Research on orchard navigation method based on fusion of 3D SLAM and point cloud positioning

Accurate navigation is crucial in the construction of intelligent orchards, and the need for vehicle navigation accuracy becomes even more important as production is refined. However, traditional navigation methods based on global navigation satellite system (GNSS) and 2D light detection and ranging (LiDAR) can be unreliable in complex scenarios with little sensory information due to tree canopy occlusion. To solve these issues, this paper proposes a 3D LiDAR-based navigation method for trellis orchards. With the use of 3D LiDAR with a 3D simultaneous localization and mapping (SLAM) algorithm, orchard point cloud information is collected and filtered using the Point Cloud Library (PCL) to extract trellis point clouds as matching targets. In terms of positioning, the real-time position is determined through a reliable method of fusing multiple sensors for positioning, which involves transforming the real-time kinematics (RTK) information into the initial position and doing a normal distribution transformation between the current frame point cloud and the scaffold reference point cloud to match the point cloud position. For path planning, the required vector map is manually planned in the orchard point cloud to specify the path of the roadway, and finally, navigation is achieved through pure path tracking. Field tests have shown that the accuracy of the normal distributions transform (NDT) SLAM method can reach 5 cm in each rank with a coefficient of variation that is less than 2%. Additionally, the navigation system has a high positioning heading accuracy with a deviation within 1° and a standard deviation of less than 0.6° when moving along the path point cloud at a speed of 1.0 m/s in a Y-trellis pear orchard. The lateral positioning deviation was also controlled within 5 cm with a standard deviation of less than 2 cm. This navigation system has a high level of accuracy and can be customized to specific tasks, making it widely applicable in trellis orchards with autonomous navigation pesticide sprayers

The association between FGF21 and diabetic erectile dysfunction: Evidence from clinical and animal studies

Erectile dysfunction (ED), a complication of diabetes mellitus (DM), affects 50–75% of men with diabetes. Fibroblast growth factor 21 (FGF21) is a liver-derived metabolic regulator which plays a role in insulin-independent glucose uptake in adipocytes. We designed a clinical study and an animal experiment to investigate the relationship between FGF21 and DM-induced ED. The clinical study enrolled 93 participants aged \u3e 18 years (61 patients with type 2 DM and 32 healthy controls) from Taian City Central Hospital (TCCH) in Shandong Province, China, amongst whom the association between serum FGF21 and diabetic ED was analyzed. To further validate this association, we developed animal model of diabetic ED using Sprague-Dawley (SD) rats. Serum FGF21 concentration and FGF21 mRNA expression in penile samples of the rats were determined with Western blotting and quantitative real-time PCR. Among the 93 participants, the level of serum FGF21 was negatively correlated with the IIEF-5 score (r = -0.74, P \u3c 0.001). The analysis on the performance of FGF21 for ED diagnosis showed that the area under the receiver operating characteristic (ROC) curve was 0.875 (95% confidence interval [CI]: 0.803 to 0.946). In the animal experiment, the levels of serum FGF21, 2-Δ Δ Ct values of FGF21 mRNA expression, and relative levels of FGF21 in penile samples were higher in the ED group compared to the DM and control groups. Our findings demonstrated an association between the FGF21 level and diabetic ED, indicating the potential of this cytokine in predicting diabetic ED

Radio and Far-IR Emission Associated with a Massive Star-forming Galaxy Candidate at z≃\simeq6.8: A Radio-Loud AGN in the Reionization Era?

We report the identification of radio (0.144-3 GHz), mid-IR, far-IR, and sub-mm (24-850$\mu$m) emission at the position of one of 41 UV-bright (M$_\mathrm{UV}^{}\lesssim-21.25$) $z\simeq6.6-6.9$ Lyman-break galaxy candidates in the 1.5 deg$^2$ COSMOS field. This source, COS-87259, exhibits a sharp flux discontinuity (factor $>$3) between two narrow/intermediate bands at 9450 and 9700 Angstroms and is undetected in all nine bands blueward of 9600 Angstroms, as expected from a Lyman-alpha break at $z\simeq6.8$. The full multi-wavelength (X-ray through radio) data of COS-87529 can be self-consistently explained by a very massive (M$_{\ast}=10^{10.8}$ M$_{\odot}$) and extremely red (rest-UV slope $\beta=-0.59$) $z\simeq6.8$ galaxy with hyperluminous infrared emission (L$_{\mathrm{IR}}=10^{13.6}$ L$_{\odot}$) powered by both an intense burst of highly-obscured star formation (SFR$\approx$1800 M$_{\odot}$ yr$^{-1}$) and an obscured ($\tau_{\mathrm{9.7\mu m}}=7.7\pm2.5$) radio-loud (L$_{\mathrm{1.4\ GHz}}\approx10^{25.4}$ W Hz$^{-1}$) AGN. The radio emission is compact (1.04$\pm$0.12 arcsec) and exhibits an ultra-steep spectrum between 1.32-3 GHz ($\alpha=-1.57^{+0.22}_{-0.21}$) that flattens at lower frequencies ($\alpha=-0.86^{+0.22}_{-0.16}$ between 0.144-1.32 GHz), consistent with known $z>4$ radio galaxies. We also demonstrate that COS-87259 may reside in a significant (11$\times$) galaxy overdensity at $z\simeq6.6-6.9$, as common for systems hosting radio-loud AGN. Nonetheless, a spectroscopic redshift will ultimately be required to establish the true nature of COS-87259 as we cannot yet completely rule out low-redshift solutions. If confirmed to lie at $z\simeq6.8$, the properties of COS-87259 would be consistent with a picture wherein AGN and highly-obscured star formation activity are fairly common among very massive (M$_{\ast}>10^{10}$ M$_{\odot}$) reionization-era galaxies.Comment: 14 pages, 6 figures. Accepted in MNRAS with minor revisions. This accepted version considers very recent data from LOFAR and MeerKAT which improve our analyses on the radio slope and luminosit

