Small Ground Research Articles

УСТРОЙСТВО И ТЕХНОЛОГИЧЕСКИЙ ПРОЦЕСС СМЕШИВАНИЯ И ВНЕСЕНИЯ УДОБРЕНИЙ С ПОЛИВНОЙ ВОДОЙ ДЛЯ ПОДКОРМКИ СЕЛЬСКОХОЗЯЙСТВЕННЫХ КУЛЬТУР

Purpose: development of technological schemes and technical means of mixing and applying fertilizers with irrigation water for feeding crops. Materials and methods. The research was carried out on the fields of Biryuchekutsky vegetable breeding experimental station – a branch of Federal Scientific Center for Vegetable Growing (town Novocherkassk) and in the farm of the settlement Zaplavskaya Oktyabrsky district Rostov region on sites with protected ground. To justify the technological process of applying fertilizers using a 4-component fertilizer mixer with water and applying the mixture into the soil during fertilizing irrigation, technological schemes that allow applying all types of fertilizers have been developed. Results. According to the above technological schemes, fertilizers are proposed to be applied to the soil using drip irrigation and a 4-component jet mixer in the following order: using the calculated doses for the planned crop yield, fill the containers with the extract of livestock wastewater, mineral fertilizers and microelements (micronutrients are applied according to the recommendations of the agronomic service); a jet mixer is put into operation, in which pressure water supplied from a centrifugal pump or from a pressure pipeline is used as a working flow, fertilizer is used as a suction flow. The change in the mixture concentration is carried out by the corresponding valves. The above technological schemes are recommended for use in the cultivation of vegetable crops in large and small farms, in open and protected ground, allow the use of all types of fertilizers for fertilizing irrigation of vegetable crops. Conclusions: the proposed technological schemes make it possible to apply all the necessary types of fertilizers, to substantiate the initial data for the hydraulic calculation of the irrigation network, to establish the main geometric dimensions and hydraulic parameters of a 4-component jet mixer.

Identification of Single-Phase Line Break Fault Direction Based on Local Voltage Information in Small Current Grounding System Considering the Impact of DG

Identification of Single-Phase Line Break Fault Direction Based on Local Voltage Information in Small Current Grounding System Considering the Impact of DG

Detection of Dim Small Ground Targets in SAR Remote Sensing Image based on Multi-level Feature Fusion

Detection of dim small ground targets in SAR remote sensing images suffers from deficient target information and significant irrelevant background noise. In order to solve this problem, we propose the CD-YOLO (Cross-DRSN YOLO) based on multi-level feature fusion. In CD-YOLO, the convolutional neural network is firstly used to extract features from the input SAR image step by step, thus the spatial pyramid of shallow and deep feature maps is obtained. Cross-level feature fusion is then performed on the spatial pyramid of feature maps, combined with the constructed soft thresholding module which adopts DRSN (Deep Residual Shrinkage Network), to enhance the spatial features of dim small targets and eliminate the noise-related features. Finally, end-to-end target detection is carried out on the two large parallel feature maps generated after soft thresholding. Detection results are output combined with multi-channel information. Due to lack of sufficient image data, a SAR dim small ground target dataset named SGDSTD (SAR Small Ground-based Dim Small Target Dataset) is constructed. Experimental results show that CD-YOLO achieves a real-time performance of 32.3 frames per second, and its AP0.5 and AP0.5: 0.95 on the SGDSTD dataset achieve 91.6% and 51.9%, respectively. Precision and recall of CD-YOLO on the SGDSTD dataset are 86.9% and 81.4%, respectively. The experiment results prove the effectiveness of the proposed method.

О гнездовании степного орла в Дагестане

О гнездовании степного орла в Дагестане

Аналіз конструктивних особливостей мініобприскувачів для невеликих фермерських господарств

