Multi-object tracking (MOT) in airborne videos is a challenging problem due to the uncertain airborne vehicle motion, vibrations of the mounted camera, unreliable detections, size, appearance and motion of the moving objects as well as occlusions due to the interaction between the moving objects and with other static objects in the scene.To deal with these problems, this work proposes a four-stage Hierarchical Association framework for multiple object Tracking in Airborne video (HATA). The proposed framework combines data association-based tracking (DAT) methods and target tracking using a Compressive Tracking approach, to robustly track objects in complex airborne surveillance scenes. In each association stage, different sets of tracklets and detections are associated to efficiently handle local tracklet generation, local trajectory construction, global drifting tracklet correction and global fragmented tracklet linking. Experiments with challenging airborne video datasets show significant tracking improvement compared to existing state-of-art methods.

In modern security situations, tracking multiple human objects in real-time within challenging urban environments is a critical capability for enhancing situational awareness, minimizing response time, and increasing overall operational effectiveness. Tracking multiple entities enables informed decision-making, risk mitigation, and the safeguarding of civil-military operations to ensure safety and mission success. This paper presents a multi-modal electro-optical/infrared (EO/IR) and radio frequency (RF) fused sensing (MEIRFS) platform for real-time human object detection, recognition, classification, and tracking in challenging environments. By utilizing different sensors in a complementary manner, the robustness of the sensing system is enhanced, enabling reliable detection and recognition results across various situations. Specifically designed Radar tag and thermal tag can be used to discriminate friendly and non-friendly objects. The system incorporates deep learning-based image fusion and human object recognition and tracking (HORT) algorithms to ensure accurate situation assessment. After integrating into an all-terrain robot, multiple ground tests were conducted to verify the consistent HORT in various environments. The MEIRFS sensor system has been designed to meet the Size, Weight, Power, and Cost (SWaP-C) requirements for installation on autonomous ground and aerial vehicles.

Event-based vision is an emerging field of computer vision that offers unique properties such as asynchronous visual output, high temporal resolutions, and dependence on brightness changes to generate data. These properties can enable robust high-temporal-resolution object detection and tracking when combined with frame-based vision. In this paper, we present a hybrid, high-temporal-resolution, object detection and tracking approach, that combines learned and classical methods using synchronized images and event data. Off-the-shelf frame-based object detectors are used for initial object detection and classification. Then, event masks, generated per each detection, are used to enable inter-frame tracking at varying temporal resolutions using the event data. Detections are associated across time using a simple low-cost association metric. Moreover, we collect and label a traffic dataset using the hybrid sensor DAVIS 240c. This dataset is utilized for quantitative evaluation using state-of-the-art detection and tracking metrics. We provide ground truth bounding boxes and object IDs for each vehicle annotation. Further, we generate high-temporal-resolution ground truth data to analyze the tracking performance at different temporal rates. Our approach shows promising results with minimal performance deterioration at higher temporal resolutions (48 – 384 Hz) when compared with the baseline frame-based performance at 24 Hz.

The ever-burgeoning growth of autonomous unmanned aerial vehicles (UAVs) has demonstrated a promising platform for utilization in real-world applications. In particular, UAV equipped with a vision system could be leveraged for surveillance applications. This paper proposes a learning-based UAV system for achieving autonomous surveillance, in which the UAV can be of assistance in autonomously detecting, tracking, and following a target object without human intervention. Specifically, we adopted the YOLOv4-Tiny algorithm for semantic object detection and then consolidated it with a 3D object pose estimation method and Kalman Filter to enhance the perception performance. In addition, a back-end UAV path planning for surveillance maneuver is integrated to complete the fully autonomous system. The perception module is assessed on a quadrotor UAV, while the whole system is validated through flight experiments. The experiment results verified the robustness, effectiveness, and reliability of the autonomous object tracking UAV system in performing surveillance tasks. The source code is released to the research community for future reference.

Multi-Object Tracking (MOT) is a key technology for Unmanned Aerial Vehicles (UAVs). Traditional tracking-by-detection methods firstly employ an object detector to retrieve targets in each image and then track them based on a matching algorithm. Recently, the popular multi-task learning methods has been dominating this area since they can detect targets and extract Re-Identification (Re-ID) features in a computationally efficient way. However, the detection task and the tracking task have conflicting requirements on image features, leading to the poor performance of the joint learning model compared to separate detection and tracking methods. The problem is more severe when it comes to UAV images due to the presence of irregular motion of large number of small targets. In this paper, we propose a balanced Joint Detection and Re-ID learning (JDR) network to address the MOT problem in UAV vision. To better handle the non-uniform motion of objects in UAV videos, the Set-Member Filter is applied which describes object state as a bounded set. An appearance matching cascade is then proposed based on target state set. Furthermore, a Motion-Mutation module is designed to address the challenges posed by the abrupt motion of UAV. Extensive experiments on the VisDrone-MOT2019 dataset demonstrate that our proposed model, termed as SMFMOT, outperforms state-of-the-arts by a large margin and achieves superior performance on the MOT tasks in UAV videos.

In tracking-by-detection paradigm for multi-target tracking, target association is modeled as an optimization problem that is usually solved through network flow formulation. In this paper, we proposed combinatorial optimization formulation and used a bipartite graph matching for associating the targets in the consecutive frames. Usually, the target of interest is represented in a bounding box and track the whole box as a single entity. However, in the case of humans, the body goes through complex articulation and occlusion that severely deteriorate the tracking performance. To partially tackle the problem of occlusion, we argue that tracking the rigid body organ could lead to better tracking performance compared to the whole body tracking. Based on this assumption, we generated the target hypothesis of only the spatial locations of person’s heads in every frame. After the localization of head location, a constant velocity motion model is used for the temporal evolution of the targets in the visual scene. Qualitative results are evaluated on four challenging video surveillance dataset and promising results has been achieved.

Abstract: Rationale. Object tracking has significance in many applications ranging from control of unmanned vehicles to autonomous monitoring of specific situations and events, especially when providing safety for patients with certain adverse conditions such as epileptic seizures. Conventional tracking methods face many challenges, such as the need for dedicated attached devices or tags, influence by high image noise, complex object movements, and intensive com-putational requirements. We have developed earlier computationally efficient algorithms for global optical flow reconstruction of group velocities that provide means for convulsive seizure detection and have potential applications in fall and apnea detection. Here, we address the chal-lenge of using the same calculated group velocities for object tracking in parallel. Methods. We propose a novel optical flow-based method for object tracking. It utilizes real-time image se-quences from the camera and directly reconstructs global motion-group parameters of the con-tent. These parameters can steer a rectangular region of interest surrounding the moving object to follow the target. The method successfully applies to multi-spectral data, further improving its effectiveness. Results. Experimental results on simulated tests and complex real-world data demonstrate the method's capabilities. The proposed optical flow reconstruction can provide accurate, robust, and faster results compared to current state-of-the-art approaches.

Drones have been used in a variety of scenarios such as atmospheric monitoring, fire rescue, agricultural irrigation, etc., in which accurate environmental perception is of crucial importance for both decision-making and control. Among the drone sensors, the RGB camera is indispensable for capturing rich visual information for vehicle navigation but encounters a grand challenge in high-dynamic-range scenes that occur frequently in real applications. Specifically, the recorded frames suffer from under-exposure and over-exposure simultaneously and degenerate the successive vision tasks. To solve the problem, we take object tracking as an example and leverage the superior response of event cameras over a large intensity range to propose an event-assisted object tracking algorithm that can achieve reliable tracking under large intensity variations. Specifically, we propose to pursue feature matching from dense event signals, and based on which to (i) design a UNet-based image enhancement algorithm to balance the RGB intensity with the help of neighboring frames in the time domain, and then (ii) construct a dual-input tracking model to track the moving objects from intensity balanced RGB video and event sequence. The proposed approach is comprehensively validated in both simulation and real experiments.

Continuous object tracking in WSNs, such as monitoring of mud-rock flows, forest fires etc., is a challenging task due to characteristic nature of continuous objects. They can appear randomly in the network field, move continuously, and can change in size and shape. Monitoring such objects in real-time generally require tremendous amount of messaging between sensor nodes to synergistically estimate object’s movement and track its location. In this paper, we propose a novel twofold-sink mechanism, comprising of a mobile and a static sink node. Both sink nodes gather information about boundary sensor nodes, which is then used to uniformly distribute energy consumption across all network nodes, thus helping in saving residual energy of network nodes. Numerous object tracking schemes, using mobile sink, have been proposed in the literature. However, existing schemes employing mobile sink cannot be applied to track continuous objects, because of momentous variation of network topology. Therefore, we present in this paper a mechanism, transformed from K-means algorithm, to find the best sensing location of the mobile sink node. It helps to reduce transmission load on the intermediate network nodes situated between static sink node and the ordinary network sensing nodes. The simulation results show that the proposed scheme can distinctly improve life time of the network, compared to one-sink protocol employed in continuous object tracking.

We develop an interactive likelihood (ILH) for sequential Monte-Carlo (SMC) methods for image-based multiple target tracking applications. The purpose of the ILH is to improve tracking accuracy by reducing the need for data association. In addition, we integrate a recently developed deep neural network for pedestrian detection along with the ILH with a multi-Bernoulli filter. We evaluate the performance of the multi-Bernoulli filter with the ILH and the pedestrian detector in a number of publicly available datasets (2003 PETS INMOVE, AFL, and TUD-Stadtmitte) using standard, well-known multi-target tracking metrics (OSPA and CLEAR MOT). In all datasets, the ILH term increases the tracking accuracy of the multi-Bernoulli filter.

All types of sports are potential application scenarios for automatic and real-time visual object and event detection. In rink hockey, the popular roller quad skate variant of hockey team sports, it is of great interest to automatically track player’s movements and positions, player’s sticks and, also, making other judgments, such as being able to locate the ball. In this work, we introduce a real-time pipeline composed by an object detection model, created specifically for rink hockey games, followed by a knowledge-based event detection module. Even in the presence of occlusions and quick motions, our deep learning object detection model effectively identifies and tracks, in real-time, important visual elements such as: ball; players; sticks; referees; crowd; goalkeeper; and goal. Using a curated dataset composed by a collection of videos of rink hockey, comprising 2525 annotated frames, we trained and evaluated the algorithm performance and compare it to state of the art object detection techniques. Our object detection model, based on YOLOv7, presents a global accuracy of 80%, and presents a good performance in terms of accuracy and speed, according to our results, making it a good choice for rink hockey applications. In our initial tests, the event detection module successfully detected one important event type in rink hockey games, the occurrence of penalties.

The article’s goal is to overview challenges and problems on the way from the state of the art CUDA accelerated neural networks code to multi-GPU code. For this purpose, the authors describe the journey of porting the existing in the GitHub, fully-featured CUDA accelerated Darknet engine to OpenCL. The article presents lessons learned and the techniques that were put in place to make this port happen. There are few other implementations on the GitHub that leverage the OpenCL standard, and a few have tried to port Darknet as well. Darknet is a well known convolutional neural network (CNN) framework. The authors of this article investigated all aspects of the porting and achieved the fully-featured Darknet engine on OpenCL. The effort was focused not only on the classification with the use of YOLO1, YOLO2, and YOLO3 CNN models. They also covered other aspects, such as training neural networks, and benchmarks to look for the weak points in the implementation. The GPU computing code substantially improves Darknet computing time compared to the standard CPU version by using underused hardware in existing systems. If the system is OpenCL-based, then it is practically hardware independent. In this article, the authors report comparisons of the computation and training performance compared to the existing CUDA-based Darknet engine in the various computers, including single board computers, and, different CNN use-cases. The authors found that the OpenCL version could perform as fast as the CUDA version in the compute aspect, but it is slower in memory transfer between RAM (CPU memory) and VRAM (GPU memory). It depends on the quality of OpenCL implementation only. Moreover, loosening hardware requirements by the OpenCL Darknet can boost applications of DNN, especially in the energy-sensitive applications of Artificial Intelligence (AI) and Machine Learning (ML).

