Search Results (4,191)

For the Battery Management System (BMS) to manage and control the battery, State of Charge (SOC) is an important battery performance indicator. In order to identify the parameters of the LiFePO₄ battery, this paper employs the forgetting factor recursive least squares (FFRLS) method, which considers the computational volume and model correctness, to determine the parameters of the LiFePO₄ battery. On this basis, the two resistor-capacitor equivalent circuit model is selected for estimating the SOC of the Li-ion battery by combining the extended Kalman filter (EKF) with the Sage–Husa adaptive algorithm. The positivity is improved by modifying the system noise estimation matrix. The paper concludes with a MATLAB 2016B simulation, which serves to validate the SOC estimation algorithm. The results demonstrate that, in comparison to the conventional EKF, the enhanced EKF exhibits superior estimation precision and resilience to interference, along with enhanced convergence during the estimation process. Full article

Image matching-based visual simultaneous localization and mapping (vSLAM) extracts low-level pixel features to reconstruct camera trajectories and maps through the epipolar geometry method. However, it fails to achieve correct trajectories and mapping when there are low-quality feature correspondences in several challenging environments. Although the RANSAC-based framework can enable better results, it is computationally inefficient and unstable in the presence of a large number of outliers. A Faster R-CNN learning-based semantic filter is proposed to explore the semantic information of inliers to remove low-quality correspondences, helping vSLAM localize accurately in our previous work. However, the semantic filter learning method generalizes low precision for low-level and dense texture-rich scenes, leading the semantic filter-based vSLAM to be unstable and have poor geometry estimation. In this paper, a GGCM-E-based semantic filter using YOLOv8 is proposed to address these problems. Firstly, the semantic patches of images are collected from the KITTI dataset, the TUM dataset provided by the Technical University of Munich, and real outdoor scenes. Secondly, the semantic patches are classified by our proposed GGCM-E descriptors to obtain the YOLOv8 neural network training dataset. Finally, several semantic filters for filtering low-level and dense texture-rich scenes are generated and combined into the ORB-SLAM3 system. Extensive experiments show that the semantic filter can detect and classify semantic levels of different scenes effectively, filtering low-level semantic scenes to improve the quality of correspondences, thus achieving accurate and robust trajectory reconstruction and mapping. For the challenging autonomous driving benchmark and real environments, the vSLAM system with respect to the GGCM-E-based semantic filter demonstrates its superiority regarding reducing the 3D position error, such that the absolute trajectory error is reduced by up to approximately 17.44%, showing its promise and good generalization. Full article

Annually, many people worldwide lose their lives due to breast cancer, making it one of the most prevalent cancers in the world. Since the disease is becoming more common, early detection of breast cancer is essential to avoiding serious complications and possibly death as well. This research provides a novel Breast Cancer Discovery (BCD) strategy to aid patients by providing prompt and sensitive detection of breast cancer. The two primary steps that form the BCD are the Breast Cancer Discovery Step (BCDS) and the Pre-processing Step (P²S). In the P²S, the needed data are filtered from any non-informative data using three primary operations: data normalization, feature selection, and outlier rejection. Only then does the diagnostic model in the BCDS for precise diagnosis begin to be trained. The primary contribution of this research is the novel outlier rejection technique known as the Combined Outlier Rejection Technique (CORT). CORT is divided into two primary phases: (i) the Quick Rejection Phase (QRP), which is a quick phase utilizing a statistical method, and (ii) the Accurate Rejection Phase (ARP), which is a precise phase using an optimization method. Outliers are rapidly eliminated during the QRP using the standard deviation, and the remaining outliers are thoroughly eliminated during ARP via Binary Harris Hawk Optimization (BHHO). The P²S in the BCD strategy indicates that data normalization is a pre-processing approach used to find numeric values in the datasets that fall into a predetermined range. Information Gain (IG) is then used to choose the optimal subset of features, and CORT is used to reject incorrect training data. Furthermore, based on the filtered data from the P²S, an Ensemble Classification Method (ECM) is utilized in the BCDS to identify breast cancer patients. This method consists of three classifiers: Naïve Bayes (NB), K-Nearest Neighbors (KNN), and Support Vector Machine (SVM). The Wisconsin Breast Cancer Database (WBCD) dataset, which contains digital images of fine-needle aspiration samples collected from patients’ breast masses, is used herein to compare the BCD strategy against several contemporary strategies. According to the outcomes of the experiment, the suggested method is very competitive. It achieves 0.987 accuracy, 0.013 error, 0.98 recall, 0.984 precision, and a run time of 3 s, outperforming all other methods from the literature. Full article