ALMA Confirmation of an Obscured Hyperluminous Radio-Loud AGN at z=6.853z=6.853 Associated with a Dusty Starburst in the 1.5 deg2^2 COSMOS Field

We present band 6 ALMA observations of a heavily-obscured radio-loud ($L_{1.4\ \mathrm{GHz}}=10^{25.4}$ W Hz$^{-1}$) AGN candidate at $z_\mathrm{phot}=6.83\pm0.06$ found in the 1.5 deg$^2$ COSMOS field. The ALMA data reveal detections of exceptionally strong [CII]158$\mu$m ($z_\mathrm{[CII]}=6.8532$) and underlying dust continuum emission from this object (COS-87259), where the [CII] line luminosity, line width, and 158$\mu$m continuum luminosity are comparable to that seen from $z\sim7$ sub-mm galaxies and quasar hosts. The 158$\mu$m continuum detection suggests a total infrared luminosity of $9\times10^{12}$ $L_\odot$ with corresponding very large obscured star formation rate (1300 $M_\odot$/yr) and dust mass ($2\times10^9$ $M_\odot$). The strong break seen between the VIRCam and IRAC photometry perhaps suggests that COS-87259 is an extremely massive reionization era galaxy with $M_\ast\approx1.7\times10^{11}$ $M_\odot$. Moreover, the MIPS, PACS, and SPIRE detections imply that this object harbors an AGN that is heavily obscured ($\tau_{_{\mathrm{9.7\mu m}}}=2.3$) with a bolometric luminosity of approximately $5\times10^{13}$ $L_\odot$. Such a very high AGN luminosity suggests this object is powered by an $\approx$1.6 $\times$ 10$^9$ $M_\odot$ black hole if accreting near the Eddington limit, and is effectively a highly-obscured version of an extremely UV-luminous ($M_{1450}\approx-27.3$) $z\sim7$ quasar. Notably, these $z\sim7$ quasars are an exceedingly rare population ($\sim$0.001 deg$^{-2}$) while COS-87259 was identified over a relatively small field. Future very wide-area surveys with, e.g., Roman and Euclid have the potential to identify many more extremely red yet UV-bright $z\gtrsim7$ objects similar to COS-87259, providing richer insight into the occurrence of intense obscured star formation and supermassive black hole growth among this population.Comment: 12 pages, 7 figures, 1 table. Updated to accepted version (MNRAS

CLEVA: Chinese Language Models EVAluation Platform

With the continuous emergence of Chinese Large Language Models (LLMs), how to evaluate a model's capabilities has become an increasingly significant issue. The absence of a comprehensive Chinese benchmark that thoroughly assesses a model's performance, the unstandardized and incomparable prompting procedure, and the prevalent risk of contamination pose major challenges in the current evaluation of Chinese LLMs. We present CLEVA, a user-friendly platform crafted to holistically evaluate Chinese LLMs. Our platform employs a standardized workflow to assess LLMs' performance across various dimensions, regularly updating a competitive leaderboard. To alleviate contamination, CLEVA curates a significant proportion of new data and develops a sampling strategy that guarantees a unique subset for each leaderboard round. Empowered by an easy-to-use interface that requires just a few mouse clicks and a model API, users can conduct a thorough evaluation with minimal coding. Large-scale experiments featuring 23 Chinese LLMs have validated CLEVA's efficacy.Comment: EMNLP 2023 System Demonstrations camera-read

Multi-scenario pear tree inflorescence detection based on improved YOLOv7 object detection algorithm

