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.

Plant aquaporins:Their roles beyond water transport

Compared to other organisms,plants have evolved a greater number of aquaporins with diverse substrates and functions to adapt to ever-changing environmental and internal stimuli for growth and development.Although aquaporins were initially identified as channels that allow water molecules to cross biological membranes,progress has been made in identifying various novel permeable substrates.Many studies have characterized the versatile physiological and biophysical functions of plant aquaporins.Here,we review the recent reports that highlight aquaporin-facilitated regulation of major physiological processes and stress tolerance throughout plant life cycles as well as the potential prospects and possibilities of applying aquaporins to improve agricultural productivity,food quality,environmental protection,and ecological conservation.

A Study on Rice Growth and Soil Environments in Paddy Fields Using Different Organic and Chemical Fertilizers

Currently, the majority of paddy fields in Japan are grown using chemical fertilizers and synthetic chemical pesticides, since chemical fertilizers can provide the nutrients necessary for plant growth. However, there are concerns regarding the environmental impact of chemical fertilizer and pesticides production, such as reduction of soil microorganisms and water pollution due to the runoff of fertilizer components from the soil caused by excessive fertilizer application. In this study, we investigated the effects of the application of organic and chemical fertilizers on the plant growth of paddy fields, in addition to their effects on the chemical and biological properties of the soil. The panicle numbers of rough and brown rice, the 1000-grain weight of the rough and brown rice, and the percentages of ripened grains were significantly higher in paddy soils grown with organic fertilizers than in those grown with chemical fertilizers. In addition, the total carbon (TC) contents and pH values were significantly higher in the soils of paddy fields grown with organic fertilizers. Furthermore, the soils of paddy fields grown with organic fertilizers exhibited greater bacterial biomasses, N circulation activity, and P circulation activity than the soils of paddy fields grown using chemical fertilizers, although the differences were not significant. In this study, the difference in plant growth was appeared in fertilizer application such as organic and chemical fertilizers. It was indicated that the organic fertilizer and pesticide reduction management increased the soil bacterial biomass and activated the material cycle such as N circulation activity.

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.

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.

The Comparative Performance of Nutrient-Film Technique and Deep-Water Culture Method of Hydroponics for GREENBOX Technology

With the rising pressures on food security, GREENBOX technology was developed as an avenue for fresh leafy vegetable crop production in urban settings. GREENBOX units were designed to be thermally insulated and climate controlled, with an artificial lighting source that utilized soilless cultivation techniques. Previous studies conducted on GREENBOX technology used the Nutrient Film Technique (NFT);however, various hydroponic methods exist, such as the Deep-Water Culture (DWC) method being the most used. The APS Laboratory for Sustainable Food at Florida Gulf Coast University (FGCU) compared the crop growth performance between DWC and NFT systems using GREENBOX technology. The following study monitored environmental conditions and compared productivity and biomass data of Rex Butterhead Lettuce crops between DWC and NFT systems. We assembled two GREENBOX units using commercially available materials and the standard nutrient solution for fertigation. The crops grown in DWC and NFT were in a 4 × 6 configuration. The DWC and NFT systems were used to grow Lettuce Lactuca sativa “Rex Butterhead” over 30 days to full bloom from prepared plugs grown for 14 days. We collected environmental data including Photosynthetic Photon Flux Density (PPFD, μmol/m2∙s), Daily Light Integral (DLI, mol/ m2∙d), temperature (˚C), relative humidity (%), and Vapor Pressure Deficit (VPD, kPa). We collected lettuce crop growth data, which included wet weight (g), dry weight (g), leaf area (cm2), and chlorophyll concentration (μmol/m2). We derived data, including the Specific Leaf Area (SLA, cm2/g) and biomass productivity (kg/m2), from previously collected data. We used descriptive statistics to present the collected data. A paired t-test was performed to understand the differences in biomass and productivity parameters between the DWC and NFT-grown lettuce crops. Both the DWC and NFT-grown crops could grow lettuce crops to harvest weight at full bloom. Observed data demonstrated that the biomass parameters and productivity did not differ significantly between the two hydroponics techniques. Therefore, we believe both hydroponic methods may be similar in growth performance and may be used in future iterations of GREENBOX design and prove suitable for fresh vegetable crop production in urban settings.