Emotion classification is a challenge in affective computing, with applications ranging from human–computer interaction to mental health monitoring. In this study, the classification of emotional states using electroencephalography (EEG) data were investigated. Specifically, the efficacy of the combination of various feature selection methods and hyperparameter tuning of machine learning algorithms for accurate and robust emotion recognition was studied. The following feature selection methods were explored: filter (SelectKBest with analysis of variance (ANOVA) F-test), embedded (least absolute shrinkage and selection operator (LASSO) tuned using Bayesian optimization (BO)), and wrapper (genetic algorithm (GA)) methods. We also executed hyperparameter tuning of machine learning algorithms using BO. The performance of each method was assessed. Two different EEG datasets, EEG Emotion and DEAP Dataset, containing 2548 and 160 features, respectively, were evaluated using random forest (RF), logistic regression, XGBoost, and support vector machine (SVM). For both datasets, the experimented three feature selection methods consistently improved the accuracy of the models. For EEG Emotion dataset, RF with LASSO achieved the best result among all the experimented methods increasing the accuracy from 98.78% to 99.39%. In the DEAP dataset experiment, XGBoost with GA showed the best result, increasing the accuracy by 1.59% and 2.84% for valence and arousal. We also show that these results are superior to those by the previous other methods in the literature. Full article

Field positioning (FP) is a key technique in the digitalization of agriculture. By integrating sensors and mapping techniques, FP can convey critical information such as soil quality, plant distribution, and topography. Utilizing vehicles for field applications provides precise control and scientific management for agricultural production. Compared to conventional methods, which often struggle with the complexities of field conditions and suffer from insufficient accuracy, this study employs a novel approach using self-developed multi-sensor array hardware as a portable field topographic surveying device. This innovative setup effectively navigates challenging field conditions to collect raw data. Data fusion is carried out using the Unscented Kalman Filter (UKF) algorithm. Building on this, this study combines the good point set and Opposition-based Differential Evolution for a joint improvement of the Slime Mould Algorithm. This is linked with the UKF algorithm to establish loss value feedback, realizing the adaptive parameter adjustment of the UKF algorithm. This reduces the workload of parameter setting and enhances the precision of data fusion. The improved algorithm optimizes parameters with an efficiency increase of 40.43%. Combining professional, mapping-grade total stations for accuracy comparison, the final test results show an absolute error of less than 0.3857 m, achieving decimeter-level precision in field positioning. This provides a new application technology for better implementation of agricultural digitalization. Full article

