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

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Computers, Materials & Continua 2025年第1期82卷 1401-1416页

作者： Yiqing Lu Liutao Zhao Qiankun Zhao Foreign environmental Cooperation center Ministry of Ecology and Environment of PRCBeijing100035China beijing Computing 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 complex 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 complements LiDAR-Visual localization by providing additional contextual *** incorporating 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 complex environments but also contributes 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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Preparation of MnO2 decorated Co3Fe1Ox powder/monolithic catalyst with improved catalytic activity for toluene oxidation

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Journal of environmental Sciences 2020年第10期32卷 194-203页

作者： Tianshan xue Renna Li Zhang Zhang Yanshan Gao Qiang Wang College of environmental Science and Engineering Beijing Forestry UniuersityBeijing 100083China beijing municipal environmental monitoring center Beijing 100048China

In this paper, KMnO4 was used to pre-treat Co3 Fe-layered double hydroxides(LDH) precursor to prepare MnO2 decorated Co3Fe1Ox catalyst. The toluene oxidation performance of the catalyst was investigated systematically. The optimized 0.1 Mn CF-LDO catalyst exhibited the best catalytic performance, and the temperatures of 50% and 90% toluene conversion( T50 and T90) were 218 and 243 ℃, respectively. The apparent activation energy( Ea) was 31.6 k J/mol. The characterization results showed that the pre-redox reaction by KMnO4 could increase the specific surface area, Co^3+ species amount and oxygen defect concentration of the catalyst, which are the main reason of the improved toluene catalytic activity. Besides, this method was also applied to enhance toluene oxidation of iron mesh based monolithic catalyst. The 0.1 Mn CF-LDO/Iron mesh(IM) catalyst showed a 90% toluene conversion at around 316 ℃ which was much lower than that of without MnO2 addition(359 ℃). In addition, the water resistant of all the catalysts was studied as well, all the samples showed relatively good water resistance. The toluene conversion still remained to be over > 80% even in the presence of 10 vol.% water vapor.

关键词： Co3Fe-LDH MnO2 Defective oxygen Toluene oxidation Monolithic catalyst

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Seasonal Variations of Number Size Distributions and Mass Concentrations of Atmospheric Particles in beijing

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Advances in Atmospheric Sciences 2005年第3期22卷 401-407页

作者：于建华 Benjamin GUINOT 虞统王欣刘文清 beijing municipal environmental monitoring center(BMEMC)beijing 100044 Anhui Institute of Optics and Fine Mechanics Chinese Academy of SciencesHefei 230031 Laboratoire des Sciences du Climat et de l'Environment (LSCE) France beijing municipal environmental monitoring center (BMEMC)beijing 100044 beijing municipal environmental monitoring center (BMEMC) beijing 100044

Particle number and mass concentrations were measured in beijing during the winter and summer periods in 2003, together with some other parameters including black carbon (BC) and meteorological conditions. Particle mass concentrations exhibited low seasonality, and the ratio of PM2.5/PM10 in winter was higher than that in summer. Particle number size distribution (PSD) was characterized by four modes and exhibited low seasonality. BC was well correlated with the number and mass concentrations of accumulation and coarse particles, indicating these size particles are related to anthropogenic activities. Particle mass and number concentrations (except ultra-fine and nucleation particles) followed well the trends of BC concentration for the majority of the day, indicating that most particles were associated with primary emissions. The diurnal number distributions of accumulation and coarse mode particles were characterized by two peaks.

关键词： beijing particles particle number size distribution mass concentrations black carbon ultra- fine particles

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A framework for investigating the air quality variation characteristics based on the monitoring data: Case study for beijing during 2013–2016

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Journal of environmental Sciences 2019年第7期31卷 225-237页

作者： Jixian Cui Jianlei Lang Tian Chen Shushuai Mao Shuiyuan Cheng Zhanshan Wang Nianliang Cheng Key Laboratory of beijing on Regional Air Pollution Control College of Environmental & Energy Engineering Beijing University of Technology beijing municipal environmental monitoring center

