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UMIENet: Underwater image enhancement based on multi-degradation knowledge integration

Optics and Lasers in Engineering 2025年 193卷

作者： Lv, Pin Zha, Fusheng Wang, Xiangji Li, Rongchao Li, Mantian Wang, Pengfei Guo, Wei Sun, Lining State key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Lanzhou University of Technology Lanzhou China Institute of Intelligent Manufacturing Technology Shenzhen Polytechnic University Shenzhen China

Due to the absorption and scattering effects of water on light, underwater images generally suffer from multiple degradations such as blur, color cast, and non-uniform illumination, which severely affect image quality and visual processing tasks. Therefore, underwater image enhancement (UIE) has gained widespread application in various marine exploration tasks. While supervised learning-based methods currently dominate this field, existing methods have two main problems. The limited availability of real paired images and the incompleteness of the degradation types of synthetic datasets restricts the model training performance, and most UIE models are designed for specific types of degradation, lacking systematic processing of multiple underwater degradations. These problems lead to poor model performance. In this work, we construct an Underwater Multi-Degradation Knowledge Integration dataset, called UMDKI, it models multiple degradation factors including blur, color cast, and non-uniform illumination by incorporating a revised image formation model and point light mathematical modeling. Besides, we propose an Underwater Multi-degradation Image Enhancement Network, called UMIENet, it integrates the advantages of various traditional methods and achieves collaborative enhancement of multiple degradations. Extensive experiments demonstrate that the proposed UMIENet achieves excellent performance on multiple benchmarks and shows good effectiveness in real underwater vision tasks. © 2025 Elsevier Ltd

关键词： Photointerpretation

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An Iterative Task-Driven Framework for Resilient LiDAR Place Recognition in Adverse Weather

arXiv

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arXiv 2025年

作者： Zhao, Xiongwei Wang, Yang Sun, Qihao Bai, Haojie Xie, Xingxiang Shenzhen518071 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China School of Information Communication Technology Shenzhen Institute of Information Technology Shenzhen518071 China

LiDAR place recognition (LPR) plays a vital role in autonomous navigation. However, existing LPR methods struggle to maintain robustness under adverse weather conditions such as rain, snow, and fog, where weather-induced noise and point cloud degradation impair LiDAR reliability and perception accuracy. To tackle these challenges, we propose an Iterative Task-Driven Framework (ITDNet), which integrates a LiDAR Data Restoration (LDR) module and a LiDAR Place Recognition (LPR) module through an iterative learning strategy. These modules are jointly trained end-to-end, with alternating optimization to enhance performance. The core rationale of ITDNet is to leverage the LDR module to recover the corrupted point clouds while preserving structural consistency with clean data, thereby improving LPR accuracy in adverse weather. Simultaneously, the LPR task provides feature pseudo-labels to guide the LDR module’s training, aligning it more effectively with the LPR task. To achieve this, we first design a task-driven LPR loss and a reconstruction loss to jointly supervise the optimization of the LDR module. Furthermore, for the LDR module, we propose a Dual-Domain Mixer (DDM) block for frequency-spatial feature fusion and a Semantic-Aware Generator (SAG) block for semantic-guided restoration. In addition, for the LPR module, we introduce a Multi-Frequency Transformer (MFT) block and a Wavelet Pyramid NetVLAD (WPN) block to aggregate multi-scale, robust global descriptors. Finally, extensive experiments on the Weather-KITTI, Boreas, and our proposed Weather-Apollo datasets demonstrate that, demonstrate that ITDNet outperforms existing LPR methods, achieving state-of-the-art performance in adverse weather. The datasets and code will be made publicly available at https://***/Grandzxw/ITDNet. © 2025, CC BY.

关键词： Image coding

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17β-Trenbolone modulates anxiety-related synaptic plasticity by affecting the interaction between hippocampal TACR3 and systemic testosterone in male mice

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Environmental Research 2025年第Pt 1期279卷 121796页

作者： Zuo, Xiang Bai, Huijuan Qiu, Jinyu Li, Ruimin Kuang, Xiaochen Zhao, Yudi Tuo, Jingyi Zhao, Qili Zhao, Xin Feng, Xizeng College of Life Science State Key Laboratory of Medicinal Chemical Biology Key Laboratory of Bioactive Materials Ministry of Education Nankai University Tianjin300071 China Institute of Robotics & Automatic Information System College of Artificial Intelligence Nankai University Tianjin300071 China

