In the realm of underwater robotics,optical imaging plays a pivotal role in many scientific *** to the effects of absorption and scattering,images captured in turbid water are severely ***,enhancing the quality of und...
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In the realm of underwater robotics,optical imaging plays a pivotal role in many scientific *** to the effects of absorption and scattering,images captured in turbid water are severely ***,enhancing the quality of underwater optical images stands paramount in ensuring the continued advancement and efficacy of underwater robots across its multifarious applications.
Automatic modulation recognition-oriented Deep Neural Networks (ADNNs) have achieved higher recognition accuracy than traditional methods with less labor overhead. However, their high computation complexity usually fa...
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We present a novel attention-based mechanism to learn enhanced point features for point cloud processing tasks, e.g., classification and segmentation. Unlike prior studies, which were trained to optimize the weights o...
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We present a novel attention-based mechanism to learn enhanced point features for point cloud processing tasks, e.g., classification and segmentation. Unlike prior studies, which were trained to optimize the weights of a pre-selected set of attention points, our approach learns to locate the best attention points to maximize the performance of a specific task, e.g., point cloud classification. Importantly, we advocate the use of single attention point to facilitate semantic understanding in point feature learning. Specifically,we formulate a new and simple convolution, which combines convolutional features from an input point and its corresponding learned attention point(LAP). Our attention mechanism can be easily incorporated into state-of-the-art point cloud classification and segmentation networks. Extensive experiments on common benchmarks, such as Model Net40, Shape Net Part, and S3DIS, all demonstrate that our LAP-enabled networks consistently outperform the respective original networks, as well as other competitive alternatives, which employ multiple attention points, either pre-selected or learned under our LAP framework.
To address the nonlinearities and external disturbances in unstructured and complex agricultural environments,this paper investigates an autonomous trajectory tracking control method for agricultural ground ***,this p...
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To address the nonlinearities and external disturbances in unstructured and complex agricultural environments,this paper investigates an autonomous trajectory tracking control method for agricultural ground ***,this paper presents the design and implementation of a lightweight,modular two-wheeled differential drive vehicle equipped with two drive wheels and two caster *** vehicle comprises drive wheel modules,passive wheel modules,battery modules,a vehicle frame,a sensor system,and a control ***,a novel robust trajectory tracking method was proposed,utilizing an improved pure pursuit ***,an Online Particle Swarm Optimization Continuously Tuned PID(OPSO-CTPID)controller was introduced to dynamically search for optimal control gains for the PID *** results demonstrate the superiority of the improved pure pursuit algorithm and the OPSO-CTPID control *** validate the performance,the vehicle was integrated with a seeding and fertilizing machine to realize autonomous wheat seeding in an agricultural *** outcomes reveal that the vehicle of this study completed a seeding operation exceeding 1 km in *** proposed method can robustly and smoothly track the desired trajectory with an accuracy of less than 10 cm for the root mean square error(RMSE)of the curve and straight lines,given a suitable set of parameters,meeting the requirements of agricultural *** findings of this study hold significant reference value for subsequent research on trajectory tracking algorithms for ground-based agricultural robots.
Due to the complex structure and large size of large-capacity oil-immersed power transformers,it is difficult to predict the winding temperature distribution directly by numerical analysis.A 180 MVA,220 kV oil-immerse...
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Due to the complex structure and large size of large-capacity oil-immersed power transformers,it is difficult to predict the winding temperature distribution directly by numerical analysis.A 180 MVA,220 kV oil-immersed self-cooling power transformer is used as the research *** authors decouple the internal fluid domain of the power transformer into four regions:high voltage windings,medium voltage windings,low voltage windings,and radiators through fluid networks and establish the 3D fluidtemperature field numerical analysis model of the four regions,*** results of the fluid network model are used as the inlet boundary conditions for the 3D fluidtemperature numerical analysis *** turn,the fluid resistance of the fluid network model is corrected according to the results of the 3D fluid-temperature field numerical analysis *** prediction of the temperature distribution of windings is realised by the coupling calculation between the fluid network model and the 3D fluid-temperature field numerical analysis *** on this,the effect of the loading method of the heat source is also investigated using the proposed *** hotspot temperatures of the high-voltage,medium-voltage,and low-voltage windings are 89.43,86.33,and 80.96°C,***,an experimental platform is built to verify the *** maximum relative error between calculated and measured values is 4.42%,which meets the engineering accuracy requirement.
Integrated data and energy transfer(IDET)enables the electromagnetic waves to transmit wireless energy at the same time of data delivery for lowpower *** this paper,an energy harvesting modulation(EHM)assisted multi-u...
