Search Results (4,322)

Identifying microscopic textural anomalies and filtering out complicated industrial background noise remain significant hurdles in inspecting metallic surfaces. To tackle these operational bottlenecks, our research introduces a refined multi-scale detection framework built upon the YOLOv8l architecture. Specifically, we engineer a fine-grained detection pathway utilizing the P2 layer, which aims to preserve critical details of miniature flaws that are otherwise discarded during feature extraction. Furthermore, a Bi-directional Feature Pyramid Network model is embedded to reconstruct the feature fusion path, balancing the preservation of shallow geometric textures with enhanced multi-scale representation capabilities. To bolster anti-interference performance, a Convolutional Block Attention Module (CBAM) is integrated prior to the detection head, employing adaptive channel and spatial weighting to suppress unstructured background noise. Experimental results utilizing TTA demonstrate that the mAP@0.5 reached 76.3%. Detection accuracies for patches and inclusions reached 93.1% and 85.3%. Full article

4D millimeter-wave radar provides high-precision ranging capability and exhibits strong robustness under adverse weather and low-visibility conditions, but its point clouds are relatively sparse and suffer from severe elevation-angle measurement noise. Monocular cameras, by contrast, provide rich semantic information and high recall, yet are fundamentally limited by scale ambiguity. To exploit the complementary characteristics of these two sensors, this paper proposes a radar-camera fusion 3D multi-object tracking framework that does not rely on complex 3D annotated data. First, on the radar signal-processing side, a Gaussian distribution-based adaptive angle compression method and IMU-based velocity compensation are introduced to effectively suppress measurement noise, and an improved DBSCAN clustering scheme with recursive cluster splitting and historical static-box guidance is employed to generate high-quality radar detections. Second, a disparity-domain metric depth recovery method is proposed. This method uses filtered radar points as sparse metric anchors, performs robust fitting with RANSAC, and applies Kalman filtering for temporal smoothing, thereby converting the relative depth output of the visual foundation model Depth Anything V2 into metric depth. Finally, a hierarchical fusion strategy is designed at both the detection and tracking levels to achieve stable cross-modal state association. Experimental results on a self-collected dataset show that the proposed method achieves an overall MOTA of 77.93%, outperforming single-modality baselines and other comparison methods by 11 to 31 percentage points. This study provides an effective solution for low-cost and robust environment perception in complex dynamic scenarios. Full article

Master–slave bilateral teleoperation systems face several practical challenges, including model uncertainties, time-varying communication delays, and environment-induced force disturbances. To address these issues, this paper proposes an adaptive super-twisting sliding-mode control scheme to achieve high-precision position tracking and real-time force-feedback synchronization. First, joint-space dynamic models are established for both the master and the slave manipulators, and a passive impedance model is adopted to characterize the interaction dynamics at the operator–master and environment–slave interfaces. Second, to attenuate measurement noise in the environment interaction force, a first-order low-pass filter is used to preprocess the raw force measurements, and a radial basis function neural network (RBFNN) is employed to approximate the environment torque online. Furthermore, a super-twisting sliding-mode controller is developed and combined with an adaptive law to compensate online for system uncertainties, including dynamic parameter variations and environment-induced force disturbances. The stability of the resulting closed-loop system is rigorously analyzed using Lyapunov stability theory. Finally, the effectiveness of the proposed method is validated through numerical simulations, virtual experiments conducted in the MuJoCo physics engine, and real-world hardware experiments. The results show that the proposed strategy achieves accurate position synchronization and force tracking while maintaining stable haptic interaction in the presence of bounded time-varying delays, parameter uncertainties, and external disturbances. Full article

