Metal mineral resources play an indispensable role in the development of the national economy.Dynamic disasters in underground metal mines seriously threaten mining safety,which are major scientific and technological ...Metal mineral resources play an indispensable role in the development of the national economy.Dynamic disasters in underground metal mines seriously threaten mining safety,which are major scientific and technological problems to be solved urgently.In this article,the occurrence status and grand challenges of some typical dynamic disasters involving roof falling,spalling,collapse,large deformation,rockburst,surface subsidence,and water inrush in metal mines in China are systematically presented,the characteristics of mining-induced dynamic disasters are analyzed,the examples of dynamic disasters occurring in some metal mines in China are summarized,the occurrence mechanism,monitoring and early warning methods,and prevention and control techniques of these disasters are highlighted,and some new opinions,suggestions,and solutions are proposed simultaneously.Moreover,some shortcomings in current disaster research are pointed out,and the direction of efforts to improve the prevention and control level of dynamic disasters in China’s metal mines in the future is prospected.The integration of forward-looking key innovative theories and technologies in the abovementioned aspects will greatly enhance the cognitive level of disaster prevention and mitigation in China’s metal mining industry and achieve a significant shift from passive disaster relief to active disaster prevention.展开更多
A wide range of terrain features and landforms,which are exemplified by intricate geological formations and diverse rock compositions,are found in the western mountainous regions of China.These areas frequently encoun...A wide range of terrain features and landforms,which are exemplified by intricate geological formations and diverse rock compositions,are found in the western mountainous regions of China.These areas frequently encounter geological disasters.As one of the natural disasters,landslides lead to considerable loss of human life and property.Considering mitigation of the losses caused by landslide disasters,a necessary measure for disaster prevention and mitigation involves conducting detailed investigations and monitoring of landslides,which is also the cornerstone of landslide warning.This study compares and analyzes the feasibility of the magnetotelluric detection method for landslides using the results of engineering geological surveys and landslide monitoring.The study aims to address the scientific problem of the validity of using magnetotelluric methods to detect landslide development processes.The Tangjiawan landslide signal on the left side of the K94+000~K94+145 section of the Wenma Expressway is analyzed by employing engineering geological survey,magnetotelluric detection,landslide monitoring,landslide analysis,and other methods.Analysis results provide the static electrical characteristics of lithology,structure,and groundwater,as well as the dynamic electrical characteristics of landslide development.This study focuses on analyzing the relationship between the methods of magnetotelluric detection and engineering geological surveys and the results of landslide monitoring.The workflow and methods for data collection,processing,inversion,interpretation,and analysis using the magnetotelluric method to detect the dynamic development process of landslides are presented in the conclusion.Preliminary conclusions indicate a strong correlation between the dynamic changes in magnetotelluric wave impedance with the surface displacement of landslides and the dynamic changes in groundwater.The use of the magnetotelluric method for landslide detection and monitoring is a feasible example.The research results can offer certain technical references for the detection and monitoring of landslides using magnetotelluric methods and also provide references and guidance for the selection of diversified landslide monitoring methods in the future.展开更多
Structural health monitoring and performance prediction are crucial for smart disaster mitigation and intelligent management of structures throughout their lifespan.Recent advancements in predictive maintenance strate...Structural health monitoring and performance prediction are crucial for smart disaster mitigation and intelligent management of structures throughout their lifespan.Recent advancements in predictive maintenance strategies within the industrial manufacturing industry have inspired similar innovations in civil engineering,aiming to improve structural performance evaluation,damage diagnosis,and capacity prediction.This review delves into the framework of predictive maintenance and examines various existing solutions,focusing on critical areas such as data acquisition,condition monitoring,damage prognosis,and maintenance planning.Results from real-world applications of predictive maintenance in civil engineering,covering high-rise structures,deep foundation pits,and other infrastructure,are presented.The challenges of implementing predictive maintenance in civil engineering structures under current technology,such as model interpretability of data-driven methods and standards for predictive maintenance,are explored.Future research prospects within this area are also discussed.展开更多
