Search Results (5,778)

Greenhouse automation has become increasingly important in facility agriculture, yet multi-span glass greenhouses pose both scientific and practical challenges for autonomous mobile robots. Scientifically, solid-state LiDAR is vulnerable to glass-induced reflections, sparse geometric features, and narrow vertical fields of view, all of which undermine Simultaneous Localization and Mapping (SLAM)-based localization and mapping. Practically, large-scale crop production demands accurate inter-row navigation and efficient rail switching to reduce labor intensity and ensure stable operations. To address these challenges, this study presents an integrated localization-navigation framework for mobile robots in multi-span glass greenhouses. In the intralogistics area, the LiDAR Inertial Odometry-Simultaneous Localization and Mapping (LIO-SAM) pipeline was enhanced with reflection filtering, adaptive feature-extraction thresholds, and improved loop-closure detection, generating high-fidelity three-dimensional maps that were converted into two-dimensional occupancy grids for A-Star global path planning and Dynamic Window Approach (DWA) local control. In the cultivation area, where rails intersect with internal corridors, YOLOv8n-based rail-center detection combined with a pure-pursuit controller established a vision-servo framework for lateral rail switching and inter-row navigation. Field experiments demonstrated that the optimized mapping reduced the mean relative error by 15%. At a navigation speed of 0.2 m/s, the robot achieved a mean lateral deviation of 4.12 cm and a heading offset of 1.79°, while the vision-servo rail-switching system improved efficiency by 25.2%. These findings confirm the proposed framework’s accuracy, robustness, and practical applicability, providing strong support for intelligent facility-agriculture operations. Full article

Scholars have long shown that post-separation abuse continues through legal channels and that legal institutions often reinforce existing social relations. Nevertheless, little is known about how abused mothers’ legal experiences shape their understanding of legality and how this dynamic may function to perpetuate coercive control. Drawing on in-depth interviews with 32 Israeli mothers co-parenting with abusive ex-partners, this study offers a phenomenological account of how post-separation abused mothers experience family law proceedings, based on a feminist imperative to bring their voices to center stage. The analysis reveals a dialectical legal consciousness comprising three interconnected orientations—characterized by internal contradictions and tensions that paradoxically serve to maintain rather than disrupt existing power relations: Institutional Trust and Disillusionment in the law’s protective promise, Institutional Asymmetry as experienced from the abused mothers’ perspective, and Recognizing Entrapment—the realization that legal processes reproduce the very dynamics they sought to escape. Abused mothers thus describe a paradoxical relationship with the law of both needing and distrusting a system that mandates continued contact with their abusers. Caught in a second-order abusive relationship, they feel compelled to comply with processes they perceive as harmful. We term this Entrapped Legal Consciousness—a form of legal subjectivity shaped by institutional norms that reconfigure resistance and reinscribe coercive control. This study offers empirical and theoretical insight into how legality may become a mechanism for cultivating continued control. Full article

Intent detection and slot filling are fundamental components for constructing intelligent question-answering systems in agricultural domains. Existing approaches show notable limitations in semantic feature extraction and achieve relatively low accuracy when processing domain-specific agricultural queries with complex terminology and contextual dependencies. To address these challenges, this paper proposes an agricultural knowledge-enhanced deep learning approach that integrates agricultural domain knowledge and terminology with advanced neural architectures. The method integrates HanLP-based agricultural terminology processing with BERT contextual encoding, TextCNN feature extraction, and attention-based fusion. Experimental validation on a curated domain-specific agricultural dataset of 8041 melon cultivation queries demonstrates that the proposed model achieves an accuracy of 79.6%, recall of 80.1%, and F1-score of 79.8%, demonstrating significant improvements (7–22% performance gains) over baseline methods including TextRNN, TextRCNN, TextCNN, and BERT-TextCNN models. The results demonstrate significant potential for advancing intelligent agricultural advisory systems and domain-specific natural language understanding applications, particularly for precision agriculture applications. Full article

