To address the operational demands of irregular farmland with fixed obstacles, this study proposes a full-coverage path planning framework that integrates UAV-based 3D perception and angle-adaptive optimization. First, digital orthophoto maps (DOMs) and digital elevation models (DEMs) were reconstructed from low-altitude aerial imagery. The feasible working region was constructed by shrinking field boundaries inward and dilating obstacle boundaries outward. This ensured sufficient safety margins for machinery operation. Next, segmentation angles were scanned from 0° to 180° to minimize the number and irregularity of sub-regions; then a two-level simulation search was performed over 0° to 360° to optimize the working direction for each sub-region. For each sub-region, the optimal working direction was selected based on four criteria: the number of turns, travel distance, coverage redundancy, and planning time. Between sub-regions, a closed-loop interconnection path was generated using eight-directional A* search combined with polyline simplification, arc fitting, Chaikin subdivision, and B-spline smoothing. Simulation results showed that a 78° segmentation yielded four regular sub-regions, achieving 99.97% coverage while reducing the number of turns, travel distance, and planning time by up to 70.42%, 23.17%, and 85.6%. This framework accounts for field heterogeneity and turning radius constraints, effectively mitigating path redundancy in conventional fixed-angle methods. This framework enables general deployment in agricultural field operations and facilitates extensions toward collaborative and energy-optimized task planning.

The leaf area index (LAI) is a critical biophysical parameter that reflects crop growth conditions and the canopy photosynthetic potential, serving as a cornerstone in precision agriculture and dynamic crop monitoring. However, traditional LAI estimation methods relying on single-source remote sensing data and often suffer from insufficient accuracy in high-density vegetation scenarios, limiting their capacity to reflect crop growth variability comprehensively. To overcome these limitations, this study introduces an innovative multi-source feature fusion framework utilizing unmanned aerial vehicle (UAV) multispectral imagery for precise LAI estimation in winter wheat. RGB and multispectral datasets were collected across seven different growth stages (from regreening to grain filling) in 2024. Through the extraction of color attributes, spatial structural information, and eight representative vegetation indices (VIs), a robust multi-source dataset was developed to integrate diverse data types. A convolutional neural network (CNN)-based feature extraction backbone, paired with a multi-source feature fusion network (MSF-FusionNet), was designed to effectively combine spectral and spatial information from both RGB and multispectral imagery. The experimental results revealed that the proposed method achieved superior estimation performance compared to single-source models, with an R² of 0.8745 and RMSE of 0.5461, improving the R² by 36.67% and 5.54% over the RGB and VI models, respectively. Notably, the fusion method enhanced the accuracy during critical growth phases, such as the regreening and jointing stages. Compared to traditional machine learning techniques, the proposed framework exceeded the performance of the XGBoost model, with the R² rising by 4.51% and the RMSE dropping by 12.24%. Furthermore, our method facilitated the creation of LAI spatial distribution maps across key growth stages, accurately depicting the spatial heterogeneity and temporal dynamics in the field. These results highlight the efficacy and potential of integrating UAV multi-source data fusion with deep learning for precise LAI estimation in winter wheat, offering significant insights for crop growth evaluation and precision agricultural management.

Comprehensive growth index (CGI) more accurately reflects crop growth conditions than single indicators, which is crucial for precision irrigation, fertilization, and yield prediction. However, many current studies overlook the relationships between different growth parameters and their varying contributions to yield, leading to overlapping information and lower accuracy in monitoring crop growth. Therefore, this study focuses on winter wheat and constructs a comprehensive growth monitoring index (CGIac), based on adaptive weight allocation of growth parameters’ contribution to yield, using data such as leaf area index (LAI), soil plant analysis development (SPAD) values, plant height (PH), biomass (BM), and plant water content (PWC). Using UAV data on vegetation indices, feature selection was performed using the Elastic Net. The growth inversion model was then constructed using machine learning methods, including linear regression (LR), random forest (RF), gradient boosting (GB), and support vector regression (SVR). Based on the optimal growth inversion model for winter wheat, spatial distribution of wheat growth in the study area is obtained. The findings demonstrated that CGIac outperforms CGIav (constructed using equal weighting) and CGIcv (built using the coefficient of variation) in yield correlation and prediction accuracy. Specifically, the yield correlation of CGIac improved by up to 0.76 compared to individual indices, while yield prediction accuracy increased by up to 23.14%. Among the evaluated models, the RF model achieved the best performance, with a coefficient of determination (R²) of 0.895 and a root mean square error (RMSE) of 0.0058. A comparison with wheat orthophotos from the same period confirmed that the inversion results were highly consistent with actual growth conditions in the study area. The proposed method significantly improved the accuracy and applicability of winter wheat growth monitoring, overcoming the limitations of single parameters in growth prediction. Additionally, it provided new technological support and innovative solutions for regional crop monitoring and precision farming operations.

