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Object Detection and Multiple Objective Optimization Manipulation Planning for underwater Autonomous Capture in Oceanic Natural Aquatic Farm

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Journal of Field Robotics 2025年第0期

作者： Hai, Huang Tao, Jiang Xinyu, Bian Hao, Zhou Xu, Yang Gang, Wang Hongde, Qin Xinyue, Han National Key Laboratory of Science and Technology on Underwater Vehicle Harbin Engineering University Harbin China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Science Bei Jing China

underwater autonomous capture operations offer significant potential for reducing labor and health risks in sea organism industries. This study presents a comprehensive solution for cross-domain underwater object detection and autonomous capture. A novel unsupervised domain adaptive learning method is proposed, integrating multiscale domain adaptive modules and attention mechanisms into a Faster Region-Convolutional Neural Network framework. This approach enhances feature alignment across diverse aquatic domains without parameter tuning. Additionally, an efficient, parameterless constrained multiobjective optimization algorithm is introduced for underwater autonomous mobile capture, integrating parameterized trajectory planning with innovative features, such as adaptive mutation strategies and constraint violation tolerance. The proposed approaches are extensively validated through simulations, tank experiments, and real-world oceanic trials in the Natural Aquatic Farm of Zhangzidao Island. Results demonstrate the system's robustness in complex underwater environments with varying currents, with experimental outcomes validating the accuracy and reliability of detection and capture capabilities. This research significantly advances autonomous underwater systems' capabilities in object detection and capture tasks, addressing complex challenges in realistic organism capture applications across diverse aquatic environments. © 2025 Wiley Periodicals LLC.

关键词： Health risks

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Study on Fluctuation Characteristics of Acoustic Signals under Density Layered Fluid Disturbance

Study on Fluctuation Characteristics of Acoustic Signals und...

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IEEE/OES China Ocean Acoustics (COA)

作者： Jintao Yong Yunfei Chen Zhenshan Wang Bing Jia Rui Wang Shiqi Mo Science and Technology on Underwater Test and Control Laboratory Dalian China College of Underwater Acoustic Engineering Harbin Engineering University Harbin China College of Information and Communication Engineering Dalian University of Technology Dalian China

ISBN: (数字)9798350340297

ISBN: (纸本)9798350340303

This study investigates the fluctuation characteristics of acoustic signals in the presence of flow field perturbations within density-stratified fluids through laboratory simulation experiments. A density stratification tank was used to replicate the ocean's stratified environment. The SUBOFF scaled model was employed to mimic the underwater vehicle's navigation process in towing mode. controlled density stratification simulation experiments were conducted to explore the acoustic signal fluctuation characteristics within the wake flow field of the submerged model. Data on the undulation properties of acoustic signals that propagated through the wake flow field of the underwater vehicle were collected. The undulation characteristics of the acoustic signal at two towing speeds and various spatial positions were analyzed. In alignment with the typical marine environment characteristics, this study designed the stratification conditions, the scale of the scaled model, and the towing speed based on the Froude number (Fri) similarity criterion and the geometric similarity law. The analysis of the experimental results indicates that the fluctuating frequency of the acoustic signal amplitude diminishes over time as the wake dissipates post-target passage. Concurrently, the intensity of the high-frequency fluctuation component of the signal also decreases with the dissipation of the wake.

关键词： Time-frequency analysis Fluctuations Fluids Navigation Perturbation methods Oceans Attenuation Acoustics underwater vehicles

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test and Analysis of Compression Wave Sound Velocity Measurement in Ice by Direct Method

Test and Analysis of Compression Wave Sound Velocity Measure...

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2021 OES China Ocean Acoustics, COA 2021

作者： Jin, Bai Lianhui, Jia Chunxia, Meng Fengrui, Bai Science and Technology on Underwater Test and Control Laboratory Dalian China Dalian Neusoft University of Information Dalian China

