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
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
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
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
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
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
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
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
文摘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。
基金Supported by the Natural Science Foundation of Guagnxi(2015GXNSFBA139098)the Special Fund for Science and Technology of the Ministry of Agriculture of China(201203030-07-02)+1 种基金the Fund Program of Guangxi Academy of Agricultural Sciences(2015YT30,2014JZ18,2013YF06)the Science and Technology Planning Project of Qingxiu District,Nanjing(2012N15)~~
文摘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.
基金financed by the National Natural Science Foundation of China(41301345,41101284)。
文摘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.
基金Project supported by the National Natural Science Foundation of China (Nos.40271108 and 40471125).
文摘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.
文摘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.
文摘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。
基金The project was supported by the National Natural Science Foundation of China(grant numbers:50639040,50779067)the Chinese State High-Tech“863”Program(grant number:2006AA100207)the Program for New Century Excellent Talents in University(grant number:NCET-05-0125).
文摘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.