Wearable devices have great application potential in the next generation of smart portable electronics,especially in the fields of medical monitoring,soft robotics,artificial intelligence,and human-machine interfaces....Wearable devices have great application potential in the next generation of smart portable electronics,especially in the fields of medical monitoring,soft robotics,artificial intelligence,and human-machine interfaces.Piezoelectric flexible strain sensors are key components of wearable devices.However,existing piezoelectric flexible strain sensors have certain limitations in weak signal monitoring due to their large modulus and low sensitivity.To solve this problem,the concept of Kirigami(paper-cutting)was introduced in this study to design the sensor structure.By comparing the Kirigami structures of different basic structures,the serpentine structure was determined as the basic configuration of the sensor.The serpentine structure not only provides excellent tensile properties,but also significantly improves the sensitivity of the sensor,which performs well in monitoring weak signals.On this basis,the adhesion properties of the flexible sensor were analyzed and tested,and the optimal ratio of the substrate was selected for preparation.In addition,a low-cost and rapid prototyping process for stretchable patches was established in this study.Using this technology,we prepared the sensor device and tested its performance.Finally,we successfully developed a flexible sensor with a sensitivity of 0.128 mV/μɛand verified its feasibility for wrist joint motion monitoring applications.This result opens up new avenues for the recovery care of tenosynovitis patients after surgery.展开更多
Structural health monitoring is widely utilized in outdoor environments,especially under harsh conditions,which can introduce noise into the monitoring system.Therefore,designing an effective denoising strategy to enh...Structural health monitoring is widely utilized in outdoor environments,especially under harsh conditions,which can introduce noise into the monitoring system.Therefore,designing an effective denoising strategy to enhance the performance of guided wave damage detection in noisy environments is crucial.This paper introduces a local temporal principal component analysis(PCA)reconstruction approach for denoising guided waves prior to implementing unsupervised damage detection,achieved through novel autoencoder-based reconstruction.Experimental results demonstrate that the proposed denoising method significantly enhances damage detection performance when guided waves are contaminated by noise,with SNR values ranging from 10 to-5 dB.Following the implementation of the proposed denoising approach,the AUC score can elevate from 0.65 to 0.96 when dealing with guided waves corrputed by noise at a level of-5 dB.Additionally,the paper provides guidance on selecting the appropriate number of components used in the denoising PCA reconstruction,aiding in the optimization of the damage detection in noisy conditions.展开更多
Carbon fiber-reinforced polymer(CFRP)is widely used in aerospace applications.This kind of material may face the threat of high-velocity impact in the process of dedicated service,and the relevant research mainly cons...Carbon fiber-reinforced polymer(CFRP)is widely used in aerospace applications.This kind of material may face the threat of high-velocity impact in the process of dedicated service,and the relevant research mainly considers the impact resistance of the material,and lacks the high-velocity impact damage monitoring research of CFRP.To solve this problem,a real high-velocity impact damage experiment and structural health monitoring(SHM)method of CFRP plate based on piezoelectric guided wave is proposed.The results show that CFRP has obvious perforation damage and fiber breakage when high-velocity impact occurs.It is also proved that guided wave SHM technology can be effectively used in the monitoring of such damage,and the damage can be reflected by quantifying the signal changes and damage index(DI).It provides a reference for further research on guided wave structure monitoring of high/hyper-velocity impact damage of CFRP.展开更多
[Objective]Real-time monitoring of cow ruminant behavior is of paramount importance for promptly obtaining relevant information about cow health and predicting cow diseases.Currently,various strategies have been propo...[Objective]Real-time monitoring of cow ruminant behavior is of paramount importance for promptly obtaining relevant information about cow health and predicting cow diseases.Currently,various strategies have been proposed for monitoring cow ruminant behavior,including video surveillance,sound recognition,and sensor monitoring methods.How‐ever,the application of edge device gives rise to the issue of inadequate real-time performance.To reduce the volume of data transmission and cloud computing workload while achieving real-time monitoring of dairy cow rumination behavior,a real-time monitoring method was proposed for cow ruminant behavior based on edge computing.[Methods]Autono‐mously designed edge devices were utilized to collect and process six-axis acceleration signals from cows in real-time.Based on these six-axis data,two distinct strategies,federated edge intelligence and split edge intelligence,were investigat‐ed for the real-time recognition of cow ruminant behavior.Focused on the real-time recognition method for cow ruminant behavior leveraging federated edge intelligence,the CA-MobileNet v3 network was proposed by enhancing the MobileNet v3 network with a collaborative attention mechanism.Additionally,a federated edge intelligence model was designed uti‐lizing the CA-MobileNet v3 network and the FedAvg federated aggregation algorithm.In the study on split edge intelli‐gence,a split edge intelligence model named MobileNet-LSTM was designed by integrating the MobileNet v3 network with a fusion collaborative attention mechanism and the Bi-LSTM network.[Results and Discussions]Through compara‐tive experiments with MobileNet v3 and MobileNet-LSTM,the federated edge intelligence model based on CA-Mo‐bileNet v3 achieved an average Precision rate,Recall rate,F1-Score,Specificity,and Accuracy of 97.1%,97.9%,97.5%,98.3%,and 98.2%,respectively,yielding the best recognition performance.[Conclusions]It is provided a real-time and effective method for monitoring cow ruminant behavior,and the proposed federated edge intelligence model can be ap‐plied in practical settings.展开更多
