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在自动驾驶场景中,视觉相机能够实现低成本的定位与环境感知,但是场景中的动态目标会影响视觉定位的轨迹.对此,本文提出了语素关联约束的动态环境视觉定位优化方法.首先,利用目标检测和语义分割提取环境中的语义实体;然后,通过语素关联模型识别出动态语素;最后,建立动态语素的特征掩膜,用于特征匹配过程中的动态目标特征点过滤,从而提高视觉定位效果.本文基于视觉机器人平台在校园道路开展了试验,发现了动态目标通过关键点影响视觉定位结果的规律——在转弯时或者目标在视野中横向移动时影响较大.试验结果表明,本文方法的动态语义要素识别的平均精度F1约为87%,并且在语素关联优化前后,局部区域最大轨迹距离差为2.463 m,与真值对比RMSE降低了38%. 相似文献
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Zhu Xian Wei Zhigang Dong Wenjie Ji Zhenming Wen Xiaohang Zheng Zhiyuan Yan Dongdong Chen Deliang 《Climate Dynamics》2020,54(7):3279-3306
Climate Dynamics - As a typical arid and semi-arid area, central Asia (CA) has scarce water resources and fragile ecosystems that are particularly sensitive and vulnerable to climate change. In... 相似文献
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Wu Chaoyuan Li Jiajun Xia Enzhan Peng Zhuosheng Tan Shuzhi Li Jun Wen Zongcun Huang Xiaohang Cai Zulin Chen Guojun 《中国海洋湖沼学报》1989,7(4):327-334
A 2-year study onKappaphycus alvarezii (Doty) Doty introduced to Hainan Island from the Philippines in 1985 showed promising results. The average daily growth in
weight reached 10% at a favourable temperature of about 26°C. Experimental results showed that timely cutting of the plant
was an effective way to obtain new cuttings for cultivation and accelerate growth. New cuttings 0.05 kg in weight are suggested
to be used as “seeds” and the old plant should be harvested. At present, artificial cultivation with a type of underwater
raft applicable in places where there is strong wind will expand cultivation to more regions in Hainan Province.
This paper was originally published in Chinese inOceanologia et Limnologia Sinica
19(5): 410–418, 1988. The plant under discussion wasEucheuma alvarezii Doty which was previously calledE. striatum in the article, and which now becomesKappaphycus alvarezii (Doty) Doty. To the original title, “in China” was added. Only the essence of the original article was presented. 相似文献
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Jinshuai?Ruan Xiaohang?WenEmail author Guangzhou?Fan Deqin?Li Wei?Hua Bingyun?Wang Yi?Zhang Mingjun?Zhang Chao?Wang Lei?Wang 《Theoretical and Applied Climatology》2018,134(3-4):817-828
To study the land surface and atmospheric meteorological characteristics of non-uniform underlying surfaces in the semi-arid area of Northeast China, we use a “High-Resolution Assimilation Dataset of the water-energy cycle in China (HRADC)”. The grid points of three different underlying surfaces were selected, and their meteorological elements were averaged for each type (i.e., mixed forest, grassland, and cropland). For 2009, we compared and analyzed the different components of leaf area index (LAI), soil temperature and moisture, surface albedo, precipitation, and surface energy for various underlying surfaces in Northeast China. The results indicated that the LAI of mixed forest and cropland during the summer is greater than 5 m2 m?2 and below 2.5 m2 m?2 for grassland; in the winter and spring seasons, the Green Vegetation Fraction (GVF) is below 30%. The soil temperature and moisture both vary greatly. Throughout the year, the mixed forest is dominated by latent heat evaporation; in grasslands and croplands, the sensible heat flux and the latent heat flux are approximately equal, and the GVF contributed more to latent heat flux than sensible heat flux in the summer. This study compares meteorological characteristics between three different underlying surfaces of the semi-arid area of Northeast China and makes up for the insufficiency of purely using observations for the study. This research is important for understanding the water-energy cycle and transport in the semi-arid area. 相似文献
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水体浮游植物具有捕获利用磷的能力以及沉水植物能够显著抑制水体中藻类生长已得到国内外广泛共识,但相应的潜在机制尚缺乏深入了解.本研究选取金鱼藻(Ceratophyllum demersum)为研究对象,基于室内模拟实验,探讨了沉水植物调控浮游植物捕获磷与过度生长的机制.结果显示,尽管未种植金鱼藻的对照组上覆水中总磷、总溶解态磷和可溶性活性磷的平均浓度均显著高于种植金鱼藻的实验组(约4倍),但是两个系统中这3种磷浓度随时间的变化趋势均符合S形的对数曲线.实验组藻类密度、有效光量子产量、总碱性磷酸酶活性(TAPA)以及细颗粒碱性磷酸酶活性(细颗粒APA)也远低于对照组.此外,对照组中粗颗粒碱性磷酸酶活性(粗颗粒APA)占TAPA的44.7%,显著高于细颗粒APA.结构方程模型结果表明,对照组水体藻类密度对TAPA具有直接的正向作用,而金鱼藻的生长显著弱化了不同形态磷与APA、藻类密度、细菌动力以及光量子产量之间的相互作用.这说明沉水植物对水体浮游植物生长的调控具有多种策略. 相似文献
7.