The purpose of the study is to perform an analysis of the design characteristics and efficiency of various types of mini-sprayers in small areas of row crops and to form criteria by which a new self-propelled mini-sprayer with a rod stabilization system should be designed. An analysis of the efficiency of various types of mini-sprayers in small areas used for planting various crops in small farms was carried out. For the outlined areas of treatment of field crops (within 0.2 hectares), it was established that knapsack sprayers require a significant amount of physical labor of the operator: to move the mass of the sprayer with the working fluid, pumping with a manual pump (for the option without an electric pump), frequent refueling. In addition, manual movement of the rod cannot guarantee the uniformity of application of the working preparation over the entire area, especially with continuous application. For wheelbarrow sprayers, it is established that their mass is transferred to the chassis, but the operator must push it to move. If we talk about the inter-row of plants, then a furrow is formed in the loose soil, which greatly complicates the movement of such a sprayer. In addition, small ground clearance and unregulated furrow do not allow movement by inter-rows of row crops. In the option of using a hinged rod, it is difficult to maintain a constant speed of movement if the sprayer is moved manually. When using the mini energy tool, the same issues arise – a small clearance of the energy tool and the inability to adjust the furrow width. There is also no rod stabilization system. Hinged sprayers are more dependent on the parameters of the power supply chassis. Here, mainly, the same problems arise – limited adjustment of furrow width and fixed clearance, which narrows their use in certain phases of plant growth, when the ground clearance of the energy source is insufficient to avoid damaging plants during processing. In addition, the absence of a rod stabilization system can be seen. This leads to its oscillations, which are transmitted from the wheels of the energy store when moving by field irregularities, and this has an effect on the uniformity of the introduction of the operating solution and the resource of work. Regarding trailed mini-sprayers, it is possible to eliminate some of the described drawbacks in their designs, but their functionality is significantly limited by the parameters of the energy tools with which they are aggregated. To increase the efficiency of applying the operating solution to the treated areas, at least the simplest pendulum suspensions should be used to stabilize the rod. In order to improve the quality of application of the operating solution on the treated surfaces, universal use for processing various crops, including work in gardens, reducing the manual labor of the operator, etc., it is necessary to develop a self-propelled small-sized sprayer, analogues of which are not observed on the Ukrainian market. The following requirements are put forward to the developed design: self-moving (using an engine); the ability to change the furrow width using service mechanisms; have sufficient clearance or regulate it; the hinged rod must have a stabilization system and be adjustable in height of the installation; the pressure line must maintain a constant and controlled pressure of the operating solution; the developed model of a self-propelled sprayer should be affordable for the average agricultural producer in the subsistence farming. Taking into account these requirements and the implementation of the sprayer design in practice, we will get a highly efficient and competitive machine in the mini sprayer market.

Overburden Breaking Law and Safe Mining Technology in Thin Bedrock Stope with Thick Alluvium

For the thick alluvium and thin bedrock coal seam mining in East China, it is easy to produce water by pressing the frame. Taking the engineering geological conditions of the thin bedrock coal seam 1611 (3) working face in the Zhangji Coal Mine of Huainan Mining Group as the research background, the breaking law of the thin bedrock coal seam working face with thick alluvium was studied by using a similar material physical simulation experiment and theoretical analysis. It is revealed that under the load transfer of the loose aquifer, the roof fracture of the stope with thick alluvium and thin bedrock is characterized by large and small periodic ground pressure, and the combination failure of the high key stratum and the low key stratum with large cycles is prone to support crushing accidents. Based on this, the safety mining technical measures of reducing the fracture distance of the high key stratum by forced roof caving are proposed, and the reasonable blasting parameters are calculated. After field application, no support crushing accident on the working face was recorded, and the mining was safe, which provides a technical reference for the mining of the working face under similar conditions.

Research on Line Selection Technology for Two-point Same-phase Ground Faults in Medium-voltage Distribution Networks

At present, the problematic line selection method for single phase grounding faults of the small current grounding system has been mature, but line selection method for two-point same-phase ground faults is rarely studied. For the problem that the accuracy of line selection equipment is low for two-point same-phase ground faults, a fault model is established and the fault signatures are analyzed theoretically. As the faulty line zero-sequence current is affected by more factors, it is not possible to select the line with the common line selection technology for single-phase grounding faults. By further theoretical derivation, a new method for successive judgment of faulty lines is proposed, and the correctness of problematic characteristics and the feasibility of line selection technology are verified to many different cases by simulation using the ATP simulation experimental platform.

