With the continuous progress and application of robotics technology, the importance of mobile robots capable of adapting to specialized work environments is gaining prominence. Among them, achieving precise and stable control of AGVs (Automated Guided Vehicles) stands as a paramount task propelling the advancement of mobile robotics. Consequently, this study devises a control system that enables AGVs to attain stable and accurate motion through equipment connection and debugging, kinematic modeling of the four-wheel steering AGV, and a selection and comparative analysis of motion control algorithms. The effectiveness of the Stanley-PID control algorithm in guiding the motion of a four-wheel steering AGV is validated through MATLAB 2021a simulation software. The simulation results illustrate the outstanding stability and precise control capabilities of the Stanley-PID algorithm.

Underwater object detection is critical for marine ecological monitoring and biodiversity research, yet existing algorithms struggle in detecting densely packed objects of varying sizes, particularly in occluded and complex underwater environments. This study introduces Underwater-Yolo, a novel detection network that enhances performance in these challenging scenarios by integrating a dual-branch occlusion-handling attention mechanism (GLOAM) and a Cross-Stage Partial Dilated Deformable Convolution (CSP-DDC) backbone. The dilated deformable convolutions (DDCs) in the backbone and neck expand the receptive field, thereby improving the detection of small objects, while the deformable convolutions enhance the model’s adaptive feature extraction capabilities for unstructured objects. Additionally, the CARAFE up-sampling operator in the neck aggregates contextual information across a broader spatial domain. The GLOAM, consisting of a global branch (using a Vision Transformer to capture global features and object–background relationships) and a local branch (enhancing the detection of occluded objects through depthwise–pointwise convolutions), further optimizes performance. By incorporating these innovations, the model effectively addresses the challenges of detecting small and occluded objects in dense underwater environments. The evaluation on the CLfish-V1 dataset shows significant improvements over state-of-the-art algorithms, with an AP50 of 93.8%, an AP75 of 88.9%, and an AP-small of 76.4%, marking gains of 4.7%, 16.7%, and 6%, respectively. These results demonstrate the model’s effectiveness in complex underwater scenarios.

The precise extraction of laser stripe centerlines is critical for line-laser 3D scanning systems. However, conventional methods relying on threshold segmentation and morphological operations face significant challenges when confronted with pervasive optical phenomena, including specular reflection, scattering, and bleeding, which are commonly observed in translucent optical components. These methods typically require complex preprocessing procedures and often yield poor precision in centerline extraction. In this paper, we introduce a novel learning-based approach, complemented by a meticulously curated dataset, explicitly designed to address these challenges. Our proposed method leverages a multi-scale attention U-Net-like architecture, initially tasked with the segmentation of laser stripes from the complex background environment. Subsequently, it employs the Steger algorithm for the precise extraction of laser stripe centerlines. The experimental results, obtained by comprehensively evaluating real-world captured images, clearly demonstrate the effectiveness of our deep neural network combined with the Steger algorithm. This combined approach exhibits exceptional accuracy even when challenged by the interferences from specular reflection, scattering, and bleeding artifacts. Specifically, our method achieves a mean intersection over union (mIoU) of 84.71% for the laser stripe detection task, accompanied by a mean square error (MSE) of 10.371 pixels. Also, the average execution time for the centerline extraction task is notably efficient at 0.125 s.

Underwater vision technology is crucial for marine exploration, aquaculture, and environmental monitoring. However, the challenging underwater conditions, including light attenuation, color distortion, reduced contrast, and blurring, pose difficulties. Current deep learning models and traditional image enhancement techniques are limited in addressing these challenges, making it challenging to acquire high-quality underwater image signals. To overcome these limitations, this study proposes an approach called adaptive multi-scale multi-color space underwater image enhancement with GAN-physics fusion (AMSMC-UGAN). AMSMC-UGAN leverages multiple color spaces (RGB, HSV, and Lab) for feature extraction, compensating for RGB’s limitations in underwater environments and enhancing the use of image information. By integrating a membership degree function to guide deep learning based on physical models, the model’s performance is improved across different underwater scenes. In addition, the introduction of a multi-scale feature extraction module deepens the granularity of image information, learns the degradation distribution of different image information of the same image content more comprehensively, and provides useful guidance for more comprehensive data for image enhancement. AMSMC-UGAN achieved maximum scores of 26.04 dB, 0.87, and 3.2004 for PSNR, SSIM, and UIQM metrics, respectively, on real and synthetic underwater image datasets. Additionally, it obtained gains of at least 6.5%, 6%, and 1% for these metrics. Empirical evaluations on real and artificially distorted underwater image datasets demonstrate that AMSMC-GAN outperforms existing techniques, showcasing superior performance with enhanced quantitative metrics and strong generalization capabilities.

This study investigated the the gas jet forming process for optical aspherical mirror blanks. The trend of the influence of the gas jet parameters on the surface shape of the mirror blanks was inferred by analysing the variation in the morphology of the gas jet stream. Based on the theoretical analysis, the inference was verified by numerical simulation. The experimental results were compared with the simulation predictions, and it was found that the average prediction deviation for the diameter was 1.07 mm, while the average prediction deviation for the principal curvature was 0.03665 mm⁻¹, which is challenging to correct in simulation. Therefore, we developed a dimensionless prediction model of the surface curvature and surface diameter of the mirror blanks by considering the jet parameters using experimental data. The model’s average prediction error for the surface diameter of the formed surface was 0.3192 mm, and the average prediction error of the principal curvature for the formed surface was 0.00269 mm⁻¹.