Review of Simultaneous Localization and Mapping Technology in the Agricultural Environment

Simultaneous localization and mapping(SLAM)is one of the most attractive research hotspots in the field of robotics,and it is also a prerequisite for the autonomous navigation of robots.It can significantly improve the autonomous navigation ability of mobile robots and their adaptability to different application environments and contribute to the realization of real-time obstacle avoidance and dynamic path planning.Moreover,the application of SLAM technology has expanded from industrial production,intelligent transportation,special operations and other fields to agricultural environments,such as autonomous navigation,independent weeding,three-dimen-sional(3D)mapping,and independent harvesting.This paper mainly introduces the principle,sys-tem framework,latest development and application of SLAM technology,especially in agricultural environments.Firstly,the system framework and theory of the SLAM algorithm are introduced,and the SLAM algorithm is described in detail according to different sensor types.Then,the devel-opment and application of SLAM in the agricultural environment are summarized from two aspects:environment map construction,and localization and navigation of agricultural robots.Finally,the challenges and future research directions of SLAM in the agricultural environment are discussed.

Environmental Impact Assessment of Cotton Ginning Agricultural Machinery

This paper realizes the hazards of chromium contamination and pollution caused in the use of chrome composite leather-clad(CCLC)rollers commonly used in cotton roller ginning industries and attempts to eliminate the chromium contamination and pollution during this environmental impact assessment(EIA)process.The cotton roller ginning process is the mechanical separation of cotton fibres from their seeds by means of one or more rollers to which fibres adhere while the seeds are impeded and struck off or pulled loose.Most of the cotton ginning operations are done using roller gins.The CCLC roller coverings contain about 18,000 to 30,000 mg/kg(ppm)as total chromium of trivalent and hexavalent forms which are toxic to human health.When the seed-cotton is ginned,due to the persistent rubbing of CCLC rollers over the fixed knives,the cotton and its products get contaminated with the total chromium of trivalent and hexavalent forms.Gin mill workers are exposed to the cotton dust and chromium pollution and are susceptible to health hazards such as premature death,cancer,byssinosis,and ulcers in cotton ginning air environment since toxic effects are produced by prolonged contact with airborne or solid or liquid chromium compounds even in small quantities.Noise pollution of agricultural ginning machinery in seed-cotton ginning mills has been found out to be 102-103 dB(A)decibel levels.To offset this problem,pollution-free rubberized cotton fabric(RCF)eco-friendly rollers for both the laboratory and commercial studies have been designed,fabricated and used in experiments in rollers gins.This nullifies chromium contamination and pollution during the complete process.Cotton technological parameters are well proven for commercial acceptance.

Impact of Agricultural Eco-environment on the Architectural Form of Vernacular Dwellings

Through analyzing the form, materials, building techniques of vernacular dwellings in Jinzhai County, Anhui Province, this study tries to explore the influence of agricultural eco-environment on the form of folk houses, points out that vernacular dwellings are fully combined with local traditional agricultural environment from site selection, spatial form, architectural style, building materials and detail designs, which unifies the economic and environmental benefits of vernacular dwellings.

Research on the Low-carbon-high-value Agriculture Technology in the Comprehensive Improvement of Intra-county Environment Pollution——Taking the Development of Cultivation and Breeding Industry in the Ecological Cyclic Agricultural Garden in Shaoshan Irri

The comprehensive improvement strategy of intra-county environment pollution in the city and countryside was searched.By the research method which combined the microscopic view,the macroscopic view with the dynamic perspective,the seriousness of rural water quality,soil and atmospheric pollution in Xiangxiang,Xiangtan and the surrounding areas in Shaoshan irrigated area was revealed.The control measure which was 'four-dimensional pollution in the city and countryside'—— low-carbon-high-value agriculture and the technology innovation was proposed.The low-carbon-high-value technology innovation industrialization demonstration in three parts which included the pre-production,mid-production and post-production deep-processing of cultivation and breeding industry in the ecological cyclic agricultural garden in Shaoshan irrigated area was the driving force.We tried to propel the low-carbon ecological cultivation and breeding industry which included the paddy rice,grass,tree,medicinal herbs and pig,cow,chick,duck,fish.We wanted to relieve the structural unbalance of previous cultivation and breeding industry,'cheap grain hurting the farmers' and the short-leg problem of social-economic-ecological benefit.The results showed that the low-carbon-high-value agricultural system was a poly-generation technology system which promoted the multi-level and grading utilization,saved the energy,reduced the consumption and cleaned the production based on the ecology.