Insertion of Additional Image Charges in Method of Images for Small Ground Planes to Improve Prediction in Two-Dimensional Electrostatic Problems

Insertion of Additional Image Charges in Method of Images for Small Ground Planes to Improve Prediction in Two-Dimensional Electrostatic Problems

Dynamic Simulation and Experiment of Marching Small Unmanned Ground Vehicles with Small Arms

Dynamic Simulation and Experiment of Marching Small Unmanned Ground Vehicles with Small Arms

Nonlinear UGV Identification Methods via the Gaussian Process Regression Model for Control System Design

In this paper, two identification methods are proposed for a ground robotic system. A Gaussian process regression (GPR) model is presented and adopted for a system identification framework. Its performance and features were compared with a wavelet-based nonlinear autoregressive exogenous (NARX) model. Both algorithms were compared and experimentally validated for a small ground robot. Moreover, data were collected throughout the onboard sensors. The results show better prediction performance in the case of the GPR method, as an estimation algorithm and in providing a measure of uncertainty.

Influence of small ground surface on plasma property in an inductively-coupled plasma with floating liner

Currently, the components of semiconductor processing chamber are coated with oxides to avoid metal contamination. As a result, electrical ground is hidden from the plasma. In this study, we experimentally investigate the effect of small ground surfaces in an inductively-coupled plasma (ICP) generated in an electrically floating liner. Peak-to-peak and DC voltages at a biasing stage and a floating liner are measured as a function of stage peak-to-peak voltage for various ICP powers and the ground surface areas. The results show that the stage and liner voltages vary with changing ground surface area due to a change in sheath thickness. The analytical plasma potentials, calculated from the experimental values are compared with the simulation results, show good agreement. It is suggested that under low biased voltage and high ICP power conditions, such as in the atomic layer etching process, the small ground surface affects the potential structure in the chamber.

Assessment of Three Automated Identification Methods for Ground Object Based on UAV Imagery

Identification and monitoring of diverse resources or wastes on the ground is important for integrated resource management. The unmanned aerial vehicle (UAV), with its high resolution and facility, is the optimal tool for monitoring ground objects accurately and efficiently. However, previous studies have focused on applying classification methodology on land use and agronomy, and few studies have compared different classification methods using UAV imagery. It is necessary to fully utilize the high resolution of UAV by applying the classification methodology to ground object identification. This study compared three classification methods: A. NDVI threshold, B. RGB image-based machine learning, and C. object-based image analysis (OBIA). Method A was the least time-consuming and could identify vegetation and soil with high accuracy (user’s accuracy > 0.80), but had poor performance at classifying dead vegetation, plastic, and metal (user’s accuracy < 0.50). Both Methods B and C were time- and labor-consuming, but had very high accuracy in separating vegetation, soil, plastic, and metal (user’s accuracy ≥ 0.70 for all classes). Method B showed a good performance in identifying objects with bright colors, whereas Method C showed a high ability in separating objects with similar visual appearances. Scientifically, this study has verified the possibility of using the existing classification methods on identifying small ground objects with a size of less than 1 m, and has discussed the reasons for the different accuracy of the three methods. Practically, these results help users from different fields to choose an appropriate method that suits their target, so that different wastes or multiple resources can be monitored at the same time by combining different methods, which contributes to an improved integrated resource management system.

Designing Uncorrelated Multiple Antennas with Round Patterns Using Handset Metal Frames

Multiple antennas with low correlations are highly in demand in the mobile handsets for higher data rate. At the same time, the total pattern provided by the antennas should be as round as possible for reliable links. In this paper, by analysing the characteristic modes of the mobile chassis loaded by ultra-thin metal frames, a four-antenna system with a round total pattern is designed at 2.4 GHz. The gain variations are only 3.4 dB and 3.6 dB on two dominant planes. The isolations between antennas are above 15 dB, and the correlations are below 0.01, with intact ground plane and small ground clearance of 2 mm maintained. Afterwards, an eight-port antenna system is designed by taking advantage of the ground clearance and exciting modes with different phases. Low correlations of below 0.07 are obtained. The antenna system is fabricated, with the measured results agreeing well with the simulated ones.

A Compact Monopole Antenna for Underwater Acoustic Monitoring Beacons.

