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.     

An optical measurement of vortex shape at a free surface

We have proposed an optical method of vortex shape measurement based on Fourier transform profilometry (FTP) and verified it by experiment. The results of our experiment proposed in this paper show that FTP can efficiently reconstruct the vortex shape at a free surface and this method is suitable for wide use in studying such problems as liquid shear flow, wake of an object, flow behind a bluff body, and wetting angle.     

基于FPGA并行处理的实时图像相关速度计

研究制作了一种采用高速线阵CCD的实时相关速度计,其测量数据的输出速率可达每秒一万次。针对以往光学相关测速方法的问题进行了讨论,探讨了适合FPGA并行处理的算法,制作了高速线阵CCD摄像机及其处理装置。通过实验验证了系统的可行性和可实现性。     

Fiber-optic reflex sensor for in-line production measurement

The paper describes experiments concerning distance measurement with fiber-optic sensor and improvement of the measurement principle. The sensor probe was well-designed with a small structure and multi-function. The novel optical fiber probe arrangement as well as the possibilities of use for complex measurement problems are explained using the measurement of an internal screw thread as an example. The experimental results show that the measurement uncertainty of the thread minor diameter can reach ±10 μm, and the stability of the measurement system is better than 0.07%.     

差分吸收光谱法测量大气污染的测量误差分析

差分吸收光谱技术被广泛地应用于测量大气中微量元素的浓度，尽管该技术利用最小二乘法来反演待测气体的浓度，能够得到很高的测量精度。但是，由于仪器本身的噪声以及测量波段其它气体的干扰等，使得仪器的测量有一定的误差，而且上述因素还决定着仪器的测量下限。对差分吸收光谱方法的测量误差以及引起误差的原因作了详细的分析。     

Measurement of elastin hydrolysis by reverse-phase HPLC with on-line post-colum derivatization

Summary Excessive breakdown of elastin, a structural protein, may be related to aortic disease and emphysema. Since L-valyl-L-proline occurs in high concentrations in elastin, a rapid and sensitive method using HPLC with post-column on-line derivatization was used to measure the dipeptide from swine aortic tissue, and the amount of elastin present was determined. Elastin was extracted by alkaline hydrolysis. After neutralization and filtration, the sample was injected onto a ODS-2 gel column, and the dipeptide was eluted by a linear gradient of 0 to 10% of 1-propanol in 50 mM heptafluorobutyrate, pH 3, at a flow rate of 1 ml/min. The eluent was reacted with fluorescamine at pH 8.6, and fluorescence was detected at an excitation wavelength of 395 nm and a 455 nm cutoff emission filter.Presented at the 17th International Symposium on Chromatography, September 25–30, 1988, Vienna, Austria.     

Interpretation of the Quantum Measurement: Example of a Linearly Coupled Harmonic Oscillator

We argue that it may be possible to consistently explain the quantum measurement by assuming that the wave function is in one-to-one correspondence with objective physical reality and has no probabilistic interpretation. In the context of such approach we consider the model of a harmonic oscillator linearly coupled to a heat bath and treat the oscillator as the system being measured. Three classes of initial pure states for the bath are considered. Exact expressions for the average values and variances of the oscillator coordinate and momentum as functions of time are considered for each class of pure states. It is shown that these quantities exhibit different asymptotic behavior for different classes of initial states of the bath. In particular, if each mode of the bath is initially in a coherent state, then for an arbitrary initial state of the oscillator the variances of the oscillator coordinate and momentum asymptotically approach the same values as for a coherent state of the free oscillator, while the averages of coordinate and momentum show a Brownian-like behavior. We argue that such behavior shows several features of the quantum measurement and supports our interpretation of the wave function.     

网络股泡沫大小测度研究

网络股泡沫是最能反映网络泡沫本质的表现形式，本文利用理性预期理论，构建了网络股泡沫大小的测度模型，说明网络股泡沫的存在，在此基础上确定了网络股泡沫大小的测度指标，并以雅虎公司股票为例对泡沫的大小进行了测度，结果符合网络泡沫的实际情况。     

BEPCII直线加速器相控系统设计研究

为了补偿由于各种因素引起的微波相位漂移,BEPCII直线加速器需要建立微波相位反馈控制系统.能量最大法将用来确定每台功率源的最佳相位.沿直线加速器速调管长廊铺设相位稳定同轴线提供相位参考.现在已经完成了关键部件,如PAD单元、IfA 单元的开发.搭建了相控最小系统对系统进行了验证.     

机载海洋激光测深系统参量设计与最大探测深度能力分析

详细讨论了机载海洋激光测深系统最大测量深度与相关因子之间的关系，并利用最小可探测信噪比为判据，对机载海洋激光测深系统在白天和晚上工作进行了数值模拟，通过比较最大测量深度与激光脉冲峰值功率、接收视场角、接收口径和光谱接收带宽等关系，确定了系统的主要参量。以确定的参量建立的系统具有白天49m和晚上65m的最大测深能力，可完全满足在沿岸带以及岛礁的测量要求。