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A micro-tiller vibrates severely during the rotary tillage process, which may cause operators to develop white finger disease. However, for most vibration models, the acting force between the soil and the rotary cutter roll was simplified to only a constant or sine curve, which may not describe the whole dynamic. Rotary tillage processes have been simulated based on the smoothed particle hydrodynamics method in this paper. The acting forces of the soil on the cutter roll have been obtained with the simulation model. Four different working conditions were simulated. The average error between the calculated forces and the simulated mean forces is 10.96%, which proves the SPH model. By introducing simulated acting forces into the vibration model, a new vibration model of the micro-tiller, which includes the soil–blade interaction, has been constructed. Time and frequency characteristics were simulated with the new vibration model. The errors between the simulated and tested RMS values are 4.28%, 5.03%, and 6.35% for the engine, cutter roll, and right handle, respectively. Two domain-dominant frequencies were found with the vibration model, namely 44.7 Hz and 257.0 Hz. It is helpful to reveal the whole dynamic map of micro-tillers. [ABSTRACT FROM AUTHOR]

Navigation line extraction is critical for precision agriculture and automatic navigation. A novel method for extracting navigation lines based on machine vision is proposed herein using a straight line detected based on a high-ridge crop row. Aiming at the low-level automation of machines in field environments of a high-ridge cultivation mode for broad-leaved plants, a navigation line extraction method suitable for multiple periods and with high timeliness is designed. The method comprises four sequentially linked phases: image segmentation, feature point extraction, navigation line calculation, and dynamic segmentation horizontal strip number feedback. The a* component of the CIE-Lab colour space is extracted to preliminarily extract the crop row features. The OTSU algorithm is combined with morphological processing to completely separate the crop rows and backgrounds. The crop row feature points are extracted using an improved isometric segmented vertical projection method. While calculating the navigation lines, an adaptive clustering method is used to cluster the adjacent feature points. A dynamic segmentation point clustering method is used to determine the final clustering feature point sets, and the feature point sets are optimised using lateral distance and point line distance methods. In the optimisation process, a linear regression method based on the Huber loss function is used to fit the optimised feature point set to obtain the crop row centreline, and the navigation line is calculated according to the two crop lines. Finally, before entering the next frame processing process, a feedback mechanism to calculate a number of horizontal strips for the next frame is introduced to improve the ability of the algorithm to adapt to multiple periods. The experimental results show that the proposed method can meet the efficiency requirements for visual navigation. The average time for the image processing of four samples is 38.53 ms. Compared with the least squares method, the proposed method can adapt to a longer growth period of crops. [ABSTRACT FROM AUTHOR]

In this study, a new nanoporous material comprising NiMoO 4 nanorods and Co 3 O 4 nanoparticles derived from ZIF-67 supported by a cellulose-based carbon aerogel (CA) has been successfully synthesized using a two-step hydrothermal method. Due to its chemical composition, the large specific surface and the hierarchical porous structure, the NiMoO 4 @Co 3 O 4 /CA ternary composite yields electrodes with an enhanced specific capacitance of 436.9 C/g at a current density of 0.5 A/g and an excellent rate capability of 70.7% capacitance retention at 5.0 A/g. Moreover, an advanced asymmetric supercapacitor (ASC) is assembled using the NiMoO 4 @Co 3 O 4 /CA ternary composite as the positive electrode and activated carbon as the negative electrode. The ASC device exhibits a large capacitance of 125.4 F/g at 0.5 A/g, a maximum energy density of 34.1 Wh/kg at a power density of 208.8 W/kg as well as a good cyclic stability (84% after 2000 cycles), indicating its wide applicability in energy storage. Finally, our results provide a general approach to the construction of CA and MOF-based composite materials with hierarchical porous structure for potential applications in supercapacitors., (Copyright © 2020, Wang et al.; licensee Beilstein-Institut.)