To enhance the accuracy and efficiency of bridge damage identification,a novel data-driven damage identification method was proposed.First,convolutional autoencoder(CAE)was used to extract key features from the accele...To enhance the accuracy and efficiency of bridge damage identification,a novel data-driven damage identification method was proposed.First,convolutional autoencoder(CAE)was used to extract key features from the acceleration signal of the bridge structure through data reconstruction.The extreme gradient boosting tree(XGBoost)was then used to perform analysis on the feature data to achieve damage detection with high accuracy and high performance.The proposed method was applied in a numerical simulation study on a three-span continuous girder and further validated experimentally on a scaled model of a cable-stayed bridge.The numerical simulation results show that the identification errors remain within 2.9%for six single-damage cases and within 3.1%for four double-damage cases.The experimental validation results demonstrate that when the tension in a single cable of the cable-stayed bridge decreases by 20%,the method accurately identifies damage at different cable locations using only sensors installed on the main girder,achieving identification accuracies above 95.8%in all cases.The proposed method shows high identification accuracy and generalization ability across various damage scenarios.展开更多
This study aimed to address the challenge of accurately and reliably detecting tomatoes in dense planting environments,a critical prerequisite for the automation implementation of robotic harvesting.However,the heavy ...This study aimed to address the challenge of accurately and reliably detecting tomatoes in dense planting environments,a critical prerequisite for the automation implementation of robotic harvesting.However,the heavy reliance on extensive manually annotated datasets for training deep learning models still poses significant limitations to their application in real-world agricultural production environments.To overcome these limitations,we employed domain adaptive learning approach combined with the YOLOv5 model to develop a novel tomato detection model called as TDA-YOLO(tomato detection domain adaptation).We designated the normal illumination scenes in dense planting environments as the source domain and utilized various other illumination scenes as the target domain.To construct bridge mechanism between source and target domains,neural preset for color style transfer is introduced to generate a pseudo-dataset,which served to deal with domain discrepancy.Furthermore,this study combines the semi-supervised learning method to enable the model to extract domain-invariant features more fully,and uses knowledge distillation to improve the model's ability to adapt to the target domain.Additionally,for purpose of promoting inference speed and low computational demand,the lightweight FasterNet network was integrated into the YOLOv5's C3 module,creating a modified C3_Faster module.The experimental results demonstrated that the proposed TDA-YOLO model significantly outperformed original YOLOv5s model,achieving a mAP(mean average precision)of 96.80%for tomato detection across diverse scenarios in dense planting environments,increasing by 7.19 percentage points;Compared with the latest YOLOv8 and YOLOv9,it is also 2.17 and 1.19 percentage points higher,respectively.The model's average detection time per image was an impressive 15 milliseconds,with a FLOPs(floating point operations per second)count of 13.8 G.After acceleration processing,the detection accuracy of the TDA-YOLO model on the Jetson Xavier NX development board is 90.95%,the mAP value is 91.35%,and the detection time of each image is 21 ms,which can still meet the requirements of real-time detection of tomatoes in dense planting environment.The experimental results show that the proposed TDA-YOLO model can accurately and quickly detect tomatoes in dense planting environment,and at the same time avoid the use of a large number of annotated data,which provides technical support for the development of automatic harvesting systems for tomatoes and other fruits.展开更多
基金Project(52204084)supported by the National Natural Science Foundation of ChinaProject(FRF-IDRY-GD22-002)supported by the Interdisciplinary Research Project for Young Teachers of USTB(Fundamental Research Funds for the Central Universities),China+2 种基金Project(QNXM20220009)supported by the Fundamental Research Funds for the Central Universities and the Youth Teacher International Exchange and Growth Program,ChinaProjects(2022YFC2905600,2022YFC3004601)supported by the National Key R&D Program of ChinaProject(2023XAGG0061)supported by the Science,Technology&Innovation Project of Xiongan New Area,China。
文摘Metal mineral resources play an indispensable role in the development of the national economy.Dynamic disasters in underground metal mines seriously threaten mining safety,which are major scientific and technological problems to be solved urgently.In this article,the occurrence status and grand challenges of some typical dynamic disasters involving roof falling,spalling,collapse,large deformation,rockburst,surface subsidence,and water inrush in metal mines in China are systematically presented,the characteristics of mining-induced dynamic disasters are analyzed,the examples of dynamic disasters occurring in some metal mines in China are summarized,the occurrence mechanism,monitoring and early warning methods,and prevention and control techniques of these disasters are highlighted,and some new opinions,suggestions,and solutions are proposed simultaneously.Moreover,some shortcomings in current disaster research are pointed out,and the direction of efforts to improve the prevention and control level of dynamic disasters in China’s metal mines in the future is prospected.The integration of forward-looking key innovative theories and technologies in the abovementioned aspects will greatly enhance the cognitive level of disaster prevention and mitigation in China’s metal mining industry and achieve a significant shift from passive disaster relief to active disaster prevention.
