Anomaly detection has an important impact on the development of unmanned aerial vehicles, and effective anomaly detection is fundamental to their utilization. Traditional anomaly detection discriminates anomalies for single-dimensional factors of sensing data, which often performs poorly in multidimensional data scenarios due to weak computational scalability and the problem of dimensional catastrophe, ignoring potential correlations between sensing data and some important information of certain characteristics. In order to capture the correlation of multidimensional sensing data and improve the accuracy of anomaly detection effectively, GTAF, an anomaly detection model for multivariate sequences based on an improved graph neural network with a transformer, a graph attention mechanism and a multi-channel fusion mechanism, is proposed in this paper. First, we added a multi-channel transformer structure for intrinsic pattern extraction of different data. Then, we combined the multi-channel transformer structure with GDN’s original graph attention network (GAT) to attain better capture of features of time series, better learning of dependencies between time series and hence prediction of future values of adjacent time series. Finally, we added a multi-channel data fusion module, which utilizes channel attention to integrate global information and upgrade anomaly detection accuracy. The results of experiments show that the average accuracies of GTAF, the anomaly detection model proposed in this paper, are 92.83% and 96.59% on two datasets from unmanned systems, respectively, which has higher accuracy and computational efficiency compared with other methods.

Target detection algorithms can greatly improve the efficiency of tomato leaf disease detection and play an important technical role in intelligent tomato cultivation. However, there are some challenges in the detection process, such as the diversity of complex backgrounds and the loss of leaf symmetry due to leaf shadowing, and existing disease detection methods have some disadvantages in terms of deteriorating generalization ability and insufficient accuracy. Aiming at the above issues, a target detection model for tomato leaf disease based on deep learning with a global attention mechanism, TDGA, is proposed in this paper. The main idea of TDGA includes three aspects. Firstly, TDGA adds a global attention mechanism (GAM) after up-sampling and down-sampling, as well as in the SPPF module, to improve the feature extraction ability of the target object, effectively reducing the interference of invalid targets. Secondly, TDGA uses a switchable atrous convolution (SAConv) in the C3 module to improve the model’s ability to detect. Thirdly, TDGA adopts the efficient IoU loss (EIoU) instead of complete IoU loss (CIoU) to solve the ambiguous definition of aspect ratio and sample imbalance. In addition, the influences of different environmental factors such as single leaf, multiple leaves, and shadows on the performance of tomato disease detection are extensively experimented with and analyzed in this paper, which also verified the robustness of TDGA. The experimental results show that the average accuracy of TDGA reaches 91.40%, which is 2.93% higher than that of the original YOLOv5 network, which is higher than YOLOv5, YOLOv7, YOLOHC, YOLOv8, SSD, Faster R-CNN, RetinaNet and other target detection networks, so that TDGA can be utilized for the detection of tomato leaf disease more efficiently and accurately, even in complex environments.

Fast and accurate counting and positioning of flowers is the foundation of automated flower cultivation production. However, it remains a challenge to complete the counting and positioning of high-density flowers against a complex background. Therefore, this paper proposes a lightweight flower counting and positioning model, Light-FC-YOLO, based on YOLOv8s. By integrating lightweight convolution, the model is more portable and deployable. At the same time, a new efficient detection head, Efficient head, and the integration of the LSKA large kernel attention mechanism are proposed to enhance the model’s feature detail extraction capability and change the weight ratio of the shallow edge and key point information in the network. Finally, the SIoU loss function with target angle deviation calculation is introduced to improve the model’s detection accuracy and target positioning ability. Experimental results show that Light-FC-YOLO, with a model size reduction of 27.2% and a parameter reduction of 39.0%, has a Mean Average Precision (mAP) and recall that are 0.8% and 1.4% higher than YOLOv8s, respectively. In the counting comparison experiment, the coefficient of determination (R²) and Root Mean Squared Error (RMSE) of Light-FC-YOLO reached 0.9577 and 8.69, respectively, both superior to lightweight models such as YOLOv8s. The lightweight flower detection method proposed in this paper can efficiently complete flower positioning and counting tasks, providing technical support and reference solutions for automated flower production management.