The dynamic factors in the environment violate the static environment assumption of the SLAM algorithm, leading to a decrease in the accuracy of camera positioning. In recent years, many studies have attempted to address dynamic objects by combining semantic constraints and geometric constraints, but issues such as poor real-time performance, the potential for mistakenly treating humans as rigid objects, and subpar performance in high-dynamic scenes still persist. This paper proposes a dynamic scene visual SLAM algorithm called Dynamic SLAM based on target tracking and multi-view geometry (TKG-SLAM), based on object detection, Kalman filters, and multi-view geometry. This algorithm takes into consideration both real-time performance and algorithm accuracy. It combines semantic constraints and multi-view geometry constraints, selectively running the algorithm in different scenarios, filtering and preserving static points for camera pose estimation. Experimental results demonstrate that, compared to current state-of-the-art dynamic SLAM methods, our approach achieves optimal performance in some scenarios and exhibits stronger real-time capabilities.

The presence of fog in the background can prevent small and distant objects from being detected, let alone tracked. Under safety-critical conditions, multi-object tracking models require faster-tracking speed while maintaining high object-tracking accuracy. The original DeepSORT algorithm used YOLOv4 for the detection phase, and a simple neural network for deep appearance descriptor. Consequently, the feature map generated loses relevant details about the track being matched with a given detection in fog. Targets with a high degree of appearance similarity on the detection frame are more likely to be mismatched, resulting in identity switches or track failures in heavy fog. We propose an improved multi-object tracking model based on the DeepSORT algorithm to im-prove tracking accuracy and speed under foggy weather conditions. First, we employed our camera-radar fusion network (CR-YOLOnet) in the detection phase for faster and more accurate object detection. We proposed an appearance feature network to replace the basic convolutional neural network. We incorporated GhostNet to take the place of the traditional convolutional layers to generate more features and reduce computational complexities and cost. We adopted a segmentation module and fed the semantic labels of the corresponding input frame to add rich semantic information to the low-level appearance feature maps. Our proposed method outperformed YOLOv5 + DeepSORT with a 35.15% increase in multi-object tracking accuracy, a 32.65% increase in multi-object tracking precision, the speed increased by 37.56%, and identity switches decreased by 46.81%.

Real-time object detection remains a pivotal topic in the realm of computer vision. Balancing the accuracy and speed of object detectors poses a formidable challenge for both academic researchers and industry practitioners. While recent transformer-based models have showncase the prowess of the attention mechanism, delivering remarkable performance improvements over CNNs, their computational demands can hinder their effectiveness in real-time detection tasks. In this paper, we elect to use YOLOX as our robust starting point and introduce a series of effective enhancements, culminating in a new high-performance detector named YOLOAX. To further exploit the power of the attention mechanism, we devise multi-dimensional attention-based modules that activate CNNs, emphasizing the most pertinent regions and bolstering the capacity to learn the most informative image representations from feature maps. Moreover, we introduce a novel leading label assignment strategy called STA, along with a groundbreaking loss function named GEIOU Loss, to further refine our detector's performance. We provide extensive ablation studies on the COCO and PASCAL VOC 2012 detection datasets to validate our proposed methods. Remarkably, our YOLOAX is trained solely on the MS-COCO dataset from scratch, without leveraging any prior knowledge, which achieves an impressive 54.2% AP on the COCO 2017 test set while maintaining a real-time speed of 72.3 fps, surpassing YOLOX by a significant margin of 3.0% AP. Our source code and pre-trained models are openly accessible at https://github.com/KejianXu/yoloax.

The object detection task is usually affected by complex backgrounds. In this paper, a new image object detection method is proposed, which can perform multi-feature selection on multi-scale feature maps. By this method, a bidirectional multi-scale feature fusion network is designed to fuse semantic features and shallow features to improve the detection effect of small objects in complex backgrounds. When the shallow features are transferred to the top layer, a bottom-up path is added to reduce the number of network layers experienced by the feature fusion network, reducing the loss of shallow features. In addition, a multi-feature selection module based on the attention mechanism is used to minimize the interference of useless information on subsequent classification and regression, allowing the network to adaptively focus on appropriate information for classification or regression to improve detection accuracy. Because the traditional five-parameter regression method has severe boundary problems when predicting objects with large aspect ratios, the proposed network treats angle prediction as a classification task. The experimental results on the DOTA dataset, the self-made DOTA-GF dataset and the HRSC 2016 dataset show that, compared with several popular object detection algorithms, the proposed method has certain advantages in detection accuracy.

Dialogue State Tracking is an essential component in multi-domain dialogue systems, aiming to accurately determine the current dialogue state based on the dialogue history. Existing research has addressed the issue of multiple mappings in dialogues by employing slot self-attention as a data-driven approach. However, learning the relationships between slots from a single sample has limitations and introduces noise. In this paper, we propose an External Slot Relation Memory-based Dialogue State Tracking model (ER-DST). By utilizing an external memory storage, we learn the relationships between slots as a dictionary of multi-domain slot relations. Additionally, we employ a small filter to discard slot information irrelevant to the current dialogue state. Experimental results on the MultiWOZ2.0 and MultiWOZ2.1 benchmarks demonstrate significant improvements while reducing the time complexity to O(n).

This paper proposes a multi-terminal adaptive collaborative operation method to solve the problem of unstable internal force tracking in clamping and handling unknown objects by multi-terminal robots. In the proposed method, the internal command force changes the complex internal force control problem into an internal force tracking problem from multi-slave to master. Moreover, we develop an algorithm for multi-slave setups to estimate object stiffness and motion uncertainty in the direction of the internal command force according to Lyapunov theory. Finally, the impedance control generates a reference trajectory for the multi-slave to maintain the desired internal force and track the master’s motion. Several experiments are conducted on a self-made robot equipped. The experimental results show that the oscillation amplitude of each slave end is less than 1 mm, the directional oscillation amplitude is less than 1 degree during the tracking of the desired commanded internal force. For objects with low stiffness, the error of the commanded internal force is less than 1 N (6%) per slave. The error in tracking the commanded internal force for objects with high stiffness is less than 2 N (8%). The results prove the feasibility and effectiveness of the proposed method.

This paper presents an analysis of the sensitivity of controlling an autonomous surface object among a group of encountered objects to the inaccuracy of state control process data. For this purpose, a safe and optimal model of the control process was defined. An algorithm for determining the optimal and safe trajectory of an object, based on the multi-object game model, was developed; for comparative analysis, an algorithm for calculating only the optimal trajectory, not taking into account the maneuverability of other objects, was additionally developed. First, simulation-based studies of the algorithms enabled a comparative analysis of a number of different acceptable strategies for optimally shifting the trajectory of maneuvering objects from a single initial direction. Thereafter, the main goal of this paper was implemented: an analysis of the sensitivity characteristics of safe control, assessed with the risk of collision, both on the inaccuracy of navigation data and on the number of possible control strategies. Finally, final conclusions and a plan for further research on the subject of the paper were formulated.

Although deep learning has received extensive attention and achieved excellent performances in various of scenarios, it suffers from adversarial examples to some extent. Especially, physical attack poses more threats than digital attack. However, existing researches pay less attention to physical attack of object detection in remote sensing images (RSIs). In this work, we systematically analyze the universal adversarial patch attack for multi-scale objects in the remote sensing field. There are two challenges for adversarial attack in RSIs. On one hand, the number of objects in remote sensing images is more than that of natural images. Therefore, it is difficult for adversarial patch to show adversarial effect on all objects when attacking a detector of RSIs. On the other hand, the wide range of height of photography platform causes that the size of objects diverse a lot, which brings challenges for generating universal adversarial perturbation for multi-scale objects. To this end, we propose an adversarial attack method on object detection for remote sensing data. One of the key ideas of the proposed method is the novel optimization of adversarial patch. We aim to attack as many objects as possible by formulating a joint optimization problem. Besides, we raise a scale factor to generate a universal adversarial patch that adapts to multi-scale objects, which ensures the adversarial patch is valid for multi-scale objects in the real world. Extensive experiments demonstrate the superiority of our method against state-of-the-art methods on YOLO-v3 and YOLO-v5. In addition, we also validate the effectiveness of our method in real-world applications.

The video images captured at long range usually have low contrast floating objects of interest on a sea surface. A comparative experimental study of the statistical characteristics of reflections from floating objects and from the agitated sea surface showed the difference in the correlation and spectral characteristics of these reflections. The functioning of the recently proposed modified matched subspace detector (MMSD) is based on the separation of the observed data spectrum on two subspaces: relatively low and relatively high frequencies. In the literature the MMSD performance has been evaluated in generally and moreover using only a sea model (additive Gaussian background clutter). This paper extends the performance evaluating methodology for low contrast object detection and moreover using only the real sea dataset. This methodology assumes an object of low contrast if the mean and variance of the object and the surrounding background are the same. The paper assumes that the energy spectrum of the object and the sea are different. The paper investigates a scenario in which an artificially created model of a floating object with specified statistical parameters is placed on the surface of a real sea image. The paper compares the efficiency of the classical Matched Subspace Detector (MSD) and MMSD for detecting low-contrast objects on the sea surface. The article analyzes the dependence of the detection probability at a fixed false alarm probability on the difference between the statistical means and variances of a floating object and the surrounding sea.

Metaheuristic algorithms have been frequently using to tackle optimization problems, however such algorithms in the analysis of health-related data is not commonly used as developing metaheuristic algorithms that work well on health-related data is a difficult task due to complexity of the health data in particular genomics and epigenetics data. One of the important tasks in genomics is to predict genomic elements that are incorporating together to regulate a disease-related genes. Predicting such elements are important as they can be used to develop a personalized cure. In this study, we present for the first time, a multi-object simulated annealing algorithm to identify enhancer-promoter like interactions from Hi-C (chromosome conformation capture) data. These regulatory elements can potentially play vital roles as promoters and/or enhancers in appearance and exacerbation of the regulation of gene.s To evaluate the efficiency of the proposed method, we applied our proposed method and traditional methods on the Hi-C data from mice and compared together. Our results show that the interacting elements identified by our new method are more likely to be functional. The source code of the method is publicly available.

This paper provides a new management method (MM) to optimally operate standalone direct current (DC) photovoltaic water pumping system (PVWPS) and synchronize its hydraulic performance to variable daily irradiance. The proposed approach well considers the issues from PV generator and a positive displacement pump mismatching to deserve a hydraulic network. Accordingly, Management Method uses small pumps mounted in parallel scheme to displace the hydraulic power point (HPP) in order to satisfy the mal adequacy between supply and load. Based on experimental Study; this approach showed a yielded standalone system, possibility of running pumping system using only photovoltaic supply (Without use of capacitance), and possibility to design more economical PV systems as the maximum peak power demand for each month can be satisfied using small power pumps in parallel and adjusting their switch with accordance to varying daily irradiance. Moreover, an analytical model was developed with reference to the obtained experimental results. This model based on a daily occurring irradiance as inputs in order to predict optimal performance outputs. It can be considered as a decision tool to track power point resulting from optimal electrical and hydraulic performances of the pumping system according to changes of the daily irradiance.

The changing of land use and land cover (LULC) are both affected by climate and human activity and affect climate, biological diversity, and human well-being. Accurate and timely information about the LULC pattern and change is crucial for land management decision-making, ecosystem monitoring, and urban planning, especially in developing economies undergoing industrialization, urbanization, and globalization. Biodiversity degradation and urban expansion in eastern China are research hot-spots. However, the influence of LULC changes on the region remains largely unexplored. Here, an object-based and multi-temporal image analysis approach was developed to detect how LULC changes during 1985-2015 in the Tiaoxi watershed (Zhejiang province, eastern China) using Landsat TM and OLI data. The main objective of this study is to improve the accuracy of unsupervised change detection from object-based and multi-temporal images. To this end, a total of seven LULC maps are generated with multi-temporal images. A random stratified sample design was used for assessing change detection accuracy. The proposed method achieved an overall accuracy of 91.86%, 92.14%, 92.00%, and 93.86% for 2000, 2005, 2010, and 2015, respectively. Nevertheless, the proposed method, in conjunction with object-oriented and multi-temporal satellite images, offers a robust and flexible approach to LULC changes mapping that helps with emergency response and government management. Urbanization and agriculture efficiency are the main reasons for LULC changes in the region. We anticipate that this freely available data will improve the modeling for surface forcing, provide evidence of changes in LULC, and inform water-management decision-making.

