Search Results (5,684)

We present a morphokinematic analysis based on high-resolution long-slit echelle spectroscopy of the [N ii]$\lambda 6583$ line and narrowband imaging. Position–velocity diagrams reveal asymmetric expansion and localized kinematic features. We derive a systemic velocity of $V_{\mathrm{sys}}^{\mathrm{LSR}}=-25\pm 1$ km s⁻¹ ($V_{\mathrm{sys}}^{\mathrm{HEL}}=-34\pm 1$ km s⁻¹) and a main shell expansion velocity of $V_{\exp }=22\pm 1$ km s⁻¹. Three-dimensional modeling indicates an ellipsoidal main body surrounded by a thin shell, two ear-like protrusions, and additional small-scale structures. The corresponding kinematic ages are $3600\pm 700$ yr for the ellipsoid and ring, and $7500\pm 1000$ yr and $8800\pm 1500$ yr for the two opposite ear-like protrusions, respectively, indicating that these outer structures predate the main nebular envelope. The kinematic asymmetry and enhanced emission regions suggest evolution within a non-uniform ambient medium. At the same time, the presence of collimated ear-like structures is consistent with shaping influenced by binary interaction, where earlier outflows preceded the ejection of the dense shell. NGC 6563 therefore appears to be a dynamically evolved system shaped by the combined effects of episodic mass ejection and environmental interaction. Full article

Pegmatite dikes are important prospecting indicators for rare-metal deposits, whereas traditional methods for pegmatite dike identification are constrained by the limited capability of human visual interpretation to capture information from remote sensing imagery, resulting in low identification accuracy and efficiency. In recent years, global research on semantic segmentation of different surface features and remote sensing-based mineral exploration using deep learning methods and high-resolution remote sensing imagery has made significant progress; however, studies on surface-exposed geological bodies such as pegmatite dikes remain highly insufficient. To address the key problem of efficiently identifying pegmatite dikes in remote sensing imagery, this study proposes an improved model based on UNet++, termed GAD-UNet++. In the field of remote sensing geology, this study constructed a pegmatite dike semantic segmentation dataset based on high-resolution RGB imagery by using 0.66 m RGB imagery for visual delineation and ZY1F hyperspectral data for spectral constraint and label refinement; on this basis, semantic segmentation of surface pegmatite dikes in the Yilanlike area of the South Tianshan Mountains, Xinjiang, was conducted using RGB remote sensing image patches as model input. Specifically, because pegmatite dikes are small targets characterized by slender structures, indistinct boundaries, and sparse regional distribution, this study introduced a lightweight feature extraction structure (GhostNetV2) and a long-range dependency attention module (DFC) at the encoder stage, and further incorporated the Coordinate Attention module (CA) to enhance spatial localization and boundary representation of the targets. Finally, focal cross-entropy loss and a deep supervision strategy were adopted to improve the accuracy of semantic information extraction for pegmatite dikes, as well as the training stability and segmentation accuracy under class-imbalance conditions. The results show that the proposed model achieved an mIoU of 93.11% and an F1-score of 94.95% on the test set. Compared with existing semantic segmentation models, the proposed model achieved superior performance in both identification accuracy and computational efficiency for pegmatite dikes. In addition, this study delineated 18 potential pegmatite dike enrichment zones in the Yilanlike area, providing technical support for remote sensing-based rare-metal prospecting and geological interpretation in the study area. Full article

Object detection in UAV remote sensing imagery remains challenging due to severe scale variation, dense object distributions, complex background clutter, and localization ambiguity caused by extremely small objects. To address these issues, this paper proposes BDRNet, a lightweight background-aware dynamic-scale routing network for UAV remote sensing object detection. First, a background-aware feature enhancement (BAFE) module is introduced into the backbone to enhance feature representation through horizontal and vertical contextual modeling, improving target-related responses in complex aerial scenes. Second, a dynamic-scale routing pyramid (DSRP) is designed to retain the high-resolution $P_2$ branch and adaptively integrate multi-scale features through spatially dynamic routing, alleviating the loss of fine-grained information and improving the representation of small and scale-varied objects. Third, a scale- and geometry-aware normalized Wasserstein distance (SGNW) loss is proposed by modeling bounding boxes as two-dimensional Gaussian distributions. By incorporating aspect-ratio-guided geometric weighting and scale-aware dynamic fusion, SGNW improves regression stability for small objects while preserving geometric constraints for medium and large targets. Extensive experiments on the VisDrone2019 and UAVDT datasets demonstrate that BDRNet consistently improves detection accuracy over the YOLOv10s detector while maintaining a comparable model size and computational cost. Compared with several mainstream lightweight detectors, BDRNet achieves a favorable accuracy–efficiency trade-off, demonstrating its effectiveness for UAV remote sensing object detection in complex aerial scenarios. Full article