Anxiety Disorder is a common neurological disorder for which ubiquitous environmental endocrine disruptors may be risk factors. 17β-trenbolone (17-TB) has been recognized as a potential environmental endocrine disruptor and its neurotoxic effects have attracted attention. Tachykinin receptor 3 (TACR3), a G protein-coupled receptor involved in pubertal anxiety, and its underlying neural mechanisms remain enigmatic. Therefore, this study investigated the possible relationship between 17-TB and TACR3, testosterone (T), and synaptic plasticity. Our results showed that adolescent male Balb/c mice developed significant anxiety-like behavior after four weeks of exposure to environmentally relevant concentrations of 17-TB (100 μg/kg/day). Transcriptomic RNA-Seq results showed that 17-TB affected abnormal synaptic transmission signals in the hippocampus. Electrophysiological results showed that 17-TB reduced the activity of hippocampal dentate gyrus (DG) neurons and led to the downregulation of hippocampal TACR3 and T levels. In addition, Western blot, immunohistochemistry, ELISA, and qRT-PCR showed that 17-TB exposure led to the downregulation of key hippocampal synaptic proteins PSD95, Gephyrin, and Syn, and induced a metabolic imbalance in glutamate (Glu)/GABA signaling, affecting dopamine signaling. Interestingly, testosterone supplementation (10 mg/kg/day) was effective in ameliorating the above phenomena and alleviating anxiety-like behaviors. These results suggest that 17-TB modulates anxiety-related synaptic plasticity by regulating hippocampal TACR3 and T interactions in vivo. In conclusion, our study contributes to understanding the neurobehavioral and potential mechanistic effects of environmental 17-TB exposure in mammals. It alerts the public to the health risks of chemicals to mammals and suggests new research directions and potential therapeutic targets. © 2025 Elsevier Inc.

关键词： Endocrinology

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A vector control method of PMSM using single phase current sensor

A vector control method of PMSM using single phase current s...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Guo, Chuangqiang Wu, Chunya Ni, Fenglei Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781728163215

This paper presents a new method of realizing vector control for the surface mounted permanent magnet synchronous machine (PMSM) using single phase current sensor. A simplified estimating method of phase current, which only requires the information from single phase current sensor and motor position sensor, has been proposed in this paper. Compared with the classical approaches, based on the reference current in synchronous rotor frame, the proposed method can get better accuracy, especially when there is a sudden change of the reference current. Furthermore, the method not relays on the model and parameters of PMSM and the control performance of current close-loop and also not sensitive to working conditions. The extensively experimental results under different work conditions, based on MATLAB/SIMULINK, have validated the feasibility and robustness of the proposed vector control method. © 2019 IEEE.

关键词： Vectors

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Flexible Catch Claw-type Space Debris Capture Mechanism Based on Constant Torque Spring Deployment

Flexible Catch Claw-type Space Debris Capture Mechanism Base...

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IEEE International Conference on Mechatronics and Automation

作者： Kui Sun Kailun Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Space debris cleaning technology can not only save scarce orbit resources, but also protect satellites and space stations in orbit, which has important research significance. Combination of reliability and adaptability is the key for space debris cleaning devices to capture debris. A design scheme of flexible catch claw-type space debris capture mechanism based on constant torque spring deployment is proposed, which has the advantages of light weight, high capture reliability and high adaptability. The new flexible catching mechanism is mainly composed of a multi-finger flexible catching claw, a transmission device, and a locking device. In the multi-finger flexible catching claw, a constant torque spring is used as a passive drive deployment mechanism, and a carbon fiber rod is used as an actuator. The transmission device uses a ball screw to drive the link mechanism to move. The locking device provides a controllable deployment function at a predetermined position. This paper introduces the structure design of the capture mechanism and the research on synchronized deployment of the catch claws. Finally, the kinetic simulation results for evaluating the capture performance are given.

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A compact control system and a myoelectric control method for multi-DOFs prosthetic hand

A compact control system and a myoelectric control method fo...

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Yang, Bin Jiang, Li Hu, Jianhao Li, Chongyang Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilong Jiang China

ISBN: (纸本)9781728137261

This paper introduces a compact control system for multi-DOFs prosthetic hand. Based on the optimization of sensors configuration and hardware structure of the control system, the power consumption and volume can meet the needs of the actual using. In addition, a myoelectric control method based on the principle of finite state machine (FSM) is integrated in the control system. The proposed method enables amputees to select one of the given gestures directly, and grasp objects. As the control method requires less electromyography electrodes comparing to the traditional myoelectric control method based on EMG pattern recognition, it's available for a wider range of amputees with less active muscles. To assess the performance of the proposed method, the experiments of grasping random objects by non-amputee subjects has been conducted with the 6-DOFs HIT-V prosthetic hand, and an amputee volunteer used this prosthetic hand for one day to demonstrate viability. The non-amputee experimental results indicate that subjects can select gesture correctly among seven gestures and accomplish the designed grasping tasks with a success rate up to 96.67% within a shorter time just using two electrodes, and amputee proved viability of proposed method in daily life. © 2019 IEEE.

