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.     

同轴相移数字全息中相移角的选取及相移误差的消除

基于两步同轴相移数字全息,首先从理论上分析了记录时不同相移角的选取及相移误差对再现像的影响,并给出了一种利用再现像所有抽样点的强度偏差之和作为评价标准,通过逐步改变理论设定相移角值来寻找实际相移角的相移误差消除新方法;其次对二步相移数字全息中记录时参考光波最佳相移角的选取作了计算机模拟,发现只有将参考光波的相移角选择在一定范围内,再现像的噪声较小;最后利用计算机模拟了相移误差消除,验证了所提方法的可行性.     

半自由声场的全息重建和预测实验研究

半自由声场环境下的声源重建和声场预测研究对声全息技术走向实际应用具有非常重要的意义.在提出基于分布源边界点法的半自由声场全息重建和预测方法的基础上，对此展开了实验研究.并将重建和预测的结果与常规方法重建和预测的结果进行了比较和讨论，说明了重建预测过程中反射声压的影响和考虑反射声压的必要性，证明了所提出方法在解决半自由声场环境下存在地面反射时的声源重建和声场预测时的有效性和准确性.还提出了采用奇异值截断滤波和Tikhonov正则化方法来削弱测量误差的影响，从而进一步优化了重建结果，提高了全息成像的可信度. 关键词： 声全息 半自由场 边界点 声辐射 反射声     

Optical Diffractive Memories: Angular Selectivity and Diffraction Efficiency in Dichromated Gelatin

Two thousand images of resolution 512×512 pixels as a regular matrix pattern of 10×10 elements are stored, where each element is angularly multiplexed 20 times in a 25 μm thickness of dichromated gelatin emulsion without cross-talk effect. The surface area of the matrix is 1 cm². We show good concordance of the angular selectivity between the experimental result and theory. The diffraction efficiency of each 20 multiplexed images is measured and has nearly the same value. Examples of reconstructed images for multiple applications are given, for example, storage of 160,000 images on a 3′1/2 floppy disc format, which is about 100 min of black and white film. Application can be made to automobile cartography and storage of X-ray images as well as weather forecast images. Colored diffractive images are also possible and are illustrated.     

Performance evaluation of fiber Bragg grating sensors by digital holographic technique, strain gauge measurement

In view of the growing interest for non-destructive tests of materials, geodynamical monitoring and in general remote sensing, there is a great effort to bring practical optical sensors from research labs to industrial and environmental applications. In this paper, we employ digital holographic technique as an efficient tool for evaluating the strain measurement capability of fiber Bragg gratings (FBG). A cantilever beam has been employed as a test structure under loading test. The strain measurements results obtained by fiber-based sensors have been compared to those obtained by using full-field digital holographic technique and point-wise strain gauge sensors glued on the same cantilever beam. A simple theoretical model is also presented to interpret and compare the experimental results coming from different techniques.     

In situ observations of domain wall motion in Mn–Zn and Ni–Zn ferrites by Lorentz microscopy and electron holography

Domain wall motion in Mn–Zn and Ni–Zn ferrites with applied magnetic fields is investigated by in situ observations with Lorentz microscopy and electron holography. It is found that both Mn–Zn and Ni–Zn ferrites have a mean grain size of approximately 10 μm and several pores with sizes ranging from 0.2 to 1.1 μm. In situ observations by Lorentz microscopy with an applied magnetic field reveals that in Mn–Zn ferrite, the domain walls move easily across the grain boundary, while in Ni–Zn ferrite, the domain walls move along the grain boundary but are pinned at the grain boundary and pores. From in situ observations of Ni–Zn ferrite by electron holography, it is clarified that domain wall pinning at the grain boundary retards a sensitive increase in magnetic flux parallel to the applied field direction, which is considered to result in high hysteresis loss.     

Improved holographic particle sizing by using absolute values of the wavelet transform

A new method for sizing particle from in-line particle holograms by using absolute values of the wavelet transform is proposed in order to improve accuracy in measurements. The proposed method provides direct calculation of the particle size by using spatial frequency information of a chirp signal at minima position of an envelope function. Simulation and experimental results are presented.     

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.     

数字全息中再现像分离问题的研究

详细分析了数字全息的再现像分离条件,指出数字全息和普通全息的再现像分离条件之间的区别,同时也讨论了再现条件对数字全息记录光路的要求,同时给出一种能部分避免再现像重叠的处理方法,并做出相应的实验验证.