Research on high-precision localization method for transport robots in industrial environments based on Improved AMCL and QR code assistance.

The application of handling robots in industrial environments has always been a research hotspot. This paper proposes a positioning scheme for handling robots based on improved adaptive Monte Carlo (AMCL) fusion of multiple sensors and QR code assistance, which can achieve high-precision positioning under low-cost conditions in industrial environments, in response to the positioning accuracy and cost issues of handling robots. Firstly, this article uses the Cartographer algorithm to fuse data from multiple sensors and improve map accuracy.

Leveraging Thermal Infrared Imaging for Pig Ear Detection Research: The TIRPigEar Dataset and Performances of Deep Learning Models.

The stable physiological structure and rich vascular network of pig ears contribute to distinct thermal characteristics, which can reflect temperature variations. While the temperature of the pig ear does not directly represent core body temperature due to the ear's role in thermoregulation, thermal infrared imaging offers a feasible approach to analyzing individual pig status. Based on this background, a dataset comprising 23,189 thermal infrared images of pig ears (TIRPigEar) was established.

A Dataset of Visible Light and Thermal Infrared Images for Health Monitoring of Caged Laying Hens in Large-Scale Farming.

Considering animal welfare, the free-range laying hen farming model is increasingly gaining attention. However, in some countries, large-scale farming still relies on the cage-rearing model, making the focus on the welfare of caged laying hens equally important. To evaluate the health status of caged laying hens, a dataset comprising visible light and thermal infrared images was established for analyses, including morphological, thermographic, comb, and behavioral assessments, enabling a comprehensive evaluation of the hens' health, behavior, and population counts.

Automatic Monitoring Methods for Greenhouse and Hazardous Gases Emitted from Ruminant Production Systems: A Review.

The research on automatic monitoring methods for greenhouse gases and hazardous gas emissions is currently a focal point in the fields of environmental science and climatology. Until 2023, the amount of greenhouse gases emitted by the livestock sector accounts for about 11-17% of total global emissions, with enteric fermentation in ruminants being the main source of the gases. With the escalating problem of global climate change, accurate and effective monitoring of gas emissions has become a top priority.

Bio-Inspired Neural Network for Real-Time Evasion of Multi-Robot Systems in Dynamic Environments.

In complex and dynamic environments, traditional pursuit-evasion studies may face challenges in offering effective solutions to sudden environmental changes. In this paper, a bio-inspired neural network (BINN) is proposed that approximates a pursuit-evasion game from a neurodynamic perspective instead of formulating the problem as a differential game. The BINN is topologically organized to represent the environment with only local connections.

Intelligent Fish-Inspired Foraging of Swarm Robots with Sub-Group Behaviors Based on Neurodynamic Models.

This paper proposes a novel intelligent approach to swarm robotics, drawing inspiration from the collective foraging behavior exhibited by fish schools. A bio-inspired neural network (BINN) and a self-organizing map (SOM) algorithm are used to enable the swarm to emulate fish-like behaviors such as collision-free navigation and dynamic sub-group formation. The swarm robots are designed to adaptively reconfigure their movements in response to environmental changes, mimicking the flexibility and robustness of fish foraging patterns.

Distributed Neurodynamics-Based Backstepping Optimal Control for Robust Constrained Consensus of Underactuated Underwater Vehicles Fleet.

Robust constrained formation tracking control of underactuated underwater vehicles (UUVs) fleet in 3-D space is a challenging but practical problem. To address this problem, this article develops a novel consensus-based optimal coordination protocol and a robust controller, which adopts a hierarchical architecture. On the top layer, the spherical coordinate transform is introduced to tackle the nonholonomic constraint, and then a distributed optimal motion coordination strategy is developed.

Distributed Robust Learning-Based Backstepping Control Aided With Neurodynamics for Consensus Formation Tracking of Underwater Vessels.

This article addresses distributed robust learning-based control for consensus formation tracking of multiple underwater vessels, in which the system parameters of the marine vessels are assumed to be entirely unknown and subject to the modeling mismatch, oceanic disturbances, and noises. Toward this end, graph theory is used to allow us to synthesize the distributed controller with a stability guarantee. Due to the fact that the parameter uncertainties only arise in the vessels' dynamic model, the backstepping control technique is then employed.

