An Underwater Target Detection Algorithm Based on Attention Mechanism and Improved YOLOv7

For underwater robots in the process of performing target detection tasks,the color distortion and the uneven quality of underwater images lead to great difficulties in the feature extraction process of the model,which is prone to issues like error detection,omission detection,and poor accuracy.Therefore,this paper proposed the CER-YOLOv7(CBAM-EIOU-RepVGG-YOLOv7)underwater target detection algorithm.To improve the algorithm’s capability to retain valid features from both spatial and channel perspectives during the feature extraction phase,we have added a Convolutional Block Attention Module(CBAM)to the backbone network.The Reparameterization Visual Geometry Group(RepVGG)module is inserted into the backbone to improve the training and inference capabilities.The Efficient Intersection over Union(EIoU)loss is also used as the localization loss function,which reduces the error detection rate and missed detection rate of the algorithm.The experimental results of the CER-YOLOv7 algorithm on the UPRC(Underwater Robot Prototype Competition)dataset show that the mAP(mean Average Precision)score of the algorithm is 86.1%,which is a 2.2%improvement compared to the YOLOv7.The feasibility and validity of the CER-YOLOv7 are proved through ablation and comparison experiments,and it is more suitable for underwater target detection.

IGED:Towards Intelligent DDoS Detection Model Using Improved Generalized Entropy and DNN

As the scale of the networks continually expands,the detection of distributed denial of service(DDoS)attacks has become increasingly vital.We propose an intelligent detection model named IGED by using improved generalized entropy and deep neural network(DNN).The initial detection is based on improved generalized entropy to filter out as much normal traffic as possible,thereby reducing data volume.Then the fine detection is based on DNN to perform precise DDoS detection on the filtered suspicious traffic,enhancing the neural network’s generalization capabilities.Experimental results show that the proposed method can efficiently distinguish normal traffic from DDoS traffic.Compared with the benchmark methods,our method reaches 99.9%on low-rate DDoS(LDDoS),flooded DDoS and CICDDoS2019 datasets in terms of both accuracy and efficiency in identifying attack flows while reducing the time by 17%,31%and 8%.

Value of improved nursing measures and enhanced nursing management to reduce the occurrence of adverse events in pediatric infusion

BACKGROUND Intravenous infusion is a common method of drug administration in clinical practice.Errors in any aspect of the infusion process,from the verification of medical orders,preparation of the drug solution,to infusion by nursing staff,may cause adverse infusion events.AIM To analyzed the value of improving nursing measures and enhancing nursing management to reduce the occurrence of adverse events in pediatric infusion.METHODS The clinical data of 130 children who received an infusion in the pediatric department of our hospital from May 2020 to May 2021 were analyzed and divided into two groups according to the differences in nursing measures and nursing management:65 patients in the control group received conventional nursing and nursing management interventions,while 65 patients in the observation group received improved nursing measure interventions and enhanced nursing management.The occurrence of adverse events,compliance of children,satisfaction of children’s families,and complaints regarding the transfusion treatment were recorded in both groups.RESULTS The incidence of fluid extravasation and infusion set dislodgement in the observation group were 3.08%and 1.54%,respectively,which were significantly lower than 12.31%and 13.85%in the control group(P<0.05),while repeated punctures and medication addition errors in the observation group were 3.08%and 0.00%,respectively,which were lower than 9.23%and 3.08%in the control group,but there was no significant difference(P>0.05).The compliance rate of children in the observation group was 98.46%(64/65),which was significantly higher than 87.69%(57/65)in the control group,and the satisfaction rate of children’s families was 96.92%(63/65),which was significantly higher than 86.15%(56/65)in the control group(P<0.05).The observation group did not receive any complaints from the child’s family,whereas the control group received four complaints,two of which were due to the crying of the child caused by repeated punctures,one due to the poor attitude of the nurse,and one due to medication addition errors,with a cumulative complaint rate of 6.15%.The cumulative complaint rate of the observation group was significantly lower than that of the control group(P<0.05).CONCLUSION Improving nursing measures and enhancing nursing management can reduce the incidence of fluid extravasation and infusion set dislodgement in pediatric patients,improve children’s compliance and satisfaction of their families,and reduce family complaints.

