Search Results (240)

Drivable area (DA) detection in unstructured off-road environments remains challenging for unmanned ground vehicles (UGVs) due to limited field-of-view, persistent occlusions, and the inherent limitations of individual sensors. While existing fusion approaches combine aerial and ground perspectives, they often struggle with misaligned spatiotemporal viewpoints, dynamic environmental changes, and ineffective feature integration, particularly at intersections or under long-range occlusion. To address these issues, this paper proposes a cooperative air–ground perception framework based on multi-source data fusion. Our three-stage system first introduces DynCoANet, a semantic segmentation network incorporating directional strip convolution and connectivity attention to extract topologically consistent road structures from UAV imagery. Second, an enhanced particle filter with semantic road constraints and diversity-preserving resampling achieves robust cross-view localization between UAV maps and UGV LiDAR. Finally, a distance-adaptive fusion transformer (DAFT) dynamically fuses UAV semantic features with LiDAR BEV representations via confidence-guided cross-attention, balancing geometric precision and semantic richness according to spatial distance. Extensive evaluations demonstrate the effectiveness of our approach: on the DeepGlobe road extraction dataset, DynCoANet attains an IoU of 61.14%; cross-view localization on KITTI sequences reduces average position error by approximately 10%; and DA detection on OpenSatMap outperforms Grid-DATrNet by 8.42% in accuracy for large-scale regions (400 m × 400 m). Real-world experiments with a coordinated UAV-UGV platform confirm the framework’s robustness in occlusion-heavy and geometrically complex scenarios. This work provides a unified solution for reliable DA perception through tightly coupled cross-modal alignment and adaptive fusion. Full article

Background: Hip joint disorders exhibit diverse and overlapping radiological features, complicating early diagnosis and limiting the diagnostic value of single-modality imaging. Isolated imaging or clinical data may therefore inadequately represent disease-specific pathological characteristics. Methods: This retrospective study included 605 hip joints from Center A (2018–2024), comprising normal hips, osteoarthritis, osteonecrosis of the femoral head (ONFH), and femoroacetabular impingement (FAI). An independent cohort of 24 hips from Center B (2024–2025) was used for external validation. A multimodal deep learning framework was developed to jointly analyze radiographs, CT volumes, and clinical texts. Features were extracted using ResNet50, 3D-ResNet50, and a pretrained BERT model, followed by attention-based fusion for four-class classification. Results: The combined Clinical+X-ray+CT model achieved an AUC of 0.949 on the internal test set, outperforming all single-modality models. Improvements were consistently observed in accuracy, sensitivity, specificity, and decision curve analysis. Grad-CAM visualizations confirmed that the model attended to clinically relevant anatomical regions. Conclusions: Attention-based multimodal feature fusion substantially improves diagnostic performance for hip joint diseases, providing an interpretable and clinically applicable framework for early detection and precise classification in orthopedic imaging. Full article

Accurate wildlife detection in Unmanned Aerial Vehicle (UAV)-captured imagery is crucial for biodiversity conservation, yet it remains challenging due to the visual similarity of species, environmental disturbances, and the small size of target animals. To address these challenges, this paper introduces YOLO-WL, a wildlife detection algorithm specifically designed for UAV-based monitoring. First, a Multi-Scale Dilated Depthwise Separable Convolution (MSDDSC) module, integrated with the C2f-MSDDSC structure, expands the receptive field and enriches semantic representation, enabling reliable discrimination of species with similar appearances. Next, a Multi-Scale Large Kernel Spatial Attention (MLKSA) mechanism adaptively highlights salient animal regions across different spatial scales while suppressing interference from vegetation, terrain, and lighting variations. Finally, a Shallow-Spatial Alignment Path Aggregation Network (SSA-PAN), combined with a Spatial Guidance Fusion (SGF) module, ensures precise alignment and effective fusion of multi-scale shallow features, thereby improving detection accuracy for small and low-resolution targets. Experimental results on the WAID dataset demonstrate that YOLO-WL outperforms existing state-of-the-art (SOTA) methods, achieving 94.2% mAP@0.5 and 58.0% mAP@0.5:0.95. Furthermore, evaluations on the Aerial Sheep and AI-TOD datasets confirm YOLO-WL’s robustness and generalization ability across diverse ecological environments. These findings highlight YOLO-WL as an effective tool for enhancing UAV-based wildlife monitoring and supporting ecological conservation practices. Full article