Protected wetlands such as deltas, lakes or rivers provide a sanctuary for many endangered species. In order to protect these areas from illegal human interventions, it is necessary to monitor the unauthorized entrance of motor boats. In order to mitigate such an impact, we have developed a network of floating beacons for underwater acoustic monitoring, using LoRa communication modules operating at 433 MHz. Such beacons should be equipped with compact antennas. In this paper, we use a genetic algorithm approach to design the compact, monopole antennas required for the beacons; size constraints would apply not only to the radiating element but also to the ground plane. Although the antenna input is unbalanced, such a small ground plane may yield common mode currents on the antenna feeder, which distort the radiation pattern of the antenna. In order to investigate the effect of the common mode currents, we developed a distance averaging method, while, for characterizing the antenna, we used a single-antenna method. For the experimental validation of the system in real conditions, a continuous monitoring of the lake was carried out. During the monitoring, multiple events generated by incursions of motor boats were successfully detected and recorded.

Guidance, Navigation and Control System for Multi-Robot Network in Monitoring and Inspection Operations

This work focuses on the challenges associated with autonomous robot guidance, navigation, and control in multi-robot systems. This study provides an affordable solution by utilizing a group of small unmanned ground vehicles and quadrotors that collaborate on monitoring and inspection missions. The proposed system utilizes a potential fields path planning algorithm to allow a robot to track a moving target while avoiding obstacles in a dynamic environment. To achieve the required performance and provide robust tracking against wind disturbances, a backstepping controller is used to solve the essential stability problem and ensure that each robot follows the specified path asymptotically. Furthermore, the performance is also compared with a proportional-integral-derivative (PID) controller to ensure the superiority of the control system. The system combines a low-cost inertial measurement unit (IMU), a GNSS receiver, and a barometer for UAVs to generate a navigation solution (position, velocity, and attitude estimations), which is then used in the guidance and control algorithms. A similar solution is used for UGVs by integrating the IMU, a GNSS receiver, and encoders. Non-linear complementary filters integrate the measurements in the navigation system to produce high bandwidth estimates of the state of each robotic platform. Experimental results of several scenarios are discussed to prove the effectiveness of the approach.

Preliminary study on the application of robotic herding to manipulation of grazing distribution: Behavioral response of cattle to herding by an unmanned vehicle and its manipulation performance

Robotic herding is attracting attention as a new technology for managing grazing animals. As a preliminary step toward the application of robotic herding to the manipulation of grazing distribution, we investigated the behavioral responses of cattle to herding by an unmanned vehicle and its performance in manipulating grazing distribution in a pasture. A herd of approximately 30 cows was stocked in a 1.1-ha pasture for 5 days each month from May to October 2021. The cows were herded by a small unmanned ground vehicle for 7 days of the periods. The pasture was divided into nine plots, with one–four plots assigned as the herding area. When the cows grazed in the herding area, the operator maneuvered the vehicle using a transmitter to move them out of the area. The initial reaction (walk away, appear startled, appear interested, back away, or ignore) to the approaching vehicle, flight distance (within one cow-length or more), whether cows escaped from the vehicle or not, and escape gait (walk or run) were classified based on videos recorded during herding. The behavior and location of the cows were observed at 5 min intervals during the time in the pasture. Utilization rates (percentage of grazing time) of the plots were compared with those on days without herding. Throughout the survey, cows initially walked away from the approaching vehicle in 78% of the cases, the flight distance was within one cow-length in 89%, cows escaped from the vehicle in 93%, and when escaping, they walked in 91%. On the first day of herding, these occasions were less frequent (58%, 83%, 84%, and 82%, respectively), but increased on the second day and remained high thereafter. These findings suggest that cows were able to adjust to herding by an unmanned vehicle within a day and respond to the vehicle desirably for the manipulation of grazing distribution with little fear, irritation or discomfort. One-plot herding decreased the use of the herding area from 10.5% to 3.3% (P = 0.001). Two-plot herding decreased the use from 22.3% to 10.4% (P = 0.015) and increased the use of the least-utilized plot from 8.2% to 14.5% (P = 0.021). These findings indicate that robotic herding by an unmanned vehicle has the potential to positively manipulate grazing distribution.

