为解决农业果实自动采摘问题,设计了一种番茄采摘机器人。该采摘机器人采用Raspberry Pi 3B作为控制器,通过双目摄像头对目标果实进行识别与定位后,引导小车至目标果实,控制机械臂完成番茄的采摘。实验结果表明,该番茄采摘机器人具有自...为解决农业果实自动采摘问题,设计了一种番茄采摘机器人。该采摘机器人采用Raspberry Pi 3B作为控制器,通过双目摄像头对目标果实进行识别与定位后,引导小车至目标果实,控制机械臂完成番茄的采摘。实验结果表明,该番茄采摘机器人具有自主性、准确性和高效性。展开更多
We present mobile vehicle lidar observations in Tianjin, China during the spring, summer, and winter of 2016. Mobile observations were carried out along the city border road of Tianjin to obtain the vertical distribut...We present mobile vehicle lidar observations in Tianjin, China during the spring, summer, and winter of 2016. Mobile observations were carried out along the city border road of Tianjin to obtain the vertical distribution characteristics of PM2.5. Hygroscopic growth was not considered since relative humidity was less than 60% during the observation experiments. PM2.5 profile was obtained with the linear regression equation between the particle extinction coefficient and PM2.5 mass concentration. In spring, the vertical distribution of PM2.5 exhibited a hierarchical structure. In addition to a layer of particles that gathered near the ground, a portion of particles floated at 0.6–2.5-km height. In summer and winter, the fine particles basically gathered below 1 km near the ground. In spring and summer, the concentration of fine particles in the south was higher than that in the north because of the influence of south wind. In winter, the distribution of fine particles was opposite to that measured during spring and summer. High concentrations of PM2.5 were observed in the rural areas of North Tianjin with a maximum of 350 μg m^–3 on 13 December2016. It is shown that industrial and ship emissions in spring and summer and coal combustion in winter were the major sources of fine particles that polluted Tianjin. The results provide insights into the mechanisms of haze formation and the effects of meteorological conditions during haze–fog pollution episodes in the Tianjin area.展开更多
基金Supported by the National Key Project of Ministry of Science and Technology of China(2016YFC0203302)National 863 Program for High Technology Research and Development(2014AA06A512)+2 种基金National(Key)Basic Research and Development(973)Program of China(2014CB447900)National Natural Science Foundation of China(91544232,41305126,and 41605020)Strategic Priority Research Program of the Chinese Academy of Sciences(XDB05040300)
文摘We present mobile vehicle lidar observations in Tianjin, China during the spring, summer, and winter of 2016. Mobile observations were carried out along the city border road of Tianjin to obtain the vertical distribution characteristics of PM2.5. Hygroscopic growth was not considered since relative humidity was less than 60% during the observation experiments. PM2.5 profile was obtained with the linear regression equation between the particle extinction coefficient and PM2.5 mass concentration. In spring, the vertical distribution of PM2.5 exhibited a hierarchical structure. In addition to a layer of particles that gathered near the ground, a portion of particles floated at 0.6–2.5-km height. In summer and winter, the fine particles basically gathered below 1 km near the ground. In spring and summer, the concentration of fine particles in the south was higher than that in the north because of the influence of south wind. In winter, the distribution of fine particles was opposite to that measured during spring and summer. High concentrations of PM2.5 were observed in the rural areas of North Tianjin with a maximum of 350 μg m^–3 on 13 December2016. It is shown that industrial and ship emissions in spring and summer and coal combustion in winter were the major sources of fine particles that polluted Tianjin. The results provide insights into the mechanisms of haze formation and the effects of meteorological conditions during haze–fog pollution episodes in the Tianjin area.
