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基于改进Lego Loam算法的移动机器人路径规划及导航研究 被引量:3
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作者 凌新宇 张立臣 黄洪斌 《榆林学院学报》 2025年第2期101-105,共5页
为了解决移动机器人在三维环境中容易碰到障碍物以及Lego Loam算法在提取地面时的杂点问题。本文提出将最近邻插值法与体素滤波相结合的SLAM系统,在静态环境下进行仿真实验,在不丢失点云特征的情况下对地面杂点进行滤波。与原Lego Loam... 为了解决移动机器人在三维环境中容易碰到障碍物以及Lego Loam算法在提取地面时的杂点问题。本文提出将最近邻插值法与体素滤波相结合的SLAM系统,在静态环境下进行仿真实验,在不丢失点云特征的情况下对地面杂点进行滤波。与原Lego Loam算法相比,地面点云的发布时间缩短了16.89%,经过omp并行处理后总点云提取及匹配时间降低2.9%。将所设计的算法应用于实际机器人平台进行验证,根据获得的点云图完成重定位,并同步映射二维栅格图进行导航。在动态环境下,本文将传统的二维定位算法与三维定位算法进行了对比,该平台下三维点云定位的可行性优于传统的二维定位算法。在完成定位和导航配置后,机器人最终可以有效地到达目标点。 展开更多
关键词 机器人 Lego loam算法 点云 导航
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基于三级去畸变和分层降采样机制的F-LOAM改进算法
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作者 徐鹤 张阔 李鹏 《数据采集与处理》 北大核心 2025年第5期1294-1305,共12页
传统的快速激光雷达里程计与建图(Fast LiDAR odometry and mapping,F-LOAM)算法虽然对特征点进行了两级去畸变处理,但仅对第1阶段的特征点进行去畸变,第2阶段的去畸变主要用于建图,这导致位姿估计的准确性不高。为了解决这一问题,提出... 传统的快速激光雷达里程计与建图(Fast LiDAR odometry and mapping,F-LOAM)算法虽然对特征点进行了两级去畸变处理,但仅对第1阶段的特征点进行去畸变,第2阶段的去畸变主要用于建图,这导致位姿估计的准确性不高。为了解决这一问题,提出了一种改进的三级去畸变机制,结合基于体素化网格的分层降采样机制,以提高算法的实时性。经过改进的F-LOAM算法在KITTI数据集上的测试表现出色。三级去畸变机制和分层降采样策略不仅有效降低了计算负担,还确保了特征点的有效性和全局地图的精度。 展开更多
关键词 快速激光雷达里程计与建图算法 激光雷达 运动畸变 匀速模型 去畸变 分层降采样
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基于LeGO-LOAM算法的激光雷达定位与室内地图构建
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作者 王勇涛 文志东 +1 位作者 陈浩 谈世磊 《激光杂志》 北大核心 2025年第9期154-159,共6页
本研究提出了一种基于LeGO-LOAM算法的激光雷达定位与室内地图构建方法,旨在解决无人机导航中高精度实时定位与地图构建的需求。针对LOAM算法在室内地面丰富场景下对地面特征利用不足的问题,LeGO-LOAM算法通过改进LOAM框架,在点云分割... 本研究提出了一种基于LeGO-LOAM算法的激光雷达定位与室内地图构建方法,旨在解决无人机导航中高精度实时定位与地图构建的需求。针对LOAM算法在室内地面丰富场景下对地面特征利用不足的问题,LeGO-LOAM算法通过改进LOAM框架,在点云分割阶段显式分离地面点,并在特征提取与雷达里程计优化阶段引入地面平面约束,显著提升了算法在轻量化和地面优化方面的性能:其轻量化设计支持低功耗嵌入式系统实时运行,而地面约束优化有效抑制了俯仰角与高度方向的漂移,提升了分割与建图精度。算法核心包括点云分割、特征提取、雷达里程计和建图模块,结合Velodyne VLP-16激光雷达采集的稀疏点云数据,实现了6自由度位姿估计与高效地图构建。实验表明,该算法通过八叉树(Octomap)压缩点云数据,地图存储空间降低至原始点云的约15%,同时支持基于概率更新的动态障碍物处理,增强了地图的鲁棒性。在实验室场景的验证中,LeGO-LOAM算法展现出高精度定位能力(平均绝对轨迹误差(ATE)为0.25 m)与高效地图压缩性能,为无人机自主导航提供了可靠解决方案。 展开更多
关键词 LeGO-loam算法 激光雷达定位 室内地图构建 八叉树地图 点云分割 特征提取
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Effects of Long-term Fertilization on Fertility of Lateritic Red Loam Paddy 被引量:1
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作者 黄金生 谢如林 +4 位作者 曾艳 周柳强 区惠平 朱晓晖 谭宏伟 《Agricultural Science & Technology》 CAS 2017年第8期1437-1442,共6页
The change rules of the fertility of red soil paddy under the long-term different fertilization were investigated, and the reasonable fertilization mode to improve the fertility of red soil paddy was discussed. There ... The change rules of the fertility of red soil paddy under the long-term different fertilization were investigated, and the reasonable fertilization mode to improve the fertility of red soil paddy was discussed. There were eight treatments in the experiment, which were CK (no fertilizer), N1 (N of 60 kg/hm2), N2 (N of 120 kg/hm2), N1P1 (P2O5 of 30 kg/hm2), N2P1 and N2P2 (P2O5 of 60 kg/hm2), N2P2K1 (K2O of 45 kg/hm2) and N2P2K2 (K2O of 90 kg/hm2). All treatments were applied with composted