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Path planning for agricultural robots in wild livestock farm environments

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International Journal of Agricultural and Biological Engineering 2024年第4期17卷 207-216页

作者： Haixia Qi Jinzhuo Jiang Chaohai wang College of Engineering South China Agricultural UniversityGuangzhou 510642China Guangdong Laboratory for Lingnan Modern Agriculture GuangzhouGuangdong 510642China

Path planning for field agricultural robots must satisfy several criteria:establishing feeding routes,maintaining gentle slopes,approaching multiple livestock observation points,ensuring timely environmental monitoring,and achieving high *** complex terrain of outdoor farming areas poses a *** A*algorithms,which generate only the shortest path,fail to meet these requirements and often produce paths that lack ***,identifying the most suitable path,rather than merely the shortest one,is *** study introduced a path-planning algorithm tailored to field-based livestock farming environments,building upon the traditional A**** constructed a digital elevation model,integrated an artificial potential field for evaluating multiple target points,calculated terrain slope,optimized the search neighborhood based on robot traversability,and employed Bézier curve segmentation for path *** method segmented the path into multiple curves by evaluating the slopes of the lines connecting adjacent nodes,ensuring a smoother and more efficient *** experimental results demonstrate its superiority to traditional A^(*),ensuring paths near multiple target points,significantly reducing the search space,and resulting in over 69.4%faster search speeds.Bézier curve segmentation delivers smoother paths conforming to robot trajectories.

关键词： field-based livestock farming agricultural robots path planning A*algorithm artificial potential field Bézier curve segmentation

Defect detection of light guide plate based on improved YOLOv5 networks

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Optoelectronics Letters 2024年第9期20卷 560-567页

作者： XIAO Ming GONG Yefei wang Hongding LU Mingli GAO Hua School of Electrical Engineering Yancheng Institute of TechnologyYancheng 224007China School of Electrical and Automation Engineering Changshu Institute of TechnologyChangshu 215500China School of Physics and Electronic Engineering Northeast Petroleum UniversityDaqing 163318China Wuxi Novo Automation Technology Corporation Wuxi 214000China

Light guide plate(LGP)is a kind of material used in the backlight *** to improve the quality control of LGP has become the focus of research in the *** address issues such as low gray contrast and a high proportion of small target defects in LGP images,an improved you only look once version 5(YOLOv5)neural network based on multi-scale dilation convolution and a novel loss function is proposed.

关键词： network plate light

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Efficacy of cognitive-behavioral therapy combined with habit reversal training on anxiety disorders in children with Tourette’s syndrome

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World Journal of Psychiatry 2024年第7期14卷 999-1008页

作者： Yan-Zhen wang Xi Zhang Xin-Min Han Department of Rehabilitation Children’s Hospital of ShanxiTaiyuan 030012Shanxi ProvinceChina Department of Pediatrics The Affiliated Hospital of Nanjing University of Chinese MedicineNanjing 210029Jiangsu ProvinceChina

BACKGROUND Cognitive-behavioral therapy(CBT)and habit reversal training(HRT)have shown application potential in addressing tic symptoms and comorbid psychiatric *** their theoretical potential,empirical evidence on their combined efficacy remains *** To evaluate the efficacy of CBT combined with HRT on anxiety disorders in children with Tourette’s syndrome(TS).METHODS Clinical data of children with TS admitted to our hospital from January 2022 to June 2023 were collected,and the patients were grouped into the conventional therapy(control)group and the CBT combined with HRT *** charac-teristics,anxiety scores,tic severity scores,treatment adherence,and parental satisfaction were *** analysis was performed using t-tests,chi-square tests,and correlation *** A total of 136 patients,including 65 patients in the control group and 71 patients in the CBT combined with HRT group,were *** CBT combined with HRT group showed remarkable improvements compared with the control ***-intervention assessment revealed a decrease in anxiety scores from 63.52±1.81 to 40.53±1.64(t=2.022,P=0.045),and the Yale Global Tic Severity Scale total score decreased from 22.14±5.67 to 16.28±4.91(t=2.288,P=0.024).Treatment adherence was significantly higher in the CBT combined with HRT group(85.47±7.62%)compared with the control group(82.32±6.54%;t=2.596,P=0.010).Parental satisfaction scores were also higher in the CBT combined with HRT group(8.69±1.77)compared with the control group(7.87±1.92;t=2.592,P=0.011).CONCLUSION This study demonstrates that CBT combined with HRT significantly reduces anxiety symptoms and tic severity in children with TS,with higher treatment adherence and parental *** findings support the potential application of this comprehensive therapeutic approach for TS treatment.

