ETC-based control of underactuated AUVs and AUV formations in a 2D plane

This master thesis is aimed at single auv (autonomous underwater vehicle) and auv formation control in two-dimensional horizontal plane. For sake of increasing services life and saving communication resources, event-triggered mechanism is taken into consideration. two coordinate systems are introduced: earth-fixed frame and body-fixed frame. Some motion parameters and force analysis are used in the process of establishing mathematical model. then the related theorems, lemmas and control method commonly used in analyzing control systems are introduced. then, the auv control system is divided into two subsystems with cascade relationship. considering each subsystem separately, a controller is designed that can simultaneously carry out trajectory tracking and point stabilization. considering the service life of actuator equipment, an event-triggered controller was designed, which can reduce the frequency of actuator adjustment, prolong the service life of equipment. finally, combining the idea of light-of-sight method and virtual structure method, the auv formation tracking control problem is solved similarly to single auv. in deep sea conditions, an event- triggered communicating mechanism is designed to reduce the frequency of communication and adapt to limited communication resources, which balances the reliability and economy. matlab simulink is used to simulate the controller designed in the thesis, and confirms the feasibility of the controller

FOLT: Fast Multiple Object Tracking from UAV-captured Videos Based on Optical Flow

Multiple object tracking (MOT) has been successfully investigated in computer vision. However, MOT for the videos captured by unmanned aerial vehicles (UAV) is still challenging due to small object size, blurred object appearance, and very large and/or irregular motion in both ground objects and UAV platforms. In this paper, we propose FOLT to mitigate these problems and reach fast and accurate MOT in UAV view. Aiming at speed-accuracy trade-off, FOLT adopts a modern detector and light-weight optical flow extractor to extract object detection features and motion features at a minimum cost. Given the extracted flow, the flow-guided feature augmentation is designed to augment the object detection feature based on its optical flow, which improves the detection of small objects. Then the flow-guided motion prediction is also proposed to predict the object's position in the next frame, which improves the tracking performance of objects with very large displacements between adjacent frames. Finally, the tracker matches the detected objects and predicted objects using a spatially matching scheme to generate tracks for every object. Experiments on Visdrone and UAVDT datasets show that our proposed model can successfully track small objects with large and irregular motion and outperform existing state-of-the-art methods in UAV-MOT tasks.Comment: Accepted by ACM Multi-Media 202

RK-core: An Established Methodology for Exploring the Hierarchical Structure within Datasets

Recently, the field of machine learning has undergone a transition from model-centric to data-centric. The advancements in diverse learning tasks have been propelled by the accumulation of more extensive datasets, subsequently facilitating the training of larger models on these datasets. However, these datasets remain relatively under-explored. To this end, we introduce a pioneering approach known as RK-core, to empower gaining a deeper understanding of the intricate hierarchical structure within datasets. Across several benchmark datasets, we find that samples with low coreness values appear less representative of their respective categories, and conversely, those with high coreness values exhibit greater representativeness. Correspondingly, samples with high coreness values make a more substantial contribution to the performance in comparison to those with low coreness values. Building upon this, we further employ RK-core to analyze the hierarchical structure of samples with different coreset selection methods. Remarkably, we find that a high-quality coreset should exhibit hierarchical diversity instead of solely opting for representative samples. The code is available at https://github.com/yaolu-zjut/Kcore

Dual-mode adaptive-SVD ghost imaging

In this paper, we present a dual-mode adaptive singular value decomposition ghost imaging (A-SVD GI), which can be easily switched between the modes of imaging and edge detection. It can adaptively localize the foreground pixels via a threshold selection method. Then only the foreground region is illuminated by the singular value decomposition (SVD) - based patterns, consequently retrieving high-quality images with fewer sampling ratios. By changing the selecting range of foreground pixels, the A-SVD GI can be switched to the mode of edge detection to directly reveal the edge of objects, without needing the original image. We investigate the performance of these two modes through both numerical simulations and experiments. We also develop a single-round scheme to halve measurement numbers in experiments, instead of separately illuminating positive and negative patterns in traditional methods. The binarized SVD patterns, generated by the spatial dithering method, are modulated by a digital micromirror device (DMD) to speed up the data acquisition. This dual-mode A-SVD GI can be applied in various applications, such as remote sensing or target recognition, and could be further extended for multi-modality functional imaging/detection