cow dung as the base fertilizer, and each season 50% of the straws were returned to the field. The content of organic matter, nitrogen, phosphorous and potassium in red soil paddy was observed continuously for ten years and their correlation was also analyzed. Under cow manure and straw return to field, organic matter content of different treatments was positively correlated to year. After ten years, organic matter content of surface soil rose by 2.5 g/kg averagely with an annual increase of 0.25 g/kg. Total nitrogen content and organic matter content of different treatments presented similar variation trend. Total nitrogen content rose by 0.35 g/kg averagely with an annual increase of 0.035 g/kg. Among all the treatments, N2P2K1 and N2P2K2 showed the biggest increase, which went up by 0.052 and 0.48 g/kg, respectively. Phosphorous-free treatments (CK, N1, N2) had steady phosphorous content with irregular changes of different years. Total phosphorous content of phosphorous treatments increased year by year. Total phosphorous content of N1P1 and N2P1 rose by 0.008 g/kg every year. The increment range of total phosphorous content of N2P2, N2P2K1 and N2P2K2 was 0.012 -0.013 g/kg annually. Available phosphorous content varied vastly among different treatments. Available phosphorous content of organic fertilizer treatments basically remained stable with irregular changes of different years. Available phosphorous content of organic fertilizer with phosphate fertilizer treatments rose year by year. Available phosphorous content of N1P1 and N2P1 rose approximately by 0.8 mg/kg. Available phosphorous content of N2P2, N2P2K1 and N2P2K2 rose approximately by 1.4 -1.6 mg/kg annually. Potassium fertilizer amount greatly affected total potassium content. Total potassium content of no-potassium treatments (CK, N1, N2, N1P1, N2P1 and N2P2) remained the same. Total potassium content of N2P2K markedly increased year by year, which was 0.014 g/kg annually. Rapid available potassium content of no-potassium treatments (CK, N1, N2, N1P1, N2P1 and N2P2) showed a decreasing trend. With phosphate fertilizer, rapid available potassium content of N2P2K1 and N2P2K2 remained the same or increased year by year. The change trend of slow available potassium content and rapid available potassium content resembled. Rational allocation of organic fertilizer, nitrogenous fertilizer, phosphate fertilizer and potassium fertilizer can significantly improve soil fertility and economic benefits. Balanced fertilization is an effective measure for soil fertility improvement as it's shown that nutrients of surface soil accumulate annually. 展开更多
关键词 Lateritic red loam PADDY FERTILITY Long-term experiment
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Gross nitrogen transformations and N2O emission sources in sandy loam and silt loam soils 被引量:5
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作者 LANG Man LI Ping WEI Wei 《Journal of Arid Land》 SCIE CSCD 2021年第5期487-499,共13页
