Monitoring marine debris has long been a challenging issue owing to the complex and changeable underwater environment. To fast and accurately detect marine debris, in this paper, a novel object detection network termed as YOLOTrashCan is proposed for detecting underwater marine debris. The YOLOTrashCan model consists of feature enhancement and feature fusion. In the feature enhancement part, the ECA_DO-Conv_CSPDarknet53 backbone, which combines efficient channel attention (ECA) module and depthwise over-parameterized convolutional (DO-Conv), is proposed to extract the depth semantic features of marine debris. In the feature fusion part, the DPMs_PixelShuffle_PANET module is presented to improve the detection ability for marine debris, where dilated parallel modules (DPMs) with multi-scale dilated rate are designed as enhanced feature modules for the different scale objects of marine debris. Notably, the size of the network is only 214MB by using the DPMs method. Extensive experiments and thorough analysis are validated on the TrashCan 1.0 dataset. Experimental results show that the proposed algorithm not only improves the detection accuracy of underwater marine debris, but also reduces the size of the network model.

A high-performance differential global positioning system (GPS) receiver with real time kinematics provides absolute localization for driverless cars. However, it is not only susceptible to multipath effect but also unable to effectively fulfill precise error correction in a wide range of driving areas. This paper proposes an accurate GPS–inertial measurement unit (IMU)/dead reckoning (DR) data fusion method based on a set of predictive models and occupancy grid constraints. First, we employ a set of autoregressive and moving average (ARMA) equations that have different structural parameters to build maximum likelihood models of raw navigation. Second, both grid constraints and spatial consensus checks on all predictive results and current measurements are required to have removal of outliers. Navigation data that satisfy stationary stochastic process are further fused to achieve accurate localization results. Third, the standard deviation of multimodal data fusion can be pre-specified by grid size. Finally, we perform a lot of field tests on a diversity of real urban scenarios. The experimental results demonstrate that the method can significantly smooth small jumps in bias and considerably reduce accumulated position errors due to DR. With low computational complexity, the position accuracy of our method surpasses existing state-of-the-arts on the same dataset and the new data fusion method is practically applied in our driverless car.

Deep neural networks (DNNs)-based battery remaining useful life (RUL) prognostics models suffer from high computational costs, long inference times, and a tendency to overfit, posing significant challenges for deployment on memory-constrained edge devices. To address this, LDNet-RUL, a lightweight yet high-performance model, is proposed for lithiumion battery lifetime prognostics. Specifically, a deformable depthwise convolution unit is designed that efficiently adapts to variations in input features with relatively low computational cost, which leverages fewer parameters and an adaptive receptive field to capture battery degradation dynamics. A multi-scale feature extraction method is introduced to extract degradation features from both short-term and long-term data during the battery charging process, which makes the method applicable to various battery charging protocols. To address overfitting and accelerate model inference, an adaptive channel selector, an adaptive residual connector, and a progressive dimensionalitygrouped bottleneck filter are incorporated to refine feature selection and reduce the model's complexity, boosting the model's overall performance. Experiments on vehicle lithium-ion battery datasets demonstrate that LDNet-RUL achieves state-of-the-art (SOTA) performance, with average RMSE of 0.23 and Score of 0.49. The model is lightweight, with only 7.92K parameters, achieves inference times of 3.94ms on GPU and CPU, and 5.39ms on the NVIDIA Jetson TX2.

Optimal control of aluminum electrolysis production process (AEPP) has long been a challenging industrial issue due to its inherent difficulty in establishing an accurate dynamic model. In this paper, a novel robust optimal control algorithm based on adaptive dynamic programming (ADP) is proposed for the AEPP, where the system subjects to input constraints. First, to establish an accurate dynamic model for the AEPP system, recursive neural network (RNN) is employed to reconstruct the system dynamic using the input-output production data. To ensure input constraints are not to exceed the bound of the actuator, the optimal control problem of the AEPP is formulated under a new nonquadratic form performance index function. Then, considering the perturbation of the AEPP, the robust control problem is effectively converted to the constrained optimal control problem via system transformation. Furthermore, a single critic network framework is developed to obtain the approximate solution of the Hamilton-Jacobi-Bellman (HJB) equation. Finally, the proposed ADP controller is applied to the AEPP system to validate the effectiveness and performance.