High-performance operation of permanent magnet synchronous motors (PMSMs) strongly depends on the reliable availability of rotor position and speed information. Although this information is commonly obtained using physical position sensors, such sensors increase system cost and structural complexity and may reduce long-term reliability, particularly in demanding operating environments. In this study, a model-based, discrete-time, nonlinear gradient observer is adapted for the sensorless estimation of rotor speed and position in PMSMs. The developed Runge–Kutta model-based gradient observer (RKGO) utilizes stator voltage inputs and measured stator currents within a mathematical motor model to estimate the system states. In contrast to conventional sensorless estimation approaches, the adopted observer framework exploits discretization-based gradient dynamics to enhance numerical robustness and convergence behavior under nonlinear operating conditions. The observer design specifically targets stable and accurate state estimation in discrete-time implementations, with a particular focus on low-speed operating conditions. The performance of the adapted method is experimentally evaluated under low-speed operating conditions, including transient and steady-state operation. Real-time implementation is carried out on a dSPACE DS1104 control platform, including loaded acceleration scenarios to assess practical robustness. In addition, a comparative analysis with the Extended Kalman Filter (EKF) and the Runge–Kutta Extended Kalman Filter (RKEKF) is conducted at 60 rad/s under identical experimental conditions. Experimental results show that the RKGO method achieves accurate steady-state speed and position estimation with acceptable transient performance. The findings demonstrate that RKGO can be considered a viable alternative for low-speed sensorless PMSM drive applications. Full article

Chitooligosaccharides (COS) are short-chain chitosan derivatives with a wide range of biomedical, agricultural, and environmental applications, including antimicrobial therapy, wound healing, and pollutant removal. Reliable quantification of COS is essential but currently relies on high-performance liquid chromatography, mass spectrometry, or capillary electrophoresis, which require costly equipment, complex sample preparation, and are unsuitable for routine or on-site applications. This study reports a rapid, solvent-free, colorimetric assay for COS based on the reaction of 5% aqueous ninhydrin with free amino groups in McIlvaine buffer. The assay was optimized using glucosamine as a model analyte, yielding maximal sensitivity at pH 7.0. The chromophore generated (Ruhemann’s purple) remained stable for over 120 min after reaction, allowing measurements to be taken without strict time constraints. Calibration was linear from 0.4 to 2.2 mM (R² = 0.9926), with low limits of detection (0.006 mM) and quantification (0.018 mM). Increasing absorbance with COS polymerization degree (DP1–DP6) demonstrates specificity for free amino groups, while N-acetyl glucosamine showed a negligible response. Furthermore, the assay was successfully adapted for solid-phase detection on ninhydrin-pretreated filter paper and nitrocellulose, with enhanced sensitivity. This simple, efficient, and low-cost method provides an accessible alternative to instrumental techniques, supporting COS monitoring in laboratory workflows and enabling portable applications in biomedicine, agriculture, and environmental diagnostics. Full article

Aiming at the problems of difficult hard-constraint enforcement and weak environmental generalization ability in the safe trajectory planning of manipulators in complex environments, a Policy-Guided Model Predictive Path Integral (PG-MPPI) planning framework is proposed. This framework integrates the advantages of reinforcement learning and model predictive control to construct a global prior guidance, local real-time optimization and hard-constraint safety assurance: a Constraint-Discounted Soft Actor–Critic (CD-SAC) offline learning policy is designed, which incorporates the configuration-space distance field as a safety guidance term to realize the learning of obstacle avoidance behavior; the offline policy is used to guide the online sampling and optimization of MPPI, improving sampling efficiency and planning quality; and a Control Barrier Function (CBF) safety filter is introduced to revise control commands in real time, ensuring the strict satisfaction of constraints. Taking the SIASUN T12B manipulator as the research object, simulation comparison experiments are carried out in multi-obstacle scenarios. The results show that the PG-MPPI algorithm outperforms the comparison algorithms in the success rate of collision-free target reaching, ensures the smoothness and feasibility of the trajectory, and has a good adaptive capacity to complex environments with unknown obstacle configurations, thus providing an efficient solution for the autonomous and safe operation of manipulators. Full article