基金supported by the Construction S&T Project of Department of Transportation of Sichuan Province(Grant No.2023A02,No.2024A04,No.2020A01)the Sichuan Science and Technology Program(Grant No.2022YFG0141)+3 种基金the Research Project of Sichuan Highway Planning,Survey,Design,and Research Institute Ltd.(Grant No.KYXM2021000049,No.KYXM2022000038,No.KYXM2023000056)the National Natural Science Foundation of China(41630640)the National Science Foundation of Innovation Research Group(41521002)the National Natural Science Foundation of China(41790445).
文摘A wide range of terrain features and landforms,which are exemplified by intricate geological formations and diverse rock compositions,are found in the western mountainous regions of China.These areas frequently encounter geological disasters.As one of the natural disasters,landslides lead to considerable loss of human life and property.Considering mitigation of the losses caused by landslide disasters,a necessary measure for disaster prevention and mitigation involves conducting detailed investigations and monitoring of landslides,which is also the cornerstone of landslide warning.This study compares and analyzes the feasibility of the magnetotelluric detection method for landslides using the results of engineering geological surveys and landslide monitoring.The study aims to address the scientific problem of the validity of using magnetotelluric methods to detect landslide development processes.The Tangjiawan landslide signal on the left side of the K94+000~K94+145 section of the Wenma Expressway is analyzed by employing engineering geological survey,magnetotelluric detection,landslide monitoring,landslide analysis,and other methods.Analysis results provide the static electrical characteristics of lithology,structure,and groundwater,as well as the dynamic electrical characteristics of landslide development.This study focuses on analyzing the relationship between the methods of magnetotelluric detection and engineering geological surveys and the results of landslide monitoring.The workflow and methods for data collection,processing,inversion,interpretation,and analysis using the magnetotelluric method to detect the dynamic development process of landslides are presented in the conclusion.Preliminary conclusions indicate a strong correlation between the dynamic changes in magnetotelluric wave impedance with the surface displacement of landslides and the dynamic changes in groundwater.The use of the magnetotelluric method for landslide detection and monitoring is a feasible example.The research results can offer certain technical references for the detection and monitoring of landslides using magnetotelluric methods and also provide references and guidance for the selection of diversified landslide monitoring methods in the future.
基金The National Natural Science Foundation of China(No.52278312)the National Key Research and Development Program of China(No.2022YFC3801202)the Fundamental Research Funds for the Central Universities.
文摘Structural health monitoring and performance prediction are crucial for smart disaster mitigation and intelligent management of structures throughout their lifespan.Recent advancements in predictive maintenance strategies within the industrial manufacturing industry have inspired similar innovations in civil engineering,aiming to improve structural performance evaluation,damage diagnosis,and capacity prediction.This review delves into the framework of predictive maintenance and examines various existing solutions,focusing on critical areas such as data acquisition,condition monitoring,damage prognosis,and maintenance planning.Results from real-world applications of predictive maintenance in civil engineering,covering high-rise structures,deep foundation pits,and other infrastructure,are presented.The challenges of implementing predictive maintenance in civil engineering structures under current technology,such as model interpretability of data-driven methods and standards for predictive maintenance,are explored.Future research prospects within this area are also discussed.