The soil type is a key factor influencing N(nitrogen)cycling in soil;however,gross N transformations and N_(2)O emission sources are still poorly understood.In this study,a laboratory 15N tracing experiment was carrie... The soil type is a key factor influencing N(nitrogen)cycling in soil;however,gross N transformations and N_(2)O emission sources are still poorly understood.In this study,a laboratory 15N tracing experiment was carried out at 60%WHC(water holding capacity)and 25℃to evaluate the gross N transformation rates and N_(2)O emission pathways in sandy loam and silt loam soils in a semi-arid region of Heilongjiang Province,China.The results showed that the gross rates of N mineralization,immobilization,and nitrification were 3.60,1.90,and 5.63 mg N/(kg·d)in silt loam soil,respectively,which were 3.62,4.26,and 3.13 times those in sandy loam soil,respectively.The ratios of the gross nitrification rate to the ammonium immobilization rate(n/ia)in sandy loam soil and silt loam soil were all higher than 1.00,whereas the n/ia in sandy loam soil(4.36)was significantly higher than that in silt loam soil(3.08).This result indicated that the ability of sandy loam soil to release and conserve the available N was relatively poor in comparison with silt loam soil,and the relatively strong nitrification rate compared to the immobilization rate may lead to N loss through NO_(3)–leaching.Under aerobic conditions,both nitrification and denitrification made contributions to N_(2)O emissions.Nitrification was the dominant pathway leading to N_(2)O production in soils and was responsible for 82.0%of the total emitted N_(2)O in sandy loam soil,which was significantly higher than that in silt loam soil(71.7%).However,the average contribution of denitrification to total N_(2)O production in sandy loam soil was 17.9%,which was significantly lower than that in silt loam soil(28.3%).These results are valuable for developing reasonable fertilization management and proposing effective greenhouse gas mitigation strategies in different soil types in semiarid regions. 展开更多
关键词 gross N transformation rates 15N tracing N2O emission sources sandy loam silt loam semi-arid region
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基于改进LOAM的森林样地调查系统设计与试验 被引量:7
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作者 范永祥 冯仲科 +3 位作者 申朝永 闫飞 苏珏颖 王蔚 《农业机械学报》 EI CAS CSCD 北大核心 2022年第7期291-300,共10页
森林中线、面特征较少等,导致LOAM算法去畸变及配准精度低、鲁棒性差,很难将该算法直接用于森林调查。为此以LOAM算法为基础设计了LiDAR SLAM森林样地调查系统,在SLAM系统工作流程中剔除了遮挡线特征,避免视点与立木切线点作为线特征参... 森林中线、面特征较少等,导致LOAM算法去畸变及配准精度低、鲁棒性差,很难将该算法直接用于森林调查。为此以LOAM算法为基础设计了LiDAR SLAM森林样地调查系统,在SLAM系统工作流程中剔除了遮挡线特征,避免视点与立木切线点作为线特征参与运算;引入二次去畸变、二次配准等模块提高了去畸变、配准的鲁棒性及精度;该系统将激光雷达测量精度、位姿估计精度等先验信息引入去畸变及配准优化算法中,提高去畸变及配准精度。使用32线激光雷达扫描了4块32 m×32 m的森林样地,利用LiDAR SLAM森林样地调查系统完成样地建图,利用该点云提取的立木位置及胸径与参考数据对比,完成了新型SLAM样地调查系统在森林中建图精度的间接评估。结果显示:立木位置估计值在x、y轴方向的平均误差分别为-0.004 m和-0.011 m,x、y轴方向均方根误差分别为0.081 m和0.083 m;胸径估计值的偏差为0.25 cm(相对偏差为1.18%),均方根误差为1.03 cm(相对均方根误差为5.53%);经与LOAM估计结果相比,改进系统获取的立木位置及胸径精度均提高。结果表明,所设计的LiDAR SLAM森林样地调查系统可用于多线激光雷达扫描森林样地数据的处理,是一种可精确进行森林样地调查的解决方案。 展开更多
关键词 森林 样地调查 激光雷达 SLAM loam算法
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基于IMU紧耦合的LeGO-LOAM改进算法研究 被引量:14