Accurate detection and reliable grasping of small bolts are essential for intelligent manufacturing and automated assembly. However, this remains a challenge due to the small size, slender geometry, and metallic reflective surfaces of bolts. In this paper, we propose a vision-guided robotic bolt handling framework that integrates lightweight object detection, optimization-oriented grasp execution, and collision-aware trajectory planning. The lightweight YOLOv8n-BoltLite detector, improved with E-C2f, LCA, SA-PAN, and WD-IoU loss, enhances localization accuracy and feature representation for small and slender bolts. A robotic grasping framework is designed to transform detection results into executable robotic actions through 3D pose estimation, mid-shank grasp point generation, and optimization-oriented execution formulation. Additionally, a five-segment trajectory planning strategy ensures safe and efficient robot motion. Experimental results show that YOLOv8n-BoltLite achieves a five-run average mAP of 99.64 ± 0.05% with 198 FPS, and 3.02 M parameters. On an additional challenging external test set involving illumination variation, clutter, partial occlusion, reflection, and clustered bolts, the proposed detector achieves 94.62 ± 0.18%, outperforming recent lightweight detectors under the same training protocol. Robotic experiments involving 1000 controlled grasping trials and 300 multi-target grasping attempts demonstrate a controlled-condition success rate of 97.0% and improved target-selection reliability in multi-bolt scenes. These results suggest that the proposed framework offers a practical and efficient solution for automated bolt handling in intelligent manufacturing environments. Full article

To address missed detections, false alarms, and deployment limitations in thermal defect detection of photovoltaic modules from unmanned aerial vehicle (UAV) infrared images, this paper proposes an improved detection method based on You Only Look Once version 8 nano (YOLOv8n). The proposed method is optimized according to the characteristics of UAV infrared photovoltaic inspection, including small thermal targets, weak and diffuse thermal responses, complex backgrounds, and lightweight deployment requirements. Specifically, a P2 shallow feature layer is introduced to enhance fine-grained feature perception for small thermal defects, while Ghost Convolution (GhostConv) is incorporated into the backbone to reduce model complexity. In addition, C2f-Large Separable Kernel Attention (C2f-LSKA) is embedded in the neck to strengthen contextual and spatial feature modeling under complex infrared backgrounds, and Wise-IoU version 3 (WIoUv3) is adopted to improve bounding box regression and localization stability for boundary-ambiguous thermal anomalies. Experiments are conducted on a self-constructed UAV infrared thermal imaging dataset. From nearly 10,000 inspection images, 3000 representative images are selected and manually annotated, covering typical challenges such as small hot spots, low-contrast defects, complex background interference, and diffuse abnormal temperature-rise regions. Compared with the baseline YOLOv8n, the proposed method improves Precision, Recall, mean average precision at an IoU threshold of 0.5 (mAP@0.5), and mean average precision averaged over IoU thresholds from 0.5 to 0.95 (mAP@0.5:0.95) by 5.1, 11.4, 9.6, and 13.2 percentage points, respectively, while reducing the number of parameters and model size by 65.8% and 61.9%, respectively. These results indicate that the proposed method improves detection accuracy and localization quality under the evaluated UAV infrared inspection setting while maintaining lightweight characteristics. Full article

To address the joint requirements of illegal parking detection and license plate recognition under complex traffic scenarios and limited edge-device resources, this study proposes RKF-YOLO, a lightweight dual-task model based on improved YOLOv11n that integrates Rep-CSP structural optimization, knowledge-transfer-enhanced training (KTET), and Focal-CIoU loss. Compared with YOLOv11n, RKF-YOLO reduces parameters and FLOPs by 38.2% and 38.1%, respectively, while improving $\mathrm{mAP}@0.5$ and $\mathrm{mAP}@0.5:0.95$ by 0.6 and 1.1 percentage points for parking detection; for plate detection, Focal-CIoU improves $\mathrm{mAP}@0.5:0.95$ by 1.3 percentage points and contributes to a recognition accuracy of 95.7%. The unified framework uses a shared backbone and task-oriented detection heads to support vehicle-level illegal parking detection and license-plate-oriented localization. Rep-CSP enhances multi-scale feature representation, asymmetric channel reduction with feature compensation reduces redundant computation, and KTET improves convergence through optimizer and learning-rate migration. Deployment on RK3588 achieves 59.5 FPS for parking detection and 95.1% recognition accuracy, demonstrating real-time performance and practical applicability on resource-constrained edge devices. Full article

