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LiDAR-Visual SLAM with Integrated Semantic and Texture Information for Enhanced ecological Monitoring Vehicle Localization

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co.puters, Materials & co.tinua 2025年第1期82卷 1401-1416页

作者： Yiqing Lu Liutao Zhao Qiankun Zhao Foreign environmental co.peration Center Ministry of Ecology and Environment of PRCBeijing100035China beijing co.puting Center co. Ltd.Beijing Academy of Science and TechnologyBeijing100083China beijing Guyu Interactive Artificial Intelligence Application co. Ltd.Beijing100024China

ecological monitoring vehicles are equipped with a range of sensors and monitoring devices designed to gather data on ecological and environmental *** vehicles are crucial in various fields,including environmental science research,ecological and environmental monitoring projects,disaster response,and emergency management.A key method employed in these vehicles for achieving high-precision positioning is LiDAR(lightlaser detection and ranging)-Visual Simultaneous Localization and Mapping(SLAM).However,maintaining highprecision localization in co.plex scenarios,such as degraded environments or when dynamic objects are present,remains a significant *** address this issue,we integrate both semantic and texture information from LiDAR and cameras to enhance the robustness and efficiency of data ***,semantic information simplifies the modeling of scene elements,reducing the reliance on dense point clouds,which can be less ***,visual texture information co.plements LiDAR-Visual localization by providing additional co.textual *** inco.porating semantic and texture details frompaired images and point clouds,we significantly improve the quality of data association,thereby increasing the success rate of *** approach not only enhances the operational capabilities of ecological monitoring vehicles in co.plex environments but also co.tributes to improving the overall efficiency and effectiveness of ecological monitoring and environmental protection efforts.

关键词： LiDAR-Visual simultaneous localization and mapping integrated semantic texture information

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co.prehensive evaluation of sintering basic characteristics of iron ore based on grey relational analysis

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Journal of Iron and Steel Research International 2019年第7期26卷 691-696页

作者： Dong-hui Liu Jun-hua Li Yue Peng Jian-liang Zhang Guang-wei Wang Xun Xue School of environment Tsinghua University Beijing 100084 China School of Metallurgy and ecological Engineering University of Science and Technology Beijing Beijing 100083 China beijing Shenwu environment & Energy Technology co. Ltd. Beijing 102200 China

Sintering basic characteristics of fourteen iron ores were co.prehensively evaluated using micro-sinter and grey relational analysis methods. The results show that magnetite has a low assimilability, high bonding phase strength, and high crystal strength. Hematite presents a good assimilability, while limonite exhibits a strong assimilability, but the bonding phase strength and crystal strength of these two kinds of iron ores are co.paratively low. Great difference in liquid flowability exists for the same kind of iron ores. When the assimilation temperature of the sinter mixture is too high, limonite can be added;when the bonding phase strength or crystal strength of the sinter mixture is too low, magnetite can be added. The liquid fluidity of the sinter mixture can be adjusted acco.ding to the ratios of co.responding iron ores. Grey relational analysis is an effective method to evaluate the co.prehensive sintering characteristics of iron ores, which can provide theoretical basis for the purchasing department of the steel enterprises.

关键词： Iron ore Basic characteristics Sinter Grey relational analysis Iron ore purchasing Ore proportioning optimization

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Landscape Advantages and Application of Groundco.er Ornamental Bamboo

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Asian Agricultural Research 2021年第4期13卷 21-23,30页

作者： Yun ZHAO beijing jingzhu ecological environment co. Ltd. Beijing 100101 China

Due to the high ecological benefits,eco.omic benefits,social benefits and cultural benefits,bamboo plays an increasingly prominent role in landscape architecture and has enormous development *** ornamental bamboo plays an irreplaceable role in modern urban garden landscaping,and it can form a variety of application modes with other landscape elements to create a unique landscape *** article analyzes the application advantages of groundco.er ornamental bamboo in garden landscape,and puts forward five application modes of groundco.er bamboo in garden landscape,so as to provide certain reference for urban landscaping.

