Studies on the Constituents of Aerial Parts of Scutellaria planipes

首次从木根黄芩地上部分分离出１３个化合物。经理化常数和光谱分析分别鉴定为异甘草甙元（ｉｓｏｌｉｑｕｉｒｉｔｉｇｅｎｉｎ），蓟黄素（ｃｉｒｓｉｍａｒｉｔｉｎ），汉黄芩素（ｗｏｇｏｎｉｎ），芹菜素（ａｐｉｇｅｎｉｎ），粘毛黄芩素Ⅲ（ｖｉｓｃｉｄｕｌｉｎⅢ），紫丁香甙（ｓｙｒｉｎｇｉｎ），白杨素６ＣβＤ葡萄糖８ＣαＬ阿拉伯糖甙（６ＣβＤｇｌｕｃｏｓｙｌ８ＣαＬａｒａｂｉｎｏｓｙｌｃｈｒｙｓｉｎ），白杨素６ＣαＬ阿拉伯糖８ＣβＤ葡萄糖甙（６ＣαＬａｒａｂｉｎｏｓｙｌ８ＣβＤｇｌｕｃｏｓｙｌｃｈｒｙｓｉｎ），黄芩甙（ｂａｉｃａｌｉｎ），汉黄芩甙（ｗｏｇｏｎｉｎ７ＯβＤｇｌｕｃｕｒｏｎｉｄｅ），白杨素７ＯβＤ葡萄糖醛酸甙（ｃｈｒｙｓｉｎ７ＯβＤｇｌｕｃｕｒｏｎｉｄｅ）和两个苯乙醇甙（ａｃｔｅｏｓｉｄｅ和ｍａｒｔｙｎｏｓｉｄｅ）。其中异甘草甙元，蓟黄素和紫丁香甙均为首次从黄芩属植物中分离得到。

Two new saponins from the aerial part of Astragalus membranaceus var. mongholicus

Two new saponins named mongholicoside A （1） and mongholicoside B （2） were isolated from the aerial part of Astragalus membranaceus var mongholicus. Their structures were determined by 1D and 2D NMR, ESI-MS techniques and chemical methods.

Isolation of flavonoids from the aerial parts of Polygala tenuifolia Willd.and their antioxidant activities

The aim of this study was to isolate the chemical constituents of the aerial parts of Polygala tenuifolia Willd. and to determine their antioxidant activities. Ten flavonoids were isolated and purified by silica gel, Sephadex LH-20, and ODS column chromatography, and semi-preparative HPLC. Their structures were elucidated by spectroscopic analysis and identified as isorhamnetin-3-O-13-D-glucopyranoside （1）, isorhamnetin-3-O-13-D-galactopyranoside （2）, quercetin-3-O-13-o-glucopyranosyl （1--＊2）-I^-D-galactopyranoside （3）, quercetin-3-O-13-O-glucopyranosyl （1---~2）-13-D-glucopyranoside （4）, linarin （5）, quercetin-3-O- 13-D-glucopyranoside （6）, 5,7-dihydroxy-8-methxoyflavone-7-O-13-o-glucuronoside （7）, isorhamnetin （8）, kaempferol （9） and quercetin （10）. All these compounds were isolated from this plant for the first time, and compounds 1-5 and 7 were isolated from the genus of Polygala for the first time. The antioxidant activities of the isolated compounds were evaluated by DPPH free radical scavenging assay, and compounds 3, 4, 6, 8, 9 and 10 showed potent antioxidant activities.

Chemical Constituents from the Aerial Parts of Lysimachia clethroides

A new glyceroglycolipid, 1-O-（9Z, I 2Z-octadecadienoyl）-3-O-[β-D-galactopyranosyl-（1→6）-O-β-D-galactopy- ranosyl-（1→6）-a-D-galactopyranosyl] glycerol （1）; a new ester, 3-carboxyethyl-3-hydroxyglutaric acid 1,5-dime- thyl ester （2）, together with four known compounds were isolated from the ethanolic extract of the aerial parts of Lysimachia clethroides. The structures of compounds 1 and 2 were elucidated on the basis of physical data analy- sis （1D and 2D NMR, HR-ESIMS） and chemical evidence.

