旅游及城市化影响下的避暑山庄植被及其生态规划研究

避暑山庄是现存我国最大的皇家园林。由于种种原因，避暑山庄植被从建庄至今，发生了很大的变化，原始植被破坏殆尽，仅留下少数古树，现状植被多为五十年代大搞绿化时所植，植物配冤出现了与这一历史名园不相协调的矛盾;近几十年来旅游及城市的发展对避暑山庄植被有一定的冲击，要求有相应的对策。 我有从生态学的观点出发，首先对避暑山庄的历史及现状植被进行了研究，然后研究了旅游与城市化对避暑山庄植被的影响，最后，对避暑山庄不同游览区的生境优劣(土壤肥力及小气侯因子)及环境污染(S、Pb)的现状进行了观测与分析。根据上述研究，我们进进了避暑山庄植被生态规划。结果如下: 1、避暑山庄盛期的主要植被是以油松、栎类为主的针(阔)叶林或混交林，尚有以白榆、国槐、旱柳、元宝械等组成的混合林等10个植物群落。 2、避暑山庄现状植被可划分为14个植物群落，以油松群落面积最大。 3、旅游及城市化对避暑山庄植被的影响，主要表现在对土壤的影响及对植被的直接影响，主要方式有机械破坏及造成的环境污染的危害等，这些影响与避暑山庄古松死亡(26.5棵/年)有很大关系。 4、山庄各游览区环境污染的大小顺序是:宫殿区>湖洲区>平原区>山峦区。其中避暑山庄S污染严重是北京北京植物园的2.1倍。 5、避暑山庄各游览区生境优劣:山峦区优予胡洲区，湖洲区优于平原区，平原区优于宫殿区;在山峦区，沟谷优于阴坡，阴坡优于阳坡。 6、避暑山庄湖水出现了富营养化污染，总N及总P含量超过国家标准3倍多。 7、基于上述分析，提出了以旅游为主的避暑山庄植被生态规划原则，根据这一原则，规划出11个植物群落。 8、共编绘了1:10000的避署山庄历史、现状及规划植被图3幅。

Design and path planning for a remote-brained service robot

This paper presents a novel robot named "TUT03-A" with expert systems, speech interaction, vision systems etc. based on remote-brained approach. The robot is designed to have the brain and body separated. There is a cerebellum in the body. The brain with the expert systems is in charge of decision and the cerebellum control motion of the body. The brain-body. interface has many kinds of structure. It enables a brain to control one or more cerebellums. The brain controls all modules in the system and coordinates their work. The framework of the robot allows us to carry out different kinds of robotics research in an environment that can be shared and inherited over generations. Then we discuss the path planning method for the robot based on ant colony algorithm. The mathematical model is established and the algorithm is achieved with the Starlogo simulating environment. The simulation result shows that it has strong robustness and eligible pathfinding efficiency.

Design and path planning for a remote-brained service robot

This article introduced an effective design method of robot called remote-brain, which is made the brain and body separated. It leaves the brain in the mother environment, by which we mean the environment in which the brain's software is developed, and talks with its body by wireless links. It also presents a real robot TUT06-B based on this method which has human-machine interaction, vision systems, manipulator etc. Then it discussed the path planning method for the robot based on ant colony algorithm in details, especially the Ant-cycle model. And it also analyzed the parameter of the algorithm which can affect the convergence. Finally, it gives the program flow chat of this algorithm.

a real-time path planning approach without the computation of cspace obstacles

An important concept proposed in the early stage of robot path planning field is the shrinking of the robot to a point and meanwhile expanding of the obstacles in the workspace as a set of new obstacles. The resulting grown obstacles are called the Configuration Space (Cspace) obstacles. The find-path problem is then transformed into that of finding a collision free path for a point robot among the Cspace obstacles. However, the research experiences obtained so far have shown that the calculation of the Cspace obstacles is very hard work when the following situations occur: 1. both the robot and obstacles are not polygons and 2. the robot is allowed to rotate. This situation is even worse when the robot and obstacles are three dimensional (3D) objects with various shapes. Obviously a direct path planning approach without the calculation of the Cspace obstacles is strongly needed. This paper presents such a new real-time robot path planning approach which, to the best of our knowledge, is the first one in the robotic community. The fundamental ideas are the utilization of inequality and optimization technique. Simulation results have been presented to show its merits.

