Search Results (276)

The spectral variation hypothesis (SVH) posits that the complexity of spectral information in remote sensing imagery can serve as a proxy for regional biodiversity. However, the relationship between spectral diversity (SD) and biodiversity differs for different environmental conditions. Previous SVH studies often overlooked these differences. We utilized species data from field surveys in Inner Mongolia and drone-derived multispectral imagery to establish a quantitative relationship between SD and biodiversity. A geographically weighted regression (GWR) model was used to describe the SD–biodiversity relationship and map the biodiversity indices in different experimental areas in Inner Mongolia, China. Spatial autocorrelation analysis revealed that both SD and biodiversity indices exhibited strong and statistically significant spatial autocorrelation in their distribution patterns. Among all spectral diversity indices, the convex hull area exhibited the best model fit with the Margalef richness index (Margalef), the coefficient of variation showed the strongest predictive performance for species richness (Richness), and the convex hull volume provided the highest explanatory power for Shannon diversity (Shannon). Predictions for Shannon achieved the lowest relative root mean square error (RRMSE = 0.17), indicating the highest predictive accuracy, whereas Richness exhibited systematic underestimation with a higher RRMSE (0.23). Compared to the commonly used linear regression model in SVH studies, the GWR model exhibited a 4.7- to 26.5-fold improvement in goodness-of-fit. Despite the relatively low R² value (≤0.59), the model yields biodiversity predictions that are broadly aligned with field observations. Our approach explicitly considers the spatial heterogeneity of the SD–biodiversity relationship. The GWR model had significantly higher fitting accuracy than the linear regression model, indicating its potential for remote sensing-based biodiversity assessments. Full article

Accurate accounting of residual film recovery operation areas is essential for supporting targeted implementation of white pollution control policies in cotton fields and serves as a critical foundation for data-driven prevention and control of soil contamination. To address the reliance on manual screening during preprocessing in traditional residual film recovery area calculation methods, this study proposes a DBSCAN-MFI field-road trajectory segmentation method. This approach combines DBSCAN density clustering with multi-feature inference. Building on DBSCAN clustering, the method incorporates a convex hull completion strategy and multi-feature inference rules utilizing speed-direction feature filtering to automatically identify and segment field and road areas, enabling precise operation area calculation. Experimental results demonstrate that compared to DBSCAN, OPTICS, the Grid-Based Method, and the DBSCAN-FR algorithm, the proposed algorithm improves the F1-Score by 7.01%, 7.13%, 7.28%, and 4.27%, respectively. Regarding the impact on operation area calculation, segmentation accuracy increased by 23.61%, 25.14%, 20.71%, and 6.87%, respectively. This study provides an effective solution for accurate field-road segmentation during mechanical residual film recovery operations to facilitate subsequent calculation of the recovered area. Full article

The Flamelet Generated Manifold (FGM) method is widely employed in turbulent combustion simulations due to its high accuracy and computational efficiency. However, the model’s ability to capture turbulent combustion interactions is limited by the shape of the presumed probability density function (PDF) of the mixture fraction and progress variable. To construct a conditional $\beta$ PDF with better performance, a systematic PDF modeling and analysis framework coupled with machine learning methods based on the sparse experimental data was proposed. A comparative analysis was conducted for five machine learning methods across two experimental datasets using this framework. The results demonstrate that the random forest algorithm represents the optimal choice when both training complexity and predictive performance are comprehensively considered. To expand the model’s applicable range, a data fusion strategy was applied in different machine learning methods. The effectiveness of data fusion is demonstrated by comparative analysis between single-dataset and fused-dataset models. The analysis of convex hull in low-dimensional space reveals the fundamental mechanism of data fusion in the FGM-PDF method, which is significantly important to construct a data-driven PDF model in sparse-data scenarios with much better performance. Full article

Multi-feature radar target detection enhances the discrimination between targets and clutter, thereby improving detection accuracy. However, the complex nonlinear dependencies among features present significant challenges for precise control of the false alarm rate (FAR). In this paper, a novel constant false alarm rate (CFAR) framework for multi-feature detection is proposed. First, a Copula-CFAR theorem is established, which models the feature dependence structure and enables the derivation of closed-form expressions for probability of false alarm (PFA) and detection probability across various Copula models. Based on this theory, a multi-feature target detection algorithm is developed to achieve a predefined PFA. Simulation and experimental results validate the effectiveness of the approach. The method outperforms conventional CFAR detectors, including CA-CFAR, OS-CFAR, GO-CFAR, and SO-CFAR. Furthermore, compared to state-of-the-art detectors that utilize three features derived from convex hull, concave hull, convex hull principal component analysis (PCA), and concave hull PCA, the proposed method, which uses only two features, achieves relative improvements of 130.53%, 12.26%, 48.09%, and 34.62%, respectively, at a measured FAR of 0.001. Full article

