A Crop Canopy Localization Method Based on Ultrasonic Ranging and Iterative Self-Organizing Data Analysis Technique Algorithm.

To protect crops from diseases and increase yields, chemical agents are applied by boom sprayers. To achieve the optimal effect, the boom and the crop canopy should be kept at an appropriate distance. So, it is crucial to be able to distinguish the crop canopy from other plant leaves. Based on ultrasonic ranging, this paper adopts the fuzzy iterative self-organizing data analysis technique algorithm to identify the canopy location. According to the structural characteristics of the crop canopy, based on fuzzy clustering, the algorithm can dynamically adjust the number and center of clusters so as to get the optimal results. Therefore, the distances from the sensor to the canopy or the ground can be accurately acquired, and the influence of lower leaves on the measurement results can be alleviated. Potted corn plants from the 3-leaf stage to the 6-leaf stage were tested on an experiment bench. The results showed that the calculated distances from the sensor to the canopy using this method had good correlation with the manually measured distances. The maximum error of calculated values appeared at the 3-leaf stage. With the growth of plants, the error of calculated values decreased. The increased sensor moving speeds led to increased error due to the reduced data points. From the 3-leaf stage to the 5-leaf stage, the distances from the sensor to the ground can also be obtained at the same time. The method proposed in this paper provides a practical resolution to localize the canopy for adjusting the height of sprayer boom.

Seed Germination Indicates Adaptive Transgenerational Plasticity in a Submerged Macrophyte.

Adaptive transgenerational plasticity is an important evolutionary strategy in plants. We investigated the resource allocation strategy in sexual reproduction and performed an in situ seed germination experiment of Potamogeton maackianus to reveal their responses to different water depths. Later, we discussed the biased adaptability to the maternal habitat in this species. We found a positive correlation between sexual and asexual reproduction in water depths from 1.0 m to 3.0 m, such a correlation failed to occur in 4.0 m water depth. These results indicate that the trade-off between sexual and asexual reproduction should only be expected in a stressful habitat, where resource acquisition is limited. For trade-off between quantity and quality of sexual units in different water depths, P. maackianus tends to produce more but lower quality sexual reproductive units in shallow water, and fewer but higher quality sexual units are found in deep water. The total germination percentage of seeds of P. maackianus was relatively poor, less than 46.65% in all of the treatments. The maximum germination percentage of seeds from 1.0 m, 2.0 m, 3.0 m, and 4.0 m water depths are 14.4%, 17.75%, 25.51%, and 46.65%, respectively. Seeds with higher germination percentage were from deeper water depths. The most interesting result was that the maximum final germination percentage occurred only when treatment water depth was the same as collection water depth. Our result showed that the variations in germination characters of the studied species appear to be based partly on the effects of maternal environmental factors. Our findings proved the adaptive transgenerational plasticity in P. maackianus, which will play an important role in evolutionary response to the selection of water depths.