关键词： Tourette's syndrome Cognitive-behavioral therapy Habit reversal training Efficacy evaluation Anxiety disorders

FusionNN:A Semantic Feature Fusion Model Based on Multimodal for Web Anomaly Detection

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Computers, Materials & Continua 2024年第5期79卷 2991-3006页

作者： Li wang Mingshan Xia Hao Hu Jianfang Li Fengyao Hou Gang Chen Institute of High Energy Physics Chinese Academy of SciencesBeijing100049China Spallation Neutron Source Science Center(SNSSC) Dongguan523803China School of Nuclear Technology University of Chinese Academy of SciencesBeijing100049Chin

With the rapid development of the mobile communication and the Internet,the previous web anomaly detectionand identificationmodels were built relying on security experts’empirical knowledge and attack *** approach can achieve higher detection performance,it requires huge human labor and resources to maintainthe feature *** contrast,semantic feature engineering can dynamically discover new semantic featuresand optimize feature selection by automatically analyzing the semantic information contained in the data itself,thus reducing dependence on prior ***,current semantic features still have the problem ofsemantic expression singularity,as they are extracted from a single semantic mode such as word segmentation,character segmentation,or arbitrary semantic feature *** paper extracts features of web requestsfrom dual semantic granularity,and proposes a semantic feature fusion method to solve the above *** first preprocesses web requests,and extracts word-level and character-level semantic features of URLs viaconvolutional neural network(CNN),*** constructing three loss functions to reduce losses betweenfeatures,labels and *** on the HTTP CSIC 2010,Malicious URLs and HttpParams datasetsverify the *** show that compared withmachine learning,deep learningmethods and BERTmodel,the proposed method has better detection *** it achieved the best detection rate of 99.16%in the dataset HttpParams.

关键词： Feature fusion web anomaly detection multimodal convolutional neural network(CNN) semantic feature extraction

All-dielectric terahertz metasurface governed by bound states in the continuum with high-Q factor

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The Journal of China Universities of Posts and Telecommunications 2024年第2期31卷 44-54页

作者： Li Kun Zhao Xu wang Meng Jia Xingning Zhao Ruiqi Lu Guizhen School of Integrated Circuit Science and Engineering Tianjin University of TechnologyTianjin 300384China School of Electronic and Electrical Engineering Ningxia UniversityYinchuan 750021China QILU Aerospace Information Research Institute Chinese Academy of Sciences(CAS)Jinan 250101China State Key Laboratory of Media Convergence and Communication Communication University of ChinaBeijing 100024China

The method of terahertz(THz)resonance with a high-quality(high-Q)factor offers a vital physical mechanism for metasurface sensors and other high-Q factor ***,it is challenging to excite the resonance with a high-Q factor in metasurfaces with proper sensitivity as well as figure of merit(FOM)***,an all-dielectric metasurface composed of two asymmetrical rectangular blocks is *** and silicon are the materials applied for the substrate and cuboids *** distinct resonance governed by bound states in the continuum(BIC)is excited by forming an asymmetric cluster by a novel hybrid method of cutting and moving the *** investigation focuses on analyzing the transmission spectra of the metasurface under different variations in structural parameters and the loss of silicon refractive *** the proposed defective metasurface serves as a transmittance sensor,it shows a Q factor of 1.08×10^(4)and achieves an FOM up to 4.8×10^(6),which is obtained under the asymmetric parameter equalling 1μ***,the proposed defective metasurface is sensitive to small changes in refractive *** the thickness of the analyte is 180μm,the sensitivity reaches a maximum value of 578 GHz/***,the proposed defective metasurface exhibits an extensive number of possible applications in the filters,biomedical diagnosis,security screening,and so on.

关键词： terahertz(THz)metasurface high-quality(high-Q)factor bound states in the continuum figure of merit(FOM)

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Multiple conductive network for KTi_(2)(PO_(4))_(3)anode based on MXene as a binder for high-performance potassium storage

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Chinese Chemical Letters 2024年第8期35卷 539-544页

作者： Tong Su Yue wang Qizhen Zhu Mengyao Xu Ning Qiao Bin Xu State Key Laboratory of Organic-Inorganic Composites Beijing Key Laboratory of Electrochemical Process and Technology for MaterialsBeijing University of Chemical TechnologyBeijing 100029China

KTi_(2)(PO_(4))_(3)is a promising anode material for potassium storage,but suffers from low conductivity and difficult balance between high capacity and good structural ***,the Ti_(3)C_(2)T_(x)MXene is used as a multifunctional binder to fabricate the KTi_(2)(PO_(4))_(3)electrode by the traditional homogenizing-coating *** MXene nanosheets,together with the conductive agent super P nanoparticles,construct a multiple conductive network for fast electron/ion transfer and high electrochemical ***,the network ensures the structural stability of the KTi_(2)(PO_(4))_(3)electrode during the de-intercalation/intercalation of 4 K^(+)ions,which is beneficial for simultaneously achieving high capacity and good cycle ***,the MXene-bonded KTi_(2)(PO_(4))_(3)electrode delivers a reversible capacity of 255.2 mAh/g at 50 mA/g,outstanding rate capability with 132.3 mAh/g at 2 A/g,and ex-cellent cycle performance with 151.6 mAh/g at 1 A/g after 2000 *** work not only suggests a high-performance anode material for potassium-ion batteries,but also demonstrates that the MXene is a promising binder material for constructing conductive electrodes in rechargeable batteries.