Bayou Adlane Zhidong Xu Xiaohang Xu Longchao Liang Jialiang Han Guangle Qiu 《Acta Geochimica》2020,(1):85-95
To assess the potential ecological and health risks of trace elements(Hg,Cd,As,Mn,Sb,Pb,Cu,Ni,Cr,and Zn),a total of 138 soil samples from rice paddies were collected during the rice harvest season in the Wanshan mining area,Guizhou Province,Southwest China.Factors of the pollution load index(PLI),geo-accumulation index(I-Geo),enrichment factor(EF),and risk index(RI)were determined.High concentrations of Hg,Sb,As,Zn,Cd,Cu,and Mn were observed in the soils.The PLI,I-Geo,and EF results all showed high levels of contamination by Hg and Sb and moderate levels of contamination by As,Pb,Zn,Cu,Cd,and Mn.There was no significant contamination from Ni and Cr.The RI was very high,with Hg as the dominant pollutant,as expected,indicating that the historical large-scale Hg mining,as well as artisanal mining,has had a significant impact on the Wanshan area.Moreover,coal combustion,manganese factories,and the use of agrochemicals by the local population could also have an impact on the soil through the introduction of heavy metal loads.To address the current state of contamination,pollutant remediation and the regulation control of the anthropogenic activities in Wanshan are urgently needed. 相似文献
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Dewi Seswita Zilda 《中国海洋大学学报(英文版)》2012,11(2):213-218
A total of 69 strains of thermophilic bacteria were isolated from water, soil and sediment samples from three Indonesia’s hot spring areas (Pantai cermin, Kalianda and Banyu wedang) by using Minimal Synthetic Medium (MSM). The extreme thermophile Brevibacillus sp. PLI-1 was found to produce extracellular thermophilic alkaline protease with optimal activity at 70℃ and pH 8.0-9.0. The molecular weight of the protease was estimated to be around 56 kD by SDS-PAGE. The maximum activity of the protease was 26.54 U mL-1. The protease activity did not decrease after 30 min and still retained more than 70% of relative activity after 60 min at 70℃ and pH 8.0. The ion Mg2+ was found to promote protease activity at both low and high concentrations, whereas Cu2+ and Zn2+ could almost completely inhibit the activity. Divalent cation chelator EDTA inhibited the enzyme activity by 55.06% ± 0.27%, while the inhibition caused by PMSF, Leupeptin, Pepstain A and Benzamidine were 66.78% ± 3.25%, 52.37% ± 0.25%, 62.47% ± 2.96% and 50.99% ± 0.24%, respectively. Based on these observations, the enzyme activity was conspicuously sensitive to the serine and cysteine protease inhibitors. All these results indicated that the protease isolated from the strain PLI-1 was a thermophilic protease and had a high-temperature stability and a pH stability. 相似文献
10.
艾比湖区域地表水水化学特征干湿季变化及其控制因素 总被引:1,自引:0,他引:1
对2014年艾比湖区域的地表水进行观测和取样,综合运用多元统计、Piper阴阳离子三角图、Gibbs图等方法,对艾比湖区域干湿季地表水化学特征及控制因素进行了分析.结果表明:在湿季5月,Na+和Cl-是占绝对优势的离子,分别占阳离子和阴离子总量的70.34%和52.97%,其次是Mg2+和SO42-;在干季10月,Na+和Cl-是占绝对优势的离子,分别占阳离子和阴离子总量的70.57%和66.48%,其次是Mg2+和SO42-.进而判断出在湿季,艾比湖区域地表水水化学类型为以碳酸盐岩石和蒸发岩来源为主的HCO3--Ca2+-Na+型;而在干季,艾比湖区域地表水水化学类型为以碳酸盐岩石和蒸发岩来源为主的HCO3--Ca2+型.此外,探讨了离子控制的因素.就自然因素而言,在干湿季,艾比湖区域地表水化学离子组成受岩石风化作用和蒸发结晶作用的共同影响,大气降水的输入作用十分微弱.就人为因素而言,根据相关研究,干湿季人为活动中的主要因素是人口和地区生产总值,说明该区域受到人为活动的影响.本研究为我国干旱地区对于河水水化学变化、水质特征、水质保护都具有重要的意义. 相似文献