Recycling arsenic-containing bio-leaching residue after thermal treatment in cemented paste backfill:Structure modification,binder properties and environmental assessment

The substantial arsenic(As)content present in arsenic-containing bio-leaching residue(ABR)presents noteworthy environ-mental challenges attributable to its inherent instability and susceptibility to leaching.Given its elevated calcium sulfate content,ABR exhibits considerable promise for industrial applications.This study delved into the feasibility of utilizing ABR as a source of sulfates for producing super sulfated cement(SSC),offering an innovative binder for cemented paste backfill(CPB).Thermal treatment at varying temperatures of 150,350,600,and 800℃ was employed to modify ABR’s performance.The investigation encompassed the examination of phase transformations and alterations in the chemical composition of As within ABR.Subsequently,the hydration characteristics of SSC utilizing ABR,with or without thermal treatment,were studied,encompassing reaction kinetics,setting time,strength development,and microstructure.The findings revealed that thermal treatment changed the calcium sulfate structure in ABR,consequently impacting the resultant sample performance.Notably,calcination at 600℃ demonstrated optimal modification effects on both early and long-term strength attributes.This enhanced performance can be attributed to the augmented formation of reaction products and a densified micro-structure.Furthermore,the thermal treatment elicited modifications in the chemical As fractions within ABR,with limited impact on the As immobilization capacity of the prepared binders.

Distribution and Contamination of Arsenic in Fish, Gastropods and Bivalves in the Aby and Tendo Lagoons in East of Ivory Coast

Lagoons are ecosystems for biodiversity and the livelihoods of coastal communities. The main objective of the study was to analyze the variability of arsenic concentrations in gastropods and bivalves in the Aby and Tendo lagoons, taking into account spatial, seasonal and hydrological variations. The study was carried out in four stages spread over two successive hydroclimatic cycles, including two seasons during the rainy season and two more during the dry season. The samples were taken in two areas of the Aby and Tendo lagoons. Arsenic levels were measured by ICP-MS. The results showed that mean arsenic concentrations in the muscles of organisms in Aby Lagoon ranged from 0.01 to 1.26 μg As/g, with a mean and median of 0.17 and 0.06 μg As/g, respectively. Fish had the highest levels of arsenic, followed by crustaceans, while molluscs and plants had lower and comparable concentrations of As. Arsenic concentrations in tilapia and jawbones varied significantly between sites and seasons, with higher concentrations at Tendo and during the rainy season. Arsenic concentrations in gastropods and bivalves were significantly higher than those of other species, with averages of 0.74 and 1.03 mg As/kg, respectively.

Roles of Aqueous Extract of Marigold on Arsenic-Induced Oxidative Damage in Pancreatic Islet β-Cells

Roles of Marigold extracts (ME) on arsenic trioxide (ATO)-induced oxidative damage to pancreatic β-cells need to be further elucidated. In this study, NIT-1 cells were treated with different concentrations of and/or ATO, following by the cell viability was detected by CCK8 assay. Then, intracellular reactive oxygen species (ROS) levels, lipid peroxide (MDA) contents and superoxide dismutase (SOD) activity were measured with a fluorescence probe method and colorimetric assay, respectively. The apoptosis rate and morphology was detected and observed with hoechst 33,258 staining assay. The mRNA levels and protein expressions of nuclear factor E2-related factor 2 (Nrf2) and heme oxygenase-1 (HO-1) were measured by real-time fluorescence quantitative polymerase chain reaction and protein immunoblotting assay, respectively. Our results indicated that Co-treatment with ME and ATO exacerbated the cell viability decreasing reduced by ATO, while the addition of ME after ATO treatment effectively promote the recovery of ATO reduced survival rates. The ATO group increased apoptosis (P P β-cells by modulating the activation of the Nrf2 signaling pathway.

Feasibility Evaluation of Using Biochar-based Permeable Reactive Barrier for the Remediation of Mercury and Arsenic Composite Polluted Water Bodies

This study employed a modified biochar material to construct a permeable reactive barrier(PRB)for the treatment of water bodies polluted with mercury and arsenic.The experimental results demonstrated that the addition of goethite-modified biochar significantly enhanced the remediation efficiency of As(III),achieving a maximum removal rate of 100%.Conversely,pure biochar exhibited high efficiency in the removal of Hg(II),with a maximum removal rate approaching 100%.Furthermore,the pH level of the water significantly influenced the adsorption efficiency of heavy metal ions,with the optimal removal performance observed at a pH of 6.0.The PRB system demonstrated excellent removal rates under low concentrations of heavy metals.However,as the concentration increased,the remediation efficiency exhibited a slight decrease.In summary,the findings of this study provide compelling evidence for the use of modified biochar in the construction of PRBs for the remediation of mercury and arsenic-polluted water bodies.Furthermore,the study reveals the mechanism by which pH and heavy metal concentration influence remediation efficiency.

