Разработка навесной системы для управления пропашным культиватором в автоматическом режиме

Weed control automation appears to be a very promising technology based on the tremendous advances in computer processing, machine vision and robotics. Machine vision systems are based on size differences between crops and weeds and or on the regular structure of crop rows, allowing the system to recognize crop plants and control surrounding weeds. The paper provides description of the mounted system for orienting the row cultivator in rows and its displacement relative to the tractor using vision systems and automatic control. The developed technical vision system is capable of clearly identifying sugar beet leaves based on the deep learning artificial neural networks technology, and a specially developed algorithm for identifying the center of the row spacing to control the moving part of the cultivator in the required direction to level the inaccuracy of the tractor. The use of controlled mounted device with a tractor and an implement based on vision systems, the accuracy of technological operations for the row crops care, will increase the technical level of the machine and tractor unit, and reduce labor costs. Technical vision systems and automatic control of the cultivator will improve the quality of inter-row cultivation of row crops and reduce the pesticide load on the environment. The results of these studies can be used to create machines for cultivation of agricultural crops with an automated control system.Автоматизация удаления сорняков представляется очень перспективной технологией исходя из огромных усовершенствований в сфере компьютерной обработки, машинного зрения и робототехники. Системы машинного зрения базируются на разнице в цвете между культурными растениями в рядке и почвы. В статье приводится описание навесной системы для ориентации пропашного культиватора по рядкам и его смещение относительно трактора с помощью систем технического зрения и автоматического управления. Разработанная система технического зрения способна на основе использования технологии искусственных нейронных сетей глубокого обучения чётко определять листья сахарной свеклы, а специально разработанный алгоритм выявления центра междурядья направлять подвижную часть культиватора в требуемую сторону для нивелирования неточности хода трактора. Применение управляемого навесного устройства с трактором и орудием на основе систем технического зрения точность выполнения технологических операций по уходу за пропашными культурами, повысит технический уровень машинотракторного агрегата, снизит трудозатраты. Использование систем технического зрения и автоматического управления культиватором позволит повысить качество междурядных обработок пропашных культур и уменьшит пестицидную нагрузку на окружающую среду. Результаты настоящих исследований могут быть использованы при создании машин для возделывания сельскохозяйственных культур с автоматизированной системой управления

Town Of Great Barrington, Massachusetts Annual Reports For The Fiscal Year 2016 July 1, 2015 to June 30, 2016

SABRE (Sodium-iodide with Active Background REjection) is a direct dark matter search experiment based on an array of radio-pure NaI(Tl) crystals surrounded by a liquid scintillator veto. Twin SABRE experiments in the Northern and Southern Hemispheres will differentiate a dark matter signal from seasonal and local effects. The experiment is currently in a Proof-of-Principle (PoP) phase, whose goal is to demonstrate that the background rate is low enough to carry out an independent search for a dark matter signal, with sufficient sensitivity to confirm or refute the DAMA result during the following full-scale experimental phase. The impact of background radiation from the detector materials and the experimental site needs to be carefully investigated, including both intrinsic and cosmogenically activated radioactivity. Based on the best knowledge of the most relevant sources of background, we have performed a detailed Monte Carlo study evaluating the expected background in the dark matter search spectral region. The simulation model described in this paper guides the design of the full-scale experiment and will be fundamental for the interpretation of the measured background and hence for the extraction of a possible dark matter signal

Analytical and numerical aspects of Bragg fiber design

Abstract—Analytical theory and numerical approaches to the simulation and optimal design of multilayer mirrors and optical Bragg waveguides are developed. Optimal refractive index profiles in planar and cylindrical geometry are found. Reduction of the full set of Maxwell’s equations to a scalar boundary value problem in the lowcontrast approximation is discussed. An efficient finite-difference scheme is used to simulate realistic Bragg fibers. 1

Prolonged blockade of the brachial plexus for the early rehabilitation of children with posttraumatic elbow contractures