Prognostic Impact of Very Small Ground-Glass Opacity Component in Stage IA Solid Predominant Non-small Cell Lung Cancer

We evaluated the prognostic role of the presence of a very small ground glass opacity (GGO) component in stage IA solid-predominant non-small cell lung cancer (NSCLC). We evaluated surgically resected 1471 patients diagnosed with stage IA solid-predominant NSCLC. They were classified into 3 groups; that is, GGO group (0.5<CTR<0.9), Very small GGO group (0.9≤CTR<1.0), and the Solid group (CTR = 1.0). The prognostic influence of a very small GGO component was evaluated using the Cox proportional hazards model. Overall survival (OS) was estimated using the Kaplan-Meier method with a log-rank test. In total, 523 GGO groups, 91 Very small GGO groups, and 857 Solid groups were identified. The median CTR of the Very small GGO group was 0.92 ± 0.02 (range, 0.90-0.97). Both the pathological characteristics and survival outcome was similar between GGO group and Very small GGO group (5 year-OS, 91.7% Vs 89.8%, P = 0.374). However, several pathological findings including nodal involvement (8% Vs 20%, P = 0.004), lymphatic (12% Vs 27%, P = 0.003) or vascular (18% Vs 37%, P < 0.001) invasion or spread through alveolar space (9% Vs 23%, P = 0.004) were significantly different in comparison between Very small GGO and Solid group. Accordingly, the 5-year OS significantly differed between the groups (89.8% Vs 72.5%, P < 0.001), which was also demonstrated in the propensity score-matched cohort (89.4% Vs 79.2%; P = 0.019). Prognostic impact of a very small GGO component is relevant in stage IA solid-predominant NSCLC. In the future, it is necessary to confirm these data using larger multi-institutional datasets that are more appropriately powered.

Investigation of newly diagnosed pneumoconiosis from artificial quartz stone manufacturers

Artificial quartz dust exposure may cause associated pneumoconiosis. From November 2019 to July 2020, a total of 27 cases of silicosis associated with artificial quartz stone manufacturers were diagnosed and treated in the Occupational disease Department of Suzhou Fifth People's Hospital. The average age of onset was (46.8±6.6) years, and the average working age of dust exposure was (5.7±1.7) years.The main feature of high KV chest radiography is P/S shadow with strip shadow. CT imaging findings showed diffuse small nodules and ground glass shadows with band shadows. The lesions were mainly distributed in the upper lung, accompanied by pleural thickening, lymphadenopathy and calcification. The pulmonary function impairment was mainly mild restrictive ventilation disorder, and the bronchial mucosa longitudinal plica was the main manifestation under tracheoscopy. The age of silicosis of workers in artificial quartz stone production enterprises is younger, the working age of dust exposure is short, the lung function and bronchial mucosa have a certain degree of damage, and effective preventive measures should be taken in time.

A method of single-phase grounding fault line selection based on optimization spiking neural P systems

It is important to select the fault line rapidly when single-phase grounding fault occurs in the small current grounding system. The fault information acquisition of existing methods generally need hardware modification, so the high cost makes it difficult to apply to the power grid in underdeveloped areas. Taking that into consideration, this paper proposed a method of steady-state information small current grounding fault line selection based on Optimization Spiking Neural P Systems (OSNPS). The method only needs the steady-state voltage and current data of the dispatch side to effectively identify the fault line, which greatly improves the range of application. According to the characteristics of power dispatching big data, the objective function is established and the normalized model parameters are optimized by OSNPS to improve the accuracy of fault line selection stably. Furthermore, PSCAD/EMTDC is used to simulate the small current grounding system, the main factors affecting the accuracy of fault line selection are analyzed and the relationship between fault information features and fault identification accuracy is revealed. What’s more, It is pointed out that the model parameters without optimization may have line selection failure. Finally, specific examples are given to verify that the model parameters optimized by OSNPS can effectively improve the accuracy of fault line selection.

Numerical Analysis of Blast Effects and Mitigation in the Far-Field from Small Explosions

Requirements for explosive safety are often given in terms of a “K-Factor”, correlating incident blast effects with the distance and TNT equivalent weight of an explosion. Traditionally, this is conducted using empirical correlations to experimental measurements (e.g., the Kingery–Bulmash equations). In the far-field, empirical verification of incident overpressure and impulse magnitudes can be difficult; extrapolations from data give expected values at reasonable standoff distances that sometimes are too small to measure on available equipment but are larger than some regulations require. The present paper describes the results of numerical hydrocode analysis to verify the expected incident overpressure and impulse from small hemispherical ground charges of TNT at these relatively large distances. Furthermore, the dynamic effect of incident blast waves on lightweight, modular mitigation barriers is studied to gauge their effectiveness at providing safety standard compliance.