Diverse biological effects of glycosyltransferase genes from Tartary buckwheat

Background: Tartary buckwheat (Fagopyrum tataricum) is an edible cereal crop whose sprouts have been marketed and commercialized for their higher levels of anti-oxidants, including rutin and anthocyanin. UDP-glucose flavonoid glycosyltransferases (UFGTs) play an important role in the biosynthesis of flavonoids in plants. So far, few studies are available on UFGT genes that may play a role in tartary buckwheat flavonoids biosynthesis. Here, we report on the identification and functional characterization of seven UFGTs from tartary buckwheat that are potentially involved in flavonoid biosynthesis (and have varying effects on plant growth and development when overexpressed in Arabidopsis thaliana.) Results: Phylogenetic analysis indicated that the potential function of the seven FtUFGT proteins, FtUFGT6, FtUFGT7, FtUFGT8, FtUFGT9, FtUFGT15, FtUFGT40, and FtUFGT41, could be divided into three Arabidopsis thaliana functional subgroups that are involved in flavonoid biosynthesis of and anthocyanin accumulation. A significant positive correlation between FtUFGT8 and FtUFGT15 expression and anthocyanin accumulation capacity was observed in the tartary buckwheat seedlings after cold stress. Overexpression in Arabidopsis thaliana showed that FtUFGT8, FtUFGT15, and FtUFGT41 significantly increased the anthocyanin content in transgenic plants. Unexpectedly, overexpression of FtUFGT6, while not leading to enhanced anthocyanin accumulation, significantly enhanced the growth yield of transgenic plants. When wild-type plants have only cotyledons, most of the transgenic plants of FtUFGT6 had grown true leaves. Moreover, the growth speed of the oxFtUFGT6 transgenic plant root was also significantly faster than that of the wild type. At later growth, FtUFGT6 transgenic plants showed larger leaves, earlier twitching times and more tillers than wild type, whereas FtUFGT15 showed opposite results. Conclusions: Seven FtUFGTs were isolated from tartary buckwheat. FtUFGT8, FtUFGT15, and FtUFGT41 can significantly increase the accumulation of total anthocyanins in transgenic plants. Furthermore, overexpression of FtUFGT6 increased the overall yield of Arabidopsis transgenic plants at all growth stages. However, FtUFGT15 shows the opposite trend at later growth stage and delays the growth speed of plants. These results suggested that the biological function of FtUFGT genes in tartary buckwheat is diverse

How methanotrophs respond to pH: A review of ecophysiology

Varying pH globally affects terrestrial microbial communities and biochemical cycles. Methanotrophs effectively mitigate methane fluxes in terrestrial habitats. Many methanotrophs grow optimally at neutral pH. However, recent discoveries show that methanotrophs grow in strongly acidic and alkaline environments. Here, we summarize the existing knowledge on the ecophysiology of methanotrophs under different pH conditions. The distribution pattern of diverse subgroups is described with respect to their relationship with pH. In addition, their responses to pH stress, consisting of structure–function traits and substrate affinity traits, are reviewed. Furthermore, we propose a putative energy trade-off model aiming at shedding light on the adaptation mechanisms of methanotrophs from a novel perspective. Finally, we take an outlook on methanotrophs' ecophysiology affected by pH, which would offer new insights into the methane cycle and global climate change

SCEI: A Smart-Contract Driven Edge Intelligence Framework for IoT Systems

Federated learning (FL) utilizes edge computing devices to collaboratively train a shared model while each device can fully control its local data access. Generally, FL techniques focus on learning model on independent and identically distributed (iid) dataset and cannot achieve satisfiable performance on non-iid datasets (e.g. learning a multi-class classifier but each client only has a single class dataset). Some personalized approaches have been proposed to mitigate non-iid issues. However, such approaches cannot handle underlying data distribution shift, namely data distribution skew, which is quite common in real scenarios (e.g. recommendation systems learn user behaviors which change over time). In this work, we provide a solution to the challenge by leveraging smart-contract with federated learning to build optimized, personalized deep learning models. Specifically, our approach utilizes smart contract to reach consensus among distributed trainers on the optimal weights of personalized models. We conduct experiments across multiple models (CNN and MLP) and multiple datasets (MNIST and CIFAR-10). The experimental results demonstrate that our personalized learning models can achieve better accuracy and faster convergence compared to classic federated and personalized learning. Compared with the model given by baseline FedAvg algorithm, the average accuracy of our personalized learning models is improved by 2% to 20%, and the convergence rate is about 2$\times$ faster. Moreover, we also illustrate that our approach is secure against recent attack on distributed learning.Comment: 12 pages, 9 figure

Quantitative and dark field ghost imaging with ultraviolet light

Ultraviolet (UV) imaging enables a diverse array of applications, such as material composition analysis, biological fluorescence imaging, and detecting defects in semiconductor manufacturing. However, scientific-grade UV cameras with high quantum efficiency are expensive and include a complex thermoelectric cooling system. Here, we demonstrate a UV computational ghost imaging (UV-CGI) method to provide a cost-effective UV imaging and detection strategy. By applying spatial-temporal illumination patterns and using a 325 nm laser source, a single-pixel detector is enough to reconstruct the images of objects. To demonstrate its capability for quantitative detection, we use UV-CGI to distinguish four UV-sensitive sunscreen areas with different densities on a sample. Furthermore, we demonstrate dark field UV-CGI in both transmission and reflection schemes. By only collecting the scattered light from objects, we can detect the edges of pure phase objects and small scratches on a compact disc. Our results showcase a feasible low-cost solution for non-destructive UV imaging and detection. By combining it with other imaging techniques, such as hyperspectral imaging or time-resolved imaging, a compact and versatile UV computational imaging platform may be realized for future applications.Comment: 9 pages, 5 figure