study, three linkage maps from three RIL (recombinant inbred line)populations were used to construct an integrated map. A total of 2,069 SSR and transposon markers were anchored on the high-density integrated map which covered 2,231.53 cM with 20 linkage groups. Totally, 92 QTLs correlating with pod length (PL), pod width (PW), hundred pods weight (HPW) and plant height (PH) from above RIL populations were mapped on it. Seven intervals were found to harbor QTLs controlling the same traits in different populations,including one for PL, three for PW, two for HPW, and one for PH. Besides, QTLs controlling different traits in different populations were found to be overlapped in four intervals.Interval on A05 contains 17 QTLs for different traits from two RIL populations. New markers were added to these intervals to detect QTLs with narrow confidential intervals.Results obtained in this study may facilitate future genomic researches such as QTL study, fine mapping, positional cloning and marker-assisted selection (MAS) in peanut.展开更多
基金The research work was financially supported by the National Natural Science Foundation of China(Grant No.51775512,51975536)Key research projects of Zhejiang Province(Grant No.2018C02046)+2 种基金Project funded by China Postdoctoral Science FoundationBasic public welfare research projects of Zhejiang Province(Grant No.LGN19E050002,LGN20E050006)Basic Scientific Research Foundation of Zhejiang Sci-Tech University.
文摘Aiming at decreasing the component complexity and cost of flower transplanting machine,an integrated transplanting method for picking and planting flower seedlings was proposed,and a hybrid-driven five-bar parallel mechanism was designed.A“beak-shaped”trajectory was designed for integrated transplanting requirements,and meantime,either the posture requirements of transplanting claw were determined.Based on the transplanting trajectory of the mechanism,a corresponding mathematical model for solving the link parameters was established,and then the five-bar mechanism was divided into two bar groups,optimization was conducted in two steps based on genetic algorithm and NSGA-II algorithm.Consequently,the optimal solution of the hybrid-driven five-bar parallel mechanism for flower seedling transplanting was obtained.Compared with similar designs,the trajectory displacement of the proposed mechanism is larger in the condition of smaller link size,which indicates that the mechanism can effectively decrease the machine size.The real-time controllable motor angular acceleration fluctuation is smaller and the commutation times are less,which has the advantage of reducing the difficulty of the mechanism control system.Subsequently,the correctness of the design method is verified by kinematics simulation.Finally,the synchronous linkage motion control methods of the two motors were designed,a transplanting experiment of the prototype was carried out,the picking success rate had reached 90%-93.4%and transplanting success rate was 80.5%-86.9%during experiment,which showed that the integrated operation of picking and planting flower seedlings can be realized by the proposed mechanism.
文摘High-density and precise genetic linkage map is fundamental to detect quantitative trait locus (QTL) of agronomic and quality related traits in cultivated peanut (Arachis hypogaea L.). In this study, three linkage maps from three RIL (recombinant inbred line)populations were used to construct an integrated map. A total of 2,069 SSR and transposon markers were anchored on the high-density integrated map which covered 2,231.53 cM with 20 linkage groups. Totally, 92 QTLs correlating with pod length (PL), pod width (PW), hundred pods weight (HPW) and plant height (PH) from above RIL populations were mapped on it. Seven intervals were found to harbor QTLs controlling the same traits in different populations,including one for PL, three for PW, two for HPW, and one for PH. Besides, QTLs controlling different traits in different populations were found to be overlapped in four intervals.Interval on A05 contains 17 QTLs for different traits from two RIL populations. New markers were added to these intervals to detect QTLs with narrow confidential intervals.Results obtained in this study may facilitate future genomic researches such as QTL study, fine mapping, positional cloning and marker-assisted selection (MAS) in peanut.