关键词： MXene Ti_(3)C_(2)T_(x) KTi_(2)(PO_(4))_(3) Anode Conductive network Potassium storage

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Supramolecular Thermally Activated Delayed Fluorescence Materials via Through-Space Charge Transfer

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CCS Chemistry 2024年第5期6卷 1165-1173页

作者： Yuqian wang Ruicong Feng Yang Yu Qiao Song Shenzhen Grubbs Institute Southern University of Science and TechnologyShenzhen 518055 Department of Chemistry Southern University of Science and TechnologyShenzhen 518055

Thermally activated delayed fluorescence(TADF)polymeric materials based on through-space charge transfer(TSCT)have emerged as a highly studied topic in recent ***,the construction of TSCT TADF materials via a supramolecular approach is still a big *** this work,we report the noncovalent synthesis of TSCT TADF materials using a cyclic peptide-based bottle-brushed supramolecular polymer as a *** bringing the TSCT donor and acceptor in close proximity in space using the supramolecular scaffold,distinctive TADF emission in both solution and solid states could be ***,the TADF system could be utilized as a sensitizer to coassemble with fluorescence acceptors to build thermally assisted fluorescence systems,resulting in color-tunable delayed fluorescence with high efficiency and color *** findings provide a facile yet effective approach to designing and fabricating TSCT TADF materials,which might hold great potential for applications in the fields of organic light-emitting diode,bioimaging,and sensing.

关键词： supramolecular chemistry cyclic peptide thermally activated delayed fluorescence throughspace charge transfer thermally assisted fluorescence

Influence of Flap Parameters on the Aerodynamic Performance of a Wind-Turbine Airfoil

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Fluid Dynamics & Materials Processing 2024年第4期20卷 771-786页

作者： Yuanjun Dai Jingan Cui Baohua Li Cong wang Kunju Shi Mechanical College Shanghai DianJi UniversityShanghai201306China College of Energy Engineering Xinjiang Institute of TechnologyUrumqi830091China

A numerical method has been used to analyze the flow field related to a NACA 0015 airfoil with and without a flap and assess the influence of the flap height and angle on the surface pressure coefficient,lift coefficient,and drag *** numerical results demonstrate that the flap can effectively improve the lift coefficient of the airfoil;however,at small attack angles,its influence is significantly *** the angle of attack exceeds the critical stall angle and the flap height is 1.5%of the chord length,the influence of the flap becomes very *** the flap height increases,the starting point of the separation vortex gradually moves forward and generates a larger wake *** aerodynamic characteristics are obtained for 1.5%(of the chord length)flap height and a 45°flap angle;in this case,the separation vortex is effectively reduced.

关键词： Airfoil flap height flap angle lift-drag ratio aerodynamic characteristics

Position-aware pushing and grasping synergy with deep reinforcement learning in clutter

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CAAI Transactions on Intelligence Technology 2024年第3期9卷 738-755页

作者： Min Zhao Guoyu Zuo Shuangyue Yu Daoxiong Gong Zihao wang Ouattara Sie Intelligent Robotics Laboratory Faculty of Information TechnologyBeijing University of TechnologyBeijingChina Beijing Key Laboratory of Computational Intelligence and Intelligent Systems BeijingChina Laboratory of Biomechatronics and Intelligent Robotics(BIRO) Department of Mechanical and Aerospace EngineeringNorth Carolina State UniversityRaleighNorth CarolinaUSA

The positional information of objects is crucial to enable robots to perform grasping and pushing manipulations in *** effectively perform grasping and pushing manipu-lations,robots need to perceive the position information of objects,including the co-ordinates and spatial relationship between objects(e.g.,proximity,adjacency).The authors propose an end-to-end position-aware deep Q-learning framework to achieve efficient collaborative pushing and grasping in ***,a pair of conjugate pushing and grasping attention modules are proposed to capture the position information of objects and generate high-quality affordance maps of operating positions with features of pushing and grasping *** addition,the authors propose an object isolation metric and clutter metric based on instance segmentation to measure the spatial re-lationships between objects in cluttered *** further enhance the perception capacity of position information of the objects,the authors associate the change in the object isolation metric and clutter metric in cluttered environment before and after performing the action with reward function.A series of experiments are carried out in simulation and real-world which indicate that the method improves sample efficiency,task completion rate,grasping success rate and action efficiency compared to state-of-the-art end-to-end *** that the authors’system can be robustly applied to real-world use and extended to novel *** material is available at https://***/NhG\_k5v3NnM}{https://***/NhG\_k5v3NnM.

关键词： deep learning deep neural networks intelligent robots