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.     

论联省自治的原动力

联省自治的产生是资产阶级联省自治派和地方军阀产生合力的结果。但是，联省自治思潮与运动一开始就将斗争锋芒直指北洋军阀专制主义中央集权和地方军阀的地方割据。资产阶级联省自治派是联省自治思潮的鼓吹者、联省自治团体的组织者、联省自治运动的直接发动者，因而是运动的原动力，地方军阀则是附合者，而且是别有用心的。     

The asymptotic behaviors of a stage-structured autonomous predator-prey system with time delay

In this paper, we consider an autonomous predator-prey Lotka-Volterra system in which individuals in the population may belong to one of two classes: the immatures and the matures, the age to maturity is represented by a time delay. By using eigenvalue analysis, principal term analyze method, reduction to absurdity, and iterative method, we obtain some simple conditions for global asymptotic stability of the unique positive equilibrium point. Moreover, a condition that the prey population in the system get extinction and the predator population in the system get permanence will be obtained. Meanwhile the theorems extend the corresponding conclusions in which there have no two stage structures.     

Necessary conditions and non-existence results for autonomous nonconvex variational problems

Classical one-dimensional, autonomous Lagrange problems are considered. In absence of any smoothness, convexity or coercivity condition on the energy density, we prove a DuBois-Reymond type necessary condition, expressed as a differential inclusion involving the subdifferential of convex analysis. As a consequence, a non-existence result is obtained.     

彝族“打歌”初探

“打歌”史称“踏歌”，是一种自娱性的民间歌舞。彝族“打歌”历史悠久、曲调优芙、歌词内容丰富、舞姿活泼多变，并在国内外享有盛名，是彝族文化的重要组成部分，同时也是中华民族优秀的文化遗产之一。在当前世界范围内的现代化进程中，通过各种途径积极保护彝族“打歌”这一传统文艺形式具有十分重要的意义。     

走向当代形态的彝族散文创作

当代彝族散文整体上具有写实倾向,产生了一批富于表现力、充满激情与力度的杰作;同时,拘泥于生活现实对艺术表现的自由也有所限制,文学观略显单一。以写实为基点,一些当代彝族作家逐渐走向“文化大散文”,深掘少数民族审美特质,贡献出许多新的文学意象。因此,突破单一化的文学观、走向更加自觉的文体探索、开掘民族审美文化的新内涵,产生自己的文体家,是彝族散文走向当代形态的重要环节。只有获得文体的自由与自在,当代彝族散文才能够超越民族风情之展现,对自身民族深厚的审美意识有一种新的认知,进而为中国文学艺术做出不可替代的贡献。     

文山州人口素质现状与人才开发的几点思考

从文山州人口的受教育程度可以反映出，文山州目前的人口素质现状是令人担忧的，在此基础平台上，文山州人才资源的学历结构、地域分布、民族分布、行业分布等存在着严重的不平衡，这种状况，极大地制约着文山经济社会的发展。为此，开发文山人才资源，尤其是盘活文山现有人才资源就具有重要的战略意义。     

浅谈春秋战国时期龙的观念

春秋战国时期是中华文化史上的“轴心时代”。在这一时期,中国龙的形态和观念都发生了引人瞩目的变化,特别是龙的观念由具体表象层次开始走向抽象象征层次,最终结晶定型于《易》传中。     

Experimental investigation of the aquatic propulsion caused by localised flexural wave propagation in immersed wedges and plates

This paper describes the results of the experimental verification of the idea of wave-like aquatic propulsion of autonomous and man-inhabited vessels first published about 10 years ago by one of the present authors (V.V.K.). The idea is based on employing the unique type of localised flexural elastic waves propagating along edges of wedge-like structures immersed in water (wedge elastic waves). Such wedge-like structures supporting localised elastic waves can be attached like fish fins to a body of a small ship or a submarine and used for their propulsion. The proposed principle of employing localised flexural waves as a source of aquatic propulsion has been biologically inspired by the specific swimming mode used in nature by stingrays. To verify the idea experimentally, the first working prototype of a small catamaran using the above-mentioned wave-like propulsion via the attached rubber keel has been build and tested in Loughborough University. The tests have been carried out in two phases, in a water tank and then in open water. The test results have shown that the catamaran was propelled very efficiently and could achieve the speed of 36 cm/s, i.e., about one vehicle length per second, thus demonstrating that the idea of wave-like propulsion of small man-inhabited craft is viable. The reported proof of the viability of this idea may open new opportunities for marine craft propulsion, which can have far reaching implications.     

关于运城地区发展经济林的反思

优越的农业自然条件使运城地区成为山西省重要的粮棉生产基地。但近年来经济林的迅速发展使果树栽植面积几乎占到耕地总面积的1／4。尽管平原地区广种经济林具有一定的经济效益与环境效益,但它却违背了合理利用土地的原则,若不及早采取有力措施加以控制,我国将会潜伏粮食危机,种植业的可持续发展将会受到严重影响。