关键词： Ornamental bamboo Groundco.er bamboo Garden landscaping

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Basic characteristics of Australian iron ore co.centrate and its effects on sinter properties during the high-limonite sintering process

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International Journal of Minerals,Metallurgy and Materials 2017年第9期24卷 991-998页

作者： Dong-hui Liu Hao Liu Jian-liang Zhang Zheng-jian Liu Xun Xue Guang-wei Wang Qing-feng Kang School of Metallurgy and ecological Engineering University of Science and Technology BeijingBeijing 100083China Xuanhua Iron&Steel Group co.Ltd. Xuanhua 075100China beijing Shenwu environment&Energy Technology co. Ltd.Beijing 102200China

The basic characteristics of Australian iron ore co.centrate (Ore-A) and its effects on sinter properties during a high-limonite sintering process were studied using micro-sinter and sinter pot methods. The results show that the Ore-A exhibits good granulation properties, strong liquid flow capability, high bonding phase strength and crystal strength, but poor assimilability. With increasing Ore-A ratio, the tumbler index and the reduction index (RI) of the sinter first increase and then decrease, whereas the softening interval (Delta T) and the softening start temperature (T (10%)) of the sinter exhibit the opposite behavior; the reduction degradation index (RDI+3.15) of the sinter increases linearly, but the sinter yield exhibits no obvious effects. With increasing Ore-A ratio, the distribution and crystallization of the minerals are improved, the main bonding phase first changes from silico.ferrite of calcium and aluminum (SFCA) to kirschsteinite, silicate, and SFCA and then transforms to 2CaO center dot SiO2 and SFCA. Given the utilization of Ore-A and the improvement of the sinter properties, the Ore-A ratio in the high-limonite sintering process is suggested to be co.trolled at approximately 6wt%.

关键词： iron ore co.centrate limonite basic characteristics sinter properties sintering process

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Distribution of Na+and Mechanical Properties of Hardened Body of Alkali-activated Cementitious Materials

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Journal of Wuhan University of Technology(Materials Science) 2023年第4期38卷 849-856页

作者：卞立波 TAO Zhi 王秀芳 WANG Shaohui YE Kangjun HU Xingbo School of Civil and Traffic Engineering Beijing University of Civil Engineering and ArchitectureBeijing102616China beijing Key Laboratory of Functional Materials for Building Structure and environment Remediation School of ScienceBeijing University of Civil Engineering and ArchitectureBeijing102616China beijing Shoufa Tianren ecological Landscape co. LtdBeijing102699China

To explore the distribution of and the mechanical properties(co.pressive strength)of the hardened body of alkali slag-fly ash cementitious materials,this study was co.ducted by using the XRD,FTIR,SEM/EDS,and other test methods in three co.ditions:airtight drying(AD),airtight immersion(AI),and airtight soaking(AS).The 1D distribution law of free of hardened body under standard curing co.ditions was *** experimental results show that under standard curing co.ditions,the 1D distribution of within 0d-3 d shows a∨-shaped distribution,within 3-7 d show a∧-shaped distribution,and within 7-28 d tends to be *** test results of leaching rate show that the free was the most stable under AD co.ditions and the hardened body bound the most by XRD,FTIR and SEM/*** the co.pressive strength of the hardened body was the *** co.pressive strength of 28th reached 95.9 *** definite distribution of provides an important reference for the strength development and durability evaluation of the hardened body of alkaliexcited cementitious materials.

关键词： alkali-activated cementitious materials ion migration leaching rate curing co.dition co.pressive strength

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Geochemical Characteristics and Origin of Nuanquanzi Geothermal Water in Yudaokou,Chengde,Hebei,North China

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Journal of Earth Science 2023年第3期34卷 838-856页

作者： Houyun Sun Xiaoming Sun Xiaofeng Wei Xingkai Huang Guoqiu Ke Hao Wei School of Water Resources&environment China University of GeosciencesBeijing 100083China beijing Institute of Geology for Mineral Resources co. Ltd.Beijing 100012China China Institute of Geo-environment Monitoring Beijing 100081China Zhongse Jietai Geophysical Science co. Ltd.Beijing 100012China Hebei Center for ecological and environmental Geology Research Hebei GEO UniversityShijiazhuang 050031China

Study on the Nuanquanzi geothermal field in the Yanshan uplift is of great significance for understanding the origin of geothermal fluid in the intraco.tinental orogenic belt of the fault depression basin margin in North *** geochemical characteristics and formation mechanism of the Nuanquanzi geothermal system were elucidated by classical hydrogeochemical analysis,multi-isotopes approach(δD,δ^(18)O,δ^(13)C,δ^(87)Sr/^(86)Sr),14CAMSdating,and integrated geophysical prospecting of surface-soil radon gas measurement and CSAMT *** results show that the Nuanquanzi geothermal field is a medium-low temperature co.vection-fault semi-enclosed geothermal *** hydrochemical type of thermal water is primarily Hco.(3)-Na,and rich in soluble SiO_(2),F^(-)and Cl^(-).The geothermal water primarily originated from the recharging meteoric water with a maximum circulation depth of 2400-3200 m,but affected by the mixing of endogenous sedimentary *** reservoir temperature calculated by Na-K and quartz geothermometer of the Nuanquanzi geothermal system was determined to be 73.39-92.87℃.The co.duction-co.ling and shallow co.d-water mixing processes occurred during the parent geothermal fluid ascent to surface,and the proportion of co.d-water mixing during circulation was approximately 88.3%to 92.2%.The high-anomaly radon zones matched well to the low apparentresistance areas and hiding faults,indicating that the Nuanquanzi geothermal field was dominated by a graben basin restricted by multiple faults.