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作者 陈文浩 刘辉席 +1 位作者 杨林涛 刘守印 《计算机应用研究》 CSCD 北大核心 2021年第4期1013-1016,共4页
基于LiDAR和SLAM(simultaneous localization and mapping)的LeGO-LOAM算法在低分辨率的LiDAR设备上,由于LiDAR数据的运动畸变、采样的地面数据稀疏等问题,存在重力矢量漂移现象和严重的高程估计误差。为了改善这一点,LeGO-LOAM改进算... 基于LiDAR和SLAM(simultaneous localization and mapping)的LeGO-LOAM算法在低分辨率的LiDAR设备上,由于LiDAR数据的运动畸变、采样的地面数据稀疏等问题,存在重力矢量漂移现象和严重的高程估计误差。为了改善这一点,LeGO-LOAM改进算法引入了一种LiDAR和IMU(inertial measurement unit)紧耦合的方式。通过IMU估计运动状态,消除LiDAR数据的运动畸变,并使用IMU数据构建联合优化函数,约束位置姿态估计的重力方向。实验结果表明,这种方法有效抑制了LeGO-LOAM算法的重力矢量漂移,高程估计精度和高速状态下的定位精度均有显著提升。 展开更多
关键词 实时实位与地图重建 LIDAR IMU紧耦合 LeGO-loam
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Short-term Effects of Tillage Practices on Organic Carbon in Clay Loam Soil of Northeast China 被引量:25
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作者 LIANG Ai-Zhen ZHANG Xiao-Ping +2 位作者 FANG Hua-Jun YANG Xue-Ming C. F. Drury 《Pedosphere》 SCIE CAS CSCD 2007年第5期619-623,共5页
A tillage experiment, consisting of moldboard plow (MP), ridge tillage (RT), and no-tillage (NT), was performed in a randomized complete block design with four replicates to study the effect of 3-year tillage ma... A tillage experiment, consisting of moldboard plow (MP), ridge tillage (RT), and no-tillage (NT), was performed in a randomized complete block design with four replicates to study the effect of 3-year tillage management on SOC content and its distribution in surface layer (30 cm) of a clay loam soil in northeast China. NT did not lead to significant increase of SOC in topsoil (0-5 cm) compared with MP and RT; however, the SOC content in NT soil was remarkably reduced at a depth of 5-20 cm. Accordingly, short-term (3-year) NT management tended to stratify SOC concentration, but not necessarily increase its storage in the plow layer for the soil. 展开更多
关键词 clay loam soil moldboard plow NO-TILLAGE ridge tillage soil organic carbon
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基于特征提取改进的LeGO-LOAM方法 被引量:1
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作者 杨书涛 郁汉琪 +3 位作者 戴红卫 李佩娟 杜俊峰 李睿 《南京工程学院学报(自然科学版)》 2023年第3期21-26,共6页
针对LeGO-LOAM算法中的局限性,提出一种基于特征提取改进的LeGO-LOAM方法.由于室外复杂环境下随机特征点较多,首先采用自适应特征提取方法在不同的距离下保证特征提取的准确性;然后基于随机一致性采样优化的地面滤除方法去除不可靠特征... 针对LeGO-LOAM算法中的局限性,提出一种基于特征提取改进的LeGO-LOAM方法.由于室外复杂环境下随机特征点较多,首先采用自适应特征提取方法在不同的距离下保证特征提取的准确性;然后基于随机一致性采样优化的地面滤除方法去除不可靠特征点;最后通过相邻帧中同一块特征点的移动距离来消除动态目标.利用KITTI数据集进行仿真分析,结果表明本文优化后的平均误差降低了19.1%,最大误差降低了23.9%.在实际激光雷达建图中进行多组试验,计算出的位置最大误差小于1m,表现出了良好的鲁棒性和稳定性,优化效果显著. 展开更多
关键词 LeGO-loam 特征提取 室外复杂环境 三维建图
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基于LeGO-LOAM的实际场景下的同步定位与建图方法 被引量:1
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作者 崔洋 顾恒之 徐震 《汽车实用技术》 2023年第1期44-47,共4页
同步定位与建图是无人驾驶技术中实现无人化的关键技术之一。建图的精度以及适用性仍需进一步提高,论文通过对轻量化和地面优化的激光雷里程计和地图(LeGO-LOAM)算法的回环检测部分进行改进,将KD(K-Dimensional)树与上下文扫描算法进行... 同步定位与建图是无人驾驶技术中实现无人化的关键技术之一。建图的精度以及适用性仍需进一步提高,论文通过对轻量化和地面优化的激光雷里程计和地图(LeGO-LOAM)算法的回环检测部分进行改进,将KD(K-Dimensional)树与上下文扫描算法进行结合,并且对雷达-惯性测量单元(IMU)外参进行重新标定。通过建立实际场景将调整后的算法与之前未调整的算法进行比较,可以看出,调整后的算法的建图精度与适用性有了很明显的提高。 展开更多
关键词 同步定位与建图 LeGO-loam 无人驾驶汽车 实际场景