Embedded Remote Monitoring System of Agricultural Environment Based on DSP

Agricultural environmental remote monitoring,data collection and network transmission are the development directions of modern agriculture.The embedded video remote monitoring system is designed with DSP processor DM642,which can collect the video signal of agricultural environment and biological information,as well as complete the extraction of video signal and network transmission.This system can be applied to the agro-ecological and environmental resources monitoring,agricultural disaster monitoring and warning and other digital agricultures.

Assessment on the Vulnerability of Agricultural Eco-environment of Hilly Basin Area in the Middle of Hunan Province——A Case Study of Hengyang Basin

[Objective] The study aimed to assess the vulnerability of agricultural eco-environment of hilly basin area in the middle of Hunan Prov- ince. [ Method] Taking Hengyang basin as an example, we firstly chose 13 indicators from natural, social and economic subsystem to assess the vulnerability of agricultural eco-environment in hilly basin area in the middle of Hunan Province. Afterwards, by using principal component analysis, we calculated the weight of each indicator and the vulnerability of agricultural eco-environment of seven regions, finally analyzed the spatial distribu- tion of agricultural eco-envimnment vulnerability. [ Result] The weight of farmers＇ net income per capita was up to 0.140, followed by forest coverage （0.137）. Among the seven counties, the vulnerability of agricultural eco-environment was primarily moderate, while Hengnan County had the highest vulnerability, followed by Hengyang County, and their vulnerability was extremely serious. In addition, Leiyang City was the minimum fragile region, namely slightly fragile region. In general, the vulnerability of peripheral counties was lower than that of central counties. [ Conclusion] The research could provide scientific references for the restoration and reconstruction of agro-ecological environment as well as the establishment of agri- cultural Dreduction decisions.

Initial Exploration on Eco-environmental Issues in Tibet “One River and Two Streams” Agricultural Basin during New Period

Agricultural economic development of Tibet Autonomous Region mainly concentrates in the "One River and Two Streams" agricultural production basin. The basin is main concentrated place for agricultural resources development,economic construction and population aggregation,and the region playing the advantages of Tibetan agriculture,corresponding with the practice,and enhancing self development and innovation. In the multi-year development and construction,it develops regional large agriculture,builds irrigation and water conservancy facilities,vigorously changes medium and low-yield land,actively develops animal husbandry and agriculture,and gradually promotes the effective combination of traffic industry and transportation industry,which has made considerable achievements. But in the face of today's increasingly advocated theme of "building beautiful Tibet and constructing ecological home",the construction of environmental problems lacking the systemic research is the prominent and fundamental problem in the "One River and Two Streams" agricultural production basin. Meanwhile,environment construction is an important part of economic development planning,and the solving of environmental protection problem is the historical mission in the contemporary and future generations. Therefore,it is very necessary to study the environment problems in Tibet "One River and Two Streams" agricultural production basin. The "One River and Two Streams" agricultural production basin is preliminarily explored for providing reference for the relevant environmental departments.

Design and Sizing of an Ecological Wastewater Treatment System in a School Environment: A Case Study of Ndiebene Gandiol 1 School

