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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

Distribution and mapping of temperate savanna in the sandy lands of eastern China

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Science China Earth Sciences 2025年第1期68卷 128-141页

作者： Xiaoya LI Feng WANG Tao DUAN Kaijie YANG Bin YANG Chunmei WANG Xin TIAN Qi LU Institute of Ecological Conservation and Restoration Institute of Desertification Studies Chinese Academy of Forestry Institute of Desertification Institute of Desertification Studies Chinese Academy of Forestry Institute of Great Green Wall Satellite Application Centre for ecology and environment MEE Institute of Microelectronics Chinese Academy of Sciences Aerospace Information Research Institute Chinese Academy of Sciences Institute of Forest Resource Information Techniques Chinese Academy of Forestry

Savannas are distributed globally across various *** perform a significant socioeconomic role in regulating net primary productivity and the terrestrial carbon *** to the high spatial heterogeneity induced by the mixed distribution of trees and grasses,current global land-cover classification maps often classify savannas as forests or grasslands Temperate savannas in China cover a vast area,yet their spatial patterns and extent remain poorly *** study developed a novel remote sensing temperate savannas mapping method by integrating very high-resolution （VHR） unmanned aerial vehicle （UAV） and GF-6 satellite imagery based on the vegetation structure characteristics of temperate savannas using the FAO definition of *** and validation datasets were collected from VHR UAV imagery covering the main temperate savannah types with a ground area of 1818 *** fractional woody vegetation cover （FWVC） and fractional herbaceous vegetation cover （FHVC） in temperate savannas were estimated by integrating Classification and Regression Tree and Random Forest *** current distribution of temperate savannas in the Horqin and Otindag Sandy Lands of Eastern China was mapped to a unit area of 0.5 *** root-mean-square error （RMSE） values for the FWVC and FHVC models were 10.69% and 11.67%,and the R2values were 0.66 and 0.63,*** assessment indicated that the new temperate savanna map had high identification accuracy,with a Kappa coefficient of 0.70,overall accuracy of 0.88,and average accuracy of *** savannas in the sandy lands of eastern China were primarily distributed in the northern Horqin Sandy Land the central and eastern regions of the Otindag Sandy Land,and the transition zone from the southern slopes of the Greater Khingan Mountains to the plains,covering a total area of 3.27×10～6 *** main savannah types were elm,oak/maple,and shrub *** savannas were widely distributed in the Otindag Sandy

关键词： Temperate savanna UAV imagery GF-6 Fractional woody vegetation cover Fractional herbaceous vegetation cover Machine learning

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Root growth and spatio-temporal distribution of three common annual halophytes in a saline desert, northern Xinjiang

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Journal of Arid Land 2012年第3期4卷 330-341页

作者： Ke ZHANG ChangYan TIAN ChunJian LI College of Resources and environment China Agricultural University Beijing 100193 China Key Laboratory of Oasis ecology and Desert environment Xinjiang Instituteof Ecology and Geography Chinese Academy ofSciences Urumqi 830011 China

Root growth and spatial and temporal distribution in the 0-100 cm soil profiles of three common annual halophytes Salsola subcrassa, Suaeda acuminate and Petrosimonia sibirica distributed in a saline desert in north- ern Xinjiang, China were studied in 2009 and 2010. The results showed that the root systems of the three halo- phytes were of the taproot type, vertically distributed in the 90-cm soil profile, and were deepest in late July. Their taproots reached maximum depth rapidly, early in the growth period, but with rare lateral roots. They were then dug out in an orderly way, from bottom to top, exhibiting vertical development first and then horizontal development. The distribution of specific root length, which reflects the characteristics of the feeder root, was gradually increased from top to bottom, whereas root weight displayed an opposite distribution pattern. The root length distribution of the three halophytes was concentrated （62% to 76%） in the middle soil profile （20-60 cm）, with less distribution in the surface （0-20 cm） and bottom （60-90 cm） soil profiles. The results indicated that the roots of the three annual halophytes grew rapidly into the deeper soil layer after germination, which ensured the plant survival and uptake of water and nutrition, and thus built up a strong tolerance to an arid, high-salt environment.

关键词： northern Xinjiang saline desert root growth, root spatial and temporal distribution Salsola subcrassa Suaedaacuminate Petrosimonia sibirica

AQDS Enhances Degradation of BDE-47 by Promoting Shewanella oneidensis MR-1-mediated Fenton Reaction with Fe(III)-containing Minerals

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Journal of Earth Science 2025年

作者： Yongguang Jiang Siqi Zhu Zhou Jiang Yiran Dong Liang Shi School of environmental Studies， China University of Geosciences State Key Laboratory of Biogeology and environmental Geology， China University of Geosciences Hubei Key Laboratory of Yangtze Catchment environmental Aquatic Science， China University of Geosciences State environmental Protection Key Laboratory of Source Apportionment and Control of Aquatic Pollution， Ministry of ecology and environment， China University of Geosciences(Wuhan)

