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Sika Deer Facial Recognition Model Based on SE-ResNet

Computers, Materials & Continua 2022年第9期72卷 6015-6027页

作者： He Gong Lin Chen Haohong Pan Shijun Li Yin Guo Lili Fu Tianli Hu Ye Mu Thobela Louis Tyasi College of Information Technology Jilin Agricultural UniversityChangchun130118China College of Electronic and Information Engineering Wuzhou UniversityWuzhou543003China Jilin Province Agricultural Internet of Things Technology Collaborative Innovation Center Changchun130118China Jilin Province Intelligent Environmental Engineering Research Center Changchun130118China Guangxi Key Laboratory of Machine Vision and Intelligent Control Wuzhou543003China Department of Agricultural Economics and Animal Production University of Limpopo0727PolokwaneSouth Africa

The scale of deer breeding has gradually increased in recent years and better information management is necessary,which requires the identification of individual *** this paper,a deer face dataset is produced using face images obtained from different angles,and an improved residual neural network(ResNet)-based recognition model is proposed to extract the features of deer faces,which have high *** model is based on ResNet-50,which reduces the depth of the model,and the network depth is only 29 layers;the model connects Squeeze-and-Excitation(SE)modules at each of the four layers where the channel changes to improve the quality of features by compressing the feature information extracted through the entire layer.A maximum pooling layer is used in the ResBlock shortcut connection to reduce the information loss caused by messages passing through the *** Rectified Linear Unit(ReLU)activation function in the network is replaced by the Exponential Linear Unit(ELU)activation function to reduce information loss during forward propagation of the *** preprocessed 6864 sika deer face dataset was used to train the recognition model based on SEResnet,which is demonstrated to identify individuals *** setting up comparative experiments under different structures,the model reduces the amount of parameters,ensures the accuracy of the model,and improves the calculation speed of the *** the improved method in this paper to compare with the classical model and facial recognition models of different animals,the results show that the recognition effect of this research method is the best,with an average recognition accuracy of 97.48%.The sika deer face recognition model proposed in this study is *** results contribute to the practical application of animal facial recognition technology in the breeding of sika deer and other animals with few distinct facial features.

关键词： Sika deer facial recognition model ResNet-50 se module shortcut connection ELU

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Experimental and numerical study on the shrinkage-deformation of carrot slices during hot air drying

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International Journal of Agricultural and Biological engineering 2023年第1期16卷 260-272页

作者： Dalong Jiang Congcong Li Zifan Lin Yuntian Wu Hongjuan Pei Magdalena Zielinska Hongwei Xiao School of Computer and Control Engineering Yantai UniversityYantai 264005ShandongChina Hebei Agricultural University Baoding 071001HebeiChina Hebei Key Laboratory of Agricultural Big Data Baoding 071001HebeiChina Department of Electrical and Electronic Engineering University of Western AustraliaPerth 6000Australia BeiGene Guangzhou Biologics Manufacturing Co. LtdGuangzhou 510555China Neuroscience and Intelligent Media Institute Communication University of ChinaBeijing 100024China Department of Systems Engineering University of Warmia and MazuryOlsztyn 004889Poland College of Engineering China Agricultural UniversityBeijing 100083China

In order to further understand the mechanism of material volume change in the drying process,numerical simulations(considering or neglecting shrinkage)of heat and mass transfer during convective drying of carrot slices under constant and controlled temperature and relative humidity were carried *** results were validated with experimental *** results of the simulation show that the Quadratic model fitted well to the moisture ratio and the material temperature data trend with average relative errors of 5.9%and 8.1%,***,the results of the simulation considering shrinkage show that the moisture and temperature distributions during drying are closer to the experimental data than the results of the simulation disregarding *** material moisture content was significantly related to the shrinkage of dried *** and relative humidity significantly affected the volume shrinkage of carrot *** volume shrinkage increased with the rising of the constant temperature and the decline of relative *** model can be used to provide more information on the dynamics of heat and mass transfer during drying and can also be adapted to other products and dryers devices.