This paper addresses the core challenges in the 3D point cloud segmentation of the human auricle region, including the low distinguishability of weak-boundary features, the lack of anatomical priors in existing methods, the tendency of boundary features to be overwhelmed by background noise, and the weakening of supervisory signals. We propose GeoPriors-3DEarSeg, a precise geometric-priors-guided 3D point cloud segmentation network for auricle regions. The network incorporates complementary geometric features from three dimensions, normal vector orientation, local Gaussian curvature, and shape diameter function, to characterize the intrinsic geometric differences at the auricle boundary. A geometric-priors-guided QKV gated attention mechanism is designed to selectively enhance the expression of weak-boundary features. Additionally, we introduce a boundary-aware loss function, NVBLoss, which does not rely on extra annotations to strengthen the supervision of boundary features. The experimental results on a human ear dataset demonstrate that our method achieves a mean intersection over union (mIoU) of 0.9857, outperforms the comparison methods, and precisely segments of weak boundaries in the auricle region. This work provides a technical basis for accurate auricle-region point cloud segmentation and offesr methodological insights for future studies on the weak-boundary segmentation of other medical anatomical structures. Full article

Multimodal image registration is a fundamental yet challenging task, particularly in remote sensing scenarios involving cross-platform, multi-temporal, and cross-modal data. The primary difficulty arises from the coexistence of large-scale geometric distortions and complex local appearance variations across modalities, which makes it difficult for a single-stage model to achieve both global alignment and fine-grained correspondence simultaneously. To address this issue, we propose MMARNet, a task-driven coarse-to-fine registration framework that explicitly decomposes multimodal registration into global geometric alignment and local correspondence refinement. Instead of treating registration as a unified problem, the proposed framework sequentially resolves distinct sources of error, leading to improved robustness and accuracy under challenging conditions. In the first stage, MMARNet learns geometry-aware global alignment by identifying structurally reliable regions across modalities and estimating large-scale transformations, effectively reducing the initial misalignment and normalizing the geometric space. In the second stage, the model focuses on residual local discrepancies by learning context-enhanced feature representations, enabling robust keypoint-level matching even under severe modality differences and nonlinear distortions. The two stages are designed to work in a complementary manner, where global alignment significantly simplifies the subsequent local matching process. Extensive experiments on three challenging multimodal datasets demonstrate that MMARNet achieves superior performance in both accuracy and robustness compared to existing methods. The results validate the effectiveness of the proposed problem decomposition and highlight the advantage of the coarse-to-fine optimization strategy for multimodal remote sensing image registration. Full article

With the increasing demand for low-carbon energy, automated defect detection using unmanned aerial vehicle (UAV)-based thermal inspection has become essential for maintaining the reliability of photovoltaic systems. However, existing methods still suffer from low-contrast thermal imagery, large-scale variations of defects, and subtle thermal anomalies. To address these challenges, this study proposes Grouped-Hypergraph-Modulation DEIM (GHM-DEIM), a robust end-to-end detection framework based on an improved DEIM architecture. Specifically, a grouped multi-scale aggregation attention network is introduced to enhance global thermal perception and recover discriminative features from blurred backgrounds. In addition, an enhanced encoder incorporating a hypergraph-based context encoding mechanism is designed to model high-order non-local relationships and improve feature representation across different defect scales. Furthermore, a modulation fusion module is employed to adaptively refine multi-scale feature responses and suppress environmental noise interference. Extensive experiments conducted on the ThermoSolar-PV and PV-HSD-2025 datasets demonstrate that the proposed method consistently outperforms state-of-the-art detectors, achieving mAP@50 values of 88.6% and 74.2%, respectively, with improvements of 4.7% and 2.9% over the baseline. These results demonstrate the effectiveness and robustness of GHM-DEIM for UAV-based PV thermal defect inspection. Full article