An Improved JSO and Its Application in Spreader Optimization of Large Span Corridor Bridge

In this paper,given the shortcomings of jellyfish search algorithmwith low search ability in the early stage and easy to fall into local optimal solution,this paper introduces adaptive weight function and elite strategy,improving the global search scope in the early stage and the ability to refine the local development in the later stage.In the numerical study,the benchmark problem of dimensional optimization with a 10-bar truss structure and simultaneous dimensional shape optimization with a 15-bar truss structure is adopted,and the corresponding penalty method is used for constraint treatment.The test results show that the improved jellyfish search algorithm can provide better truss sections as well as weights.Because when the steel main truss of the large-span covered bridge is lifted,the site is limited and the large lifting equipment cannot enter the site,and the original structure does not meet the problem of stress concentration and large deformation of the bolt group,so the spreader is used to lift,and the improved jellyfish search algorithm is introduced into the design optimization of the spreader.The results show that the improved jellyfish algorithm can efficiently and accurately find out the optimal shape and weight of the spreader,and throughMidas Civil simulation,the spreader used canmeet the requirements of weight and safety.

An improved typhoon monitoring model based on precipitable water vapor and pressure

The potential of monitoring the movement of typhoons using the precipitable water vapor(PWV) has been confirmed. However, monitoring the movement of typhoon is focused on PWV, making it difficult to describe the movement of a typhoon in detail minutely and resulting in insufficient accuracy. Hence,based on PWV and meteorological data, we propose an improved typhoon monitoring mode. First, the European Centre for Medium-Range Weather Forecasts Reanalysis 5-derived PWV(ERA5-PWV) and the Global Navigation Satellite System-derived PWV(GNSS-PWV) were compared with the reference radiosonde PWV(RS-PWV). Then, using the PWV and atmospheric parameters derived from ERA5, we discussed the anomalous variations of PWV, pressure(P), precipitation, and wind speed during different typhoons. Finally, we compiled a list of critical factors related to typhoon movement, PWV and P. We developed an improved multi-factor typhoon monitoring mode(IMTM) with different models(i.e.,IMTM-I and IMTM-II) in different cases with a higher density of GNSS observation or only Numerical Weather Prediction(NWP) data. The IMTM was evaluated through the reference movement speeds of HATO and Mangkhut from the China Meteorological Observatory Typhoon Network(CMOTN). The results show that the root mean square(RMS) of the IMTM-I is 1.26 km/h based on ERA5-P and ERA5-PWV,and the absolute bias values are mostly within 2 km/h. Compared with the models considering the single factor ERA5-P/ERA5-PWV, the RMS of the IMTM-I is improved by 26.3% and 38.5%, respectively. The IMTM-II model manifests a residual of only 0.35 km/h. Compared with the single-factor model based on GNSS-PWV/P, the residual of the IMTM-II model is reduced by 90.8% and 84.1%, respectively. These results propose that the typhoon movement monitoring approach combining PWV and P has evident advantages over the single-factor model and is expected to supplement traditional typhoon monitoring.

A spatiotemporal evolution model of a short-circuit arc to a secondary arc based on the improved charge simulation method

The initial shape of the secondary arc considerably influences its subsequent shape.To establish the model for the arcing time of the secondary arc and modify the single-phase reclosing sequence,theoretical and experimental analysis of the evolution process of the short-circuit arc to the secondary arc is critical.In this study,an improved charge simulation method was used to develop the internal-space electric-field model of the short-circuit arc.The intensity of the electric field was used as an independent variable to describe the initial shape of the secondary arc.A secondary arc evolution model was developed based on this model.Moreover,the accuracy of the model was evaluated by comparison with physical experimental results.When the secondary arc current increased,the arcing time and dispersion increased.There is an overall trend of increasing arc length with increasing arcing time.Nevertheless,there is a reduction in arc length during arc ignition due to short circuits between the arc columns.Furthermore,the arcing time decreased in the range of 0°-90°as the angle between the wind direction and the x-axis increased.This work investigated the method by which short-circuit arcs evolve into secondary arcs.The results can be used to develop the secondary arc evolution model and to provide both a technical and theoretical basis for secondary arc suppression.

