An inventory of forest relicts in the pastures of Southern Tibet (Xizang AR, China)

An inventory of isolated tree stands surrounded by desert pastures in Southern Tibet (A.R. Xizang, China) revealed more than 50 sites with vigorous trees of Juniperus convallium Rehder & E.H. Wilson and Juniperus tibetica Kom and additional more than 10 records where juniper trees had been destroyed between 1959-1976. The tree stands are not restricted to any specific habitat, and occur within an area stretching 650 km westwards from the current forest border of Southern Tibet. The trees are religious landmarks of the Tibetan Buddhists. The highest trees were found at an elevation of 4,860 m. Vegetation records, rainfall correlations and temperature data collected by local climate stations and successful reforestation trials since 1999 indicate that forest relicts fragmented through human interference could regenerate if current cattle grazing and deforestation practices are halted. The drought line of Juniperus forests in Southern Tibet is approximately 200-250 mm/a. A first pollen diagram from Lhasa shows forest decline associated with the presence of humans since at least 4,600 yr BP. The currently degraded commons developed in the last 600 yr. To date, no findings of remains of ancient forests in the Central Tibetan Highlands of the Changtang have been reported.

自主移动机器人三角定位的路标优化

针对给出的机器人三角定位算法，推导出路标设置对定位影响的几何精度标准，证明了参与定位的路标数目为3个和3个以上的情况下，如果路标与机器人的距离都相等，那么当相邻路标与机器人所成夹角都相等时，机器人的定位精度最高；进而给出了最优路标选取算法.实验和实践结果也进一步证明所得结论的有效性。

路标定位中的优化选择策略

基于合作路标的三角定位是自主式移动机器人的主要定位方法。路标的优化选择是提高定位算法精度的关键。本文在给出该算法原理的基础上 ,通过理论分析和实验证明了路标优化选择对提高定位算法精度的作用 ,并介绍了路标优化选择的准则

一种基于视觉的移动机器人定位系统

具有自主的全局定位能力是自主式移动机器人传感器系统的一项重要功能 .为了实现这个目的 ,国内外均在不断地研究发展各种定位传感器系统 .这里介绍了一种采用光学原理的全方位位置传感器系统 .该传感器系统由主动式路标、视觉传感器、图象采集与数据处理系统组成 .其视觉传感器和数据处理系统可安装在移动机器人上 ,然后可通过观测路标和视角定位的方法 ,计算出机器人在世界坐标系中的位置和方向 .实验证明 ,该系统可以实现机器人的在线定位 ,其采样速率和精度能够满足实用要求 .

小学儿童空间物体位置编码的实验研究

As a key issue in spatial cognitive developmental research, the coding of object location plays an important role in children's cognitive development. The development of location coding is a precondition for children's adaptation to their environments, and the development of corresponding ability could enhance children's adaptation ability and improve their synthetic diathesis. In this paper, under the improved paradigm of object searching, 7-, 9- and 11-year-olds of urban primary school students were involved in two studies including the total of four experiments. The children were examined upon the ability to encode target location in terms of the distance between two landmarks, three points on a line, the intersection of two lines, or the corresponding points on two parallel lines. The experiments were designed to explore the primary school children's cognitive developmental process upon spatial object location and the correlative restricting factors. From the studies, the following conclusions were drawn: 1)The ability of 7-year-olds to represent target location in terms of the relationships of points and lines is in the inceptive stage and appears unstable. Meanwhile, the same ability of 9-year-olds is in a state of fast developing. The 9-year-olds' performance depends on how difficult the task is. It is stable when task is easy while unstable when task becomes difficult. The ability of 11-year-olds reaches much-developed state and the group's performance is independent of the difficulty of tasks. 2) The correlate coefficient is significant between Raven Standard Inference ability levels and the performance of representing target location in terms of the relationships of points. Those children with good performance in Raven Standard Inference Test have good performance in target location coding. The case is true for all different age groups. As of the task in terms of the relationships of lines, the correlate coefficient between Raven Standard Inference ability levels and children's performance of representing target location is found significant only for the 7-year-olds' group. The case is not true for the groups of 9- and 11-year-olds. It is also found that the correlate coefficient is significant between the sum of performance and Raven Standard Inference ability levels, and that is true for all age groups. 3) Effects from task variable exist upon children's above-mentioned cognitive performance. The effects are different according to different difficulty levels of tasks. Also, they are different according to the different ages. 4) The subjects who failed in the 'no cues for encoding given' situation were able to improve their performances when the cues of encoding were given. Therefore it is possible to improve the primary school children's corresponding cognitive performance by providing the cues of encoding. 5) Two kinds of efficient strategies were used to solve the problem. They are trial-comparison strategy and anticipation-directed strategy.