The use of autonomous Unmanned Aerial Vehicles (UAVs) has been increasing, and the autonomy of these systems and their capabilities in dealing with uncertainties is crucial. Autonomous landing is pivotal for the success of an autonomous mission of UAVs. This paper presents an autonomous landing system for quadrotor UAVs with the ability to perform smooth landing even in undesirable conditions like obstruction by obstacles in and around the designated landing area and inability to identify or the absence of a visual marker establishing the designated landing area. We have integrated algorithms like version 5 of You Only Look Once (YOLOv5), DeepSORT, Euclidean distance transform, and Proportional-Integral-Derivative (PID) controller to strengthen the robustness of the overall system. While the YOLOv5 model is trained to identify the visual marker of the landing area and some common obstacles like people, cars, and trees, the DeepSORT algorithm keeps track of the identified objects. Similarly, using the detection of the identified objects and Euclidean distance transform, an open space without any obstacles to land could be identified if necessary. Finally, the PID controller generates appropriate movement values for the UAV using the visual cues of the target landing area and the obstacles. To warrant the validity of the overall system without risking the safety of the involved people, initial tests are performed, and a software-based simulation is performed before executing the tests in real life. A full-blown hardware system with an autonomous landing system is then built and tested in real life. The designed system is tested in various scenarios to verify the effectiveness of the system.

In recent years, demand has been increasing for target detection and tracking from aerial imagery via drones using onboard powered sensors and devices. We propose a very effective method for this application based on a deep learning framework. A state-of-art embedded hardware system empowers small flying robots to carry out the real-time onboard computation necessary for object tracking. Two types of embedded modules were developed: one is designed using a Jetson TX or AGX Xavier, and the other is based on an Intel Neural Compute Stick. These are suitable for real-time onboard computing power on small flying drones with limited space. A comparative analysis of current state-of-art deep-learning-based multi-object detection algorithms was carried out utilizing the designated GPU-based embedded computing modules to obtain detailed metric data about frame rates as well as the computation power. We also introduce an effective target tracking approach for moving objects. The algorithm for tracking moving objects is based on the extension of simple online and real-time tracking. It was developed by integrating a deep-learning-based association metric approach (Deep SORT), which uses a hypothesis tracking methodology with Kalman filtering and a deep-learning-based association metric. In addition, a guidance system that tracks the target position using a GPU-based algorithm is introduced. Finally, we demonstrate the effectiveness of the proposed algorithms by real-time experiments with a small multi-rotor drone.

Managing a portfolio whose value closely tracks an index by trading only in a subset of the index constituents involves an NP-hard optimisation problem. In the prior literature, it has been suggested to solve this problem using sequential Monte Carlo (SMC, a.k.a. particle filter) methods. However, this literature does not take transaction costs into account, although transaction costs are the primary motivation for attempting to replicate the index by trading in a subset, rather than the full set of index constituents. This paper extends the SMC approach to index tracking to allow for proportional transaction costs and implements this extended method on empirical data for a variety stock indices. In addition to providing a more practically useful tracking strategy by allowing for transaction costs, we find that including a penalty for transaction costs in the optimisation objective can actually lead to better tracking performance.

Unmanned Aerial Vehicles (UAVs) image object detection has great application value in military and civilian fields. However, the objects in the captured images from UAVs have problems of large scale variation, complex backgrounds, and a large proportion of small objects. To resolve these problems, a multi-scale object detector based on coordinate and global information aggregation is proposed, named CGMDet. Firstly, a Coordinate and Global Information Aggregation Module (CGAM) is designed by aggregating local, coordinate, and global information, which can obtain features with richer context information. Secondly, a Multi-Feature Fusion Pyramid Network (MF-FPN) is proposed, which can better fuse features of different scales and obtain features containing more context information through repeated use of feature maps, to better detect multi-scale targets. Moreover, more location information of low-level feature maps is integrated to improve the detection results of small targets. Furthermore, we modified the bounding box regression loss of the model to make the model more accurately regress the bounding box and faster convergence. Finally, the proposed CGMDet was tested on VisDrone and UAVDT datasets and mAP0.5 of 50.9% and 48% was obtained, respectively. At the same time, our detector achieved the best results compared to other detectors.

Drone and aerial remote sensing images are widely used, but their imaging environment is complex and prone to image blurring. Existing CNN deblurring algorithms usually use multi-scale fusion to extract features in order to make full use of aerial remote sensing blurred image information, but images with different degrees of blurring use the same weights, leading to increasing errors in the feature fusion process layer by layer. Based on the physical properties of image blurring, this paper proposes an adaptive multi-scale fusion blind deblurred generative adversarial network (AMD-GAN), which innovatively applies the degree of image blurring to guide the adjustment of the weights of multi-scale fusion, effectively suppressing the errors in the multi-scale fusion process and enhancing the interpretability of the feature layer. The research work in this paper reveals the necessity and effectiveness of a priori information on image blurring levels in image deblurring tasks. By studying and exploring the image blurring levels, the network model focuses more on the basic physical features of image blurring. Meanwhile, this paper proposes an image blurring degree description model, which can effectively represent the blurring degree of aerial remote sensing images. The comparison experiments show that the algorithm in this paper can effectively recover images with different degrees of blur, obtain high-quality images with clear texture details, outperform the comparison algorithm in both qualitative and quantitative evaluation, and can effectively improve the object detection performance of aerial remote sensing blurred images. Moreover, the average PSNR of this paper's algorithm tested on the publicly available dataset RealBlur-R reached 41.02dB, surpassing the latest SOTA algorithm.

Few-shot object detection (FSOD) aims to address the challenge of requiring a substantial amount of annotations for training in conventional object detection, which is very labor-intensive. However, existing few-shot methods achieve high precision with the sacrifice of time-consuming for exhaustive fine-tuning, or take poor performance in novel-class adaptation. We presume the major reason is that the valuable correlation feature among different categories is insufficiently exploited, hindering the generalization of knowledge from base to novel categories for object detection. In this paper, we propose Few-Shot object detection via Correlation-RPN and Transformer Encoder-Decoder (CRTED), a novel training network to learn object-relevant features of inter-class correlation and intra-class compactness while suppressing object-agnostic features in the background with limited annotated samples. And we also introduce a 4-way tuple-contrast training strategy to positively activate the training progress of our object detector. Experiments over two few-shot benchmarks (Pascal VOC, MS-COCO) demonstrate that, our proposed CRTED without further fine-tuning can achieve comparable performance with current state-of-the-art fine-tuned works. The codes and pre-trained models will be released.

This paper proposed an optimal tracking control scheme through adaptive dynamic programming(ADP) for a class of partially unknown discrete-time nonlinear systems based on radial basis function neural network(RBF-NN). In order to acquire the unknown system dynamics, we use two RBF-NNs, the one is used to construct the identifier, and the another is used to directly approximate the steady-state control input, where a novel adaptive law is proposed to update neural network weights. While the optimal feedback control and the cost function are derived via feedforward neural networks approximating, it is proposed to regulate the tracking error, the critic network and the actor network are then trained online to obtain the solution of the associated Hamilton–Jacobi–Bellman (HJB) equation being built under the ADP framework. Simulations verify the effectiveness of the optimal tracking control technique using the neural networks.

In this paper, a voice coil motor (VCM) actuated fast tool servo (FTS) system is developed for diamond turning. To guide motions of the VCM actuator, a crossed double parallelogram flexure mechanism is selected featuring totally symmetric structure with high lateral stiffness. To facilitate the determination of the multi-physical parameters, analytical models of both electromagnetic and mechanical systems are developed. The designed FTS with balanced stroke and natural frequency is then verified through the finite element analysis. Finally, the prototype of the VCM actuated FTS is fabricated and experimentally demonstrated to have a stroke of ±59.02 μm and a first natural frequency of 253 Hz. By constructing a closed-loop control using PID controller with the internal-model based resonant controller, the error for tracking a harmonic trajectory with ±10 μm amplitude and 120 Hz frequency is obtained to be ±0.2 μm, demonstrating the capability of the FTS for high accuracy trajectory tracking.

The safe and reliable operation of autonomous vehicles in complex and dynamic environments is heavily dependent upon exteroceptive and proprioceptive sensors. A LiDAR system generates accurate 3D point clouds, which are crucial for the detection, classification, and tracking of multiple targets. LiDAR data, however, presents significant challenges due to its density, noise, and varying sampling rates. In this study, various clustering and MTT techniques for LiDAR point clouds will be identified and classified within the context of autonomous driving to assess the state-of-the-art methods’ key challenges and their performances. We have categorized clustering and MTT methods used in AV applications, identified research gaps and challenges and analyzed existing algorithms and their challenges in detail. Researchers and practitioners in the field of autonomous driving will find this review to be a valuable resource.

To make wind power more competitive, it is necessary to reduce turbine downtime and reduce costs associated with wind turbine Operation and Maintenance (O&M). Incorporating machine learning in developing condition-based predictive maintenance methodologies for wind turbines can enhance their efficiency and reliability. This paper presents a monitoring method that utilizes Base Density for the Support Vector Machine (BDSVM) and the evolutionary Fourier spectra of vibrations. This method allows smart monitoring of the function evolution of the turbine. A complex optimal function (FO) for 5-degree order has been developed that will be the boundary function of the BDSVM to timely determine the magnitude, frequency, and place of the failure occurring in wind turbine drive.

With the rapid development of space programs in various countries, the number of satellites in space is increasing, resulting in an increasingly complex space environment. Therefore, improving space object identification technology has become highly important. We proposes a method of applying deep learning to intelligent detection of space object. We utilize 49 authentic 3D satellite models including 16 scenarios to generate a dataset comprising 17,942 images, which contains over 500 actual satellite photos. Additionally, we acquired a substantial amount of annotated data using a semi-automatic labeling method, which resulted in significant labor cost savings, and obtained a total of 39,000 labels. We validate the feasibility of the dataset using YOLOv3 and YOLOv7 models. What's more, we optimize the YOLOv7 model by integrating deformable convolution RepPoint into the YOLOv7 backbone to obtain the YOLOv7-R model. Through training with these two models, experimental results show that YOLOv3 achieves an accuracy of 0.927, YOLOv7 reaches an accuracy of 0.964, and YOLOv7-R achieves the highest accuracy at 0.983. This provides an effective solution for intelligent space object detection.

This paper studies the maximum reliability of multi-hop relay UAV, in which UAV provides wireless services for remote users without direct communication link on the ground as a coded cooperative relay. In this paper, the analytical expressions of total power loss and total bit error rate are derived as reliability measures. Firstly, based on the environmental statistical parameters, a LOS probability model is proposed. Then the problem of minimizing the bit error rate of static and mobile UAVs is studied. The goal is to minimize the total bit error rate by jointly optimizing the height, elevation, power and path loss, and subject to the maximum allowable path loss con-straints, transmission power allocation constraints and UAV height and elevation constraints. At the same time the total path loss is minimized to achieve maximum ground communication cov-erage. However, the formulated joint optimization problem is non-convex and generally difficult to solve. Therefore, we decomposed the problem into two subproblems and proposed an effective joint optimization iteration algorithm. Finally, the simulation results are given, and the analysis shows that the optimal height of different reliability measures is slightly different, and using the mobility of UAVs can improve the reliability of communication performance.

Aerial image classification has become popular and has attracted extensive research efforts in recent decades. The main challenge lies in its very high spatial resolution but relatively insufficient spectral information. To this end, spatial-spectral feature extraction is a popular strategy for classification. However, parameter determination for that feature extraction is usually time-consuming and depends excessively on experience. In this paper, an automatic spatial feature extraction approach based on image raster and segmental vector data cross-analysis is proposed for the classification of very high spatial resolution (VHSR) aerial imagery. First, multi-resolution segmentation is used to generate strongly homogeneous image objects and extract corresponding vectors. Then, to automatically explore the region of a ground target, two rules, which are derived from Tobler’s First Law of Geography (TFL) and a topological relationship of vector data, are integrated to constrain the extension of a region around a central object. Third, the shape and size of the extended region are described. A final classification map is achieved through a supervised classifier using shape, size, and spectral features. Experiments on three real aerial images of VHSR (0.1 to 0.32 m) are done to evaluate effectiveness and robustness of the proposed approach. Comparisons to state-of-the-art methods demonstrate the superiority of the proposed method in VHSR image classification.

