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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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Microbial phenolic metabolites 3-(3',4'-dihydroxyphenyl)propanoic acid and 3',4'-dihydroxyphenylacetic acid prevent obesity in mice fed high-fat diet

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Food science and Human Wellness 2024年第1期13卷 327-338页

作者： Wanbing Chen Ruonan Liu Xiaoling Zhu Qun Lu Hong Yang Rui Liu College of Food Science and Technology Huazhong Agricultural UniversityWuhan 430000China Key Laboratory of Environment Correlative Dietology(Huazhong Agricultural University) Ministry of educationWuhan 430000China Wuhan Engineering Research Center of Bee Products on Quality and Safety Control Wuhan 430000China Key Laboratory of Urban Agriculture in Central China Ministry of Agriculture and Rural AffairsWuhan 430000China Hubei Provincial Institute for Food Supervision and Test Wuhan 430070China

Obesity is associated with numerous metabolic disorders,and dietary polyphenols have been confirmed to have beneficial effects on the metabolism in ***,the effect of 3-(3’,4’-dihydroxyphenyl)propanoic acid(DHPA)and 3’,4’-dihydroxyphenylacetic acid(DHAA),two main metabolites of dietary polyphenols,on obesity remains poorly *** this study,DHPA and DHAA were found to alleviate obesity,as well as regulate insulin resistance,lipid metabolism,and oxidative stress response in high-fat diet(HFD)***,the 16S rRNA sequencing and UHPLC-Q-TOF/MS demonstrated that DHPA and DHAA only slightly disturbed the intestinal microbiome,but significantly altered the urine metabolome of HFD mice mainly by regulating pentose and glucuronate interconversion,tyrosine metabolism,pentose phosphate and tricarboxylic acid(TCA)cycle as indicated by metabolic pathway analysis based on Kyoto Encyclopedia of Genes and Genomes(KEGG)*** analysis revealed that the differential metabolites are strongly associated with body weight,blood glucose,insulin level,and superoxide dismutase(SOD)enzyme *** results revealed that DHPA and DHAA exert their anti-obesity effect by regulating important metabolites in the glucose,lipid and tyrosine metabolism pathways.

关键词： Obesity Dietary polyphenol metabolites Gut microbiota Metabonomics

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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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Evolving LSTM Networks for Time-Series Classification in EdgeIoT

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Mathematical Problems in Engineering 2023年第1期2023卷

作者： Cui, Pei Li, San Jiang, Kaina Liu, Zhendong Sun, Xingkai Science and Technology on Underwater Test and Control Laboratory Dalian China Wuhan Maritime Communication Research Institute Wuhan China Dalian Institute of Measurement and Control Technology Dalian China Beijing Huahang Radio Measurement Institute Beijing China

We proposed a novel approach to evolve LSTM networks utilizing intelligent optimization algorithms and address time-series classification problems in EdgeIoT. Meanwhile, a new optimizer called cultural society and civilization (CSC) algorithm is proposed to reduce the probability of stagnated in the local optima and increase the convergence speed. The suggested method could relieve the problem that the traditional data mining and pattern extraction methods cannot guarantee high accuracy and are hard to deploy on terminal devices. The proposed CSC algorithm and CSC-optimized LSTM model is examined on benchmark problems and demonstrates remarkable superiority over traditional methods and can be applied to support EdgeIoT for learning and processing. © 2023 Pei Cui et al.

关键词： Data mining

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Reconstruction and Evaluation of Ship Radiated Noise Signal in Ocean Channel 4

Reconstruction and Evaluation of Ship Radiated Noise Signal ...

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4th Annual International Conference on Data science and Business Analytics, ICDSBA 2020

作者： Meng, Chun Xia Xia, Chun Yan Li, Xiao Yuan Science and Technology on Underwater Test and Control Laboratory Dalian China Dalian Scientific Test and Control Technology Institute Dalian China

ISBN: (纸本)9781728181646

Ship radiated noise can generally be regarded as a random process that undergoes steady states, but the complexity of its generation mechanism makes its spectral characteristics different from white noise signals. Realistic simulation of the time domain signal of ship radiated noise can improve performance of acoustic equipment. In this paper, the analysis methods of the ship's radiation noise line spectrum and continuous spectrum characteristics are studied. The near-field radiation noise data of a certain type of ship under the same operating conditions is analyzed in the time-frequency domain, and the statistically significant radiation noise spectrum characteristics are obtained. The probability density function is used to generate random numbers that meet this statistical characteristic to describe the frequency spectrum of underwater radiating sound sources at various frequencies, and the Fourier synthesis method is used to reconstruct the time-domain pass characteristic of the ship's radiated noise signal under arbitrary sound velocity conditions in shallow water. Finally, the evaluation method of the radiated noise signal modeling results is studied, and the reconstructed signal is evaluated by the similarity calculation between the measured and simulated signal. The results show that the reconstructed time domain signal has higher fidelity. © 2020 IEEE.

关键词： Random processes

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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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Numerical simulation, verification and experiment validation on hydrodynamic performance and radiated noise properties of skewed propeller 3

Numerical simulation, verification and experiment validation...

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3rd International Conference on Mechanical, Electric and Industrial Engineering, MEIE 2020

作者： Ma, Fuqiang Liu, Yansen Mu, Lin Jia, Bing Scientific and Technology on Underwater Test and Control Laboratory Dalian China

Numerical simulation of hydrodynamic performance and radiated noise properties of the standard propeller is carried out by computational fluid dynamics (CFD) approach and acoustic analogy equation, and verifying and validating the numerical result by experiments in cavitation tunnel. Taking Potsdam Propeller test Case (PPTC) propeller as an example, the geometric model, grid model and numerical simulation boundary conditions are established. The comparison between numerical calculation and experimental results of open water characteristics of propeller, including thrust coefficient, torque coefficient and efficiency shows that the numerical model is reliable. Under the condition of good agreement between numerical simulation and experimental results of unsteady hydrodynamic characteristics, which contains the pressure distribution of blades, cavitation properties, the wake vortex distribution of the propeller, the numerical calculation and characteristic analysis of propeller radiated noise are carried out. The results show that the relation between the radiated noise of the propeller and the inherent structure and the motion state is correlated. The research can provide a theoretical basis for the target detection and recognition based on such characteristics. © 2020 Published under licence by IOP Publishing Ltd.

关键词： Propellers

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Discrimination Between Broadband underwater Target Echo and Reverberation Based on Signal Spectral Flatness Feature

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Chinese Journal of Electronics 2019年第3期28卷 542-550页

作者： CHEN Yunfei LI Sheng JIA Bing ZHANG Yang WANG Zhenshan LI Guijuan School of Naval Architecture Dalian University of Technology Science and Technology on Underwater Test and Control Laboratory

Reverberation is the major interference of active detection, discrimination between target echo and reverberation is difficult when the reverberation is very strong. For the distinguishing of underwater target echo with strong interference, the modulation feature of echo and reverberation spectrum are characterized by signal spectral flatness measure, and the relationship between signal spectral flatness and target physical properties are theoretically formed. A method of discrimination between broadband underwater target echo and reverberation that based on signal spectral flatness characteristics difference is proposed and studied. Sea experiment results of complex underwater target broadband acoustic scattering have shown that signal spectral flatness characteristics of underwater target broadband echo and reverberation have obvious differences. Target echo and reverberation can be well distinguished using the proposed method.

关键词： Echo Reverberation Signal spectral flatness Benchmark

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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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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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