Search Results (1,100)

Broken or loose strands in high-voltage transmission conductors constitute critical defects that jeopardize grid reliability. Unmanned aerial vehicle (UAV) inspection has become indispensable for their timely discovery; however, conventional detectors falter in the face of cluttered backgrounds and the conductors’ diminutive pixel footprint, yielding sub-optimal accuracy and throughput. To overcome these limitations, we present PowerStrand-YOLO—an enhanced YOLOv8 derivative tailored for UAV imagery. The method is trained on a purpose-built dataset and integrates three technical contributions. (1) A C2f_DCNv4 module is introduced to strengthen multi-scale feature extraction. (2) An EMA attention mechanism is embedded to suppress background interference and emphasize defect-relevant cues. (3) The original loss function is superseded by Shape-IoU, compelling the network to attend closely to the geometric contours and spatial layout of strand anomalies. Extensive experiments demonstrate 95.4% precision, 96.2% recall, and 250 FPS. Relative to the baseline YOLOv8, PowerStrand-YOLO improves precision by 3% and recall by 6.8% while accelerating inference. Moreover, it also demonstrates competitive performance on the VisDrone2019 dataset. These results establish the improved framework as a more accurate and efficient solution for UAV-based inspection of power transmission lines. Full article

To address the challenges of dispersing aerial targets such as bird flocks at civilian airports and drones conducting low-altitude surveillance in critical areas, including ports and convention centers, this paper proposes a hybrid Artificial Potential Field-Particle Swarm Optimization (APF–PSO) algorithm. The proposed solution integrates the real-time collision-avoidance capability of the artificial potential field method with the global network-optimization characteristics of the particle swarm algorithm to maximize protective coverage. Simulation results demonstrate that the hybrid algorithm achieves optimal performance in dispersion of aerial targets based on protective coverage under safety constraints, confirming its superior performance. The key innovations lie in implementing a dynamic repulsion field with exponential gain for emergency maneuvers, introducing a vertical avoidance module to resolve deadlock issues, and establishing a novel decoupled cooperative paradigm for scalable aerial protection networks. Full article

The strategic development of the low-altitude economy requires efficient urban logistics solutions. The existing Unmanned Aerial Vehicle (UAV) truck delivery system faces severe challenges in dealing with dynamic weather constraints and multi-agent coordination. This article proposes a neural network-based optimisation framework that integrates constrained K-means clustering and a three-stage neural architecture. In this work, a mathematical model for heterogeneous vehicle constraints considering time windows and UAV energy consumption is developed, and it is validated through reference to the Solomon benchmark’s arithmetic examples. Experimental results show that the Truck–Drone Cooperative Traveling Salesman Problem (TDCTSP) model reduces the cost by 21.3% and the delivery time variance by 18.7% compared to the truck-only solution (Truck Traveling Salesman Problem (TTSP)). Improved neural network (INN) algorithms are also superior to the traditional genetic algorithm (GA) and Adaptive Large Neighborhood Search (ALNS) methods in terms of the quality of computed solutions. This research provides an adaptive solution for intelligent low-altitude logistics, which provides a theoretical basis and practical tools for the development of urban air traffic under environmental uncertainty. Full article

Small-target detection in Unmanned Aerial Vehicle (UAV) aerial images remains a significant and unresolved challenge in aerial image analysis, hampered by low target resolution, dense object clustering, and complex, cluttered backgrounds. In order to cope with these problems, we present AeroLight, a novel and efficient detection architecture that achieves high-fidelity performance in resource-constrained environments. AeroLight is built upon three key innovations. First, we have optimized the feature pyramid at the architectural level by integrating a high-resolution head specifically designed for minute object detection. This design enhances sensitivity to fine-grained spatial details while streamlining redundant and computationally expensive network layers. Second, a Dynamic Feature Fusion (DFF) module is proposed to adaptively recalibrate and merge multi-scale feature maps, mitigating information loss during integration and strengthening object representation across diverse scales. Finally, we enhance the localization precision of irregular-shaped objects by refining bounding box regression using a Shape-IoU loss function. AeroLight is shown to improve mAP50 and mAP50-95 by 7.5% and 3.3%, respectively, on the VisDrone2019 dataset, while reducing the parameter count by 28.8% when compared with the baseline model. Further validation on the RSOD dataset and Huaxing Farm Drone dataset confirms its superior performance and generalization capabilities. AeroLight provides a powerful and efficient solution for real-world UAV applications, setting a new standard for lightweight, high-precision object recognition in aerial imaging scenarios. Full article