Chemical constituents of the aerial parts of Glycyrrhiza uralensis and their inhibitory activities against PTP1B andα-glucosidase

In the present study,a total of 11 compounds were isolated from the aerial parts of Glycyrrhiza uralensis,including two new compounds,glycyuralin Q(1)and glycyuralin R(2),and nine known compounds,including licoriphenone(3),orobol(4),trifoliol(5),7,2′,4′-trihydroxy-5-methoxy-3-arylcoumarin(6),11-hydroxy-9(Z),12(Z)-octadecadienoic acid(7),11-hydroxy-9(E),12(E)-octadecadienoic acid(8),licoricone(9),glycyrin(10),and 2′-hydroxyformononetin(11).Structures of the new compounds were identified by 1 D,2 D NMR and HR-MS data analyses.Compounds 1,2 and 10 showed potent inhibitory activities against PTP1 B,with IC50 values of 1.43,4.71 and 3.79μM,respectively.Compounds 2,4 and 10 inhibitedα-glucosidase with IC50 values of 13.61,11.13 and 17.48μM,respectively.

Rotary unmanned aerial vehicles path planning in rough terrain based on multi-objective particle swarm optimization

This paper presents a path planning approach for rotary unmanned aerial vehicles(R-UAVs)in a known static rough terrain environment.This approach aims to find collision-free and feasible paths with minimum altitude,length and angle variable rate.First,a three-dimensional(3D)modeling method is proposed to reduce the computation burden of the dynamic models of R-UAVs.Considering the length,height and tuning angle of a path,the path planning of R-UAVs is described as a tri-objective optimization problem.Then,an improved multi-objective particle swarm optimization algorithm is developed.To render the algorithm more effective in dealing with this problem,a vibration function is introduced into the collided solutions to improve the algorithm efficiency.Meanwhile,the selection of the global best position is taken into account by the reference point method.Finally,the experimental environment is built with the help of the Google map and the 3D terrain generator World Machine.Experimental results under two different rough terrains from Guilin and Lanzhou of China demonstrate the capabilities of the proposed algorithm in finding Pareto optimal paths.

3D placement of unmanned aerial vehicles and partially overlapped channel assignment for throughput maximization

This paper investigates a wireless system with multi-Unmanned Aerial Vehicles(UAVs)for improving the overall throughput.In contrast to previous studies that optimize the locations of UAVs and channel assignment separately,this paper considers the two issues jointly by exploiting Partially Overlapped Channels(POCs).The optimization problem of maximizing network throughput is formulated as a non-convex and non-linear problem.In order to find a practical solution,the problem is decomposed into two subproblems,which are iteratively optimized.First,the optimal locations of UAVs are determined under a fixed channel assignment scheme by solving the mixed-integer second-order cone problem.Second,an efficient POC allocation scheme is determined via the proposed channel assignment algorithm.Simulation results show that the proposed approach not only significantly improves system throughput and service reliability compared with the cases in which only orthogonal channels and stationary UAVs are considered,but also achieves similar performance using the exhaustive search algorithm with lower time complexity.

A method to interpret fracture aperture of rock slope using adaptive shape and unmanned aerial vehicle multi-angle nap-of-the-object photogrammetry

The aperture of natural rock fractures significantly affects the deformation and strength properties of rock masses,as well as the hydrodynamic properties of fractured rock masses.The conventional measurement methods are inadequate for collecting data on high-steep rock slopes in complex mountainous regions.This study establishes a high-resolution three-dimensional model of a rock slope using unmanned aerial vehicle(UAV)multi-angle nap-of-the-object photogrammetry to obtain edge feature points of fractures.Fracture opening morphology is characterized using coordinate projection and transformation.Fracture central axis is determined using vertical measuring lines,allowing for the interpretation of aperture of adaptive fracture shape.The feasibility and reliability of the new method are verified at a construction site of a railway in southeast Tibet,China.The study shows that the fracture aperture has a significant interval effect and size effect.The optimal sampling length for fractures is approximately 0.5e1 m,and the optimal aperture interpretation results can be achieved when the measuring line spacing is 1%of the sampling length.Tensile fractures in the study area generally have larger apertures than shear fractures,and their tendency to increase with slope height is also greater than that of shear fractures.The aperture of tensile fractures is generally positively correlated with their trace length,while the correlation between the aperture of shear fractures and their trace length appears to be weak.Fractures of different orientations exhibit certain differences in their distribution of aperture,but generally follow the forms of normal,log-normal,and gamma distributions.This study provides essential data support for rock and slope stability evaluation,which is of significant practical importance.