基金supported by National Natural Science Foundation of China(Nos.62301509,62304209)Key Research and Development Program of Shanxi Province(No.202302030201001)Fundamental Research Program of Shanxi Province(Nos.202203021222079,0210302123203,202103021223185).
文摘Wearable devices have great application potential in the next generation of smart portable electronics,especially in the fields of medical monitoring,soft robotics,artificial intelligence,and human-machine interfaces.Piezoelectric flexible strain sensors are key components of wearable devices.However,existing piezoelectric flexible strain sensors have certain limitations in weak signal monitoring due to their large modulus and low sensitivity.To solve this problem,the concept of Kirigami(paper-cutting)was introduced in this study to design the sensor structure.By comparing the Kirigami structures of different basic structures,the serpentine structure was determined as the basic configuration of the sensor.The serpentine structure not only provides excellent tensile properties,but also significantly improves the sensitivity of the sensor,which performs well in monitoring weak signals.On this basis,the adhesion properties of the flexible sensor were analyzed and tested,and the optimal ratio of the substrate was selected for preparation.In addition,a low-cost and rapid prototyping process for stretchable patches was established in this study.Using this technology,we prepared the sensor device and tested its performance.Finally,we successfully developed a flexible sensor with a sensitivity of 0.128 mV/μɛand verified its feasibility for wrist joint motion monitoring applications.This result opens up new avenues for the recovery care of tenosynovitis patients after surgery.
基金National Science Foundation of Zhejiang under Contract(LY23E010001)。
文摘Structural health monitoring is widely utilized in outdoor environments,especially under harsh conditions,which can introduce noise into the monitoring system.Therefore,designing an effective denoising strategy to enhance the performance of guided wave damage detection in noisy environments is crucial.This paper introduces a local temporal principal component analysis(PCA)reconstruction approach for denoising guided waves prior to implementing unsupervised damage detection,achieved through novel autoencoder-based reconstruction.Experimental results demonstrate that the proposed denoising method significantly enhances damage detection performance when guided waves are contaminated by noise,with SNR values ranging from 10 to-5 dB.Following the implementation of the proposed denoising approach,the AUC score can elevate from 0.65 to 0.96 when dealing with guided waves corrputed by noise at a level of-5 dB.Additionally,the paper provides guidance on selecting the appropriate number of components used in the denoising PCA reconstruction,aiding in the optimization of the damage detection in noisy conditions.
基金supported by the National Natural Science Foundation of China(Nos.51921003,52275153)the Fundamental Research Funds for the Central Universities(No.NI2023001)+2 种基金the Research Fund of State Key Laboratory of Mechanics and Control for Aero-space Structures(No.MCAS-I-0423G01)the Fund of Pro-spective Layout of Scientific Research for Nanjing University of Aeronautics and Astronauticsthe Priority Academic Program Development of Jiangsu Higher Education Institu-tions of China.
文摘Carbon fiber-reinforced polymer(CFRP)is widely used in aerospace applications.This kind of material may face the threat of high-velocity impact in the process of dedicated service,and the relevant research mainly considers the impact resistance of the material,and lacks the high-velocity impact damage monitoring research of CFRP.To solve this problem,a real high-velocity impact damage experiment and structural health monitoring(SHM)method of CFRP plate based on piezoelectric guided wave is proposed.The results show that CFRP has obvious perforation damage and fiber breakage when high-velocity impact occurs.It is also proved that guided wave SHM technology can be effectively used in the monitoring of such damage,and the damage can be reflected by quantifying the signal changes and damage index(DI).It provides a reference for further research on guided wave structure monitoring of high/hyper-velocity impact damage of CFRP.