In recent years, detection methods for generic object detection have achieved significant progress. However, due to the large number of small objects in aerial images, mainstream detectors struggle to achieve a satisfactory detection performance. The challenges of small object detection in aerial images are primarily twofold: (1) Insufficient feature representation: The limited visual information for small objects makes it difficult for models to learn discriminative feature representations. (2) Background confusion: Abundant background information introduces more noise and interference, causing the features of small objects to easily be confused with the background. To address these issues, we propose a Multi-Level Contextual and Semantic Information Aggregation Network (MCSA-Net). MCSA-Net includes three key components: a Spatial-Aware Feature Selection Module (SAFM), a Multi-Level Joint Feature Pyramid Network (MJFPN), and an Attention-Enhanced Head (AEHead). The SAFM employs a sequence of dilated convolutions to extract multi-scale local context features and combines a spatial selection mechanism to adaptively merge these features, thereby obtaining the critical local context required for the objects, which enriches the feature representation of small objects. The MJFPN introduces multi-level connections and weighted fusion to fully leverage the spatial detail features of small objects in feature fusion and enhances the fused features further through a feature aggregation network. Finally, the AEHead is constructed by incorporating a sparse attention mechanism into the detection head. The sparse attention mechanism efficiently models long-range dependencies by computing the attention between the most relevant regions in the image while suppressing background interference, thereby enhancing the model’s ability to perceive targets and effectively improving the detection performance. Extensive experiments on four datasets, VisDrone, UAVDT, MS COCO, and DOTA, demonstrate that the proposed MCSA-Net achieves an excellent detection performance, particularly in small object detection, surpassing several state-of-the-art methods. Full article

To tackle the challenges posed by substantial variations in target scale, intricate background interference, and the likelihood of missing small targets in multi-temporal UAV maize tassel imagery, an optimized lightweight detection model derived from YOLOv11 is introduced, named OTB-YOLO. Here, “OTB” is an acronym derived from the initials of the model’s core improved modules: Omni-dimensional dynamic convolution (ODConv), Triplet Attention, and Bi-directional Feature Pyramid Network (BiFPN). This model integrates the PaddlePaddle open-source maize tassel recognition benchmark dataset with the public Multi-Temporal Drone Corn Dataset (MTDC). Traditional convolutional layers are substituted with omni-dimensional dynamic convolution (ODConv) to mitigate computational redundancy. A triplet attention module is incorporated to refine feature extraction within the backbone network, while a bidirectional feature pyramid network (BiFPN) is engineered to enhance accuracy via multi-level feature pyramids and bidirectional information flow. Empirical analysis demonstrates that the enhanced model achieves a precision of 95.6%, recall of 92.1%, and mAP@0.5 of 96.6%, marking improvements of 3.2%, 2.5%, and 3.1%, respectively, over the baseline model. Concurrently, the model’s computational complexity is reduced to 6.0 GFLOPs, rendering it appropriate for deployment on UAV edge computing platforms. Full article

The idea of this research is to develop a method of airflow velocity measurement in underground mines having a network of long-distance crossing tunnels, where inspections of the ventilation system are required. Currently, this time-consuming procedure is conducted manually, but it has great importance when the mine configuration is subjected to changes. The method is based on the measurements of UAV trajectory deviation when it crosses the lateral air streams while moving along the tunnel. The signals of the gyroscope from the Inertial Measurement Unit (IMU) are used as indicators. The calibration of the proposed method has been conducted in laboratory conditions similar to real conditions. The minimal sensitivity of 0.3 m/s required by regulations is achievable for small drones, and the error is less than 5%. The maximum measured airflow velocity depends on the UAV model and its stabilization system. Recommendations are formulated for method implementation in practice. Full article