The Keap1-Nrf2 signaling pathway is a central regulator of transcriptional responses to oxidative stress and is strongly linked to diverse pathologies, particularly cancer. In the cytoplasm, Keap1 (Kelch-like ECH-associated protein 1) promotes proteasomal degradation of Nrf2 (NF-E2–related factor 2). Oxidative stimuli disrupt the Keap1-Nrf2 interaction, facilitating Nrf2 nuclear accumulation and activation of antioxidant and detoxifying genes. Recent evidence suggests that Keap1 family proteins also enter the nucleus, bind chromatin, and regulate transcription, but the underlying mechanisms remain less understood. Here, we show that the Drosophila Keap1 ortholog, dKeap1, accumulates in the nucleus and gradually assembles stable nuclear foci in cells following oxidative treatment. FRAP analyses revealed reduced mobility of dKeap1 within these foci. Both the N-terminal (NTD) and C-terminal (CTD) domains of dKeap1 were required for foci formation. Two intrinsically disordered regions (IDRs) were identified within the CTD, and CTD-YFP fusion proteins readily formed condensates in vitro. Conversely, deletion of the Kelch domain resulted in robust cytoplasmic foci even under basal conditions, and in vitro assays also indicated that the Kelch domain suppresses dKeap1 condensate formation. Together, these findings reveal a novel molecular mechanism for the nuclear function of dKeap1, providing new insight into the broader roles of Keap1 factors in oxidative response, development, and disease. Full article

Global Navigation Satellite System Reflectometry (GNSS-R) provides a vital means for sea surface wind speed retrieval, yet its application under extreme typhoon conditions remains challenging. Conventional geophysical models (GMFs) saturate in high wind speed regimes (>20 m/s), and deep learning models (e.g., CNNs) are constrained by data sparsity and feature complexity in typhoon environments. To address these issues, we propose a Comparative Learning method of CNN-Transformer with GMF fusion (CLCTG). The CNN branch extracts local coupling patterns, the Transformer branch models global dependencies, and Kullback–Leibler (KL) divergence loss is used for contrastive learning to heighten sensitivity to complex typhoon wind fields. The GMF branch serves as a physical reference/anchor in the low- to moderate-wind-speed range (<20 m/s) to guide the learning of data-driven branches and avoid overfitting by any single data-driven path. The adaptive fusion branch dynamically reweights the three branch outputs, combining local statistical characteristics to improve performance over approximately 0–30 m/s and extending the range of reliable GNSS-R retrieval from about 20 m/s to about 30 m/s; it should be noted that CLCTG exhibits a performance bottleneck in the extreme >30 m/s range. To further improve high-wind-speed predictions, we introduce environmental features based on their correlation with wind speed; ablation experiments demonstrate that the combined use of environmental parameters and CYGNSS features maximizes overall accuracy. Testing on five typhoons from the Eastern and Western Hemispheres confirms CLCTG’s generalization across diverse geographic contexts, and branch-wise comparisons validate its structural advantages. Buoy observations show peripheral errors below 3 m/s and physically consistent wind speed gradients in the core region. These results indicate that multi-source fusion of CYGNSS and environmental data, coupled with contrastive learning and physical reference, offers a reliable and efficient solution for typhoon wind speed retrieval. Full article

Accurate registration of optical and synthetic aperture radar (SAR) images is a fundamental prerequisite for multi-source remote sensing data fusion and analysis. However, due to the substantial differences in imaging mechanisms, optical–SAR image pairs often exhibit significant radiometric discrepancies and spatially varying geometric inconsistencies, which severely limit the robustness of traditional feature or region-based registration methods in cross-modal scenarios. To address these challenges, this paper proposes an end-to-end Optical–SAR Registration Network (OSR-Net) based on multi-constraint joint optimization. The proposed framework explicitly decouples cross-modal feature alignment and geometric correction, enabling robust registration under large appearance variation. Specifically, a multi-modal feature extraction module constructs a shared high-level representation, while a multi-scale channel attention mechanism adaptively enhances cross-modal feature consistency. A multi-scale affine transformation prediction module provides a coarse-to-fine geometric initialization, which stabilizes parameter estimation under complex imaging conditions. Furthermore, an improved spatial transformer network is introduced to perform structure-preserving geometric refinement, mitigating spatial distortion induced by modality discrepancies. In addition, a multi-constraint loss formulation is designed to jointly enforce geometric accuracy, structural consistency, and physical plausibility. By employing a dynamic weighting strategy, the optimization process progressively shifts from global alignment to local structural refinement, effectively preventing degenerate solutions and improving robustness. Extensive experiments on public optical–SAR datasets demonstrate that the proposed method achieves accurate and stable registration across diverse scenes, providing a reliable geometric foundation for subsequent multi-source remote sensing data fusion. Full article

