Dry anaerobic digestion of ammoniated straw: Performance and microbial characteristics.

This paper explores the influence of the mixing ratio of ammoniated straw to biogas residue on the stability and methane yield of dry anaerobic digestion and analyzes the structure of the microbial community with digestion time. Five reactors containing ammoniated straw and swine manure biogas residue at ratios of 5:1, 4:2, 3:3, 2:4 and 1:5 (total solids) were constructed, and neither total ammonia nitrogen nor free ammonia nitrogen was inhibited. Three reactors produced gas successfully.

Depth discrimination from occlusions in 3D clutter.

Objects such as trees, shrubs, and tall grass consist of thousands of small surfaces that are distributed over a three-dimensional (3D) volume. To perceive the depth of surfaces within 3D clutter, a visual system can use binocular stereo and motion parallax. However, such parallax cues are less reliable in 3D clutter because surfaces tend to be partly occluded.