Maize tassel detection is essential for future agronomic management in maize planting and breeding,with application in yield estimation,growth monitoring,intelligent picking,and disease detection.However,detecting mai...Maize tassel detection is essential for future agronomic management in maize planting and breeding,with application in yield estimation,growth monitoring,intelligent picking,and disease detection.However,detecting maize tassels in the field poses prominent challenges as they are often obscured by widespread occlusions and differ in size and morphological color at different growth stages.This study proposes the SEYOLOX-tiny Model that more accurately and robustly detects maize tassels in the field.Firstly,the data acquisition method ensures the balance between the image quality and image acquisition efficiency and obtains maize tassel images from different periods to enrich the dataset by unmanned aerial vehicle(UAV).Moreover,the robust detection network extends YOLOX by embedding an attention mechanism to realize the extraction of critical features and suppressing the noise caused by adverse factors(e.g.,occlusions and overlaps),which could be more suitable and robust for operation in complex natural environments.Experimental results verify the research hypothesis and show a mean average precision(mAP_(@0.5)) of 95.0%.The mAP_(@0.5),mAP_(@0.5-0.95),mAP_(@0.5-0.95(area=small)),and mAP_(@0.5-0.95(area=medium)) average values increased by 1.5,1.8,5.3,and 1.7%,respectively,compared to the original model.The proposed method can effectively meet the precision and robustness requirements of the vision system in maize tassel detection.展开更多
Semantic segmentation of remote sensing images is one of the core tasks of remote sensing image interpretation.With the continuous develop-ment of artificial intelligence technology,the use of deep learning methods fo...Semantic segmentation of remote sensing images is one of the core tasks of remote sensing image interpretation.With the continuous develop-ment of artificial intelligence technology,the use of deep learning methods for interpreting remote-sensing images has matured.Existing neural networks disregard the spatial relationship between two targets in remote sensing images.Semantic segmentation models that combine convolutional neural networks(CNNs)and graph convolutional neural networks(GCNs)cause a lack of feature boundaries,which leads to the unsatisfactory segmentation of various target feature boundaries.In this paper,we propose a new semantic segmentation model for remote sensing images(called DGCN hereinafter),which combines deep semantic segmentation networks(DSSN)and GCNs.In the GCN module,a loss function for boundary information is employed to optimize the learning of spatial relationship features between the target features and their relationships.A hierarchical fusion method is utilized for feature fusion and classification to optimize the spatial relationship informa-tion in the original feature information.Extensive experiments on ISPRS 2D and DeepGlobe semantic segmentation datasets show that compared with the existing semantic segmentation models of remote sensing images,the DGCN significantly optimizes the segmentation effect of feature boundaries,effectively reduces the noise in the segmentation results and improves the segmentation accuracy,which demonstrates the advancements of our model.展开更多
Remote sensing image(RSI)classifier roles a vital play in earth observation technology utilizing Remote sensing(RS)data are extremely exploited from both military and civil fields.More recently,as novel DL approaches ...Remote sensing image(RSI)classifier roles a vital play in earth observation technology utilizing Remote sensing(RS)data are extremely exploited from both military and civil fields.More recently,as novel DL approaches develop,techniques for RSI classifiers with DL have attained important breakthroughs,providing a new opportunity for the research and development of RSI classifiers.This study introduces an Improved Slime Mould Optimization with a graph convolutional network for the hyperspectral remote sensing image classification(ISMOGCN-HRSC)model.The ISMOGCN-HRSC model majorly concentrates on identifying and classifying distinct kinds of RSIs.In the presented ISMOGCN-HRSC model,the synergic deep learning(SDL)model is exploited to produce feature vectors.The GCN model is utilized for image classification purposes to identify the proper class labels of the RSIs.The ISMO algorithm is used to enhance the classification efficiency of the GCN method,which is derived by integrating chaotic concepts into the SMO algorithm.The experimental assessment of the ISMOGCN-HRSC method is tested using a benchmark dataset.展开更多
