In this paper, an enhanced deep reinforcement learning approach is presented for unmanned aerial vehicles (UAVs) operating in dynamic and potentially hazardous environments. Initially, the capability to discern obstacles from visual data is achieved through the application of the Yolov8-StrongSort technique. Concurrently, a novel data storage system for deep Q-networks (DQN), named dynamic data memory (DDM), is introduced to hasten the learning process and convergence for UAVs. Furthermore, addressing the issue of UAVs’ paths veering too close to obstacles, a novel strategy employing an artificial potential field to adjust the reward function is introduced, which effectively guides the UAVs away from proximate obstacles. Rigorous simulation tests in an AirSim-based environment confirm the effectiveness of these methods. Compared to DQN, dueling DQN, M-DQN, improved Q-learning, DDM-DQN, EPF (enhanced potential field), APF-DQN, and L1-MBRL, our algorithm achieves the highest success rate of 77.67%, while also having the lowest average number of moving steps. Additionally, we conducted obstacle avoidance experiments with UAVs with different densities of obstacles. These tests highlight fast learning convergence and real-time obstacle detection and avoidance, ensuring successful achievement of the target.

Heavy metal pollution of farmland is worsened by the excessive introduction of heavy metal elements into soil systems, posing a substantial threat for global food security and human health. The traditional laboratory-based methods for monitoring soil heavy metals are limited for large-scale applications, while hyperspectral imagery data-based methods still face accuracy challenges. Therefore, a fusion XGBoost model based on the superposition of ensemble learning and packaging methods is proposed for large-scale monitoring with high accuracy of soil heavy metal using hyperspectral imagery. We took Xiong’an New Area, Hebei Province, as the study area, and acquired heavy metal content using chemical analysis. The XGB-Boruta-PCC algorithm was used for precise feature selection to obtain the final modeled spectral response features. On this basis, the performance indicators of the Optuna-optimized XGBoost model were compared with traditional linear and nonlinear models. The optimal model was extended to the entire region for drawing the spatial distribution map of soil heavy metal content. The results suggested that the XGB-Boruta-PCC method effectively achieved double dimensionality reduction of high-dimensional hyperspectral data, extracting spectral response features with a high contribution, which, combined with the XGBoost model, exhibited greater general estimation accuracies for heavy metal (Pb) in farmland (i.e., Pb: R² = 0.82, RMSE = 11.58, MAE = 9.89). The results of the mapping indicated that there were exceedances for the southwest and parts of the west over the research region. Factories and human activities were the potential causes of heavy metal Pb contamination in farmland. In conclusion, this innovative method can quickly and accurately achieve monitoring large-scale soil heavy metal contamination in farmland, with ZY-1-02E spaceborne hyperspectral imagery proving to be a reliable tool for mapping soil heavy metal in farmland.

The existing precision grazing technology helps to improve the utilization rate of livestock to pasture, but it is still at the level of “collectivization” and cannot provide more accurate grazing management and control. (1) Background: In recent years, with the rapid development of agent-related technologies such as deep learning, visual navigation and tracking, more and more lightweight edge computing cell target detection algorithms have been proposed. (2) Methods: In this study, the improved YOLOv5 detector combined with the extended dataset realized the accurate identification and location of domestic cattle; with the help of the kernel correlation filter (KCF) automatic tracking framework, the long-term cyclic convolution network (LRCN) was used to analyze the texture characteristics of animal fur and effectively distinguish the individual cattle. (3) Results: The intelligent UAV equipped with an AGX Xavier high-performance computing unit ran the above algorithm through edge computing and effectively realized the individual identification and positioning of cattle during the actual flight. (4) Conclusion: The UAV platform based on airborne depth reasoning is expected to help the development of smart ecological animal husbandry and provide better precision services for herdsmen.

Pine wilt disease (PWD) is a forest disease characterized by rapid spread and extremely high lethality, posing a serious threat to the ecological security of China’s forests and causing significant economic losses in forestry. Given the extensive forestry area, limited personnel for inspection and monitoring, and high costs, utilizing UAV-based remote sensing monitoring for diseased trees represents an effective approach for controlling the spread of PWD. However, due to the small target size and uneven scale of pine wilt disease, as well as the limitations of real-time detection by drones, traditional disease tree detection algorithms based on RGB remote sensing images do not achieve an optimal balance among accuracy, detection speed, and model complexity due to real-time detection limitations. Consequently, this paper proposes Light-ViTeYOLO, a lightweight pine wilt disease detection method based on Vision Transformer-enhanced YOLO (You Only Look Once). A novel lightweight multi-scale attention module is introduced to construct an EfficientViT feature extraction network for global receptive field and multi-scale learning. A novel neck network, CACSNet(Content-Aware Cross-Scale bidirectional fusion neck network), is designed to enhance the detection of diseased trees at single granularity, and the loss function is optimized to improve localization accuracy. The algorithm effectively reduces the number of parameters and giga floating-point operations per second (GFLOPs) of the detection model while enhancing overall detection performance. Experimental results demonstrate that compared with other baseline algorithms, Light-ViTeYOLO proposed in this paper has the least parameter and computational complexity among related algorithms, with 3.89 MFLOPs and 7.4 GFLOPs, respectively. The FPS rate is 57.9 (frames/s), which is better than the original YOLOv5. Meanwhile, its mAP@0.5:0.95 is the best among the baseline algorithms, and the recall and mAP@0.5 slightly decrease. Our Light-ViTeYOLO is the first lightweight method specifically designed for detecting pine wilt disease. It not only meets the requirements for real-time detection of pine wilt disease outbreaks but also provides strong technical support for automated forestry work.

In the Qinghai-Tibet Plateau region, operational deficiencies and limited maintenance capacities often impair automatic air quality monitoring stations. This results in frequent data omissions, compromising the reliability of environmental assessment data. Therefore, an effective data imputation method is required to address the gaps in observational records. Utilizing a Sequence-to-Sequence framework, we introduce a model termed Bidirectional Recurrent Imputation for Time Series-Attention-based Long Short-Term Memory (BRITS-ALSTM). The encoder of BRITS-ALSTM applies BRITS to integrate single-station historical characteristics with multi-station correlation features. Concurrently, the decoder employs LSTM within an attention mechanism to capitalize on previously observed data, thereby generating hourly imputations for missing air quality data values. The model was trained using six types of air quality data from 16 stations across Qinghai Province. Through localized testing and parameter optimization, BRITS-ALSTM achieved a reduction in mean relative error (MRE) by 74.88% compared to the baseline mean-filling approach. Additionally, ablation studies demonstrated an improvement in the coefficient of determination R-squared (R²) from 0.67 to 0.76, outperforming the standalone BRITS. Consequently, BRITS-ALSTM enhances the accuracy of air quality data evaluations in the Tibetan Plateau and offers an efficacious strategy for data imputation in elevated terrains.