关键词： carrot drying numerical simulation heat and mass transfer shrinkage

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Innate Cyber-Immunity and Acquired Cyber-Immunity across Multi-Area Power Systems

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IEEE Transactions on Power Systems 2025年

作者： Hou, Jiazuo Song, Yue Hou, Yunhe Peng, Jimmy Chih-Hsien National University of Singapore Department of Electrical and Computer Engineering Singapore Tongji University Department of Control Science and Engineering National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai Institute of Intelligent Science and Technology Shanghai201804 China The University of Hong Kong Department of Electrical and Electronic Engineering Hong Kong University of Hong Kong Shenzhen Institute of Research and Innovation Shenzhen518057 China

Organisms have evolved innate and acquired immune systems to defend against pathogens like coronaviruses. Similarly, power networks, threatened by cyber-attacks, desire cyber-immunity. Inspired by the immunology research, this study develops a cyber-immune strategy-characterizing innate cyber-immunity and establishing acquired cyber-immunity-for any selected portion of a power network (termed as power subnetwork) against stealthy false data injection (FDI) cyberattacks. Therein, without extrinsic protection and information asymmetry, this paper for the first time confirms the existence and provides closed-form conditions for power subnetworks that are innately immune to FDI cyber-attacks despite all measurements being compromised. Single-leader-multi-follower bi-level optimization models are then developed to strategically allocate measurement protection, leading to the acquired cyber-immunity, whose conditions for existence and the least cost are explicitly formulated. More importantly, a bi-directional cyber-immunity propagation mechanism is presented to provide the optimal spatial allocation of defense resources across adjacent subnetworks. It also explicitly determines the temporal allocation sequence, revealing its sequential and cumulative impacts on establishing cyber-immunity. This is achieved by designing recursive traversal algorithms, one of which is modelled as a post-order depth-first-search problem of a multi-fork tree. The proposed subnetwork-specific cyber-immune strategy is verified in a modified Australian National Electricity Market. © 1969-2012 IEEE.

关键词： Phishing

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Hybrid Unmanned Aerial Underwater Vehicles: A Survey on Concepts and Technologies

SSRN

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SSRN 2023年

作者： Pinheiro, Pedro Miranda Dias de Oliveira Evald, Paulo Jefferson Grando, Ricardo Bedin Neto, Armando Alves Jorge Drews, Paulo Lilles Intelligent Robotics and Automation Group Federal University of Rio Grande Rio Grande Brazil Intelligent Systems and Control Group Federal University of Pelotas Pelotas Brazil Department of Robotics Technological University of Uruguay Rivera Uruguay Department of Electronic Engineering Federal University of Minas Gerais Belo Horizonte Brazil

Hybrid Unmanned Aerial Underwater Vehicle (HUAUV) is a class of multi-modal mobile robots characterized by the ability to fly and navigate underwater, as well as being able to perform the transition between both environments. The development of modern vehicles of this class is driven by the enhancement of mobile robotic systems, sensors, and control techniques. However, the class definition and hierarchy for these vehicles are still vague and undefined. Therefore, this work presents a survey of concepts and prototypes of HUAUVs, developed from 2010 until 2022. The search for works was performed in relevant international conference proceedings and journals. We present a classification of state-of-the-art concepts and prototypes of HUAUVs based on specific main features of vehicles, allowing the identification of trends in HUAUV development, and an actuator-based taxonomy for HUAUVs. Hence, our categorization provides a more cohesive background for future works, as well as a better understanding of the main features of hybrid vehicles. Finally, a pragmatic approach to future applications is provided, given the current trends in Mobile robotics, focusing on unmanned aerial/underwater vehicles. © 2023, The Authors. All rights reserved.

关键词： Antennas

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Finite-Time Fuzzy Sliding Mode control for Nonlinear Descriptor Systems

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IEEE/CAA Journal of Automatica Sinica 2021年第6期8卷 1141-1152页

作者： Zhixiong Zhong Xingyi Wang Hak-Keung Lam Key Laboratory of Information Processing and Intelligent Control Minjiang UniversityFuzhou 350121China College of Mechanical and Electronic Engineering Fujian Agriculture and Forestry UniversityFuzhou 350108China Department of Engineering King’s College LondonLondonWC2R 2LSUnited Kingdom

This article addresses the finite-time boundedness(FTB)problem for nonlinear descriptor ***,the nonlinear descriptor system is represented by the Takagi-Sugeno(T-S)model,where fuzzy representation is assumed to be appearing not only in both the state and input matrices but also in the derivative *** using a descriptor redundancy approach,the fuzzy representation in the derivative matrix is reformulated into a linear ***,we introduce a fuzzy sliding mode control(FSMC)law,which ensures the finite-time boundedness(FTB)of closed-loop fuzzy control systems over the reaching phase and sliding motion ***,by further employing the descriptor redundancy representation,the sufficient condition for designing FSMC law,which ensures the FTB of the closed-loop control systems over the entire finite-time interval,is derived in terms of linear matrix inequalities(LMIs).Finally,a simulation study with control of a photovoltaic(PV)nonlinear system is given to show the effectiveness of the proposed method.