This paper presents a three-dimensional robust spatiotemporal cooperative guidance law for unmanned aerial vehicles (UAVs) to track a dynamic target under jointly strongly connected topologies, even when some UAVs malfunction. To resolve the infinite gain challenge in existing prescribed-time cooperative guidance laws, a novel bounded-gain prescribed-time stability criterion was formulated. This criterion allows the convergence time of the guidance law to be prescribed arbitrarily without any convergence performance trade-off. Firstly, new prescribed-time disturbance observers are designed to achieve accurate estimations of the target acceleration within a prescribed time regardless of initial conditions. Then, by leveraging a distributed convex hull observer, a tangential acceleration command is proposed to drive arrival times toward a common convex combination within a prescribed time under jointly strongly connected topologies, remaining effective even when partial UAVs fail. Moreover, by utilizing a prescribed-time nonsingular sliding mode control method, normal acceleration commands are developed to guarantee that the line-of-sight angles constraints can be satisfied within a prescribed time. Finally, numerical simulations validate the effectiveness of the proposed guidance law. Full article

LiDAR and camera sensors are widely utilized in autonomous vehicles (AVs) and robotics due to their complementary sensing capabilities—LiDAR provides precise depth information, while cameras capture rich visual context. However, effective multi-sensor fusion remains challenging due to discrepancies in resolution, data format, and viewpoint. In this paper, we propose a robust pattern matching algorithm that leverages singular value decomposition (SVD) and gradient descent (GD) to align geometric features—such as object contours and convex hulls—across LiDAR and camera modalities. Unlike traditional calibration methods that require manual targets, our approach is targetless, extracting matched patterns from projected LiDAR point clouds and 2D image segments. The algorithm computes the optimal transformation matrix between sensors, correcting misalignments in rotation, translation, and scale. Experimental results on a vehicle-mounted sensing platform demonstrate an alignment accuracy improvement of up to 85%, with the final projection error reduced to less than 1 pixel. This pattern-based SVD-GD framework offers a practical solution for maintaining reliable cross-sensor alignment under calibration drift, enabling real-time perception systems to operate robustly without recalibration. This method provides a practical solution for maintaining reliable sensor fusion in autonomous driving applications subject to long-term calibration drift. Full article

When facing geometrically similar environments such as subway tunnels, Scan-Map registration is highly dependent on the correct initial value of the pose, otherwise mismatching is prone to occur, which limits the application of SLAM (Simultaneous Localization and Mapping) in tunnels. We propose a novel coarse-to-fine registration strategy that includes geometric feature extraction and a keyframe-based pose optimization model. The method involves initial feature point set acquisition through point distance calculations, followed by the extraction of line and plane features, and convex hull features based on the normal vector’s change rate. Coarse registration is achieved through rotation and translation using three types of feature sets, with the resulting pose serving as the initial value for fine registration via Point-Plane ICP. The algorithm’s accuracy and efficiency are validated using Innovusion lidar scans of a subway tunnel, achieving a single-frame point cloud registration accuracy of 3 cm within 0.7 s, significantly improving upon traditional registration algorithms. The study concludes that the proposed method effectively enhances SLAM’s applicability in challenging tunnel environments, ensuring high registration accuracy and efficiency. Full article

Practical large-scale multiple unmanned aerial vehicle (multi-UAV) networks are susceptible to multiple potential points of vulnerability, such as hardware failures or adversarial attacks. Existing resilient multi-dimensional coordination control algorithms in multi-UAV networks are rather costly in the computation of a safe point and rely on an assumption of the maximum number of adversarial nodes in the multi-UAV network or neighborhood. In this paper, a dynamic trusted convex hull method is proposed to filter received states in multi-dimensional space without requiring assumptions about the maximum adversaries. Based on the proposed method, a distributed local control protocol is designed with lower computational complexity and higher tolerance of adversarial nodes. Sufficient and necessary graph-theoretic conditions are obtained to achieve resilient multi-dimensional consensus and containment control despite adversarial nodes’ behaviors. The theoretical results are validated through simulations. Full article

