This study presents an observer-based adaptive fuzzy finite-time attitude control strategy for quadrotor unmanned aerial vehicles (UAVs). To estimate the information of angular velocity with the finite-time property, an adaptive neural network observer is first developed. Subsequently, an adaptive fuzzy logic system (FLS)-based nonsingular fast terminal sliding mode controller is proposed to compensate for the lumped disturbance and adjust the control gain online. To cope with the input saturation, an auxiliary system without the boundedness of the saturation difference is constructed. The theoretical analysis proves that all the system signals are bounded and the tracking errors can converge to small neighbourhoods in finite time. Finally, comparative simulations and experiments are performed to manifest the feasibility and superiority of the proposed control strategy, in terms of strong robustness, singularity avoidance, free-chattering, fault tolerance, and saturation attenuation.

Specialized pest control for agriculture is a high-priority agricultural issue. There are multiple categories of tiny pests, which pose significant challenges to monitoring. Previous work mainly relied on manual monitoring of pests, which was labor-intensive and time-consuming. Recently, deep-learning-based pest detection methods have achieved remarkable improvements and can be used for automatic pest monitoring. However, there are two main obstacles in the task of pest detection. (1) Small pests often go undetected because much information is lost during the network training process. (2) The highly similar physical appearances of some categories of pests make it difficult to distinguish the specific categories for networks. To alleviate the above problems, we proposed the multi-category pest detection network (MCPD-net), which includes a multiscale feature pyramid network (MFPN) and a novel adaptive feature region proposal network (AFRPN). MFPN can fuse the pest information in multiscale features, which significantly improves detection accuracy. AFRPN solves the problem of anchor and feature misalignment during RPN iterating, especially for small pest objects. In extensive experiments on the multi-category pests dataset 2021 (MPD2021), the proposed method achieved 67.3% mean average precision (mAP) and 89.3% average recall (AR), outperforming other deep learning-based models.

Wheat spike detection has important research significance for production estimation and crop field management. With the development of deep learning-based algorithms, researchers tend to solve the detection task by convolutional neural networks (CNNs). However, traditional CNNs equip with the inductive bias of locality and scale-invariance, which makes it hard to extract global and long-range dependency. In this paper, we propose a Transformer-based network named Multi-Window Swin Transformer (MW-Swin Transformer). Technically, MW-Swin Transformer introduces the ability of feature pyramid network to extract multi-scale features and inherits the characteristic of Swin Transformer that performs self-attention mechanism by window strategy. Moreover, bounding box regression is a crucial step in detection. We propose a Wheat Intersection over Union loss by incorporating the Euclidean distance, area overlapping, and aspect ratio, thereby leading to better detection accuracy. We merge the proposed network and regression loss into a popular detection architecture, fully convolutional one-stage object detection, and name the unified model WheatFormer. Finally, we construct a wheat spike detection dataset (WSD-2022) to evaluate the performance of the proposed methods. The experimental results show that the proposed network outperforms those state-of-the-art algorithms with 0.459 mAP (mean average precision) and 0.918 AP₅₀. It has been proved that our Transformer-based method is effective to handle wheat spike detection under complex field conditions.

To enhance the robustness and adaptability of autonomous formation flight, this study develops a fast fixed-time distributed neural formation control-based disturbance observer for multiple quadrotor unmanned aerial vehicles with nonlinear dynamics, input saturation, and unknown disturbances. First, a fast fixed-time stable system is presented to enhance convergence speed. Building on this system, a distributed state observer is proposed to smoothly estimate the state of the leading quadrotor. Second, an adaptive fixed-time disturbance observer is proposed, which resolves chattering issues, enables rapid disturbance estimation, and updates the observer gain. To address the problem of input saturation, a modified anti-saturation method is developed via a Gaussian function and an auxiliary compensation system, achieving high saturation-approximation accuracy and mitigating the impact of approximation error. In addition, a low-computation adaptive neural law is proposed to handle nonlinear dynamics. This mechanism features fewer learning parameters that are independent of the network weight dimensions, thereby reducing computational demands. Theoretical analysis shows that the control errors converge to near the origin within a fixed time. Finally, comparative simulations are conducted to validate the effectiveness and superiority of the presented control strategy

An accurate and robust pest detection and recognition scheme is an important step to enable the high quality and yield of agricultural products according to integrated pest management (IPM). Due to pose-variant, serious overlap, dense distribution, and interclass similarity of agricultural pests, the precise detection of multi-classes pest faces great challenges. In this study, an end-to-end pest detection algorithm has been proposed on the basis of deep convolutional neural networks. The detection method adopts a deformable residual network to extract pest features and a global context-aware module for obtaining region-of-interests of agricultural pests. The detection results of the proposed method are compared with the detection results of other state-of-the-art methods, for example, RetinaNet, YOLO, SSD, FPN, and Cascade RCNN modules. The experimental results show that our method can achieve an average accuracy of 77.8% on 21 categories of agricultural pests. The proposed detection algorithm can achieve 20.9 frames per second, which can satisfy real-time pest detection.

It is well recognized that aphid infestation severely reduces crop yield and further leads to significant economic loss. Therefore, accurately and efficiently detecting aphids is of vital importance in pest management. However, most existing detection methods suffer from unsatisfactory performance without fully considering the aphid characteristics, including tiny size, dense distribution, and multi-viewpoint data quality. In addition, existing clustered tiny-sized pest detection methods improve performance at the cost of time and do not meet the real-time requirements. To address the aforementioned issues, we propose a robust aphid detection method with two customized core designs: a Transformer feature pyramid network (T-FPN) and a multi-resolution training method (MTM). To be specific, the T-FPN is employed to improve the feature extraction capability by a feature-wise Transformer module (FTM) and a channel-wise feature recalibration module (CFRM), while the MTM aims at purifying the performance and lifting the efficiency simultaneously with a coarse-to-fine training pattern. To fully demonstrate the validity of our methods, abundant experiments are conducted on a densely clustered tiny pest dataset. Our method can achieve an average recall of 46.1% and an average precision of 74.2%, which outperforms other state-of-the-art methods, including ATSS, Cascade R-CNN, FCOS, FoveaBox, and CRA-Net. The efficiency comparison shows that our method can achieve the fastest training speed and obtain 0.045 s per image testing time, meeting the real-time detection. In general, our TD-Det can accurately and efficiently detect in-field aphids and lays a solid foundation for automated aphid detection and ranking.