Objective. Improvement of surgical treatment outcomes in children with post-traumatic elbow contractures. Materials and methods. The study is based on the diagnostic findings of 48 children with post-traumatic elbow contractures who were treated at the Turner Scientific and Research Institute for Children’s Orthopedics. All children underwent complex rehabilitation after reconstructive intra-articular surgery to work out passive motions in the elbow using ARTROMOT-E2 device. The patients of the study group started rehabilitation in the first days after reconstructive intra-articular surgery in the background of prolonged blockade of the brachial plexus. In the control group, the rehabilitation was carried out traditionally on the 6th day after surgery without regional anesthesia. The patients of the study group were supplied with Contiplex SU perinural catheters for prolonged blockade of the brachial plexus using ultrasound (Edge SonoSite) and neurostimulation (Stimuplex® HNS12) before surgery. For perioperative blockade of the brachial plexus we used intermittent injection of 0.5% ropivacaine (2 mg / kg). The severity of pain at the stages of rehabilitation was assessed using 10-point grading scale (FPS-R). The range of active and passive motions in the joints was evaluated by measuring the range of motions with a fleximeter. Results. Intermittent injection of ropivacaine before rehabilitation allowed to correct post-traumatic elbow contractures in children in the first days after surgery associated with the minimum subjective pain level and stable hemodynamic parameteres, accompanied with a significant increase of the elbow motion range in comparison with the group of the patients who were not performed regional anesthesia . Conclusion. Prolonged blockade of the brachial plexus in rehabilitation treatment of children with post-traumatic contractures provides appropriate analgesic and myoneural block components from the 1st day after intra-articular reconstructive surgery. Early rehabilitation provides good results of the treatment and reduces rehabilitation period terms

ANATOMICAL LANDMARKS FOR ROBOTIC NERVE SPARING RADICAL PROSTATECTOMY

A detailed anatomical study of the prostate and pelvic organs has been recently relevant. Their anatomical knowledge is directly associated with the improved procedure of nerve-sparing robot-assisted radical prostatectomy, which contributes to the preservation of the anatomical structures responsible for postsurgical erection and urinary continence. The main tasks of radical prostatectomy are effective cancer control, early recovery of urinary continence, and recovery of erectile function.The literature on the anatomy of the prostate and its adjacent structures is analyzed in the context of nerve-sparing robot-assisted radical prostatectomy

Methods and Algorithms of Subsurface Holographic Sounding

In our experiments, we develop and test portable multi-element receiver antenna arrays, electrically scanned in order to immediately obtain a recognizable image of subsurface objects. Two quadrature components of the radar return signal are processed with a Kirchhoff backward migration algorithm. Physical theory is used to assess the quality of the holographic image, and the synthetic aperture approach is developed and tested. The parabolic wave equation and Gaussian beam technique are used in order to take into account refraction effects and to suppress specular reflection from the air-ground interface. Laboratory and field tests confirmed the predicted device parameters

Spreading of liquid drops from a liquid source

The spreading of liquid drops over solid substrates with a liquid source in the centre of the drop is considered from both theoretical and experimental points of view. For conditions of complete wetting the spreading is an overlapping of two processes: a spontaneous spreading and a forced flow caused by the liquid source in the centre. Both capillary and gravitational regimes of spreading are considered and power laws are deduced. In both cases of small and large droplets the exponent is a sum of two terms: the first term corresponds to the spontaneous spreading and the second term is determined by the intensity of the liquid source. In the case of a constant flow rate from the source the latter gives for the radius of spreading the following law R(t) ∼ t0.4 in the case of the capillary spreading and R(t) ∼ t0.5 in the case of gravitational spreading. In the case of partial wetting droplets spread with a constant advancing contact angle (at small capillary numbers). This yields R(t) ∼ t1/3. Experimental data are in good agreement with the theoretical predictions