Occupational health monitoring in demolition environments requires precise detection of blast-dust-induced pulmonary pathologies. However, it is often hindered by challenges such as contaminated imaging biomarkers, limited access to medical resources in mining areas, and opaque AI-based diagnostic models. This study presents a novel computational framework that combines industrial-grade robustness with clinical interpretability for the diagnosis of pulmonary nodules. We propose a hybrid framework that integrates morphological purification techniques (multi-step filling and convex hull operations) with multi-dimensional features fusion (radiomics + lightweight deep features). To enhance computational efficiency and interpretability, we design a soft voting ensemble classifier, eliminating the need for complex deep learning architectures. On the LIDC-IDRI dataset, our model achieved an AUC of 0.99 and an accuracy of 0.97 using standard clinical-grade hardware, outperforming state-of-the-art (SOTA) methods while requiring fewer computational resources. Ablation studies, feature weight maps, and normalized mutual information heatmaps confirm the robustness and interpretability of the model, while uncertainty quantification metrics such as the Brier score and Expected Calibration Error (ECE) better validate the model’s clinical applicability and prediction stability. This approach effectively achieves resource-accuracy co-optimization, maintaining low computational costs, and is highly suitable for resource-constrained clinical environments. The modular design of our framework also facilitates extensions to other medical imaging domains without the need for high-end infrastructure. Full article

This article investigates the inverse optimal fault-tolerant formation-containment control problem for a group of unmanned helicopters, where the leaders form a desired formation pattern under the guidance of a virtual leader while the followers move toward the convex hull established by leaders. To facilitate control design and stability analysis, each helicopter’s dynamics are separated into an outer-loop (position) and an inner-loop (attitude) subsystem by exploiting their multi-time-scale characteristics. Next, the serial-parallel estimation model, designed to account for prediction error, is developed. On this foundation, the composite updating law for network weights is derived. Using these intelligent approximations, a fault estimation observer is constructed. The estimated fault information is further incorporated into the inverse optimal fault-tolerant control framework that avoids tackling either the Hamilton–Jacobi–Bellman or Hamilton–Jacobi–Issacs equation. Finally, simulation results are presented to demonstrate the superior control performance and accuracy of the proposed method. Full article

The convex hull method is a common approach for the solution of the distribution system security region (DSSR). For the first time, this paper identifies that this method is not applicable to solve many DSSRs. Firstly, the model of the DSSR and the convex hull based solving method for the DSSR are briefly introduced. Secondly, the concepts of the concave region and convex region in the DSSR are presented. Thirdly, theoretical analyses are separately conducted for concave and convex regions, which result in two theorems and one corollary, leading to the following conclusions: (1) The convex hull method is not suitable for solving concave regions, while concave regions are widely present in real-world distribution networks. (2) Error may also be produced by the convex hull method when solving convex regions. For the convex region, the condition for an error-free solution is proven, the error causes are analyzed, and error reduction measures are proposed. Finally, the theoretical analyses are validated through case studies. The validation shows that when solving concave regions, the convex hull method can produce significant error and thus cannot satisfy the requirements for a security analysis. When solving convex regions, measures should be taken to minimize or remove error. This paper has significant value in enhancing the fundamental theory of the DSSR and applying it correctly in practice. Full article

High-throughput image analysis is a key tool for the efficient assessment of quantitative plant phenotypes. A typical approach to the computation of quantitative plant traits from image data consists of two major steps including (i) image segmentation followed by (ii) calculation of quantitative traits of segmented plant structures. Despite substantial advancements in deep learning-based segmentation techniques, minor artifacts of image segmentation cannot be completely avoided. For several commonly used traits including plant width, height, convex hull, etc., even small inaccuracies in image segmentation can lead to large errors. Ad hoc approaches to cleaning ’small noisy structures’ are, in general, data-dependent and may lead to substantial loss of relevant small plant structures and, consequently, falsified phenotypic traits. Here, we present a straightforward end-to-end approach to direct computation of phenotypic traits from image data using a deep learning regression model. Our experimental results show that image-to-trait regression models outperform a conventional segmentation-based approach for a number of commonly sought plant traits of plant morphology and health including shoot area, linear dimensions and color fingerprints. Since segmentation is missing in predictions of regression models, visualization of activation layer maps can still be used as a blueprint to model explainability. Although end-to-end models have a number of limitations compared to more complex network architectures, they can still be of interest for multiple phenotyping scenarios with fixed optical setups (such as high-throughput greenhouse screenings), where the accuracy of routine trait predictions and not necessarily the generalizability is the primary goal. Full article