In this study, an analysis framework based on the regular monitoring data was proposed for investigating the annual/inter-annual air quality variation and the contributions from different factors(i.e., seasons, pollution periods and airflow directions), through a case study in beijing from 2013 to 2016. The results showed that the annual mean concentrations(MC) of PM_(2.5), SO_2, NO_2 and CO had decreased with annual mean ratios of 7.5%, 28.6%, 4.6%and 15.5% from 2013 to 2016, respectively. Among seasons, the MC in winter contributed the largest fractions(25.8%～46.4%) to the annual MC, and the change of MC in summer contributed most to the inter-annual MC variation(IMCV) of PM_(2.5) and NO2. For different pollution periods, gradually increase of frequency of S-1(PM_(2.5), 0～ 75 μg/m^3) made S-1 become the largest contributor(28.8%) to the MC of PM_(2.5) in 2016, it had a negative contribution(-13.1%) to the IMCV of PM_(2.5); obvious decreases of frequencies of heavily polluted and severely polluted dominated(44.7% and 39.5%) the IMCV of PM_(2.5). For different airflow directions, the MC of pollutants under the south airflow had the most significant decrease(22.5%～62.5%), and those decrease contributed most to the IMCV of PM_(2.5)(143.3%),SO2(72.0%), NO_2(55.5%) and CO(190.3%); the west airflow had negative influences to the IMCV of PM_(2.5), NO_2 and CO. The framework is helpful for further analysis and utilization of the large amounts of monitoring data; and the analysis results can provide scientific supports for the formulation or adjustment of further air pollution mitigation policy.

关键词： monitoring data analysis Air quality variations Airflow directions Pollution periods beijing

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Exploring the spatiotemporal heterogeneity of vegetation changes in subtropical humid karst region under CO2 fertilization

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Journal of Geographical Sciences 2025年第1期35卷 65-87页

作者： CHEN Meng ZHOU Qiuwen PENG Dawei YAN Weihong School of Geography and environmental Science Guizhou Normal University Huanjiang Observation and Research Station for Karst Ecosystem Guangxi Key Laboratory of Karst Ecological Processes and Services Institute of Subtropical Agriculture CAS University of Chinese Academy of Sciences Faculty of Geographical Science Beijing Normal University Forestry Bureau of Shibing County

Terrestrial ecosystems heavily depend on vegetation,which responds to carbon dioxide （CO2） fertilization in hot and humid *** subtropical humid karst region is a hot and humid region;whether and to what extent CO2fertilization affects vegetation changes in such regions remains *** this study,we investigated the degree to which CO2fertilization influences vegetation changes,along with their spatial and temporal differences,in the subtropical humid karst region using time-lag effect analysis,a random forest model,and multiple regression *** showed that CO2fertilization plays an important role in vegetation changes,exhibiting clear spatial variations across different geomorphological zones,with its degree of influence ranging mainly between 11%and 25%.The highest contribution of CO2fertilization was observed in the karst basin and non-karstic region,whereas the lowest contribution was found in the karst plateau *** studies have primarily attributed vegetation changes in subtropical humid karst region to ecological engineering,leading to an overestimation of its contribution to these *** findings of this study enhance the understanding of the mechanism of vegetation changes in humid karst region and provide theoretical and practical insights for ecological and environmental protection in these regions.

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Smart Gas Sensors:Recent Developments and Future Prospective

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Nano-Micro Letters 2025年第3期17卷 55-86页

作者： Boyang Zong Shufang Wu Yuehong Yang Qiuju Li Tian Tao Shun Mao College of environmental Science and Engineering Biomedical Multidisciplinary Innovation Research InstituteShanghai East HospitalState Key Laboratory of Pollution Control and Resource ReuseTongji University1239 Siping RoadShanghai 200092People’s Republic of China Shanghai Institute of Pollution Control and ecological Security Shanghai 200092People’s Republic of China Microbiome Medicine center Department of Laboratory MedicineZhujiang HospitalSouthern Medical UniversityGuangzhou 510280People’s Republic of China

Gas sensor is an indispensable part of modern society withwide applications in environmental monitoring,healthcare,food industry,public safety,*** the development of sensor technology,wireless communication,smart monitoring terminal,cloud storage/computing technology,and artificial intelligence,smart gas sensors represent the future of gassensing due to their merits of real-time multifunctional monitoring,earlywarning function,and intelligent and automated *** electronicand optoelectronic gas sensors have been developed for high-performancesmart gas *** the development of smart terminals and the maturityof integrated technology,flexible and wearable gas sensors play an increasingrole in gas *** review highlights recent advances of smart gassensors in diverse *** structural components and fundamentalprinciples of electronic and optoelectronic gas sensors are described,andflexible and wearable gas sensor devices are ***,sensorarray with artificial intelligence algorithms and smart gas sensors in“Internet of Things”paradigm are ***,the challengesand perspectives of smart gas sensors are discussed regarding the future need of gas sensors for smart city and healthy living.