The remote sensing ships’fine-grained classification technology makes it possible to identify certain ship types in remote sensing images,and it has broad application prospects in civil and military fields.However,th...The remote sensing ships’fine-grained classification technology makes it possible to identify certain ship types in remote sensing images,and it has broad application prospects in civil and military fields.However,the current model does not examine the properties of ship targets in remote sensing images with mixed multi-granularity features and a complicated backdrop.There is still an opportunity for future enhancement of the classification impact.To solve the challenges brought by the above characteristics,this paper proposes a Metaformer and Residual fusion network based on Visual Attention Network(VAN-MR)for fine-grained classification tasks.For the complex background of remote sensing images,the VAN-MR model adopts the parallel structure of large kernel attention and spatial attention to enhance the model’s feature extraction ability of interest targets and improve the classification performance of remote sensing ship targets.For the problem of multi-grained feature mixing in remote sensing images,the VAN-MR model uses a Metaformer structure and a parallel network of residual modules to extract ship features.The parallel network has different depths,considering both high-level and lowlevel semantic information.The model achieves better classification performance in remote sensing ship images with multi-granularity mixing.Finally,the model achieves 88.73%and 94.56%accuracy on the public fine-grained ship collection-23(FGSC-23)and FGSCR-42 datasets,respectively,while the parameter size is only 53.47 M,the floating point operations is 9.9 G.The experimental results show that the classification effect of VAN-MR is superior to that of traditional CNNs model and visual model with Transformer structure under the same parameter quantity.展开更多
To address the issue of imbalanced detection performance and detection speed in current mainstream object detection algorithms for optical remote sensing images,this paper proposes a multi-scale object detection model...To address the issue of imbalanced detection performance and detection speed in current mainstream object detection algorithms for optical remote sensing images,this paper proposes a multi-scale object detection model for remote sensing images on complex backgrounds,called DI-YOLO,based on You Only Look Once v7-tiny(YOLOv7-tiny).Firstly,to enhance the model’s ability to capture irregular-shaped objects and deformation features,as well as to extract high-level semantic information,deformable convolutions are used to replace standard convolutions in the original model.Secondly,a Content Coordination Attention Feature Pyramid Network(CCA-FPN)structure is designed to replace the Neck part of the original model,which can further perceive relationships between different pixels,reduce feature loss in remote sensing images,and improve the overall model’s ability to detect multi-scale objects.Thirdly,an Implicitly Efficient Decoupled Head(IEDH)is proposed to increase the model’s flexibility,making it more adaptable to complex detection tasks in various scenarios.Finally,the Smoothed Intersection over Union(SIoU)loss function replaces the Complete Intersection over Union(CIoU)loss function in the original model,resulting in more accurate prediction of bounding boxes and continuous model optimization.Experimental results on the High-Resolution Remote Sensing Detection(HRRSD)dataset demonstrate that the proposed DI-YOLO model outperforms mainstream target detection algorithms in terms of mean Average Precision(mAP)for optical remote sensing image detection.Furthermore,it achieves Frames Per Second(FPS)of 138.9,meeting fast and accurate detection requirements.展开更多
As a new teaching method,remote online education has gradually become the most dependent teaching auxiliary method in universities.Especially under the influence of the COVID-19 pandemic,Chinese universities,which mai...As a new teaching method,remote online education has gradually become the most dependent teaching auxiliary method in universities.Especially under the influence of the COVID-19 pandemic,Chinese universities,which mainly have cross-provincial students,have strengthened the development and construction of remote online courses due to social and geographical constraints.Among them,due to the particularity of ideological and political education,remote online ideological and political teaching has some problems,such as lack of learning situation analysis,difficult measurement of goal achievement,inefficient teacher-student interaction,single teaching strategy,and lack of unified teaching norms.To deal with these difficulties,in the background of digital transformation of education,especially in the post-epidemic era and the moment of the rise of artificial intelligence technology,to strengthen the top-level education design,security,and supervision as the benchmark,standardize local curriculum standards,classify and gradually improve teachers’enthusiasm for participation,and give full play to the advantages of artificial intelligence remote ideological and political teaching improvement.It is of profound significance to the cultivation of talents in Chinese universities.展开更多
