A grafting machine is a kind of machine that can quickly graft scion to rootstock instead of manual grafting. Currently, an inclined inserted grafting machine uses the mechanical clamping method, which can easily damage the rootstock seedlings due to its high stiffness, thus, reducing the success rate of grafting. This study proposed an effective, flexible clamping device for grafting. The suction hole diameter (HD), the negative pressure (NP), and the surface inclination angle (IA) of the clamping device were studied via a single factor experiment to obtain optimal parameter ranges. Optimal HD, NP, and IA were 2–3 mm, 4–8 kPa, and 10–20°, respectively. The orthogonal experiment results showed that the optimal parameter combination for maximum holding success rate was HD, 2.5 mm; NP, 6 kPa; and IA, 10°. The experimental verification was carried out using the optimal parameter combination, with a holding success rate of 98.3% and no damage. This study provides a reference for the optimal design of an inclined inserted grafting machine.

Fish vaccination plays a vital role in the prevention of fish diseases. Inappropriate injection positions will cause a low immunization rate and even death. Currently, traditional visual algorithms have poor robustness and low accuracy due to the specificity of the placement of turbot fins in the application of automatic vaccination machines. To address this problem, we propose a new method for estimating the injection position of the turbot based on semantic segmentation. Many semantic segmentation networks were used to extract the background, fish body, pectoral fin, and caudal fin. In the subsequent step, the segmentations obtained from the best network were used for calculating body length (BL) and body width (BW). These parameters were employed for estimating the injection position. The proposed Atten-Deeplabv3+ achieved the best segmentation results for intersection over union (IoU) on the test set, with 99.3, 96.5, 85.8, and 91.7 percent for background, fish body, pectoral fin, and caudal fin, respectively. On this basis, the estimation error of the injection position was 0.2 mm–4.4 mm, which is almost within the allowable injection area. In conclusion, the devised method was able to correctly differentiate the fish body from the background and fins, meaning that the extracted area could be successfully used for the estimation of injection position.

The fragile structure of a rootstock predisposes the stem to mechanical damage during grafting. Thus, it is necessary to take into account the rootstock’s rheological properties under mechanical compression when designing a clamping mechanism. This study focused on cucurbit, a typical rootstock for watermelon grafting. Firstly, we adopted a four-element Burgers model to analyze viscoelastic behavior and deformation characteristics of the rootstock, then conducted creep tests to obtain the parameters of the viscoelastic model. Next, we developed a model for the rootstock during holding based on viscoelastic parameters, loading force and contact time. Moreover, we evaluated the effect of various loading forces and test velocities on creep deformation to reveal the least damage on the rootstock. Results showed that the influence of loading force on the creep deformation was greater than test velocity. Finally, the holding test indicated that the clamping mechanism with silicone rubber can effectively prevent the damage to the stem. Specifically, the loading force should be controlled below 4 N to reduce the associated damage. Taken together, our findings provide a theoretical basis for analyzing the holding damage mechanism during watermelon grafting.

Rootstock has a soft tissue that should be held carefully to avoid mechanical damage. Holding the rootstock stem is a significant factor in the grafting process, with direct consequences on the survival rate of grafting. To analyze the damage mechanism of clamping rootstock, a finite element model of the clamping mechanism was established, and different clamping velocities and silicone rubber thicknesses were then studied in this study using the finite element method (FEM). The density and elasticity modulus of the rootstock stem and silicone rubber were determined experimentally using standard methods. The results show that as the clamping velocity increased, the contact force on the rootstock stem increased, and the clamping velocity should be lower than the critical velocity to reduce the probability of damage occurrence on the stem. The increase in silicone rubber thickness would decrease the force on the stem, while also resulting in the instability of the rootstock clamping. A silicone rubber thickness of 4 mm was confirmed as an appropriate thickness for this device. The simulation results were compared with the experimental results, and the mean error was 7.01% within the allowable range, which indicated that the FEM simulation model was reliable.

The paper introduces SSL (Self-Supervised Learning) into 3D cloud reconstruction, which demonstrates a certain level of innovation. However, it lacks some necessary ablation experiments to validate the effectiveness of the proposed method.

The head-to-tail orientation of spindle-shaped fry is an important part of automated vaccine injection. The fry’s automatic orientation helps reduce labor and improve efficiency during the automated injection. This paper designed an electromagnetic vibration fry orientation device for grass carp fry, measured its friction characteristics with three different materials in scales and against scales, analyzed the kinematic characteristics of the fry on the electromagnetic vibration feeder, and clarified the main factors affecting fry transport. It used the trough’s inclination angle, amplitude, and material as the test factors, whereas the orientation success rate and orientation rate were used as the evaluation index. Orthogonal combination tests were carried out with 90–150 mm grass carp fry as the research object to obtain reasonable parameter combinations. The results showed that the best orientation effect was achieved when the surface of the trough was a silicone film with many bumps, the inclination of the plate spring was β = 15°, the inclination of the trough plane was θ_y = −4°, and the amplitude A = 0.7 mm. In this parameter combination, the directional device was tested and verified. The targeted success rate was ε = 95.5%, and the direction rate was η = 0.87 tail/s. The device could meet the requirements of the head and tails during the mechanized injection of the fry.