A new approach for recycling arsenic and tin from low-grade tin middlings using a self-sulfurization roasting

Massive amounts of low-grade tin middlings have been produced from tin tailings,in which arsenic and tin are worthy to be recycled.Owing to high sulfur content in these tin middlings,a novel self-sulfurization roasting was proposed to transform,separate and recover arsenic and tin in this research.There was no extra curing agent to be added,which decreased the formation of pollutant S-containing gas.The self-sulfurization process involved a two-stage roasting of reduction followed by sulfurization.First in reduction roasting,FeAsS decomposed to FeS and As and the As then transformed to As_(4)(g)and As_(4)S_(4)(g),via which the arsenic was separated and recovered.The arsenic content in the first residue could be decreased to 0.72 wt.%.Accompanied with it,the FeS was firstly oxidized to Fe_(1−x)S and then to SO_(2)(g)by the coexisted Fe_(2)O_(3),and finally reduced and combined with the independent Fe_(2)O_(3)to form Fe_(1−x)S.In the followed sulfurization roasting,the Fe_(1−x)S sulfurized SnO_(2)to SnS(g),due to which tin could be recovered and its content in the second residue decreased to 0.01 wt.%.This study provided an efficient method to separate and recover arsenic and tin from low-grade tin middlings.

Arsenic and fluoride co-enrichment of groundwater in the loess areas and associated human health risks:A case study of Dali County in the Guanzhong Basin

This study aims to reveal the occurrence and origin of typical groundwater with high arsenic and fluoride concentrations in the loess area of the Guanzhong Basin—a Neogene faulted basin.Key findings are as follows:(1)Groundwater samples with high arsenic and fluoride concentrations collected from the loess area and the terraces of the Weihe River accounted for 26%and 30%,respectively,of the total samples,with primary hydrochemical type identified as HCO_(3)-Na.The karst and sand areas exhibit relatively high groundwater quality,serving as preferred sources for water supply.It is recommended that local governments fully harness groundwater in these areas;(2)groundwater with high arsenic and fluoride concentrations in the loess area and the alluvial plain of rivers in Dali County is primarily distributed within the Guanzhong Basin,which represents the drainage zone of groundwater;(3)arsenic and fluoride in groundwater originate principally from natural and anthropogenic sources;(4)the human health risk assessments reveal that long-term intake of groundwater with high arsenic and fluoride concentrations pose cancer or non-cancer risks,which are more serious to kids compared to adults.This study provides a theoretical basis for the prevention and treatment of groundwater with high arsenic and fluoride concentrations in loess areas.

Mechanism, behaviour and application of iron nitrate modified carbon nanotube composites for the adsorption of arsenic in aqueous solutions

In this study,ferric nitrate modified carbon nanotube composites (FCNT) were prepared by isovolumetric impregnation using carbon nanotubes (CNTs) as the carrier and ferric nitrates the active agent.The batch experiments showed that FCNT could effectively oxidize As(III) to As(V) and react with it to form stable iron arsenate precipitates.When the dosage of FCNT was 0.1 g·L^(–1),pH value was 5–6,reaction temperature was 35℃ and reaction time was 2 h,the best arsenic removal effect could be achieved,and the removal rate of As(V) could reach 99.1%,which was always higher than 90%under acidic conditions.The adsorption results of FCNT were found to be consistent with Langmuir adsorption by static adsorption isotherm fitting,and the maximum adsorption capacity reached 118.3 mg·g^(-1).The material phase and property analysis by scanning electron microscopy,Brunauer–Emmett–Teller,Fourier transform infrared spectoscopy,X-ray photoelectron spectroscopy and other characterization methods,as well as adsorption isotherm modeling,were used to explore the adsorption mechanism of FCNT on arsenic.It was found that FCNT has microporous structure and nanostructure,and iron nanoparticles are loosely distributed on CNTs,which makes the material have good oxidation,adsorption and magnetic separation properties.Arsenic migrates on the surface of FCNT composites is mainly removed by forming insoluble compounds and co-precipitation.All the results show that FCNT treats arsenic at low cost with high adsorption efficiency,and the results also provide the experimental data basis and theoretical basis for arsenic contamination in groundwater.