The advent of precision agriculture has highlighted the necessity for the careful determination of crop phenology at increasingly smaller scales. Although remote sensing technology is extensively employed for the monitoring of crop growth, the acquisition of high-precision phenological data continues to present a significant challenge. This study, conducted in Youyi County, Shuangyashan City, Heilongjiang Province, China, employed time-series spectral index data derived from Sentinel-2 remote sensing images to investigate methodologies for the extraction of pivotal phenological phases during the primary growth stages of maize. The data were subjected to Savitzky–Golay (S-G) filtering and cubic spline interpolation in order to denoise and smooth them. The combination of dynamic thresholding with slope characteristic node recognition enabled the successful extraction of the jointing and tasseling stages of maize. Furthermore, a comparison of the extraction of phenophases based on the time-series curves of the NDVI, EVI, GNDVI, OSAVI, and MSR was conducted. The results showed that maize exhibited different sensitivities to the spectral indices during the jointing and tasseling stages: the OSAVI demonstrated the highest accuracy for the jointing stage, with a mean absolute error of 3.91 days, representing a 24.8% improvement over the commonly used NDVI. For the tasseling stage, the MSR was the most accurate, achieving an absolute error of 4.87 days, with an 8.6% improvement compared to the NDVI. In this study, further analysis was conducted based on maize cultivation data from Youyi County (2021–2023). The results showed that the maize phenology in Youyi County in 2021 was more advanced compared to 2022 and 2023, primarily due to the higher average temperatures in 2021. This study provides valuable support for the development of precision agriculture and maize phenology monitoring and also provides a useful data reference for future agricultural management. Full article

This paper addresses the challenge of docking an Autonomous Underwater Vehicle (AUV) under realistic conditions. Traditional model-based controllers are often constrained by the complexity and variability of the ocean environment. To overcome these limitations, we propose a Deep Reinforcement Learning (DRL) approach to manage the homing and docking maneuver. First, we define the proposed docking task in terms of its observations, actions, and reward function, aiming to bridge the gap between theoretical DRL research and docking algorithms tested on real vehicles. Additionally, we introduce a novel observation space that combines raw noisy observations with filtered data obtained using an Extended Kalman Filter (EKF). We demonstrate the effectiveness of this approach through simulations with various DRL algorithms, showing that the proposed observations can produce stable policies in fewer learning steps, outperforming not only traditional control methods but also policies obtained by the same DRL algorithms in noise-free environments. Full article

Background/Objectives: Genetic newborn screening (NBS) has already entered the phase of common practice in many countries. In Germany, spinal muscular atrophy (SMA), severe combined immunodeficiency (SCID) and sickle cell disease (SCD) are currently a mandatory part of NBS. Here, we describe the experience of six years of genetic NBS including the prevalence of those three diseases in Germany. Methods: Samples and nucleic acids were extracted from dried blood spot cards, commonly used for NBS. A qPCR assay was used to detect disease-causing variants for SMA and SCD, and the detection of T-cell receptor excision circles (TRECs) was performed for SCID screening. Results: The results of the NBS of over 1 million newborns for SMA, approximately 770,000 for SCID and over 410,000 for SCD are discussed in detail. In these newborns, we have identified 121 cases of SMA, 15 cases of SCID and syndrome-based immunodeficiencies and 77 cases of SCD or β-thalassemia. Conclusions: The flexibility of multiplex qPCR is assessed as an effective tool for incorporating different molecular genetic markers for screening. The processing of dried blood spot (DBS) filter cards for molecular genetic assays and the assays are described in detail; turn-around times and cost estimations are included to give an insight into the processes and discuss further options for optimization. The identified cases are in the range expected for the total number of screened newborns, but present a more exact view on the actual prevalences for Germany. Full article