Earth observation satellites can capture images of specific areas in Earth's orbit based on user requirements. Despite the high demand for satellite imagery, satellites remain a scarce resource. When there are many observation tasks that are large and dense, they may interfere with each other due to satellite mobility. To address this issue, a multi-satellite scheduling algorithm based on a task merging mechanism has been proposed. This paper proposes a two-stage approach to the problem: task merging phase and merging task scheduling phase. The task merging phase introduces two methods based on Mean Shift and Complete Graph to generate the merging task set. In the merging task scheduling phase, a multi-satellite scheduling algorithm based on merging tasks is employed to solve the problem. Finally, certain measurement experiments suggest the effectiveness of the algorithm.

Railway has been used as one of the most crucial means of transportation in public mobility and economic development. For efficiently operating railways, the electrification system in railway infrastructure, which supplies electric power to trains, is essential facilities for stable train operation. Due to its important role, the electrification system needs to be rigorously and regularly inspected and managed. This paper presents a supervised learning method to classify Mobile Laser Scanning (MLS) data into ten target classes representing overhead wires, movable brackets and poles, which are recognized key objects in the electrification system. In general, the layout of railway electrification system shows a strong regularity of spatial relations among object classes. The proposed classifier is developed based on Conditional Random Field (CRF), which characterizes not only labeling homogeneity at short range, but also the layout compatibility between different object classes at long range in the probabilistic graphical model. This multi-range CRF model consists of a unary term and three pairwise contextual terms. In order to gain computational efficiency, MLS point clouds is converted into a set of line segments where the labeling process is applied. Support Vector Machine (SVM) is used as a local classifier considering only node features for producing the unary potentials of CRF model. As the short-range pairwise contextual term, Potts model is applied to enforce a local smoothness in short-range graph. While, long-range pairwise potentials are designed to enhance spatial regularities of both horizontal and vertical layouts among railway objects. We formulate two long-range pairwise potentials as the log posterior probability obtained by Naïve Bayes classifier. The directional layout compatibilities are characterized in probability look-up tables which represent co-occurrence rate of spatial relations in horizontal and vertical directions. The likelihood function is formulated by multivariate Gaussian distributions. In the proposed multi-range CRF model, the weight parameters to balance four sub-terms are estimated by applying the Stochastic Gradient Descent (SGD). The results show that the proposed multi-range CRF can effectively classify detailed railway elements, representing the average recall of 97.66% and the average precision of 97.07% for all classes.

The traditional receiver employs scalar tracking loops, resulting in degraded navigation performance in weak signal and high dynamic scenarios. An innovative design of a vector tracking receiver based on nonlinear Kalman filter (KF) tracking loops is proposed in this paper, which combines the strengths of both vector tracking and KF tracking loops. Firstly, a comprehensive description of the vector tracking receiver model is presented, and unscented Kalman filter (UKF) is applied to nonlinear tracking loop. Secondly, to enhance the stability and robustness of the KF tracking loop, we introduce square root filtering and an adaptive mechanism. The tracking loop based on square root UKF (SRUKF) can dynamically adjust its filtering parameters based on signal noise and feedback Doppler error. Finally, the proposed method is implemented on a software-defined receiver (SDR), and the field vehicle experiment demonstrates the superiority of this method over other receivers in complex dynamic environments.

ABSTRACT Purpose: Tongue image analysis for disease diagnosis is an ancient traditional non-invasive diagnosis technique widely used by traditional medicine practitioners. Deep Learning based multi-label disease detection models offer tremendous potential to clinical decision support systems, by facilitating preliminary diagnosis. Methods: In this work, we propose a multi-label disease detection pipeline, where in observation and analysis of tongue images captured and received via smartphones assist in predicting the health status of an individual. All images are voluntarily given by subjects consulting collaborating physicians. Images thus acquired are first and foremost classified either into a diseased or a normal category by a 5-fold cross-validation algorithm using a convolution neural network (MobileNetV2) model for binary classification. Once the diseased label is predicted, the image is used to diagnose multiple diseases using the prediction algorithm based on DenseNet121. Results: Average accuracy of 93 % was achieved in classifying diseased from normal healthy tongue by detection model with MobileNetV2 architecture. Multilabel disease classification produced more than 90% accurate results for the seven class labels considered. Conclusion: AI based image analysis shows promising results and an extensive dataset could provide further improvements to this approach. Rather than employing high-cost sophisticated image capturing setup, experimenting with smartphone images opens opportunity to provide preliminary health status to individuals on smartphone prior to further line of treatment and diagnosis.

Keywords: olfactory rehabilitation; chronic pain; fMRI;

This paper proposes a new approach for multi-focus images fusion based on Region Mosaicing on Contrast Pyramids (REMCP). A density-based region growing method is developed to construct a focused region mask for multi-focus images. The segmented focused region mask is decomposed into a mask pyramid, which is then used for supervised region mosaicking on a contrast pyramid. In this way, the focus measurement and the continuity of focused regions are incorporated and the pixel level pyramid fusion is improved at the region level. Objective and subjective experiments show that the proposed REMCP is more robust to noise than compared algorithms and can fully preserves the focus information of the multi-focus images meanwhile reducing distortions of the fused images.

In a dynamic production processes, mechanical degradation poses a significant challenge, impacting product quality and process efficiency. This paper explores a novel approach for monitoring degradation in the context of viscose fiber production, a highly dynamic manufacturing process. Using causal discovery techniques, our method allows domain experts to incorporate background knowledge into the creation of causal graphs. Further, it enhances the interpretability and increases the ability to identify potential problems via changes in causal relations over time. The case study employs a comprehensive analysis of the viscose fiber production process within a prominent textile industry, emphasizing the advantages of causal discovery for monitoring degradation. The results are compared with state-of-the-art methods, which are not considered to be interpretable, specifically LSTM-based autoencoders, showcasing the alignment and validation of our approach. This paper provides valuable information on degradation monitoring strategies, demonstrating the efficacy of causal discovery in dynamic manufacturing environments. The findings contribute to the evolving landscape of process optimization and quality control.

This research article aims to present implementation and evaluation of the HPPT design based on using multi-parallel pumps switching for yielding performance with reference to potential change of daily irradiance. After that, the curve fitting of the hydraulic performance scenarios is tested to compare the hydraulic energy growth behaviors with reference to exponential and power growth models.

Attribute reduction is a core technique in the rough set domain and an important step in data preprocessing. Researchers have proposed numerous innovative methods to enhance the capability of attribute reduction, such as the emergence of multi-granularity rough set models, which can effectively process distributed and multi-granularity data. However, these innovative methods still have many shortcomings, such as how to deal with complex constraints and how to perform multi-angle effectiveness evaluations. Based on the multi-granularity model, this study proposes a new method of attribute reduction, namely using multi-granularity neighborhood information gain ratio as the measurement criterion. This method combines both supervised and unsupervised perspectives, and by integrating multi-granularity technology with neighborhood rough set theory, constructs a model that can adapt to multi-level data features. This model can select the optimal granularity level or attribute set according to the requirements. Finally, the proposed method is experimented with on 15 UCI datasets against six other attribute reduction algorithms. The experimental outcomes, upon analysis and comparative review, substantiate the reliability and consistency of the attribute reduction approach introduced in this study.

The detection performance of small objects in remote sensing images has not been satisfactory compared to large objects, especially in low-resolution and noisy images. A generative adversarial network (GAN)-based model called enhanced super-resolution GAN (ESRGAN) showed remarkable image enhancement performance, but reconstructed images usually miss high-frequency edge information. Therefore, object detection performance showed degradation for small objects on recovered noisy and low-resolution remote sensing images. Inspired by the success of edge enhanced GAN (EEGAN) and ESRGAN, we applied a new edge-enhanced super-resolution GAN (EESRGAN) to improve the quality of remote sensing images and used different detector networks in an end-to-end manner where detector loss was backpropagated into the EESRGAN to improve the detection performance. We proposed an architecture with three components: ESRGAN, EEN, and Detection network. We used residual-in-residual dense blocks (RRDB) for both the ESRGAN and EEN, and for the detector network, we used a faster region-based convolutional network (FRCNN) (two-stage detector) and a single-shot multibox detector (SSD) (one stage detector). Extensive experiments on a public (car overhead with context) dataset and another self-assembled (oil and gas storage tank) satellite dataset showed superior performance of our method compared to the standalone state-of-the-art object detectors.

With the integrated development of the Internet, wireless sensor technology, cloud computing, and mobile Internet, there has been a lot of attention given to research about and applications of the Internet of Things. A Wireless Sensor Network (WSN) is one of the important information technologies in the Internet of Things; it integrates multi-technology to detect and gather information in a network environment by mutual cooperation, using a variety of methods to process and analyze data, implement awareness, and perform tests. This paper mainly researches the localization algorithm of sensor nodes in a wireless sensor network. Firstly, a multi-granularity region partition is proposed to divide the location region. In the range-based method, the RSSI (Received Signal Strength indicator, RSSI) is used to estimate distance. The optimal RSSI value is computed by the Gaussian fitting method. Furthermore, a Voronoi diagram is characterized by the use of dividing region. Rach anchor node is regarded as the center of each region; the whole position region is divided into several regions and the sub-region of neighboring nodes is combined into triangles while the unknown node is locked in the ultimate area. Secondly, the multi-granularity regional division and Lagrange multiplier method are used to calculate the final coordinates. Because nodes are influenced by many factors in the practical application, two kinds of positioning methods are designed: the unknown node is in the positioning unit or not. When the unknown node is on the side of the positioning unit, we use the method of vector similarity. Moreover, we use the centroid algorithm to calculate the ultimate coordinates of unknown node. When the unknown node is not on the side of the positioning unit, we establish a Lagrange equation containing the constraint condition to calculate the first coordinates. Furthermore, we use the Taylor expansion formula to correct the coordinates of the unknown node. In addition, this localization method has been validated by establishing the real environment.

As the adoption of renewable energy sources grows, ensuring a stable power balance across various time frames has become a central challenge for modern power systems. In line with the "dual carbon" objectives and the seamless integration of renewable energy sources, harnessing the advantages of various energy storage resources and coordinating the operation of long-term and short-term storage have become pivotal directions for future energy storage deployment. To address the complexities arising from the coupling of different time scales in optimizing energy storage capacity, this paper proposes a method for energy storage planning that accounts for power imbalance risks across multiple time scales. Initially, the Seasonal and Trend decomposition using the Loess (STL) decomposition method is utilized to temporally decouple actual operational data. Subsequently, power balance computations are performed based on the obtained data at various time scales to optimize the allocation of different types of energy storage capacities and assess the associated imbalance risks. Finally, the effectiveness of the proposed approach is validated through hourly applications using real-world data from a province in China over recent years.

Multi-rotor drones, a kind of unmanned equipment which is widely used in military, commercial consumption and other fields, has been developed very rapidly in recent years. However, their short flight time has hindered the expansion of their application range. This can be addressed by utilizing hydrogen fuel cells, which exhibit high energy density, strong adaptability to ambient temperature, and no pollution emissions, as the power source. Accordingly, the application of hydrogen fuel cells as the power source in multi-rotor drones is a promising technology that has attracted significant research attention. This paper summarizes the development process of hydrogen fuel cell mul-ti-rotor drones and analyzes the key obstacles that need to be addressed for the further development of hydrogen fuel cell multi-rotor drones, including structural lightweight, hydrogen storage methods, energy management strategies. Additionally, prospects for the future development of hydrogen fuel cell multi-rotor drones are presented.

The influence of short term water absorption on the mechanical properties of halloysite nanotubes-multi layer graphene reinforced polyester hybrid nanocomposites has been investigated. The addition of nano-fillers significantly increased the flexural strength; tensile strength and impact strength in dry and wet conditions. After short term water exposure; the maximum microhardness; tensile; flexural and impact toughness values were observed at 0.1 wt% MLG. The microhardness increased up to 50.3%; tensile strength increased up to 40% and flexural strength increased up to 44%. Compared to dry samples; the fracture toughness and surface roughness of all types of produced nanocomposites were increased that may be attributed to plasticization effect. Scanning electron microscopy revealed that the main failure mechanism is caused by the weakening of nano-filler-matrix interface induced by water absorption. It was further observed that synergistic effects were not effective at concentration of 0.1 wt% to produce considerable improvement in mechanical properties of produced hybrid nanocomposites.