Plant-derived natural compounds in the treatment of arsenic-induced toxicity

Arsenic toxicity,imposed mainly by arsenic-contaminated groundwater,is considered a critical threat to global communal health,as there is no specific and proven conventional therapy for chronic arsenic toxicity,i.e.,arsenicosis,which is an insidious global public health menace affecting 50 countries.Alternative options should,therefore,be explored for the mitigation of arsenicosis.Literature survey reveals several natural compounds from plants possess significant protective efficacy against arsenic toxicity in chiefly preclinical and few clinical investigations.The studies on the ameliorative effects of plant-derived natural compounds against arsenic toxicity published in the last 25 years are collated.Forty-eight plant-based natural compounds possess alleviative effects on experimental arsenic-induced toxicity in animals,six of which have been reported to be clinically effective in humans.A potential nutraceutical or therapeutic candidate against arsenicosis for humans may thus be developed with the help of recent advancements in research in this area,along with the currently available treatments.

Arsenic removal from acidic industrial wastewater by ultrasonic activated phosphorus pentasulfide

Arsenic is one of the main harmful elements in industrial wastewater.How to remove arsenic has always been one of the research hotspots in academic circles.In the process of arsenic removal by traditional sulfuration,the use of traditional sulfurizing agent will introduce new metal cations,which will affect the recycling of acid.In this study,phosphorus pentasulfide (P_(2)S_(5)) was used as sulfurizing agent,which hydrolyzed to produce H_(3)PO_(4) and H_(2)S without introducing new metal cations.The effect of ultrasound on arsenic removal by P_(2)S_(5) was studied.Under the action of ultrasound,the utilization of P_(2)S_(5) was improved and the reaction time was shortened.The effects of S/As molar ratio and reaction time on arsenic removal rate were investigated under ultrasonic conditions.Ultrasonic enhanced heat and mass transfer so that the arsenic removal rate of 94.5%could be achieved under the conditions of S/As molar ratio of 2.1:1 and reaction time of 20 min.In the first 60 min,under the same S/As molar ratio and reaction time,the ultrasonic hydrolysis efficiency of P_(2)S_(5) was higher.This is because P_(2)S_(5) forms ([(P_(2)S_(4))])^(2+)under the ultrasonic action,and the structure is damaged,which is easier to be hydrolyzed.In addition,the precipitation after arsenic removal was characterized and analyzed by X-ray diffraction,scanning electron microscope-energy dispersive spectrometer,X-ray fluorescence spectrometer and X-ray photoelectron spectroscopy.Our research avoids the introduction of metal cations in the arsenic removal process,and shortens the reaction time.

Assessment of Soil Contamination and Human Health Risk around an Industrial Gold Mine in Côte d’Ivoire: The Case of Arsenic

The Tongon mine generates millions of tons of waste rock and tailings, which are stored in landfills in the vicinity of the mine. These tailings contain arsenic. The risk of soil contamination in this area is evident. This study assesses the arsenic contamination of soils around the mine and the health risks to the local population. Soil samples were taken from plastic bags and other materials used as working tools. Arsenic concentrations were determined by inductively coupled plasma mass spectroscopy, after the soil samples had been concentrated and digested. Metal contamination indices were used to assess the degree of soil contamination. The results obtained indicate that soils in the industrial zone of the Tongon gold mine have very high average concentrations, well above the world average for uncontaminated soils of 6 mg/kg arsenic. Geoaccumulation index values range from 1.28 to 3.40. These values highlight severe arsenic soil contamination. The human health risk assessment revealed that exposure risks are well above the critical limit of 1 and are, in descending order, children > adult women > adult men. These results indicate an ecological risk, requiring environmental monitoring, underpinned by the development of an effective remediation strategy to reduce local pollution and contamination.

