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.     

McBSP在DSP与PC机通信中的研究与设计

本文介绍了TMS320VC5402DSP的多通道缓冲串行口McBSP的特点，针对用户经常面临的DSP系统与PC机实时交换数据时通信接口标准不兼容的问题，提出了一种新的串行通信设计方案，实现了DSP同步串口McBSP与PC机异步串口RS—232的全双工通信。     

基于可编程逻辑阵列的RS232至RS422的串行口扩展电路

介绍了利用可编程逻辑阵列把1路RS232扩展至4路RS422的串行口电路设计方法。该扩展电路不占用PC系统资源，同时具有结构简单，使用方便，通用性和可补性强等特点，可广泛应用于主从式多机通讯系统中。     

Using the gradients of temperature and internal parameters in Continuum ThermodynamicsIntroduction des gradients de température et de paramètres internes en Thermodynamique des Milieux Continus

In this paper, the possibility of using the gradients of the temperature and of the internal parameters as additional state variables in Continuum Thermodynamics is considered. The expressions of the two principles are discussed and Clausius–Duhem inequality is derived under an appropriate statement of the internal entropy production. Several formulations are proposed and compared to existing results in the literature. To cite this article: P. Ireman, Q.S. Nguyen, C. R. Mecanique 332 (2004).     

采用5V单电源供电的通信收发器LMS202E/LMS485及其应用

介绍了采用单5V电源工作的RS-232通信双收发器LMS202E和高速双向数据通信差分总线收发器LMS485的主要特性 ,给出了它们的典型应用电路。     

非线性设备与编辑录像机遥控部分的接口技术

从RS—232C，RS—422接口标准及RS—232C与RS—422的电平转换等方面详细地介绍非线性设备与编辑录像机遥控部分的硬件接口技术，给出了相关的电路原理图，指出了使用时的一些注意事项。     

高速数字光电耦合器HCPL-260L/060L及其应用

HCPL-260L/060L是美国安捷伦科技有限公司推出的高速数字光电耦合器。该器件的逻辑电平与LVTTL/LVCMOS兼容 ,并具有输出使能端。文中详细介绍了HCPL -260L/060L的引脚功能、内部结构、主要特点、使用要求和注意事项 ,给出了它与LVTTL器件的典型接口电路及隔离的3.3VRS232接口电路。     

Modélisation du champ des vitesses de l'urine dans un bolus urétéralModelling of urine flow in an ureteral bolus

Urine transport is made from the kidney to the bladder through the ureter by isolated pockets called bolus. To determine the urine flow in a bolus, we use an adherence condition on the interface urine/wall. It gives us an infinite linear system verified by a set of parameters. An iterative and convergent algorithm allows us to solve this system and to determine analytically the components of the velocity vector in the bolus. To cite this article: A. Vogel et al., C. R. Mecanique 332 (2004).     

提高自主创新能力，加速变频器制造业持续快速发展

创新是企业发展不竭的动力，是增强企业竞争力的关键因素。本文就变频器企业在当前激烈的市场矗虿中，如何做好自主创新工作进行了探讨。在简要阐述自主创新的重要意义后，分析了变频器企业目前发展的现状和存在的问题。针对问题提出了变频器企业在开展自主创新时，可供参考的一些基本思路和途径。     

高输入功率因数的三相无源AC-DC变换器

对于采用三相不控整流桥作为前级的变换器，自然条件下其输入电流波形系数不高，使得输入功率因数委低，降低了电源的利用率。为此需要采用功率因数提高技术，其中无源PFC是一类重要的功率因数校正技术，在某些场合非常具有应用价值。本文介绍了几种三相无源AC-DC变换器的高功率因数方案，如采用LC滤波器、移相电抗器，谐振电抗器，移相变压器，相间变压器，相间电抗器等，在进行简单的工作原理描述后，给出了部分方案的MATLAB/SIMULINK仿真结果。