In complex traffic environments such as low light, strong glare, occlusion and at night, systems that rely solely on visible light single sensors for pedestrian detection have drawbacks such as low detection accuracy and poor robustness. Based on the YOLOv8 convolutional network, this paper adopts a dual-branch structure to process visible light and infrared images simultaneously, fully utilizing feature information at different scales to effectively detect pedestrian targets in complex and changeable environments. To address the issues of insufficient interaction of modal feature information and fixed fusion weights, a cross-modal feature interaction and enhancement mechanism was introduced. A modal-channel interaction block (MCI-Block) was designed, in which residual connection structures and weight interaction were added within the module to achieve feature enhancement and filter out noise information. Introduce a dynamic weighted feature fusion strategy, adaptively adjusting the contribution ratio of different modal features in the fusion process, aiming to enhance the discrimination ability of the key pedestrian area. The training and testing of the network designed in this paper were completed on the visible light and infrared pedestrian detection dataset LLVIP and Kaist. At the same time, the test results of the dual-branch model and the model designed in this paper were further verified in actual traffic scenarios. The results show that the dual-branch YOLOv8 network for visible light and infrared images, which was constructed in this paper, can reliably enhance the detection performance of pedestrian targets in complex traffic environments, including accuracy, recall rate, and mAP@0.5, etc., thereby improving the robustness of pedestrian detection. Full article

Incipient fault signatures in rolling bearings are often compromised by intense background noise and stochastic impulses. Conventional resonance demodulation frequently relies on rigid frequency partitioning, which tends to disrupt the physical continuity of resonance bands and results in the incomplete capture of essential diagnostic information. Furthermore, the robustness of prevailing optimal demodulation frequency band (ODFB) selection indicators remains limited under heavy noise interference. This study develops the WLERgram framework, which utilizes regularized Fourier series to capture the global morphology of the vibration spectrum. By anchoring filter boundaries at natural energy troughs, the method mitigates spectral truncation based on inherent signal characteristics. The framework integrates an Adaptive Morphological Consensus (AMC) strategy, employing multi-scale operators to extract rotation-correlated components and enhance resistance to incoherent interference. By incorporating a Weighted Logarithmic Energy Ratio (WLER) metric, the method utilizes a nonlinear operator to implement differential mapping between coherent fault harmonics and stochastic noise, enabling autonomous optimization of the demodulation band. Validations using synthetic simulations and experimental benchmarks (CWRU and UORED) suggest that WLERgram offers reliable feature extraction performance and diagnostic robustness under harsh noise environments. Full article

Accurate crop classification is critical for optimizing agricultural resource use and informing production decisions. Deep learning, with its robust feature extraction ability, has become a prevalent technique for remote sensing-based crop classification. However, agricultural landscape complexity poses three key challenges: background noise interference, class confusion from inter-crop spectral similarity, and blurred small-area crop boundaries due to class imbalance. This paper proposes FCR-TransUNet, a TransUNet-based enhanced model integrating three modules: Feature Enhancement Module (FEM) for noise filtering, Class-Attention (CAExperimental results on the Youyi Farm and barley datasets validate the superiority of the proposed model. On the Youyi Farm dataset, FCR-TransUNet achieves an MIoU of 92.2%, representing an improvement of 1.8% over SAM2-UNet and 2.9% over the baseline TransUNet. On the barley dataset, it yields an MIoU of 89.9%. Ablation studies further verify the effectiveness of each designed module. To comprehensively evaluate the classification performance of FCR-TransUNet across the full crop growth cycle, experiments were conducted using remote sensing images from May, July, and August, respectively. The results demonstrate that FCR-TransUNet exhibits strong stability and adaptability at different crop growth stages, providing a reliable solution for precision agriculture and intelligent agricultural production. Full article

The automatic reading recognition of digital instruments is crucial for achieving metering automation and intelligent inspection. However, in non-standardized industrial environments, the masking effect caused by the coupling of non-uniform low-light conditions and the reflective surfaces of instrument panels severely degrades the displayed information, significantly limiting the recognition performance. Conventional image processing methods, while aiming to restore the imaging quality of instrument panels through low-light enhancement, inevitably introduce overexposure and indiscriminately amplify background noise during this process. To address the two key challenges of illumination recovery and noise suppression in the process of restoring panel image quality under non-uniform low-light conditions, this paper proposes a coarse-to-fine cascaded perception framework (CFCP). First, a lightweight YOLOv10 detector is employed to coarsely localize the meter reading region under non-uniform illumination conditions. Second, an Adaptive Illumination Correction Module (AICM) is designed to decouple and correct the illumination component at the pixel level, effectively restoring details in dark areas. Then, an Illumination-invariant Feature Perception Module (IFPM) is embedded at the feature level to dynamically perceive illumination-invariant features and filter out noise interference. Finally, the refined detection results are fed into a lightweight sequence recognition network to obtain the final meter readings. Experiments on a self-built industrial digital instrument dataset show that the proposed method achieves 93.2% recognition accuracy, with 17.1 ms latency and only 7.9 M parameters. Full article