ISBN: (纸本)9781728181905

The sound velocity in ice is of great significance to the acoustic propagation characteristics of ocean channels under ice cover and the acoustic characteristics of underwater targets. Freshwater ice has a uniform crystal structure under normal conditions. The freezing process of sea ice is more complicated compared to fresh water ice. The sea ice contains a lot of bubbles, brine, solid particles and other impurities. Due to the large difference in the structure and composition of ice in different states, it is very different from the common sound transmission media in the past. Therefore, in order to accurately describe the acoustic propagation characteristics of the ocean channel under the ice cover, it is necessary to measure the longitudinal sound velocity in the ice accurately. A direct method for measuring the speed of longitudinal waves in ice is studied in this paper. The propagation time of high-frequency pulses in the ice is used in this research to determine the speed of longitudinal waves. For the same piece of ice, the method of averaging multiple measurements was used to reduce the measurement error. Six tests were performed on typical ice with different structural characteristics. The six tests were the fresh water in Songhua Lake area of Jilin Province in 2019, the high mud content sea ice in the coastal area of Bohai Bay in 2020, the low mud content sea ice in Liaodong Bay area in 2021, the artificial quick-frozen sea ice and fresh water ice at -20°C, and the summer Arctic sea ice obtained in the eleventh Arctic scientific survey in 2020. The sound velocity of longitudinal waves in ice was measured at 12kHz, 25kHz, 50kHz, 75kHz, and 100kHz. The acoustic properties of ice are determined by its own state. The measurement results have certain fluctuations, because the test results were closely related to the sample test environment and test process. The measurement results of longitudinal wave sound velocity were described by the measurement mean value

关键词： underwater acoustics

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Characterization and prediction of tailpipe ammonia emissions from in-use China 5/6 light-duty gasoline vehicles

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Frontiers of Environmental science & Engineering 2024年第1期18卷 71-81页

作者： Lewei Zeng Fengbin Wang Shupei Xiao Xuan Zheng Xintong Li Qiyuan Xie Xiaoyang Yu Cheng Huang Qingyao Hu Yan You Ye Wu College of Chemistry and Environmental Engineering Shenzhen UniversityShenzhen 518060China State Key Laboratory of Engines Tianjin UniversityTianjin 300072China China Automotive Technology and Research Center Co.Ltd. Tianjin 300300China CATARC Automotive Test Center(Guangzhou)Co.Ltd. Guangzhou 511300China State Environmental Protection Key Laboratory of Cause and Prevention of Urban Air Pollution Complex Shanghai Academy of Environmental SciencesShanghai 200233China National Observation and Research Station of Coastal Ecological Environments in Macao Macao Environmental Research InstituteMacao University of Science and TechnologyMacao SAR 999078China School of Environment State Key Joint Laboratory of Environment Simulation and Pollution ControlTsinghua UniversityBeijing 100084China

On-road tailpipe ammonia (NH3) emissions contribute to urban secondary organic aerosol formation and have direct or indirect adverse impacts on the environment and human health. To understand the tailpipe NH3 emission characteristics, we performed comprehensive chassis dynamometer measurements of NH3 emission from two China 5 and two China 6 light-duty gasoline vehicles (LDGVs) equipped with three-way catalytic converters (TWCs). The results showed that the distance-based emission factors (EFs) were 12.72 ± 2.68 and 3.18 ± 1.37 mg/km for China 5 and China 6 LDGVs, respectively. Upgrades in emission standards were associated with a reduction in tailpipe NH3 emission. In addition, high NH3 EFs were observed during the engine warm-up period in cold-start cases owing to the intensive emissions of incomplete combustion products and suitable catalytic temperature in the TWCs. Notably, based on the instantaneous NH3 emission rate, distinct NH3–emitting events were detected under high/extra high velocity or rapid acceleration. Furthermore, NH3 emission rates correlated well with engine speed, vehicle specific power, and modified combustion efficiency, which were more easily accessible. These strong correlations were applied to reproduce NH3 emissions from China 5/6 LDGVs. The predicted NH3 EFs under different dynamometer and real-world cycles agreed well with existing measurement and prediction results, revealing that the NH3 EFs of LDGVs in urban routes were within 8.55–11.62 mg/km. The results presented here substantially contribute to improving the NH3 emission inventory for LDGVs and predicting on-road NH3 emissions in China.