Efficient and precise thinning during the orchard blossom period is a crucial factor in enhancing both fruit yield and quality. The accurate recognition of inflorescence is the cornerstone of intelligent blossom equipment. To advance the process of intelligent blossom thinning, this paper addresses the issue of suboptimal performance of current inflorescence recognition algorithms in detecting dense inflorescence at a long distance. It introduces an inflorescence recognition algorithm, YOLOv7-E, based on the YOLOv7 neural network model. YOLOv7 incorporates an efficient multi-scale attention mechanism (EMA) to enable cross-channel feature interaction through parallel processing strategies, thereby maximizing the retention of pixel-level features and positional information on the feature maps. Additionally, the SPPCSPC module is optimized to preserve target area features as much as possible under different receptive fields, and the Soft-NMS algorithm is employed to reduce the likelihood of missing detections in overlapping regions. The model is trained on a diverse dataset collected from real-world field settings. Upon validation, the improved YOLOv7-E object detection algorithm achieves an average precision and recall of 91.4% and 89.8%, respectively, in inflorescence detection under various time periods, distances, and weather conditions. The detection time for a single image is 80.9 ms, and the model size is 37.6 Mb. In comparison to the original YOLOv7 algorithm, it boasts a 4.9% increase in detection accuracy and a 5.3% improvement in recall rate, with a mere 1.8% increase in model parameters. The YOLOv7-E object detection algorithm presented in this study enables precise inflorescence detection and localization across an entire tree at varying distances, offering robust technical support for differentiated and precise blossom thinning operations by thinning machinery in the future

Études sur le transport collaboratif dans le transport de chargement partiel

La planification efficace des opérations de transport est primordiale pour les chargeurs et les transporteurs de réduire leurs coûts logistiques en raison des prix élevés de carburants et de la concurrence accrue sur le marché de transport. La collaboration entre chargeurs ou transporteurs peut améliorer leur rentabilité en réduisant les repositionnements de véhicules vides et en augmentant les taux de remplissage de leurs véhicules. Cette thèse étudie trois problèmes posés par la logistique collaborative dans le transport de chargement partiel. Tout d'abord, un mécanisme itératif d'échange de demandes de transport est proposé pour la collaboration entre transporteurs dans le transport à un seul échelon. Des expériences numériques montrent que ce mécanisme d’échange à plusieurs tours surpasse de manière significative les autres mécanismes d’enchère dans la littérature. Ensuite, un algorithme de décomposition Benders est développé pour résoudre un problème d’achat de prestations de transport dans le transport à plusieurs échelons. Enfin, un problème de collaboration entre chargeurs dans la logistique de distribution et de retour est étudié. L’algorithme proposé est efficace à la fois en termes de qualité de solution et de temps de calcul. Tous ces mécanismes d’enchère et algorithmes proposés peuvent aider les transporteurs et les chargeurs à améliorer leur rentabilité grâce à une collaboration efficace entre eux.Effective transportation planning is important for shippers and carriers to reduce their logistics costs because of high fuel prices and an increasing competition in the transportation market. Collaboration among shippers or carriers can improve their profitability by reducing empty vehicle repositions and increasing vehicle fill rates.This thesis studies three problems raised in collaborative logistics in less than truckload transportation. Firstly, an iterative request exchange mechanism is proposed for carrier collaboration in a single echelon transportation. Numerical experiments show that this multi-round exchange mechanism significantly outperforms other auction mechanisms in the literature. Then, a Benders decomposition algorithm is developed to solve a transportation service procurement problem in a multi-echelon transportation. Finally, a problem of collaboration among shippers in forward and reverse logistics is investigated and an algorithm is proposed, which is effective in terms of both solution quality and computation time. Numerical experiments demonstrate that this shipper collaboration can realize significant cost savings compared with the isolated operation of each shipper without cooperation. The proposed auction mechanisms and algorithms have the potential to help carriers and shippers improve their profitability through effective collaboration among them