Taro (Colocasia esculenta) is the fifth most cultivated root crop in the world. During the asexual reproduction of taro, the frequent mutation of somatic cells leads to high genetic diversity. With the continuous increase in the amount of taro germplasm resources collected, efficiently and accurately genotyping taro has become a major problem. The identification of taro resources using penta-primer amplification refractory mutation system single-nucleotide polymorphisms (SNP-PARMS) is a relatively efficient method. After resequencing 29 taro resources in this study, approximately 86.95 million SNPs were obtained. Then, 252 specific SNP loci were screened. Based on these 252 specific SNP loci, 36 pairs of PARMS-SNP markers were formed. Among them, 9 pairs of PARMS-SNP markers with a sample loss rate > 15% were eliminated, and finally 27 pairs of PARMS-SNP markers were determined. The average values of minimal allele frequency (MAF), polymorphic information content (PIC), gene diversity (GD), and heterozygosity of these markers are 0.63, 0.34, 0.49, and 0.45, respectively. We analyzed the population structure and the evolutionary group, and the results showed that the 72 taro resources could be divided into 6 groups. The clustering result of the 72 taro resources based on phenotypic traits showed a potential congruence with the result of grouping in the evolutionary tree, with only a few differences detected between the two classifications. Using these markers, DNA fingerprint maps of 72 taro resources were constructed, and all taro resources were differentiated. Some resources show potential similarities in DNA fingerprint maps, as well is in their phenotypic traits, confirming the validity of the fingerprint. The study’s findings serve as a reference for the analysis of the genetic diversity of taro resources. Full article

This study examined the impact of different bio-based and biodegradable mulching films (TSCs) and soil conditioners (SCs) on plant productivity and fruit quality in a tomato cultivation trial under non-irrigated conditions. In particular, different TSCs were developed based on xanthan gum (XG) or gelatine (GEL) mixed with wood fibres (WFs), while SCs were produced using XG and cellulose fibres. A total of 72 plants of Solanum lycopersicum var. cerasiforme were planted. The yield and number of fruits were measured at harvest, followed by physico-chemical analyses, while plant root systems were examined at the end of the experimental period. The results highlighted that the GEL-based TSCs improved the total fruit yield compared to the control (+50% on average). Furthermore, improved fruit yield was also observed for the XG-based SCs when applied in the soil with a higher organic content. Overall, no significant differences in fruit quality (i.e., Brix degree, carotenoids, lutein and potassium content) and plant root system parameters were found for all the treatments applied. At the end of the test, it was noticed that GEL-based films substantially retained their consistency due to their greater density and thickness, while XG-based films were more disintegrated, indicating higher biodegradation. Full article

Soil mineral nutrient heterogeneity is a distinctive characteristic of coastal habitats, yet its impact on plant growth and development remains uncertain. The objective of the present study was to establish an experimental system for evaluating the influence of mineral nutrient availability on the development of three distinct short-lived wild coastal plant species: Phleum arenarium, Plantago coronopus, and Ranunculus sceleratus. These plants were cultivated in containers of different volumes employing an inert substrate with varying proportions of commercial garden soil in controlled conditions. Low mineral nutrient concentration served as a factor inhibiting plant vegetative growth for both P. arenarium and R. sceleratus plants, albeit with a substrate volume-dependent effect. In contrast, P. coronopus exhibited relatively low root biomass and exhibited minimal susceptibility to alterations in mineral nutrient concentration. Conversely, proportional allocation to roots decreased with increasing mineral nutrient concentration, mirroring the pattern observed for P. arenarium. Notably, for R. sceleratus, this effect was pronounced only at a high substrate volume. Furthermore, allocation to roots decreased with increasing substrate volume, but this occurred only at a high mineral nutrient concentration. The substrate, similar to that in coastal habitats, incorporated quartz sand with varying proportions of mineral-rich organic matter, providing comparable plant-available mineral concentrations for analyzing the effects of nutrient concentration, substrate volume, and genetic variability on plant growth and development. For future experiments, a wider range of mineral concentrations and more individual concentrations should be used to assess mineral availability more realistically. Full article