关键词： NH3 instantaneous emissions Catalytic temperature Vehicle specific power Combustion efficiency Emission prediction

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Occurrence, distribution and risk assessment of antibiotics at various aquaculture stages in typical aquaculture areas surrounding the Yellow Sea

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Journal of Environmental sciences 2023年第4期126卷 621-632页

作者： Jiachao Zhang Xuanrui Zhang Yang Zhou Qianfan Han Xiaoli Wang Chao Song Shuguang Wang Shan Zhao Shandong Key Laboratory of Water Pollution Control and Resource Reuse School of Environmental Science and EngineeringShandong UniversityQingdao 266237China Water Science and Environmental Engineering Research Center College of Chemical and Environmental EngineeringShenzhen UniversityShenzhen 518060China Qingdao Municipal Bureau of Ecology and Environment Qingdao 266003China Analysis and Test Center Qilu University of Technology(Shandong Academy of Sciences)Jinan 250014China

The pollution of antibiotics commonly existed throughout the entire aquaculture process,but the residues of antibiotics at different aquaculture stages have rarely been *** study investigated the occurrence,distribution and risk assessment of antibiotics at different aquaculture stages (the non-aquaculture stage,the early aquaculture stage,the middle aquaculture stage,and the late aquaculture stage) in two typical marine aquaculture areas(Mahegang River and Dingzi Bay) surrounding the Yellow *** and tetracyclines were commonly used antibiotics in the aquaculture of these areas with high detection frequencies (17%to 83%).Compared among four aquaculture stages,the highest concentration of antibiotics (9032.08 ng/L) in aquaculture ponds was detected at the late aquaculture *** the antibiotic pollution level of natural water was directly related to the aquaculture ***,at the aquaculture stages,the detection frequency of antibiotics in sediments was higher than that at the non-aquaculture *** on the correlation analysis,the concentration of main antibiotics in water showed a positive correlation with total nitrogen (p<0.05) and chlorophyll a (p<0.01),while it showed a negative correlation with salinity (p<0.01) in coastal water of the Dingzi *** to the risk assessment,with the development of aquaculture stages,the selection pressure of fluoroquinolones and tetracyclines on resistant bacteria had *** the ecological risks caused by sulfonamides and tetracyclines to aquatic organisms had also increased ***,this study may provide a reference for formulating regulatory policies regarding antibiotic use at different aquaculture stages.

关键词： Antibiotics Aquaculture stages Correlation analysis Risk assessment

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Smartphone-based colorimetric detection of formaldehyde in the air

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Building Simulation 2024年第11期17卷 2007-2015页

作者： Meng Yang Jin Ye Tao Yu Ying Song Hua Qian Tianyi Liu Yang Chen Junqi Wang Shi-jie Cao Cong Liu School of Energy and Environment Southeast UniversityNanjing210096China School of Energy and Power Jiangsu University of Science and TechnologyZhenjiangJiangsu212100China Wuhan Second Ship Design and Research Institute Wuhan430205China Hubei Provincial Engineering and Technology Research Center for Food Quality and Safety Test Hubei Provincial Institute for Food Supervision and TestWuhan430075China Laboratory of Image Science and Technology the School of Computer Science and EngineeringSoutheast UniversityNanjingChina Jiangsu Provincial Joint International Research Laboratory of Medical Information Processing Southeast UniversityNanjingChina School of Cyber Science and Engineering Southeast UniversityNanjingChina Key Laboratory of Computer Network and Information Integration Southeast UniversityMinistry of EducationNanjingChina School of Architecture Southeast UniversityNanjingChina Jiangsu Province Engineering Research Center of Urban Heat and Pollution Control Southeast UniversityNanjingChina Global Centre for Clean Air Research(GCARE) University of SurreyGuildfordUK

Adverse impacts of exposure to formaldehyde on human health significantly increases attention in monitoring formaldehyde concentrations in the *** formaldehyde detection methods typically rely on large and costly instruments and requires high skills of expertise,preventing it from being widely accessible to *** study introduced a novel approach utilizing smartphone-based colorimetric *** of green channel signals of digital images by a smartphone successfully capture variation of purple color of 4-amino-3-hydrazino-5-mercapto-1,2,4-triazol solution,which is proportional to formaldehyde *** is because that green and purple are complimentary color pairs.A calibration curve was established between green channel signals and formaldehyde concentrations,with a correlation coefficient of *** limit of the smartphone-based method is 0.008 mg/m^(3).Measurement errors decrease as formaldehyde concentrations increase,with median relative errors of 34%,17%,and 6%for concentration ranges of 0–0.06 mg/m^(3),0.06–0.12 mg/m^(3),and 0.12–0.35 mg/m^(3),*** method replaced scientific instrumentation with ordinary items,greatly reducing cost and operation *** would provide an opportunity to realize onsite measurements for formaldehyde by occupants themselves and increase awareness of air quality for better health protection.

