Real-time six degrees-of-freedom pose estimation with ground vehicles represents a relevant and well-studied topic in robotics due to its many applications such as autonomous driving 3D mapping. Although some systems already exist, they are either not accurate or struggle real-time settings. In this letter, we propose fast, modular LiDAR SLAM system for both batch online estimation. We first ap...

The purpose of this study was to analyze the migration pathways of contaminants from closed landfills and to estimate health risks based on soil characteristics. The health risks were estimated using Framework for Risk Analysis Multimedia Environmental Systems (FRAMES) software. The sensitivity of human health risks and hazard indices due to vinyl chloride contamination in groundwater were perf...

Remote sensing has shown its potential to assess soil properties and is a fast and non-destructive method for monitoring soil surface changes. In this paper, we monitor soil aggregate breakdown under natural conditions. From November 2014 to February 2015, images and weather data were collected on a daily basis from five soils susceptible to detachment (Silty Loam with various organic matter co...

Limited data are available on the ectomycorrhizae-induced changes in surface structure and composition of soil colloids, the most active portion in soil matrix, although such data may benefit the understanding of mycorrhizal-aided soil improvements. By using ectomycorrhizae (Gomphidius viscidus) and soil colloids from dark brown forest soil (a good loam) and saline-alkali soil (heavily degraded...

Plankton is an important food item of fishes and indicator for the productivity of a water body. The present study was conducted to evaluate the effects of bottom soil textural conditions on abundance of plankton in aquaculture pond. The experiment was carried out using three treatments, i.e., ponds bottom with sandy loam (T1), with loam (T2) and with clay loam (T3). The ranges of water quality...

Soils sequester and release substantial atmospheric carbon, but the contribution of fungal communities to soil carbon balance under rising CO2 is not well understood. Soil properties likely mediate these fungal responses but are rarely explored in CO2 experiments. We studied soil fungal communities in a grassland ecosystem exposed to a preindustrial-to-future CO2 gradient (250 to 500 ppm) in a ...

The mass attenuation coefficients (μs) for five different soil samples were measured at 661.6, 1173.2 and 1332.5 keV photon energies. The soil samples were separately irradiated with (137)Cs and (60)Co (370 kBq) radioactive point gamma sources. The measurements were made by performing transmission experiments with a 2″ × 2″ NaI(Tl) scintillation detector, which had an energy resolution of 7% at...

Soil surface texture is an important environmental factor that influences crop productivity because of its direct effect on soil water and complex interactions with other environmental factors. Using 30-year data, an agricultural system model (DSSAT-CERES-Wheat) was calibrated and validated. After validation, the modelled yield and water use (WU) of spring wheat (Triticum aestivum L.) from two ...

The effects of four soil types, soil porosity, particle size, and organic matter were tested on survival and migration of Xiphinema americanum. Survival and migration were significantly greater in silt loam than in clay loam and silty clay soils. Nematode numbers were significantly greater in softs planted with soybeans than in fallow softs. Nematode survival was greatest at the higher of two p...

The aim of poplar plantations is to achieve high biomass production over a short rotation period. This requires low mortality and fast development of the transplants. The experiment described in this paper examines methods aimed at enhancing survival and development of Populus trichocarpa plants by application of fertilizers, a hydrogel or a combination of both to dormant cuttings just before p...