Underwater image enhancement remains challenging due to wavelength-dependent absorption, spatially varying scattering, and non-uniform illumination, which jointly cause severe color distortion, contrast degradation, and structural information loss. To address these issues, we propose UCS-Net, a degradation-aware dual-path framework that exploits the complementarity between global and local representations. A spatial color balance module first stabilizes the chromatic distribution of degraded inputs through a learnable gray-world-guided normalization, mitigating wavelength-induced color bias prior to feature extraction. The network then adopts a dual-branch architecture, where a hierarchical Swin Transformer branch models long-range contextual dependencies and global color relationships, while a multi-scale residual convolutional branch focuses on recovering local textures and structural details suppressed by scattering. Furthermore, a multi-scale attention fusion mechanism adaptively integrates features from both branches in a degradation-aware manner, enabling dynamic emphasis on global or local cues according to regional attenuation severity. A hue-preserving reconstruction module is finally employed to suppress color artifacts and ensure faithful color rendition. Extensive experiments on UIEB, EUVP, and UFO benchmarks demonstrate that UCS-Net consistently outperforms state-of-the-art methods in both full-reference and non-reference evaluations. Qualitative results further confirm its effectiveness in restoring fine structural details while maintaining globally consistent and visually realistic colors across diverse underwater scenes. Full article

As an essential blue carbon ecosystem, mangroves play a vital role in coastal protection, biodiversity conservation, and climate regulation. However, their complex and variable growth environments pose challenges for precise monitoring. Hainan Island represents a region within China where mangrove forests are the most concentrated and diverse in type. In recent years, ecological restoration efforts have led to the recovery of their coverage areas. This study analyzed the spatial distribution, canopy height, and aboveground carbon storage variations in Hainan mangrove forests. Deep-learning and multiple machine-learning algorithms were used to integrate multitemporal Sentinel-2 remote sensing imagery from 2019 to 2023 with unmanned aerial vehicle observations and field survey data. Multi-rule image fusion and deep-learning techniques effectively enhanced mangrove identification accuracy. The mangrove classification achieved an overall accuracy exceeding 90%. The mangrove area in Hainan increased from 3948.83 ha in 2019 to 4304.29 ha in 2023. Gradient-boosted decision tree (GBDT) models estimated average canopy height with a high coefficient of determination (R² = 0.89), and Random Forest (RF) models yielded the best estimations of total above-ground carbon stock with strong agreement to field observations. Integrating multisource remote sensing data with artificial intelligence algorithms enabled high-precision dynamic monitoring of mangrove distribution, structure, and carbon storage to provide scientific support for the assessment, management, and carbon sink accounting of Hainan mangrove ecosystems. Full article

In the ecosystem, birds are important indicators that can sensitively reflect changes in the ecological environment and its health. However, bird monitoring has challenges due to species diversity, variable behaviors, and distinct morphological characteristics. Therefore, we propose a parallel dual-branch hybrid CNN–Transformer architecture for feature extraction that simultaneously captures local and global image features to address the “local feature similarity” issue in dual tasks of bird species and behaviors. The dual-task framework comprises three main components: the Token Re-segmentation Module (TRM), the Multi-scale Adaptive Module (MAM), and the Feature Interleaving Structure (FIS). The designed MAM fuses hybrid attention to address the problem of different-scale birds. MAM models the interdependencies between spatial and channel dimensions of features from different scales. It enables the model to adaptively choose scale-specific feature representations, accommodating inputs of different scales. In addition, we designed an efficient feature-sharing mechanism, called FIS, between parallel CNN branches. FIS interleaving delivers and fuses CNN feature maps across parallel layers, combining them with the features of the corresponding Transformer layer to share local and global information at different depths and promote deep feature fusion across parallel networks. Finally, we designed the TRM to address the challenge of visually similar but distinct bird species and of similar poses with distinct behaviors. TRM adopts a two-step approach: first, it locates discriminative regions, and then performs fine segmentation on them. This module enables the network to allocate relatively more attention to key areas while merging non-essential information and reducing interference from irrelevant details. Experiments on the self-made dataset demonstrate that, compared with state-of-the-art classification networks, the proposed network achieves the best performance, achieving 79.70% accuracy in bird species recognition, 76.21% in behavior recognition, and the best performance in dual-task recognition. Full article