Voltage sags pose severe risks to sensitive equipment in modern industries, requiring power quality monitoring equipment to possess fast and accurate sag detection capabilities. The traditional second-order generalized integrator (SOGI) will have oscillation phenomena in the case of DC offset, low-frequency harmonics, and high-frequency impulse noise. This study introduces a strong detection algorithm that combines Adaptive Composite Morphological Filtering (ACMF) with an improved Mixed Second- and Third-Order Generalized Integrator (MSTOGI). First, the ACMF pre-filtering module dynamically adjusts the scale of composite structuring elements through periodic parameter optimization, effectively filtering high-frequency random impulses while preserving the sharp transitions of abrupt voltage changes. Second, MSTOGI eliminates DC offset, and optimizes the gain coefficient to achieve the best dynamic response speed. Ultimately, a cascaded notch filter (CNF) module focuses on and removes even-order harmonic ripples caused by the synchronous reference frame transformation. Simulation results indicate that under severe grid conditions involving multiple composite distortions, the proposed architecture reduces the sag detection time to within 1.0 ms under typical operating conditions, with steady-state phase errors strictly controlled within a ±2° range. This method provides a reliable solution for DVR and UPS. Full article

Volatile organic compounds (VOCs, dominated by xylene, toluene, and benzene) and paint mist emissions from ship painting represent a major environmental and health concern, posing a critical bottleneck to the green transformation of the shipbuilding industry. To tackle this challenge, this study presents an integrated recovery system designed specifically for ship automatic-spraying robots. Guided by the synergistic principle of “air-curtain containment, multi-stage adsorption, and negative-pressure recovery,” the system features a modular design that ensures full compatibility with the robots’ spraying trajectory without operational interference. Core adsorption materials, namely glass fiber filter cotton and honeycomb activated carbon fiber, were selected to suit the high-humidity and high-pollutant-concentration environment typical of ship painting. An appropriately matched axial flow fan maintains stable negative pressure throughout the system. Furthermore, the design integrates an air curtain isolation subsystem and an automated control subsystem, enabling coordinated operation and real-time adjustment. Using ANSYS Fluent, geometric and flow field simulation models were established to analyze airflow distribution and pollutant adsorption behavior, which led to the optimization of key structural and material parameters. Field experiments conducted in shipyard environments demonstrated the system’s superior performance: it achieved a VOC removal efficiency of 88.4% and a paint mist capture efficiency of 85.7% under optimal working conditions, with a maximum simulated paint mist capture efficiency of 86.2%. The system maintained stable performance under complex vertical and overhead spraying conditions, with an efficiency attenuation of less than 1.5%, and its outlet emissions fully complied with the mandatory limits specified in the Emission Standard of Air Pollutants for the Shipbuilding Industry (GB 30981.2-2025). The relative error between experimental data and simulation results is less than 2%, confirming the reliability and practicality of the proposed system. This research provides an efficient and adaptable pollution control solution for green shipbuilding and offers valuable technical insights for the sustainable upgrading of automated painting processes in heavy industries. Full article

The navigation of ships in complex shallow water areas is constrained by various factors such as water depth, channel boundaries, and environmental interference. Therefore, it is crucial to improve the adaptability and effectiveness of collision avoidance decisions for ships in complex shallow water scenarios. To address these issues, this paper proposes a multi-factor constrained autonomous decision-making method for complex shallow water vessel maneuvering. Firstly, a digital transportation environment was constructed by combining dynamic and static information, such as water depth, tides, channel boundaries, changes in maneuvering characteristics, and navigation rules, and a navigable water area model that was suitable for shallow water was proposed. Then, considering the constraints of ship maneuverability and the navigation environment, a shallow water ship motion model affected by wind flow was developed. A complex shallow water adaptive maneuvering coupled decision-making method was constructed, considering the influence of ship navigation rules and channel constraints. This method utilizes the Kalman filtering algorithm to correct residuals and predict the maneuvering of the target vessel. Integrated improved heading control and guidance algorithms achieved automatic heading control and future position prediction. Through testing and verification in the complex waters of the Yangtze River estuary, the results show that the autonomous collision avoidance decision-making method proposed in this paper can effectively make collision avoidance decisions in complex multi-ship shallow water areas. This study can provide innovative and practical solutions for the technological development of autonomous ship collision avoidance decision-making. Full article