Lardizabala biternata is a culturally valued, endemic vine of the Chilean Winter Rainfall–Valdivian Forest biodiversity hotspot, traditionally harvested for its sweet, edible fruits. Despite its ecological singularity as the sole species in a monotypic genus, the species remains biologically and agronomically understudied, with no formal cultivation systems. There is currently no baseline information on its fruit morphology, which limits the design of conservation strategies and the development of its agronomic potential. This study provides the first phenotypic characterisation of L. biternata fruits, aimed at supporting germplasm evaluation, ex situ conservation, and sustainable domestication of this rare species. A total of 205 fruits were sampled across two seasons and two geographically distant populations. We measured 14 traits, including weight, length, diameter, pulp content, and seed metrics, and analysed morphological variation using t-tests, ANOVA, regression, and principal component analysis or PCA. Fruits averaged 21.0 g in weight, 54.2 mm in length, and 23.8 mm in diameter. Edible pulp constituted 44.4% of total fruit weight and showed strong positive correlations with fruit size, seed number, and seed weight. Significant differences were observed across seasons and populations, with cooler, wetter conditions associated with larger fruits and higher pulp yield. Our findings reveal substantial morphological variability and climate sensitivity, providing a crucial baseline for selecting desirable traits. This work informs ongoing efforts in plant domestication, sustainable agriculture, and the conservation of underutilised species of cultural and ecological importance. Full article

In an era of accelerating secularization, art serves as a vital mediator for non-institutional forms of spirituality. This article examines Robert Rauschenberg’s Inferno series (1958–1960) as a case study of how modern art reconfigures religious narratives to engage with humanity’s “ultimate concerns.” Through his solvent transfer technique, Rauschenberg dismantles Dante’s theological structure and reconfigures it into a fragmented, participatory experience of spirituality. The argument develops in two parts. First, it demonstrates how Rauschenberg secularizes sacred imagery to portray modern social realities as a “contemporary inferno” marked by systemic violence and commodified desire. Second, it theorizes that the materiality of solvent transfer—its blurring, erasure, and contingent traces—creates what may be called “material spirituality,” a sacred presence perceived through absence and indexical trace. Within this reconfigured structure, spectatorship itself takes on a ritualistic character. When confronted with fragmented and unstable imagery, viewers engage in active, contemplative practice, transforming the act of viewing into a secular ritual of attentiveness. Thus, Rauschenberg’s Inferno radically redefines the religious function of art—not as redemption, but as the cultivation of fragile yet enduring forms of spirituality within the estrangement of modern life. Full article

Ecological security and sustainable utilization of cultivated land are the fundamental guarantee for agricultural production and a key link in maintaining ecological balance. Based on the emergy analysis theory, this study adopted the modified emergy–ecological footprint model, taking counties as the evaluation unit, to analyze the spatiotemporal differentiation characteristics of ecological security and sustainable utilization of cultivated land in Sichuan Province from 2010 to 2020. The results indicated that (1) in hilly regions, emergy output increased the most, despite a decrease in emergy input. Overall, both emergy input and output of cultivated land in Sichuan Province showed an increasing trend, with average growth rates of 6.3% and 32.6%, respectively. (2) The overall ecological security of cultivated land in the province was at risk. The at-risk area was mainly concentrated in plain, hilly and peripheral mountainous regions. The spatial pattern presented an evolutionary characteristic where the safe area contracted northwestward while the at-risk area expanded northwestward–southwestward. (3) The overall sustainable utilization of cultivated land in the province degraded from strong to weak. The spatial pattern showed an evolutionary characteristic where plain, hilly and peripheral mountainous regions tended to stabilize, while southwestern mountainous regions and northwestern plateau regions degraded. The ecological security and sustainable utilization of cultivated land in Sichuan Province both show a degradation trend. It is necessary to optimize the input structure of cultivated land systems, improve agricultural production efficiency, and formulate targeted optimization and regulation measures in combination with the actual conditions of each region. Full article