Electron shuttles are widespread in the environments and play important role in microbe-mineral interaction. This study investigated the effects of a model electron shuttle (i.e.， anthraquinone-2， 6-disulfonate， AQDS) on Shewanella oneidensis MR-1-mediated Fenton reaction and subsequent degradation of 2， 2′， 4， 4′-tetrabrominated diphenyl ether (BDE-47). Three Fe(III)-containing minerals， namely， ferrihydrite， goethite and nontronite， were used as electron acceptors and Fe(II) sources. With each mineral， additions of 0.01 – 1 mM AQDS in the reactions significantly enhanced Fe(III) reduction by S. oneidensis MR-1 and increased the amounts of Fe(II) produced in anoxic phase. As a result， the amounts of cumulative ·OH formed in oxic phase were increased by 10% – 287%. Regression analysis revealed that ·OH cumulation has significant linear correlation with sorbed Fe(II) but not aqueous and structural Fe(II). This finding may be ascribed to the higher reactivity of sorbed Fe(II) in oxygenation than the latter two types of Fe(II). With more ·OH， the degradation efficiency of BDE-47 was elevated by 31% – 173%. Collectively， AQDS enhances ·OH formation and BDE-47 degradation by promoting production of Fe(II)， particularly sorbed Fe(II) in S. oneidensis MR-1-mediated Fenton reaction with Fe(III)-containing minerals.

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Numerical study of regional environmental carrying capacity for livestock and poultry farming based on planting-breeding balance

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Journal of environmental Sciences 2013年第9期25卷 1882-1889页

作者： Lihong Peng Yu Bai College of the environment & ecology Xiamen University

In consideration of the need to maintain planting-breeding balance, this article examines the capacity of the soil in Putian City, Fujian Province to absorb livestock and poultry excreta, and computes the environmental carrying capacity for livestock and poultry farming （ECCLPF） in each district of the city in terms of the fertility characteristics of the soil in the city, as well as its mix of crops cultivated and farming methods. On the basis of the computations, this work proceeds to classify the alarm grades of the city＇s environmental carrying capacity for livestock and poultry framing, and assess the environmental impact of the livestock and poultry farming industry. The results of our study indicate that, the city＇s ECCLPF ranges from 8.27 to 23.23 heads per ha when computed on the basis of nitrogen, and from 5.79 to 24.53 heads per ha when computed on the basis of phosphorus. A comparison between our research findings and the existing farming scale in Putian reveals that, in certain parts of the city, ECCLPF is overburdened to varying degrees. Specifically, Chengxiang District is severely overburdened, Hanjiang District and Meizhou Island have a level of overburdening between virtual overburdening and significant overburdening, Licheng District is virtually overburdened, and Xiuyu, Xianyou, and Bei＇an Districts have not exceeded their environmental carrying capacity and therefore have varying levels of potential for growth.

关键词： livestock and poultry farming planting-breeding combination nitrogen and phosphorus balance alarm classification system

Effect of precipitation pH and coexisting magnesium ion on phosphate adsorption onto hydrous zirconium oxide

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Journal of environmental Sciences 2019年第2期31卷 167-187页

作者： Jianwei Lin Xingxing Wang Yanhui Zhan College of Marine ecology and environment Shanghai Ocean University

To understand the effect of precipitation pH and coexisting Mg^(2+) on phosphate adsorption onto zirconium oxide(ZrO_2), ZrO_2 particles precipitated at pH 5.3, 7.1 and 10.5, i.e., ZrO_2(5.3), ZrO_2(7.1)and ZrO_2(10.5), respectively were prepared and characterized, then their adsorption performance and mechanism in the absence and presence of Mg^(2+) were comparatively investigated in this study. The results showed that the Elovich, pseudo-second-order and Langmuir isotherm models correlated with the experimental data well. The adsorption mechanism involved the complexation between phosphate and zirconium. Coexisting Mg^(2+) slightly inhibited the adsorption of phosphate on ZrO_2(5.3), including the adsorption capacity and rate, but coexisting Mg^(2+) greatly increased the adsorption capacity and rate for ZrO_2(7.1)and ZrO_2(10.5). The enhanced adsorption of phosphate on ZrO_2(7.1) and ZrO_2(10.5) in the presence of Mg^(2+) was mainly due to the formation of Mg^(2+)-HPO_4^(2-) ion pair(MgHPO_4~0) in the solution and then the adsorption of MgHPO_4~0 on the adsorbent surface, forming the phosphatebridged ternary complex Zr(OPO_3H)Mg. In the absence of Mg^(2+) , the maximum phosphate adsorption capacity at pH 7 calculated from the Langmuir isotherm model decreased in the order of ZrO 2(7.1)(67.3 mg/g) > ZrO_2(5.3)(53.6 mg/g) ≈ ZrO_2(10.5)(53.1 mg/g), but it followed the order of Zr O2(7.1)(97.0 mg/g) > ZrO_2(10.5)(79.7 mg/g) > ZrO_2(5.3)(51.3 mg/g) in the presence of Mg^(2+) . The results of this work suggest that ZrO_2(7.1) is more suitable for use as an adsorbent for the effective removal of phosphate from municipal wastewater than ZrO_2(5.3) and ZrO_2(10.5),because Mg^(2+) is generally present in this wastewater.