关键词： Smart gas sensor Electronic sensor Optoelectronic sensor Flexible and wearable sensor Artificial intelligence

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Exploring the heavy air pollution in beijing in the fourth quarter of 2015： assessment of environmental benefits for red alerts

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Frontiers of Earth Science 2018年第2期12卷 361-372页

作者： Teng NIE Lei NIE Zhen ZHOU Zhanshan WANG Yifeng XUE Jiajia GAO Xiaoqing WU Shoubin FAN Linglong CHENG National Engineering Research center of Urban environmental Pollution Control Beijing Municipal Research Institute of Environmental Protection Beijing 100037 China beijing municipal environmental monitoring center Beijing 100048 China Department of Air Pollution Control Beijing Municipal Institute of Labour Protection Beijing 100054 China

In recent years, beijing has experienced severeair pollution which has caused widespread public *** to the same period in 2014, the first threequarters of 2015 exhibited significantly improved airquality. However, the air quality sharply declined in thefourth quarter of 2015, especially in November andDecember. During that time, beijing issued the first redalert for severe air pollution in history. In total, 2 red alerts,3 orange alerts, 3 yellow alerts, and 3 blue alerts wereissued based on the adoption of relatively temporaryemergency control measures to mitigate air pollution. Thisstudy explored the reasons for these variations in airquality and assessed the effectiveness of emergency alertsin addressing severe air pollution. A synthetic analysis ofemission variations and meteorological conditions wasperformed to better understand these extreme air pollutionepisodes in the fourth quarter of 2015. The results showedthat compared to those in the same period in 2014, thedaily average emissions of air pollutants decreased in thefourth quarter of 2015. However, the emission levels ofprimary pollutants were still relatively high, which was themain intrinsic cause of haze episodes, and unfavorablemeteorological conditions represented important externalfactors. Emergency control measures for heavy airpollution were implemented during this red alert period,decreasing the emissions of primary air pollutants byapproximately 36% and the PMa.5 concentration by 11%-21%.

关键词： heavy air pollution red alert emissions

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Comparisons of two serious air pollution episodes in winter and summer in beijing

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Journal of environmental Sciences 2018年第7期30卷 141-154页

作者： Nianliang Cheng Yunting Li Bingfen Cheng Xin Wang Fan Meng Qin Wang Qihong Qiu Key Laboratory of Airborne Particulate Matter monitoring Technology of beijing Beijing Municipal Environmental Monitoring CenterBeijing 100048 China College of Water Sciences Beijing Normal University Beijing 100875 China Chinese Research Academy of environmental Sciences Beijing 100012 China

Characteristics of two serious air pollution episodes（9–15 January, as the winter case; and30 June to 1 July, as the summer case）, which occurred in beijing in 2013 were investigated and compared using multi-method observations and numerical simulations. During these two air pollution episodes, PM2.5 concentrations varied significantly within beijing, with PM2.5 concentrations in southern parts of beijing being significantly higher than in northern areas. Typically, heavy air pollution episodes begin in the southern parts and disperse towards the northern parts of beijing. Clearly, synoptic patterns and the stability of atmospheric circulation patterns were the main factors controlling air pollution in *** the winter case, a warm center above 900 h Pa occurred over beijing. Meanwhile, in the summer case, although there was only a weak inversion, the convective inhibition energy was strong（over 200 J/k G）. This clearly influenced the duration of the air pollution event. Except for the local accumulation and secondary atmospheric reactions in both cases, regional straw burnings contributed a lot to the PM2.5 concentrations in summer *** the CAMxmodel, we established that regional transport contributed almost 59% to the PM2.5 averaged concentration in beijing in the winter case, but only 31% in the summer case. Thus, the winter case was a typical regional air pollution episode, while the summer case resulted from local accumulation straw burnings transportation and strong secondary atmospheric reactions. Given that air pollution is a regional problem in China, consistent and simultaneous implementation of regional prevention and control strategies is necessary to improve regional air quality.