Intramolecular Hydrogen Bond Improved Durability and Kinetics for Zinc‑Organic Batteries

Organic compounds have the advantages of green sustainability and high designability,but their high solubility leads to poor durability of zinc-organic batteries.Herein,a high-performance quinone-based polymer(H-PNADBQ)material is designed by introducing an intramolecular hydrogen bonding(HB)strategy.The intramolecular HB(C=O⋯N-H)is formed in the reaction of 1,4-benzoquinone and 1,5-naphthalene diamine,which efficiently reduces the H-PNADBQ solubility and enhances its charge transfer in theory.In situ ultraviolet-visible analysis further reveals the insolubility of H-PNADBQ during the electrochemical cycles,enabling high durability at different current densities.Specifically,the H-PNADBQ electrode with high loading(10 mg cm^(-2))performs a long cycling life at 125 mA g^(-1)(>290 cycles).The H-PNADBQ also shows high rate capability(137.1 mAh g^(−1)at 25 A g^(−1))due to significantly improved kinetics inducted by intramolecular HB.This work provides an efficient approach toward insoluble organic electrode materials.

Optimization of jamming formation of USV offboard active decoy clusters based on an improved PSO algorithm

Offboard active decoys(OADs)can effectively jam monopulse radars.However,for missiles approaching from a particular direction and distance,the OAD should be placed at a specific location,posing high requirements for timing and deployment.To improve the response speed and jamming effect,a cluster of OADs based on an unmanned surface vehicle(USV)is proposed.The formation of the cluster determines the effectiveness of jamming.First,based on the mechanism of OAD jamming,critical conditions are identified,and a method for assessing the jamming effect is proposed.Then,for the optimization of the cluster formation,a mathematical model is built,and a multi-tribe adaptive particle swarm optimization algorithm based on mutation strategy and Metropolis criterion(3M-APSO)is designed.Finally,the formation optimization problem is solved and analyzed using the 3M-APSO algorithm under specific scenarios.The results show that the improved algorithm has a faster convergence rate and superior performance as compared to the standard Adaptive-PSO algorithm.Compared with a single OAD,the optimal formation of USV-OAD cluster effectively fills the blind area and maximizes the use of jamming resources.

Research on Defect Detection of Wind Turbine Blades Based on Morphology and Improved Otsu Algorithm Using Infrared Images

To address the issues of low accuracy and high false positive rate in traditional Otsu algorithm for defect detection on infrared images of wind turbine blades(WTB),this paper proposes a technique that combines morphological image enhancement with an improved Otsu algorithm.First,mathematical morphology’s differential multi-scale white and black top-hat operations are applied to enhance the image.The algorithm employs entropy as the objective function to guide the iteration process of image enhancement,selecting appropriate structural element scales to execute differential multi-scale white and black top-hat transformations,effectively enhancing the detail features of defect regions and improving the contrast between defects and background.Afterwards,grayscale inversion is performed on the enhanced infrared defect image to better adapt to the improved Otsu algorithm.Finally,by introducing a parameter K to adjust the calculation of inter-class variance in the Otsu method,the weight of the target pixels is increased.Combined with the adaptive iterative threshold algorithm,the threshold selection process is further fine-tuned.Experimental results show that compared to traditional Otsu algorithms and other improvements,the proposed method has significant advantages in terms of defect detection accuracy and reducing false positive rates.The average defect detection rate approaches 1,and the average Hausdorff distance decreases to 0.825,indicating strong robustness and accuracy of the method.

Research on Evacuation Path Planning Based on Improved Sparrow Search Algorithm

Reducing casualties and property losses through effective evacuation route planning has been a key focus for researchers in recent years.As part of this effort,an enhanced sparrow search algorithm(MSSA)was proposed.Firstly,the Golden Sine algorithm and a nonlinear weight factor optimization strategy were added in the discoverer position update stage of the SSA algorithm.Secondly,the Cauchy-Gaussian perturbation was applied to the optimal position of the SSA algorithm to improve its ability to jump out of local optima.Finally,the local search mechanism based on the mountain climbing method was incorporated into the local search stage of the SSA algorithm,improving its local search ability.To evaluate the effectiveness of the proposed algorithm,the Whale Algorithm,Gray Wolf Algorithm,Improved Gray Wolf Algorithm,Sparrow Search Algorithm,and MSSA Algorithm were employed to solve various test functions.The accuracy and convergence speed of each algorithm were then compared and analyzed.The results indicate that the MSSA algorithm has superior solving ability and stability compared to other algorithms.To further validate the enhanced algorithm’s capabilities for path planning,evacuation experiments were conducted using different maps featuring various obstacle types.Additionally,a multi-exit evacuation scenario was constructed according to the actual building environment of a teaching building.Both the sparrow search algorithm and MSSA algorithm were employed in the simulation experiment for multiexit evacuation path planning.The findings demonstrate that the MSSA algorithm outperforms the comparison algorithm,showcasing its greater advantages and higher application potential.

