During the hand-eye calibration process of the manipulator, the Euclidean distance error of the calibration results cannot be calculated because the true values of the hand-eye conversion matrix cannot be obtained. In this paper, a new method of projection error analysis is presented. Error analysis is carried out by using a priori knowledge that the location of AR markers is fixed in the calibration process. The coordinates of the AR marker center point are reprojected to the pixel coordinate system, and then compared with the true pixel coordinates of the AR marker center point obtained by corner detection or manual labeling in order to obtain the Euclidean distance between the two coordinates as the basis for error analysis. Experimental results show that the proposed optimization method can greatly improve the accuracy of hand-eye calibration results.

Dryland winter wheat in Loess Plateau is facing yield reduction due to shortage of soil moisture and delayed sowing time. Field experiment was conducted at Loess Plateau in Shanxi Province, China from 2012 to 2014, to study the effect of subsoiling and conventional tillage and different sowing dates on the soil water storage and contribution of N accumulation and remobilization to yield of winter wheat. The results showed that subsoiling significantly improved the soil water storage at 0-300 cm depth, improved the number of tillers and pre-anthesis N translocation in various organs of wheat and post-anthesis N accumulation, eventually increased the yield up to 17-36%. Delaying sowing time had reduced the soil water storage at sowing and winter accumulated temperature by about 180˚C. The contribution of N translocation to grain yield was maximum in glume+spike followed by in leaves and minimum by stem+sheath. In addition a close relationship was found between the N accumulation and translocation and the soil moisture in the 20-300 cm. Subsoiling during the fallow period and the medium sowing date was beneficial for improving the soil water storage and increased the N translocation to grain, thereby increasing the yield of wheat, especially in dry year.

Influenced by historical background, regional economic development, and the frequent occurrence of armed conflict, the human–earth relationship in the Central and Southern Peninsula, which is located in a "fragmented zone", is characteristic of the region. The Indochina Peninsula has now become an area of interest for the study of spatial changes in production–living–ecological spaces (PLES). Taking the Indochina Peninsula as the study area, this paper explores the evolution of the spatio-temporal patterns of PLES and its driving mechanism in the Central and Southern Peninsula, from 2010 to 2020, based on the grid scale. Methods such as the land-use transition matrix, land-use dynamics index, and Geographically and Temporally Weighted Regression (GTWR) were used in our model. Our results show that, from 2010 to 2020, ecological space dominated the PLES pattern on the Indochina Peninsula but its area gradually decreased, accompanied by a sharp increase in the areas of productive and living spaces. The area of PLES interconversion on the Indochina Peninsula in 2010–2020 was 212818.70 km2, and it is characterized by the conversion of ecological space into productive space, as well as the interconversion of woodland ecological and grassland ecological spaces. In addition, the intertransfer of production and ecological spaces was distributed in a network-like manner throughout the Indochina Peninsula, while the transfer of living space was distributed in a point-like manner. The migration path of the center of gravity of PLES on the In-dochina Peninsula demonstrates a significant directional difference. The PLES’s pattern evolution was affected by the degree of multiple factors, with a significant spatial and temporal heterogeneity. The positive and negative feedback effects of the factors were distributed in different areas and in different transfer directions.