Soil moisture time series data are usually nonlinear in nature and are influenced by multiple environmental factors. The traditional autoregressive integrated moving average (ARIMA) method has high prediction accuracy but is only suitable for linear problems and only predicts data with a single column of time series. The gated recurrent unit neural network (GRU) can achieve the prediction of time series and nonlinear multivariate data, but a single nonlinear model does not yield optimal results. Therefore, a hybrid time series prediction model, BAG, combining linear and nonlinear characteristics of soil moisture, is proposed in this paper to achieve the identification process of linear and nonlinear relationships in soil moisture data so as to improve the accuracy of prediction results. In BAG, block Hankel tensor ARIMA (BHT-ARIMA) and GRU are selected to extract the linear and nonlinear features of soil moisture data, respectively. BHT-ARIMA is applied to predict the linear part of the soil moisture, and GRU is used to predict the residual series, which is the nonlinear part, and the superposition of the two predicted results is the final prediction result. The performance of the proposed model on five real datasets was evaluated. The results of the experiments show that BAG has a higher prediction accuracy compared with other prediction models for different amounts of data and different numbers of environmental factors.

With the continuous development and popularization of remote sensing technology, remote sensing images have been widely used in the field of land cover classification. Since remote sensing images have complex spatial structure and texture features, it is becoming a challenging problem to accurately categorize them. Land cover classification has practical application value in various fields, such as environmental monitoring and protection, urban and rural planning and management, and climate change research. In recent years, remote sensing image classification methods based on deep learning have been rapidly developed, in which semantic segmentation technology has become one of the mainstream methods for land cover classification using remote sensing image. Traditional semantic segmentation algorithms tend to ignore the edge information, resulting in poor classification of the edge part in land cover classification, and there are numerous attention mechanisms to make improvements for these problems. In this paper, a triple attention mechanism, BETAM (Border-Enhanced Triple Attention Mechanism), for edge feature enhancement of high-resolution remote sensing images is proposed. Furthermore, a new model on the basis of the semantic segmentation network model DeeplabV3+ is also introduced, which is called DeepBETAM. The triple attention mechanism BETAM is able to capture feature dependencies in three dimensions: position, space, and channel, respectively. Through feature importance weighting, modeling of spatial relationships, and adaptive learning capabilities, the model BETAM pays more attention to edge features, thus improving the accuracy of edge detection. A remote sensing image dataset SMCD (Subject Meticulous Categorization Dataset) is constructed to verify the robustness of the attention mechanism BETAM and the model DeepBETAM. Extensive experiments were conducted on the two self-built datasets FRSID and SMCD. Experimental results showed that the mean Intersection over Union (mIoU), mean Pixel Accuracy (mPA), and mean Recall (mRecall) of DeepBETAM are 63.64%, 71.27%, and 71.31%, respectively. These metrics are superior to DeeplabV3+, DeeplabV3+(SENet), DeeplabV3+(CBAM), DeeplabV3+(SAM), DeeplabV3+(ECANet), and DeeplabV3+(CAM), which are network models that incorporate different attention mechanisms. The reason is that BETAM has better edge segmentation results and segmentation accuracy. Meanwhile, on the basis of the self-built dataset, the four main classifications of buildings, cultivated land, water bodies and vegetation were subdivided and detected, and good experimental results were obtained, which verified the robustness of the attention mechanism BETAM and the model DeepBETAM. The method has broad application prospects and can provide favorable support for research and application in the field of surface classification.

Pests have caused significant losses to agriculture, greatly increasing the detection of pests in the planting process and the cost of pest management in the early stages. At this time, advances in computer vision and deep learning for the detection of pests appearing in the crop open the door to the application of target detection algorithms that can greatly improve the efficiency of tomato pest detection and play an important technical role in the realization of the intelligent planting of tomatoes. However, in the natural environment, tomato leaf pests are small in size, large in similarity, and large in environmental variability, and this type of situation can lead to greater detection difficulty. Aiming at the above problems, a network target detection model based on deep learning, YOLONDD, is proposed in this paper. Designing a new loss function, NMIoU (Normalized Wasserstein Distance with Mean Pairwise Distance Intersection over Union), which improves the ability of anomaly processing, improves the model’s ability to detect and identify objects of different scales, and improves the robustness to scale changes; Adding a Dynamic head (DyHead) with an attention mechanism will improve the detection ability of targets at different scales, reduce the number of computations and parameters, improve the accuracy of target detection, enhance the overall performance of the model, and accelerate the training process. Adding decoupled head to Head can effectively reduce the number of parameters and computational complexity and enhance the model’s generalization ability and robustness. The experimental results show that the average accuracy of YOLONDD can reach 90.1%, which is 3.33% higher than the original YOLOv5 algorithm and is better than SSD, Faster R-CNN, YOLOv7, YOLOv8, RetinaNet, and other target detection networks, and it can be more efficiently and accurately utilized in tomato leaf pest detection.