Review and Analysis: Fate of Arsenic Applied to Canal Shipping Lane Vegetation and United States Military Base Grounds in the Panama Canal Zone

The opening of the Panama Canal in 1913 increased the availability of internationally traded goods and transformed ocean-shipping by shortening travel time between the Atlantic Ocean and Pacific Ocean. The canal sparked the growth of port authorities and increased ship tonnage on both coasts of Panama. Since the construction of the Panama Canal, in the 1910s, pesticides, herbicides and chemicals, including arsenic, have been essential for controlling wetland vegetation, including hyacinth, which blocked rivers, lakes, and the canal as well as managing mosquitoes. Pesticides and chemicals flowed into Lake Gatun (reservoir) either attached to sediment or in solution during the monsoon season. Lake Gatun was the drinking water source for most of the people living in the Panama Canal Zone. The United States military base commanders had the ability to order and use cacodylic acid (arsenic based) from the Naval Depot Supply Federal and Stock Catalog and the later Federal Supply Catalog on the military base grounds in the Panama Canal Zone. Cacodylic acid was shipped to Panama Canal Zone ports, including Balboa and Cristobal, and distributed to the military bases by rail or truck. The objective of this study is to determine the fate of arsenic: 1) applied between 1914 and 1935 to Panama Canal shipping lane hyacinth and other wetland vegetation and 2) cacodylic acid (arsenic) sprayed from 1948 to 1999 on the US military base grounds in the Panama Canal Zone.

Removal and stabilization of arsenic from anode slime by forming crystal scorodite

A process was proposed for removing and stabilizing arsenic(As) from anode slime. The anode slime with high arsenic concentration was pretreated by circular alkaline leaching process. Then, the arsenic in the leaching solution can be further precipitated as a form of scorodite crystalline(FeAsO4·2H2O). In the precipitating arsenic reaction, in which ferrous ions were oxidized by air gas, the effects of acidity(p H), reaction temperature, air flow rate, initial concentration of arsenic and initial molar ratio of Fe(II) to As(V) on arsenic precipitation were investigated. The results showed that sufficiently stable crystal scorodite could be achieved under the condition of initial arsenic concentration of 10 g/L, pH 3.0-4.0, Fe/As molar ratio of 1.5, the temperature of 80-95 °C, and the air flow rate higher than 120 L/h. Under the optimal condition, more than 78% of arsenic could be precipitated as a form of scorodite crystalline. The As leaching concentration of the precipitates was less than 2.0 mg/L and the precipitates may be considered to be safe for disposal.

Leaching behavior of metals from high-arsenic dust by NaOH-Na_2S alkaline leaching

Arsenic is selectively extracted from high-arsenic dust by NaOH-Na2S alkaline leaching process. In the leaching arsenic process, the effects of alkali-to-dust ratio, sodium sulfide addition, leaching temperature, leaching time and liquid-to-solid ratio on metals leaching efficiencies were investigated. The results show that the arsenic can be effectively separated from other metals under the optimum conditions of alkali/dust mass ratio of 0.5, sodium sulfide addition of 0.25 g/g, leaching temperature of 90 ℃, leaching time of 2 h, and liquid-to-solid ratio of 5：1 （mL/g）. Under these conditions, the average leaching efficiencies of arsenic, antimony, lead, tin and zinc are 92.75%, 11.68%, 0.31%, 29.75% and 36.85%, respectively. The NaOH-Na2S alkaline leaching process provides a simple and highly efficient way to remove arsenic from high-arsenic dust, leaving residue as a suitable lead resource.

Determination of Arsenic and Mercury in Soil by Microwave Digestion and Hidride GenerationAtomic Fluorescence Spectrometry

[Objective] The aim was to develop a rapid, simple method for determina- tion of arsenic and mercury in soil samples by atomic fluorescence spectrometry. [Method] The method for determination of As and Hg in soil by combined atomic fluorescence spectrometry and microwave digestion was used. [Result] The concentration curve was linear within the range of 0-80.0μg/L of As and 0-8.0 μg/L of Hg, and the detection limits of As and Hg was 0.036 μg/L and 0.015 μg/L, respectively. The precision for elevenfold determination of As at 40.0 ug/L level and Hg at 4.0μg/L level were 1.1% and 2.2%（RSD）, respectively. Recoveries of 103.0%-106.6% for As and 90.0%-95.0% for Hg were obtained for there soil samples. [Conclusion] The proposed method has the advantages of simple operation, high sensitivity, and high efficiency; it was successfully used for determination of As and Hg in soil samples.

