UAPF: A UWB Aided Particle Filter Localization For Scenarios with Few Features.

Lidar-based localization doesn't have high accuracy in open scenarios with few features, and behaves poorly in robot kidnap recovery. To address this problem, an improved Particle Filter localization is proposed who could achieve robust robot kidnap detection and pose error compensation. UAPF adaptively updates the covariance by Jacobian from Ultra-wide Band information instead of predetermined parameters, and determines whether robot kidnap occurs by a novel criterion called KNP (Kidnap Probability). Besides, pose fusion of ranging-based localization and PF-based localization is conducted to decrease the uncertainty. To achieve more accurate ranging-based localization, linear regression of ranging data adopts values of maximum probability rather than average distances. Experiments show UAPF can achieve robot kidnap recovery in less than 2 s and position error is less than 0.1 m in a hall of 40 by 15 m, when the currently prevalent lidar-based localization costs more than 90 s and converges to wrong position.

[Decomposition and nutrient release of root with different diameters of three subalpine dominant trees in western area of Sichuan Province, China].

In this study, a buried bag experiment was used to investigate mass loss and C, N and P release patterns of fine (≤2 mm), medium (2-5 mm) and coarse (≥ 5 mm) roots of 3 subalpine dominant trees, i. e., Betula albosinensis, Abies faxoniana and Picea asperata in the growing and non-growing seasons. In general, the remaining mass of B. albosinensis was lower than that of A. faxoniana and P. asperata. In addition, root remaining mass increased with the increase of root diameter for the same species. The mass losing rate in the non-growing season was 52.1%-64.4% of a year. The C release of B. albosinensis was the highest, but that of A. faxoniana was the lowest. Also, C release decreased with the increase of root diameter. N of A. faxoniana and P. asperata were enriched in the non-growing season but released in the growing season. However, the opposite pattern was found for B. albosinensis. During the non-growing season, the amount of N enrichment increased with the increase of root diameter. The P release of 3 species was characterized as the enrichment-release pattern. P enrichment of A. faxoniana was significantly greater than that of P. asperata and B. albosinensis. Nevertheless, no significant difference was observed between diameter sizes. In conclusion, diameter size had significant effect on root decomposition in the subalpine forests of western Sichuan, and the diameter effect was dependent on tree species and season.