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MASS FLOW DETECTION technology FOR SEED AND FERTILISER PARTICLES AND ITS APPLICATION IN UAV-BASED SPREADING

INMATEH - Agricultural Engineering 2025年第1期75卷 584-599页

作者： Wang, Yanshuang Song, Cancan Gao, Yongqi Lan, Yubin Wang, Guobin Ming, Rui College of Agricultural Engineering and Food Science Shandong University of Technology Zibo China Shandong University of Technology Sub-center of National Center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology Zibo China Research of Institute of Ecological Unmanned Farm Shandong University of Technology Zibo China School of Computer and Big Data Minjiang University Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Fuzhou China

The processes of sowing and fertiliser application represent a significant aspect of agricultural production. In order to achieve efficient and precise seeding and fertiliser application, mass flow detection of seed and fertiliser particles can facilitate real-time monitoring and precise decision-making for intelligent seeding and fertiliser application. However, the diversity of seed and fertiliser particle types and particle flow modes presents a challenge for existing detection methods, particularly in meeting the varying operational requirements, especially for particle mass flow detection in low-altitude and high-speed sowing operations of agricultural drones. In such cases, the overlap and flow rate will have a significant impact on the detection results due to the large displacement and the continuous high-throughput dense phase of the particle flow. This paper provides a summary of the existing seed and fertiliser particle mass flow detection techniques and their underlying working principles. It compares the direct detection based on mass with the indirect detection methods based on velocity and concentration, and analyses their respective advantages, disadvantages and applicability. It also explores the possibility of optimising the existing detection methods for the specific needs of agricultural UAVs and considers the potential introduction of cutting-edge science and technology in order to develop an efficient, accurate and convenient detection system to meet the growing market demand. © (2025), (INMA Bucharest). All Rights Reserved.

关键词： Precision agriculture

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Tissue P Systems with Look-Ahead Mode

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Chinese Journal of Electronics 2025年第1期23卷 81-86页

作者： Yun Jiang Tao Song Zheng Zhang School of Computer Science and Information Engineering Chongqing Technology and Business University Chongqing China Department of Control Science and Engineering Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan China

Tissue P systems are a class of distributed and parallel computing models inspired from inter-cellular communication and cooperation between cells. In this work, a variant of tissue P system, named tissue P system with look-ahead mode, is discussed for decreasing the inherent non-determinism of tissue P systems and helping implementing tissue P systems on computers. Such systems are proved to be universal by simulating register machine, and they are also proved to be able to efficiently solve computationally hard problems by means of a space-time tradeoff, which is illustrated with a polynomial solution to 3-coloring problem.

关键词： Computers Computational modeling Medical services Parallel processing Polynomials Computational efficiency Registers Business

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MorNet: Asymmetric UNet-like Network with Morphological Opening and Closing for Image Segmentation 17th

MorNet: Asymmetric UNet-like Network with Morphological Open...

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17th International Conference on intelligent Robotics and Applications, ICIRA 2024

作者： Li, Meng Yun, Juntong Jiang, Du Tao, Bo Li, Gongfa Liu, Rong Liu, Ying Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Wuhan430081 China Research Center for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Wuhan430081 China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Wuhan430081 China Precision Manufacturing Research Institute Wuhan University of Science and Technology Wuhan430081 China School of Medicine Wuhan University of Science and Technology No. 1 Huangjia Lake University Town Wuhan430065 China School of Mechanical Engineering Hubei Engineering University Xiaogan432000 China

ISBN: (纸本)9789819607761

Image segmentation plays a crucial role in target recognition as it provides an essential prerequisite for identifying targets. However, UNet cannot acquire comprehensive information about the image, which limits its ability to effectively segment small and discrete objects. A new network structure, called MorNet, is proposed. It applies dilation and erosion operations in morphological opening and closing for connected and discrete region segmentation. MorNet effectively integrates global segmentation images, emphasizing small and discrete area segmentation and enhancing the segmentation of large continuous areas. This method enhances the understanding of the location of organs and diseased sites, enabling accurate segmentation. A side-out (SO) monitoring mechanism is introduced into the decoder to provide monitoring information for the original image and the predicted results. Compared with current UNet-like networks, our proposed method achieved the highest Dice scores (96.4635%, 94.0514%, 94.3444%) and PPV scores (94.2226%, 90.2361%, 91.5582%) for liver tumor, brain tumor, and liver segmentation tasks, respectively. The experimental results show that MorNet successfully combines the segmentation of connected and discrete regions. MorNet locates organs and lesions more accurately than current state-of-the-art medical image segmentation models. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Image segmentation