Elastic springback is a critical challenge in sheet metal bending that directly affects dimensional accuracy and manufacturing efficiency. This study presents a comparative experimental and machine learning-based analysis of elastic springback behavior in three widely used sheet metals like stainless steel, aluminum, and copper, which are subjected to folding bending. The influence of key process parameters, namely sheet thickness (0.5 to 1.5 mm) and bending temperature (room temperature to 200 °C), was systematically examined under cold working. A cost-effective localized heating approach using a direct flame was introduced to enhance process control and reduce elastic recovery without the complexity associated with heated dies. Experimental results revealed substantial variability in elastic springback, ranging from 0.15% to 12.41%, emphasizing the fact that they are nonlinear in nature. Statistical evaluation confirmed that sheet thickness is the dominant factor governing elastic springback, while material type and temperature exhibit secondary yet meaningful effects. To improve predictive capability, five regression models (Linear, Polynomial, Support Vector, Random Forest, and Gradient Boosting) were developed and assessed. Among them, Random Forest demonstrated superior performance with the lowest prediction errors and strongest explanatory power, achieving an R² of approximately 0.85. Cross-validation further validated its robustness and generalization capability. Feature importance and SHapley Additive exPlanations (SHAP) analyses reinforced the primary role of thickness in determining elastic recovery behavior. The findings provide practical insights for selecting materials and process conditions to minimize elastic springback while highlighting the effectiveness of ensemble learning techniques for accurate prediction. This work contributes a consistent framework for enhancing bending precision and supports data-driven decision-making in modern manufacturing environments. Full article

Dehazing of images is important for proper interpretation of optical images in remote sensing. However, current dehazing networks tend to have limited receptive field and texture information loss caused by conventional downsampling and complementary cross-domain information not being utilized in dehazing frameworks. In order to cope with these problems, we propose a Cross-domain Generative Prior-assisted Structure–Texture Adaptive Network for remote sensing image dehazing. It is a dual-stream encoder–decoder framework, which enhances the domain-specific information of RGB and generated prior, and then integrates them adaptively for haze-free reconstruction. In order to minimize information loss in downsampling, wavelet pooling is introduced to consider the frequency-aware structural and textural features. Additionally, a Structure–Texture Calibration Block is designed to simultaneously improve the local frequency textures and construct sparse long-range dependencies of structures, so as to achieve better restoration performance under spatially non-uniform haze. To appropriately fuse the various representations from RGB and generated prior images, a Prior-aware Gated Adaptive Fusion module is developed to balance the domain-specific features dynamically and keep the fine details at multi-level feature fusion. Finally, we utilize pixel-level contrastive learning to guide the latent space away from hazy distributions, thus enhancing the discriminability of the features. Extensive experiments on the three datasets, namely RSID, RICE-I and HRSD, demonstrate that CGSTA-Net can effectively restore images under varying haze conditions and significantly outperforms the latest dehazing methods in terms of visual quality and quantitative performance. Specifically, compared with the most effective competitive method, CGSTA-Net increased the PSNR by 22.9% on RSID, by 13.2% on RICE-I, and by 7.2% on HRSD. Full article

Cross-scene Hyperspectral Image (HSI) classification faces substantial domain shifts caused by sensor heterogeneity, acquisition variation, and scene diversity. While benchmark annotations are assigned to individual center pixels, local patches often contain implicit multi-label semantics due to spectral mixing and spatial overlap. This mismatch distorts prediction structure, exacerbates generalization errors, and limits the effectiveness of standard domain generalization (DG) techniques focused solely on feature or prediction invariance. We propose Class-Aware Semantic Calibration (CASC), a systematic semantic structure calibration framework that addresses three complementary distortions induced by mismatched patch supervision: (i) Balance corrects class frequency bias via reweighted supervision; (ii) Separability enhances boundary decision stability through margin-based logit calibration; and (iii) Independence reduces domain-specific spurious co-occurrence via prediction covariance decorrelation. To preserve calibrated semantics under pseudo-source shift, we further introduce a complementary DualAlign (DA) module, which jointly aligns feature statistics and prediction distributions, enforcing consistency at both representation and semantic levels. Extensive experiments on three cross-scene benchmarks (Houston, Pavia, and WHU-Hi) demonstrate that CASC-DA consistently improves performance over strong baselines, achieving an average gain of 3.0% in overall accuracy and 4.9% in Kappa coefficient compared with the best-performing baseline on each dataset. These results underscore the importance of semantic structure calibration for domain-generalized HSI classification. Full article