High-resolution remote sensing image segmentation is a challenging task. In urban remote sensing, the presenceof occlusions and shadows often results in blurred or invisible object boundaries, thereby increasing the d...High-resolution remote sensing image segmentation is a challenging task. In urban remote sensing, the presenceof occlusions and shadows often results in blurred or invisible object boundaries, thereby increasing the difficultyof segmentation. In this paper, an improved network with a cross-region self-attention mechanism for multi-scalefeatures based onDeepLabv3+is designed to address the difficulties of small object segmentation and blurred targetedge segmentation. First,we use CrossFormer as the backbone feature extraction network to achieve the interactionbetween large- and small-scale features, and establish self-attention associations between features at both large andsmall scales to capture global contextual feature information. Next, an improved atrous spatial pyramid poolingmodule is introduced to establish multi-scale feature maps with large- and small-scale feature associations, andattention vectors are added in the channel direction to enable adaptive adjustment of multi-scale channel features.The proposed networkmodel is validated using the PotsdamandVaihingen datasets. The experimental results showthat, compared with existing techniques, the network model designed in this paper can extract and fuse multiscaleinformation, more clearly extract edge information and small-scale information, and segment boundariesmore smoothly. Experimental results on public datasets demonstrate the superiority of ourmethod compared withseveral state-of-the-art networks.展开更多
Cereal is an essential source of calories and protein for the global population.Accurately predicting cereal quality before harvest is highly desirable in order to optimise management for farmers,grading harvest and c...Cereal is an essential source of calories and protein for the global population.Accurately predicting cereal quality before harvest is highly desirable in order to optimise management for farmers,grading harvest and categorised storage for enterprises,future trading prices,and policy planning.The use of remote sensing data with extensive spatial coverage demonstrates some potential in predicting crop quality traits.Many studies have also proposed models and methods for predicting such traits based on multiplatform remote sensing data.In this paper,the key quality traits that are of interest to producers and consumers are introduced.The literature related to grain quality prediction was analyzed in detail,and a review was conducted on remote sensing platforms,commonly used methods,potential gaps,and future trends in crop quality prediction.This review recommends new research directions that go beyond the traditional methods and discusses grain quality retrieval and the associated challenges from the perspective of remote sensing data.展开更多
The development of bioinspired gradient hydrogels with self-sensing actuated capabilities for remote interaction with soft-hard robots remains a challenging endeavor. Here, we propose a novel multifunctional self-sens...The development of bioinspired gradient hydrogels with self-sensing actuated capabilities for remote interaction with soft-hard robots remains a challenging endeavor. Here, we propose a novel multifunctional self-sensing actuated gradient hydrogel that combines ultrafast actuation and high sensitivity for remote interaction with robotic hand. The gradient network structure, achieved through a wettability difference method involving the rapid precipitation of MoO_(2) nanosheets, introduces hydrophilic disparities between two sides within hydrogel. This distinctive approach bestows the hydrogel with ultrafast thermo-responsive actuation(21° s^(-1)) and enhanced photothermal efficiency(increase by 3.7 ℃ s^(-1) under 808 nm near-infrared). Moreover, the local cross-linking of sodium alginate with Ca^(2+) endows the hydrogel with programmable deformability and information display capabilities. Additionally, the hydrogel exhibits high sensitivity(gauge factor 3.94 within a wide strain range of 600%), fast response times(140 ms) and good cycling stability. Leveraging these exceptional properties, we incorporate the hydrogel into various soft actuators, including soft gripper, artificial iris, and bioinspired jellyfish, as well as wearable electronics capable of precise human motion and physiological signal detection. Furthermore, through the synergistic combination of remarkable actuation and sensitivity, we realize a self-sensing touch bioinspired tongue. Notably, by employing quantitative analysis of actuation-sensing, we realize remote interaction between soft-hard robot via the Internet of Things. The multifunctional self-sensing actuated gradient hydrogel presented in this study provides a new insight for advanced somatosensory materials, self-feedback intelligent soft robots and human–machine interactions.展开更多