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Sim2Real Learning With Domain Randomization for Autonomous Guidewire Navigation in Robotic-Assisted Endovascular Procedures

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IEEE Transactions on Automation science and Engineering 2025年 22卷 13842-13854页

作者： Yao, Tianliang Wang, Haoyu Lu, Bo Ge, Jiajia Pei, Zhiqiang Kowarschik, Markus Sun, Lining Seneviratne, Lakmal Qi, Peng Tongji University College of Electronics and Information Engineering Shanghai Institute of Intelligent Science and Technology Department of Control Science and Engineering Shanghai200092 China Shanghai University of Engineering Science School of Electronic and Electrical Engineering Shanghai201620 China Soochow University Robotics and Microsystems Center School of Mechanical and Electrical Engineering Jiangsu Suzhou215131 China Advanced Therapies Siemens Healthineers Ltd. Shanghai201318 China University of Shanghai for Science and Technology Oriental Pan-Vascular Devices Innovation College Shanghai200093 China Bavaria Forchheim91301 Germany Khalifa University KUCARS Department of Mechanical and Nuclear Engineering Abu Dhabi United Arab Emirates Tongji University College of Electronics and Information Engineering Shanghai Institute of Intelligent Science and Technology State Key Laboratory of Cardiovascular Diseases and Medical Innovation Center Shanghai East Hospital Department of Control Science and Engineering School of Medicine Shanghai200092 China

Over the past decade, significant advancements have been made in the research and industrialization of robotic systems for endovascular procedures, yet their clinical application remains relatively limited. Physicians commonly report that these robots lack certain intelligent assistive capabilities during procedures. There has been increasing interest and attempts to apply learning-centered algorithms to the training and enhancement of surgical robot skills. This paper proposes an autonomous navigation algorithm for interventional guidewires that is initially trained solely in a virtual simulation environment and subsequently deployed to a real-world robot. Experimental results demonstrate the feasibility of this approach for real-world applications. The proposed approach can help physicians reduce the learning curve for guidewire manipulation and elevate the robot to a higher level of autonomous operation, thereby breaking through the current bottleneck in the level of intelligence for clinical applications of interventional robots. It also holds promise for bringing intelligent transformation to future interventional procedures. © 2004-2012 IEEE.

关键词： Adversarial machine learning

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VDT-Auto: End-to-end Autonomous Driving with VLM-Guided Diffusion Transformers

arXiv

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arXiv 2025年

作者： Guo, Ziang Gubernatorov, Konstantin Asfaw, Selamawit Yagudin, Zakhar Tsetserukou, Dzmitry Intelligent Space Robotics Laboratory Center for Digital Engineering Skolkovo Institute of Science and Technology Moscow Russia

— In autonomous driving, dynamic environment and corner cases pose significant challenges to the robustness of ego vehicle’s decision-making. To address these challenges, commencing with the representation of state-action mapping in the end-to-end autonomous driving paradigm, we introduce a novel pipeline, VDT-Auto. Leveraging the advancement of the state understanding of Visual Language Model (VLM) with diffusion Transformer-based action generation, our VDT-Auto parses the environment geometrically and contextually for the conditioning of the diffusion process. Geometrically, we use a bird’s-eye view (BEV) encoder to extract feature grids from the surrounding images. Contextually, the structured output of our fine-tuned VLM is processed into textual embeddings and noisy paths. During our diffusion process, the added noise for the forward process is sampled from the noisy path output of the fine-tuned VLM, while the extracted BEV feature grids and embedded texts condition the reverse process of our diffusion Transformers. Our VDT-Auto achieved 0.52 m on average L2 errors and 21% on average collision rate in the nuScenes open-loop planning evaluation, presenting state-of-the-art performance. Moreover, the real-world demonstration exhibited prominent generalizability of our VDT-Auto. The code and dataset will be released at https://***/ZionGo6/VDTAuto. © 2025, CC BY-NC-ND.