关键词： geothermal water hydrogeochemistry water isotopes soil radon measurement co.trolled source audio-frequency magnetotelluric

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Effect of hydraulic retention time and pH on oxidation of ferrous iron in simulated ferruginous acid mine drainage treatment with inoculation of iron-oxidizing bacteria

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Water Science and Engineering 2019年第3期12卷 213-220页

作者： Jun-hui Fan Xing-yu Liu Qi-yuan Gu Ming-jiang Zhang Xue-wu Hu GRIMAT Engineering Institute co. Ltd. Beijing 101407 China School of Metallurgical and ecological Engineering University of Science and Technology Beijing Beijing 100083 China

The effect of hydraulic retention time (HRT) and pH on the biooxidation of ferrous iron during simulated acid mine drainage (AMD) treatment was *** simulated AMD was highly acidic (pH 2.5), rich in iron (about 1700 mg/L) and co.per (about 200 mg/L), and co.tained high co.centrations of sulfate (about 4700 mg/L).The biooxidation of ferrous iron was studied in a laboratory-scale upflow packed bed bioreactor (PBR).The HRT was shortened stepwise from 40 h to 20 h, 13 h, and 8 h under the acidic environment at a pH value of ***, the influent pH value was changed from 2.2 to 1.2 at a co.stant suitable *** and microbial co.munity structure analyses were performed on water samples and stuffing co.lected from the bioreactor under different *** results indicate that the efficiency of ferrous iron oxidation gradually decreased with the decrease of HRT, and when the HRT exceeded 13 h, ferrous iron in AMD was almost co.pletely *** addition, the best efficiency of ferrous iron oxidation was achieved at the influent pH value of *** co.munity structure analyses show that Leptospirillum is the predominant genus attached in the bioreactor, and low influent pH values are suitable for the growth of Leptospirillum.

关键词： Acid mine drainage Iron-oxidizing bacteria Biooxidation of ferrous iron Hydraulic retention time Influent pH Microbial co.munity analyses

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The removal of trimethoprim and sulfamethoxazole by a high infiltration rate artificial co.posite soil treatment system

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Frontiers of environmental Science & Engineering 2017年第2期11卷 133-142页

作者： Qinqin Liu Miao Li Fawang Zhang Hechun Yu Quan Zhang Xiang Liu Chinese Academy of Geological Sciences Beijing 100037 China China University of Geosciences (beijing) Beijing 100083 China School of environment Tsinghua University Beijing 100084 China beijing Guohuan Tsinghua environment Engineering Design & Research Institute co. Ltd. Beijing 100084 China

Sulfamethoxzole （SMX） and trimethoprim （TMP）, two co.bined-using sulfonamide antibiotics, have gained increasing attention in the surface water, groundwater and the drinking water because of the ecological risk. The removal of TMP and SMX by artificial co.posite soil treatment system （ACST） with different infiltration rates was systematically investigated using K＋, Na＋, Ca2＋, Mg2＋ hydrogeochemical indexes. Batch experiments showed that the sorption onto the low-co.t and co.mercially available clay ceramsites was effective for the removal of SMX and TMP from water. The co.umn with more silty clay at high infiltration rate （1.394 m·d^-1） had removal rates of 80% to 90% for TMP and 60% to 70% for SMX. High SMX and TMP removal rates had a higher effluent co.centration of K＋, Ca2＋ and Mg2＋ and had a lower effluent Na＋ co.centration. Removal was strongly related to sorption. The results showed that the removal of SMX and TMP was related to hydrogeochemical processes. In this study, ACST is determined to be applicable to the drinking water plants.

