基于YOLO v8n-seg和改进Strongsort的多目标小鼠跟踪方法

多目标小鼠跟踪是小鼠行为分析的基本任务,是研究社交行为的重要方法。针对传统小鼠跟踪方法存在只能跟踪单只小鼠以及对多目标小鼠跟踪需要对小鼠进行标记从而影响小鼠行为等问题,提出了一种基于实例分割网络YOLO v8n-seg和改进Strongsort相结合的多目标小鼠无标记跟踪方法。使用RGB摄像头采集多目标小鼠的日常行为视频,标注小鼠身体部位分割数据集,对数据集进行增强后训练YOLO v8n-seg实例分割网络,经过测试,模型精确率为97.7%,召回率为98.2%,mAP50为99.2%,单幅图像检测时间为3.5ms,实现了对小鼠身体部位准确且快速地分割,可以满足Strongsort多目标跟踪算法的检测要求。针对Strongsort算法在多目标小鼠跟踪中存在的跟踪错误问题,对Strongsort做了两点改进：对匹配流程进行改进,将未匹配上目标的轨迹和未匹配上轨迹的目标按欧氏距离进行再次匹配;对卡尔曼滤波进行改进,将卡尔曼滤波中表示小鼠位置和运动状态的小鼠身体轮廓外接矩形框替换为以小鼠身体轮廓质心为中心、对角线为小鼠体宽的正方形框。经测试,改进后Strongsort算法的ID跳变数为14,MOTA为97.698%,IDF1为85.435%,MOTP为75.858%,与原Strongsort相比,ID跳变数减少88%,MOTA提升3.266个百分点,IDF1提升27.778个百分点,与Deepsort、ByteTrack和Ocsort相比,在MOTA和IDF1上均有显著提升,且ID跳变数大幅降低,结果表明改进Strongsort算法可以提高多目标无标记小鼠跟踪的稳定性和准确性,为小鼠社交行为分析提供了一种新的技术途径。     

喷洒作业下四旋翼植保无人机的轨迹跟踪控制

针对所搭载药箱内药液变化导致四旋翼植保无人机喷洒作业品质下降的问题,为实现喷洒作业下四旋翼植保无人机的轨迹跟踪控制,提出一种喷洒作业下四旋翼植保无人机的轨迹跟踪控制方法.在考虑喷洒作业下药液变化影响的前提下,建立了四旋翼植保无人机的非线性动力学模型.在原有PD控制的基础上,引入模糊控制器对控制参数进行在线自适应整定,从...     

Effects of traditional salt placement and strategically placed mineral mix supplements on cattle distribution in the Western Italian Alps

Effects of traditional salt placement (TS) and strategically placed mineral mix supplements (MMS) on cattle distribution were compared in the Italian Alps. Salt was placed within flat and herbaceous sites following the traditional method of farmers, whereas MMS blocks were placed on steep and shrub‐encroached sites within three large pastures (44 ha on average). Each TS and MMS site was paired with a control site, and eleven cows were tracked with GPS collars. Within 10 and 50 m of TS and MMS, treatment sites were used more than control sites (P < 0·05). No differences were detected (P > 0·05) in the number of visits by cows within 10 and 50 m of TS and MMS placements. No differences were detected in time spent within 10 m of TS and MMS placements, but cows spent more time (P < 0·05) within 50 m of TS. With either TS or MMS, cattle preferred areas with gentler terrain, higher forage pastoral value and closer to water (P < 0·001). When MMS was available cattle also preferred areas near MMS (P < 0·001). Shrub and herbaceous cover decreased near MMS placements (P < 0·05) from cattle grazing and trampling. Placement of MMS is a promising tool to enhance cattle distribution and potentially reduce shrub encroachment in rugged mountain pastures.     

履带式拖拉机自动驾驶系统路径智能跟踪控制研究

为实现复杂环境下履带式拖拉机田间作业的路径跟踪控制,设计了履带式拖拉机自动驾驶系统,并对路径跟踪与控制算法进行了研究。自动驾驶系统由MCU、双源激光定位系统、速度控制系统、点火/熄火控制系统、液压转向系统等组成。采用模糊算法对行驶过程中的路径偏差进行补偿,实现对路径的跟踪控制。为验证算法的有效性,进行了Matlab/Simulate仿真与田间试验。结果显示对于NF502型履带拖拉机,该系统在100 m范围内可实现有效控制,表明该算法能实现对行驶路线跟踪与控制。     

