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.     

甘南藏族自治州特色旅游业发展研究

从甘南藏族自治州特色旅游业比较优势的评价入手,对制约因子和外部环境进行了深入的剖析,进而对甘南州特色旅游业的发展模式进行了现实而又独特的构想,最后提出了特色旅游业发展的战略对策与建议.     

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。     

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。     

Progress in the realisation of an autonomous environmental monitoring device for ammonia

Progress in the development of a micro-fluidic system for colorimetric monitoring of ammonia in drinking and wastewater is described. The ultimate goal is to have a miniaturised instrument that can produce accurate, reliable measurements, is easy to operate, has minimal power consumption, and can operate autonomously for a year. In this study, the indophenol reaction is incorporated into a simple, reliable analytical micro-fluidic system. Absorbance measurements for the blue ammonia-indophenol complex formed in the micro-fluidic system are shown. A key issue is the limiting stability of hypochlorite, a reagent used in the assay. The effects of hypochlorite concentration and impurities on the stability of hypochlorite are investigated and discussed. Decomposition is shown to be very dependent on the presence of heavy-metal impurities. With low levels of these catalytic metals and careful storage, hypochlorite has been shown to be stable for over a year.     

常州地区中小企业融资现状分析及对策

中小企业已成为中国经济发展的生力军,它的发展壮大不可忽视,但在其发展过程中必须有足够的资金作保证,因此其融资问题已受到全社会的共同关注.通过对常州地区30家中小企业融资情况进行分析,揭示出目前中小企业融资的新特点及存在的问题,并提出相应的对策与建议.