The Dicentric Chromosome Assay (DCA) is widely used in biological dosimetry, where the number of dicentric chromosomes induced by ionizing radiation (IR) exposure is quantified to estimate the absorbed radiation dose an individual has received. Dicentric chromosome scoring is a laborious and time-consuming process which is performed manually in most cytogenetic biodosimetry laboratories. Further, dicentric chromosome scoring constitutes a bottleneck when several hundreds of samples need to be analyzed for dose estimation in the aftermath of large-scale radiological/nuclear incident(s). Recently, much interest has focused on automating dicentric chromosome scoring using Artificial Intelligence (AI) tools to reduce analysis time and improve the accuracy of dicentric chromosome detection. Our study aims to detect dicentric chromosomes in metaphase plate images using an ensemble of artificial neural network detectors suitable for datasets that present a low number of samples (in this work, only 50 images). In our approach, the input image is first processed by several operators, each producing a transformed image. Then, each transformed image is transferred to a specific detector trained with a training set processed by the same operator that transformed the image. Following this, the detectors provide their predictions about the detected chromosomes. Finally, all predictions are combined using a consensus function. Regarding the operators used, images were binarized separately applying Otsu and Spline techniques, while morphological opening and closing filters with different sizes were used to eliminate noise, isolate specific components, and enhance the structures of interest (chromosomes) within the image. Consensus-based decisions are typically more precise than those made by individual networks, as the consensus method can rectify certain misclassifications, assuming that individual network results are correct. The results indicate that our methodology worked satisfactorily in detecting a majority of chromosomes, with remarkable classification performance even with the low number of training samples utilized. AI-based dicentric chromosome detection will be beneficial for a rapid triage by improving the detection of dicentric chromosomes and thereby the dose prediction accuracy. Full article

Aiming to address errors in the estimation of the position and attitude of an unmanned vessel, especially during vibration, where the rapid loss of feature point information hinders continuous attitude estimation and global trajectory mapping, this paper improves the monocular ORB-SLAM framework based on the characteristics of the marine environment. In general, we extract the location area of the artificial sea target in the video, build a virtual feature set for it, and filter the background features. When shaking occurs, GNSS information is combined and the target feature set is used to complete the map reconstruction task. Specifically, firstly, the sea target area of interest is detected by YOLOv5, and the feature extraction and matching method is optimized in the front-end tracking stage to adapt to the sea environment. In the key frame selection and local map optimization stage, the characteristics of the feature set are improved to further improve the positioning accuracy, to provide more accurate position and attitude information about the unmanned platform. We use GNSS information to provide the scale and world coordinates for the map. Finally, the target distance is measured by the beam ranging method. In this paper, marine unmanned platform data, GNSS, and AIS position data are autonomously collected, and experiments are carried out using the proposed marine ranging system. Experimental results show that the maximum measurement error of this method is 9.2%, and the average error is 4.7%. Full article

The precise estimation of the state of charge (SOC) in lithium batteries is crucial for enhancing their operational lifespan. To address the issue of reduced accuracy in SOC estimation caused by the random missing values of lithium battery current measurements, a joint estimation method which combines recursive least squares with missing input data (MIDRLS) and the unscented Kalman filter (UKF) algorithm is proposed, called the MIDRLS-UKF algorithm. Firstly, the equivalent circuit model of a Thevenin battery is formulated. Then, the current imputation model is designed to interpolate the missing data, based on which the MIDRLS algorithm is derived by solving the unbiased estimation of the gradient of the objective function, thus realizing the online high-precision identification of the circuit model parameters. Furthermore, the proposed algorithm is combined with the UKF algorithm to facilitate the online precise estimation of SOC. The simulation results indicate a marked decrease in the SOC estimation error when employing the proposed joint algorithm, as opposed to the conventional forgetting factor recursive least squares (FFRLS) algorithm combined with the UKF joint estimation algorithm, which verifies the precision and effectiveness of the proposed joint algorithm. Full article

This article presents a tuned control algorithm for the speed and course of a four-wheeled automobile-type robot as a single nonlinear object, developed by the analytical approach of compensation for the object’s dynamics and additive effects. The method is based on assessment of external effects and as a result new, advanced feedback features may appear in the control system. This approach ensures automatic movement of the object with accuracy up to a given reference filter, which is important for stable and accurate control under various conditions. In the process of the synthesis control algorithm, an inverse mathematical model of the robot was built, and reference filters were developed for a closed-loop control system through external effect channels, providing the possibility of physical implementation of the control algorithm and compensation of external effects through feedback. This combined approach allows us to take into account various effects on the robot and ensure its stable control. The developed algorithm provides control of the robot both when moving forward and backward, which expands the capabilities of maneuvering and planning motion trajectories and is especially important for robots working in confined spaces or requiring precise movement into various directions. The efficiency of the algorithm is demonstrated using a computer simulation of a closed-loop control system under various external effects. It is planned to further develop a digital algorithm for implementation on an onboard microcontroller, in order to use the new algorithm in the overall motion control system of a four-wheeled mobile robot. Full article