Secrecy Outage Probability Minimization in Wireless-Powered Communications Using an Improved Biogeography-Based Optimization-Inspired Recurrent Neural Network

This paper focuses on wireless-powered communication systems,which are increasingly relevant in the Internet of Things(IoT)due to their ability to extend the operational lifetime of devices with limited energy.The main contribution of the paper is a novel approach to minimize the secrecy outage probability(SOP)in these systems.Minimizing SOP is crucial for maintaining the confidentiality and integrity of data,especially in situations where the transmission of sensitive data is critical.Our proposed method harnesses the power of an improved biogeography-based optimization(IBBO)to effectively train a recurrent neural network(RNN).The proposed IBBO introduces an innovative migration model.The core advantage of IBBO lies in its adeptness at maintaining equilibrium between exploration and exploitation.This is accomplished by integrating tactics such as advancing towards a random habitat,adopting the crossover operator from genetic algorithms(GA),and utilizing the global best(Gbest)operator from particle swarm optimization(PSO)into the IBBO framework.The IBBO demonstrates its efficacy by enabling the RNN to optimize the system parameters,resulting in significant outage probability reduction.Through comprehensive simulations,we showcase the superiority of the IBBO-RNN over existing approaches,highlighting its capability to achieve remarkable gains in SOP minimization.This paper compares nine methods for predicting outage probability in wireless-powered communications.The IBBO-RNN achieved the highest accuracy rate of 98.92%,showing a significant performance improvement.In contrast,the standard RNN recorded lower accuracy rates of 91.27%.The IBBO-RNN maintains lower SOP values across the entire signal-to-noise ratio(SNR)spectrum tested,suggesting that the method is highly effective at optimizing system parameters for improved secrecy even at lower SNRs.

An Improved Iterated Greedy Algorithm for Solving Rescue Robot Path Planning Problem with Limited Survival Time

Effective path planning is crucial for mobile robots to quickly reach rescue destination and complete rescue tasks in a post-disaster scenario.In this study,we investigated the post-disaster rescue path planning problem and modeled this problem as a variant of the travel salesman problem(TSP)with life-strength constraints.To address this problem,we proposed an improved iterated greedy(IIG)algorithm.First,a push-forward insertion heuristic(PFIH)strategy was employed to generate a high-quality initial solution.Second,a greedy-based insertion strategy was designed and used in the destruction-construction stage to increase the algorithm’s exploration ability.Furthermore,three problem-specific swap operators were developed to improve the algorithm’s exploitation ability.Additionally,an improved simulated annealing(SA)strategy was used as an acceptance criterion to effectively prevent the algorithm from falling into local optima.To verify the effectiveness of the proposed algorithm,the Solomon dataset was extended to generate 27 instances for simulation.Finally,the proposed IIG was compared with five state-of-the-art algorithms.The parameter analysiswas conducted using the design of experiments(DOE)Taguchi method,and the effectiveness analysis of each component has been verified one by one.Simulation results indicate that IIGoutperforms the compared algorithms in terms of the number of rescue survivors and convergence speed,proving the effectiveness of the proposed algorithm.