基于CRV-YOLO的苹果中心花和边花识别方法

苹果树疏花是果园生产管理中的重要环节。准确高效地识别苹果中心花和边花,是研发智能疏花机器人的前提。针对苹果疏花作业中的实际需求,提出了一种基于CRV-YOLO的苹果中心花和边花识别方法。本文基于YOLO v5s模型进行了如下改进:将C-CoTCSP结构融入Backbone,更好地学习上下文信息并提高了模型特征提取能力,提高了模型对外形相似和位置关系不明显的中心花和边花的检测性能。在Backbone中添加改进RFB结构,扩大特征提取感受野并对分支贡献度进行加权,更好地利用了不同尺度特征。采用VariFocal Loss损失函数,提高了模型对遮挡等场景下难识别样本检测能力。在3个品种1837幅图像数据集上进行了实验,结果表明,CRV-YOLO的精确率、召回率和平均精度均值分别为95.6%、92.9%和96.9%,与原模型相比,分别提高3.7、4.3、3.9个百分点,模型受光照变化和苹果品种影响较小。与Faster R-CNN、SSD、YOLOX、YOLO v7模型相比,CRV-YOLO的精确率、平均精度均值、模型内存占用量和复杂度性能最优,召回率接近最优。研究成果可为苹果智能疏花提供技术支持。

Dissolved Inorganic Arsenic in the Yellow Sea and the East China Sea—Distributions and Seasonal Variations

The distributions and seasonal variations of total dissolved inorganic arsenic （TDIAs, [TDIAs] = [As^5＋]＋[As^3＋]） and arsenite （As3.） in the Yellow Sea and East China Sea are presented hero based on the observations of 9 cruises carried out in 2000 - 2003. The study area covers a broad range of hydrographic and chemical properties. The emphasis is put on a southeast transect from Changjiang Estuary to the Ryukyu Islands （i.e. PN section） in the East China Sea to discuss the impact of terrestdal input on the marginal seas of China. Arsenic species （TDlAs and arsenite） are determined by selective hydride generation - atomic fluorescence spectrometry （HG-AFS）. TDIAs concentrations were high in the coastal area of Changjiang Estuary and decreased slightly towards the shelf region. High concentratiOns of TDIAs were also existed in the near bottom layer of shelf edge of the East China Sea which indicated another source of arsenic from the incursion of Kuroshio Waters. The seasonal variations of TDIAs in the study area depend on the hydrographic stages of Changjiang and the incursion intensity of Kuroshio Waters. Arsenite showed opposite distributions with TDIAs, with higher concentrations appeared at the surface layer of shelf region, which was positive correlated with the chlorophyll a. Biological conversion of arsenate into arsenite was hypothesized for the observed distribution pattern and its seasonal variations. The stoichoimetric ratios of As to P were estimated to be about 2×10^3 at PN Section in summer. The concentrations of dissolved arsenic in the Yellow Sea and East China Sea were comparable with other areas in the world.

基于YOLO v8n-seg和改进Strongsort的多目标小鼠跟踪方法

多目标小鼠跟踪是小鼠行为分析的基本任务,是研究社交行为的重要方法。针对传统小鼠跟踪方法存在只能跟踪单只小鼠以及对多目标小鼠跟踪需要对小鼠进行标记从而影响小鼠行为等问题,提出了一种基于实例分割网络YOLO v8n-seg和改进Strongsort相结合的多目标小鼠无标记跟踪方法。使用RGB摄像头采集多目标小鼠的日常行为视频,标注小鼠身体部位分割数据集,对数据集进行增强后训练YOLO v8n-seg实例分割网络,经过测试,模型精确率为97.7%,召回率为98.2%,mAP50为99.2%,单幅图像检测时间为3.5 ms,实现了对小鼠身体部位准确且快速地分割,可以满足Strongsort多目标跟踪算法的检测要求。针对Strongsort算法在多目标小鼠跟踪中存在的跟踪错误问题,对Strongsort做了两点改进:对匹配流程进行改进,将未匹配上目标的轨迹和未匹配上轨迹的目标按欧氏距离进行再次匹配;对卡尔曼滤波进行改进,将卡尔曼滤波中表示小鼠位置和运动状态的小鼠身体轮廓外接矩形框替换为以小鼠身体轮廓质心为中心、对角线为小鼠体宽的正方形框。经测试,改进后Strongsort算法的ID跳变数为14,MOTA为97.698%,IDF1为85.435%,MOTP为75.858%,与原Strongsort相比,ID跳变数减少88%,MOTA提升3.266个百分点,IDF1提升27.778个百分点,与Deepsort、ByteTrack和Ocsort相比,在MOTA和IDF1上均有显著提升,且ID跳变数大幅降低,结果表明改进Strongsort算法可以提高多目标无标记小鼠跟踪的稳定性和准确性,为小鼠社交行为分析提供了一种新的技术途径。