The primary objective of this study was to design and size a sustainable sanitation solution for the Ndiebene Gandiol 1 school located in the eponymous commune in northern Senegal. Field investigations led to the collection of wastewater samples. Their analysis revealed specific pollutant loads, including loads of BOD5 3.6966 kgO2/day and COD of 12.8775 kgO2/day, which were central to the design phase. Following a rigorous assessment of the existing sanitation infrastructure, constructed wetland (CWs) emerged as the most appropriate ecological solution. This system, valued for its ability to effectively remove contaminants, was tailored to the specific needs of the site. Consequently, the final design of the filter extends over 217.16 m2, divided into two cells of 108.58 m2 each, with dimensions of 12.77 m in length and 8.5 m in width. The depth of the filtering medium is approximately 0.60 m, meeting the standards while ensuring maximized purification. Typha, an indigenous and prolific plant known for its purification abilities, was selected as the filtering agent. Concurrently, non-crushed gravel was chosen for its proven filtration capacity. This study is the result of a combination of scientific rigor and design expertise. It provides a holistic view of sanitation for Ndiebene Gandiol. The technical specifications and dimensions of the constructed wetland filter embody an approach that marries indepth analysis and practical application, all aimed at delivering an effective and long-lasting solution to the local sanitation challenges. By integrating precise scientific data with sanitation design expertise, this study delivers a holistic solution for Ndiebene Gandiol. The detailed dimensions and specifications of the constructed wetland filter reflect a methodology that combines meticulous analysis with practical adaptation, aiming to provide an effective and sustainable response to the challenges of rural and school sanitation in the northern region of Senegal.

Evaluation on Soil Heavy Metal Pollution of Agricultural Habitat Environment in Xi'an City

[Objective] This study aimed to understand and grasp the soil heavy metal pollution status of agricultural habitat environment in Xi＇an City. [Method] The soil heavy metal pollution status of pollution-free agricultural products-producing areas in 9 counties （districts） of Xi＇an City was investigated. A total of 609 soil samples were collected, and their Cd, Hg, As, Pb and Cr contents were determined. In addition, the heavy metal pollution status of the collected soil samples was evaluated by Nemerow index method. [Result] The pollution in Baqiao, Chang＇an; Gaoling, Lan- tian, Lintong and Yanliang was of grade I, belonging to clean level; the pollution in Hu County, Weiyang and Zhouzhi was of grade II, near the warning line, belong to relatively clean level. There was no large-area soil heavy metal pollution overall. The investigated areas could be used as production bases of pollution-free agricultural products and even high-quality agricultural products. However, the heavy met- als contents in some individual areas exceeded relevant soil environmental quality standards, and they should be avoided or forbidden during regional planning and selection of production area. [Conclusion] Soil heavy metal pollution of agricultural habitat environment in Xi＇an City is generally at good status. Targeting at the future development plan of Xi＇an City, feasible and scientific suggestions are put forward.

A Comparative Study of Different Methods on Quality Assessment of Soil Environment Polluted by Zinc in Agricultural Production Areas——A Case Study in Shulan City of Jilin Province

[Objective] The aim was to explore evaluated precision on quality of soil environment polluted with zinc in agricultural production areas and to provide references for verification of production area.[Method] In Shulan City in Jilin Province,soils were sampled and analyzed in a laboratory using single-factor pollution index and GIS based spatial interpolation.The quality of environment polluted with zinc was assessed and related methods were compared according to Environment Quality Standard of Green Food Production Area.[Result] Spatial interpolation of zinc in soils based on GIS proved more precise than traditional methods;cokriging method with co-factors was higher in precision than common cokriging;cokriging method with zinc and organic matter was higher in precision than cokriging with zinc alone.[Conclusion] Quality assessment on environment polluted with zinc based on GIS interpolation is more scientific and reasonable than traditional methods.

Ecological Wastewater Treatment System in a School Environment Using a Horizontal Flow Biological Reactor: The Case of Typha