Dynamic Characteristics of Functionally Graded Timoshenko Beams by Improved Differential Quadrature Method

This study proposes an effective method to enhance the accuracy of the Differential Quadrature Method(DQM)for calculating the dynamic characteristics of functionally graded beams by improving the form of discrete node distribution.Firstly,based on the first-order shear deformation theory,the governing equation of free vibration of a functionally graded beam is transformed into the eigenvalue problem of ordinary differential equations with respect to beam axial displacement,transverse displacement,and cross-sectional rotation angle by considering the effects of shear deformation and rotational inertia of the beam cross-section.Then,ignoring the shear deformation of the beam section and only considering the effect of the rotational inertia of the section,the governing equation of the beam is transformed into the eigenvalue problem of ordinary differential equations with respect to beam transverse displacement.Based on the differential quadrature method theory,the eigenvalue problem of ordinary differential equations is transformed into the eigenvalue problem of standard generalized algebraic equations.Finally,the first several natural frequencies of the beam can be calculated.The feasibility and accuracy of the improved DQM are verified using the finite element method(FEM)and combined with the results of relevant literature.

Hybrid Gene Selection Methods for High-Dimensional Lung Cancer Data Using Improved Arithmetic Optimization Algorithm

Lung cancer is among the most frequent cancers in the world,with over one million deaths per year.Classification is required for lung cancer diagnosis and therapy to be effective,accurate,and reliable.Gene expression microarrays have made it possible to find genetic biomarkers for cancer diagnosis and prediction in a high-throughput manner.Machine Learning(ML)has been widely used to diagnose and classify lung cancer where the performance of ML methods is evaluated to identify the appropriate technique.Identifying and selecting the gene expression patterns can help in lung cancer diagnoses and classification.Normally,microarrays include several genes and may cause confusion or false prediction.Therefore,the Arithmetic Optimization Algorithm(AOA)is used to identify the optimal gene subset to reduce the number of selected genes.Which can allow the classifiers to yield the best performance for lung cancer classification.In addition,we proposed a modified version of AOA which can work effectively on the high dimensional dataset.In the modified AOA,the features are ranked by their weights and are used to initialize the AOA population.The exploitation process of AOA is then enhanced by developing a local search algorithm based on two neighborhood strategies.Finally,the efficiency of the proposed methods was evaluated on gene expression datasets related to Lung cancer using stratified 4-fold cross-validation.The method’s efficacy in selecting the optimal gene subset is underscored by its ability to maintain feature proportions between 10%to 25%.Moreover,the approach significantly enhances lung cancer prediction accuracy.For instance,Lung_Harvard1 achieved an accuracy of 97.5%,Lung_Harvard2 and Lung_Michigan datasets both achieved 100%,Lung_Adenocarcinoma obtained an accuracy of 88.2%,and Lung_Ontario achieved an accuracy of 87.5%.In conclusion,the results indicate the potential promise of the proposed modified AOA approach in classifying microarray cancer data.

Image encryption algorithm based on multiple chaotic systems and improved Joseph block scrambling

With the rapid development of digital information technology,images are increasingly used in various fields.To ensure the security of image data,prevent unauthorized tampering and leakage,maintain personal privacy,and protect intellectual property rights,this study proposes an innovative color image encryption algorithm.Initially,the Mersenne Twister algorithm is utilized to generate high-quality pseudo-random numbers,establishing a robust basis for subsequent operations.Subsequently,two distinct chaotic systems,the autonomous non-Hamiltonian chaotic system and the tentlogistic-cosine chaotic mapping,are employed to produce chaotic random sequences.These chaotic sequences are used to control the encoding and decoding process of the DNA,effectively scrambling the image pixels.Furthermore,the complexity of the encryption process is enhanced through improved Joseph block scrambling.Thorough experimental verification,research,and analysis,the average value of the information entropy test data reaches as high as 7.999.Additionally,the average value of the number of pixels change rate(NPCR)test data is 99.6101%,which closely approaches the ideal value of 99.6094%.This algorithm not only guarantees image quality but also substantially raises the difficulty of decryption.

Treatment of bilateral developmental dysplasia of the hip joint with an improved technique:A case report

BACKGROUND Developmental dysplasia of the hip(DDH)is a common osteoarticular deformity in pediatric orthopedics.A patient with bilateral DDH was diagnosed and treated using our improved technique"(powerful overturning acetabuloplasty)"combined with femoral rotational shortening osteotomy.CASE SUMMARY A 4-year-old girl who was diagnosed with bilateral DDH could not stand normally,and sought surgical treatment to solve the problem of double hip extension and standing.As this child had high dislocation of the hip joint and the acetabular index was high,we changed the traditional acetabuloplasty to"powerful turnover acetabuloplasty"combined with femoral rotation shortening osteotomy.During the short-term postoperative follow-up(1,3,6,9,12,and 15 months),the child had no discomfort in her lower limbs.After the braces and internal fixation plates were removed,formal rehabilitation training was actively carried out.CONCLUSION Our"powerful overturning acetabuloplasty"combined with femoral rotational shortening osteotomy is feasible in the treatment of DDH in children.This technology may be widely used in the clinic.