基于改进COF-YOLO v8n的油茶果静态与动态检测计数方法

针对自然环境下油茶果存在严重遮挡、近景色、小目标等现象,使用YOLO网络存在检测精度低、漏检现象严重等问题,提出对YOLO v8n网络进行改进。首先使用MPDIOU作为YOLO v8n的损失函数,有效解决因为果实重叠导致的漏检问题;其次调整网络,向其中加入小目标检测层,使网络能够关注小目标油茶以及被树叶遮挡的油茶;最后使用SCConv作为特征提取网络,既能兼顾检测精度又能兼顾检测速度。改进COF-YOLO v8n网络精确率、召回率、平均精度均值分别达到97.7%、97%、99%,比未改进的YOLO v8n分别提高3.2、4.8、2.4个百分点,其中严重遮挡情况下油茶检测精确率、召回率、平均精度均值分别达到95.9%、95%、98.5%,分别比YOLO v8n提高4.0、9.1、4.6个百分点。因此改进后COF-YOLO v8n网络能够明显提高油茶在严重遮挡、近景色、小目标均存在情况下的识别精度,减小油茶的漏检。此外,模型能够实现动、静态输入条件下油茶果计数。动态计数借鉴DeepSORT算法的多目标跟踪思想,将改进后COF-YOLO v8n的识别输出作为DeepSORT的输入,实现油茶果实的追踪计数。所得改进模型具有很好的鲁棒性,且模型简单可以嵌入到边缘设备中,不仅可用于指导自动化采收,还可用于果园产量估计,为果园物流分配提供可靠借鉴。

柑橘木虱YOLO v8-MC识别算法与虫情远程监测系统研究

柑橘木虱是黄龙病的主要传播媒介,其发生与活动可对柑橘果园造成毁灭性后果。为实现木虱虫情的高效监测,设计了一种集诱捕拍照、耗材更新、害虫识别与结果展示于一体的智能监测系统。设计了具备诱虫胶带自动更新、虫情图像实时获取功能的诱捕监测装置;应用选点裁剪、Mosaic数据增强(Mosaic data augmentation,MDA)和CA(Coordinate attention)注意力机制,改进了YOLO v8木虱识别模型;开发了Web和手机APP客户端,可实现虫情数据的可视化展示与远程控制。模型测试阶段,改进后的YOLO v8-MC召回率、F1值及精确率分别达到91.20%、91%、90.60%,较基准模型分别提升5.47、5、4.64个百分点;迁移试验中,模型召回率、F1值及精确率分别达到88.64%、87%、84.78%,且系统工作状态良好,满足野外使用需求。开发的智能监测系统能有效实现果园木虱虫情的远程监测,可为此类虫害防治管理提供有效手段。

基于改进YOLO v5的复杂环境下桑树枝干识别定位方法

为实现复杂自然环境下对桑树嫩叶处枝干的识别检测,改变当前桑叶采摘设备作业过程中依赖人工辅助定位的现状,解决识别目标姿态多样和环境复杂导致的低识别率问题,提出一种基于改进YOLO v5模型的桑树枝干识别模型(YOLO v5-mulberry),并结合深度相机构建定位系统。首先,在YOLO v5的骨干网络中加入CBAM(Convolutional block attention module)注意力机制,提高神经网络对桑树枝干的关注度;并增加小目标层使模型可检测4像素×4像素的目标,提高了模型检测小目标的性能;同时使用GIoU损失函数替换原始网络中的IoU损失函数,有效防止了预测框和真实框尺寸较小时无法正确反映预测框及真实框之间位置关系的情况;随后,完成深度图和彩色图的像素对齐,通过坐标系转换获取桑树枝干三维坐标。试验结果表明:YOLO v5-mulberry检测模型的平均精度均值为94.2%,较原模型提高16.9个百分点,置信度也提高12.1%;模型室外检测时应检测目标数53,实际检测目标数为48,检测率为90.57%;桑树嫩叶处枝干三维坐标识别定位系统的定位误差为(9.4985 mm,11.285 mm,19.11 mm),满足使用要求。该研究可实现桑树嫩叶处枝干的识别与定位,有助于推动桑叶智能化采摘机器人研究。