Infrared and Visible Image Fusion Technology and Application: A Review.

The images acquired by a single visible light sensor are very susceptible to light conditions, weather changes, and other factors, while the images acquired by a single infrared light sensor generally have poor resolution, low contrast, low signal-to-noise ratio, and blurred visual effects. The fusion of visible and infrared light can avoid the disadvantages of two single sensors and, in fusing the advantages of both sensors, significantly improve the quality of the images. The fusion of infrared and visible images is widely used in agriculture, industry, medicine, and other fields.

A Variable Radius Side Window Direct SLAM Method Based on Semantic Information.

Simultaneous Localization and Mapping (SLAM) is a challenging and key issue in the mobile robotic fields. In terms of the visual SLAM problem, the direct methods are more suitable for more expansive scenes with many repetitive features or less texture in contrast with the feature-based methods. However, the robustness of the direct methods is weaker than that of the feature-based methods.

Enhanced Reduced-Order Extended State Observer for Motion Control of Differential Driven Mobile Robot.

Motion control is critical in mobile robot systems, which determines the reliability and accuracy of a robot. Due to model uncertainties and widespread external disturbances, a simple control strategy cannot match tracking accuracy with disturbance immunity, while a complex controller will consume excessive energy. For precise motion control with disturbance immunity and low energy consumption, a control method based on an enhanced reduced-order extended state observer (ERESOBC) is proposed to control the motor-wheels dynamic model of a differential driven mobile robot (DDMR).

Information Fusion Fault Diagnosis Method for Deep-Sea Human Occupied Vehicle Thruster Based on Deep Belief Network.

In this article, a novel thruster information fusion fault diagnosis method for the deep-sea human occupied vehicle (HOV) is proposed. A deep belief network (DBN) is introduced into the multisensor information fusion model to identify uncertain and unknown, continuously changing fault patterns of the deep-sea HOV thruster. Inputs for the DBN information fusion fault diagnosis model are the control voltage, feedback current, and rotational speed of the deep-sea HOV thruster; and the output is the corresponding fault degree parameter ( s ), which indicates the pattern and degree of the thruster fault.

Face Mask Assistant: Detection of Face Mask Service Stage Based on Mobile Phone.

Coronavirus Disease 2019 (COVID-19) has spread all over the world since it broke out massively in December 2019, which has caused a large loss to the whole world. Both the confirmed cases and death cases have reached a relatively frightening number. Severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2), the cause of COVID-19, can be transmitted by small respiratory droplets.

Consensus Affinity Graph Learning for Multiple Kernel Clustering.

Significant attention to multiple kernel graph-based clustering (MKGC) has emerged in recent years, primarily due to the superiority of multiple kernel learning (MKL) and the outstanding performance of graph-based clustering. However, many existing MKGC methods design a fat model that poses challenges for computational cost and clustering performance, as they learn both an affinity graph and an extra consensus kernel cumbersomely. To tackle this challenging problem, this article proposes a new MKGC method to learn a consensus affinity graph directly.

An Intelligent Multi-Sensor Variable Spray System with Chaotic Optimization and Adaptive Fuzzy Control.

During the variable spray process, the micro-flow control is often held back by such problems as low initial sensitivity, large inertia, large hysteresis, nonlinearity as well as the inevitable difficulties in controlling the size of the variable spray droplets. In this paper, a novel intelligent double closed-loop control with chaotic optimization and adaptive fuzzy logic is developed for a multi-sensor based variable spray system, where a Bang-Bang relay controller is used to speed up the system operation, and adaptive fuzzy nonlinear PID is employed to improve the accuracy and stability of the system. With the chaotic optimization of controller parameters, the system is globally optimized in the whole solution space.

A Novel Rapid-Flooding Approach With Real-Time Delay Compensation for Wireless-Sensor Network Time Synchronization.

One-way-broadcast-based flooding time synchronization algorithms are commonly used in wireless-sensor networks (WSNs). However, the packet delay and clock drift pose a challenge to accuracy, as they entail serious by-hop error accumulation problems in the WSNs. To overcome this, a rapid-flooding multibroadcast time synchronization with real-time delay compensation (RDC-RMTS) is proposed in this article.

Optimizing Survival Analysis of XGBoost for Ties to Predict Disease Progression of Breast Cancer.