关键词： indoor air quality VOC RGB color identification machine vision

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A Dynamics Perspective of Defense-Intrusion Game 42

A Dynamics Perspective of Defense-Intrusion Game

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42nd Chinese control Conference, CCC 2023

作者： Wang, keyang Zhao, Rui Wang, Yintao School of Marine Science and Technology Northwestern Polytechnical University Xi'an710072 China National Key Laboratory of Underwater Information and Control Xi'an710072 China The 705 Research Institute of China State Shipbuilding Corporation Limited Xi'an710077 China

ISBN: (纸本)9789887581543

Defense-intrusion games are fascinating in both nature and the artificial world. In these games, the purpose of defender is to protect the target from being attacked by the intruder, and if possible, capture the intruder. This article solves the defense-intrusion game with considering the bio-inspired model adopted by two agents-a defender and an intruder, and obtains the attack and interception strategies. The intruder usually need to avoid the defender, so we provide attack strategy based on setting the intruder's emergency maneuver distance, and compare it with the strategy based on artificial potential field method proposed in our previous work. For the defender, we design a radical interception strategy and a conservative interception strategy according to different circumstances. Numerical simulations are conducted to illustrate the effectiveness of the proposed strategies. The results are consistent with natural observations and disclose some natural laws in the defense-intrusion scenario. This paper will provide a reference for the research of intrusion prevention related to marine robots. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Network security

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Non-covalent interaction of atomically dispersed dual-site catalysts featuring Co and Ni nascent pair sites for efficient electrocatalytic overall water splitting

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Journal of Materials science & technology 2024年第11期178卷 210-225页

作者： Imran Khan Yaogang Chen Zhiyang Li Wenjie Liu Salman Khan Sami Ullah Linlin Liu Amir Zada Sharafat Ali Shabana Shaheen Lei Yang State Key Laboratory of Urban Water Resource and Environment Shenzhen Key Laboratory of Organic Pollution Prevention and ControlSchool of Civil and Environmental EngineeringHarbin Institute of Technology ShenzhenShenzhen 518055China School of Physics and Electronics Central South UniversityChangsha 410083China CNAS Accredited Test Center Guangdong Engineering Technology Research Center of Air PurificationHealthlead Co.Ltd.Shenzhen 518055China Key laboratory of Functional Inorganic Material Chemistry Ministry of Education of the People's Republic of ChinaHeilongjiang UniversityHarbin 150080China K.A.CARE Energy Research&Innovation Center(ERIC) King Fahd University of Petroleum&Minerals(KFUPM)Dhahran 31261Saudi Arabia Department of Chemistry Abdul Wali Khan UniversityMardanKhyber Pakhtunkhwa 23200Pakistan School of Physics University of Electronic Science and Technology of ChinaChengdu 610054China

The scarcity of highly effective and economical catalysts is a major impediment to the widespread adop-tion of electrochemical water splitting for the generation of ***_(2),a low-cost candidate,suffers from inefficient catalytic ***,a captivating strategy has emerged,which involves the en-gineering of heteroatom doping to enhance electrochemical *** investigation demonstrates a successful implementation of the strategy by combining ultrathin MoS_(2) nanosheets with Co and Ni dual single multi-atoms(DSMAs)grown directly on 2D N-doped carbon nanosheets(CoNi-MoS_(2)/NCNs)for the purpose of improving hydrogen evolution reaction(HER)and oxygen evolution reaction(OER).With the aid of a dual-atom doped bifunctional electrocatalyst,effective water splitting has been achieved across a broad pH range in *** double doping of Co and Ni strengthens their interactions,thereby altering the electromagnetic composition of the host MoS_(2) and ultimately leading to improved electrocat-alytic ***,the synergistic effect between NCNs and MoS_(2) nanosheets provided efficient electron transport channels for ions and an ample surface area with open voids for ion ***-sequently,the CoNi-MoS_(2)/NCNs catalysts demonstrated exceptional stability and activity,producing low degree overpotentials of 180.5,124.9,and 196.4 mV for HER and 200,203,and 207 mV for OER in neu-tral,alkaline,and acidic mediums,respectively,while also exhibiting outstanding overall water-splitting performance,durability,and stability when used as an electrolyzer at universal pH.