关键词： Visual languages

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AgilePilot: DRL-Based Drone Agent for Real-Time Motion Planning in Dynamic Environments by Leveraging Object Detection

arXiv

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arXiv 2025年

作者： Khan, Roohan Ahmed Serpiva, Valerii Aschalew, Demetros Fedoseev, Aleksey Tsetserukou, Dzmitry Intelligent Space Robotics Laboratory Center for Digital Engineering Skolkovo Institute of Science and Technology Moscow Russia

Autonomous drone navigation in dynamic environments remains a critical challenge, especially when dealing with unpredictable scenarios including fast-moving objects with rapidly changing goal positions. While traditional planners and classical optimisation methods have been extensively used to address this dynamic problem, they often face real-time, unpredictable changes that ultimately leads to sub-optimal performance in terms of adaptiveness and real-time decision making. In this work, we propose a novel motion planner, AgilePilot, based on Deep Reinforcement Learning (DRL) that is trained in dynamic conditions, coupled with real-time Computer Vision (CV) for object detections during flight. The training-to-deployment framework bridges the Sim2Real gap, leveraging sophisticated reward structures that promotes both safety and agility depending upon environment conditions. The system can rapidly adapt to changing environments, while achieving a maximum speed of 3.0 m/s in real-world scenarios. In comparison, our approach outperforms classical algorithms such as Artificial Potential Field (APF) based motion planner by 3 times, both in performance and tracking accuracy of dynamic targets by using velocity predictions while exhibiting 90% success rate in 75 conducted experiments. This work highlights the effectiveness of DRL in tackling real-time dynamic navigation challenges, offering intelligent safety and agility. © 2025, CC BY-NC-ND.

关键词： Drones

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Secure Beamforming Design for IRS-ISAC Systems with a Hardware-Efficient Hybrid Beamforming Architecture

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IEEE Transactions on Vehicular technology 2025年

作者： Xiong, Weijie Zhao, Zhenglan Lin, Jingran Xiao, Zhiling Li, Qiang University of Electronic Science and Technology of China School of Information and Communication Engineering Chengdu611731 China Laboratory of Electromagnetic Space Cognition and Intelligent Control Beijing100083 China Tianfu Jiangxi Laboratory Sichuan Chengdu641419 China

In this paper, we employ a hardware-efficient hybrid beamforming (HB) architecture to achieve balanced performance in an intelligent reflecting surface (IRS)-assisted integrated sensing and communication (ISAC) system. We consider a scenario where a multi-antenna, dual-function base station (BS) performs secure beamforming for a multi-antenna legitimate receiver while simultaneously detecting potential targets. Our objective is to maximize the communication secrecy gap by jointly optimizing the analog and digital beamformers, IRS reflection coefficients, and radar scaling factor, subject to constraints on beampattern similarity, total transmit power budget, and the constant modulus of both the analog beamformer and IRS reflection coefficients. This secrecy gap maximization problem is generally non-convex. To address this, we incorporate the exterior penalty method by adding the radar constraint as a penalty term in the objective function. We then propose an efficient approach based on the penalty dual decomposition (PDD) framework to solve the reformulated problem, featuring closed-form solutions at each step and guaranteeing convergence to a stationary point. Simulation results validate the effectiveness of the proposed algorithm and demonstrate the superiority of the IRS-ISAC system with HB architecture in balancing performance and hardware costs. © 1967-2012 IEEE.

关键词： Convex optimization

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Distributed Multi-Target Tracking with Overlapping Sensor Fields of View Using Jump-Markov Probability Hypothesis Density

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Lian, Lei Lian, Jie Wang, Dong Key Laboratory of Intelligent Control and Optimization for Industrial Equipment Ministry of Education China Dalian University of Technology School of Control Science and Engineering Dalian116024 China

This paper addresses the challenge of information fusion in multi-sensor multi-target tracking (MTT) systems, focusing on the limitations of the arithmetic average (AA) fusion process. Through an in-depth analysis of information content (IC) changes during complete information fusion and AA fusion, we reveal how inaccuracies in correlation estimates or partial sensor coverage can lead to information loss and suboptimal estimates. We propose a fusion framework designed for the Jump-Markov probability hypothesis density (JMPHD) filter to overcome these issues, incorporating the measurement information cross-correlation (MIC) method. This approach enhances target position detection efficiency in an overlapping sensor field of view (FoV) by pre-fusing measurement data. In the process of MIC fusion, to improve efficiency, the method uses detected targets from a single local sensor as the index for matching, rather than simply aggregating all neighboring sensor data. This approach significantly enhances clustering speed. Simulations validate the effectiveness of our proposed framework in scenarios with multi-target non-linear movements and overlapping sensor FoV. © 1965-2011 IEEE.

