Autonomous system for data collection: Location and mapping issues in post-disaster environment

Disaster relief requires many resources. Depending on the circumstances of each event, it is important to rapidly choose the suitable means to respond to the emergency intervention. A brief review of the conditions and means demonstrated the usefulness of an autonomous stand-alone machine for these missions. If many techniques and technologies exist, their relevant combination to achieve such a system presents several challenges. This communication tries to outline the possible achievement of an autonomous vehicle under these particular circumstances. This paper focuses on the specific working conditions and welcomes future contributions from robotics and artificial intelligence.In the necessarily limited scope of this article, the authors focus on a particularly critical aspect: location. Indeed, this machine is intended to evolve in heterogeneous and dangerous environment and without any outside contacts that could last up to several days. This blackout, due to the propagation difficulties of electromagnetic waves in the ground, induces an independence of the localisation process and makes the use of any radio navigation support system (GNSS), most of the time, impossible. The knowledge of the position of the system, both for navigation of the autonomous system (Rover) and location of targets (victims buried under debris) must be able to be estimated without contributions from external systems. Inertial classical techniques, odometer, etc., have to be adapted to these conditions during a long period without external support. These techniques also have to take into account that energy optimisation requests the use of low-power processors. Consequently, only poor computing capacity is available on-board.The article starts with a presentation of the context of a post-disaster situation as well as the main missions of Search and Rescue (SaR). It is followed by the analysis of autonomous navigation located in a post-earthquake situation. We will then discuss means to determine the attitude of the autonomous system and its position. The interest of hybridisation with external systems – whenever possible –, will be evaluated with a view to correcting deviations suffered by the system during its mission. Finally, prospects and future work are presented.     

微球动态涂敷状态实时监测光学系统的设计

 介绍了一种可用于实时监测直径0.2～1.0 mm激光核聚变靶球涂敷状态的光学系统的设计，系统采用环形LED照明系统以适合特殊的照明要求，用Petzval型物镜使500 mm处的微球清晰成像于CCD像面上，CCD输出的图像电信号经图像采集卡转换成数字信号，最后该数字信号由计算机进行处理，实现了系统对靶球膜层涂敷作业的自动监控，大大提高了涂敷效率。所设计的系统轴上点最大弥散斑直径为12.6 mm,轴外最大弥散斑直径为15.8 mm，整个视场的像质比较均匀,分辨率较高，对于波长522 nm的光线，场曲和畸变分别小于15 mm和0.012%，像质优良。     

基于灰度冗余的红外图像自适应输出窗技术

根据红外图像的特点，提出了一种基于灰度冗余的红外图像自适应输出窗技术.该技术通过对图像灰度直方图的统计，设定适当的阈值，将灰度像素分布为零的灰度级进行完全压缩，将小于阈值的灰度级映射到阈值灰度级，然后将有效灰度级在整个可显示灰度级范围内作等间距排列.该算法在压缩灰度冗余的同时，实现了对有效图像灰度级的无损均衡，提高了图像质量，并能实现实时处理.     

用反射法自动测量大尺寸样品的折射率分布

针对大尺寸样品的折射率分布测量,引入自动扫描装置和适时数据处理系统,研究出一种高灵敏度的智能化反射法折射率分布测量仪,可进行快速、自动、准确的折射率分布测量.经理论分析和实验研究提出了一套合理的实验数据处理方法.并具体介绍和详尽分析了实验装置,讨论了有关理论和实验误差,给出了消除各种误差的有效方法,最终得出较为理想的实验结果.     

空间雷电探测实时采集定位系统

星载雷电探测定位系统是利用光学探测器探测闪电事件的地理位置和光脉冲波形，系统采用CPLD+DSP的数字图像处理方案，利用了CPLD复杂逻辑可编程特性将系统的部分或全部功能集成在一片CPLD上，减小了系统硬件复杂程度，节省了印制版空间.利用DSP高速数字信号处理特性完成实时处理图像数据的功能.系统用CPLD完成图像信号的采集、编码和存储控制,缩小了星载设备体积，简化了电路结构；用DSP完成大量图像数据处理工作，提高了系统工作的实时性.     

Detection of processed genetically modified food using CIM monolithic columns for DNA isolation

The availability of sufficient quantities of DNA of adequate quality is crucial in polymerase chain reaction (PCR)-based methods for genetically modified food detection. In this work, the suitability of anion-exchange CIM (Convective Interaction Media; BIA Separations, Ljubljana, Slovenia) monolithic columns for isolation of DNA from food was studied. Maize and its derivates corn meal and thermally pretreated corn meal were chosen as model food. Two commercially available CIM disk columns were tested: DEAE (diethylaminoethyl) and QA (quaternary amine). Preliminary separations were performed with standard solution of salmon DNA at different pH values and different NaCl concentrations in mobile phase. DEAE groups and pH 8 were chosen for further isolations of DNA from a complex matrix-food extract. The quality and quantity of isolated DNA were tested on agarose gel electrophoresis, with UV-scanning spectrophotometry, and by amplification with real-time PCR. DNA isolated in this way was of suitable quality for further PCR analyses. The described method is also applicable for DNA isolation from processed foods with decreased DNA content. Furthermore, it is more effective and less time-consuming in comparison with the existing proposed methods for isolation of DNA from plant-derived foods.     

Real-time Quantitative RT-PCR for CT9 Level in Human Cancer

Introduction Malignantdiseasesarecharacterizedbytheunreg ulatedgrowthoftransformedcells.Inrecentyears,dramaticinsightsintothemolecularmechanismsofthis phenomenonhavebeenachievedfrombasiccancerre search.Manycellularfunctionsareregulatedbychan gesingeneexpr…     

实时荧光等位基因特异性扩增法快速检测K-ras癌基因点突变

将荧光定量PCR技术与等位基因特异性扩增(Allele specific amplification, ASA)方法相结合, 发展了一种可以快速检测基因点突变的实时荧光等位基因特异性扩增(Real-time ASA)方法. 将该法用于检测K-ras癌基因第12位密码子发生的点突变, 分别采用针对其不同点突变方式(GAT, GTT, CGT)设计的突变型引物对待测样品进行ASA, 只有突变型样品能被顺利扩增出双链DNA产物, 该产物才能与双链DNA染料SYBR Green Ⅰ结合, 发出荧光信号从而被检测到. 用该法检测31例结肠癌组织中的K-ras癌基因点突变, 其中有15例样品检出为突变型. Real-time ASA法可检测到样品中含量为1/1000的突变型基因, 具有灵敏、快速、简便、安全、高通量和低成本等优点, 可望用于大量临床样本的点突变筛查.     

In situ real-time study buckling behavior of boron nitride nanotubes with axial compression by TEM

The real time analysis structure evolution of BNNT with compression showed that the formation of V-shape in the post-buckling before BNNT fracture was reversible.