关键词： Multifunctional catalyst Water splitting Functionalized carbon nanosheets Interface engineering pH-universal electrocatalysis

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A Data Association Method Based on Azimuth Inverse Cotangent Value

A Data Association Method Based on Azimuth Inverse Cotangent...

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International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE)

作者： Nan Zou Muze Yin Guangpu Zhang Zhenqi Yang Pengbo Ma Dongyu Li National Key Laboratory of Underwater Acoustic Technology Harbin Engineering University Harbin China Key Laboratory of Marine Information Acquisition and Security (Harbin Engineering University) Ministry of Industry and Information Technology Harbin China College of Underwater Acoustic Engineering Harbin Engineering University Harbin China Science and Technology on Electronic Information Control Laboratory Chengdu China

ISBN: (数字)9798331531836

ISBN: (纸本)9798331531843

In this paper, we address the challenge of data association in scenarios involving multiple observers for underwater non-cooperative localization, where it is unclear how measurement data from different stations corresponds to the same target. We propose a novel data association method that leverages the inverse cotangent of azimuthal sequence features. The method first calculates the sequence of cotangent values measured by each station's bearing in a limited time. Linearly analyzes the sequence to obtain the slope, and finally realizes the data association according to the characteristic that the inverse cotangent value of the slope corresponds to the target's motion heading. The simulation results show that the proposed method has better association localization ability compared with the traditional method, overcomes the problem of the conventional method that the computational volume is too large when the number of observation stations and targets is large, and ensures the association correctness under a certain error.

关键词： Location awareness Power engineering Accuracy Azimuth Simulation Noise Observers Time measurement

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Temperature and strain sensitivities of surface and hybrid acoustic wave Brillouin scattering in optical microfibers

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Chinese Physics B 2022年第9期31卷 333-339页

作者： Yi Liu Yuanqi Gu Yu Ning Pengfei Chen Yao Yao Yajun You Wenjun He Xiujian Chou Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control SystemMinistry of Education and Shanxi ProvinceTaiyuan 030024China Taiyuan University of Technology Institute of Optoelectronic EngineeringCollege of Physics and OptoelectronicsTaiyuan 030024China Strong Digital Technology Co. Ltd.(Thinvent)Nanchang 410000China North University of China Key Laboratory of Instrumentation Science and Dynamic Measurement Ministry of EducationTaiyuan 030051China North University of China College of Mechatronics EngineeringTaiyuan 030051China North University of China Science and Technology on Electronic Test and Measurement LaboratorySchool of Instrument and ElectronicsTaiyuan 030051China

Temperature and strain sensitivities of surface acoustic wave(SAW)and hybrid acoustic wave(HAW)Brillouin scat-tering(BS)in 1μm-1.3μm diameter optical microfibers are *** contrast to stimulated Brillouin scattering(SBS)from bulk acoustic wave in standard optical fiber,SAW and HAW BS,due to SAWs and HAWs induced by the coupling of longitudinal and shear waves and propagating along the surface and core of microfiber respectively,facilitate innovative detection in optical microfibers *** highest temperature and strain sensitivities of the hybrid acoustic modes(HAMs)are 1.082 MHz/℃and 0.0289 MHz/με,respectively,which is suitable for microfiber sensing applica-tion of high temperature and strain ***,the temperature and strain sensitivities of the SAMs are less affected by fiber diameter changes,ranging from 0.05 MHz/℃/μm to 0.25 MHz/℃/μm and 1×10^(-4) MHz/με/μm to 5×10^(-4) MHz/με/μm,*** can be found that that SAW BS for temperature and strain sensing would put less stress on manufacturing constraints for optical ***,the simultaneous sensing of temperature and strain can be realized by SAW and HAW BS,with temperature and strain errors as low as 0.30℃-0.34℃and 14.47με-16.25με.

关键词： Brllouin scatering surface acoustic waves hybrid acoustic waves optical microfiber sensing

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