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The efficient detection of grapes is a crucial technology for fruit-picking robots. To better identify grapes from branch shading that is similar to the fruit color and improve the detection accuracy of green grapes due to cluster adhesion, this study proposes a Shine-Muscat Grape Detection Model (S-MGDM) based on improved YOLOv3 for the ripening stage. DenseNet is fused in the backbone feature extraction network to extract richer underlying grape information; depth-separable convolution, CBAM, and SPPNet are added in the multi-scale detection module to increase the perceptual field of grape targets and reduce the model computation; meanwhile, PANet is combined with FPN to promote inter-network information flow and iteratively extract grape features. In addition, the CIOU regression loss function is used and the prior frame size is modified by the k-means algorithm to improve the accuracy of detection. The improved detection model achieves an AP value of 96.73% and an F1 value of 91% on the test set, which are 3.87% and 3% higher than the original network model, respectively; the average detection speed under GPU reaches 26.95 frames/s, which is 6.49 frames/s higher than the original model. The comparison results with several mainstream detection algorithms such as SSD and YOLO series show that the method has excellent detection accuracy and good real-time performance, which is an important reference value for the problem of accurate identification of Shine-Muscat grapes at maturity.
RESUMEN
Objective: The aim of our study was to evaluate the prognostic value of gated SPECT MPI in non-obstructed coronary arteries (INOCA) patients, sought to stratify patients more accurately and thus derive more reliable prognostic information. Materials and methods: In total, 167 patients with INOCA were enrolled. The patients were divided into two groups according to their SSS. Patients were followed-up regularly in terms of major adverse cardiovascular event (MACE), including cardiac death, nonfatal myocardial infarction, stroke, re-hospitalization with angina pectoris, and recurrent angina pectoris. Kaplan-Meier curves and Cox's proportional hazards models were used to analyze survival and identify predictive factors. Results: Adverse cardiac events occurred in 33 cases (19.8%). The rate of MACE was higher in the summed stress score (SSS) ≥4 group than in the SSS 0-3 group (30.1% vs. 9.5%, respectively, P = 0.001) and MACE-free survival was lower (annual MACE-free rates of 87.5% vs. 96.2%, respectively, P = 0.003). Event-free survival was consistently higher in patients with normal arteries than in those with non-obstructive coronary artery disease (annual MACE-free rates of 96.1% and 88.4%, P = 0.035). When the SSS and the CAG results were combined, patients with normal coronary arteries (SSS 0-3) had the best prognosis and those with non-obstructive coronary artery stenosis (SSS ≥ 4) had the worst. However, the early prognosis of patients with non-obstructive coronary artery disease and SSS of 0-3 was comparable to that of patients with normal coronary arteries and SSS ≥ 4 (annual MACE-free rates of 100%, 94.6%, 93.1%, and 78.2%, respectively). Multivariate Cox's regression indicated that the SSS [hazard ratio (HR) = 1.126, 95% confidence interval (CI) 1.042-1.217, P = 0.003] and non-obstructive coronary artery disease (HR = 2.559, 95% CI 1.249-5.246, P = 0.01) were predictors of adverse cardiac events. Conclusion: SPECT MPI data were prognostic for INOCA patients, thus identifying groups at high risk. The long-term predictive efficacy of such data exceeded that of CAG data. A combination of the two measures more accurately stratified INOCA patients in terms of risk.
RESUMEN
In order to study the mechanism of bract peeling and crushing of a corn harvester, a bract stripping and crushing device was designed that mainly consists of a stripping device, a crushing device, and a frame. The kinematics and dynamics of the roller of bract stripping device were analyzed, and the conditions of bract stripping were obtained. Single factor tests of stripping roller speed and crushing roller speed were carried out. On the basis of single factor tests, orthogonal experiments were carried out to determine crushing roller speed, distance between crushing device axis and stripping device axis, stripping roller speed, and offset angle of stripping roller. The orthogonal experiments showed that the optimum parameters of the device were obtained: the speed of the crushing drum was 1,100 r/min, the axis distance between the stripping and crushing devices was 180 mm, the speed of the stripping roller was 400 r/min, and the offset angle of the stripping roller was 5 degrees. On the basis of orthogonal experiment, three, five, seven, nine and eleven corn feeding and high-speed photography experiments were carried out respectively. The results showed that when three ears of corn were fed at the same time, the effect of corn bract stripping and crushing was the best with the increase of corn number. The stripping roller only grasps most of the bracts of corn at 0.019 s, after stripping the bracts into the crushing device, the bracts were crushed after 0.077 s. The crushing time of bracts was approximately four times as long as that of the bracts.