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Physical Status of Soils Developed from Loesslike Loams in the Southwest of the Central Russian Plain (the Belogor'e Reserve)
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作者 Oleg Romanov 《Journal of Environmental Science and Engineering(B)》 2014年第6期300-303,共4页
Soils developed from the Quaternary loesslike loams have been studied in the south of the forest-steppe zone on the Central Russian Upland. A polygenetic nature of the soil profile on the loesslike loams is shown. The... Soils developed from the Quaternary loesslike loams have been studied in the south of the forest-steppe zone on the Central Russian Upland. A polygenetic nature of the soil profile on the loesslike loams is shown. The modem pedogenetic processes in this soil ensure its eluvial-illuvial differentiation with the development of multilayered coatings in the illuvial horizon. The middle horizons in the studied soil profiles are referred to as textural (clay-illuvial) horizons. Differences in physical soil properties (bulk density, airconductivity, texture, water content, and temperature dynamics) were studied in the soil on the loesslike loam. 展开更多
关键词 Physical soil properties bulk density texture water content loesslike loam.
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Migration process of ammonium ion in saturated silty sand and sandy loam
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《Journal of Environmental Sciences》 SCIE EI CAS CSCD 1997年第4期29-34,共6页
MigrationprocesofammoniumioninsaturatedsiltysandandsandyloamZhuWanpeng,YangZhihua,JiangZhanpengDepartmentofE... MigrationprocesofammoniumioninsaturatedsiltysandandsandyloamZhuWanpeng,YangZhihua,JiangZhanpengDepartmentofEnvironmentalEngin... 展开更多
关键词 Migration process of ammonium ion in saturated silty sand and sandy loam
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Effects of freeze-thaw cycles on aggregate stability of sandy loam on the Eastern Qinghai-Tibet Plateau
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作者 FENG Xiao DUN Yaoquan +2 位作者 QU Jianjun TIAN Qin DONG Lili 《Journal of Mountain Science》 2026年第1期417-433,共17页
Freeze-thaw cycles(FTCs)have an important effect on soil aggregate stability by altering soil structures,thereby influencing soil wind and water erosion on the eastern Qinghai-Tibet Plateau.However,the effects of FTCs... Freeze-thaw cycles(FTCs)have an important effect on soil aggregate stability by altering soil structures,thereby influencing soil wind and water erosion on the eastern Qinghai-Tibet Plateau.However,the effects of FTCs on the stability of these soils remain unclear.Here,we conducted freeze-thaw simulations in laboratory to investigate the effects of FTCs(0 to 15 cycles)on the wet-and dry-sieving aggregate stability of undisturbed sandy loam from Maqu county,which was treated with different initial soil moisture contents(1%to 25%in increments of 4%)and initial aggregate diameters(<2,2-5,5-10,and 10-15 mm).Results show that soil aggregates with initial diameters larger than 2 mm exhibit higher soil organic carbon contents(1.45%-1.57%)and silt