Road Traffic Monitoring from Aerial Images Using Template Matching and Invariant Features

Road traffic monitoring is an imperative topic widely discussed among researchers.Systems used to monitor traffic frequently rely on cameras mounted on bridges or roadsides.However,aerial images provide the flexibility to use mobile platforms to detect the location and motion of the vehicle over a larger area.To this end,different models have shown the ability to recognize and track vehicles.However,these methods are not mature enough to produce accurate results in complex road scenes.Therefore,this paper presents an algorithm that combines state-of-the-art techniques for identifying and tracking vehicles in conjunction with image bursts.The extracted frames were converted to grayscale,followed by the application of a georeferencing algorithm to embed coordinate information into the images.The masking technique eliminated irrelevant data and reduced the computational cost of the overall monitoring system.Next,Sobel edge detection combined with Canny edge detection and Hough line transform has been applied for noise reduction.After preprocessing,the blob detection algorithm helped detect the vehicles.Vehicles of varying sizes have been detected by implementing a dynamic thresholding scheme.Detection was done on the first image of every burst.Then,to track vehicles,the model of each vehicle was made to find its matches in the succeeding images using the template matching algorithm.To further improve the tracking accuracy by incorporating motion information,Scale Invariant Feature Transform(SIFT)features have been used to find the best possible match among multiple matches.An accuracy rate of 87%for detection and 80%accuracy for tracking in the A1 Motorway Netherland dataset has been achieved.For the Vehicle Aerial Imaging from Drone(VAID)dataset,an accuracy rate of 86%for detection and 78%accuracy for tracking has been achieved.

A landslide monitoring method using data from unmanned aerial vehicle and terrestrial laser scanning with insufficient and inaccurate ground control points

Non-contact remote sensing techniques,such as terrestrial laser scanning(TLS)and unmanned aerial vehicle(UAV)photogrammetry,have been globally applied for landslide monitoring in high and steep mountainous areas.These techniques acquire terrain data and enable ground deformation monitoring.However,practical application of these technologies still faces many difficulties due to complex terrain,limited access and dense vegetation.For instance,monitoring high and steep slopes can obstruct the TLS sightline,and the accuracy of the UAV model may be compromised by absence of ground control points(GCPs).This paper proposes a TLS-and UAV-based method for monitoring landslide deformation in high mountain valleys using traditional real-time kinematics(RTK)-based control points(RCPs),low-precision TLS-based control points(TCPs)and assumed control points(ACPs)to achieve high-precision surface deformation analysis under obstructed vision and impassable conditions.The effects of GCP accuracy,GCP quantity and automatic tie point(ATP)quantity on the accuracy of UAV modeling and surface deformation analysis were comprehensively analyzed.The results show that,the proposed method allows for the monitoring accuracy of landslides to exceed the accuracy of the GCPs themselves by adding additional low-accuracy GCPs.The proposed method was implemented for monitoring the Xinhua landslide in Baoxing County,China,and was validated against data from multiple sources.

A Systematic Literature Review of Machine Learning and Deep Learning Approaches for Spectral Image Classification in Agricultural Applications Using Aerial Photography

Recently,there has been a notable surge of interest in scientific research regarding spectral images.The potential of these images to revolutionize the digital photography industry,like aerial photography through Unmanned Aerial Vehicles(UAVs),has captured considerable attention.One encouraging aspect is their combination with machine learning and deep learning algorithms,which have demonstrated remarkable outcomes in image classification.As a result of this powerful amalgamation,the adoption of spectral images has experienced exponential growth across various domains,with agriculture being one of the prominent beneficiaries.This paper presents an extensive survey encompassing multispectral and hyperspectral images,focusing on their applications for classification challenges in diverse agricultural areas,including plants,grains,fruits,and vegetables.By meticulously examining primary studies,we delve into the specific agricultural domains where multispectral and hyperspectral images have found practical use.Additionally,our attention is directed towards utilizing machine learning techniques for effectively classifying hyperspectral images within the agricultural context.The findings of our investigation reveal that deep learning and support vector machines have emerged as widely employed methods for hyperspectral image classification in agriculture.Nevertheless,we also shed light on the various issues and limitations of working with spectral images.This comprehensive analysis aims to provide valuable insights into the current state of spectral imaging in agriculture and its potential for future advancements.

Current Status,Challenges,and Prospects for New Types of Aerial Robots

New types of aerial robots(NTARs)have found extensive applications in the military,civilian contexts,scientific research,disaster management,and various other domains.Compared with traditional aerial robots,NTARs exhibit a broader range of morphological diversity,locomotion capabilities,and enhanced operational capacities.Therefore,this study defines aerial robots with the four characteristics of morphability,biomimicry,multi-modal locomotion,and manipulator attachment as NTARs.Subsequently,this paper discusses the latest research progress in the materials and manufacturing technology,actuation technology,and perception and control technology of NTARs.Thereafter,the research status of NTAR systems is summarized,focusing on the frontier development and application cases of flapping-wing microair vehicles,perching aerial robots,amphibious robots,and operational aerial robots.Finally,the main challenges presented by NTARs in terms of energy,materials,and perception are analyzed,and the future development trends of NTARs are summarized in terms of size and endurance,mechatronics,and complex scenarios,providing a reference direction for the follow-up exploration of NTARs.