Reliable road pothole detection remains challenging in complex environments, where low contrast, shadows, water films, and strong background textures cause frequent false alarms, missed detections, and boundary instability. Thin rims and adjacent objects further complicate localization, and model robustness often deteriorates across regions and sensor domains. To address these issues, we propose OCDBMamba, a unified and efficient framework that integrates omnidirectional context modeling with consensus-driven boundary selection. Specifically, we introduce the following: (1) an Omnidirectional Channel-Selective Scanning (OCS) mechanism that aggregates long-range structural cues by performing multidirectional scans and channel similarity fusion with cross-directional consistency, capturing comprehensive spatial dependencies at near-linear complexity and (2) a Dual-Branch Consensus Thresholding (DBCT) module that enforces branch-level agreement with sparsity-regulated adaptive thresholds and boundary consistency constraints, effectively preserving true rims while suppressing reflections and redundant responses. Extensive experiments on normal, shadowed, wet, low-contrast, and texture-rich subsets yield 90.7% $mA{P}_{50}$, 67.8% $mA{P}_{50:95}$, a precision of 0.905, and a recall of 0.812 with 13.1 GFLOPs, outperforming YOLOv11n by 5.4% and 5.6%, respectively. The results demonstrate more stable localization and enhanced robustness under diverse conditions, validating the synergy of OCS and DBCT for practical road inspection and on-vehicle perception scenarios. Full article

Influenza D virus (IDV), an emerging orthomyxovirus with zoonotic potential, infects diverse hosts, causes respiratory disease, and remains poorly characterized in China despite its global expansion. From October 2023 to January 2025, we collected 563 nasal swabs from cattle across 28 farms in Jilin Province, Northeast China, and identified seven IDV-positive samples (1.2%), recovering two viable isolates (JL/YB2024 and JL/CC2024). Full-genome sequencing revealed complete, stable seven-segment genomes with high nucleotide identity (up to 99.9%) to contemporary Chinese D/Yamagata/2019 strains and no evidence of reassortment. Maximum-likelihood and time-resolved Bayesian phylogenies of 231 global hemagglutinin-esterase-fusion (HEF) sequences placed the Jilin isolates within the East Asian D/Yamagata/2019 clade and traced their most recent common ancestor to approximately 2017 (95% highest posterior density: 2016–2018), suggesting a cross-border introduction likely associated with regional cattle movement. No IDV was detected in parallel surveillance of swine, underscoring cattle as the principal reservoir and amplifying host. Bayesian skyline analysis demonstrated a marked decline in global IDV genetic diversity during 2020–2022, coinciding with livestock-movement restrictions imposed during the COVID-19 pandemic. Collectively, these findings indicate that IDV circulation in China is sporadic and geographically localized, dominated by the D/Yamagata/2019 lineage, and shaped by multiple independent incursions rather than a single emergence. Both the incorporation of IDV diagnostics into routine bovine respiratory disease surveillance and cattle-import quarantine programs, and the adoption of a One Health framework to monitor potential human spillover and future viral evolution, were recommend. Full article

Sea surface temperature (SST) serves as a critical indicator of oceanic thermodynamic processes and climate variability, exerting essential influence on ocean fronts, typhoon tracks, and monsoon evolution. Nevertheless, owing to the highly nonlinear and complex multi-scale characteristics of SST, achieving accurate spatiotemporal forecasting remains a formidable challenge. To address this issue, we proposed an enhanced Transformer architecture that incorporates a Coordinate Attention (CA) module and an Adaptive Fusion (AD) module, enabling the joint extraction and integration of temporal and spatial features. The proposed model is evaluated through SST prediction experiments over a localized region of the South China Sea with lead times of 1, 7, 15, and 30 days. Results indicate that our approach consistently outperforms baseline models across multiple evaluation metrics. Moreover, generalization experiments conducted on datasets from regions with diverse latitudes and climate regimes further demonstrate the model’s robustness and adaptability in terms of both accuracy and stability. Full article