关键词： Electrodes

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Research on the Calibration Method of Space Humanoid Manipulator Based on Configuration Perturbation

Research on the Calibration Method of Space Humanoid Manipul...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Chunguang Fan Zongwu Xie Chongyang Li Yiwei Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilong Jiang China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

In order to realize the fast and accurate kinematic calibration of the space humanoid manipulator, this paper applies the theory of matrix perturbation to the robot kinematics. First of all, the model has been built in accordance with the dynamic error. According to the matrix perturbation theory, the recognizable Jacobian matrix between the measurement error and the calibration error is extended to the perturbation recognizable Jacobian matrix with perturbation expression. The recognizable of the configuration perturbation is analyzed based on the influence of Jacobian matrix and observability index, and the relationship between Jacobian and observability index of perturbation recognizable is derived. On this basis, the closed mapping from configuration perturbation to singular value change is established by combining detmax algorithm. Based on this mapping, an effective configuration searching method is proposed. Experiments are carried out on the Tiangong-2 humanoid manipulator, and the results are compared with other three common search algorithms, which prove the effectiveness of the method.

关键词： Perturbation methods Jacobian matrices Observability Calibration Indexes Kinematics Robots

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Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton

arXiv

引用

arXiv 2022年

作者： Zhang, Jiefu Lin, Jianping Peddinti, Vamsi Gregg, Robert D. Electrical Engineering and Computer Science University of Michigan Ann ArborMI48109 United States State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Robotics University of Michigan Ann ArborMI48109 United States

Task-dependent controllers widely used in exoskeletons track predefined trajectories, which overly constrain the volitional motion of individuals with remnant voluntary mobility. Energy shaping, on the other hand, provides task-invariant assistance by altering the human body's dynamic characteristics in the closed loop. While human-exoskeleton systems are often modeled using Euler-Lagrange equations, in our previous work we modeled the system as a port-controlled-Hamiltonian system, and a task-invariant controller was designed for a knee-ankle exoskeleton using interconnection-damping assignment passivity-based control. In this paper, we extend this framework to design a controller for a backdrivable hip exoskeleton to assist multiple tasks. A set of basis functions that contains information of kinematics is selected and corresponding coefficients are optimized, which allows the controller to provide torque that fits normative human torque for different activities of daily life. Human-subject experiments with two able-bodied subjects demonstrated the controller's capability to reduce muscle effort across different tasks. Copyright © 2022, The Authors. All rights reserved.

关键词： Controllers

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Experiments on the vibration of particles levitating in a standing wave acoustic field

Experiments on the vibration of particles levitating in a st...

引用

2019 International Congress on Ultrasonics, ICU 2019

作者： Dong, Huijuan Wang, Yi Guan, Yingzi Mu, Guanyu Zhao, Jie State Key Laboratory of Robotics and System Harbin Institude of Technology Heilongjiang Harbin150001 China

ISBN: (纸本)9781665407090

Standing wave acoustic levitation and transmission technique has been widely used in many research areas. However, the vibration of particles in an acoustic field restricts their applications. In this work, a kind of mechanism is developed by the authors, in which not only a harmonic linear actuator but also position feedback are used to precisely adjust the distance between the radiator and the reflector with micrometric accuracy. And video computing software is applied to track the motion of the particle. The influence of the factors on the frequencies of the particle both in vertical and horizontal were detailed. Besides, the acceleration field was calculated, which is in good agreement with the model of spring oscillator of an acoustic field. © 2020 Acoustical Society of America.

关键词： Acoustic fields

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Design and analysis of a variable-span and cambered span morphing wing for UAV

Design and analysis of a variable-span and cambered span mor...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Yang, Guang Guo, Hongwei Liu, Rongqiang Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province China

ISBN: (纸本)9781728163215

The variable-span and cambered span morphing wing for unmanned aerial vehicle (UAV) can greatly improve its flight efficiency. In this work, a new extendable and bendable morphing wing with double driving is designed. The morphing skeleton of wing is composed of the basic unit module which is seven-bar mechanism in series. The rubber-filled corrugated sandwich corrugated skin is designed according to the requirement of morphing skeleton. The kinematics model of morphing skeleton that is composed of three modules in series is established, then the kinematics analysis of morphing skeleton is carried out, at last the expressions of the deformed position and driving angle are obtained. In the case of the same wing span, the influence of different rod length ratio on the maximum extension length of the morphing wing is analyzed, and the influence of different driving speed on the maximum bending angle under the same rod length ratio is compared and analyzed. © 2019 IEEE.

关键词： Wings

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