The overarching goal of this study is to offer an effective and sustainable solution to the challenges of sanitation in rural and school settings in the northern region of Senegal. The study explores a wastewater treatment approach based on phytoremediation, with a particular focus on the use of horizontally-flowing reed bed filters. Furthermore, it aims to adapt and optimize these systems for the specific needs of Senegal, focusing on wastewater in school environments. Thus, we constructed a horizontally-flowing reed bed filter, planted with Typha, at the Ndiébène Gandiol school in Senegal. We will investigate the efficiency of wastewater treatment by this horizontally-flowing reed bed filter, emphasizing the role of the plant used: Typha. The filter is described in detail, specifying its dimensions, its composition of flint gravel, and the choice of plants, namely Typha. The experimental protocol is detailed, describing the sampling at the entrance and exit of the filter to evaluate water quality. The parameters analyzed include Chemical Oxygen Demand (COD), Biochemical Oxygen Demand over 5 days (BOD5), suspended solids, ammonium, nitrates, phosphates, pH, conductivity, and fecal coliforms. The results indicate a significant improvement in water quality after treatment. COD, BOD5, suspended solids, and fecal coliforms are greatly reduced, thus demonstrating the efficacy of the Typha filter. However, nitrate concentrations remain relatively stable, suggesting room for improvement in their elimination. A perspective of reuse of the treated water is considered, showing that the effluents from the planted filter meet Senegalese and international standards for irrigation. The findings suggest that these waters could be used for a variety of crops, thereby reducing the pressure on freshwater resources. In conclusion, the Typha-based filtration system shows promising results for improving water quality in this region of Senegal. However, adjustments are necessary for more effective nitrate removal. This study paves the way for sustainable use of treated wastewater for irrigation, thus contributing to food security and the preservation of water resources.

Controlled Environment Agriculture and Its Ability to Mitigate Food Insecurity

The research objective of this review is to discuss the rationale that led to the development of Controlled Environment Agriculture (CEA) and investigate this agricultural approach as a potential solution to mitigate the increased pressures on food security. It describes the need for urban cultivation systems using controlled environments and how they can be harnessed to address pressures facing food security. The factors that have contributed to the growth of CEAs, education, environmental justice, and the advantages and disadvantages of growing crops in CEAs in urban areas will be discussed. The article reviews global urban cultivation systems using controlled environments, by identifying the technologies needed to establish them. The practice of CEA is being increasingly adopted worldwide and we describe urban agriculture and compare it with traditional growing systems. Indoor farming systems that integrate into existing urban infrastructure such as vertical farming and plant factories using CEAs are discussed. Indoor farming gives urban areas enhanced access to food sources, but the cost is high, however decreasing due to recent technological advances. The current review extends the literature by incorporating recent research on the topic of agriculture in urban areas and food security. This review seeks to provide additional information regarding the viability of CEA in urban areas.

Issues of Agricultural Sustainable Development in Environment with Limited Resources——A Case Study of Xinjiang

Based on natural resources in Xinjiang, some problems existing in agricul- tural sustainable development in Xinjiang were explored, such as simple agricultural structure （unbalanced development in different regions）, dispersed production pattern, and lower efficient water use for agriculture. Furthermore, some countermeasures for Xinjiang agricultural sustainable development were proposed as well, including ad- justment of agricultural structure for optimization of resource allocation, strict control of population for improvement of people education, strengthening of S＆T innovation for popularization of sustainable development, and construction of macro-adjustment mechanism of resources use for virtuous environment.

Perfluorooctanoic acid(PFOA) and perfluorooctanesulfonic acid(PFOS) concentrations in the South Korean agricultural environment: A national survey

Research on the occurrence of perfluorochemicals （PFCs） such as perfluorooctanesulfonic acid （PFOS） and perfluorooctanoic acid （PFOA） in the agricultural environment is lacking, in spite of their potential risk via food chain transfer from aquatic and soil-plant systems to animals and/or humans. In the present study, for the first time, soil and water samples collected from 243 different agricultural sites adjacent to waste water treatment plants （WWTPs） belonging to 81 cities and 5 provinces with different levels of industrialization in South Korea were monitored for concentrations of PFOS and PFOA by use of solid phase extraction and liquid chromatography-tandem mass spectroscopy （LC-MS/MS）. Significant mean concentrations of PFOA （0.001-0.007 tJg L-1 water and 〈0.05-1.573 tJg kg-1 soil） and PFOS （0.001-0.22 tJg L-1 water and 〈0.05-0.741 pg kg-1 soil） were found in all samples. Concentrations of PFCs in soils were high, highlighting that soil is an important sink for PFCs in the agricultural environment. Samples from near WWTPs in Gyeongsang Province contained the highest concentrations of PFOS and PFOA, reflecting the concentration of heavy industry in the province. The concentrations of PFCs in agricultural water （most samples 〈0.05 pg L-~） and soils （most samples 〈1 IJg kg-~） from South Korea were less than acceptable guideline values, indicating that South Korea is not a hotspot of PFOS and PFOA contamination and that there is negligible risk to human and ecological health from these chemicals. However, further studies investigating the seasonal variation in PFOA, PFOS and other perfluorochemical concentrations in the agricultural environment are needed.