High-precision extraction of mangrove areas is a crucial prerequisite for estimating mangrove area as well as for regional planning and ecological protection. However, mangroves typically grow in coastal and near-shore areas with complex water colors, where traditional mangrove extraction algorithms face challenges such as unclear region segmentation and insufficient accuracy. To address this issue, in this paper we propose a new algorithm for mangrove identification and extraction based on Orthogonal Matching Filter–Weighted Least Squares (OMF-WLS) target spectral information. This method first selects GF-6 remote sensing images with less cloud cover, then enhances mangrove feature information through preprocessing and band extension, combining whitened orthogonal subspace projection with the whitened matching filter algorithm. Notably, this paper innovatively introduces Weighted Least Squares (WLS) filtering technology. WLS filtering precisely processes high-frequency noise and edge details in images using an adaptive weighting matrix, significantly improving the edge clarity and overall quality of mangrove images. This innovative approach overcomes the bottleneck of traditional methods in effectively extracting edge information against complex water color backgrounds. Finally, Otsu’s method is used for adaptive threshold segmentation of GF-6 remote sensing images to achieve target extraction of mangrove areas. Our experimental results show that OMF-WLS improves extraction accuracy compared to traditional methods, with overall precision increasing from 0.95702 to 0.99366 and the Kappa coefficient rising from 0.88436 to 0.98233. In addition, our proposed method provides significant improvements in other metrics, demonstrating better overall performance. These findings can provide more reliable technical support for the monitoring and protection of mangrove resources. Full article

Recently, solar and wind power generation have gained attention as pathways to achieving carbon neutrality, and Renewable Energy Resource Management System (RERMS) technology has been developed to monitor and control small-scale, distributed renewable energy resources. In this work, we present an Event-Triggered Transmission (ETT) algorithm for RERMS, which transmits sensor measurements to the base station only when necessary. The ETT algorithm helps prevent congestion in the communication channel between RERMS and the base station, avoiding time delays or packet loss caused by the excessive transmission of sensor measurements. We design a hybrid state estimation algorithm that combines Kalman and Finite Impulse Response (FIR) filters to enhance the estimation performance, and we propose a new ETT algorithm based on this design. We evaluate the performance of the proposed algorithm through experiments that transmit actual sensor measurements from a photovoltaic power generation system to the base station, demonstrating that it outperforms existing algorithms. Full article

Predicting crop yield throughout its development cycle is crucial for planning storage, processing, and distribution. Optical remote sensing has been used for yield prediction but has limitations, such as cloud interference and only capturing canopy-level data. Synthetic Aperture Radar (SAR) complements optical data by capturing information even in cloudy conditions and providing additional plant insights. This study aimed to explore the correlation of SAR variables with soybean yield at different crop stages, testing if SAR data enhances predictions compared to optical data alone. Data from three growing seasons were collected from an area of 106 hectares, using eight SAR variables (Alpha, Entropy, DPSVI, RFDI, Pol, RVI, VH, and VV) and four speckle noise filters. The Random Forest algorithm was applied, combining SAR variables with the EVI optical index. Although none of the SAR variables showed strong correlations with yield (r < |0.35|), predictions improved when SAR data were included. The best performance was achieved using DPSVI with the Boxcar filter, combined with EVI during the maturation stage (with EVI:RMSE = 0.43, 0.49, and 0.60, respectively, for each season; while EVI + DPSVI:RMSE = 0.39, 0.49, and 0.42). Despite improving predictions, the computational demands of SAR processing must be considered, especially when optical data are limited due to cloud cover. Full article