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.     

Decision diagrams for solving traveling salesman problems with pickup and delivery in real time

The Traveling Salesman Problem with Pickup and Delivery seeks a minimum cost path with pickups preceding deliveries. It is important in on-demand last-mile logistics, such as ride sharing and meal delivery. We examine the use of low-width Decision Diagrams in a branch-and-bound with and without Assignment Problem inference duals as a primal heuristic for finding good solutions within strict time budgets. We show these diagrams can be more effective than similarly structured hybrid Constraint Programming techniques for real-time decision making.     

New approach for natural products screening by real-time monitoring of hemoglobin hydrolysis using quartz crystal microbalance

The hemoglobin (Hb) released from erythrocytes is a primary nutritive component for many blood-feeding parasites. The aspartic protease cathepsin D is a hemoglobinase that is involved in the Hb degradation process and is considered an interesting target for chemotherapy intervention. However, traditional enzymatic assays for studying Hb degradation utilize spectrophotometric techniques, which do not allow real-time monitoring and can present serious interference problems. Herein, we describe a biosensor using simple approach for the real-time monitoring of Hb hydrolysis as well as an efficient screening method for natural products as enzymatic inhibitors using a quartz crystal microbalance (QCM) technique. Hemoglobin was anchored on the quartz crystal surface using mixed self-assembled monolayers. The addition of the enzyme caused a mass change (frequency shift) due to Hb hydrolysis, which was monitored in real time. From the frequency change patterns of the Hb-functionalized QCM, we evaluated the enzymatic reaction by determining the kinetic parameters of product formation (k_cat). The QCM enzymatic assay using immobilized human Hb was shown to be an excellent approach for screening possible inhibitors in complex mixtures, opening up a new avenue for the discovery of novel inhibitors.     

实时在线化学发光监测水体亚硝酸盐

构建了一个实时在线监测水体样品中低含量亚硝酸盐的化学发光分析系统。采用连续采样方式,在线将NO-2转换为HOONO并立即与Luminol反应,实现了对亚硝酸盐的全自动连续检测。方法的线性范围为1.0×10-8~1.0×10-5 mol/L,线性相关系数R2=0.9989,检出限为5.0×10-9 mol/L。与国家标准方法对比验证了新方法的可靠性。考察了自来水煮沸、持续煮沸、持续亚沸及多次煮沸等处理方式对亚硝酸盐含量的影响。实验表明,该分析系统可用于水加热处理过程和地表水中亚硝酸盐含量的监测。为健康饮水提供了参考依据。     

基于多模差分融合的高速车辆定位算法

针对车辆高速运动下定位延时大、精度低、稳定性差的问题,发挥GPS、RSSI和INS三种定位模式的各自优势,将GPS差分校准算法与RSSI测距相结合求解横坐标,将RSSI测距与INS惯导迭代算法相结合求解纵坐标,提出了一种适合高速运动车辆的多模差分融合精确定位算法。以四车道的高速路为场景进行了仿真实验,当车速为70km/h时,跟踪误差<1m,定位延时<0.2s。实验结果表明,该算法可实现车身级和车道级定位,在精确交通诱导、车辆防撞等智能交通领域具有应用前景和推广价值。     

基于LabVIEW的水下航行器 航行控制系统通信模块设计

为了保证水下航行器的航行安全,航行控制系统内部通信和航行系统与综合控制台之间的通信的性能需要具有较高的实时性和可靠性。本文基于以太网搭建系统,详细地介绍了系统通信的组成和传输数据的类型,结合系统要求以及TCP/IP、UDP通信协议的特点,选取合适的协议和数据传递方式;对于出现通信堵塞和数据包丢失以及链路不稳定情况,采取自动重连和数据自动重发机制;并采用图形化软件LabVIEW的封装函数实现数据的收发和保存,借助LabVIEW和C语言混合编程实现数据的高效处理;在实验室搭建半实物仿真平台进行测试,结果表明,航行控制系统内部以及和综合控制台之间的数据传输准确、可靠。     

稀有气体卤化物准分子激光器工作气体实时补给技术

为延长稀有气体卤化物准分子激光器工作气体使用寿命,在原有供气设备基础上增加了工作气体实时补给技术.该技术采用FPGA控制系统将逐步提高放电电压、补充卤素气体和更换部分混合气体等操作有效组合起来.随着激光脉冲能量的下降,逐步提高放电电压;当放电电压达到最大值时,开始补充卤素气体,并恢复放电电压;当补充卤素气体效果不明显时,更换部分混合工作气体.将该技术应用于医用型ArF准分子激光器中进行实验研究,结果表明:在没有使用工作气体实时补给技术的情况下,激光器累计工作14.38 h后,输出单脉冲激光能量下降了17.2％;采用工作气体实时补给技术后,激光器输出能量下降速率明显降低,累计工作14.38 h,其单脉冲能量下降率能控制在3％范围内.因此,采用该技术可延长激光器工作气体的使用寿命、提高输出激光能量稳定性、减少停机次数并降低运行成本.     

EAST �����ɶ��ڿ���е�۵����˶�ѧ�㷨�о�

为了实现 EAST 装置真空室内的内窥多关节机械臂的实时高精度控制,提出了一种逆运动学算法,即建立机械臂多变量的方程组,转化成为矩阵的特征值问题求解。为了验证和满足实际控制的需要,还基于 VC++6.0 开发了 MFC 运动学算法程序。结果表明,该算法能在 ms 级别内得到机械臂的所有运动学逆解。     

单轴条件下砂岩三维破裂过程的CT观测

岩石破裂过程研究一直是岩石力学专家关注的重要问题。本文采用特制的三轴压力仪与医用西门子SOMATOM -plusCT扫描仪结合 ,对砂岩进行了室内单轴压缩试验。通过对砂岩的CT图像和密度损伤增量与应力关系曲线分析 ,结果显示 ,砂岩的破裂演化过程可分为初始损伤的压密、裂纹出现—扩展、裂纹归并—分岔、裂纹重分岔—扩展以及裂纹惯通—宏观破坏等五个阶段。在初始损伤的压密阶段 ,砂岩的密度损伤增量为正值 ,速率也为正 ;在裂纹出现—扩展阶段 ,砂岩出现局部密度损伤增量减小 ,并随应力增加而由正值转为负值 ,速率也由正变负 ;在裂纹归并—分岔阶段 ,砂岩的密度损伤增量全为负值 ,速率也变快 ;在裂纹重分岔—扩展阶段 ,砂岩的密度损伤增量继续变负 ,但速率变慢 ;在裂纹惯通—宏观破坏阶段 ,砂岩的密度损伤增量继续变负 ,速率变的更快。     

Cyclodextrin derivatives functionalized highly sensitive chiral sensor based on organic field-effect transistor

Novel highly sensitive chiral organic field-effect transistors(COFET)were developed by directly assembling imidazolium3,5-dimethylphenylcabamoylated-β-cyclodextrin(lm^+-Ph-β-CD)and 3,5-dimethylphenylcarbamoylated-β-CD(Ph-β-CD)respectively onto the semiconductor layer as sensing units.The Im+-Ph-β-CD/COFET afforded better enantioselectivity and a lowest detection concentration of10^-18 L/mol as well as the potentiality in quantitative analysis of commercial medicines.