With the rising cost of animal feed protein, finding affordable and effective substitutes is crucial. Walnut kernel cake, a polyphenols, fiber, protein and fat-rich byproduct of walnut oil extraction, has been underexplored as a potential protein replacement in pig feed. In this study, we found that feeding large Diqing Tibetan pigs walnut kernel cake promoted adipose deposition and improved pork quality during pig growth. Transcriptome analysis revealed the upregulation of genes ANGPTL8, CCNP, ETV4, and TRIB3, associated with adipose deposition. Pathway analysis highlighted enrichment in adipose-deposition-related pathways, including PPAR, Insulin, PI3K-Akt, Wnt, and MAPK signaling. Further analysis identified DEGs (differentially expressed genes) positively correlated with adipose-related traits, such as PER2 and PTGES. Single-cell transcriptome data pointed to the specific expression of CD248 and PTGES in adipocyte progenitor/stem cells (APSCs), pivotal for adipocyte differentiation and adipose deposition regulation. This study demonstrates walnut kernel cake's potential to substitute soybean cake in pig feed, providing high-quality protein and promoting adipose deposition. It offers insights into feed protein replacement, human functional food, fat metabolism, and related diseases, with marker genes and pathways supporting pig breeding and pork quality improvement.

An active power dispatch method for a microgrid (MG) with multi-type loads, renewable energy sources (RESs) and distributed energy storage devices (DESDs) is the focus of this paper. The MG operates in a grid-connected model, and distributed power sources contribute to the service for load demands. The outputs of multiple DESDs are controlled to optimize the active power dispatch. Our goal with optimization is to reduce the economic cost under time-of-use (TOU) price, and to adjust the excessively high or low load rate of distributed transformers (DTs) caused by the peak-valley demand and load uncertainties. To simulate a practical environment, the stochastic characteristics of multi-type loads are formulated. The transition matrix of system state is provided. Then, a finite-horizon Markov decision process (FHMDP) model is established to describe the dispatch optimization problem. A learning-based technique is adopted to search the optimal joint control policy of multiple DESDs. Finally, simulation experiments are performed to validate the effectiveness of the proposed method, and the fuzzification analysis of the method is presented.

The objective of this study was to analyze the mental workload using EEG and eye tracking data and classify it using machine learning algorithms. The machine learning model was developed based on the simultaneous recording of eye tracking and EEG measurements during the experimental process. The experiments involved 15 university students, consisting of 7 women and 8 men. Throughout the experiments, the researchers utilized the n-back memory task and the NASA-Task Load Index (TLX) subjective rating scale to assess various levels of mental workload. The findings revealed that as the task difficulty increased, there was an increase in the diameter of both the right and left pupils, the number of fixations, the number and duration of saccades, and the number and duration of blinks. Conversely, variables related to fixation duration decreased. The EEG results indicated that theta power in the prefrontal, frontal, and front central regions increased with task difficulty. Additionally, alpha power increased in the frontal regions but decreased in the temporal, parietal, and occipital regions as the task became more challenging. Furthermore, low beta power significantly decreased in almost all brain regions as the task difficulty increased. In terms of the four-class classification problem, the mental workload level can be predicted with an accuracy rate of 76.59% using 34 selected features. This study has made a significant contribution to the literature by presenting a four-class mental workload estimation model that utilizes different machine learning algorithms.

Viral variant analysis is a bedrock of the disease surveillance. When combined with temporospatial analysis variant analysis can further the knowledge of disease spread in a study area. This paper suggests a method to perform the analysis in an operational setting which will allow for real-time surveillance of viral variants and allow local public health professionals to rapidly respond to changes in the evolution of the disease. This method includes three main subprocesses: preprocessing, analysis, and rendering. This method can be performed across multiple software platforms. A use case is given in which it was found that this method helped a hospital system understand the spread of SARS-CoV-2 in Northeast, Ohio.

Automated lying-posture tracking is important in preventing bed-related disorders such as pressure injuries, sleep apnea, and lower-back pain. Prior research studied in-bed lying posture tracking using sensors of different modalities (e.g., accelerometer and pressure sensors). However, there remain significant gaps in research about how to design efficient in-bed lying posture tracking systems. These gaps can be articulated through several research questions as follows. First, can we design a single-sensor, pervasive, and inexpensive system that can accurately detect lying postures? Second, what computational models are most effective in the accurate detection of lying postures? Finally, what physical configuration of the sensor system is most effective for lying posture tracking? To answer these important research questions, in this article, we propose a comprehensive approach to design a sensor system that uses a single accelerometer along with machine learning algorithms for in-bed lying posture classification. We design two categories of machine learning algorithms based on deep learning and traditional classification with handcrafted features to detect lying postures. We also investigate what wearing sites are most effective in accurate detection of lying postures. We extensively evaluate the performance of the proposed algorithms on nine different body locations and four human lying postures using two datasets. Our results show that a system with a single accelerometer can be used with either deep learning or traditional classifiers to accurately detect lying postures. The best models in our approach achieve an F-Score that ranges from 95.2% to 97.8% with a coefficient of variation from 0.03 to 0.05. The results also identify the thighs and chest as the most salient body sites for lying posture tracking. Our findings in this article suggest that because accelerometers are ubiquitous and inexpensive sensors, they can be a viable source of information for pervasive monitoring of in-bed postures.

Indoor scene recognition and semantic information can be helpful for social robots. Recently, in the field of indoor scene recognition, researchers have incorporated object-level information and shown improved performances. This paper demonstrates that scene recognition can be performed solely using object-level information in line with these advances. A state-of-the-art object detection model was trained to detect objects typically found in indoor environments and then used to detect objects in scene data. These predicted objects were then used as features to predict room categories. This paper successfully combines approaches conventionally used in computer vision (YOLO) and Term Frequency-Inverse Document Frequency (TF-IDF). These approaches could be further helpful in the field of embodied research and dynamic scene classification, which we elaborate on.

Recent years have witnessed significant advances in reinforcement learning (RL), which has registered remarkable success in solving various sequential decision-making problems in machine learning. Most of the successful RL applications, e.g., the games of Go and Poker, robotics, and autonomous driving, involve the participation of more than one single agent, which naturally fall into the realm of multi-agent RL (MARL), a domain with a relatively long history, and has recently re-emerged due to advances in single-agent RL techniques. Although, typically, the communication protocol between agents is manually specified and not altered during training, recently, some papers have shown signs of trying to emerge a communication between agents on the one hand and, on the other hand, to understand what is exchanged between agents. So, there is a growing body of literature on this topic which includes qualitative and quantitative studies and the ones that apply mixed methods. This study presents the scoping review of the methodological strategies undertaken in a total of 16 research articles. The results present the critical appraisal of quantitative methods in terms of validity and reliability and for qualitative methods considering four trustworthiness factors. In the end, relevant insights are further explored with implications and reflections on how they can benefit one's research in the field.

Underwater visual detection technology plays a pivotal role in fields such as marine exploration. With the increasing demand for underwater monitoring, the quest for efficient and reliable methods for underwater target recognition has become particularly significant. To address this requirement, this study developed an innovative underwater object detection architecture based on YOLOv8, named YOLOv8-MU, aimed at significantly enhancing detection accuracy.By integrating the LarK module proposed in UniRepLKNet to optimize the backbone network, YOLOv8-MU aims to achieve a larger receptive field without increasing the model’s depth. Further, this research introduces C2fSTR, an innovative method that combines Swin Transformer with the C2f module. Additionally, we have incorporated the SPPFCSPC_EMA module, which combines Cross-Stage Partial Fast Spatial Pyramid Pooling (SPPFCSPC) with attention mechanisms, significantly improving the detection accuracy and robustness of various biological targets. Moreover, by introducing a fusion block based on DAMO-YOLO into the neck of the model, we further enhanced the model’s capability in multi-scale feature extraction. Finally, the adoption of the MPDIoU loss function, designed around vertex distance, effectively tackles the challenges of localization accuracy and boundary clarity in underwater organism detection. Experimental results on the URPC2019 dataset demonstrate that the YOLOv8-MU model achieved an [email protected] of 78.4%, marking improvements of 5.6%, 1.1%, and 4.0% over YOLOv5s, YOLOv7, and YOLOv8n respectively, indicating the leading performance (SOTA) of this method. On the other hand, further evaluation on the URPC2020 dataset confirmed the generalization capability of the YOLOv8-MU architecture, with its [email protected] reaching 80.4%, surpassing various models including YOLOv5x and YOLOv8n, showcasing the wide applicability of our proposed improved model architecture.

Assessment of extreme events and climate change on reservoir inflow is important for water and power stressed countries. Projected climate is subject to uncertainties related to climate change scenarios and Global Circulation Models (GCMs’). Extreme climatic events will increase with the rise in temperature as mentioned in the AR5 of the IPCC. This paper discusses the consequences of climate change that include extreme events on discharge. Historical climatic and gauging data were collected from different stations within a watershed. The observed flow data was used for calibration and validation of SWAT model. Downscaling was performed on future GCMs’ temperature and precipitation data, and plausible extreme events were generated. Corrected climatic data was applied to project the influence of climate change. Results showed a large uncertainty in discharge using different GCMs’ and different emissions scenarios. The annual tendency of the GCMs’ is bi-vocal: six GCMs’ projected a rise in annual flow, while one GCM projected a decrease in flow. The change in average seasonal flow is more as compared to annual variations. Changes in winter and spring discharge are mostly positive, even with the decrease in precipitation. The changes in flows are generally negative for summer and autumn due to early snowmelt from an increase in temperature. The change in average seasonal flows under RCPs’ 4.5 and 8.5 are projected to vary from -29.1 to 130.7% and -49.4 to 171%, respectively. In the medium range (RCP 4.5) impact scenario, the uncertainty range of average runoff is relatively low. While in the high range (RCP 8.5) impact scenario, this range is significantly larger. RCP 8.5 covered a wide range of uncertainties, while RCP 4.5 covered a short range of possibilities. These outcomes suggest that it is important to consider the influence of climate change on water resources to frame appropriate guidelines for planning and management.

The speed-density or flow-density relationship is a fundamental aspect of traffic flow theory. Single-regime models often face challenges in consistently fitting empirical data under diverse traffic conditions. This paper addresses the inaccuracies of single-regime models, attributing them not only to their functional forms but also to data dispersion and sample selection bias. To mitigate these issues, the data is segmented into day and night periods, leading to the creation of separate models for each. Calibration results, conducted on data from two freeways, Tehran-Karaj and Tehran-Qom, reveal distinct challenges, with the former exhibiting high dispersion and the latter showing low dispersion. Surprisingly, single-regime models demonstrate notable effectiveness when applied to distinct day and night data. Further analysis, categorizing data into day and night, results in reduced errors (20-60% improvement in R-Square), emphasizing the potential for enhanced accuracy by considering distinct regimes. Overall, the study underscores the significance of regime-specific considerations for accurate traffic flow modeling. Upon thorough evaluation, the study highlights the superiority of the neural network Multi-layer Perceptron (MLP) over traditional models. The research discusses the implications of incorporating day and night parameters into the models, emphasizing their potential for accuracy enhancement.

In Thailand, parking time violation is a major problem, especially for mini-marts. At present the task of detecting parking time violation is mainly conducted manually using Closed-Circuit Television (CCTV). This method requires additional human labour to track incoming and outgoing vehicles. Therefore, low cost time violation tracking is needed. To the best of our knowledge, there has not been any research for parking violation detection and tracking conducted for parking time limits. This paper introduces a novel parking time violation detection algorithm using the Yolov8 and DeepSORT tracking algorithms to track vehicles in consecutive frames. The presented parking violation tracking algorithm can provide a guideline for research in parking time violation detection.

Sports video analysis is an interesting and emerging field in the domain of computer vision. It has become a very popular subject among scholars all over the world in the last decade due to the need of automated classification of events such as offsides, in/out situations, goals and so on. The most important problem in sports video analysis is detection and tracking of ball and players. Extraction of court lines is also another important problem since it is necessary in the classification of aforementioned events. In this study, considering some of the previous work on the subject, we develop a method for tracking the ball and players in tennis videos where the camera position and orientation is supposed fixed.