Grazing systems’ production efficiency is a dynamic interaction between soil, pasture, livestock, and climate. The magnitude of the changes is related to the mechanical stress applied by the livestock and their feeding behaviour. In Southern Chile, dairy cattle present a high heterogeneity in breeds, size, live weight, and milk production. This study investigated whether cows of contrasting size/live weight can improve degraded pasture and positively modify soil (Andosol-Duric Hapludand) physical features. Three pasture types were used as follows: (i) cultivated fertilised Lolium perenne L. (perennial ryegrass) and Trifolium repens L. (white clover) mixture (BM); (ii) cultivated fertilised L. perenne, T. repens, Bromus valdivianus Phil. (pasture brome), Holcus lanatus L. (Yorkshire fog), and Dactylis glomerata L. (cocksfoot) mixture (MSM); and (iii) naturalised fertilised pasture Agrostis capillaris L. (browntop), B. valdivianus, and T. repens (NFP). Pastures were grazed with two groups of dairy cows of contrasting size and live weight: light cows (LC) [live weight: 464 ± 5.4 kg; height at the withers: 132 ± 0.6 cm (average ± s.e.m.)] and heavy cows (HC) [live weight: 600 ± 8.7 kg; height at the withers: 141 ± 0.9 cm (average ± s.e.m.)]. Hoof area was measured, and the pressure applied by cows on the soil was calculated. Soil differences in penetration resistance (PR) and macro-porosity (wCP > 50 μm) between pastures were explained by tillage and seeding, rather than as a result of livestock presence and movement (animal trampling). The PR variation during the year was associated with the soil water content (SWC). Grazing dairy cows of contrasting live weight caused changes in soil and pasture attributes, and they behaved differently during grazing. Light cows were linked to more intense grazing, a stable soil structure, and pastures with competitive species and greater tiller density. In MSM, pasture consumption increased, and the soil was more resilient to hoof compression. In general, grazing with heavy cows in these three different pasture systems did not negatively impact soil physical properties. These findings indicate that volcanic soils are resilient and that during renovation, the choice of pasture type has a greater initial impact on soil structure than the selection of cow size, but incorporating lighter cows can be a strategy to promote denser pasture swards in these grazing systems. Full article

The cultivated peanut (Arachis hypogaea L.) is a globally important oilseed and economic crop, but its narrow genetic base limits breeding progress. Wild Arachis species represent valuable genetic resources for enhancing the resilience of the peanut cultigen. While wild species from section Arachis are widely used in breeding programs, the detection of alien chromosomes in hybrids remains challenging due to limited molecular tools. In this study, a cost-effective and efficient system was established for generating species-specific molecular markers using low-coverage next-generation sequencing data, bypassing the need for whole-genome assembly. Utilizing the Chorus2 software, specific alien-chromosome oligo (SAO) markers were developed for four wild species, A. duranensis (accession A19), A. pusilla (A10), A. appresipilla (A33), and A. glabrata (G2 and G3). A total of 1166 primer pairs were designed, resulting in 220 SAO markers specific to A. duranensis, 77 to A. pusilla, 112 to A. appresipilla, 69 to A. glabrata G2, and 59 to A. glabrata G3, with the highest development efficiency observed in A. duranensis (55.0%). These markers span all chromosomes of the five wild accessions. Genome-wide, chromosome-specific SAO markers enable the efficient detection of introgressed alien chromosomes and provide insight into syntenic relationships among homoeologous chromosomes. These markers offer an effective tool for identifying favorable genes and facilitating targeted introgression for the genetic improvement of the cultivated peanut. Full article

Balancing soil nitrogen leaching with production benefits remains a critical challenge in sustainable greenhouse tomato cultivation. This study evaluated the effects of reduced water-soluble nitrogen fertilizer (N) application rates on soil environmental parameters and production outcomes to optimize nitrogen management strategies. Four treatments were implemented across two growing seasons: control (CK), high-N (H), medium-N (M), and low-N (L) nitrogen fertilizer applications in soil solution (SS) and autumn–winter (AW) systems. Results demonstrated that reduced nitrogen inputs significantly decreased soil electrical conductivity and soil nitrogen retention by 88% and 83% in SS and AW, respectively, while reducing soil residual nitrate nitrogen. The tomato yield decreased by 14–26% under low fertilizer treatment, while fruit quality was substantially enhanced, with soluble solid content increasing by 56% in SS and 217% in AW for the L treatment compared to the CK. Nitrogen-use efficiency improved by 54.7% and 34.78% in SS and AW, respectively, demonstrating superior resource utilization under reduced fertilizer applications. Principal component analysis revealed that fruit quality was primarily influenced by soluble solid content, organic acid, total soluble solids, and sugar–acid ratio. Gray relational analysis identified the L treatment (361.62 kg ha⁻¹ in SS and 182.6 kg ha⁻¹ in AW) as optimal for comprehensive performance evaluation. The findings demonstrate that strategic nitrogen reduction effectively balances production benefits with environmental sustainability, providing a practical framework for sustainable nitrogen management in controlled environment agriculture. Full article