Objective: Some excellent prognostic models based on survival analysis methods for breast cancer have been proposed and extensively validated, which provide an essential means for clinical diagnosis and treatment to improve patient survival. To analyze clinical and follow-up data of 12119 breast cancer patients, derived from the Clinical Research Center for Breast (CRCB) in West China Hospital of Sichuan University, we developed a gradient boosting algorithm, called EXSA, by optimizing survival analysis of XGBoost framework for ties to predict the disease progression of breast cancer.

Methods: EXSA is based on the XGBoost framework in machine learning and the Cox proportional hazards model in survival analysis.

Improved Deep CNN with Parameter Initialization for Data Analysis of Near-Infrared Spectroscopy Sensors.

Near-infrared (NIR) spectral sensors can deliver the spectral response of light absorbed by materials. Data analysis technology based on NIR sensors has been a useful tool for quality identification. In this paper, an improved deep convolutional neural network (CNN) with batch normalization and MSRA (Microsoft Research Asia) initialization is proposed to discriminate the tobacco cultivation regions using data collected from NIR sensors.

Intelligent Control of Bulk Tobacco Curing Schedule Using LS-SVM- and ANFIS-Based Multi-Sensor Data Fusion Approaches.

The bulk tobacco flue-curing process is followed by a bulk tobacco curing schedule, which is typically pre-set at the beginning and might be adjusted by the curer to accommodate the need for tobacco leaves during curing. In this study, the controlled parameters of a bulk tobacco curing schedule were presented, which is significant for the systematic modelling of an intelligent tobacco flue-curing process. To fully imitate the curer's control of the bulk tobacco curing schedule, three types of sensors were applied, namely, a gas sensor, image sensor, and moisture sensor.

Monitoring Method of Total Seed Mass in a Vibrating Tray Using Artificial Neural Network.

To maintain the continuous working performance of a vacuum plate seeder, it is important to monitor the total seed mass in the seed tray in real time and accurately control the pickup position of the suction plate accordingly. Under the excitation of reciprocating vibration varying with time and interference by direction angle, the motion of seeds in a rectangular tray was simulated using the discrete element method (DEM). A measurement method for seed mass in a small area was proposed based on the impulse theorem.

Hyperspectral Remote Sensing Image Classification Based on Maximum Overlap Pooling Convolutional Neural Network.

In a traditional convolutional neural network structure, pooling layers generally use an average pooling method: a non-overlapping pooling. However, this condition results in similarities in the extracted image features, especially for the hyperspectral images of a continuous spectrum, which makes it more difficult to extract image features with differences, and image detail features are easily lost. This result seriously affects the accuracy of image classification.

Support Vector Machine Optimized by Genetic Algorithm for Data Analysis of Near-Infrared Spectroscopy Sensors.

Near-infrared (NIR) spectral sensors deliver the spectral response of the light absorbed by materials for quantification, qualification or identification. Spectral analysis technology based on the NIR sensor has been a useful tool for complex information processing and high precision identification in the tobacco industry. In this paper, a novel method based on the support vector machine (SVM) is proposed to discriminate the tobacco cultivation region using the near-infrared (NIR) sensors, where the genetic algorithm (GA) is employed for input subset selection to identify the effective principal components (PCs) for the SVM model.

Study on Interference Suppression Algorithms for Electronic Noses: A Review.

Electronic noses (e-nose) are composed of an appropriate pattern recognition system and a gas sensor array with a certain degree of specificity and broad spectrum characteristics. The gas sensors have their own shortcomings of being highly sensitive to interferences which has an impact on the detection of target gases. When there are interferences, the performance of the e-nose will deteriorate.

Reliability-based robust dynamic positioning for a turret-moored floating production storage and offloading vessel with unknown time-varying disturbances and input saturation.

In this paper, we derived a mathematical model for a floating production storage and offloading (FPSO) vessel and its buoy mooring system and developed a new robust positioning controller to keep vessels in a desired region in the presence of unknown time-varying disturbances with uncertainties and input saturation. Different materials (chain and polyester) and buoys are considered in the model of mooring system to make the developed model more realistic. We employed a disturbance observer to estimate the disturbances and designed an auxiliary dynamic system integrated with the structural reliability's derivative to quantify the input saturation's influence, and its states are used to the control design.