This paper is devoted to the study of multi-dimensional integral transform with Fox H-function in the kernel in weighted spaces integrable functions in the domain R+n with positive coordinates. Mapping properties such as the boundedness, the range, the representations of the considered transformation are established.

In the context of Shared Autonomous Vehicles, the need to monitor the environment inside the car will be crucial. This article focuses on the application of deep learning algorithms to detect objects, namely lost/forgotten items to inform the passengers, and aggressive items to monitoring if violent actions may arise between passengers. For object detection algorithms was used public datasets (COCO and TAO) to train state-of-the-art algorithms, such as YOLOv5. For violent action detection was used the MoLa InCar dataset to train on state-of-the-art algorithms such as I3D, R(2+1)D, SlowFast, TSN and TSM. At the end an embedded automotive solution was used to demonstrate both methods running in real-time.

Recent progress in deep learning has led to accurate and efficient generic object detection networks. Training of highly reliable models depends on large datasets with highly textured and rich images. However, in real-world scenarios, the performance of the generic object detection system decreases when (i) occlusions hide the objects, (ii) objects are present in low-light images, or (iii) they are merged with background information. In this paper, we refer to all these situations as challenging environments. With the recent rapid development in generic object detection algorithms, notable progress has been observed in the field of object detection in challenging environments. However, there is no consolidated reference to cover state-of-the-art in this domain. To the best of our knowledge, this paper presents the first comprehensive overview, covering recent approaches that have tackled the problem of object detection in challenging environments. Furthermore, we present the quantitative and qualitative performance analysis of these approaches and discuss the currently available challenging datasets. Moreover, this paper investigates the performance of current state-of-the-art generic object detection algorithms by benchmarking results on the three well-known challenging datasets. Finally, we highlight several current shortcomings and outline future directions.

In recent years many different deep neural networks were developed, but due to a large number of layers in deep networks, their training requires a long time and a large number of datasets. Today is popular to use trained deep neural networks for various tasks, even for simple ones in which such deep networks are not required. The well-known deep networks such as YoloV3, SSD, etc. are intended for tracking and monitoring various objects, therefore their weights are heavy and the overall accuracy for a specific task is low. Eye-tracking tasks need to detect only one object - an iris in a given area. Therefore, it is logical to use a neural network only for this task. But the problem is the lack of suitable datasets for training the model. In the manuscript, we presented a dataset that is suitable for training custom models of convolutional neural networks for eye-tracking tasks. Using data set data, each user can independently pre-train the convolutional neural network models for eye-tracking tasks. This dataset contains annotated 10,000 eye images in an extension of 416 by 416 pixels. The table with annotation information shows the coordinates and radius of the eye for each image. This manuscript can be considered as a guide for the preparation of datasets for eye-tracking devices.

This paper presents an innovative multi-agent, data-driven reinforcement learning (RL) approach to develop and utilize the thermal equivalent network model that represents the motor's thermal dynamics. A multi-agent reinforcement learning is designed and trained to adjust the model parameters using data from several motor driving cycles. To ensure the incoming driving cycle matches the historical data before employing the pre-trained RL agents, offline statistical analysis and clustering techniques are developed and used. Numerical simulations highlighted the RL agent's ability to develop strategies that effectively address the variability of driving cycles. The proposed RL framework showed its capability to accurately reflect the motor's thermal behavior under various driving conditions.

Moving object detection plays a crucial role in various applications, particularly in traffic surveillance and collision warning systems. However, the high cost of training and slow detection pose significant challenges to the practicality and real-time performance of existing methods. These challenges hinder the practicality and real-time performance of existing methods. The need for a reliable and efficient moving object detection system prompts the search for cost-effective strategies. Enhancing detection speed without sacrificing accuracy is crucial for real-time applications. Overcoming these challenges is essential to advance the field of moving object detection and improve its applicability in various domains. This paper presents a comprehensive review of the literature on moving object detection, proposes novel strategies to overcome the challenges of high training costs and slow detection. The study emphasizes the importance of reliable speed monitoring systems and advancements in control systems to enhance driver assistance on urban highways. Each frame in the dataset undergoes YOLOv6 processing to detect and classify objects, generating bounding box predictions and class probabilities. Optical flow, specifically the Lucas-Kanade method, is then utilized to compute motion vectors between consecutive frames. These motion vectors facilitate object tracking across frames, enabling refined bounding box positions and improving overall object tracking accuracy. The results demonstrate the effectiveness of the proposed technique in reducing training costs, improving detection speed, and maintaining a high level of accuracy when compared to existing methods. The paper concludes by summarizing the findings and highlighting the potential of the proposed strategy for precise and reliable moving object recognition in real-world traffic scenarios

We propose a novel method for salient object detection in different images. Our method integrates spatial features for efficient and robust representation to capture meaningful information about the salient objects. We then train a conditional random field (CRF) using the integrated features. The trained CRF model is then used to detect salient objects during the online testing stage. We perform experiments on two standard datasets and compare the performance of our method with different reference methods. Our experiments show that our method outperforms the compared methods in terms of precision, recall, and F-Measure.

Keywords: pelvic ultrasound, follicle number per ovary, FNPO, ovarian volume, PCOM, upper normal limits, referral population

In this paper, a new approach to retrieve semantic images based on shape and geometric features of image in conjunction with multi-class support vector machine is proposed. Zernike moment as shape feature is to verify the invariance of objects for silhouette image. In addition, a set of geometrical features is to explore the objects shape using two features of rectangularity and circularity. Then the extracted features are normalized and employed for multi-class support vector machine either for learning or retrieving processes. The retrieving process relies on three main tasks which namely Query Engine, Matching Module and Ontology Manger, respectively. Query Engine is to build the input text or image query using SPARQL language. The matching module extracts the shape and geometric features of image’s objects and employ them to Ontology Manger which in turn inserts them in ontology knowledge base. Benchmark mammals have been conducted to empirically conclude the outcome of proposed approach. Our experiment on text and image retrieval yields efficient results to problematic phenomena than previously reported.

Probiotic feed additives have attracted considerable research interest in recent years because the effectiveness of probiotics can differ across microbial strains and the supplemented macroorganisms. The present study was conducted on 16 lambs divided into two groups (C - control and E - experimental). The examined lambs were aged 11 days at the beginning of the experiment and 40 days at the end of the experiment. The diet of group E lambs was supplemented with a multi-strain probiotic formulation (Lactobacillus plantarum AMT14, Lactobacillus plantarum AMT4, Lactobacillus rhamnosus AMT15, and Bifidobacterium animalis AMT30), whereas group C lambs did not receive the probiotic additive. At the beginning of the experiment (day 0) and on experimental days 15 and 30, blood was sampled from the jugular vein to determine and compare: phagocytic activity (PHAGOTEST) and oxidative metabolism (PHAGOBURST) of peripheral blood granulocytes and monocytes by flow cytometry. An analysis of the phagocytic activity of granulocytes and monocytes revealed significantly higher levels of phagocytic activity (expressed as the percentage of phagocytic cells and mean fluorescence intensity) in lambs administered the multi-strain probiotic formulation than in the control group. The probiotic feed additive also exerted a positive effect on the oxidative metabolism of both granulocytes and monocytes (expressed as the percentage of oxidative metabolism and mean fluorescence intensity) after stimulation with Escherichia coli bacteria and with PMA (4-phorbol-12-β-myristate-13-acetate).

The essence of cross-modal generation and retrieval modeling for image-text interactions lies in semantic consistency. Among these, cross-modal representation alignment serves as the foundational requirement for achieving cross-modal semantic consistency. The crux of our proposed method entails the collaborative training of an image captioning model(referred to as the ’captioner’) and a pair of contrastive encoders for image-text matching(referred to as the ’concoder’). This synergistic approach yields concurrent enhancements in concoder’s performance, captioner’s proficiency, and cross-modal semantic coherence. We coin the proposed method as ‘ReCap’. To begin, we initialize the concoder through knowledge distillation from a pre-trained model. During the training process, we use the output of the initialized concoder as input to a residual attention network, jointly training it with the captioner to achieve semantic consistency. Subsequently, we iteratively update the concoder during the image-text momentum encoding phase using the residual attention network, creating a closed-loop for semantic consistency resolution. Upon completion of training, the concoder and captioner modules can be used independently to perform tasks related to cross-modal retrieval and cross-modal generation of text and images. In order to substantiate the efficacy of our proposed method, we initially conducted empirical experiments encompassing image-text retrieval and image captioning tasks, employing a widely recognized benchmark dataset, MSCOCO. Subsequently, we assessed the fine-grained cross-modal alignment performance of the concoder through an image classification task on the iNaturalist 2018 dataset. The achieved performance metrics notably surpassed those achieved by several incumbent state-of-the-art models, thus validating the proficiency of our method. Finally, motivated by the practical requirements of handling the nature conservation image data, we performed caption annotation for the iNaturalist 2018 dataset. Subsequently, we trained the ReCap on this annotated data. Experimental results demonstrate that our proposed method can maintain semantic consistency between cross-modal retrieval and image caption generation for species with similar visual features but distinct semantics. This achievement signifies a meaningful exploration in the field of cross-modal semantic consistency representation, holding significant practical value in the domain of biological research.

Biochar is a carbonaceous material derived from the thermochemical conversion of biomass under oxygen-lean conditions. Its properties render it many applications in agriculture, environmental remediation, and catalysis. Commonly produced by pyrolysis under a nitrogen atmosphere, the biochar composition is influenced mainly by residence time, heating rate, and process temperature. The existing literature primarily assesses biochar properties, such as ultimate, proximate, calorific, porosity, and combustibility, generated under various thermo-conversion conditions. However, there is a notable lack of sufficient investigation and attention given to the practical application of biochar. This article seeks to bridge that gap by enhancing the comprehension of the necessary experimental assessment for specific biochar applications and proposing process optimization methods using Multi-Criteria Decision Analysis (MCDA). By delving into these aspects, the study offers a concise overview of biochar production and presents a comprehensive panorama based on articles and patents. Additionally, the research explores the physicochemical characterization techniques associated with biochar and its various applications in conjunction with MCDA. This comprehensive approach aims to uncover valuable insights that could further advance the practical and sustainable utilization of biochar in a wide range of fields.

Introduction: maxillary hypoplasia and mandibular asymmetry may be corrected with orthognathic surgery at the completion of growth. Many patients require segmental Le Fort I osteotomies to obtain the most stable results. Unfortunately, if Invisalign is chosen for pre-surgical preparation, ClinCheck © software does not allow for prediction when these complex surgeries are planned. The objective of this paper was to show the potential of aligners beyond its software in most complex cases like multiple-piece maxillary osteotomies in cleft and non-cleft patients. Method: Thirteen patients who underwent pre-surgical treatment with clear aligners-Invisalign (study group) were matched in terms of diagnosis, surgical procedure, and orthodontic complexity with thirteen patients treated using fixed appliances (control group). A technique based on simple superimposition was devised to enhance the software for creating a suitable occlusion for segmental pre-surgical treatments. Virtual curves following the lower arch were employed to guide the correct pre-surgical positions of the upper teeth. The amount of impressions required in both groups to achieve satisfactory pre-surgical alignment of the segmented arches was compared. Results: one or no refinement phase were needed in the Invisalign group to reach an acceptable pre-surgical occlusion while the amount of pre-surgical impressions taken in order to reach adequate coordination with fixed appliance treatment was slightly higher. The average overall treatment duration did not show a statistically significant variation between the groups. Conclusions: it appears that clear aligner could serve as an effective treatment for individuals with skeletal discrepancies, including cleft and craniofacial anomalies, necessitating segmental Le Fort I osteotomies when aided by the suggested superimposition approach during digital pre-surgical movement simulations. More sophisticated softwares will certainly be implemented in the future.