文摘[Objective]Real-time monitoring of cow ruminant behavior is of paramount importance for promptly obtaining relevant information about cow health and predicting cow diseases.Currently,various strategies have been proposed for monitoring cow ruminant behavior,including video surveillance,sound recognition,and sensor monitoring methods.How‐ever,the application of edge device gives rise to the issue of inadequate real-time performance.To reduce the volume of data transmission and cloud computing workload while achieving real-time monitoring of dairy cow rumination behavior,a real-time monitoring method was proposed for cow ruminant behavior based on edge computing.[Methods]Autono‐mously designed edge devices were utilized to collect and process six-axis acceleration signals from cows in real-time.Based on these six-axis data,two distinct strategies,federated edge intelligence and split edge intelligence,were investigat‐ed for the real-time recognition of cow ruminant behavior.Focused on the real-time recognition method for cow ruminant behavior leveraging federated edge intelligence,the CA-MobileNet v3 network was proposed by enhancing the MobileNet v3 network with a collaborative attention mechanism.Additionally,a federated edge intelligence model was designed uti‐lizing the CA-MobileNet v3 network and the FedAvg federated aggregation algorithm.In the study on split edge intelli‐gence,a split edge intelligence model named MobileNet-LSTM was designed by integrating the MobileNet v3 network with a fusion collaborative attention mechanism and the Bi-LSTM network.[Results and Discussions]Through compara‐tive experiments with MobileNet v3 and MobileNet-LSTM,the federated edge intelligence model based on CA-Mo‐bileNet v3 achieved an average Precision rate,Recall rate,F1-Score,Specificity,and Accuracy of 97.1%,97.9%,97.5%,98.3%,and 98.2%,respectively,yielding the best recognition performance.[Conclusions]It is provided a real-time and effective method for monitoring cow ruminant behavior,and the proposed federated edge intelligence model can be ap‐plied in practical settings.
基金The National Natural Science Foundation of China(No.52361165658,52378318,52078459).
文摘To enhance the accuracy and efficiency of bridge damage identification,a novel data-driven damage identification method was proposed.First,convolutional autoencoder(CAE)was used to extract key features from the acceleration signal of the bridge structure through data reconstruction.The extreme gradient boosting tree(XGBoost)was then used to perform analysis on the feature data to achieve damage detection with high accuracy and high performance.The proposed method was applied in a numerical simulation study on a three-span continuous girder and further validated experimentally on a scaled model of a cable-stayed bridge.The numerical simulation results show that the identification errors remain within 2.9%for six single-damage cases and within 3.1%for four double-damage cases.The experimental validation results demonstrate that when the tension in a single cable of the cable-stayed bridge decreases by 20%,the method accurately identifies damage at different cable locations using only sensors installed on the main girder,achieving identification accuracies above 95.8%in all cases.The proposed method shows high identification accuracy and generalization ability across various damage scenarios.
基金The National Natural Science Foundation of China (32371993)The Natural Science Research Key Project of Anhui Provincial University(2022AH040125&2023AH040135)The Key Research and Development Plan of Anhui Province (202204c06020022&2023n06020057)。
文摘This study aimed to address the challenge of accurately and reliably detecting tomatoes in dense planting environments,a critical prerequisite for the automation implementation of robotic harvesting.However,the heavy reliance on extensive manually annotated datasets for training deep learning models still poses significant limitations to their application in real-world agricultural production environments.To overcome these limitations,we employed domain adaptive learning approach combined with the YOLOv5 model to develop a novel tomato detection model called as TDA-YOLO(tomato detection domain adaptation).We designated the normal illumination scenes in dense planting environments as the source domain and utilized various other illumination scenes as the target domain.To construct bridge mechanism between source and target domains,neural preset for color style transfer is introduced to generate a pseudo-dataset,which served to deal with domain discrepancy.Furthermore,this study combines the semi-supervised learning method to enable the model to extract domain-invariant features more fully,and uses knowledge distillation to improve the model's ability to adapt to the target domain.Additionally,for purpose of promoting inference speed and low computational demand,the lightweight FasterNet network was integrated into the YOLOv5's C3 module,creating a modified C3_Faster module.The experimental results demonstrated that the proposed TDA-YOLO model significantly outperformed original YOLOv5s model,achieving a mAP(mean average precision)of 96.80%for tomato detection across diverse scenarios in dense planting environments,increasing by 7.19 percentage points;Compared with the latest YOLOv8 and YOLOv9,it is also 2.17 and 1.19 percentage points higher,respectively.The model's average detection time per image was an impressive 15 milliseconds,with a FLOPs(floating point operations per second)count of 13.8 G.After acceleration processing,the detection accuracy of the TDA-YOLO model on the Jetson Xavier NX development board is 90.95%,the mAP value is 91.35%,and the detection time of each image is 21 ms,which can still meet the requirements of real-time detection of tomatoes in dense planting environment.The experimental results show that the proposed TDA-YOLO model can accurately and quickly detect tomatoes in dense planting environment,and at the same time avoid the use of a large number of annotated data,which provides technical support for the development of automatic harvesting systems for tomatoes and other fruits.