A new SLAM measurement model based on omni-directional vision and odometer is proposed in this paper. A virtual stereo vision composed of an omni-directional vision sensor and an odometer. Scale Invariant Feature Transform is used to extract stable and available vision features from the omni-images. The 3-D locations of these features are initialized by the pixel coordinates and the odometer data by stereo projection, and the locations will be corrected during the SLAM process when they are observed again. It is demonstrated that the new model can make a good accuracy with FastSLAM algorithm, and the accuracy is greatly improved corresponding to the classical vision sensor.

Equipment retirement is one of critical links in for total life management, and is an important content. There are urgent problems that should be settled, how in the limited time to broaden the disposal channels and methods of retired equipment, dispose well the centrally retired equipment, fully act as value, and come true the best comprehensive benefits of politics, military affairs and economy. In the paper, with the rules of scientificalness, integrity, operability, qualitative and quantitative, it evaluates relative the ratio of effective and cost in accordance with the theory of value engineering, constructs the evaluation model of equipment retirement disposal benefits based on the Forced Decision Method of value engineering theory, sequences the disposal concept by calculating the value coefficients of every concept, thus it makes for producing the diversified scientific disposal management system of retired equipment, plays fully the value of retired equipment, and comes true the best comprehensive benefits of politics, military affairs and economy.

In view of the current situation of being unable to simulate repair time in virtual maintenance simulation, decomposing the repair process to repair therblig layer, and the new concept of repair therblig standard time is introduced, then developing the repair therblig time auxiliary system used for Jack, which realizes the statistical product repair time in virtual environment. This method provides significant reference value for paralleling maintainability quantitative parameters verification in product development stage.