An innovative complex lidar system deployed on an airborne rotorcraft platform for remote sensing of atmospheric pollution is proposed and demonstrated.The system incorporates integrated-path differential absorption l...An innovative complex lidar system deployed on an airborne rotorcraft platform for remote sensing of atmospheric pollution is proposed and demonstrated.The system incorporates integrated-path differential absorption lidar(DIAL) and coherent-doppler lidar(CDL) techniques using a dual tunable TEA CO_(2)laser in the 9—11 μm band and a 1.55 μm fiber laser.By combining the principles of differential absorption detection and pulsed coherent detection,the system enables agile and remote sensing of atmospheric pollution.Extensive static tests validate the system’s real-time detection capabilities,including the measurement of concentration-path-length product(CL),front distance,and path wind speed of air pollution plumes over long distances exceeding 4 km.Flight experiments is conducted with the helicopter.Scanning of the pollutant concentration and the wind field is carried out in an approximately 1 km slant range over scanning angle ranges from 45°to 65°,with a radial resolution of 30 m and10 s.The test results demonstrate the system’s ability to spatially map atmospheric pollution plumes and predict their motion and dispersion patterns,thereby ensuring the protection of public safety.展开更多
Cyber-physical systems(CPSs)have emerged as an essential area of research in the last decade,providing a new paradigm for the integration of computational and physical units in modern control systems.Remote state esti...Cyber-physical systems(CPSs)have emerged as an essential area of research in the last decade,providing a new paradigm for the integration of computational and physical units in modern control systems.Remote state estimation(RSE)is an indispensable functional module of CPSs.Recently,it has been demonstrated that malicious agents can manipulate data packets transmitted through unreliable channels of RSE,leading to severe estimation performance degradation.This paper aims to present an overview of recent advances in cyber-attacks and defensive countermeasures,with a specific focus on integrity attacks against RSE.Firstly,two representative frameworks for the synthesis of optimal deception attacks with various performance metrics and stealthiness constraints are discussed,which provide a deeper insight into the vulnerabilities of RSE.Secondly,a detailed review of typical attack detection and resilient estimation algorithms is included,illustrating the latest defensive measures safeguarding RSE from adversaries.Thirdly,some prevalent attacks impairing the confidentiality and data availability of RSE are examined from both attackers'and defenders'perspectives.Finally,several challenges and open problems are presented to inspire further exploration and future research in this field.展开更多
文摘针对观察型水下机器人在水下运动时易受暗流、波浪影响,造成操控困难、系统稳定性差等问题,建立遥控水下机器人(Remotely Operated Vehicle,ROV)不同运动的控制模型,考虑电机和导管螺旋桨推进器的传递函数对ROV控制系统的影响,确定定艏向和定深控制系统的闭环传递函数,结合模糊控制和比例积分微分(Proportional Integral Differential,PID)控制法,得到模糊PID控制器,基于MATLAB/Simulink环境进行ROV定深度运动仿真和ROV水平面艏向定偏角运动仿真。结果表明,与传统PID控制相比,模糊PID控制具有更优的ROV定艏向和定深度控制效果,不会发生超调现象,在抗干扰能力和响应速度方面具有明显的优势,可有效地实现ROV定艏向和定深度运动控制。
基金supported by the Chinese Universities Scientific Fund (2022TC169)。
文摘Maize tassel detection is essential for future agronomic management in maize planting and breeding,with application in yield estimation,growth monitoring,intelligent picking,and disease detection.However,detecting maize tassels in the field poses prominent challenges as they are often obscured by widespread occlusions and differ in size and morphological color at different growth stages.This study proposes the SEYOLOX-tiny Model that more accurately and robustly detects maize tassels in the field.Firstly,the data acquisition method ensures the balance between the image quality and image acquisition efficiency and obtains maize tassel images from different periods to enrich the dataset by unmanned aerial vehicle(UAV).Moreover,the robust detection network extends YOLOX by embedding an attention mechanism to realize the extraction of critical features and suppressing the noise caused by adverse factors(e.g.,occlusions and overlaps),which could be more suitable and robust for operation in complex natural environments.Experimental results verify the research hypothesis and show a mean average precision(mAP_(@0.5)) of 95.0%.The mAP_(@0.5),mAP_(@0.5-0.95),mAP_(@0.5-0.95(area=small)),and mAP_(@0.5-0.95(area=medium)) average values increased by 1.5,1.8,5.3,and 1.7%,respectively,compared to the original model.The proposed method can effectively meet the precision and robustness requirements of the vision system in maize tassel detection.
