Driven by the demand for efficient plant protection in orchards, the autonomous navigation system for orchards is hereby designed and developed in this study. According to the three modules of unmanned system “perception-decision-control,” the environment perception and map construction strategy based on 3D lidar is constructed for the complex environment in orchards. At the same time, millimeter-wave radar is further selected for multi-source information fusion for the perception of obstacles. The extraction of orchard navigation lines is achieved by formulating a four-step extraction strategy according to the obtained lidar data. Finally, aiming at the control problem of plant protection machine, the ADRC control strategy is adopted to enhance the noise immunity of the system. Different working conditions are designed in the experimental section for testing the obstacle avoidance performance and navigation accuracy of the autonomous navigation sprayer. The experimental results show that the unmanned vehicle can identify the obstacle quickly and make an emergency stop and find a rather narrow feasible area when a moving person or a different thin column is used as an obstacle. Many experiments have shown a safe distance for obstacle avoidance about 0.5 m, which meets the obstacle avoidance requirements. In the navigation accuracy experiment, the average navigation error in both experiments is within 15 cm, satisfying the requirements for orchard spray operation. A set of spray test experiments are designed in the final experimental part to further verify the feasibility of the system developed by the institute, and the coverage rate of the leaves of the canopy is about 50%.
We propose new Li 2 CO 3 -doped dark CaCO 3 pellets. The solar full-spectrum absorption of the new pellets can be as high as 73.25%. After 60 cycles, the energy storage density of the new CaCO 3 pellets is still as high as 1671 kJ/kg, and the decay rate of the energy storage density decreased from 56.73% to 4.24% compared with pure CaCO 3 pellets. At the same temperature, the average decomposition rate of the new CaCO 3 pellets in the first cycle is 2.1 times that of the ordinary dark CaCO 3 pellets. Therefore, this new CaCO 3 pellets can simultaneously achieve the characteristics of fast heat storage, excellent cyclic stability and high solar absorptance.
Background. Corydalis Rhizoma(CR) showed a high efficacy for coronary heart disease (CHD). However, the interaction between the active ingredients of CR and the targets of CHD has not been unequivocally explained in previous researches. To study the active components and potential targets of Corydalis Rhizoma and to determine the mechanism underlying the exact effect of Corydalis Rhizoma on coronary heart disease, a method of network pharmacology was used. Materials and Methods. The active components of CR and targets corresponding to each component were scanned out from Traditional Chinese medicine systems pharmacology database and analysis platform (TCMSP), and target genes of CHD were searched on GeneCards database and Online Mendelian Inheritance in Man(OMIM) database. The active components and common targets of CR and CHD were used to build the “CR-CHD” network through Cytoscape (version 3.2.1) software as well as protein-protein interaction(PPI) network on String database. Gene Ontology (GO) enrichment and Kyoto Encyclopedia of Genes and Genomes(KEGG) pathway enrichment analysis was executed by clusterProfiler(version 3.8) and DOSE(version 3.6) package on R platform. Results. 49 active ingredients and 394 relevant targets of CR and the 7173 CHD-related genes were retrieved. 40 common genes were selected for subsequent analysis. Crucial biological processes and pathways were obtained and analyzed, including DNA-binding transcription activator activity, RNA polymerase II-specific, RNA polymerase II transcription factor binding, kinase regulator activity, ubiquitin-like protein ligase binding, fluid shear stress and atherosclerosis, TNF signaling pathway, apoptosis, MAPK signaling pathway and PI3K-Akt signaling pathway. Conclusions. Overall, CR could alleviate CHD through the mechanisms predicted by network pharmacology, laying the foundation for future development of new drugs from traditional Chinese medicine on CHD.
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