Adhesion behavior between wet rice leaves and metal surfaces exacerbates the difficulty in separating and removing grains in the cleaning device. Reducing the adhesion between the wet rice leaves and the cleaning device is an important factor in improving the harvesting performance of rice combine harvesters. This paper investigates the possibility of reducing the adhesion between them. By studying the liquid shape characteristics between the removed grains and the surface, it was found that the adhesion force between the leaf and the surface is greatest when additional pressure is present. Based on biomimetic principles and the convex hull structure of a dung beetle’s head, a convex hull structure for the metal surface was designed to balance the atmospheric pressure on both sides of the leaf in order to eliminate additional pressure. Using the liquid bridge model between a spherical and a flat surface, a liquid bridge model for the leaf and convex hull surface was established. By optimizing the minimum liquid bridge force, the convex hull radius and distance were determined to be 2.47 mm and 1.38 mm, respectively. Contact and collision experiments verified that the convex hull surface is more effective in reducing the adhesion of moist leaves, providing a reference for future research on the cleaning methods of moist rice grains. Full article

This paper addresses the event-triggered neuroadaptive bipartite containment tracking problem for networked unmanned aerial vehicles (UAVs) subject to resource constraints and actuator failures. A fully distributed event-triggered mechanism is innovatively developed to eliminate dependency on global information while rigorously excluding the Zeno phenomenon through nonperiodic threshold verification. The proposed mechanism enables neighboring UAVs to exchange information and update control signals exclusively at triggering instants, significantly reducing communication burdens and energy consumption. To handle unknown nonlinear dynamics under resource-limited scenarios, a novel event-triggered neural network (NN) approximation scheme is established where weight updating occurs only during event triggers, effectively decreasing computational resource occupation. Simultaneously, an adaptive robust compensation mechanism is constructed to counteract composite disturbances induced by actuator failures and approximation residuals. Based on the Lyapunov stability analysis, we theoretically prove that all closed-loop signals remain uniformly ultimately bounded while achieving prescribed bipartite containment objectives, where follower UAVs ultimately converge to the dynamic convex hull formed by multiple leaders with cooperative-competitive interactions. Finally, numerical simulations are conducted to validate the effectiveness of the theoretical results. Comparative simulation results show that the proposed event-triggered control scheme reduces the utilization of resources by $95\%$ and $67\%$ compared with the traditional time-triggered and static-triggered mechanisms, respectively. Full article

Vertical structure monitoring of urban vegetation provides data support for urban green space planning and ecological management, playing a significant role in promoting sustainable urban ecological development. Three-dimensional green volume (3DGV) is a comprehensive index used to characterize the ecological benefit of urban vegetation. As a critical component of urban vegetation, street trees play a key role in urban ecological benefits evaluation, and the quantitative estimation of their 3DGV serves as the foundation for this assessment. However, current methods for measuring 3DGV based on point cloud data often suffer from issues of overestimation or underestimation. To improve the accuracy of the 3DGV for urban street trees, this study proposed a novel approach that used convex hull coupling k-means clustering convex hulls. A new method based on terrestrial laser scanning (TLS) data was proposed, referred to as the Convex Hull Coupling Method (CHCM). This method divides the tree crown into two parts in the vertical direction according to the point cloud density, which better adapts to the lower density of the upper layer of TLS data and obtains a more accurate 3DGV of individual trees. To validate the effectiveness of the CHCM method, 30 sycamore (Platanus × acerifolia (Aiton) Willd.) plants were used as research objects. We used the CHCM and five traditional 3DGV calculation methods (frustum method, convex hull method, k-means clustering convex hulls, alpha-shape algorithm, and voxel-based method) to calculate the 3DGV of individual trees. Additionally, the 3DGV was predicted and analyzed using five fitting models. The results show the following: (1) Compared with the traditional methods, the CHCM improves the estimation accuracy of the 3DGV of individual trees and shows a high consistency in the data verification, which indicates that the CHCM method is stable and reliable, and (2) the fitting results R² of the five models were all above 0.75, with the exponential function model showing the best fitting accuracy (R² = 0.89, RMSE = 74.85 m³). These results indicate that for TLS data, the CHCM can achieve more accurate 3DGV estimates for individual trees, outperforming traditional methods in both applicability and accuracy. The research results not only offer a novel technical approach for 3DGV calculation using TLS data but also establish a reliable quantitative foundation for the scientific assessment of the ecological benefits of urban street trees and green space planning. Full article