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This study attempted to examine the effects of biochar amendment together with bio-fertilizer on soybean yield and its qualitative properties, as well as a few chemical properties of soil through a factorial randomized complete block design at three replications in east of Golestan Province (Iran) during 2014. The two factors under study included the following: (1) biochar amendment (in four levels of 0, 2.5, 8, and 16 tons per hectare), (2) bio-fertilizer containing phosphorus and sulfur growth-promoting rhizobacteria (in two levels of inoculation and non-inoculation) applied through foliar feeding. The results of analysis of variance indicated that interactions of biochar amendment and bio-fertilizer on harvest index and grain yield were significant (p ≤?0.01). According to the results of this study, the highest harvest index and oil content were 56.9, and 17.7%, respectively, in the treatment of 8 tons per hectare biochar and inoculation with bio-fertilizer. The lowest harvest index and the lowest oil content were in the control treatment. The interaction of biochar and bio-fertilizer on bulk density and cation exchange capacity was significant (p ≤?0.01). The results of this study demonstrated that biochar affected the amount of residual nitrogen in the soil after harvest, cation exchange capacity (CEC), acidity (pH), and electrical conductivity (EC). The highest grain yield (3440 kg/ha) was in the 8-ton biochar treatment with inoculated bio-fertilizer. Our study concludes that the biochar and bio-fertilizers can improve grain yield of soybean till 51% relative to the control.  相似文献   
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In this study, the amount of cyanide in gold mine tailings is modeled as conceptual, statistical, and mathematical to determine environmental risk level and also to estimate the fate and transport of cyanide in tailings. Therefore, 116 points were selected for sampling from three levels of gold mine tailings and analyzed by colorimetric method. As a matter of fact, new hybrid modeling methods such as AdaBoost, Support Vector Machine, Linear Discriminant Analysis, and Random Forest were used in estimation. In current study, The AdaBoost method was qualified as the best one by minimum estimation error (less than 10%). The model derived from the AdaBoost method shows an average variation of 581 g/day in the volume of cyanide tailings. Thus, the important results of this paper are the presentation of 3D numerical and especially conceptual models according to the 3D cyanide variation in the sulfide gold mine tailings and governing physic/chemical parameters. These qualitative and quantitative results can be used for the management of tailings dam and prevention of the contaminant extension.  相似文献   
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A GPS-aided Inertial Navigation System (GAINS) is used to determine the orientation? position and velocity of ground and aerial vehicles. The data measured by Inertial Navigation System (INS) and GPS are commonly integrated through an Extended Kalman Filter (EKF). Since the EKF requires linearized models and complete knowledge of predefined stochastic noises? the estimation performance of this filter is attenuated by unmodeled nonlinearity and bias uncertainties of MEMS inertial sensors. The Attitude Heading Reference System (AHRS) is applied based on the quaternion and Euler angles methods. A moving horizon-based estimator such as Model Predictive Observer (MPO) enables us to approximate and estimate linear systems affected by unknown uncertainties. The main objective of this research is to present a new MPO method based on the duality principle between controller and observer of dynamic systems and its implementation in AHRS mode of a low-cost INS aided by a GPS. Asymptotic stability of the proposed MPO is proven by applying Lyapunov’s direct method. The field test of a GAINS is performed by a ground vehicle to assess the long-time performance of the MPO method compared with the EKF. Both the EKF and MPO estimators are applied in AHRS mode of the MEMS GAINS for the purpose of real-time performance comparison. Furthermore? we use flight test data of the GAINS for evaluation of the estimation filters. The proposed MPO based on both the Euler angles and quaternion methods yields better estimation performances compared to the classic EKF.  相似文献   
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