Estimating Key Phenological Dates of Multiple Rice Accessions Using Unmanned Aerial Vehicle-Based Plant Height Dynamics for Breeding

Efficient and high-quality estimation of key phenological dates in rice is of great significance in breeding work. Plant height(PH) dynamics are valuable for estimating phenological dates. However, research on estimating the key phenological dates of multiple rice accessions based on PH dynamics has been limited. In 2022, field traits were collected using unmanned aerial vehicle(UAV)-based images across 435 plots, including 364 rice varieties. PH, dates of initial heading(IH) and full heading(FH), and panicle initiation(PI), and growth period after transplanting(GPAT) were collected during the rice growth stage. PHs were extracted using a digital surface model(DSM) and fitted using Fourier and logistic models. Machine learning algorithms, including multiple linear regression, random forest(RF), support vector regression, least absolute shrinkage and selection operator, and elastic net regression, were employed to estimate phenological dates. Results indicated that the optimal percentile of the DSM for extracting rice PH was the 95th(R^(2) = 0.934, RMSE = 0.056 m). The Fourier model provided a better fit for PH dynamics compared with the logistic models. Additionally, curve features(CF) and GPAT were significantly associated with PI, IH, and FH. The combination of CF and GPAT outperformed the use of CF alone, with RF demonstrating the best performance among the algorithms. Specifically, the combination of CF extracted from the logistic models, GPAT, and RF yielded the best performance for estimating PI(R^(2) = 0.834, RMSE = 4.344 d), IH(R^(2) = 0.877, RMSE = 2.721 d), and FH(R^(2) = 0.883, RMSE = 2.694 d). Overall, UAV-based rice PH dynamics combined with machine learning effectively estimated the key phenological dates of multiple rice accessions, providing a novel approach for investigating key phenological dates in breeding work.

Robust and Discriminative Feature Learning via Mutual Information Maximization for Object Detection in Aerial Images

Object detection in unmanned aerial vehicle(UAV)aerial images has become increasingly important in military and civil applications.General object detection models are not robust enough against interclass similarity and intraclass variability of small objects,and UAV-specific nuisances such as uncontrolledweather conditions.Unlike previous approaches focusing on high-level semantic information,we report the importance of underlying features to improve detection accuracy and robustness fromthe information-theoretic perspective.Specifically,we propose a robust and discriminative feature learning approach through mutual information maximization(RD-MIM),which can be integrated into numerous object detection methods for aerial images.Firstly,we present the rank sample mining method to reduce underlying feature differences between the natural image domain and the aerial image domain.Then,we design a momentum contrast learning strategy to make object features similar to the same category and dissimilar to different categories.Finally,we construct a transformer-based global attention mechanism to boost object location semantics by leveraging the high interrelation of different receptive fields.We conduct extensive experiments on the VisDrone and Unmanned Aerial Vehicle Benchmark Object Detection and Tracking(UAVDT)datasets to prove the effectiveness of the proposed method.The experimental results show that our approach brings considerable robustness gains to basic detectors and advanced detection methods,achieving relative growth rates of 51.0%and 39.4%in corruption robustness,respectively.Our code is available at https://github.com/cq100/RD-MIM(accessed on 2 August 2024).

Adaptive state-constrained/model-free iterative sliding mode control for aerial robot trajectory tracking

This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.

Guaranteed Cost Attitude Tracking Control for Uncertain Quadrotor Unmanned Aerial Vehicle Under Safety Constraints

In this paper,guaranteed cost attitude tracking con-trol for uncertain quadrotor unmanned aerial vehicle(QUAV)under safety constraints is studied.First,an augmented system is constructed by the tracking error system and reference system.This transformation aims to convert the tracking control prob-lem into a stabilization control problem.Then,control barrier function and disturbance attenuation function are designed to characterize the violations of safety constraints and tolerance of uncertain disturbances,and they are incorporated into the reward function as penalty items.Based on the modified reward function,the problem is simplified as the optimal regulation problem of the nominal augmented system,and a new Hamilton-Jacobi-Bellman equation is developed.Finally,critic-only rein-forcement learning algorithm with a concurrent learning tech-nique is employed to solve the Hamilton-Jacobi-Bellman equa-tion and obtain the optimal controller.The proposed algorithm can not only ensure the reward function within an upper bound in the presence of uncertain disturbances,but also enforce safety constraints.The performance of the algorithm is evaluated by the numerical simulation.

