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(11(1):27-37)The Demonstration Of Astraglus Sinicus As A Winter Green Manure In Paddy Field
No full text1. 本示範試驗分在臺北、宜蘭、桃園、新竹、苗栗、臺中、彰化、花蓮、臺東等九縣，39個鄉鎮）共設71處舉辦。
2. 每處示範試驗面積5公畝（20×25= 500 m2）一半作為綠肥用，另一半作留種用，均在二期作水稻收穫前15~20天，將紫雲英種子與種過紫雲英之土壤混台，施行播種。每一示範區之種子是為750克，接種用之土壤15公斤，均將用條播法，每隔二行水稻種植一行紫雲英。
3. 紫雲英生長期間，有少數示範區，因雨水多或天氣乾旱時，未注意排水與灌溉，影響紫雲英之鮮莖葉收量甚大，有者甚至因而廢耕。在桃園之紅土或瘠薄之土地，每公頃需施用熔磷或過磷酸鈣200公斤，作為基肥，則可增加紫雲英之鮮莖葉收量。紫雲英均在翌年第一期水稻插秧前二週犁入田中當作綠肥，每公頃不超過10,000公斤。
4 ．紫雲英之鮮莖葉產量與土壤質地及 pH 值關係亦極為密切，根據分析結果， pH 值高，則紫雲英鮮莖葉產量也高，在壤土生長之紫雲英收量均較粘土為高。
5. 紫雲英一般生長情形均極良好，每公頃鮮莖葉收量，計宜蘭縣最高為 36,900 公斤（平均收量22,684公斤），臺北縣為32,250公斤（平均收量22,606公斤），桃園縣為29,250公斤（平均收量22,044公斤），新竹縣為38,750公斤（平均收重29,173公斤），苗栗縣為34,125公斤（平均收重26,425公斤），臺中縣為28,000 公斤（平均收重24,250公斤），彰化縣為24,000公斤（平均收重17,500公斤），花蓮縣為45,380公斤（平均收重35,939公斤），臺東區農業改良場為25,000公斤，均為當地農民所、歡迎。
6. 各地區之紫雲英採種情形：宜蘭地區，因雨水多，排水困難，紫雲英莖葉發生腐爛，故紫雲英種子收量少，每公頃之最高收量為190公斤，平均收量僅128公斤。臺中、彰化、花蓮、臺東地區，因在紫雲英開花時期，氣溫較高，發生白粉病為害甚烈，該等地區種子收量甚少，每公頃之最高收量為80~160公斤，平均收量僅50~80公斤。臺北區450公斤，平均收量350公斤。桃園區因紅土關係，其種子採收量亦較少，最高為360公斤，平均收量僅158公斤，新竹及苗栗區之收量為580公斤，平均牧量450~500公斤，為各區中之最高者。
1. For the purpose to demonstrate the A. sinicus as a winter green manure in paddy field, trials were conducted simultaneously at nine different prefectures, namely Taipei, E-lan, Taoyuan, Hsinchu, Maoli, Taichung, Changhwa, Hwalien and Taitung. The number of demonstration-plot was seventy-one in total.
2. The area for each demonstration plot is five are (20×25= 500 m2), in which one-half is used to produce seeds. A total amount of 750 grams seeds mixed with 15 kilograms of soils which formerly A. sinicus was planted once, was drilled in rows at the interval of two rice plant rows before 15-20 days of the second rice crop harvesting.
3. During the growing time, the A. sinicus was seriously damaged owing to either too much or shortage of rainfall in several demonstration plots. As a result, the yield of green materials was significantly decreased or completely lost. 200 kilograms per hectare of fusea phosphate or calcium superphosphate used as basic dressing, can increase the yield of milk vetch at Tauyuan rigion where the soil is reddish and poor. Until two weeks before the first rice crop transplanting of the succeeding year, the A. sinicus was plough into soil at the rate of the-thousand kilograms per hectare for each demonstration-plot.
4. The yield of green materials was obviously related with the soil texture and pH value. Results obtained from the soil analysis indicated that the green materials increassed with the higher of pH value. Meanwhile, the weight of green materials was also higher in loam than in clay soils.
5. Excepting the above mentioned situation, the A. sinicus showed very good result in other demonstration plots. The highest amount of green materials as well as the average produced in each prefecture can be summarized as follows:
Prefecture The highest yields (kg.) T he average (kg.)
E-lan 36,900 22,684
Taipei 32,259 22,606
Taoyuan 29,250 22.044
Hsinchu 38,750 29,173
Maoli 34,125 26,425
Taichug 28,000 24,250
Changhwa 24,000 17,500
Hwalien 45,380 35,939
Taitung 25,000(only one demonstration plot)
* The experiment was aided by a grant from Sino-American Joint Commission on Rural Reconstruction.
** Technician, Taiwan Agricultual Research Institute.
6. Seeds produced in each demonstration-plot were varied from different per-fectures. In E-lan Hsien, because of too much rainfall and poor drainage, the A. sinicus fell into putrefaction and the yield of seeds was greatly decreased. The highest harvesting is 190 kilograms per hectare with an average of only 128 kilograms. For Taickung, Changhwa, Hwalien and Taltung prefectues, the production of seeds are also reduced into 80-160 kilograms with an average of only 50-80 kilograms owing to high temperature and the prevalence of white powder disease. In Hsinchu as well as in Maoli Hsien, the highest seed production is 580 kilograms with an average of 450-500 kilograms giving the highest grade among all prefectures. In Taipei Hsien, the highest amount of seed production is 450 kilograms and the average is 350 kilogr-ams. Seeds produced in red soil areas of Taoyuan Hsien are also reduced. The highest production is 360 kilograms per hectare with only 158 kilograms in average
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No full textAnalysis and control of redundant manipulator dynamics based on an extended operational space
No full textIn this paper a new concept, named the Extended Operational Space (EXOS), has been proposed for the effective analysis and the real-time control of the robot manipulators with kinematic redundancy. The EXOS consists of the operational space (OS) and the optimal null space (NS): the operational space is used to describe manipulator end-effector motion; whereas the optimal null space, described by the minimum number of NS vectors, is used to express the self motion. Based upon the EXOS formulation, the kinematics, statics, and dynamics of redundant manipulators have been analyzed, and control laws based on the dynamics have been proposed. The inclusion of only the minimum number of NS vectors has changed the resulting dynamic equations into a very compact form, yet comprehensive enough to describe: not only the dynamic behavior or the end effector, but also that of the self motion; and at the same time the interaction of these two motions. The comprehensiveness is highlighted by the demonstration of the dynamic couplings between OS dynamics and NS dynamics, which are quite elusive in other approaches. Using the proposed dynamic controls, one can optimize a performance measure while tracking a desired end-effector trajectory with a better computational efficiency than the conventional methods. The effectiveness of the proposed method has been demonstrated by simulations and experiments
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