The Assessment of Growth Performance of Brassica rapa var. chinensis ‘Li Ren Choi’, Spinacia oleracea ‘Auroch’, Eruca sativa ‘Astro’, and Brassica rapa var. japonica Using GREENBOX Technology

Obtaining nutritious food is becoming increasingly difficult due to the growing urban population and the degradation of soil, water, and air from mechanized and industrialized agricultural techniques. More than half the global population resides in urban areas, with not enough surrounding agricultural land to meet food requirements. Food traveling long distances, an average of 1020 miles, has resulted in increased food miles for the average food item in the United States of America, representing wasted resources. The novel GREENBOX technology was invented in response to increasing pressures on food security. Previous studies conducted on GREENBOX technology assessed the technical feasibility of utilizing Lettuce Lactuca sativa ‘Rex Butterhead’. We at the APS Laboratory for Sustainable Food at Florida Gulf Coast University assessed the technical feasibility of growing different leafy green vegetable crops. GREENBOX technology consists of thermally insulated climate-controlled enclosures, an artificial lighting source, a soilless cultivation method (hydroponics), and environmental control modules. We assembled two GREENBOX units to assess the environmental conditions and growth performance of Brassica rapa var. chinensis ‘Li Ren Choi’, Spinach Spinacia oleracea ‘Auroch’, Arugula Eruca sativa ‘Astro’, and Mizuna Brassica Brassica rapa var. japonica. Plugs were cultivated and then transplanted in a randomized manner to the nutrient film technique (NFT) channels, subsequently grown for 30 days to full bloom and ready for harvest. Fertigation was carried out using a standard concentration nutrient solution. Crops were arranged in twelve blocks of four species each. We collected environmental data including daily light integral (DLI, mol/m2∙d), temperature (˚C), relative humidity (%), and vapor pressure deficit (VPD, kPa). Collected biomass data included wet weight (g), dry weight (g), leaf area (cm2), and chlorophyll concentration (mg/cm2). We then derived the Specific Leaf Area (SLA, cm2/g). Descriptive statistics were utilized to understand the differences in biomass parameters between the four crops grown. We also compared the performance parameters of our crops with existing peer-reviewed literature and found it superior, if not comparable to commonly found industrial output. We determined that all crops grew to full bloom, demonstrating that GREENBOX technology may be used to grow a variety of different leafy green vegetable crops.

The Comparative Performance of Soil-Based Systems with Hydroponics

Conventional soil-based agriculture is resource-intensive, utilizing large amounts of land and water, thereby placing a strain on Earth’s natural resources. Soil-based agricultural techniques create environmental issues such as soil degradation, deforestation, and groundwater pollution from the mass implementation of fertilizers and pesticides. Agricultural crop production using hydroponics has shown promise to be less resource intensive and provide a faster turnaround in crop production. Soilless cultivation using hydroponics promises to relieve some pressure on Earth’s ecosystems and resources by utilizing lesser land and water footprint. The APS Laboratory for Sustainable Food at Florida Gulf Coast University (FGCU) compared the growth of Lettuce Lactuca sativa “Rex Butterhead” crop grown using soil and soilless methods to analyze the growth performance in each setting. Crops grown in the soil-based medium were raised in the FGCU Food Forest, used a mix of soil and potting mix, watered regularly, and followed standard Integrated Pest Management (IPM) practices. Crops grown hydroponically were grown in a thermally insulated grow tent with an artificial lighting source, ventilation, environmental controls, and the Deep-Water Culture (DWC) method. Lettuce plugs were grown for 15 days in controlled environments until two leaves after the cotyledons had developed and were ready for transplant. Plugs were transplanted into a 4 × 6 matrix at the FGCU Food Forest and the DWC growth system. Crops were grown to full bloom and ready for harvest in the soil (60 days) and soilless (30 days) based setups. We collected crop growth data, including wet weight (g), dry weight (g), leaf area (cm2), and chlorophyll concentration (μmol/m2). From the collected data, we derived the Specific Leaf Area (SLA, cm2/g) and biomass productivity (kg/m2). Descriptive statistics were used to describe the collected and derived data. We investigated the slopes of regression lines for each growth curve which derived the differences in biomass and productivity parameters between lettuce grown using soil and hydroponics. Both growing methods can grow lettuce crops to full bloom and to adequate harvest weight. The biomass parameters and productivity differ significantly between the growing methods. The lettuce crops grown using hydroponics increase in wet weight statistically and significantly faster than those grown in soil (p < 0.0001). Therefore, we determined that a hydroponic method of crop production may provide better crop output and biomass indicators measured than soil-based growth.

