针对单一传感器SLAM(Simultaneous Localization And Mapping)技术在复杂环境中存在精度低、可靠性差等问题,提出一种基于因子图消元优化的激光雷达、视觉和IMU(Inertial Measurement Unit)融合SLAM算法(Multi Factor Graph fusion SLAM...针对单一传感器SLAM(Simultaneous Localization And Mapping)技术在复杂环境中存在精度低、可靠性差等问题,提出一种基于因子图消元优化的激光雷达、视觉和IMU(Inertial Measurement Unit)融合SLAM算法(Multi Factor Graph fusion SLAM with IMU as the Dominant system,ID-MFG-SLAM).首先,采用多因子图模型,提出以IMU为主系统,视觉与激光雷达为辅系统,通过引入辅系统观测因子约束IMU偏差,并接收IMU里程计因子实现运动预测与融合的全新结构.之后,为降低融合后的优化成本,加入滑窗机制并设计基于Householder变换的QR分解消元法将因子图转换为贝叶斯网络.最后,引入一种球面线性插值与线性插值之间的自适应插值算法,将激光雷达点云投影到单位球体上实现视觉特征点深度估计.实验结果表明,相比其他经典算法,该方法在复杂大、小场景中绝对轨迹误差分别可达到约0.68 m和0.24 m,具有更高的精度和可靠性.展开更多
The relationship between Alexandrium tamarense （Lebour） Balech, one of red-tide alga, and two strains of marine bacteria, Bacillius megaterium（S7 ） and B. halmapulus（ S10 ） isolated from Xiamen Western Sea, was ...The relationship between Alexandrium tamarense （Lebour） Balech, one of red-tide alga, and two strains of marine bacteria, Bacillius megaterium（S7 ） and B. halmapulus（ S10 ） isolated from Xiamen Western Sea, was investigated by evaluating the growth state of A. tamarense and the variation of β-glucosidase activity in co-culture system. The results showed the growth and multiplication of the alga were related with the concentration, genus speciality of the bacteria, and growth stage of the alga itself. The growth of A. tamarense was obviously inhibited by S7 and S10 at high concentration. Either inhibition or promotion contributed much more clearly in earlier than in later stageof the growth of the alga. Furthermore, there was a roughly similar variation trend of the activity of extra-cellular enzyme, β- glucosidase, in the water of the separately co-cultured bacteria S7 and S10 with the alga. The β-glucosidase activity（β-GlcA） rapidly increased during the later algal growth accompanying the increase of the lysis of the alga cells. The obvious inhibition of A. tamarense by marine bacteria at high concentration and evident increase of β-GlcA in co-colture system would help us in better understanding the relationship between red-tide alga and bacteria, and also enlightened us the possible use of bacteria in the bio-control of red-tide.展开更多
Rapid nitrogen(N) transformations and losses occur in the rice rhizosphere through root uptake and microbial activities. However,the relationships between rice roots and rhizosphere microbes for N utilization are stil...Rapid nitrogen(N) transformations and losses occur in the rice rhizosphere through root uptake and microbial activities. However,the relationships between rice roots and rhizosphere microbes for N utilization are still unclear. We analyzed different N forms(NH+4,NO-3, and dissolved organic N), microbial biomass N and C, dissolved organic C, CH4 and N2O emissions, and abundance of microbial functional genes in both rhizosphere and bulk soils after 37-d rice growth in a greenhouse pot experiment. Results showed that the dissolved organic C was significantly higher in the rhizosphere soil than in the non-rhizosphere bulk soil, but microbial biomass C showed no significant difference. The concentrations of NH+4, dissolved organic N, and microbial biomass N in the rhizosphere soil were significantly lower than those of the bulk soil, whereas NO-3in the rhizosphere soil was comparable to that in the bulk soil. The CH4 and N2O fluxes from the rhizosphere soil were much higher than those from the bulk soil. Real-time polymerase chain reaction analysis showed that the abundance of seven selected genes, bacterial and archaeal 16 S rRNA genes, amoA genes of ammonia-oxidizing archaea and ammonia-oxidizing bacteria, nosZ gene, mcrA gene, and pmoA gene, was lower in the rhizosphere soil than in the bulk soil, which is contrary to the results of previous studies. The lower concentration of N in the rhizosphere soil indicated that the competition for N in the rhizosphere soil was very strong, thus having a negative effect on the numbers of microbes. We concluded that when N was limiting, the growth of rhizosphere microorganisms depended on their competitive abilities with rice roots for N.展开更多
Understanding the mechanisms of Cu pollution-induced community tolerance (PICT) in soil requires the characterization of Cu-resistant microorganisms at a community level using modern molecular tools. A primer pair (co...Understanding the mechanisms of Cu pollution-induced community tolerance (PICT) in soil requires the characterization of Cu-resistant microorganisms at a community level using modern molecular tools. A primer pair (copAF2010 (5 -TGCAC CTGAC VGGSC AYAT-3 )/copAR2333 (5 -GVACT TCRCG GAACA TRCC-3 )) tentatively targeting Pseudomonas-like Cu-resistant microorganisms was designed in this study. The specification of the primers was tested through conventional polymerase chain reaction (PCR) and the construction of a Pseudomonas-like copA gene fragment library, and then the primers were used to quantify the Cu-resistant microorganisms using quantitative PCR technique. A significant increase of Cu-resistant microorganisms targeted by the primers was observed in a paddy soil from Jiaxing, China which has been exposed to one-year Cu contamination. The results provided direct evidence for Cu PICT in the soil, and the quantification method developed in this study has the potential to be used as a molecular assay for soil Cu pollution.展开更多
文摘针对单一传感器SLAM(Simultaneous Localization And Mapping)技术在复杂环境中存在精度低、可靠性差等问题,提出一种基于因子图消元优化的激光雷达、视觉和IMU(Inertial Measurement Unit)融合SLAM算法(Multi Factor Graph fusion SLAM with IMU as the Dominant system,ID-MFG-SLAM).首先,采用多因子图模型,提出以IMU为主系统,视觉与激光雷达为辅系统,通过引入辅系统观测因子约束IMU偏差,并接收IMU里程计因子实现运动预测与融合的全新结构.之后,为降低融合后的优化成本,加入滑窗机制并设计基于Householder变换的QR分解消元法将因子图转换为贝叶斯网络.最后,引入一种球面线性插值与线性插值之间的自适应插值算法,将激光雷达点云投影到单位球体上实现视觉特征点深度估计.实验结果表明,相比其他经典算法,该方法在复杂大、小场景中绝对轨迹误差分别可达到约0.68 m和0.24 m,具有更高的精度和可靠性.