This paper focuses on enhancing the object detection and decision-making capabilities of Autonomous Emergency Medical Response Systems (AEMRS). Using advanced sensors, Convolutional Neural Networks (CNN), and reinforcement learning, we propose a model that processes environmental data to identify obstacles and make optimal navigation decisions. The integration of these technologies aims to minimize response time and improve the efficiency of emergency medical services. The perception system utilizes radar, LiDAR, and camera inputs to create a comprehensive understanding of the environment. These data are processed through a series of CNN layers to detect and classify objects such as vehicles, pedestrians, and road signs. On the decision-making front, a Q-learning algorithm is employed to enable the ambulance to learn from its interactions with the environment, continuously improving its route planning and collision avoidance strategies. By combining these advanced AI techniques, the proposed AEMRS can significantly enhance the speed and reliability of emergency responses, ultimately saving more lives. This paper presents the design, implementation, and simulation results of the proposed system, demonstrating its potential to revolutionize emergency medical services.

3D object reconstruction from depth image streams using Kinect-style depth cameras has been extensively studied. In this paper, we propose an approach for accurate camera tracking and volumetric dense surface reconstruction assuming a known cuboid reference object is present in the scene. Our contribu¬tion is three-fold. (a) We maintain drift-free camera pose tracking by incorporating the 3D geometric constraints of the cuboid reference object into the image registration process. (b) We reformulate the problem of depth stream fusion as a binary classification problem, enabling high-fidelity surface reconstruction, especially in the con¬cave zones of objects. (c) We further present a surface denoising strategy to mitigate the topological inconsistency (e.g., holes and dangling triangles), which facilitates the generation of a noise-free triangle mesh. We extend our public dataset CU3D with several new image sequences, test our algorithm on these sequences and quantitatively compare them with other state-of-the-art algorithms. Both our dataset and our algorithm are available as open-source content at https://github.com/zhangxaochen/CuFusion for oth-er researchers to reproduce and verify our results.

The Circular Bioeconomy (CBE) combines the concepts of bioeconomy and circular economy. As an alternative concept to the current fossil-based, linear economy, it de-scribes an economy based on the efficient valorization of biomass. It is regional in nature and aims to improve sustainability. An analysis of the transition process, by identifying its success criteria and assessing its impacts through the modelling of technology-specific scenarios is necessary to ensure that CBE concepts are sustainable. However, a compre-hensive consideration of regional influences on both is lacking. Based on extensive literature research and an expert survey, we (i) present a compre-hensive catalog of CBE success criteria and discuss their region-specific character and (ii) develop a methodology based on evaluation matrices that enable to match CBE technolo-gies with regions. The matrices support the evaluation of technological and regional characteristics influencing the successful CBE implementation. The results show that the success criteria "biomass resources", "technological", and "social" are perceived as highly important, and that most of the success criteria are both region- and technology-specific, highlighting the relevance of developing matrices to match them. We describe such matrices indicatively for the two broadest and most im-portant success criteria clusters “social acceptance” and “biomass supply chain”. With this, we substantiate the regional nature of CBE and raise the awareness on the importance of considering regional conditions in CBE transition processes. Furthermore, we provide practical guidance on how regional conditions can be reflected in the selection of technologies, e.g. in regional CBE technology scenarios.

Recycling waste products is an environmental-friendly activity that can bring benefits to accompany, saving manufacturing costs and improving economic efficiency. For the beer industry, recycling bottles can reduce manufacturing costs and reduce the industry's carbon footprint. This paper presents a model for a multi-objective collection-distribution center location and allocation problem in a closed loop supply chain for the beer industry, in which the objective is to minimize total costs and transportation pollution. Uncertainties in the form of randomness and fuzziness are jointly handled in this paper to ensure a more practical problem solution, for which returned bottle sand unusable bottles are considered fuzzy random variables. A heuristic algorithm based on priority-based global-local-neighbor particle swarm optimization (pb-glnPSO) is applied to ensure reliable solutions for this NP-hard problem. A case study on a beer operation company is conducted to illustrate the application of the proposed model and demonstrate the priority-based global-local-neighbor particle swarm optimization.

Recognizing highly occluded objects is believed to arises from the interaction between the brain's vision and cognition controlling areas, although supporting neuroimaging data is currently limited. To explore the neural mechanism during this activity, we conducted an occlusion object recognition experiment using functional magnetic resonance imaging (fMRI). During magnet resonance examinations, 66 subjects engaged in object recognition tasks with three different occlusion degrees. Generalized linear model (GLM) analysis showed that the activation degree of occipital lobe (inferior occipital gyrus, middle occipital gyrus, and occipital fusiform gyrus) and dorsal anterior cingulate cortex (dACC) was related to the occlusion degree of the objects. Multivariate pattern analysis (MVPA) further unearthed a considerable surge in classification precision when dACC activation was incorporated as a feature. This suggested the combined role of dACC and occipital lobe in occluded object recognition tasks. Moreover, psychophysiological interaction (PPI) analysis disclosed that functional connectivity (FC) between the dACC and the occipital lobe was enhanced with increased occlusion, highlighting the necessity of FC between these two brain regions in effectively identifying exceedingly occluded objects. In conclusion, these findings contribute to understanding the neural mechanisms of highly occluded objects recognition, augmenting our appreciation of how the brain manages incomplete visual data.

Exact sequential state estimation of orbiting objects in space can be found by predicting the state using Fokker Planck Kolmogorov Equation (FPKE) and measurement correction using Bayes’ conditional/posterior Probability Density Function (PDF). Posterior PDF can be expressed as Gaussian density expanded in terms of Hermite polynomials named as Gram Charlier Series (GCS). This research is an extension of an earlier work on second order linearized solution to nonlinear Bayesian filtering using Taylor series and third order GCS expansion of posterior PDF. In this new extension, Bayes’ posterior PDF is approximated by a mixture of GCS functions for which the parameters are propagated using linear propagation theory. The update of weights of different components of GCS mixture model uses the FPKE error as feedback to adapt for the amplitude of different GCS components while solving a quadratic programming problem earlier used for Gaussian Mixture Model (GMM) PDF. Proposed filtering method is applied on tracking of space debris. The simulation results for the filter shows performance is moderately better than single GCS filter, Extended Kalman Filter (EKF) and Gaussian Sum Filter (GSF) under space debris’ highly uncertain initial conditions and sparse measurement availability.

Object segmentation is still considered a challenging problem in autonomous driving, particularly in consideration of real world conditions. Following this line of research, this paper approaches the problem of object segmentation using LiDAR-camera fusion and semi-supervised learning implemented in a fully-convolutional neural network. Our method is tested on real-world data acquired using our custom vehicle iseAuto shuttle. The data include all-weather scenarios, featuring night and rainy weather. In this work, it is shown that LiDAR-camera fusion with only a few annotated scenarios and semi-supervised learning, it is possible to achieve robust performance on real-world data in a multi-class object segmentation problem. The performance of our algorithm is measured in terms of intersection over union, precision, recall and area-under-the-curve average precision. Our network achieves 82% IoU in vehicle detection in day fair scenarios and 64% IoU in vehicle segmentation in night rain scenarios.

Contamination in coastal regions attributed to fluoride and nitrate cannot be disregarded, given the substantial environmental and public health issues they present worldwide. Maintaining water quality is crucial for environmental well-being. This comprehensive study was performed to assess the spatial as well as indexical water quality, identify contamination sources, and evaluate associated health risks pertaining to nitrate and flouride in AlHassa region, KSA. The physiochemical results revealed a pervasive pollution of the overall groundwater. The dominant water type was Na-Cl, indicating saltwater intrusion and reverse ion exchange impact. Spatiotemporal variations in physicochemical properties suggest diverse hydrochemical mechanisms, with geogenic factors primarily influencing groundwater chemistry. The groundwater pollution index varied between 0.8426 and 4.7172, classifying samples as moderately to very highly polluted. Similarly, the synthetic pollution index (in the range of 0.5021-4.0715) revealed that none of the samples had excellent water quality, with various degrees of pollution categories. Nitrate Health Quotient (HQ) values indicated chronic human health risks ranging from low to severe, with newborns being the most vulnerable. Household use of nitrate-rich groundwater for showering and cleaning did not pose significant health risks. Fluoride HQ decreased with age, and children faced the highest risk of fluorosis. The Hazard Index (HI) yielded moderate to high-risk values. Nitrate risks were 1.21 times higher than fluoride risks, as per average HI assessment. All samples fell into the vulnerable category based on the Total Hazard Index (THI), with 88.89% classified as very high risk. This research provides valuable insights into groundwater quality, guiding water authorities, inhabitants, and researchers in identifying safe water sources and vulnerable human populations. The results highlight the need for appropriate treatment techniques and long-term coastal groundwater management plans.

The event camera generates an event stream based on changes in brightness, retaining only the characteristics of moving objects, addresses the high power consumption associated with using high-frame-rate cameras for high-speed eye tracking tasks. However, the asynchronous incremental nature of event camera output has not been fully utilized, and there are also issues related to missing event datasets. Combining the temporal information encoding and state-preserving properties of spiking neural network (SNN) with event camera, a near-range eye tracking algorithm is proposed as well as a novel event-based dataset for validation and evaluation. According to experimental results, the proposed solution outperforms artificial neural network (ANN) algorithms, while computational time remains only 12.5\% of that of traditional SNN algorithms. Furthermore, the proposed algorithm allows for self-adjustment of time resolution, with a maximum achievable resolution of 0.081ms, enhancing tracking stability while maintaining accuracy.

This study presents a novel kinematic tracking model, designed for a networked exoskeleton system that is asynchronously taught by a remote therapist. On the server side, the therapist’s rehabilitation exercises are quantitatively assessed using a monocular passive vision system. The resultant analytical metrics are then transmitted asynchronously over the network to patients equipped with exoskeletons. On the client side, the exoskeleton utilizes these analytical metrics as reference paths for exercises, complemented by electromyography (EMG) feedback. This work introduces a calibration approach aimed at estimating angular positions by utilizing EMG observations. The calibration model establishes real-time correlations between polynomial reference positions. This calibration mechanism is integrated into simulations of both upper and lower limb exoskeletons. We further explore redundant kinematics, incorporating an EMG observer for linear, time-variant rehabilitation tracking control. Our methodology is validated using vision-based metric data and experimental EMG measurements for various exercises, including shoulder flexion, elbow flexion, and rowing-like movements. This work also includes computer simulations for tracking the control of rehabilitation exercises, demonstrating the adaptability of the system in reliably, robustly, and effectively following desired trajectories.

Intelligent ship technology is currently an international research hotspot, and model predictive control is widely used in the path-tracking control of intelligent vehicles. To construct an intelligent ship anti-disturbance path-tracking control method, firstly, an environmental disturbance model was constructed with the actual meteorological data of the target sea area. Secondly, the Fossen ship equation of motion is linearized and discretized as the ship motion model. Thirdly, the expression of the prediction equation is derived from the ship motion model. Fourthly, the cost function is constructed by using the polar diameter and polar angle values of the ship. Fifth, the power function in the cost function is replaced with an exponential function to obtain an improved cost function. Sixthly, according to the Lyapunov theory and the MPC terminal constraint theory, the stability of the improved cost function is verified. Seventh, different test paths are set up, the environmental disturbance model is taken as the external disturbance, the ship motion model, the prediction equation, and the improved cost function are used to design the anti-disturbance path-tracking control algorithm according to the model prediction control idea for simulation experiments. Finally, different MATLAB simulation results show that the improved cost function can resist disturbance of the external wave, current, and wind, and effectively track the target path. Therefore, this study provides a reference for improving the navigation safety of ship path-tracking.

Concentrator photovoltaic (CPV) technology offers an alternative to conventional photovoltaic systems, focusing on the concentration of solar radiation through the optics of the system onto smaller and more efficient solar cells. However, the surface on which the solar beam is incident must remain oriented towards the position of the sun, which requires the use of large and heavy external elements known as solar trackers. In addition to their size, these elements must be as accurate as possible to avoid misalignment. To avoid the need of these solar trackers, the concept of tracking-integrated concentrating systems has been developed. This technology has been researched to make CPV systems accessible in places where conventional systems are not viable, such as building roofs or agrivoltaic fields. This review presents a detailed classification of the existing designs in the literature and providing an overview of this type of system. By eliminating the need for external solar trackers, tracking-integrated CPV systems offer a promising solution to increase the adoption of this technology. Therefore, it is expected that these systems will be a viable and effective option for solar power generation.