contents(34.63%-35.52%)than those smaller than 2 mm(0.93%and 31.38%,respectively).The stability of both wet-and dry-sieving aggregates increases with larger initial diameters.Increasing initial soil moisture content from 1%to 25%reduces aggregate stability,with reductions of 2.4%-88.0%for wet-sieving aggregates and 2.1%-25.5%for dry-sieving aggregates(>2 mm).With increasing FTCs,wet-sieving aggregate(>2 mm)stability exhibits a fluctuating upward trend,with increases of 79.2%-87.4%after 15 FTCs,while dry-sieving aggregate(>2 mm)stability decreases significantly(5.7%-21.7%)upon the first FTC and remains unchanged thereafter.The stability of both the wet-and dry-sieving aggregates smaller than 2 mm remains unchanged with increasing FTCs(p>0.05).SOC content decreases by 22.3%on average with increasing FTCs from 1 to 15 and shows no significant correlations with wet-and dry-sieving aggregate stability.Higher silt content(r=0.39,p<0.05)and lower sand content(r=-0.38,p<0.05)enhances the wet-sieving aggregate stability of sandy loam.Frequent FTCs tend to improve wet-sieving aggregate stability but reduce dry-sieving aggregate stability in the sandy loam.The findings provide certain guidance for preventing freeze-thaw-induced wind erosion. 展开更多
关键词 Freeze-thaw cycles Sandy loam Soil aggregate stability Initial aggregate diameter Soil erosion Soil organic carbon
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AMR智能小车导航技术应用
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作者 陈菁 林国英 +2 位作者 张慧杰 韩远飞 陈媛媛 《机械管理开发》 2026年第1期249-251,共3页
针对复杂环境下机器人导航精度不足的问题,提出了一种基于V-LOAM算法的雷视融合SLAM导航技术,包括V-LOAM算法的优化、雷视数据融合策略的设计以及SLAM系统的实现。通过V-LOAM算法实现多源数据融合,提高了SLAM系统的鲁棒性和精度。实验... 针对复杂环境下机器人导航精度不足的问题,提出了一种基于V-LOAM算法的雷视融合SLAM导航技术,包括V-LOAM算法的优化、雷视数据融合策略的设计以及SLAM系统的实现。通过V-LOAM算法实现多源数据融合,提高了SLAM系统的鲁棒性和精度。实验结果表明,与传统方法相比,提出的方法在定位精度和地图构建质量方面均有显著提升,为复杂环境下的机器人导航提供了新的解决方案。 展开更多
关键词 V-loam 传感器融合 SLAM 机器人导航
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Effects of NaCl salt on mineralization and nitrification of a silt loam soil in the North China Plain 被引量:2
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作者 Huang Quanzhong Huang Guanhua 《International Journal of Agricultural and Biological Engineering》 SCIE EI CAS 2009年第2期14-23,共10页
Low quality water has been widely used for irrigation all over the world due to water shortage.However,the use of low quality water may cause accumulation of salt in root-zone soils,resulting in poor nitrogen utilizat... Low quality water has been widely used for irrigation all over the world due to water shortage.However,the use of low quality water may cause accumulation of salt in root-zone soils,resulting in poor nitrogen utilization by crops.The objective of the present study was to investigate the effects of sodium chloride(NaCl)on mineralization and nitrification of soils in the North China Plain(NCP).The experiments were conducted with laboratory incubators at 30℃.Five levels of NaCl-salt concentrations 0%,2%,3%,5%and 8%in the added solutions were used in the soil samples collected from NCP.The mineralization at NaCl-salt concentration lower than 