Preformed porous media (PPM) technology has emerged as a transformative approach to enhance heat and mass transfer in vacuum freeze-drying (VFD) of agricultural and food products. This review systematically analyzes recent advances in PPM research, with particular focus on spray freeze-drying (SFD) as the dominant technique for precision pore architecture control. Empirical studies confirm PPM’s efficacy: drying time reductions of 20–50% versus conventional VFD while improving product quality (e.g., 15% higher ginsenoside retention in ginseng, 90% enzyme activity preservation). Key innovations include gradient porous structures and multi-technology coupling strategies that fundamentally alter transfer mechanisms through: resistance mitigation via interconnected macropores (50–500 μm, 40–90% porosity), pseudo-convection effects enabling 30% faster vapor removal, and radiation enhancement boosting absorption by 40–60% and penetration depth 2–3 times. While inherent VFD limitations (e.g., low thermal conductivity) persist, we identify PPM-specific bottlenecks: precision regulation of pore structures (<5% size deviation), scalable fabrication of gradient architectures, synergy mechanisms in multi-field coupling (e.g., microwave-PPM interactions). The most promising advancements include 3D-printed gradient pores for customized transfer paths, intelligent monitoring-feedback systems, and multiscale modeling bridging pore-scale physics to macroscale kinetics. This review provides both a critical assessment of current progress and a forward-looking perspective to guide future research and industrial adoption of PPM-enhanced VFD.

As a core component of agricultural machinery autonomous navigation, path tracking control holds significant research value. The pure pursuit algorithm has become a prevalent method for agricultural vehicle navigation due to its effectiveness at low speeds, yet its performance critically depends on the selection of the look-ahead distance. The conventional approaches require extensive parameter tuning due to the complex influencing factors, while fixed look-ahead distances struggle to balance the tracking accuracy and adaptability. Considerable effort is required to fine-tune the system to achieve optimal performance, which directly affects the accuracy of the path tracking and the results in the cumbersome task of selecting an appropriate goal point for the tracking path. To address these challenges, this paper introduces a pure pursuit algorithm for high-clearance sprayers in agricultural machinery, utilizing a self-adjusting look-ahead distance. By developing a kinematic model of the pure pursuit algorithm for agricultural machinery, an evaluation function is then employed to estimate the pose of the machinery and identify the corresponding optimal look-ahead distance within the designated area. This is done based on the principle of minimizing the overall error, enabling the dynamic and adaptive optimization of the look-ahead distance within the pure pursuit algorithm. Finally, this algorithm was verified in simulations and bumpy field tests under various different conditions, with the average value of the lateral error reduced by more than 0.06 m and the tuning steps also significantly reduced compared to the fixed look-ahead distance in field tests. The tracking accuracy has been improved and the applicability of the algorithm for rapid deployment has been enhanced.

The development of the bubble generator that can efficiently generate micro-nano bubbles has always been recognized as a challenge. Swirling flow is considered to be an efficient method to enhance hydrodynamic cavitation. The vortex supply chamber and the variable-diameter accelerated vortex cavitation reaction chamber were combined to obtain a stable high-speed tangential liquid flow and improve the cavitation effect inside the generator in this study. The central air intake column was innovatively installed above the cavitation reaction chamber, which prolonged the shear fracture time of bubbles under high shear force and improved the gas–liquid contact and mixing efficiency. The influence of geometric parameters on the internal and external flow fields of the generator was analyzed through the numerical simulation. The optimized central air intake column was located 10 mm above the inlet of the cavitation reaction chamber. The optimized variable diameter contraction angle was 16°, and the optimized generator outlet diameter was 15 mm. Through the bubble performance test, it was verified that the micro-nano bubbles with the minimum size and average size of 0.31 μm and 3.42 μm could be generated by the manufactured generator. The enforcement of the research provided theoretical guidance and data support for the development of efficient micro-nano bubble generators.