基于摆线运动的黄瓜采摘机器人终端滑模轨迹跟踪控制

黄瓜采摘机器人是机器人技术在农业中的具体应用,而快速稳定地到达目标采摘点的轨迹规划则是黄瓜采摘机器人研究的主要内容之一。根据摆线运动曲线光滑,并能在有限区间的端点产生零速度和零加速度的特点,将其应用于黄瓜采摘机器人关节空间的轨迹规划,该方法计算简单,实时性好。同时,为了实现对期望轨迹的精确跟踪,构造了一种快速非奇异的终端滑模控制器,采用指数和幂次结合的趋近率方法,引入非线性滑模面,突破了普通滑模控制器在线性滑模条件下渐进收敛的特点,并且不会出现传统终端滑模控制的奇异性和抖振问题。李亚普诺夫稳定性分析和仿真试验证明：它能够准确的跟踪期望轨迹,并能使位置跟踪误差在有限时间内收敛到零,响应时间短,跟踪效果好。     

Where do you think you’re going? Accounting for ontogenetic and climate‐induced movement in spatially stratified integrated population assessment models

Understanding spatial population structure and biocomplexity is critical for determining a species’ resilience to environmental and anthropogenic perturbations. However, integrated population models (IPMs) used to develop management advice for harvested populations have been slow to incorporate spatial dynamics. Therefore, limited research has been devoted to understanding the reliability of movement parameter estimation in spatial population models, especially for spatially dynamic marine fish populations. We implemented a spatial simulation–estimation framework that emulated a generic marine fish metapopulation to explore the impact of ontogenetic movement and climate‐induced distributional shifts between two populations. The robustness of spatially stratified IPMs was explored across a range of movement parametrizations, including ignoring connectivity or estimating movement with various levels of complexity. Ignoring connectivity was detrimental to accurate estimation of population‐specific biomass, while implementing spatial IPMs with intermediate levels of complexity (e.g. estimating movement in two‐year and two‐age blocks) performed best when no a priori information about underlying movement was available. One‐way distributional shifts mimicking climate‐induced poleward migrations presented the greatest estimation difficulties, but the incorporation of auxiliary information on connectivity (e.g. tag‐recapture data) reduced bias. The continued development of spatially stratified modelling approaches should allow harvested resources to be better utilized without increased risk. Additionally, expanded collection and incorporation of unique spatially explicit data will enhance the robustness of IPMs in the future.     

基于自适应导航参数的智能车辆视觉导航

为提高导航路径识别的鲁棒性和实时性,采用了分区阈值二值化、噪声点搜索及滤波等图像处理方法,并对导航路径进行分区逐段识别;在路径跟踪方面,在获取的导航路径图像中选取远端路径和近端路径,以远端路径和近端路径的方位偏差量作为确定目标路径的依据,使提取的导航参数能适应导航路径的变化。根据四轮智能车辆模型进行路径跟踪仿真计算。在此基础上,采用两块数字信号处理器,对基于路径导航的视觉智能车辆进行了设计和试验验证。试验结果表明采用该方法设计的智能车辆具有较好的路径识别和跟踪控制效果。     

农牧区离网型风力发电系统控制策略

[目的]研究农牧区离网型风力发电系统控制策略。[方法]根据离网型风力机的运行特性,采用负载跟踪和充放电集成控制的系统结构,研究了不同工作状况对风力发电系统运行的影响。[结果]提取出系统的工作模式及工作模式之间的转换关系,给出了实现系统模式相应的控制策略。[结论]负载跟踪和充放电集成控制方法有利于实现离网型风力发电系统的优化及可靠运行。     

Microsatellite DNA analysis and hydrodynamic modelling reveal the extent of larval transport and gene flow between management zones in an exploited marine fish (Glaucosoma hebraicum)

Determining the extent of dispersal in exploited marine fishes is essential for understanding their population dynamics and optimising management. The West Australian dhufish, Glaucosoma hebraicum, is a highly sought‐after, large and long‐lived reef‐dwelling species, endemic to south‐western Australia. Stock assessments indicate that this indicator species is overexploited. The fishery is managed using a zone‐based system, which implicitly assumes a high degree of demographic independence among zones. While tagging studies indicate limited movement of adult G. hebraicum, there is no understanding of the spatial scale of dispersal of its larvae and thus the true extent of interdependence of management zones. We analysed 13 microsatellite DNA loci to characterise the extent of gene flow, and conducted particle tracking simulations to model larval transport in this species. Genetic data demonstrated that some local recruitment was likely, but that on a broad scale gene flow between the management zones was extensive, and the entire fishery represents a single genetic stock. Hydrodynamic modelling predicted that the majority of dhufish larvae recruit from within the management zone where they are spawned, and that inter‐annual variation in current velocities has limited effect on the extent of larval transport. Because management zones are likely to be largely independent in terms of both larval and adult recruitment, heavy localised fishing pressure has the potential to reduce the abundance and reproductive capacity of this species in highly fished areas, but it should have limited impact on neutral genetic diversity.