基金funded by the Major Scientific and Technological Innovation Project of Shandong Province,Grant No.2022CXGC010609.
文摘Semantic segmentation of remote sensing images is one of the core tasks of remote sensing image interpretation.With the continuous develop-ment of artificial intelligence technology,the use of deep learning methods for interpreting remote-sensing images has matured.Existing neural networks disregard the spatial relationship between two targets in remote sensing images.Semantic segmentation models that combine convolutional neural networks(CNNs)and graph convolutional neural networks(GCNs)cause a lack of feature boundaries,which leads to the unsatisfactory segmentation of various target feature boundaries.In this paper,we propose a new semantic segmentation model for remote sensing images(called DGCN hereinafter),which combines deep semantic segmentation networks(DSSN)and GCNs.In the GCN module,a loss function for boundary information is employed to optimize the learning of spatial relationship features between the target features and their relationships.A hierarchical fusion method is utilized for feature fusion and classification to optimize the spatial relationship informa-tion in the original feature information.Extensive experiments on ISPRS 2D and DeepGlobe semantic segmentation datasets show that compared with the existing semantic segmentation models of remote sensing images,the DGCN significantly optimizes the segmentation effect of feature boundaries,effectively reduces the noise in the segmentation results and improves the segmentation accuracy,which demonstrates the advancements of our model.
文摘Remote sensing image(RSI)classifier roles a vital play in earth observation technology utilizing Remote sensing(RS)data are extremely exploited from both military and civil fields.More recently,as novel DL approaches develop,techniques for RSI classifiers with DL have attained important breakthroughs,providing a new opportunity for the research and development of RSI classifiers.This study introduces an Improved Slime Mould Optimization with a graph convolutional network for the hyperspectral remote sensing image classification(ISMOGCN-HRSC)model.The ISMOGCN-HRSC model majorly concentrates on identifying and classifying distinct kinds of RSIs.In the presented ISMOGCN-HRSC model,the synergic deep learning(SDL)model is exploited to produce feature vectors.The GCN model is utilized for image classification purposes to identify the proper class labels of the RSIs.The ISMO algorithm is used to enhance the classification efficiency of the GCN method,which is derived by integrating chaotic concepts into the SMO algorithm.The experimental assessment of the ISMOGCN-HRSC method is tested using a benchmark dataset.
文摘The remote sensing ships’fine-grained classification technology makes it possible to identify certain ship types in remote sensing images,and it has broad application prospects in civil and military fields.However,the current model does not examine the properties of ship targets in remote sensing images with mixed multi-granularity features and a complicated backdrop.There is still an opportunity for future enhancement of the classification impact.To solve the challenges brought by the above characteristics,this paper proposes a Metaformer and Residual fusion network based on Visual Attention Network(VAN-MR)for fine-grained classification tasks.For the complex background of remote sensing images,the VAN-MR model adopts the parallel structure of large kernel attention and spatial attention to enhance the model’s feature extraction ability of interest targets and improve the classification performance of remote sensing ship targets.For the problem of multi-grained feature mixing in remote sensing images,the VAN-MR model uses a Metaformer structure and a parallel network of residual modules to extract ship features.The parallel network has different depths,considering both high-level and lowlevel semantic information.The model achieves better classification performance in remote sensing ship images with multi-granularity mixing.Finally,the model achieves 88.73%and 94.56%accuracy on the public fine-grained ship collection-23(FGSC-23)and FGSCR-42 datasets,respectively,while the parameter size is only 53.47 M,the floating point operations is 9.9 G.The experimental results show that the classification effect of VAN-MR is superior to that of traditional CNNs model and visual model with Transformer structure under the same parameter quantity.
基金Funding for this research was provided by 511 Shaanxi Province’s Key Research and Development Plan(No.2022NY-087).