3%was not significantly different from that of the control,whereas,significant inhibition of mineralization was found in the treatments with NaCl-salt concentration higher than 3%.The inhibition of mineralization was attributed to the retardation of nitrification in relatively high salt content because ammonification was not depressed by the added NaCl salt.The gas losses and nitrification were found decreasing with the increase in salinity.It was also found that the nitrification was more sensitive to salinity than the mineralization.Nitrification of soil samples was inhibited by 44.72%,57.87%,and 83.64%compared with the control after 38 days of incubation at NaCl-salt concentrations of 3%,5%and 8%,respectively.The time dependence of both the mineralization and nitrification can be fitted into a first-order kinetic model.The rate constant of mineralization and nitrification decreased exponentially with the salt content in the soils.The results of the present research may provide some scientific implications for the use of saline water or treated sewage water in the farming regions of the NCP. 展开更多
关键词 MINERALIZATION NITRIFICATION SALINITY silt loam soil
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The red mantle of weathering and brownish-red loam of Miaodao Islands in Shandong Province and implication in paleoclimate
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作者 曹家欣 严润娥 王欢 《Science China Chemistry》 SCIE EI CAS 1995年第7期834-846,共13页
The formation,age and paleoclimatic changes of the red mantle of weathering and brownish-redloam of the Miaodao Islands are dealt with for the first time.The red mantle of weathering products formedthrough Fe-Al enric... The formation,age and paleoclimatic changes of the red mantle of weathering and brownish-redloam of the Miaodao Islands are dealt with for the first time.The red mantle of weathering products formedthrough Fe-Al enrichment and desilication process under wet and hot climatic conditions.The brownish-red loam isa kind of eolian loess formed under semiarid and warm climatic conditions.They correlate,respectively,with thered clay of Pliocene and Wucheng Loess occurring in the inland of North China.They indicate that an abruptchange of climatic conditions took place during the turn of Pliocene and Pleistocene.This change may relate to theglobal climatic change. 展开更多
关键词 Miaodao ISLANDS RED MANTLE of WEATHERING brownish-red loam palaeoclimate.
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改进的XGBoost用于LiDAR退化环境检测 被引量:1
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作者 徐爱功 高佳鑫 +3 位作者 隋心 陈志键 王长强 史政旭 《地球信息科学学报》 北大核心 2025年第2期381-396,共16页
【目的】目前,LiDAR退化环境检测方法存在需要启发式阈值、计算间接评价指标、检测效率低的问题。【方法】本文提出一种基于改进XGBoost的LiDAR退化环境检测方法。实现了从环境的几何结构角度直接检测单帧点云的退化情况。本文基于LiDA... 【目的】目前,LiDAR退化环境检测方法存在需要启发式阈值、计算间接评价指标、检测效率低的问题。【方法】本文提出一种基于改进XGBoost的LiDAR退化环境检测方法。实现了从环境的几何结构角度直接检测单帧点云的退化情况。本文基于LiDAR点云数据构建分类特征体系,用于建立XGBoost决策树。在此基础上,采用模糊综合评价算法计算每个特征的综合重要性度量指标,用于构建有效的特征子集,从而提高检测精度。同时,通过一种基于Spearman秩相关系数的双向特征筛选策略来加速构建特征子集,从而提高模型的训练效率。针对XGBoost的初步检测结果,本文基于滑动窗口策略和多数投票策略对其进行二次修正,提高最终的LiDAR退化环境检测的精度。为验证本文方法的有效性以及对LiDAR退化环境的检测效果,通过搭建实验平台,采集真实场景数据并设计了相关实验。【结果】实验结果表明,本文方法各组成部分的有效性均能够被合理地验证;LiDAR退化环境检测成功率为94.41%,非退化误检测率为1.24%;相较于LOAM退化检测模块,检测成功率提高了10.91%,误检测率降低了95.26%,检测效率提高了56.97%。【结论】本文方法实现了高效率、高精度的LiDAR退化环境检测。 展开更多