This study uses multidimensional indicators of macroeconomics, supply and demand, cost, and market microstructure to construct an intelligent framework integrated with optimized Exponentially Weighted Moving Average (EWMA) denoising for price forecasting and black early warning for egg futures in China from 2014 to 2023. Black early warning serves as a non-parametric early warning method that identifies abnormal price increases and falls based on historical fluctuation thresholds. As the first livestock future contract listed in China, accurate egg price forecasting is crucial for risk prevention and market control and regulation. First, LASSO regression was used to screen the core driving factors of egg futures prices. Nine key indicators were identified and input into the hybrid Temporal Convolutional Network–Gated Recurrent Unit (TCN-GRU) prediction model. To address the high-frequency noise in the original price series, two-dimensional optimization was performed on traditional EWMA denoising to achieve more adaptive noise filtering. By applying the black early warning method, the obtained future egg price fluctuations were more consistent with the actual situation. In addition, empirical analysis of multi-horizon forecasting and early warning for t + 1, t + 5, and t + 10 was carried out to further verify the model’s prediction accuracy. The results show that compared with the single TCN model, the single GRU model, and the TCN-GRU model without denoising, the TCN-GRU model integrated with optimized EWMA denoising achieves better prediction performance on the test set. In terms of the early warning matching rate, it reaches 83.33% for the t + 1 horizon, and the prediction accuracy for the t + 5 and t + 10 horizons decreases regularly but remains stable above 60%. In contrast, the highest early warning matching rate of the model without denoising is only 22.22% across all horizons, which has no practical early warning value. The early warning signals generated by the optimized EWMA denoising-based TCN-GRU model can effectively identify abnormal sharp rises and falls in egg futures prices, providing effective support for hedging and risk management for market participants. The study’s limitations are discussed, as well as future research directions. The findings provide a basis for decision making for agricultural producers and future investors and support the development of China’s agricultural product market. Full article

Deformation monitoring of roadway surrounding rock is the key link to ensure the safety production of the coal mine. The traditional monitoring method can only obtain the displacement information of discrete measuring points, and it is difficult to fully reflect the spatial distribution characteristics and evolution law of surrounding rock deformation. Based on the engineering background of the extra-thick coal seam roadway in the Yushupo Coal Mine, Shanxi Province, China, this study proposes a set of full-space deformation monitoring methods for roadway surrounding rock based on explosion-proof mobile 3D laser scanning technology. Firstly, a hierarchical denoising method based on improved statistical filtering is established. The quality of point cloud data is effectively improved by region clipping, a connectivity analysis guided by multi-dimensional geometric features and adaptive density threshold three-level processing strategy. Secondly, a hierarchical point cloud registration method combining physical anchor geometric constraints and deep learning patch guided matching is proposed to reduce the registration error to millimeter level. Finally, the deformation evaluation of surrounding rock is carried out by combining the overall deformation identification with the quantitative analysis of local section slices. The engineering application results show that the deformation of the roadway floor is the most significant during the monitoring period, the maximum deformation is 90.0 mm, and the average deformation is 46.9 mm. The maximum deformation of the roof is 35.0 mm, and the convergence of both sides is asymmetric. Compared with the total station, the results show that the maximum displacement error in each direction does not exceed 5 mm, and the standard deviation is within 1.3 mm, which meets the engineering accuracy requirements of coal mine roadway deformation monitoring. This study provides a complete technical scheme for panoramic and high-precision monitoring of surrounding rock deformation in coal mine roadway. Full article