Effect of EM Bokashi application on control of secondary soil salinization

In order to ameliorate saline-alkaline soil, EM Bokashi has been applied to rice production in conjunction with subdrainage in Ningxia Autonomous Region and Zhejiang Province. The preliminary results can be summarized as follows： EM Bokashi can increase soil organic matter content, improve soil porosity and permeability, and raise the soil＇s levels of available nutrients; and EM Bokashi combined with subdrainage treatment is more effective in controlling secondary soil salinization and raising the grain yield and quality than other treatments. The results suggest that EM Bokashi can reduce the necessary amount of chemical fertilizer application, thereby improving the agricultural environment, and that the introduction of EM Bokashi into systems of secondary soil salinization control systems has resulted in significant benefits.

Effect of Organic and Chemical Fertilizer Application on Growth, Yield, and Quality of Small-Sized Tomatoes

Tomatoes in Japan are generally cultivated under management systems that use chemical fertilizers and synthetic chemical pesticides. However, the continuous use of these fertilizers and pesticides damages the soil environment and reduces the number of soil microorganisms. Organic farming has a relatively low environmental impact compared to conventional farming techniques, but typically has lower and more unstable yields. In this study, we investigated the effect of organic and chemical fertilizer application on growth, yield, and quality of small-sized (cherry) tomatoes. Cherry tomatoes were cultivated using organic and chemical organic fertilizers. Average weight and lateral diameter were significantly higher under organic fertilizer than under chemical fertilizer. In addition, shoot dry weight was significantly higher under organic fertilizer than chemical fertilizer. Lycopene content was significantly higher under organic fertilizer than chemical fertilizer. The total carbon (TC), total phosphorus (TP), total potassium (TK), available phosphoric (SP) and exchangeable potassium (SK) contents, C/N ratio, and pH were significantly higher under organic fertilizer than chemical fertilizer. Bacterial biomass, nitrite (NO? 2-N) oxidation activity, nitrification (N) circulation activity, and phosphoric (P) circulation were higher under organic fertilizer than chemical fertilizer. From these results, the study indicates that appropriate controls such as TC, total nitrogen (TN), and C/N ratio of organic fertilizer increased microbial biomass and enhanced nutrient circulation such as N circulation activity and P circulation activity. These results can be used to improve current organic farming practices and promote soil conservation.

Effect of Organic and Chemical Fertilizer Application on Growth, Yield, and Soil Biochemical Properties of Landrace <i>Brassica napus</i>L. Leaf-and-Stem Vegetable and Landrace (Norabona)