Comprehensive Evaluation on Agricultural Environment in Western China

Taking provinces as study cases, 15 comprehensive factors, involving natural geography, agricultural production, economic and social information, were formulated to evaluate the agricultural environment in western China by factor analysis method. The results showed that comprehensive scores were distinct among different cases. The score of Sichuan was the highest, that of Chongqing second and that of Guangxi the third. Qinghai got the lowest score, ranking the twelfth. The general environment quality was better in moist southern regions than that in frigid northern regions in the provinces of western China. Therefore, the appropriate eco-environmental construction measures at provincial level should be proposed to increase vegetation coverage, control water and soil loss, and prevent desertification and wind erosion. To develop eco-agriculture is an inevitable selection for environment construction and improvement in western China.

Environmental Impact of Climate Change on Agricultural Production in Ekiti State, Nigeria

Climate change will impact agriculture and food production around the world due to the effects of elevated CO2 in the atmosphere, higher temperature, altered precipitation and transpiration regimes, increased frequency of extreme events, and modified weed, pest and pathogen pressure. Data of this study were collected from primary and secondary sources. Primary sources of data were collected using two sets of structured questionnaires. A total number of three hundred （300） questionnaires were administered on categories of respondents in this study. Results of this study revealed that food crops are the major crops cultivated in the study area, and the effects of climate change on agricultural production results in soil loss, plant nutrient loss, textural change, increase in pest and diseases and poor yield germination etc.. This study therefore recommended that cover trees should be planted, which will provide shade and reduce heat, due to climate change and the preservation of underground water.

AGRICULTURAL ENVIRONMENT PROBLEMS AND COUNTERMEASURES IN CHINA

China is facing the three major agroenvironment problems, which include: chemical pollution, abnormal ecological balance and natural resource deterioration. These environment problems have depleted part of the comprehensive agricultural productivity and hence become a resistance to the further development of agriculture. A number of measures have been taken for controlling over pollution and ecosystem declining. But for the sustainable development the more efforts are suggested to make, including the more stern measures in the population control, adopting the new techniques of saving natural resources and high efficiency, encouraging a frugal life style as well as paying more attentions to the research on the agricultural environment protection.

Agricultural Investment Environment in Shaanxi Province

The features of ageing,low educational level and female domination on the part of agricultural labor forces,determine that the sustainable development of agriculture can not rely entirely on farmers,who are engaged in dispersed planting and small-scale operation,therefore,improving agricultural investment environment,and taking positive measures to promote diversification of the main body of agricultural investment,is the key to the healthy development of agriculture.From four aspects(the industrial base of agriculture,arable land resource conditions,capital investment capacity,input of means of production),this article establishes evaluation indicator system of agricultural investment environment in Shaanxi Province,and based on this,make recommendations for improvement of agricultural investment environment in Shaanxi.

Students'Political Belief Education in Agricultural and Forestry Colleges and Universities in Network Environment:Taking Northwest A&F University as an Example

The influence of the network environment on the education of political beliefs of college students in China cannot be ignored.Taking Northwest A&F University as an example,starting from the current situation of students'political belief education in agricultural and forestry colleges and universities,the impact of network environment on the education of political beliefs of students in agricultural and forestry colleges and universities was analyzed,and the implementation path of improving political belief education in the network environment was explored,in order to provide a reference for improving the effectiveness of ideological and political education of students in agricultural and forestry colleges and universities.

Doha Round： The Environment and Agricultural and Biofuels Markets

The agricultural liberalization market process remains stalled Doha Round. The terms in protection levels reductions are negotiated, but the emergence of the global crisis constrains public resources to sustain them. In addition, the use of some grains as inputs in the production of biofuels, has contributed to the price increase in foods, although this production is an alternative to fossil fuels use and can help to reduce further environmental degradation. In this paper we analyze the main variables to be taken into account when negotiating the liberalization of agricultural trade, but also ofbiofuels in the context of Doha Round.