关键词： Finite-time boundedness(FTB) fuzzy sliding mode control(FSMC) Takagi-Sugeno(T-S)fuzzy descriptor system

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MINER-RRT*: A Hierarchical and Fast Trajectory Planning Framework in 3D Cluttered Environments

arXiv

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arXiv 2024年

作者： Wang, Pengyu Tang, Jiawei Lin, Hin Wang Zhang, Fan Wang, Chaoqun Wang, Jiankun Shi, Ling Meng, Max Q.-H. Shenzhen Key Laboratory of Robotics Perception and Intelligence The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong The Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong The Department of Electrical and Computer Engineering The University of Alberta Canada The School of Control Science and Engineering Shandong University Shandong China

—Trajectory planning for quadrotors in cluttered environments has been challenging in recent years. While many trajectory planning frameworks have been successful, there still exists potential for improvements, particularly in enhancing the speed of generating efficient trajectories. In this paper, we present a novel hierarchical trajectory planning framework to reduce computational time and memory usage called MINER-RRT*, which consists of two main components. First, we propose a sampling-based path planning method boosted by neural networks, where the predicted heuristic region accelerates the convergence of rapidly-exploring random trees. Second, we utilize the optimal conditions derived from the quadrotor’s differential flatness properties to construct polynomial trajectories that minimize control effort in multiple stages. Extensive simulation and real-world experimental results demonstrate that, compared to several state-of-the-art (SOTA) approaches, our method can generate high-quality trajectories with better performance in 3D cluttered environments. (Video1) Note to Practitioners—The motivation is the problem of planning trajectories for quadrotor autonomous flight in 3D cluttered and complex scenarios such as wild forest exploration and subterranean environment search-and-rescue. Sampling-based path planning methods are suitable for dealing with the complexity of the physical environment but are not convenient for computing dynamics and their differentials. Optimization-based trajectory generation methods are appropriate for handling various high-order constraints but rely on high-quality initial path solutions. Therefore, this paper combines the advantages of the two methods to propose a novel trajectory planning framework that can generate high-quality trajectories for quadrotors faster than many previous algorithms. We conduct numerous simulations and real-world experiments to verify that our method can be effectively deployed in real scenarios and empo

关键词： Deep neural networks

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Collaborative Fall Detection and Response Using Wi-Fi Sensing and Mobile Companion Robot

Collaborative Fall Detection and Response Using Wi-Fi Sensin...

引用

IEEE International Conference on robotics and Biomimetics

作者： Yunwang Chen Yaozhong Kang Ziqi Zhao Yue Hong Lingxiao Meng Max Q.-H. Meng Shenzhen Key Laboratory of Robotics Perception and Intelligence Southern University of Science and Technology Shenzhen China Department of Electrical and Electronic Engineering SUSTech Shenzhen China School of System Design and Intelligent Manufacturing SUSTech Shenzhen China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

This paper presents a collaborative fall detection and response system integrating Wi-Fi sensing with robotic assistance. The proposed system leverages channel state information (CSI) disruptions caused by movements to detect falls in non-line-of-sight (NLOS) scenarios, offering non-intrusive monitoring. Besides, a companion robot is utilized to provide assistance capabilities to navigate and respond to incidents autonomously, improving efficiency in providing assistance in various environments. The experimental results demonstrate the effectiveness of the proposed system in detecting falls and responding effectively.