关键词： Air pollution episodes PM2.5 Regional transport beijing Convective inhibition energy Straw burning

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Exploration of the formation mechanism and source attribution of ambient ozone in Chongqing with an observation-based model

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Science China Earth Sciences 2018年第1期61卷 23-32页

作者： SU Rong LU KeDing YU JiaYan TAN ZhaoFeng JIANG MeiQing LI Jing XIE ShaoDong WU YuSheng ZENG LiMin ZHAI ChongZhi ZHANG YuanHang State Key Joint Laboratory of environmental Simulation and Pollution Control College of Environmental Sciences and Engineering Peking University Beijing 100871 China ecological and environmental monitoring center ofChongqing Chongqing 401147 China

An intensive field campaign was conducted in Chongqing during the summer of 2015 to explore the formation mechanisms of ozone pollution. The sources of ozone, the local production rates, and the controlling factors, as well as key species of volatile organic compounds(VOCs), were quantified by integrating a local ozone budget analysis, calculations of the relative incremental reactivity, and an empirical kinetic model approach. It was found that the potential for rapid local ozone formation exists in Chongqing. During ozone pollution episodes, the ozone production rates were found to be high at the upwind station Nan Quan, the urban station Chao Zhan, and the downwind station Jin-Yun Shan. The average local ozone production rate was 30×10^(-9) V/V h^(-1) and the daily integration of the produced ozone was greater than 180×10^(-9) V/V. High ozone concentrations were associated with urban and downwind air masses. At most sites, the local ozone production was VOC-limited and the key species were aromatics and alkene, which originated mainly from vehicles and solvent usage. In addition, the air masses at the northwestern rural sites were NO_x-limited and the local ozone production rates were significantly higher during the pollution episodes due to the increased NOx concentrations. In summary, the ozone abatement strategies of Chongqing should be focused on the mitigation of VOCs. Nevertheless, a reduction in NO_x is also beneficial for reducing the regional ozone peak values in Chongqing and the surrounding areas.

关键词： Ozone Chongqing Photochemistry NO_x VOCs Sensitivity analysis Relative incremental reactivity EKMA

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Understand the local and regional contributions on air pollution from the view of human health impacts

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Frontiers of environmental Science & Engineering 2021年第5期15卷 133-143页

作者： Yueqi Jiang Jia Xing Shuxiao Wang Xing Chang Shuchang Liu Aijun Shi Baoxian Liu Shovan Kumar Sahu State Key Joint Laboratory of environmental Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing100084China State environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex Beijing100084China beijing municipal Research Institute of Environment Protection Beijing100037China beijing Key Laboratory of Airborne Particulate Matter monitoring Technology Beijing Municipal Environmental Monitoring CenterBeijing100048China

The source-receptor matrix of PM_(2.5)concentration from local and regional sources in the beijing-Tianjin-Hebei(BTH)and surrounding provinces has been created in previous ***,because the spatial distribution of concentration does not necessarily match with that of the population,such concentration-based source-receptor matrix may not fully reflect the importance of pollutant control effectiveness in reducing the PM_(2.5)-related health *** demonstrate that,we study the source-receptor matrix of the PM_(2.5)-related deaths instead,with inclusion of the spatial correlations between the concentrations and the *** advanced source apportionment numerical model combined with the integrated exposure-response functions is used for BTH and surrounding regions in *** observed that the relative contribution to PM_(2.5)-related deaths of local emissions was 0.75%to 20.77%larger than that of PM_(2.5)*** results address the importance of local emissions control for reducing health impacts of PM_(2.5)particularly for local *** of regional transport to PM_(2.5)-related deaths in rural area was 22%larger than that in urban area due to the spatial pattern of regional transport which was more related to the rural *** resulted in an environmental inequality in the sense that people staying in rural area with access to less educational resources are subjected to higher impacts from regional transport as compared with their more resourceful and knowledgeable urban *** unexpected benefit from the multi-regional joint controls is suggested for its effectiveness in reducing the regional transport of PM_(2.5)pollution thus mitigating the associated environmental inequality.

关键词： PM_(2.5) Regional transport Local emissions Health impact environmental inequality

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