关键词： Hydrous zirconium oxide Different precipitation pH values Adsorption Phosphate Magnesium ion Effect

One more step to realistic CO_(2) reduction reactions——geometric structures evolutions at gas-solid interface

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Rare Metals 2024年第2期43卷 849-852页

作者： Ya-Qiang Xie Xin Yu Ting Wang College of the environment and ecology Xiamen UniversityXiamen361102China

A rational design of copper(Cu)nanocatalyst is critical to the efficient carbon dioxide(CO_(2))conversion toward C1/C2 chemical ***,the lack of actual information on the vicinal Cu interfaces hinders the intrinsic activitystructure correlation *** with atomic-scale in situ characterizations(AP-STM and synchrotron-based AP-XPS),Park and co-workers study and identify the adsorbate-driven morphological evolution of Cu nanoclusters on the Cu(997)surface,providing real-space evidence for the critical role of vicinal structures on Cu *** observed surface roughening trends caused by dissociated atomic oxygen and CO adsorbates subsequently affect the result of successive catalytic reactions to produce critical intermediates,such as carbonate and formate,during the CO_(2)reduction reaction.

关键词： reaction critical rational

UV/Chlorine-BAC treatment of antidepressant drug in drinking water:efficacy,process optimization,and microbiological characterization

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Frontiers of environmental Science & Engineering 2024年第10期18卷 127-138页

作者： Xianzhong Li Wanli Yan Jianguo Li Kaiting Zhang Chengsong Ye Mingbao Feng Xin Yu College of the environment&ecology Xiamen UniversityXiamen 361102China

The environmental pollution caused by psychotropic drugs harms human health and has prompted a stronger emphasis on research into water treatment *** UV/Chlorine-biological activated carbon(BAC)combined process was employed in this study to treat amitriptyline(AMT),a typical psychotropic drug,in slightly contaminated drinking *** removal efficiency of AMT in drinking water by UV/Chlorine and the feasibility of combining it with BAC were *** results demonstrated that the removal efficiency of 1μmol/L AMT could reach 98.5% of the 2.0 mg/L chlorine and UV treated for 30 min.A significant removal improvement of AMT was 10%-45% compared to UV alone,Chlorine alone,and other oxidants combined,especially the SOUR(Specific Oxygen Uptake Rate),which was 57%-90% compared to other oxidants ***,the optimal process parameters for UV/Chlorine-BAC treatment of slightly contaminated drinking water were a combination of UV exposure,chlorine dosage of 2 mg/L,and reaction times of i5 min followed by 30 min of BAC *** AMT degradation,CODMn removal efficiency,and NO_(3)-N production was 88%,65%,and 95%,*** was no significant effect on the number of microorganisms in the BAC medium,ensuring good long-term ***,an investigation was conducted to assess the influence of optimal process operation on the microbial community structure within *** analysis unveiled a positive feedback loop in the colony architecture after implementing ideal process *** study provides significant inspiration for addressing residual antidepressant issues using traditional drinking water treatment processes.

关键词： UV/Chlorine-BAC Amitriptyline removal Drinking water Microbial community

Seed Dynamics in Relation to Gaps in a Tropical Montane Rainforest of Hainan Island,South China:(II)Seed Bank

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Journal of Integrative Plant Biology 2008年第5期50卷 513-521页

作者： Run-Guo Zang Yi Ding Wei-Yin Zhang Key Laboratory of Forest ecology and environment The State Forestry Administration Institute of Forest ecology Environment and Protection Chinese Academy of Forestry Beijing 100091 China

Spatial and temporal patterns of seed bank dynamics in relation to gaps in an old growth tropical montane rainforest of Hainan Island, South China, were studied over two consecutive years. From June 2001 to June 2003, soil seed bank sampling blocks were taken near each of the four sides of each seed trap and immediately put into a nursery for observation of seedling emergence dynamics in four seasons （each experiment in each season）. The abundances of seedlings that emerged from seed banks showed the trend of vine functional group （VFG）〉 shrub functional group （SFG）〉 tree functional group （TFG）〉 herb functional group （HFG）, but the trend in species richness of seedlings that emerged from the soil seed banks was TFG 〉 VFG 〉 SFG 〉 HFG. The abundances of seedlings that emerged from seed banks in the three gap zones showed no significant differences, but significant differences did exist for the species richness. The time of sampling or seasons of experiments had significant influences on both the species richness and seedling abundances. The seedling emergence processes of each experiment all revealed the unimodal patterns. Few emergences occurred 1 year after each experiment. Compared with those under closed canopies, the recruitment rates from seed to seedlings and from seedlings to saplings In gaps were higher, but the mortality rates from saplings to big trees were also higher in the gaps.

关键词： functional groups gap dynamics Hainan Island regeneration niche seed bank supply-side ecology tropical montane rainforest.