文摘To address the issue of imbalanced detection performance and detection speed in current mainstream object detection algorithms for optical remote sensing images,this paper proposes a multi-scale object detection model for remote sensing images on complex backgrounds,called DI-YOLO,based on You Only Look Once v7-tiny(YOLOv7-tiny).Firstly,to enhance the model’s ability to capture irregular-shaped objects and deformation features,as well as to extract high-level semantic information,deformable convolutions are used to replace standard convolutions in the original model.Secondly,a Content Coordination Attention Feature Pyramid Network(CCA-FPN)structure is designed to replace the Neck part of the original model,which can further perceive relationships between different pixels,reduce feature loss in remote sensing images,and improve the overall model’s ability to detect multi-scale objects.Thirdly,an Implicitly Efficient Decoupled Head(IEDH)is proposed to increase the model’s flexibility,making it more adaptable to complex detection tasks in various scenarios.Finally,the Smoothed Intersection over Union(SIoU)loss function replaces the Complete Intersection over Union(CIoU)loss function in the original model,resulting in more accurate prediction of bounding boxes and continuous model optimization.Experimental results on the High-Resolution Remote Sensing Detection(HRRSD)dataset demonstrate that the proposed DI-YOLO model outperforms mainstream target detection algorithms in terms of mean Average Precision(mAP)for optical remote sensing image detection.Furthermore,it achieves Frames Per Second(FPS)of 138.9,meeting fast and accurate detection requirements.
文摘As a new teaching method,remote online education has gradually become the most dependent teaching auxiliary method in universities.Especially under the influence of the COVID-19 pandemic,Chinese universities,which mainly have cross-provincial students,have strengthened the development and construction of remote online courses due to social and geographical constraints.Among them,due to the particularity of ideological and political education,remote online ideological and political teaching has some problems,such as lack of learning situation analysis,difficult measurement of goal achievement,inefficient teacher-student interaction,single teaching strategy,and lack of unified teaching norms.To deal with these difficulties,in the background of digital transformation of education,especially in the post-epidemic era and the moment of the rise of artificial intelligence technology,to strengthen the top-level education design,security,and supervision as the benchmark,standardize local curriculum standards,classify and gradually improve teachers’enthusiasm for participation,and give full play to the advantages of artificial intelligence remote ideological and political teaching improvement.It is of profound significance to the cultivation of talents in Chinese universities.
基金the National Natural Science Foundation of China(Grant Number 62066013)Hainan Provincial Natural Science Foundation of China(Grant Numbers 622RC674 and 2019RC182).
文摘High-resolution remote sensing image segmentation is a challenging task. In urban remote sensing, the presenceof occlusions and shadows often results in blurred or invisible object boundaries, thereby increasing the difficultyof segmentation. In this paper, an improved network with a cross-region self-attention mechanism for multi-scalefeatures based onDeepLabv3+is designed to address the difficulties of small object segmentation and blurred targetedge segmentation. First,we use CrossFormer as the backbone feature extraction network to achieve the interactionbetween large- and small-scale features, and establish self-attention associations between features at both large andsmall scales to capture global contextual feature information. Next, an improved atrous spatial pyramid poolingmodule is introduced to establish multi-scale feature maps with large- and small-scale feature associations, andattention vectors are added in the channel direction to enable adaptive adjustment of multi-scale channel features.The proposed networkmodel is validated using the PotsdamandVaihingen datasets. The experimental results showthat, compared with existing techniques, the network model designed in this paper can extract and fuse multiscaleinformation, more clearly extract edge information and small-scale information, and segment boundariesmore smoothly. Experimental results on public datasets demonstrate the superiority of ourmethod compared withseveral state-of-the-art networks.
基金This study was supported by the National Natural Science Foundation of China(42271396)the Natural Science Foundation of Shandong Province(ZR2022MD017)+1 种基金the Key R&D Project of Hebei Province(22326406D)The European Space Agency(ESA)and Ministry of Science and Technology of China(MOST)Dragon(57457).
文摘Cereal is an essential source of calories and protein for the global population.Accurately predicting cereal quality before harvest is highly desirable in order to optimise management for farmers,grading harvest and categorised storage for enterprises,future trading prices,and policy planning.The use of remote sensing data with extensive spatial coverage demonstrates some potential in predicting crop quality traits.Many studies have also proposed models and methods for predicting such traits based on multiplatform remote sensing data.In this paper,the key quality traits that are of interest to producers and consumers are introduced.The literature related to grain quality prediction was analyzed in detail,and a review was conducted on remote sensing platforms,commonly used methods,potential gaps,and future trends in crop quality prediction.This review recommends new research directions that go beyond the traditional methods and discusses grain quality retrieval and the associated challenges from the perspective of remote sensing data.