Warm-season grasses are the main source of feed in tropical and subtropical beef cattle production systems. The objective was to assess cattle preference among three warm-season grasses and explore its relationship with forage yield and plant structural traits. The three species were cultivated in 2 × 2 m plots using a completely randomized design. Cattle preference was evaluated in spring (December 2016 and 2017), summer (March 2017), and autumn (May 2017) using six Braford steers that grazed the plots for 4 h on two consecutive days. Pre-grazing forage yield, plant height, leaf-blade length, leaf-blade width, and the proportions of five leaf tissues at three leaf regions were measured at each date. Cattle preference was variable among the three species and evaluation dates. Paspalum atratum exhibited the highest pre-grazing forage yield, and constituted the tallest plants with the longest leaves during the summer. Urochloa brizantha showed the greatest proportion of vascular bundle sheath (17–30% at the midrib region, 25–31% at the interveinal region and 14–23% at the margin region) and P. atratum exhibited the greatest number of primary vascular bundle. Cattle preference was negatively correlated with the number of primary vascular bundle, pre-grazing forage yield, plant height and leaf-blade length. Full article

Population growth drives increasing energy demands, agricultural production, and organic waste generation. The organic waste contributes to greenhouse gas emissions and increasing landfill burdens, highlighting the need for novel closed-loop technologies that integrate water, energy, and food resources. Within the context of the Water–energy–food Nexus (WEF), wastewater can be recycled for food production and food waste can be converted into clean energy, both contributing to environmental impact reduction and resource sustainability. A novel household-scale, closed-loop WEF system was designed, installed and operated to manage organic waste while retrieving water for irrigation, nutrients for plant growth, and biogas for energy generation. The system included a biodigester for energy production, a sand filter system to regulate nutrient levels in the effluent, and a hydroponic setup for growing food crops using the nutrient-rich effluent. These components are operated with a daily batch feeder coupled with automated sensors to monitor effluent flow from the biodigester, sand filter system, and the feeder to the hydroponic system. This novel system was operated continuously for two months using typical household waste composition. Controlled experimental tests were conducted weekly to measure the nutrient content of the effluent at four locations and to analyze the composition of biogas. Gas chromatography was used to analyze biogas composition, while test strips and In-Situ Aqua Troll Multi-Parameter Water Quality Sonde were employed for water quality measurements during the experimental study. Experimental results showed that the system consistently produced biogas with 76.7% (±5.2%) methane, while effluent analysis confirmed its potential as a nutrient source with average concentrations of phosphate (20 mg/L), nitrate (26 mg/L), and nitrite (5 mg/L). These nutrient values indicate suitability for hydroponic crop growth and reduced reliance on synthetic fertilizers. This novel system represents a significant step toward integrating waste management, energy production, and food cultivation at the source, in this case, the household. Full article

Microalgae cultivation offers a sustainable approach for nutrient recovery from municipal effluents and the production of valuable biomass, although efficient harvesting remains challenging. This study evaluated the adaptation of the microalgal consortium MC-10 in a sequential batch system through reinoculation of its flocculating fraction to enhance harvesting efficiency and mineral recovery. The consortium was initially cultivated under high ionic stress to promote cell aggregation. Laboratory preadaptation using secondary municipal effluents was then conducted, followed by an outdoor evaluation. In the initial propagation stage, flocculation efficiency reached 98%. Using municipal effluents, flocculation values of 99% were obtained, with a 149% increase in flocculating biomass under laboratory conditions, and 84% flocculation with a 125% increase in biomass production under outdoor conditions, demonstrating the consortium’s stability under environmental fluctuations and its suitability for biomass harvesting. The resulting biomass showed high potential as a biofertilizer due to its mineral content (47% dry weight, DW) and acid solubility (83%), indicating high nutrient bioavailability. Additionally, it contained a total carotenoid concentration of 451 μg/g DW, adding antioxidant value. These findings support the use of microalgae cultivation for the valorization of municipal effluents through the production of easily harvestable biomass with potential for reintegration into agricultural systems. Full article