In snowy regions, road surface conditions change due to snowfall or ice formation in winter. This can lead to very dangerous situations when driving a car. Therefore, recognizing road surface conditions is important for both drivers and road managers. Road surface classification using in-vehicle cameras faces challenges due to the diverse environments in which vehicles operate. It is difficult to build a single classification model that can handle all conditions. One major challenge is illumination. During dusk, it changes rapidly and drastically, resulting in poor classification accuracy. Therefore, a robust method is needed to accurately recognize road conditions at all times. In this study, we used an image translation method to standardize illumination conditions. Next, we extracted features from both the translated images and the original images using MobileNet. Finally, we integrated these features using Late Fusion with an Extreme Learning Machine to classify road conditions. The effectiveness of this method was verified using a dataset of in-vehicle camera images. The results showed that the accuracy of this method achieved 78% during dusk and outperformed the comparison methods. It was confirmed that the uniformity of illumination conditions contributed to the improvement in classification accuracy. The proposed method can classify road conditions even during dusk, when sudden changes in illumination occur. This demonstrates the potential to realize a robust road condition recognition method that contributes to improved driver safety and efficient road management. Full article

Change detection plays a crucial role in geological disaster tasks such as landslide identification, post-earthquake building reconstruction assessment, and unstable rock mass monitoring. However, real-world scenarios often pose significant challenges, including complex surface backgrounds, illumination and seasonal variations between temporal phases, and diverse change patterns. To address these issues, this paper proposes a multi-stage model for geological disaster change detection, termed MSMCD, which integrates strategies of global dependency modeling, local difference enhancement, edge constraint, and frequency-domain fusion to achieve precise perception and delineation of change regions. Specifically, the model first employs a DualTimeMamba (DTM) module for two-dimensional selective scanning state-space modeling, explicitly capturing cross-temporal long-range dependencies to learn robust shared representations. Subsequently, a Multi-Scale Perception (MSP) module highlights fine-grained differences to enhance local discrimination. The Edge–Change Interaction (ECI) module then constructs bidirectional coupling between the change and edge branches with edge supervision, improving boundary accuracy and geometric consistency. Finally, the Frequency-domain Change Fusion (FCF) module performs weighted modulation on multi-layer, channel-joint spectra, balancing low-frequency structural consistency with high-frequency detail fidelity. Experiments conducted on the landslide change detection dataset (GVLM-CD), post-earthquake building change detection dataset (WHU-CD), and a self-constructed unstable rock mass change detection dataset (TGRM-CD) demonstrate that MSMCD achieves state-of-the-art performance across all benchmarks. These results confirm its strong cross-scenario generalization ability and effectiveness in multiple geological disaster tasks. Full article

Insect wing base sclerites are crucial to wing function and evolution, yet their diversity beyond order-level comparisons remains poorly understood. We examine variation in wing base sclerites across Vespidae, focusing on the axillary sclerites (1Ax, 2Ax, and 3Ax), the shoulder sclerite, and associated structures. The first axillary sclerite shows distinct regional differentiation and bears a well-sclerotized knob that influences wing articulation. Additionally, 2Ax in Vespidae is a single, triangular structure with three attachment points, distinct from the two-part composition in some other wasps, which facilitates high-frequency wing vibrations. Our findings also highlight variable fusion patterns in 3Ax and its interaction with 2Ax, contributing to wing flexibility. The basiradial bridge, connecting the subcostal and radial veins, reinforces wing stability and articulation. Phylogenetic analysis based on wing-base morphology does not support the monophyly of Vespidae and differs from molecular hypotheses, but it refines previous morphological interpretations. The well-supported subfamily relationships confirm Vespinae as a monophyletic group and reveal a close association among Polistinae, Stenogastrinae, and Eumeninae, as represented by Polistes, Eustenogaster, and Oreumenes, respectively, suggesting evolutionary transitions in social behavior within the family Vespidae. The absence of a fourth axillary sclerite challenges earlier hypotheses, providing new insights into Hymenopteran wing base evolution. Two articulation models are proposed for forewings and hindwings, supported by three-dimensional reconstructions of axillary sclerites, indirect and direct flight muscles, and their attachment sites. These results refine interpretations of wasp wing mechanics, evolution, and morphological diversification across taxa. Full article