Unmanned surface vehicles (USVs) are receiving increasing attention in recent years from both academia and industry. To make a high-level autonomy for USVs, the environment situational awareness is a key capability. However, due to the richness of the features in marine environments, as well as the complexity of the environment influenced by sun glare and sea fog, the development of a reliable situational awareness system remains a challenging problem that requires further studies. This paper, therefore, proposes a new deep semantic segmentation model together with a Simple Linear Iterative Clustering (SLIC) algorithm, for an accurate perception for various maritime environments. More specifically, powered by the SLIC algorithm, the new segmentation model can achieve refined results around obstacle edges and improved accuracy for water surface obstacle segmentation. The overall structure of the new model employs an encoder–decoder layout, and a superpixel refinement is embedded before final outputs. Three publicly available maritime image datasets are used in this paper to train and validate the segmentation model. The final output demonstrates that the proposed model can provide accurate results for obstacle segmentation.

To address the problem of cooperative work among right-angle coordinate robots in spacecraft structural plate mount tasks, an improved particle swarm optimization (PSO) algorithm was proposed to assign paths to three robots in a surface-mounted technology (SMT) machine. First, the optimization objective of path planning was established by analyzing the working process of the SMT machine. Then, the inertia weight update strategy was designed to overcome the early convergence of the traditional PSO algorithm, and the learning factor of each particle was calculated using fuzzy control to improve the global search capability. To deal with the concentration phenomenon of particles in the iterative process, the genetic algorithm (GA) was introduced when the particles were similar. The particles were divided into elite, high-quality, or low-quality particles according to their performance. New particles were generated through selection and crossover operations to maintain the particle diversity. The performance of the proposed algorithm was verified with the simulation results, which could shorten the planning path and quicken the convergence compared to the traditional PSO or GA. For large and complex maps, the proposed algorithm shortens the path by 7.49% and 11.49% compared to traditional PSO algorithms, and by 3.98% and 4.02% compared to GA.

Electric shovels have been widely used in heavy industrial applications, such as mineral extraction. However, the performance of the electric shovel is often affected by the complicated working environment and the proficiency of the operator, which will affect safety and efficiency. To improve the extraction performance, it is particularly important to study an intelligent electric shovel with autonomous operation technology. An electric shovel experimental platform for intelligent technology research and testing is proposed in this paper. The core of the designed platform is an intelligent environmental sensing/perception system, in which multiple sensors, such as RTK (real-time kinematic), IMU (inertial measurement unit) and LiDAR (light detection and ranging), have been employed. By appreciating the multi-directional loading characteristics of electric shovels, two 2D-LiDARs have been used and their data are synchronized and fused to construct a 3D point cloud. The synchronization is achieved with the assistance of RTK and IMU, which provide pose information of the shovel. In addition, in order to down-sample the LiDAR point clouds to facilitate more efficient data analysis, a new point cloud data processing algorithm including a bilateral-filtering based noise filter and a grid-based data compression method is proposed. The designed platform, together with its sensing system, was tested in different outdoor environment conditions. Compared with the original LiDAR point cloud, the proposed new environment sensing/perception system not only guarantees the characteristic points and effective edges of the measured objects, but also reduces the amount of processing point cloud data and improves system efficiency. By undertaking a large number of experiments, the overall measurement error of the proposed system is within 50 mm, which is well beyond the requirements of electric shovel application. The environment perception system for the automatic electric shovel platform has great research value and engineering significance for the improvement of the service problem of the electric shovel.

The surface modification technique is applied in microfluidic devices to modify wettability and achieve different flow velocities. Currently available methods for poly(dimethylsiloxane) (PDMS) surfaces may reliably induce wettability changes, but only one area can be altered at a time. This work introduces the controlled gradient oxygen plasma modification (CGPM) technique, which layers several resin masks with varying porosities on top of the PDMS surface. Selective wettability of the PDMS surface can be achieved by varying the oxygen plasma density above the modified material's surface by manipulation of the porosity value. Through the implementation of the COMSOL plasma module, the impact of the mask's porosity, through-hole size, distribution, and distance from the PDMS surface on wettability was studied. The suggested CGPM approach was characterized by contact angle measurements. During the 25-second CGPM procedure, the PDMS surface's contact angle continually changed from 8.77° to 76.98°. An integrated microfluidic device was created and manufactured to identify D-dimers to illustrate this method. In comparison with standard oxygen plasma treatment, the D-dimer assay was finished in 10 minutes and had a dynamic range of 1–1000 ng mL⁻¹, with a peak fluorescence signal augmentation of 78.3% and an average fluorescence intensity enhancement of 31.1%.