初步的IMP重离子治疗计划系统；A Preliminary Version of Heavy Ion Treatment Planning System at IMP

中国科学院近代物理研究所基于兰州重离子研究装置(HIRFL/HIRFL-CSR),在被动型束流配送系统下采用二维分层适形照射治疗技术开展重离子治癌临床试验研究。为了更好地利用重离子束在肿瘤放射治疗中的生物物理优势并保障重离子临床治疗试验的顺利实施,一个初级版本的重离子治疗计划系统已经设计完成。此计划系统是针对被动型束流配送系统下的二维分层适形照射治疗方式来进行设计的。介绍了此系统的设计框架、可提供的功能以及利用宽束算法进行剂量计算在此系统中的实现。通过人体仿真体模实验证实由该治疗计划系统给出的靶区计划剂量与实测剂量的偏差在5%之内。最后讨论了设计较为完备的重离子治疗计划系统仍需解决的问题。

Linking territorial and coastal planning: the Venezuelan experience

Venezuela is located in central northern South America, with some 4 000 km of coastline and near 700 000 km2 of marine and submarine areas. The Venezuelan coastal zone is characterized by serious problems of land use and utilisation of its natural resources, caused by a generally anarchical spatial occupation and lack of sufficient legal and administrative means for control. In this paper, a synthesis of the Venezuelan approach to attaining a sustainable development of its marine and coastal zones is presented. This means the accomplishment of the social and economic development of the Venezuelan population in general, and specifically the coastal inhabitants, taking into account the legal and administrative patterns that govern land use planning and the utilisation of natural resources, particularly in marine and coastal areas. The paper is organised in three parts: (1) the diagnosis of the current situation; (2) the presentation of a hypothesis based on present trends (trend scenario); and (3) the statement and application of a sound and adequate solution (desirable and possible scenario).

The integration of coastal zone management into national development planning

The broad acceptance and collective commitment of countries to the tasks involved in the implementation of Agenda 21, Chapter 17, have profound implications vis-à-vis the interplay between coastal zone management (CZM) and national development planning (NDP). It appears that in many countries, CZM has evolved in isolation from the mainstream of national development processes. The paper examines various forms and elements for the effective integration of CZM into NDP.

Tourism Potential of Agricultural Heritage Systems

Traditional agricultural systems are threatened world-wide mainly due to the introduction of modern agricultural techniques and the emigration of farm labourers from remote rural villages. The objective of the programme 'Globally Important Agricultural Heritage Systems' (GIAHS), initiated by the Food and Agriculture Organization (FAO) of the United Nations in 2002, is dynamic conservation of traditional agricultural systems. This article addresses the definition and content of agricultural heritage systems and discusses conservation options in the light of developing rural tourism. An explorative survey was conducted in Longxian village, situated in Zhejiang Province, southern China, focusing on the tourism potential of a typical Rice-Fish Agricultural System. The identification of heritage resources is a first step in the process of transforming an agricultural landscape into a cultural tourism landscape. However, the future of these landscapes is in the hands of a range of stakeholders and depends on their capacity to manage, in a sustainable way, tourism development strategies alongside conservation policies.

Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots

提出了一种用于工业机器人时间最优轨迹规划及轨迹控制的新方法，它可以确保在关节位移、速度、加速度以及二阶加速度边界值的约束下，机器人手部沿笛卡尔空间中规定路径运动的时间阳短。在这种方法中，所规划的关节轨迹都采用二次多项式加余弦函数的形式，不仅可以保证各关节运动的位移、速度 、加速度连续而且还可以保证各关节运动的二阶加速度连续。采用这种方法，既可以提高机器人的工作效率又可以延长机器人的工作寿命以PUMA560机器人为对象进行了计算机仿真和机器人实验，结果表明这种方法是正确的有效的。它为工业机器人在非线性运动学约束条件下的时间最优轨迹规划及控制问题提供了一种较好的解决方案。