Droughts are becoming more frequent, severe, and impactful across the globe. Agroecosystems, which are human-made ecosystems with high water demand that provide essential ecosystem services, are vulnerable to extreme droughts. Although water use efficiency in agriculture has increased in rec ent decades, drought management should be based on long-term, proactive strategies rather than crisis management. The AgrHyS network of sites in French Brittany collects high-resolution soil moisture data from agronomic stations and catchments to improve understanding of temporal soil moisture dynamics and enhance water use efficiency. Frequent mapping of soil moisture and plant water stress is crucial for assessing water stress risk in the context of global warming. Although satellite remote sensing provides reliable, periodic global data on surface soil moisture, it does so at a very coarse spatial resolution. The intrinsic spatial heterogeneity of surface soil moisture requires a higher spatial resolution in order to address upcoming challenges on a local scale. Drones are an excellent tool for upscaling point measurements to catchment level using different onboard cameras. In this study, we evaluated the potential of multispectral images, thermal images and LiDAR data captured in several concurrent drone flights for high-resolution mapping of soil moisture spatial variability, using in situ point measurements of soil water content and plant water stress in both agricultural areas and natural ecosystems. Statistical models were fitted to map soil water content in two areas: a natural marshland and a grassland-covered agricultural field. Our results demonstrate the statistical significance of topography, land surface temperature and red band reflectance in the natural area for retrieving soil water content. In contrast, the grasslands were best predicted by the transformed normalised difference vegetation index (TNDVI). Full article

To address the challenges of real-time monitoring via highway vehicle-mounted cameras—specifically, the difficulty in detecting distant pedestrians and vehicles in real time—this study proposes an enhanced object detection algorithm, YOLOv5s-F. Firstly, the FasterNet network structure is adopted to improve the model’s runtime speed. Secondly, the attention mechanism BRA, which is derived from the Transformer algorithm, and a 160 × 160 small-object detection layer are introduced to enhance small target detection performance. Thirdly, the improved upsampling operator CARAFE is incorporated to boost the localization and classification accuracy of small objects. Finally, Focal EIoU is employed as the localization loss function to accelerate model training convergence. Quantitative experiments on high-speed sequences show that Focal EIoU reduces bounding box jitter by 42.9% and improves tracking stability (consecutive frame overlap) by 11.4% compared to CIoU, while accelerating convergence by 17.6%. Results show that compared with the YOLOv5s baseline network, the proposed algorithm reduces computational complexity and parameter count by 10.1% and 24.6%, respectively, while increasing detection speed and accuracy by 15.4% and 2.1%. Transfer learning experiments on the VisDrone2019 and Highway-100k dataset demonstrate that the algorithm outperforms YOLOv5s in average precision across all target categories. On NVIDIA Jetson Xavier NX, YOLOv5s-F achieves 32 FPS after quantization, meeting the real-time requirements of in-vehicle monitoring. The YOLOv5s-F algorithm not only meets the real-time detection and accuracy requirements for small objects but also exhibits strong generalization capabilities. This study clarifies core challenges in highway small-target detection and achieves accuracy–speed improvements via three key innovations, with all experiments being reproducible. If any researchers need the code and dataset of this study, they can consult the author through email. Full article

Ground-based LiDAR sensing offers a promising approach for delivering short-range landing feedback to aerial vehicles operating near vertiports and in GNSS-degraded environments. This work introduces a detection system capable of classifying aerial vehicles and estimating their 3D positions with sub-meter accuracy. Using a simulated Gazebo environment, multiple LiDAR sensors and five vehicle classes, ranging from hobbyist drones to air taxis, were modeled to evaluate detection performance. RGB-encoded point clouds were processed using a modified YOLOv6 neural network with Slicing-Aided Hyper Inference (SAHI) to preserve high-resolution object features. Classification accuracy and position error were analyzed using mean Average Precision (mAP) and Mean Absolute Error (MAE) across varied sensor parameters, vehicle sizes, and distances. Within 40 m, the system consistently achieved over 95% classification accuracy and average position errors below 0.5 m. Results support the viability of high-density LiDAR as a complementary method for precision landing guidance in advanced air mobility applications. Full article