关键词： TnmethoprimSulfamethoxazoleArtificial co.posite soil treatmentHydrogeochemical processesIon exchange

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co.bination of artificial zeolite and microbial fertilizer to improve mining soils in an arid area of Inner Mongolia,China

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Journal of Arid Land 2023年第9期15卷 1067-1083页

作者： LI Wenye ZHANG Jianfeng SONG Shuangshuang LIANG Yao SUN Baoping WU Yi MAO Xiao LIN Yachao School of Soil and Water co.servation Beijing Forestry UniversityBeijing 100083China China ENFI Engineering co. Ltd.Beijing 100038China PIESAT Information Technology co. Ltd.Beijing 100195China Key Laboratory of Deep-Earth Dynamics of Ministry of Natural Resources Institute of GeologyChinese Academy of Geological SciencesBeijing 100037China Shanxi Dadi Minji ecological environment co. Ltd.Beijing BranchBeijing 100083China Bureau of Agriculture and Rural Affairs Wangcheng DistrictChangsha 410211China

Restoration of mining soils is important to the vegetation and *** study aimed to explore the variations in soil nutrient co.tents,microbial abundance,and biomass under different gradients of substrate amendments in mining soils to select effective *** samples were co.lected from the Bayan Obo mining region in Inner Mongolia Autonomous Region,*** of soil organic matter(SOM),available nitrogen(AN),available phosphorus(AP),available potassium(AK),microbial biomass carbon/microbial biomass nitrogen(MBC/MBN)ratio,biomass,and bacteria,fungi,and actinomycetes abundance were assessed in Agropyron cristatum ***.,Elymus dahuricus Turcz.,and Medicago sativa *** with artificial zeolite(AZ)and microbial fertilizer(MF)applied at T0(0 g/kg),T1(5 g/kg),T2(10 g/kg),and T3(20 g/kg).Redundancy analysis(RDA)and technique for order preference by similarity to ideal solution(TOPSIS)were used to identify the main factors co.trolling the variation of *** showed that chemical indices and microbial co.tent of restored soils were far greater than those of *** application of AZ significantly increases SOM,AN,and AP by 20.27%,23.61%,and 40.43%,*** significantly increased bacteria,fungi,and actinomycetes abundance by 0.63,3.12,and 1.93 times of co.trol,*** indicated that AN,MBC/MBN ratio,and SOM were dominant predictors for biomass across samples with AZ application,explaining 87.6%of the biomass ***,MBC/MBN ratio,and AK were dominant predictors with MF application,explaining 82.9%of the biomass *** indicated that T2 was the best dosage and the three plant species co.ld all be used to repair mining *** and MF application at T2 co.centration in the mining soils with *** was found to be the most appropriate measure.

关键词： amendment arid area mining soils restoration soil nutrition

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Integral stormwater management master plan and design in an ecological co.munity

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Journal of environmental Sciences 2014年第9期26卷 1818-1823页

作者： Wu Che Yang Zhao Zheng Yang Junqi Li Man Shi Key Laboratory of Urban Stormwater System and Water environment Beijing University of Civil Engineering and ArchitectureMinistry of Education beijing Yuren Rainwater Eco.technology co. Ltd. China Aviation Planning and co.struction Development co. Ltd.

Urban stormwater runoff nearly discharges directly into bodies of water through gray infrastructure in China, such as sewers, impermeable ditches, and pump stations. As urban flooding, water shortage, and other environment problems beco.e serious, integrated water environment management is beco.ing increasingly co.plex and challenging. At more than 200 ha, the Oriental Sun City co.munity is a large retirement co.munity located in the eastern side of beijing. During the beginning of its co.struction, the project faced a series of serious water environment crises such as eutrophication, flood risk, water shortage, and high maintenance co.ts. To address these issues, an integral storrnwater management master plan was developed based on the co.cept of low impact development （LID）. A large number of LID and green stormwater infrastructure （GSI） approaches were designed and applied in the co.munity to replace traditional stormwater drainage systems co.pletely. These approaches mainly included bioretention （which captured nearly 85th percentile volume of the annual runoff in the site, nearly 5.4 x 10^5 m3 annually）, swales （which functioned as a substitute for traditional stormwater pipes）, waterscapes, and stormwater wetlands. Finally, a stormwater system plan was proposed by integrating with the gray water system, landscape planning, an architectural master plan, and related co.sultations that supported the entire co.struction period. After more than 10 years of planning, designing, co.struction, and operation, Oriental Sun City has beco.e one of the earliest modem large-scale LID co.munities in China. Moreover, the project not only addressed the crisis efficiently and effectively, but also yielded eco.omic and ecological benefits.

关键词： ecological co.munityOriental Sun CityIntegral stormwater managementMaster planGreen stormwater infrastructureLow impact development

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