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21.
《Comptes Rendus Physique》2019,20(3):204-217
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.  相似文献   
22.
在数控生产中,对刀是十分重要的一个环节.哪怕是有了正确的加工程序,也会因为不会对刀而加工出废品.加工质量的好坏与对刀的精度有着直接的关系,对刀的效率也极大地影响着加工效率,从而影响生产效率,影响生产成本.在学生的日常数控实习实训中,也总会出现很多对刀带来的问题.该文就以FANUC Oi 系列数控车床为例,通过原理和实例结合,研究常用的对刀方法.  相似文献   
23.
通过耦合三维微波腔中光子和腔内钇铁石榴石单晶小球中的自旋波量子形成腔-自旋波量子的耦合系统,并通过精确调节系统参数在该实验系统中观测到各向异性奇异点.奇异点对应于非厄米系统中一种特殊状态,在奇异点处,耦合系统的本征值和本征矢均简并,并且往往伴随着非平庸的物理性质.以往大量研究主要集中在各向同性奇异点的范畴,它的特征是在系统参数空间中沿着不同参数坐标趋近该奇异点时具有相同的函数关系.在这篇文章中,主要介绍实验上在腔光子-自旋波量子耦合系统中通过调节系统的耦合强度和腔的耗散衰减系数两条趋近奇异点的路径而实现了各向异性奇异点,具体分别对应于在趋近奇异点时,本征值的虚部的变化与耦合强度和腔的衰减系数的变化会有线性和平方根不同的行为.各向异性奇异点的实现有助于基于腔光子-自旋波量子耦合系统的量子信息处理和精密探测器件的进一步研究.  相似文献   
24.
New thiazole derivatives were synthesized and fully characterized, then coordinated with PtCl4 salt. Also, the newly synthesized Pt(IV) complexes were investigated analytically (elemental and thermogravimetric analyses), spectrally (infrared, UV–visible, mass, 1H NMR, 13C NMR, X‐ray diffraction) as well as theoretically (kinetics, modeling and docking). The data extracted led to the establishment of the best chemical and structural forms. Octahedral geometry was the only formula proposed for all complexes, which is favorable for d6 systems. The molecular ion peaks from mass spectral analysis coincide with all analytical data, confirming the molecular formula proposed. X‐ray diffraction (XRD) and scanning electron microscopy (SEM) allowed discrimination of features between crystalline particles and other amorphous morphology. By applying Gaussian09 as well as HyperChem 8.2 programs, the best structural forms were obtained, as well as computed significant parameters. Computed parameters such as softness, hardness, surface area and reactivity led us towards application in two opposing pathways: tumor inhibition and oxidation activation. The catalytic oxidation for CO was conducted over PtO2, which was yielded from calcination of the most reactive complex. The success of catalytic role for synthesized PtO2 was due to its particulate size and surface morphology, which were estimated from XRD patterns and SEM images, respectively. The antitumor activity was tested versus HCT‐116 and HepG‐2 cell lines. Mild toxicity was recorded for two of the derivatives and their corresponding complexes. This degree of toxicity is more favorable in most cases, due to exclusion of serious side effects, which is coherently attached with known antitumor drugs.  相似文献   
25.
为了研究带钢局部高点卷取起筋的控制方法,利用三维弹塑性变形基本理论,并引入带钢塑性流动因子,建立了弹塑性卷取应力和起筋量模型.基于应力函数假设、S. Timoshenko最小功原理和伽辽金虚位移法建立了起筋带钢的应力场分布和可用于在线计算的起筋临界卷取张力设定模型.仿真结果表明:局部高点在径向累积叠加所引起的带钢张力不均匀分布和轴向压应力是导致带钢起筋的主要原因;起筋量随局部高点高度、卷径和卷取张力增加而增大,薄带钢比厚带钢起筋量增幅明显;临界卷取张力随卷径、带钢厚度和局部高点高度增大而减小.  相似文献   
26.
Abstract

Gastrodigenin, also known as 4-hydroxybenzyl alcohol (HBA), is one of the main components of Gastrodia elata, which is a perfect lead compound of natural products. In order to get new active compounds, we modified the structure of HBA through esterification with carboxylic acid, and got a series of derivatives in which 4-hydroxybenzyl alcohol 2-naphthoate (NHBA) showed stronger antidepressant activity than HBA. In this paper, we firstly evaluated the antidepressant activity of NHBA by tail suspension test (TST) and forced swimming test (FST). Then, we carried out the biochemical assay and western blot to determine its mechanism. The results displayed that NHBA could increase the content of serotonin, dopamine, norepinephrine, γ-aminobutyric acid, brain-derived neurotrophic factor (BDNF) and tropomyosin receptor kinase B (TrkB) in mice brain. It suggested that NHBA exhibited an antidepressant-like effect through monoaminergic system, GABAergic system and BDNF/TrkB signaling pathways.  相似文献   
27.
采用DIS数字信息化系统,对不同浓度的蓝墨水溶液在激光光源照射下的透射平均照度及照度分布图像进行实验研究,得到了平均照度值随溶液浓度变化的规律。对不同颜色塑料膜片对白炽灯光源透过照度值及照度分布图像进行实验研究得到及其相关之规律。  相似文献   
28.
针对牛顿-拉夫逊法对初值要求严格,迭代速度快的特点,利用电力网的结构特点,使用高斯-塞得尔迭代法的第一次迭代结果作为牛顿-拉夫逊法的计算初值。这样既解决了牛顿-拉夫逊法对初值要求高的问题,又提高了收敛速度。计算结果表明,综合算法在迭代次数和收敛速度上有优势。  相似文献   
29.
智能高速罐身电阻焊机数字化控制系统   总被引:1,自引:0,他引:1  
提出了以国产MCT80 0 0F8运动控制器为核心的智能高速罐身电阻焊机数字化控制系统 ,并介绍了系统的组成、工作原理、硬件接口、电机控制方法以及伺服电机的运动关系数学模型 .新的系统有利于提高罐身电阻焊机的制罐生产速度 ,并具有功能全面、可靠性高、控制精确、开放性好以及成本较低等优点  相似文献   
30.
着重针对应用于饲料生产工艺的称重配料系统的控制策略进行研究,特别是对空中落差的研究,推出了实现该控制策略的高性能称重配料控制器,并进行切实可行的软硬件设计,以真正实现称重配料系统的高性能。  相似文献   
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