Norabona is generally cultivated in Japan under management systems that use chemical fertilizers and synthetic chemical pesticides. However, the continuous use of these fertilizers and pesticides damages the soil environment and reduces the number of soil microorganisms. There has been little research investigating the effect of organic and chemical fertilizer applications on soil biochemistry and the growth and yield of norabona. In this study, we investigated the effect of organic and chemical fertilizer application on these factors during the norabona growing season from September 2019 to May 2020. Leaf length, shoot height, and shoot width were significantly higher under organic fertilizer management in the early stage of cultivation (in March) than under chemical fertilizer management. However, there was no significant difference between treatments for these growth parameters in later months, nor for any other parameters. Soil TN, and TP contents were significantly higher in the organic fertilizer treatment after harvest than prior to cultivation or after the chemical fertilizer treatment. In addition, soil TC, and volumetric water content were significantly higher in the organic fertilizer treatment than in chemical fertilizer treatment. The higher TC, TN, and C/N ratio in organic fertilizer treated soil appeared to increase the bacterial biomass, leading to enhanced nutrient circulation via N and P circulation activity, producing a rich soil environment with active soil microorganisms.

Chemical and Biological Properties of Apple Orchard Soils under Natural, Organic, Hybrid, and Conventional Farming Methods

Apples in Japan are generally cultivated under management systems that use chemical fertilizers and synthetic chemical pesticides. However, the continuous use of these fertilizers and pesticides damages the soil environment and reduces the number of soil microorganisms. In this study, we compared the chemical and biological properties of 12 soils from apple orchards in Aomori and Nagano Prefectures under four types of management systems, namely, natural conditions, with no cultivation, fertilizers, or pesticides;organic farming methods, using organic materials and pesticides approved by the Japanese Agricultural Standard organic certification system;hybrid farming methods, using a mix of organic and chemical fertilizers;and conventional farming, using chemical fertilizers and pesticides. Soil total carbon (TC), total nitrogen (TN), total phosphorus (TP), nitrate-nitrogen (NO? 3), and available phosphoric acid (SP) contents were generally found to be the highest where organic farming methods were used. Similarly, bacterial biomass, nitrification (N) circulation activity, ammonia (NH+ 4) oxidation activity, nitrite (NO? 2) oxidation activity, and phosphoric (P) circulation activity were the highest under organic farming, especially in comparison with conventional farming. This study indicated that the differences in apple sugar content, acidity, and sugar/acidity ratio between different orchard management systems were due to different soil conditions, and soil conditions under organic farming management system in apple cultivation increased bacterial biomass while enhancing N and P circulation activity and high TC. On the other hand, the soil of conventional farming has the lowest total number of bacterial biomass and lowest material cycle such as N and P circulation activity. Analysis of the chemical and biological properties of these orchard soils indicated that soil conditions under organic farming management are the most suitable for increasing microbial numbers and enhancing N and P circulation activity.

Effect of combined light-emitting diodeson the accumulation of glucosinolates in Brassica microgreens

As of recent,microgreen vegetable production in controlled environments are being investigated for their bioactive properties.Phytochemicals like glucosinolates(GLS)are highly sensitive to varying spectral qualities of light,especially in leafy greens of Brassica where the responses are highly species-dependent.The accumulation of bioactive GLS were studied under 8 different treatments of combined amber(590 nm),blue(455 nm),and red(655 nm)light-emitting diodes(rbaLED).A semi-targeted metabolomics approach was carried out to profile common intact-GLS in microgreen extracts of Brassica by means of LC-HRMS/MS.Thirteen GLS were identified,among them were 8 aliphatic,4 indolic and 1 aromatic GLS.Mass spectrometry data showed sinigrin had the highest average concentration and was highest in B.juncea,progoitrin was highest in B.rapa and glucobrassicin in R.sativus.The individual and total GLS in the microgreens of the present study were largely different under rbaLED;B.rapa microgreens contained the highest profile of total GLS,followed by R.sativus and B.juncea.Sinigrin was increased and gluconasturtiin was decreased under rbaLED lighting in most microgreens,glucoalyssin uniquely increased in R.sativus and decreased in B.rapa and glucobrassicin uniquely decreased in both B.rapa and B.juncea.The present study showed that rbaLED contributed to the altered profiles of GLS resulting in their significant modulation.Optimizing the light spectrum for improved GLS biosynthesis could lead to production of microgreens with targeted health-promoting properties.