Multimodal image fusion is a promising technology designed to fuse information from different medical sensors, which offer structured insights for disease diagnosis and treatment. However, existing 2D-centric fusion methods fail to capture 3D spatial continuity, and conventional wavelet-based approaches lack adaptability to diverse lesion regions and suffer from background artifacts. To address this issue, we propose a 3D multiscale wavelet convolutional neural network for multimodal medical image fusion. Specifically, a 3D Discrete Wavelet Transformation (3D DWT) is introduced to decompose input volumes into multi-frequency bands, isolating anatomical structures and lesion details while reducing 3D spatial redundancy. We embed hierarchical multiple frequency band into a Global and Local Feature Calibration (GLFC) module to adaptively enhance single-modal features by fusing global contextual information and local details. Furthermore, a pyramid group-wise multiscale feature interaction is proposed for capturing complementary features across different spatial scales. Finally, a voxel-wise weighted averaging strategy reconstructs the fused image by adaptively assigning contributions to each modality at every spatial position, effectively eliminating artifacts and improving the visual fidelity of the result. Extensive experiments on the BraTS2020 and Hecktor datasets demonstrate that our proposed method outperforms state-of-the-art (SOTA) fusion methods in both subjective visual quality and objective metrics. Moreover, downstream segmentation validation confirms that fused images from our method significantly improve tumor segmentation accuracy. The source code and pre-trained models will be publicly available. Full article

To autonomously dock LNG unloading arms under adverse sea states, this study formulates a dynamic docking process as a trajectory forecasting task. By integrating visual-perception-based spatial localization with trajectory acquisition and forecasting, a comprehensive operational pipeline is established. To predict the dynamic trajectory of the vessel flange, an improved KSE-GRU model is proposed. By extracting implicit kinematic features, the model effectively enhances trajectory characterization under extreme sea states, thereby significantly improving forecasting accuracy and worst-case error constraints. To ensure the operational feasibility of autonomous docking, a robust control strategy is introduced to complement the trajectory predictions. The experimental results demonstrate that the proposed model outperforms traditional time-series forecasting models across all evaluation metrics. Compared with the baseline neural network models, the Mean-3D error is reduced by 19.14%, and the Max-3D error is capped at 348.77 mm, representing an 8.8% improvement over the baseline. Furthermore, the model demonstrates clear advantages in maintaining trajectory consistency and forecasting reliability. In summary, in this study, a robust trajectory forecasting model is developed for vessel target flanges integrated with a comprehensive control framework, thereby offering a practical approach to autonomous docking under dynamic oceanic conditions. Full article

Accurate landslide identification is crucial for enhancing emergency response capabilities during destructive geological hazards. Although deep-learning-based semantic segmentation has demonstrated effectiveness, substantial variations in landslide scales and environmental similarities continue to challenge existing methods. This paper systematically constructs a new co-seismic landslide dataset for the Yarlung Zangbo River basin based on the 2017 Nyingchi earthquake, effectively filling a critical regional data gap. This paper proposes CETransUNet (coordinate attention and edge-guided attention transformer UNet), a novel landslide detection model that integrates ResNet and Transformer architectures. Specifically, a coordinate attention (CA) module is introduced within the skip connections between the encoder and decoder. This module encodes positional information along both horizontal and vertical spatial directions and dynamically re-weights the feature maps, thereby effectively suppressing background noise caused by semantic gaps and enhancing the model’s ability to localize landslide regions. Additionally, an edge-guided attention (EGA) module is incorporated into the decoder. This module extracts explicit edge priors from the input image using a Laplacian operator and imposes geometric constraints on the predictions via a boundary reverse attention mechanism, thereby significantly alleviating boundary ambiguity and morphological distortion of landslides. Evaluations across datasets from the Yarlung Zangbo River, Iburi-Tobu, and Bijie regions demonstrate that CETransUNet significantly outperforms state-of-the-art models—including TransUNet, SegFormer, and SwinUNet—in terms of IoU, MIoU, and F1-score. Overall, through the synergistic optimization of the coordinate attention and edge-guided attention modules, the CETransUNet model achieves synchronous enhancement of boundary integrity and geometric precision in complex scenarios, providing a reliable technical solution for large-scale intelligent landslide identification. Full article