Études sur le transport collaboratif dans le transport de chargement partiel

Effective transportation planning is important for shippers and carriers to reduce their logistics costs because of high fuel prices and an increasing competition in the transportation market. Collaboration among shippers or carriers can improve their profitability by reducing empty vehicle repositions and increasing vehicle fill rates.This thesis studies three problems raised in collaborative logistics in less than truckload transportation. Firstly, an iterative request exchange mechanism is proposed for carrier collaboration in a single echelon transportation. Numerical experiments show that this multi-round exchange mechanism significantly outperforms other auction mechanisms in the literature. Then, a Benders decomposition algorithm is developed to solve a transportation service procurement problem in a multi-echelon transportation. Finally, a problem of collaboration among shippers in forward and reverse logistics is investigated and an algorithm is proposed, which is effective in terms of both solution quality and computation time. Numerical experiments demonstrate that this shipper collaboration can realize significant cost savings compared with the isolated operation of each shipper without cooperation. The proposed auction mechanisms and algorithms have the potential to help carriers and shippers improve their profitability through effective collaboration among them.La planification efficace des opérations de transport est primordiale pour les chargeurs et les transporteurs de réduire leurs coûts logistiques en raison des prix élevés de carburants et de la concurrence accrue sur le marché de transport. La collaboration entre chargeurs ou transporteurs peut améliorer leur rentabilité en réduisant les repositionnements de véhicules vides et en augmentant les taux de remplissage de leurs véhicules. Cette thèse étudie trois problèmes posés par la logistique collaborative dans le transport de chargement partiel. Tout d'abord, un mécanisme itératif d'échange de demandes de transport est proposé pour la collaboration entre transporteurs dans le transport à un seul échelon. Des expériences numériques montrent que ce mécanisme d’échange à plusieurs tours surpasse de manière significative les autres mécanismes d’enchère dans la littérature. Ensuite, un algorithme de décomposition Benders est développé pour résoudre un problème d’achat de prestations de transport dans le transport à plusieurs échelons. Enfin, un problème de collaboration entre chargeurs dans la logistique de distribution et de retour est étudié. L’algorithme proposé est efficace à la fois en termes de qualité de solution et de temps de calcul. Tous ces mécanismes d’enchère et algorithmes proposés peuvent aider les transporteurs et les chargeurs à améliorer leur rentabilité grâce à une collaboration efficace entre eux

Experience in clinical diagnosis and treatment of patients aged＞65 years with acute calculous cholecystitis

ObjectiveTo investigate the features and methods of clinical diagnosis and treatment of elderly patients with acute calculous cholecystitis. MethodsA retrospective analysis was performed for the clinical data of elderly patients who were diagnosed with acute calculous cholecystitis in 451 Hospital of PLA from June 2012 to June 2015. After admission, all patients received fasting treatment, electrocardiographic monitoring, anti-infective therapy, and maintenance of body fluid balance and stable blood pressure and glucose. According to patients condition choose laparoscopic cholecystectomy open cholecystectomy, open cholecystectomy and common bile duct exploration. ResultsA total of 129 patients were enrolled; among these patients, 119 had acute calculous cholecystitis, 2 had gallstones with adenomatous hyperplasia of the gallbladder mucosa, 6 had pyogenic cholecystitis, and 2 had gallbladder gangrene. Among the patients enrolled, 52 were complicated by at least one internal disease. Among them, 67 underwent emergency surgery since there were no significant improvements in symptoms, and 62 showed relief of symptoms and underwent surgical treatment at other times. Of all patients, 108 underwent laparoscopic cholecystectomy, 9 underwent laparoscopy and were converted to open cholecystectomy, and 9 underwent open cholecystectomy and common bile duct exploration. All the surgeries were successful and all the patients were cured and discharged. There were no deaths. ConclusionElderly patients with acute calculous cholecystitis are in a critical condition and often complicated by various internal diseases. Laparoscopic cholecystectomy is the most commonly used therapeutic method. Clinicians should be fully prepared before surgery, take the perioperative management seriously, and accurately judge the surgical indications and timing

Diagnosis, treatment, and outcome of Mirizzi syndrome in the perioperative period of laparoscopic cholecystectomy

Objective To investigate the diagnosis, treatment, and outcome of Mirizzi syndrome in patients undergoing laparoscopic cholecystectomy (LC). MethodsA retrospective analysis was performed on the clinical data of 32 patients who underwent LC in the 451 Hospital of PLA from December 2006 to December 2014 and experienced Mirizzi syndrome during the perioperative period. Intraoperative diagnosis, selection of surgical procedures, and evaluation of treatment outcome were summarized. ResultsAmong these patients with Mirizzi syndrome, 8 were diagnosed before surgery and 24 were diagnosed during LC. According to the Csendes classification, 23 patients had type Ⅰ, 7 had type Ⅱ, 1 had type Ⅲ, and 1 had type Ⅳ Mirizzi syndrome. A total of 30 patients completed LC, and they all had type I or Ⅱ Mirizzi syndrome. One patient with type Ⅱ disease underwent LC and common bile duct exploration. Two patients with type Ⅲ or Ⅳ disease were converted to open surgery; the type Ⅲ patient underwent bile duct end-to-end anastomosis, and the type Ⅳ patient underwent choledochoenterostomy. ConclusionMirizzi syndrome is difficult to diagnose, and ultrasonography is the preferred method of examination. A combination of magnetic resonance cholangiopancreatography and endoscopic retrograde cholangiopancreatography can improve preoperative diagnostic rate. Most cases of type Ⅰ and Ⅱ Mirizzi syndrome can be treated by LC. Open surgery should be considered for type Ⅲ and Ⅳ cases to avoid biliary tract injury