基金The financial support from the National Natural Science Foundation of China (32201179)Guangdong Basic and Applied Basic Research Foundation (2020A1515110126 and 2021A1515010130)+1 种基金the Fundamental Research Funds for the Central Universities (N2319005)Ningbo Science and Technology Major Project (2021Z027) is gratefully acknowledged。
文摘The development of bioinspired gradient hydrogels with self-sensing actuated capabilities for remote interaction with soft-hard robots remains a challenging endeavor. Here, we propose a novel multifunctional self-sensing actuated gradient hydrogel that combines ultrafast actuation and high sensitivity for remote interaction with robotic hand. The gradient network structure, achieved through a wettability difference method involving the rapid precipitation of MoO_(2) nanosheets, introduces hydrophilic disparities between two sides within hydrogel. This distinctive approach bestows the hydrogel with ultrafast thermo-responsive actuation(21° s^(-1)) and enhanced photothermal efficiency(increase by 3.7 ℃ s^(-1) under 808 nm near-infrared). Moreover, the local cross-linking of sodium alginate with Ca^(2+) endows the hydrogel with programmable deformability and information display capabilities. Additionally, the hydrogel exhibits high sensitivity(gauge factor 3.94 within a wide strain range of 600%), fast response times(140 ms) and good cycling stability. Leveraging these exceptional properties, we incorporate the hydrogel into various soft actuators, including soft gripper, artificial iris, and bioinspired jellyfish, as well as wearable electronics capable of precise human motion and physiological signal detection. Furthermore, through the synergistic combination of remarkable actuation and sensitivity, we realize a self-sensing touch bioinspired tongue. Notably, by employing quantitative analysis of actuation-sensing, we realize remote interaction between soft-hard robot via the Internet of Things. The multifunctional self-sensing actuated gradient hydrogel presented in this study provides a new insight for advanced somatosensory materials, self-feedback intelligent soft robots and human–machine interactions.
文摘An innovative complex lidar system deployed on an airborne rotorcraft platform for remote sensing of atmospheric pollution is proposed and demonstrated.The system incorporates integrated-path differential absorption lidar(DIAL) and coherent-doppler lidar(CDL) techniques using a dual tunable TEA CO_(2)laser in the 9—11 μm band and a 1.55 μm fiber laser.By combining the principles of differential absorption detection and pulsed coherent detection,the system enables agile and remote sensing of atmospheric pollution.Extensive static tests validate the system’s real-time detection capabilities,including the measurement of concentration-path-length product(CL),front distance,and path wind speed of air pollution plumes over long distances exceeding 4 km.Flight experiments is conducted with the helicopter.Scanning of the pollutant concentration and the wind field is carried out in an approximately 1 km slant range over scanning angle ranges from 45°to 65°,with a radial resolution of 30 m and10 s.The test results demonstrate the system’s ability to spatially map atmospheric pollution plumes and predict their motion and dispersion patterns,thereby ensuring the protection of public safety.
基金the Natural Sciences and Engineering Research Council(NSERC)of Canada。
文摘Cyber-physical systems(CPSs)have emerged as an essential area of research in the last decade,providing a new paradigm for the integration of computational and physical units in modern control systems.Remote state estimation(RSE)is an indispensable functional module of CPSs.Recently,it has been demonstrated that malicious agents can manipulate data packets transmitted through unreliable channels of RSE,leading to severe estimation performance degradation.This paper aims to present an overview of recent advances in cyber-attacks and defensive countermeasures,with a specific focus on integrity attacks against RSE.Firstly,two representative frameworks for the synthesis of optimal deception attacks with various performance metrics and stealthiness constraints are discussed,which provide a deeper insight into the vulnerabilities of RSE.Secondly,a detailed review of typical attack detection and resilient estimation algorithms is included,illustrating the latest defensive measures safeguarding RSE from adversaries.Thirdly,some prevalent attacks impairing the confidentiality and data availability of RSE are examined from both attackers'and defenders'perspectives.Finally,several challenges and open problems are presented to inspire further exploration and future research in this field.