Optimal Configuration of Fault Location Measurement Points in DC Distribution Networks Based on Improved Particle Swarm Optimization Algorithm

The escalating deployment of distributed power sources and random loads in DC distribution networks hasamplified the potential consequences of faults if left uncontrolled. To expedite the process of achieving an optimalconfiguration of measurement points, this paper presents an optimal configuration scheme for fault locationmeasurement points in DC distribution networks based on an improved particle swarm optimization algorithm.Initially, a measurement point distribution optimization model is formulated, leveraging compressive sensing.The model aims to achieve the minimum number of measurement points while attaining the best compressivesensing reconstruction effect. It incorporates constraints from the compressive sensing algorithm and networkwide viewability. Subsequently, the traditional particle swarm algorithm is enhanced by utilizing the Haltonsequence for population initialization, generating uniformly distributed individuals. This enhancement reducesindividual search blindness and overlap probability, thereby promoting population diversity. Furthermore, anadaptive t-distribution perturbation strategy is introduced during the particle update process to enhance the globalsearch capability and search speed. The established model for the optimal configuration of measurement points issolved, and the results demonstrate the efficacy and practicality of the proposed method. The optimal configurationreduces the number of measurement points, enhances localization accuracy, and improves the convergence speedof the algorithm. These findings validate the effectiveness and utility of the proposed approach.

An improved pulse coupled neural networks model for semantic IoT

In recent years,the Internet of Things(IoT)has gradually developed applications such as collecting sensory data and building intelligent services,which has led to an explosion in mobile data traffic.Meanwhile,with the rapid development of artificial intelligence,semantic communication has attracted great attention as a new communication paradigm.However,for IoT devices,however,processing image information efficiently in real time is an essential task for the rapid transmission of semantic information.With the increase of model parameters in deep learning methods,the model inference time in sensor devices continues to increase.In contrast,the Pulse Coupled Neural Network(PCNN)has fewer parameters,making it more suitable for processing real-time scene tasks such as image segmentation,which lays the foundation for real-time,effective,and accurate image transmission.However,the parameters of PCNN are determined by trial and error,which limits its application.To overcome this limitation,an Improved Pulse Coupled Neural Networks(IPCNN)model is proposed in this work.The IPCNN constructs the connection between the static properties of the input image and the dynamic properties of the neurons,and all its parameters are set adaptively,which avoids the inconvenience of manual setting in traditional methods and improves the adaptability of parameters to different types of images.Experimental segmentation results demonstrate the validity and efficiency of the proposed self-adaptive parameter setting method of IPCNN on the gray images and natural images from the Matlab and Berkeley Segmentation Datasets.The IPCNN method achieves a better segmentation result without training,providing a new solution for the real-time transmission of image semantic information.

Real-Time Monitoring Method for Cow Rumination Behavior Based on Edge Computing and Improved MobileNet v3

[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.

Path Planning of Multi-Axis Robotic Arm Based on Improved RRT*

An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path planning.First,an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search efficiency.Second,a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to accelerate the search speed of the algorithm.Finally,the planning path is processed by pruning,removing redundant points and path smoothing fitting using cubic B-spline curves to improve the flexibility of the robotic arm.Through the six-axis robotic arm path planning simulation experiments on the MATLAB platform,the results show that the AGP-RRT∗algorithm reduces 87.34%in terms of the average running time and 40.39%in terms of the average path cost;Meanwhile,under two sets of complex environments A and B,the average running time of the AGP-RRT∗algorithm is shortened by 94.56%vs.95.37%,and the average path cost is reduced by 55.28%vs.47.82%,which proves the effectiveness of the AGP-RRT∗algorithm in improving the efficiency of multi-axis robotic arm path planning.