This study proposes a lightweight adaptive neural network framework based on an improved YOLOv11n model to address the core challenges in identifying cabbage seedlings in visible light images captured by UAVs. These challenges include the loss of small-target features, poor adaptability to complex lighting conditions, and the low deployment efficiency of edge devices. First, the adaptive dual-path downsampling module (ADown) integrates average pooling and maximum pooling into a dual-branch structure to enhance background texture and crop edge features in a synergistic manner. Secondly, the Illumination Robust Contrast Learning Head (IRCLHead) utilizes a temperature-adaptive network to adjust the contrast loss function parameters dynamically. Combined with a dual-output supervision mechanism that integrates growth stage prediction and interference-resistant feature embedding, this module enhances the model’s robustness in complex lighting scenarios. Finally, a lightweight spatial-channel attention convolution module (LAConv) has been developed to optimize the model’s computational load by using multi-scale feature extraction paths and depth decomposition structures. Experiments demonstrate that the proposed architecture achieves an mAP@0.5 of 99.0% in detecting cabbage seedling growth cycles, improving upon the baseline model by 0.71 percentage points. Furthermore, it achieves an mAP@0.5:0.95 of 2.4 percentage points, reduces computational complexity (GFLOPs) by 12.7%, and drastically reduces inference time from 3.7 ms to 1.0 ms. Additionally, the model parameters are simplified by 3%. This model provides an efficient solution for the real-time counting of cabbage seedlings and lightweight operations in drone-based precision agriculture. Full article

In resource-constrained edge environments—such as mobile devices, IoT systems, and electric vehicles—energy-efficient Convolution Neural Network (CNN) accelerators on mobile Field Programmable Gate Arrays (FPGAs) are gaining significant attention for real-time object detection tasks. This paper presents a low-power implementation of the Tiny YOLOv4 object detection model on the Xilinx ZCU104 FPGA platform by using Register Transfer Level (RTL) optimization techniques. We proposed three RTL techniques in the paper: (i) Local Explicit Clock Enable (LECE), (ii) operand isolation, and (iii) Enhanced Clock Gating (ECG). A novel low-power design of Multiply-Accumulate (MAC) operations, which is one of the main components in the AI algorithm, was proposed to eliminate redundant signal switching activities. The Tiny YOLOv4 model, trained on the COCO dataset, was quantized and compiled using the Tensil tool-chain for fixed-point inference deployment. Post-implementation evaluation using Vivado 2022.2 demonstrates around 29.4% reduction in total on-chip power. Our design supports real-time detection throughput while maintaining high accuracy, making it ideal for deployment in battery-constrained environments such as drones, surveillance systems, and autonomous vehicles. These results highlight the effectiveness of RTL-level power optimization for scalable and sustainable edge AI deployment. Full article

Background: The increasing deployment of unmanned aerial vehicles (UAVs) for logistics in smart cities presents pressing challenges related to identity spoofing, unauthorized payload transport, and airspace security. Existing drone defense systems (DDSs) struggle to verify both drone identity and payload authenticity in real time, while blockchain-assisted solutions are often hindered by high latency and limited scalability. Methods: To address these challenges, we propose iBANDA, a blockchain- and AI-assisted DDS framework. The system integrates a lightweight You Only Look Once 5 small (YOLOv5s) object detection model with a Snowball-based Proof-of-Stake consensus mechanism to enable dual-layer authentication of drones and their attached payloads. Authentication processes are coordinated through an edge-deployable decentralized application (DApp). Results: The experimental evaluation demonstrates that iBANDA achieves a mean average precision of 99.5%, recall of 100%, and an F1-score of 99.8% at an inference time of 0.021 s, validating its suitability for edge devices. Blockchain integration achieved an average network latency of 97.7 ms and an end-to-end transaction latency of 1.6 s, outperforming Goerli, Sepolia, and Polygon Mumbai testnets in scalability and throughput. Adversarial testing further confirmed resilience to Sybil attacks and GPS spoofing, maintaining a false acceptance rate below 2.5% and continuity above 96%. Conclusions: iBANDA demonstrates that combining AI-based visual detection with blockchain consensus provides a secure, low-latency, and scalable authentication mechanism for UAV-based logistics. Future work will explore large-scale deployment in heterogeneous UAV networks and formal verification of smart contracts to strengthen resilience in safety-critical environments. Full article

