A Dynamic Task Scheduling Method for Multiple UAVs Based on Contract Net Protocol.

Unmanned aerial vehicles are becoming promising platforms for disaster relief, such as providing emergency communication services in wireless sensor networks, delivering some living supplies, and mapping for disaster recovery. Dynamic task scheduling plays a very critical role in coping with emergent tasks. To solve the multi-UAV dynamic task scheduling, this paper constructs a multi-constraint mathematical model for multi-UAV dynamic task scheduling, involving task demands and platform capabilities. Three objectives are considered, which are to maximize the total profit of scheduled tasks, to minimize the time consumption, and to balance the number of scheduled tasks for multiple UAVs. The multi-objective problem is converted into single-objective optimization via the weighted sum method. Then, a novel dynamic task scheduling method based on a hybrid contract net protocol is proposed, including a buy-sell contract, swap contract, and replacement contract. Finally, extensive simulations are conducted under three scenarios with emergency tasks, pop-up obstacles, and platform failure to verify the superiority of the proposed method.

Integrated microbiological and metabolomics analyses to understand the mechanism that allows modified biochar to affect the alkalinity of saline soil and winter wheat growth.

In order to understand the mechanism that allows modified biochar (BC) to enhance the salt tolerance and growth of crops in saline-alkali soil, we tested the effects of ordinary BC, nanoparticle-size BC, acidified BC (HBC), and acidified nanoparticle-size BC on winter wheat growth and the soil properties by combining microbiological and metabolomics analyses. The results showed that compared with the control with no BC, the plant height increased by 17.33 % under HBC and the proportion of large soil aggregates increased by 1.25-2.83 times. HBC increased the relative abundances of some dominant genera of bacteria (e.g., Streptococcus) and fungi (e.g., Mycothermus), as well as functions such as bacterial metabolic genetic information processing and cellular processes, and reduced the abundance of pathotrophic fungi. Metabolomics analysis showed that HBC upregulated various metabolites (including amino acids and their derivatives, lipids, flavonoids, and organic acids) and five main metabolic pathways. Among the KEGG pathways, the pyrimidine metabolism pathway was significantly upregulated, as well as crop leaf metabolism, ß-alanine metabolism, and valine, leucine, and isoleucine metabolism, and the antioxidant levels and resistance to salt-alkali stress were enhanced in winter wheat leaves. Partial least squares-path modeling suggested that HBC affected the growth of winter wheat by significantly changing the soil physicochemical properties and microbial structure (path coefficients of 0.566 and 0.512, respectively).

Mechanism for combined application of biochar and Bacillus cereus to reduce antibiotic resistance genes in copper contaminated soil and lettuce.

The remediation of agricultural soil contaminated by antibiotic resistance genes (ARGs) is of great significance for protecting food safety and human health. Reducing the availability of copper in soil may control coresistance to ARGs. However, the feasibility of applying nano-biochar and Bacillus cereus to mitigate the spread of ARGs in Cu contaminated soil remains unclear. Therefore, this study investigated the use of biochar with different particle sizes (2 % apple branch biochar and 0.5 % nano-biochar) and 3 g m-2B. cereus in a 60-day pot experiment with growing lettuce. The effects of single and combined application on the abundances of ARGs in Cu-contaminated soil (Cu = 200 mg kg-1) were compared, and the related mechanisms were explored. Studies have shown that the addition of biochar alone is detrimental to mitigating ARGs in soil-lettuce systems. The combined application of 3 g m-2B. cereus and 0.5 % nano-biochar effectively inhibited the proliferation of ARGs in Cu-contaminated soil, and 3 g m-2B. cereus effectively inhibited the proliferation of ARGs in lettuce. Partial least squares-path modeling and network analysis showed that bacterial communities and mobile genetic elements were the key factors that affected the abundances of ARGs in rhizosphere soil, and Cu resistance genes and bioavailable copper (acid extractable state Cu (F1) + reducing state Cu (F2)) had less direct impacts. The bacterial community was the key factor that affected the abundances of ARGs in lettuce. Rhodobacter (Proteobacteria), Corynebacterium (Actinobacteria), and Methylobacterium (Proteobacteria) may have been hosts of ARGs in lettuce plants. B. cereus and nano-biochar affected the abundances of ARGs by improving the soil properties and reducing the soil bioavailability of Cu, as well as directly or indirectly changing the bacterial community composition in soil and lettuce, thereby impeding the transport of ARGs to aboveground plant parts.

Mechanism that allows manno-oligosaccharide to promote cellulose degradation by the bacterial community and the composting of cow manure with straw.

The new sugar source manno-oligosaccharide can regulate the structure of the microbial community. This study investigated the effects of adding manno-oligosaccharide at four different levels (0, 0.1%, 0.5%, and 1% w/w compost) to composting cow manure and straw on lignocellulose degradation and the bacterial community. Adding 0.5% manno-oligosaccharide had the greatest effects on accelerating the composting process, reducing its toxicity, and improving the stability of the product. After composting for 25 days, adding 0.5% manno-oligosaccharide decreased the hemicellulose, cellulose, and lignin contents to 2.25%, 11.25%, and 7.07%, respectively, compared with those under CK. Manno-oligosaccharide promoted the degradation of lignocellulose by increasing the abundances of Thermobifida, Streptomyces, and Luteimonas. In addition, manno-oligosaccharide inhibited pathogenic bacteria and increased the abundances of functional genes related to metabolism. Finally, adding 0.5% manno-oligosaccharide mainly affected the degradation of lignocellulose by enhancing the C/N ratio and the abundances of Streptomyces and the secretion system during composting according to redundancy analysis.

Cadmium Stabilization and Redox Transformation Mechanism in Maize Using Nanoscale Zerovalent-Iron-Enriched Biochar in Cadmium-Contaminated Soil.

Cadmium (Cd) is a readily available metal in the soil matrix, which obnoxiously affects plants and microbiota; thus, its removal has become a global concern. For this purpose, a multifunctional nanoscale zerovalent-iron enriched biochar (nZVI/BC) was used to alleviate the Cd-toxicity in maize. Results revealed that the nZVI/BC application significantly enhanced the plant growth (57%), chlorophyll contents (65%), intracellular permeability (61%), and biomass production index (76%) by restraining Cd uptake relative to Cd control. A Cd stabilization mechanism was proposed, suggesting that high dispersion of organic functional groups (C-O, C-N, Fe-O) over the surface of nZVI/BC might induce complex formations with cadmium by the ion exchange process. Besides this, the regular distribution and deep insertion of Fe particles in nZVI/BC prevent self-oxidation and over-accumulation of free radicals, which regulate the redox transformation by alleviating Cd/Fe+ translations in the plant. Current findings have exposed the diverse functions of nanoscale zerovalent-iron-enriched biochar on plant health and suggest that nZVI/BC is a competent material, feasible to control Cd hazards and improve crop growth and productivity in Cd-contaminated soil.