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
The Igbos are one of the major tribes of Nigeria. Over the years, their distinct way of living have further accentuated their culture. The paper discusses the Igbo cultural landscape region which comprises of rural au...The Igbos are one of the major tribes of Nigeria. Over the years, their distinct way of living have further accentuated their culture. The paper discusses the Igbo cultural landscape region which comprises of rural autonomous communities made up of clusters of kindred and villages. In spite of the existence of the townships serving as trade, political and administrative centers for more than one century, the rate of urbanization has been very slow thereby affecting the development of the communities physically, economically and socially at astonishing rates consuming farmlands and traditional community boundaries. This paper is aimed at creating awareness on the unique regional growth pattern in Igbo land heavily dependent on cultural and natural heritages for purpose of determining adaptable regional planning strategies for such vibrant cultural region. It has examined the key issues and suggested a way forward to a more sustainable development of the region.展开更多
In this paper, a trust region method for equality constrained optimizationbased on nondifferentiable exact penalty is proposed. In this algorithm, the trail step ischaracterized by computation of its normal component ...In this paper, a trust region method for equality constrained optimizationbased on nondifferentiable exact penalty is proposed. In this algorithm, the trail step ischaracterized by computation of its normal component being separated from computation of itstangential component, i.e., only the tangential component of the trail step is constrained by trustradius while the normal component and trail step itself have no constraints. The other maincharacteristic of the algorithm is the decision of trust region radius. Here, the decision of trustregion radius uses the information of the gradient of objective function and reduced Hessian.However, Maratos effect will occur when we use the nondifferentiable exact penalty function as themerit function. In order to obtain the superlinear convergence of the algorithm, we use the twiceorder correction technique. Because of the speciality of the adaptive trust region method, we usetwice order correction when p = 0 (the definition is as in Section 2) and this is different from thetraditional trust region methods for equality constrained optimization. So the computation of thealgorithm in this paper is reduced. What is more, we can prove that the algorithm is globally andsuperlinearly convergent.展开更多
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.
文摘The Igbos are one of the major tribes of Nigeria. Over the years, their distinct way of living have further accentuated their culture. The paper discusses the Igbo cultural landscape region which comprises of rural autonomous communities made up of clusters of kindred and villages. In spite of the existence of the townships serving as trade, political and administrative centers for more than one century, the rate of urbanization has been very slow thereby affecting the development of the communities physically, economically and socially at astonishing rates consuming farmlands and traditional community boundaries. This paper is aimed at creating awareness on the unique regional growth pattern in Igbo land heavily dependent on cultural and natural heritages for purpose of determining adaptable regional planning strategies for such vibrant cultural region. It has examined the key issues and suggested a way forward to a more sustainable development of the region.
基金This research is supported in part by the National Natural Science Foundation of China(Grant No. 39830070,10171055)and China Postdoctoral Science Foundation
文摘In this paper, a trust region method for equality constrained optimizationbased on nondifferentiable exact penalty is proposed. In this algorithm, the trail step ischaracterized by computation of its normal component being separated from computation of itstangential component, i.e., only the tangential component of the trail step is constrained by trustradius while the normal component and trail step itself have no constraints. The other maincharacteristic of the algorithm is the decision of trust region radius. Here, the decision of trustregion radius uses the information of the gradient of objective function and reduced Hessian.However, Maratos effect will occur when we use the nondifferentiable exact penalty function as themerit function. In order to obtain the superlinear convergence of the algorithm, we use the twiceorder correction technique. Because of the speciality of the adaptive trust region method, we usetwice order correction when p = 0 (the definition is as in Section 2) and this is different from thetraditional trust region methods for equality constrained optimization. So the computation of thealgorithm in this paper is reduced. What is more, we can prove that the algorithm is globally andsuperlinearly convergent.