In recent years, self-autonomous intelligent transportation applications such as drones and autonomous vehicles have seen rapid development and deployment across various countries. Within the domain of artificial intelligence, self-autonomous agents are defined as software entities capable of independently operating drones in an intelligent transport system (ITS) without human intervention. The integration of these agents into autonomous vehicles and their deployment across distributed cloud networks have increased significantly. These systems, which include drones, ground vehicles, and aircraft, are used to perform a wide range of tasks such as delivering passengers and packages within defined operational boundaries. Despite their growing utility, practical implementations face significant challenges stemming from the heterogeneity of network resources, as well as persistent issues related to security, privacy, and processing costs. To overcome these challenges, this study proposes a novel blockchain-enabled self-autonomous intelligent transport system designed for drone workflow applications. The proposed system architecture is based on a remote method invocation (RMI) client–server model and incorporates a serverless computing framework to manage processing costs. Termed the self-autonomous blockchain-enabled cost-efficient system (SBECES), the framework integrates a client and system agent mechanism governed by Q-learning and deep-learning-based policies. Furthermore, it incorporates a blockchain-based hash validation and fault-tolerant (HVFT) mechanism to ensure data integrity and operational reliability. A deep reinforcement learning (DRL)-enabled adaptive scheduler is utilized to manage drone workflow execution while meeting quality of service (QoS) constraints, including deadlines, cost-efficiency, and security. The overarching objective of this research is to minimize the total processing costs that comprise execution, communication, and security overheads, while maximizing operational rewards and ensuring the timely execution of drone-based tasks. Experimental results demonstrate that the proposed system achieves a 30% reduction in processing costs and a 29% improvement in security and privacy compared to existing state-of-the-art solutions. Full article

Deployment of Unmanned Aerial Vehicles (UAVs) continues to expand rapidly across a wide range of applications, including environmental monitoring, precision agriculture, and disaster response. Despite their increasing ubiquity, UAVs remain inherently vulnerable to security threats due to resource-constrained hardware, energy limitations, and reliance on open wireless communication channels. These factors render traditional cryptographic solutions impractical, thereby necessitating the development of lightweight, UAV-specific security mechanisms. This review article presents a comprehensive analysis of lightweight encryption techniques and key management strategies designed for energy-efficient and secure UAV communication. Special emphasis is placed on recent cryptographic advancements, including the adoption of the ASCON family of ciphers and the emergence of post-quantum algorithms that can secure UAV networks against future quantum threats. Key management techniques such as blockchain-based decentralized key exchange, Physical Unclonable Function (PUF)-based authentication, and hierarchical clustering schemes are evaluated for their performance and scalability. To ensure comprehensive protection, this review introduces a multilayer security framework addressing vulnerabilities from the physical to the application layer. Comparative analysis of lightweight cryptographic algorithms and multiple key distribution approaches is conducted based on energy consumption, latency, memory usage, and deployment feasibility in dynamic aerial environments. Unlike design- or implementation-focused studies, this work synthesizes existing literature across six interconnected security dimensions to provide an integrative foundation. Our review also identifies key research challenges, including secure and efficient rekeying during flight, resilience to cross-layer attacks, and the need for standardized frameworks supporting post-quantum cryptography in UAV swarms. By highlighting current advancements and research gaps, this study aims to guide future efforts in developing secure communication architectures tailored to the unique operational constraints of UAV networks. Full article