LIO-SAM++: A Lidar-Inertial Semantic SLAM with Association Optimization and Keyframe Selection.

Current lidar-inertial SLAM algorithms mainly rely on the geometric features of the lidar for point cloud alignment. The issue of incorrect feature association arises because the matching process is susceptible to influences such as dynamic objects, occlusion, and environmental changes. To address this issue, we present a lidar-inertial SLAM system based on the LIO-SAM framework, combining semantic and geometric constraints for association optimization and keyframe selection.

The effect of salinity on trimethoprim adsorption by activated sludge extracellular polymeric substances at trace concentration.

The saline wastewater produced in industrial activities and seawater use would flow into wastewater treatment plants and affect the characteristic of extracellular polymeric substance (EPS) of activated sludge, which could potentially impact the removal of antibiotics via adsorption. Nonetheless, the effect of salinity on trimethoprim adsorption by activated sludge extracellular polymeric substances at trace concentration and the underlying mechanism remain largely unknown. In this study, the effect of salinity on the adsorption removal of a typical antibiotic, i.

The cumulative impact of temperature and nitrogen availability on the potential nitrogen fixation and extracellular polymeric substances secretion by Dolichospermum.

Nitrogen-fixing cyanobacteria not only cause severe blooms but also play an important role in the nitrogen input processes of lakes. The production of extracellular polymeric substances (EPS) and the ability to fix nitrogen from the atmosphere provide nitrogen-fixing cyanobacteria with a competitive advantage over other organisms. Temperature and nitrogen availability are key environmental factors in regulating the growth of cyanobacteria.

The erythromycin sorption removal at environmentally relevant concentration based on molecular imprinted polymer: Performance and mechanism.

The antibiotic pollution emerged in different environments has raised a great concern. Adsorption is an effective method to solve the problem. However, conventional adsorbents are not always efficient for antibiotic removal with interferences.

How does Microcystis aeruginosa respond to elevated temperature?

Cyanobacteria and their toxins widely exist in freshwater ecosystems. Microcystis aeruginosa is among dominant bloom-forming cyanobacteria. Water temperature is a key factor influencing the life cycle of M.

The contradictory roles of tightly bound and loosely bound extracellular polymeric substances of activated sludge in trimethoprim adsorption process.

Extracellular polymeric substances (EPS) of activated sludge are a mixture of high molecular weight polymers secreted by microorganisms, which have the double structure of tightly-bound EPS (TB-EPS) in inner layer and loosely-bound EPS (LB-EPS) in outer layer. The characteristic of LB- and TB-EPS were different, which would affect their adsorption of antibiotics. However, the adsorption process of antibiotics on LB- and TB-EPS was still unclear yet.

Comparing the influence of humic/fulvic acid and tannic acid on Cr(VI) adsorption onto polystyrene microplastics: Evidence for the formation of Cr(OH) colloids.

Microplastics (MPs) can act as vectors for various contaminants in the aquatic environment. Although some research has investigated the adsorption characteristics and influencing factors of metals/organic molecules on MPs, the effects of dissolved organic matter (DOM) (which are ubiquitous active species in ecosystems) on metal oxyanions such as Cr(VI) capture by MPs are largely unknown. This study explored the adsorption behaviors and mechanisms of Cr(VI) oxyanions onto polystyrene (PS) MPs using batch adsorption experiments and multiple spectroscopic methods.

Community structure and co-occurrence network analysis of bacteria and fungi in wheat fields vs fruit orchards.

Soil microorganisms play a vital role in biogeochemical processes and nutrient turnover in agricultural ecosystems. However, the information on how the structure and co-occurrence patterns of microbial communities response to the change of planting methods is still limited. In this study, a total of 34 soil samples were collected from 17 different fields of 2 planting types (wheat and orchards) along the Taige Canal in Yangtze River Delta.

Insight into the role of different extracellular polymeric substances components on trimethoprim adsorption by activated sludge.

Adsorption is the primary mechanism of antibiotic removal in wastewater treatment plants, wherein the extracellular polymeric substances (EPS) of the activated sludge play an important role. Due to their complex characteristics, the effect of EPS components on antibiotic adsorption is unknown. Therefore, in this study, the role of main components of EPS in antibiotic adsorption was explored using enzymatic treatment.

Exploring the feasibility of nitrous oxide reduction and polyhydroxyalkanoates production simultaneously by mixed microbial cultures.

Nitrous oxide (NO), as a powerful greenhouse gas, has drawn increasing attention in recent years and different strategies for NO reduction were explored. In this study, a novel strategy for valuable polyhydroxyalkanoates (PHA) production coupling with NO reduction by mixed microbial cultures (MMC) using different substrates was evaluated. Results revealed that NO was an effective electron acceptor for PHA production.

Comparing the effects of humic acid and oxalic acid on Pb(II) immobilization by a green synthesized nanocrystalline hydroxyapatite.

Dissolved organic matter (DOM) is one of the most significant parameters to affect the remediation efficiency of Pb(II) by apatites. Numerous studies chose humic substances as a surrogate of DOM to investigate its influence on Pb(II) immobilization. However, the effect of low-molecular-weight organic acids such as oxalic acid (OA), which is ubiquitous in the environment and a primary component of DOM, in immobilizing Pb(II) was still not fully understood.

The inhibitory effect of in situ extracellular polymeric substances on trimethoprim adsorption by activated sludge.

The extracellular polymeric substances (EPS) of activated sludge are a mixture of high molecular weight polymers secreted by microorganisms, which are mainly composed of proteins, polysaccharides and humic substances. It is widely accepted that EPS have a good adsorption ability for pollutants with different functional groups. However, recent studies showed the EPS had an inhibitory effect on pollutant sorption, which is contradictory to previous viewpoint.

