Convolutional Neural Networks (CNNs) and Transformers have made remarkable achievements in hyperspectral image classification (HSIC). Unfortunately, CNN-based methods struggle to capture the contextual dependencies between pixels in HSIs, while Transformer-based methods suffer from quadratic computational complexity. Recently, the Mamba model has shown great potential as it can describe long-range dependencies between HSI pixels with linear computational complexity. Yet, Mamba still faces significant challenges in terms of global modeling. Inspired by the Mamba model framework and Transformers, a novel Dual-Branch Mamba-Like Linear Attention (DBMLLA) network is proposed for HSIC, achieving efficient global dependency modeling. Specifically, the proposed DBMLLA combines an embedding module, a Spatial-Spectral Mamba-Like Linear Attention (SS-MLLA) module, and a fusion module. In the embedding module, an absolute position embedding module is introduced for better extraction of global features. In the SS-MLLA module, we design the Spatial Mamba-Like Linear Attention (SpaMLLA) block and the Spectral Mamba-Like Linear Attention (SpeMLLA) block to exploit the spatial and spectral information of the HSI. In addition, SS-MLLA is improved by utilising Depthwise Separable Convolution (DSC) to enhance the model’s ability to extract deeper local feature information. Through experiments conducted on four public hyperspectral datasets, it is demonstrated that the proposed model consistently outperforms state-of-the-art approaches.

Surgical instrument segmentation is of great significance to robot-assisted surgery, but the noise caused by reflection, water mist, and motion blur during the surgery as well as the different forms of surgical instruments would greatly increase the difficulty of precise segmentation. A novel method called Branch Aggregation Attention network (BAANet) is proposed to address these challenges, which adopts a lightweight encoder and two designed modules, named Branch Balance Aggregation module (BBA) and Block Attention Fusion module (BAF), for efficient feature localization and denoising. By introducing the unique BBA module, features from multiple branches are balanced and optimized through a combination of addition and multiplication to complement strengths and effectively suppress noise. Furthermore, to fully integrate the contextual information and capture the region of interest, the BAF module is proposed in the decoder, which receives adjacent feature maps from the BBA module and localizes the surgical instruments from both global and local perspectives by utilizing a dual branch attention mechanism. According to the experimental results, the proposed method has the advantage of being lightweight while outperforming the second-best method by 4.03%, 1.53%, and 1.34% in mIoU scores on three challenging surgical instrument datasets, respectively, compared to the existing state-of-the-art methods. Code is available at https://github.com/SWT-1014/BAANet.

This article presents an adaptive finite-time event-triggered bearing-only formation controller for multiple unmanned aerial vehicles (UAVs) subjected to unknown external disturbances. Initially, a finite-time disturbance observer (FTDO) was designed to stabilize the disturbance estimation error without prior knowledge of the disturbance's upper limit. Subsequently, a dynamic surface control (DSC) strategy utilizing only bearing information was developed. This approach addresses formation tracking within finite time intervals and resolves the “differential explosion” problem commonly encountered in traditional backstepping methods by incorporating a tracking differentiator. Additionally, an event-triggered control mechanism was implemented to minimize the frequency of control updates, thereby optimizing computational efficiency. The proposed method's effectiveness and practical applicability are validated through thorough stability proofs of the closed-loop system and extensive simulations, including detailed hardware-in-the-loop (HITL) experiments.