关键词： Information fusion

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Surface-PMSM Sensorless control Strategy Based on Reduced-Order Linear Kalman Filter Cooperating with Prediction Error Rolling Compensation

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IEEE Transactions on Power Electronics 2025年

作者： Xu, Sang Shen, Anwen Tang, Qipeng Wang, Miaomiao Luo, Pan Luo, Xin Xu, Jinbang National Key Laboratory of Science and Technology on Multispectral Information Processing Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Wuhan430074 China Science and Technology on Reactor System Design Technology Laboratory Chengdu China

Kalman filter (KF) is increasingly attracted for sensorless control of surface permanent magnet synchronous motors (SPMSMs) due to its strong robustness against measurement and system noise. However, conventional method suffers from poor position and speed estimation accuracy under dynamic conditions, and high computational cost. In order to solve these problems, an enhanced sensorless control strategy based on reduced-order linear Kalman filter (RLKF) cooperating with prediction error rolling compensation is introduced in this paper. Differing from conventional method, a reduced-order linear state equation encompassing rotor position, speed and torque disturbance is constructed. Then, by obtaining the prediction error of system output using the motor current equation in the predictive reference frame, the optimal estimation of rotor position and speed in KF algorithm is achieved based on the reduced-order model. This not only simplifies the calculation process, but also enhances the position and speed estimation accuracy under dynamic conditions. Meanwhile, a prediction error rolling compensation algorithm is developed to minimize the estimation deviations caused by motor parameters variations. Additionally, the system's dynamic performance is further improved with an adopted speed controller based on torque disturbance feedforward and acceleration feedback. Finally, experimental results verify the effectiveness and feasibility of the proposed strategy.1 © 1986-2012 IEEE.

关键词： Permanent magnets

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Design, Performance, and Applications of AMMIS: A Novel Airborne Multimodular Imaging Spectrometer for High-Resolution Earth Observations

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Engineering 2025年第4期47卷 38-56页

作者： Jia, Jianxin Wang, Yueming Zheng, Xiaorou Yuan, Liyin Li, Chunlai Cen, Yi Si, Fuqi Lv, Gang Wang, Chongru Wang, Shengwei Zhang, Changxing Zhang, Dong He, Daogang Zhuang, Xiaoqiong Han, Guicheng Zhang, Mingyang Hyyppä, Juha Wang, Jianyu Key Laboratory of Space Active Opto-Electronics Technology Shanghai Institute of Technical Physics Chinese Academy of Sciences Shanghai200083 China Department of Photogrammetry and Remote Sensing Finnish Geospatial Research Institute EspooFI-02150 Finland Guangdong Provincial Key Laboratory of Multimodal Big Data Intelligent Analysis Guangdong School of Computer Science and Engineering South China University of Technology Guangzhou510641 China State Key Laboratory of Remote Sensing Science Aerospace Information Research Institute Chinese Academy of Sciences Beijing100094 China Key Laboratory of Environmental Optics and Technology Anhui Institute of Optics and Fine Mechanics Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei230031 China Department of Mechanical Engineering Aalto University EspooFI-02150 Finland

Airborne hyperspectral imaging spectrometers have been used for Earth observation over the past four decades. Despite the high sensitivity of push-broom hyperspectral imagers, they experience limited swath and wavelength coverage. In this study, we report the development of a push-broom airborne multimodular imaging spectrometer (AMMIS) that spans ultraviolet (UV), visible near-infrared (VNIR), shortwave infrared (SWIR), and thermal infrared (TIR) wavelengths. As an integral part of China's High-Resolution Earth Observation Program, AMMIS is intended for civilian applications and for validating key technologies for future spaceborne hyperspectral payloads. It has been mounted on aircraft platforms such as Y-5, Y-12, and XZ-60. Since 2016, AMMIS has been used to perform more than 30 flight campaigns and gather more than 200 TB of hyperspectral data. This study describes the system design, calibration techniques, performance tests, flight campaigns, and applications of the AMMIS. The system integrates UV, VNIR, SWIR, and TIR modules, which can be operated in combination or individually based on the application requirements. Each module includes three spectrometers, utilizing field-of-view (FOV) stitching technology to achieve a 40° FOV, thereby enhancing operational efficiency. We designed advanced optical systems for all modules, particularly for the TIR module, and employed cryogenic optical technology to maintain optical system stability at 100 K. Both laboratory and in-flight calibrations were conducted to improve preprocessing accuracy and produce high-quality hyperspectral data. The AMMIS features more than 1400 spectral bands, with spectral sampling intervals of 0.1 nm for UV, 2.4 nm for VNIR, 3 nm for SWIR, and 32 nm for TIR. In addition, the instantaneous fields of view (IFoVs) for the four modules were 0.5, 0.25, 0.5, and 1 mrad, respectively, with the VNIR module achieving an IFoV of 0.125 mrad in the high-spatial-resolution mode. This study reports on land

关键词： Fighter aircraft

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