With the decrease of agricultural labor and the increase of production cost,the researches on citrus harvesting robot(CHR)have received more and more attention in recent years.For the success of robotic harvesting and...With the decrease of agricultural labor and the increase of production cost,the researches on citrus harvesting robot(CHR)have received more and more attention in recent years.For the success of robotic harvesting and the safety of robot,the identification of mature citrus fruit and obstacle is the priority of robotic harvesting.In this work,a machine vision system,which consisted of a color CCD camera and a computer,was developed to achieve these tasks.Images of citrus trees were captured under sunny and cloudy conditions.Due to varying degrees of lightness and position randomness of fruits and branches,red,green,and blue values of objects in these images are changed dramatically.The traditional threshold segmentation is not efficient to solve these problems.Multi-class support vector machine(SVM),which succeeds by morphological operation,was used to simultaneously segment the fruits and branches in this study.The recognition rate of citrus fruit was 92.4%,and the branch of which diameter was more than 5 pixels,could be recognized.The results showed that the algorithm could be used to detect the fruits and branches for CHR.展开更多
为了研究水树老化电缆极化-去极化电流(polarization and depolarization current,PDC)支路参数变化特征及原因,分析了水树微观结构特征,并揭示了水树微观结构对电缆PDC支路参数的影响。对短电缆和长电缆样本进行加速水树老化,利用PDC...为了研究水树老化电缆极化-去极化电流(polarization and depolarization current,PDC)支路参数变化特征及原因,分析了水树微观结构特征,并揭示了水树微观结构对电缆PDC支路参数的影响。对短电缆和长电缆样本进行加速水树老化,利用PDC检测样本极化–去极化电流,并计算老化样本Debye模型三支路参数。利用光学显微镜观测短电缆样本中的水树形态,利用扫描电镜(scanning electron microscopy,SEM)观测水树区域微观形貌。PDC三支路参数辨识结果表明,水树老化样本第3支路时间常数显著高于未老化样本。另外,第3支路电容增加量高于电阻减小量。微观观测结果表明水树区域存在大量孤立微孔,分析认为,水树生长将造成材料分子链断裂及形成大量微孔–XLPE界面,导致材料偶极极化时间及界面极化时间增长,样本第3支路时间常数显著增大。另外,水树区域存在大量孤立微孔,其限制了离子在水树区域的运动,从而导致样本第3支路电容增大量高于电阻减小量。展开更多
基金International Science&Technology Cooperation Program of China(2013DFA11470)the National Natural Science Foundation of China(30771243)+1 种基金International Science&Technology Cooperation Program of Chongqing(cstc2011gjhz80001)Fundamental Research Funds for the Central Universities(XDJK2013C102).
文摘With the decrease of agricultural labor and the increase of production cost,the researches on citrus harvesting robot(CHR)have received more and more attention in recent years.For the success of robotic harvesting and the safety of robot,the identification of mature citrus fruit and obstacle is the priority of robotic harvesting.In this work,a machine vision system,which consisted of a color CCD camera and a computer,was developed to achieve these tasks.Images of citrus trees were captured under sunny and cloudy conditions.Due to varying degrees of lightness and position randomness of fruits and branches,red,green,and blue values of objects in these images are changed dramatically.The traditional threshold segmentation is not efficient to solve these problems.Multi-class support vector machine(SVM),which succeeds by morphological operation,was used to simultaneously segment the fruits and branches in this study.The recognition rate of citrus fruit was 92.4%,and the branch of which diameter was more than 5 pixels,could be recognized.The results showed that the algorithm could be used to detect the fruits and branches for CHR.
文摘为了研究水树老化电缆极化-去极化电流(polarization and depolarization current,PDC)支路参数变化特征及原因,分析了水树微观结构特征,并揭示了水树微观结构对电缆PDC支路参数的影响。对短电缆和长电缆样本进行加速水树老化,利用PDC检测样本极化–去极化电流,并计算老化样本Debye模型三支路参数。利用光学显微镜观测短电缆样本中的水树形态,利用扫描电镜(scanning electron microscopy,SEM)观测水树区域微观形貌。PDC三支路参数辨识结果表明,水树老化样本第3支路时间常数显著高于未老化样本。另外,第3支路电容增加量高于电阻减小量。微观观测结果表明水树区域存在大量孤立微孔,分析认为,水树生长将造成材料分子链断裂及形成大量微孔–XLPE界面,导致材料偶极极化时间及界面极化时间增长,样本第3支路时间常数显著增大。另外,水树区域存在大量孤立微孔,其限制了离子在水树区域的运动,从而导致样本第3支路电容增大量高于电阻减小量。