Lysyl oxidase-like 2 promotes esophageal squamous cell carcinoma cell migration independent of catalytic activity.

Lysyl oxidase-like 2 (LOXL2) is a member of the lysyl oxidase (LOX) family that contributes to tumor cell metastasis. Our previous data identified two splice variants of LOXL2 (i.e.

Modeling the formation of microorganism-derived dissolved organic nitrogen (mDON) in the activated sludge system.

Microorganism-derived dissolved organic nitrogen (mDON) represents a significant and inevitable portion of dissolved organic nitrogen (DON) in the wastewater biotreatment processes. In the existing method, mDON concentrations are indirectly measured by the values of DON concentrations from the reactors with DON-free influent. However, this becomes problematic when influent contains DON.

Quantitatively ranking the influencing factors of ammonia volatilization from paddy soils by grey relational entropy.

Ammonia (NH) volatilization from paddy soils is a main source of atmospheric NH and the magnitude is affected by many factors. Because of the complex field condition, it is difficult to identify the relative importance of individual factor on NH volatilization process in different locations and at different times. In this study, the grey relational entropy method was used to evaluate the relative impact of four main factors (i.

Formation of microbial products by activated sludge in the presence of a metabolic uncoupler o-chlorophenol in long-term operated sequencing batch reactors.

Metabolic uncouplers are widely used for reducing excess sludge in biological wastewater treatment systems. However, the formation of microbial products, such as extracellular polymeric substances, polyhydroxyalkanoate and soluble microbial products by activated sludge in the presence of metabolic uncouplers remains unrevealed. In this study, the impacts of a metabolic uncoupler o-chlorophenol (oCP) on the reduction of activated sludge yield and formation of microbial products in laboratory-scale sequencing batch reactors (SBRs) were evaluated for a long-term operation.

Production of polyhydroxyalkanoates and enrichment of associated microbes in bioreactors fed with rice winery wastewater at various organic loading rates.

This study aimed to explore the production of polyhydroxyalkanoates (PHA) and selection of PHA-accumulating microorganisms in bioreactors fed with rice winery wastewater at various organic loading rates (OLRs). The substrate utilization, sludge properties, PHA synthesis and microbial community structure of three sequencing batch reactors were monitored. The results show the highest PHA yield (0.

Clinical significance of LOXL4 expression and features of LOXL4-associated protein-protein interaction network in esophageal squamous cell carcinoma.

Lysyl oxidase-like 4 (LOXL4), a member of the LOX family proteins, catalyzes oxidative deamination of lysine residues in collagen and elastin, which are responsible for maintaining extracellular matrix homeostasis. In this study, the mRNA expression of LOXL4 in seven esophageal squamous cell carcinoma (ESCC) cell lines and 15 ESCC pairs of clinical samples were examined. Furthermore, LOXL4 protein levels in the ESCC cell lines were determined using western blotting.

Enhanced indirect-to-direct inter-valley scattering in germanium under tensile strain for improving the population of electrons in direct valley.

A theoretical model is proposed to analyze the inter-valley electron transferring between direct Γ and indirect L valleys, which sheds light on the electron conduction dynamics in (0 0 1) tensile strained Ge. Inter-valley scattering is included to calculate average scattering time between Γ and L valleys based on a time-dependent Hamiltonian describing the electron-phonon interaction. Numerical results indicate that enhanced indirect-to-direct inter-valley scattering and reduced direct-to-indirect inter-valley scattering are reliable by introducing tensile strain in Ge material.

A modeling understanding on the phosphorous removal performances of AO and reversed AO processes in a full-scale wastewater treatment plant.

Reversed AO process (anoxic-anaerobic-aerobic) and conventional AO process (anaerobic-anoxic-aerobic) are widely used in many wastewater treatment plants (WWTPs) in Asia. However, at present, there are still no consistent results to figure out which process has better total phosphorous (TP) removal performance and the mechanism for this difference was not clear yet. In this study, the treatment performances of both processes were compared in the same full-scale WWTP and the TP removal dynamics was analyzed by a modeling method.

The protein-protein interaction network and clinical significance of heat-shock proteins in esophageal squamous cell carcinoma.

Heat-shock proteins (HSPs), one of the evolutionarily conserved protein families, are widely found in various organisms, and play important physiological functions. Nevertheless, HSPs have not been systematically analyzed in esophageal squamous cell carcinoma (ESCC). In this study, we applied the protein-protein interaction (PPI) network methodology to explore the characteristics of HSPs, and integrate their expression in ESCC.

The arachidonic acid metabolism protein-protein interaction network and its expression pattern in esophageal diseases.

Arachidonic acid (AA) and its metabolites are involved in the development and progression of inflammation and tumors in various tissues. We investigated the protein-protein interaction network (PPIN) of key enzymes in AA metabolism and their interacting proteins, as well as their expression patterns in different types of esophageal disease, involving esophagitis, Barrett's esophagus, adenocarcinoma and squamous cell carcinoma. PPINs were constructed to illustrate the key enzymes and their interacting proteins along the metabolic cascade.

The enhanced effect of activated sludge attached to the roots of Pistia stratiotes on nutrient removal for secondary effluent.

Aquatic plants are widely used for treating wastewater treatment plant secondary effluent. During this process, some residual activated sludge in the secondary effluent is intercepted and attaches to the plant roots. However, the effect of the attached activated sludge on nutrient removal in secondary effluent has up to now been unknown.