关键词： Navigation Biomimetics Collaboration Robot sensing systems Sensors Fall detection Wireless fidelity Monitoring Injuries Channel state information

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Continuous-Time Ultra-Wideband-Inertial Fusion

arXiv

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arXiv 2023年

作者： Li, Kailai Cao, Ziyu Hanebeck, Uwe D. The Division of Automatic Control Department of Electrical Engineering Linköping University Sweden The Intelligent Sensor-Actuator-Systems Laboratory Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Germany

We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for parameterizing motion states continuously over time. Systematic derivations of analytic kinematic interpolations and spatial differentiations are further provided. Based thereon, a new sliding-window spline fitting scheme is established for asynchronous multi-sensor fusion and online calibration. We conduct a dedicated validation of the quaternion spline fitting method, and evaluate the proposed system, SFUISE (spline fusion-based ultra-wideband-inertial state estimation), in real-world scenarios using public data set and experiments. The proposed sensor fusion system is real-time capable and delivers superior performance over state-of-the-art discrete-time schemes. We release the source code and own experimental data at https://***/KIT-ISAS/SFUISE . Copyright © 2023, The Authors. All rights reserved.

关键词： Motion estimation

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Comparative Analysis of Different Sliding Mode control Approaches for Load Frequency control in Edge of the Grid System

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IET Generation, Transmission and Distribution 2025年第1期19卷

作者： Aich, Pritom Ahmed, Anis Shah, Rakibuzzaman Islam, Md Rabiul Roy, Naruttam Kumar Nasir, Ali Department of Electrical and Electronic Engineering Daffodil International University Dhaka Bangladesh Department of Electrical and Electronic Engineering Khulna University of Engineering & Technology Khulna Bangladesh Federation University Australia Mt HelenVIC Australia School of Electrical Computer and Telecommunications Engineering University of Wollongong WollongongNSW Australia Control and Instrumentation Engineering Department King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia Interdisciplinary Research Center for Intelligent Manufacturing and Robotics King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia

The integration of renewable energy sources (RESs) at the edge of the grid plays a contributory role in advancing the transition to a sustainable energy future. However, this transition introduces significant variability, which challenges the maintenance of frequency stability in power systems. To address the impacts of RES variability, various robust control strategies have been developed. This paper compares the performance of different advanced sliding mode control (SMC) approaches, i.e., super twisting (ST) algorithm-based second order sliding mode control (STSOSMC), second order sliding mode control (SOSMC), double integral sliding mode control (DISMC) and integral sliding mode control (ISMC) with conventional sliding mode control (SMC) for load frequency control with stochastic RESs such as biogas generators (BG) and wind-based doubly fed induction generators (DFIG). The impact of the advanced sliding mode controllers on the voltage and rotor angle stability of the system is also explored. The efficacy of the controllers is tested under different load disturbances, considering nonlinearities such as communication delay (CD), sensor inaccuracy (SI), governor dead band (GDB), and generation rate constraint (GRC). The results demonstrate that STSOSMC achieves superior frequency regulation with minimal chattering and outperforms other controllers in terms of settling time, overshooting, and undershooting in frequency deviation. The result also demonstrates the effectiveness of STSOSMC in managing the variability and disturbances of RESs. Therefore, it could be considered the most robust control mechanism from the edge of the grid system with high penetration of RESs. © 2025 The Author(s). IET Generation, Transmission & Distribution published by John Wiley & Sons Ltd on behalf of The Institution of engineering and Technology.

关键词： Robust control

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Appearance-invariant Visual Localization for Long-term Navigation

Appearance-invariant Visual Localization for Long-term Navig...

引用

Electrical engineering, control and robotics (EECR), International Conference on

作者： Zerong Su Xubin Lin Li He Zhihao Xu Xuefeng Zhou Guangdong Key Laboratory of Modern Control Technology Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangzhou China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350370003

ISBN: (纸本)9798350370010

Long-term navigation refers to the ability of a mobile robot to navigate effectively over extended periods in environments that may undergo changes. Unlike short-term navigation, which focuses on immediate and local motion estimation, long-term navigation aims to identify environmental changes and maintain a sustainable map that is beneficial to the association between current observations and the visited location. In this paper, a Convolutional Neural Network (CNN) based discriminating model is proposed to quantify the repeatability and the discriminativity of visual features, aiming to filter out the unstable keypoints for the mapping process. Moreover, a novel self-adaptive mechanism for map maintenance is proposed to incrementally update the keypoint dataset in a memory-saving manner. Extensive experimental evaluations are conducted on the CMU Seasons dataset, which suggests that our method increases the success rate of localization from 50% to 86% on average.

关键词： Location awareness Visualization Navigation Motion estimation Pipelines Nonhomogeneous media Stability analysis

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