关键词 LiDAR退化环境 XGBoost 模糊综合评价 Spearman秩相关系数 双向特征筛选策略 滑动窗口策略 多数投票策略 loam
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基于离散元法的长江中游地区水田壤土参数标定 被引量:3
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作者 张超 崔履钰 +2 位作者 石涛 杨力 张道德 《农机化研究》 北大核心 2025年第7期35-43,共9页
为研究农业机械与水田壤土间的相互作用,需获取水田壤土的物理及接触参数。结合物理堆积试验,以休止角作为响应值,采用离散元法(DEM)并选取Hertz-Mindlin with JKR(Johnson-Kendall-Roberts)接触模型对长江中游地区水田壤土展开参数标... 为研究农业机械与水田壤土间的相互作用,需获取水田壤土的物理及接触参数。结合物理堆积试验,以休止角作为响应值,采用离散元法(DEM)并选取Hertz-Mindlin with JKR(Johnson-Kendall-Roberts)接触模型对长江中游地区水田壤土展开参数标定研究。首先,通过物理堆积试验获取了壤土休止角(AoR)与含水率间的定量关系,由不同含水率土壤的堆积结果筛分出4种代表性堆积形态,由于水田壤土堆积体轮廓外形比较独特,因此仅对其左右两侧轮廓采用三次多项式进行局部拟合,计算其休止角。以长江中游地区水田壤土成因和预试验为依据来确定其离散元模型中9个参数的高低水平值,通过Plackett-Burman试验设计进行方差分析,发现壤土剪切模量、壤土间动摩擦因数、壤土与不锈钢间静摩擦因数和JKR表面能对AoR影响明显。然后,采用基于响应面法(RSM)原理的Box-Behnken试验设计(BBD)建立了AoR与4个显著性参数间的二次多项式回归模型。依据二次多项式回归模型对目标响应进行预测,得到最优参数组合。以此为基础对壤土AoR进行离散元仿真,AoR数值计算结果(45.4°)与试验结果(44.6°)相对误差为1.79%。最后,选取含水率分别为44.4%、48.7%的壤土进行堆积角仿真模拟,计算结果与堆积试验相对误差分别为2.8%、7.14%。研究表明:回归模型可以根据壤土含水率或AoR预测长江中游地区水田壤土的相关本征参数和接触参数。 展开更多
关键词 水田壤土 离散元法 参数标定 休止角
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Ecological Stoichiometric and Homeostatic Characteristics of Rice Soil under Different Ratios of Biochar Fertilizers
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作者 CHEN Yuqi WANG Guanghua +4 位作者 ZHAO Jinbiao YU Shilong JIANG Min ZHANG Zujian HUANG Lifen 《Rice science》 2025年第6期772-776,I0040-I0045,共11页
Currently,research on the co-application of straw charcoal and organic fertilizer made from livestock and poultry manure remains limited,despite their demonstrated benefits in enhancing soil fertility and improving pl... Currently,research on the co-application of straw charcoal and organic fertilizer made from livestock and poultry manure remains limited,despite their demonstrated benefits in enhancing soil fertility and improving plant physiological traits.To investigate the effects of straw charcoal on paddy soil,an experiment was conducted in fields with stable soil properties characterized by clay loam texture in the Middle-Lower Reaches of the Yangtze River,China,using the rice cultivar Nanjing 5055. 展开更多
关键词 clay loam texture livestock poultry manure enhancing soil fertility rice cultivar nanjing paddy soilan straw charcoal organic fertilizer improving plant physiological traitsto
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基于改进粒子群优化算法的三维激光雷达点云数据配准方法研究
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作者 吴明东 《计算机应用文摘》 2025年第17期114-116,119,共4页
三维激光雷达点云数据配准在众多领域得到广泛应用,但其配准精度和效率仍有待提升。文章提出了一种基于改进粒子群优化算法的点云数据配准方法,首先阐述了NARF-LOAM点云配准流程,包括NARF粗配准与LOAM精配准;其次深入探讨了粒子群优化... 三维激光雷达点云数据配准在众多领域得到广泛应用,但其配准精度和效率仍有待提升。文章提出了一种基于改进粒子群优化算法的点云数据配准方法,首先阐述了NARF-LOAM点云配准流程,包括NARF粗配准与LOAM精配准;其次深入探讨了粒子群优化算法的原理及其在点云数据配准中的适应性改进。仿真验证与结果分析表明,该方法在配准精度和效率方面均有所提升,为相关领域的应用提供了有效的技术支持。 展开更多
关键词 三维激光雷达 点云数据配准 粒子群优化算法 NARF-loam
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