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.     

基于Karhunen-Loève变换和小波谱特征矢量量化的三维谱像数据压缩

提出了基于Karhunen Lo埁ｖｅ变换的小波谱特征矢量量化三维谱像数据压缩方法耍幔颍瑁酰睿澹?Lo埁ｖｅ变换 /小波变换 /小波谱特征矢量量化方法应用了Karhunen Lo埁ｖｅ变换的消除谱相关性优良性能 ,应用二维小波变换消除空间相关性 ,在小波变换域内应用二维集分割嵌入块编码和一维谱特征矢量量化对三维谱像数据压缩 ,获得较高的压缩性能。实验结果表明 :Karhunen Lo埁ｖｅ变换 /小波变换 /小波谱特征矢量量化编码比Karhunen Lo埁ｖｅ变换 /小波变换 /改进对块零树编码和Karhunen Lo埁ｖｅ变换 /小波变换 /快速矢量量化编码方法在同样压缩比条件下 ,峰值信噪比提高 2dB和 1dB以上 ,而速度提高了 1.5和 8倍 ,整体压缩性能有较大的提高     

安培环路定理的拓扑学描述

近年来拓扑学在量子力学中得到了广泛的运用.本文将安培环路定理积分式重新表达为一矢量场在轮胎参数面上的第一类陈数积分.数值模拟展示了该积分值为一整数即第一陈数,其代表矢量场的整体性质:当经历连续变换时,矢量场的局部数值发生改变但整体积分值即陈数仍保持不变;若陈数发生改变,则表明矢量场变换的连续性条件发生破坏,矢量场出现奇点.进一步通过高斯映射将该矢量场从参数轮胎面映射到单位球面上,并给出了第一陈数的直观几何意义.理论和数值结果揭示了安培环路定理的拓扑学本质,表明拓扑概念在经典物理学中也会有广泛应用.     

Existence of nonstationary bubbles in higher dimensions

We are interested in the existence of travelling-waves for the nonlinear Schrödinger equation in R^N with “ψ³−ψ⁵”-type nonlinearity. First, we prove an abstract result in critical point theory (a local variant of the classical saddle-point theorem). Using this result, we get the existence of travelling-waves moving with sufficiently small velocity in space dimension N4.     

Théorie du potentiel pour des opérateurs elliptiques non linéaires du second ordre à coefficients discontinus

Let a open subset of ⁿ , n3, and an open. Existence and unicity are proved for the Dirichlet problem

Une méthode inverse d'ordre un pour les problèmes de complétion de données

An iterative resolution method for inverse Cauchy problems is presented. The successive iterations satisfy the equilibrium equations exactly. Numerical simulations prove the accuracy of the method and its ability to solve Cauchy problems when the domain boundary is not regular. To cite this article: A. Cimetière et al., C. R. Mecanique 333 (2005).     

Curvature Estimates for the Level Sets of Solutions to the Monge-Amp`ere Equation detD2u = 1

For the Monge-Ampere equation det D2u = 1, the authors find new auxiliary curvature functions which attain their respective maxima on the boundary. Moreover, the upper bounded estimates for the Gauss curvature and the mean curvature of the level sets for the solution to this equation are obtained.     

Asymptotics of Neumann harmonics when a cavity is close to the exterior boundary of the domain

We construct the asymptotics (as ε→0) of solutions to the Neumann problem for the Laplace equation and of the corresponding Dirichlet integral. The problem concerns a three-dimensional domain having two connected components of the boundary at the distance ε>0. To cite this article: G. Cardone et al., C. R. Mecanique 335 (2007).