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Integrated data and energy transfer(IDET)enables the electromagnetic waves to transmit wireless energy at the same time of data delivery for lowpower *** this paper,an energy harvesting modulation(EHM)assisted multi-user IDET system is studied,where all the received signals at the users are exploited for energy harvesting without the degradation of wireless data transfer(WDT)*** joint IDET performance is then analysed theoretically by conceiving a practical time-dependent wireless *** the aid of the AO based algorithm,the average effective data rate among users are maximized by ensuring the BER and the wireless energy transfer(WET)*** results validate and evaluate the IDET performance of the EHM assisted system,which also demonstrates that the optimal number of user clusters and IDET time slots should be allocated,in order to improve the WET and WDT performance.
Glaucoma is currently one of the most significant causes of permanent blindness. Fundus imaging is the most popular glaucoma screening method because of the compromises it has to make in terms of portability, size, an...
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Glaucoma is currently one of the most significant causes of permanent blindness. Fundus imaging is the most popular glaucoma screening method because of the compromises it has to make in terms of portability, size, and cost. In recent years, convolution neural networks (CNNs) have revolutionized computer vision. Convolution is a "local" CNN technique that is only applicable to a small region surrounding an image. Vision Transformers (ViT) use self-attention, which is a "global" activity since it collects information from the entire image. As a result, the ViT can successfully gather distant semantic relevance from an image. This study examined several optimizers, including Adamax, SGD, RMSprop, Adadelta, Adafactor, Nadam, and Adagrad. With 1750 Healthy and Glaucoma images in the IEEE fundus image dataset and 4800 healthy and glaucoma images in the LAG fundus image dataset, we trained and tested the ViT model on these datasets. Additionally, the datasets underwent image scaling, auto-rotation, and auto-contrast adjustment via adaptive equalization during preprocessing. The results demonstrated that preparing the provided dataset with various optimizers improved accuracy and other performance metrics. Additionally, according to the results, the Nadam Optimizer improved accuracy in the adaptive equalized preprocessing of the IEEE dataset by up to 97.8% and in the adaptive equalized preprocessing of the LAG dataset by up to 92%, both of which were followed by auto rotation and image resizing processes. In addition to integrating our vision transformer model with the shift tokenization model, we also combined ViT with a hybrid model that consisted of six different models, including SVM, Gaussian NB, Bernoulli NB, Decision Tree, KNN, and Random Forest, based on which optimizer was the most successful for each dataset. Empirical results show that the SVM Model worked well and improved accuracy by up to 93% with precision of up to 94% in the adaptive equalization preprocess
The use of metamaterial enhances the performance of a specific class of antennas known as metamaterial *** radiation cost and quality factor of the antenna are influenced by the size of the *** antennas allow for the ...
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The use of metamaterial enhances the performance of a specific class of antennas known as metamaterial *** radiation cost and quality factor of the antenna are influenced by the size of the *** antennas allow for the circumvention of the bandwidth restriction for small *** parameters have recently been predicted using machine learning algorithms in existing *** learning can take the place of the manual process of experimenting to find the ideal simulated antenna *** accuracy of the prediction will be primarily dependent on the model that is *** this paper,a novel method for forecasting the bandwidth of the metamaterial antenna is proposed,based on using the Pearson Kernel as a standard *** with these new approaches,this paper suggests a unique hypersphere-based normalization to normalize the values of the dataset attributes and a dimensionality reduction method based on the Pearson kernel to reduce the dimension.A novel algorithm for optimizing the parameters of Convolutional Neural Network(CNN)based on improved Bat Algorithm-based Optimization with Pearson Mutation(BAO-PM)is also presented in this *** prediction results of the proposed work are better when compared to the existing models in the literature.
Aiming to address significant issues like severe halo effects and excessive noise present in images processed by the traditional dark channel prior-based dehazing algorithm using fixed values, a proposed enhancement m...
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The Internet of Unmanned Aerial Vehicles(I-UAVs)is expected to execute latency-sensitive tasks,but limited by co-channel interference and malicious *** the face of unknown prior environmental knowledge,defending again...
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The Internet of Unmanned Aerial Vehicles(I-UAVs)is expected to execute latency-sensitive tasks,but limited by co-channel interference and malicious *** the face of unknown prior environmental knowledge,defending against jamming and interference through spectrum allocation becomes challenging,especially when each UAV pair makes decisions *** this paper,we propose a cooperative multi-agent reinforcement learning(MARL)-based anti-jamming framework for I-UAVs,enabling UAV pairs to learn their own policies ***,we first model the problem as a modelfree multi-agent Markov decision process(MAMDP)to maximize the long-term expected system ***,for improving the exploration of the optimal policy,we resort to optimizing a MARL objective function with a mutual-information(MI)regularizer between states and actions,which can dynamically assign the probability for actions frequently used by the optimal ***,through sharing their current channel selections and local learning experience(their soft Q-values),the UAV pairs can learn their own policies cooperatively relying on only preceding observed information and predicting others’*** simulation results show that for both sweep jamming and Markov jamming patterns,the proposed scheme outperforms the benchmarkers in terms of throughput,convergence and stability for different numbers of jammers,channels and UAV pairs.
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