Unmanned aerial vehicles towards future Industrial Internet:Roles and opportunities

Unmanned Aerial Vehicles(UAVs)are gaining increasing attention in many fields,such as military,logistics,and hazardous site mapping.Utilizing UAVs to assist communications is one of the promising applications and research directions.The future Industrial Internet places higher demands on communication quality.The easy deployment,dynamic mobility,and low cost of UAVs make them a viable tool for wireless communication in the Industrial Internet.Therefore,UAVs are considered as an integral part of Industry 4.0.In this article,three typical use cases of UAVs-assisted communications in Industrial Internet are first summarized.Then,the state-of-the-art technologies for drone-assisted communication in support of the Industrial Internet are presented.According to the current research,it can be assumed that UAV-assisted communication can support the future Industrial Internet to a certain extent.Finally,the potential research directions and open challenges in UAV-assisted communications in the upcoming future Industrial Internet are discussed.

Unmanned Aerial Vehicle Inspection Routing and Scheduling for Engineering Management

Technological advancements in unmanned aerial vehicles(UAVs)have revolutionized various industries,enabling the widespread adoption of UAV-based solutions.In engineering management,UAV-based inspection has emerged as a highly efficient method for identifying hidden risks in high-risk construction environments,surpassing traditional inspection techniques.Building on this foundation,this paper delves into the optimization of UAV inspection routing and scheduling,addressing the complexity introduced by factors such as no-fly zones,monitoring-interval time windows,and multiple monitoring rounds.To tackle this challenging problem,we propose a mixed-integer linear programming(MILP)model that optimizes inspection task assignments,monitoring sequence schedules,and charging decisions.The comprehensive consideration of these factors differentiates our problem from conventional vehicle routing problem(VRP),leading to a mathematically intractable model for commercial solvers in the case of large-scale instances.To overcome this limitation,we design a tailored variable neighborhood search(VNS)metaheuristic,customizing the algorithm to efficiently solve our model.Extensive numerical experiments are conducted to validate the efficacy of our proposed algorithm,demonstrating its scalability for both large-scale and real-scale instances.Sensitivity experiments and a case study based on an actual engineering project are also conducted,providing valuable insights for engineering managers to enhance inspection work efficiency.

A Novel Tensor Decomposition-Based Efficient Detector for Low-Altitude Aerial Objects With Knowledge Distillation Scheme

Unmanned aerial vehicles(UAVs) have gained significant attention in practical applications, especially the low-altitude aerial(LAA) object detection imposes stringent requirements on recognition accuracy and computational resources. In this paper, the LAA images-oriented tensor decomposition and knowledge distillation-based network(TDKD-Net) is proposed,where the TT-format TD(tensor decomposition) and equalweighted response-based KD(knowledge distillation) methods are designed to minimize redundant parameters while ensuring comparable performance. Moreover, some robust network structures are developed, including the small object detection head and the dual-domain attention mechanism, which enable the model to leverage the learned knowledge from small-scale targets and selectively focus on salient features. Considering the imbalance of bounding box regression samples and the inaccuracy of regression geometric factors, the focal and efficient IoU(intersection of union) loss with optimal transport assignment(F-EIoU-OTA)mechanism is proposed to improve the detection accuracy. The proposed TDKD-Net is comprehensively evaluated through extensive experiments, and the results have demonstrated the effectiveness and superiority of the developed methods in comparison to other advanced detection algorithms, which also present high generalization and strong robustness. As a resource-efficient precise network, the complex detection of small and occluded LAA objects is also well addressed by TDKD-Net, which provides useful insights on handling imbalanced issues and realizing domain adaptation.

Underdetermined direction of arrival estimation with nonuniform linear motion sampling based on a small unmanned aerial vehicle platform

Uniform linear array(ULA)radars are widely used in the collision-avoidance radar systems of small unmanned aerial vehicles(UAVs).In practice,a ULA's multi-target direction of arrival(DOA)estimation performance suffers from significant performance degradation owing to the limited number of physical elements.To improve the underdetermined DOA estimation performance of a ULA radar mounted on a small UAV platform,we propose a nonuniform linear motion sampling underdetermined DOA estimation method.Using the motion of the UAV platform,the echo signal is sampled at different positions.Then,according to the concept of difference co-array,a virtual ULA with multiple array elements and a large aperture is synthesized to increase the degrees of freedom(DOFs).Through position analysis of the original and motion arrays,we propose a nonuniform linear motion sampling method based on ULA for determining the optimal DOFs.Under the condition of no increase in the aperture of the physical array,the proposed method obtains a high DOF with fewer sampling runs and greatly improves the underdetermined DOA estimation performance of ULA.The results of numerical simulations conducted herein verify the superior performance of the proposed method.