文摘The relationship between Alexandrium tamarense （Lebour） Balech, one of red-tide alga, and two strains of marine bacteria, Bacillius megaterium（S7 ） and B. halmapulus（ S10 ） isolated from Xiamen Western Sea, was investigated by evaluating the growth state of A. tamarense and the variation of β-glucosidase activity in co-culture system. The results showed the growth and multiplication of the alga were related with the concentration, genus speciality of the bacteria, and growth stage of the alga itself. The growth of A. tamarense was obviously inhibited by S7 and S10 at high concentration. Either inhibition or promotion contributed much more clearly in earlier than in later stageof the growth of the alga. Furthermore, there was a roughly similar variation trend of the activity of extra-cellular enzyme, β- glucosidase, in the water of the separately co-cultured bacteria S7 and S10 with the alga. The β-glucosidase activity（β-GlcA） rapidly increased during the later algal growth accompanying the increase of the lysis of the alga cells. The obvious inhibition of A. tamarense by marine bacteria at high concentration and evident increase of β-GlcA in co-colture system would help us in better understanding the relationship between red-tide alga and bacteria, and also enlightened us the possible use of bacteria in the bio-control of red-tide.
基金Supported by the National Natural Science Foundation of China(No.41090280)
文摘Rapid nitrogen(N) transformations and losses occur in the rice rhizosphere through root uptake and microbial activities. However,the relationships between rice roots and rhizosphere microbes for N utilization are still unclear. We analyzed different N forms(NH+4,NO-3, and dissolved organic N), microbial biomass N and C, dissolved organic C, CH4 and N2O emissions, and abundance of microbial functional genes in both rhizosphere and bulk soils after 37-d rice growth in a greenhouse pot experiment. Results showed that the dissolved organic C was significantly higher in the rhizosphere soil than in the non-rhizosphere bulk soil, but microbial biomass C showed no significant difference. The concentrations of NH+4, dissolved organic N, and microbial biomass N in the rhizosphere soil were significantly lower than those of the bulk soil, whereas NO-3in the rhizosphere soil was comparable to that in the bulk soil. The CH4 and N2O fluxes from the rhizosphere soil were much higher than those from the bulk soil. Real-time polymerase chain reaction analysis showed that the abundance of seven selected genes, bacterial and archaeal 16 S rRNA genes, amoA genes of ammonia-oxidizing archaea and ammonia-oxidizing bacteria, nosZ gene, mcrA gene, and pmoA gene, was lower in the rhizosphere soil than in the bulk soil, which is contrary to the results of previous studies. The lower concentration of N in the rhizosphere soil indicated that the competition for N in the rhizosphere soil was very strong, thus having a negative effect on the numbers of microbes. We concluded that when N was limiting, the growth of rhizosphere microorganisms depended on their competitive abilities with rice roots for N.
基金Supported by the International Copper Association, Rio Tinto Limited, the Nickel Producers Environmental Research Association, the Key International S&T Cooperation Projects of China (No. 2009DFB90120)the National Natural Science Foundation of China (No. 31070101)
文摘Understanding the mechanisms of Cu pollution-induced community tolerance (PICT) in soil requires the characterization of Cu-resistant microorganisms at a community level using modern molecular tools. A primer pair (copAF2010 (5 -TGCAC CTGAC VGGSC AYAT-3 )/copAR2333 (5 -GVACT TCRCG GAACA TRCC-3 )) tentatively targeting Pseudomonas-like Cu-resistant microorganisms was designed in this study. The specification of the primers was tested through conventional polymerase chain reaction (PCR) and the construction of a Pseudomonas-like copA gene fragment library, and then the primers were used to quantify the Cu-resistant microorganisms using quantitative PCR technique. A significant increase of Cu-resistant microorganisms targeted by the primers was observed in a paddy soil from Jiaxing, China which has been exposed to one-year Cu contamination. The results provided direct evidence for Cu PICT in the soil, and the quantification method developed in this study has the potential to be used as a molecular assay for soil Cu pollution.