Autonomous driving systems are increasingly becoming a necessary trend towards building smart cities of the future. Numerous proposals have been presented in recent years to tackle particular aspects of the working pipeline towards creating a functional end-to-end system, such as object detection, tracking, path planning, sentiment or intent detection. Nevertheless, few efforts have been made to systematically compile all of these systems into a single proposal that effectively considers the real challenges these systems will have on the road, such as real-time computation, hardware capabilities, etc. This paper has reviewed various techniques towards proposing our own end-to-end autonomous vehicle system, considering the latest state on the art on computer vision, DSs, path planning, and parallelization.

Public restrooms are often a hub of microbial contamination, and the examination of bacterial contamination in these facilities can serve as an important indicator of the transmission of infectious diseases. This study was conducted to determine the prevalence of bacterial contamination in public restrooms based on the economic class of the building. Samples were collected from various spots in 32 restrooms found in 10 shopping malls, classifying them into two categories: upper-end restrooms and lower-end restrooms. The findings showed that the level of contamination was higher in the lower-end restrooms, with the seat being the most contaminated area. The most dominant Gram-positive bacteria were coagulase-negative staphylococci species, making up 86% of the identified Gram-positive isolates. The most dominant Gram-negative bacteria identified were Klebsiella pneumoniae and Pseudomonas aeruginosa. The antibiotic sensitivity test results revealed the presence of multi-drug resistant bacteria among the Gram-positive and negative isolates, including Staphylococcus haemolyticus, Staphylococcus kloosi, Acinetobacter baumanii, and Pseudomonas aeruginosa. In conclusion, the study underscores the significance of monitoring bacterial contamination in public restrooms and the need for measures to reduce the spread of infectious diseases. Further research is crucial to gain a complete understanding of the bacterial contamination in public restrooms and their resistance patterns, to ensure the safety and health of the public. The implementation of improved cleaning practices and hands-free designs in restrooms can help reduce the risk of cross-contamination and prevent the spread of diseases.

The weight coefficients of the diaphragm spring depend on experiences in the traditional optimization. However, this method not only cannot guarantee the optimal solution but it is also not universal. Therefore, a new optimization target function is proposed. The new function takes the minimum of average compress force changing of the spring and the minimum force of the separation as total objectives. Based on the optimization function, the result of the clutch diaphragm spring in a car is analyzed by the non-dominated sorting genetic algorithm (NSGA-II) and the solution set of Pareto is obtained. The results show that the pressing force of the diaphragm spring is improved by 4.09%by the new algorithmand the steering separation force is improved by 6.55%, which has better stability and steering portability. The problem of the weight coefficient in the traditional empirical design is solved. The pressing force of the optimized diaphragm spring varied slightly during the abrasion range of the friction film, and the manipulation became remarkably light.

With the vast amount of goods being shipped around the world, there is a need to track and manage various types of assets, particularly shipping containers. Logistics industries dealing with small facilities, shipments, equipment, and vehicles must be tracked. There are many applied asset tracking systems such as Radio-Frequency Identification (RFID), Bluetooth Low Energy (BLE) Beacon, and Long-Range Radio (LoRa). This paper presents these systems and focuses on locating assets using LoRaWAN technology, which has a positive impact on the responsive and sustainable cities in Egypt. IoT-based Long Range (LoRa) is a low-power, wide-area communication technology that uses radio frequencies to transmit data over long distances. The extended range, low power consumption, low maintenance, and the ability to store location data when the end node that needs to connect to the asset is out of the gateway's coverage make LoRa a good choice for developing asset-tracking applications. This paper introduces a real-time tracking experiment as a result of a project implementation, whose goals are aligned with industry, innovation, and infrastructure and Sustainable Cities and Communities, the Sustainable Development Goals (SDGs) No. 9 and 11.

Recent advancements in computer vision, especially deep learning models, have shown considerable promise in tasks related to plant image object detection. However, the efficiency of these deep learning models heavily relies on input image quality, with low-resolution images significantly hindering model performance. Therefore, reconstructing high-quality images through specific techniques will help extract features from plant images, thus improve model performance. In this study, we explored the value of super-resolution technology for improving object detection model performance on plant images. Firstly, we built a comprehensive dataset comprising 1030 high-resolution plant images, named the PlantSR dataset. Subsequently, we developed a super-resolution model using the PlantSR dataset and benchmarked it against several state-or-the-art models designed for general image super-resolution tasks. Our proposed model demonstrated superior performance on the PlantSR dataset, indicating its efficacy in enhancing the super-resolution of plant images. Furthermore, we explored the effect of super-resolution on two specific object detection tasks: apple counting and soybean seed counting. By incorporating super-resolution as a pre-processing step, we observed a significant reduction in mean absolute error. Specifically, on the YOLOv7 model employed for apple counting, the mean absolute error decreased from 13.085 to 5.71. Similarly, on the P2PNet-Soy model utilized for soybean seed counting, the mean absolute error decreased from 19.159 to 15.085. These findings underscore the substantial potential of super-resolution technology in improving the performance of object detection models for accurately detecting and counting specific plants from images. The source codes and associated datasets are available at https://github.com/SkyCol/PlantSR.

Object detection is important in many applications, such as autonomous driving. While 2D images are lack of depth information and are sensitive to environmental conditions, 3D point cloud can provide accurate depth information and a more descriptive environment. However, sparsity is always a challenge in single-frame point cloud object detection. This paper introduces a two-stage proposal-based feature fusion method for object detection using multiple frames. The proposed method, called proposal features fusion (PFF), utilizes a cosine-similarity approach to associate proposals from multiple frames and employs an attention weighted fusion module to merge features from these proposals. It allows for feature fusion specific to individual objects and offers lower computational complexity while achieving higher precision. The experimental results on the nuScenes dataset demonstrate the effectiveness of our approach, achieving a mAP of 46.7%, which is 1.3% higher than the state-of-the-art 3D object detection method.

Object-level Simultaneous Localization and Mapping (SLAM) has gained popularity in recent years since it can provide a means for intelligent robot-to-environment interactions. However, most of these methods assume that the distribution of the errors is gaussian. This assumption is not valid under many circumstances. Further, these methods use a delayed initialization of the objects in the map. During this delayed period, the solution relies on the motion model provided by an Inertial Measurement Unit (IMU). Unfortunately, the errors tend to accumulate quickly due to the dead-reckoning nature of these motion models. Finally, the current solutions depend on a set of salient features on the object’s surface and not the object’s shape. This research proposes an accurate object-level solution to the SLAM problem with a 4.1 to 13.1 cm error in the position (0.005 to 0.021 of the total path). The developed solution is based on Rao-blackwellized Particle Filtering (RBPF) that does not assume any predefined error distribution for the parameters. Further, the solution relies on the shape and thus can be used for objects that lack texture on their surface. Finally, the developed tightly coupled IMU/camera solution is based on an undelayed initialization of the objects in the map.

This paper aims at trying to answer the question of whether a low cost drone equipped with a regular camera can serve as a simple device to estimate the size of objects. Ad-ditionally, it assesses if the accuracy of measurement is good enough for using a drone for measurements, relying solely on GPS position and camera. A review of the literature pertaining to ground object measurements was conducted. The availability of such in-struments was evaluated in terms of purchase and rental costs, the number of instru-ments on the market, and the time to obtain them. The most common measurement methods were considered and their unit costs were reviewed. The cost of professional surveying and measuring equipment was compared to the possibility of using low-cost, non-commercial drones to measure objects and surfaces. The quality of the images ob-tained was compared with high-resolution satellite systems. Is an ordinary drone with a standard camera suitable for length measurement without professional measuring equipment? Should the results be considered only in the category of size estimation?

Research has been growing on object detection using semi-supervised methods in past few years. We examine the intersection of these two areas for floor-plan objects to promote the research objective of detecting more accurate objects with less labelled data. The floor-plan objects include different furniture items with multiple types of the same class, and this high inter-class similarity impacts the performance of prior methods. In this paper, we present Mask R-CNN based semi-supervised approach that provides pixel-to-pixel alignment to generate individual annotation masks for each class to mine the inter-class similarity. The semi-supervised approach has a student-teacher network that pulls information from the teacher network and feeds it to the student network. The teacher network uses unlabeled data to form pseudo-boxes, and the student network uses both unlabeled data with the pseudo boxes and labelled data as ground truth for training. It learns representations of furniture items by combining labelled and unlabeled data. On the Mask R-CNN detector with ResNet-101 backbone network, the proposed approach achieves mAP of 98.8%, 99.7%, and 99.8% with only 1%, 5% and 10% labelled data, respectively. Our experiment affirms the efficiency of the proposed approach as it outperforms the fully supervised counterpart using only 10% of the labels.

This study explores optimizing Synthetic Aperture Radar (SAR) satellite constellation scheduling for multi-imaging missions in densely targeted areas using an in-house developed Modified Dynamic Programming (MDP) algorithm. By employing Mixed-Integer Linear Programming (MILP) to define the mission planning problem, the research aims to maximize observation of high-value targets within restricted planning horizons. Numerical simulations, covering a wide range of target numbers and satellite configurations, reveal the MDP algorithm’s superior mission allocation efficiency, enhanced success rates, and reduced revisit times, compared to the Greedy algorithm. The findings underscore the MDP algorithm’s improved operational efficiency and planning robustness for complex imaging tasks, demonstrating significant advancements over traditional approaches.

Berberis vulgaris L. (Berberidaceae) is a shrub that has been widely used in European folk medicine as an anti-inflammatory and antimicrobial agent. The purpose of our study was to elucidate the mechanisms of antiproliferative action of the plant’s methanolic root extract (BVR) against colon cancer cells. Cytotoxicity and pro-apoptotic activity were determined in human colon adenocarcinoma cell lines (LS180 and HT-29) and control colon epithelial CCD841 CoN cells. According to the MTT assay, after 48 h of cell exposure, the IC50 values were as follows: 4.3; 46.1 and 50.2 µg/mL for LS180, HT-29, and CCD841 CoN cells, respectively, showing the greater sensitivity of cancer cells to BVR. The Cell Death Detection ELISAPLUS kit demonstrated that BVR induced programmed cell death only against HT-29 cells. RT-qPCR with relative quantification method showed significant changes in the expression of genes related to apoptosis in both colon cancer cell lines. The genes BCL2L1 (126.84-366.66%), BCL2L2 (277.08-330.12%), CASP3 (180.36-261.36%) and CASP9 (158.08-213.46%) had significantly elevated expression, while BCL2 (23.08-52.06%) had reduced expression. Furthermore, in a panel of antioxidant tests, BVR showed positive effects (63.93±0.01, 122.92±0.01, and 220.29±0.02 mg Trolox equivalents (TE)/g in the DPPH•, ABTS•+ and ORAC assays, respectively). In the lipoxygenase (LOX) inhibition test, BVR revealed 62,60±0.87% of enzyme inhibition. The chemical composition of BVR was determined using UHPLC-UV-CAD-MS/MS analysis and confirmed the presence of several known alkaloids, including berberine, as well as other alkaloids and two derivatives of hydroxycinnamic acid (ferulic and sinapic acid hexosides). This is the first such extensive assessment of the biological activity of BVR. The results are very promising and encourage for the use of BVR as a comprehensive chemopreventive agent (anti-inflammatory, antioxidant, and pro-apoptotic) in colorectal cancer.

Using the senses is essential to interact with objects in real-world environments. However, not all the senses are available when interacting with virtual objects in virtual environments. This paper presents a diamond methodology to fuse two technologies to represent the senses of sight and touch when interacting with a virtual object. The sense of sight is represented through augmented reality, and the sense of touch is represented through kinesthetic haptics. The diamond methodology is centered on the user experience and comprises five general stages: Experience design, Sensory representation, Development, Display, and Fusion. The first stage comes from the expected, proposed, or needed user experience. Then, each technology takes its homologous activities from the second to the fourth stage, diverging from each other along their development. Finally, the technologies converge to the fifth and final stage for fusion in the user experience. The diamond methodology was tested by generating a user's dual sensation when interacting with the elasticity of a tension virtual spring. The user can simultaneously perceive the visual and tactile change of the virtual spring during the interaction, representing the object's deformation. The experimental results demonstrated that an interactive experience can be felt and seen in augmented reality following the diamond methodology.