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2 2025

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Edge-Guided Multi-Scale Fusion and Importance-Aware Learning for Real-Time Semantic Segmentation in Waterborne Navigation

Chen Li-Jia, Zou Jiamin, Huang Yao, Zhou Yang, Hao Guozhu, Zhang Yi

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

2025

Vol. 19 No. 2

579--587

Effective multi-scale feature representation and focused attention on critical objects are essential for accurate perception of waterborne navigation scenes. To address the insufficient exploitation of multi-scale information in existing methods that leads to imprecise segmentation, this study proposes a real-time semantic segmentation method for waterborne navigation scenes through multi-scale information enhancement and importance-weighted optimization. First, DDRNet-23-slim is selected as the backbone network for feature extraction. An edge-guided branch is embedded into its shallow layers, and a Dynamic Feature Fusion Module (DFFM) is constructed by integrating a lightweight hybrid attention mechanism, effectively enhancing multi-scale feature interaction capabilities. Second, the loss function is improved using an importance-weighted strategy to prioritize critical objects during training. Finally, a parameter-free attention mechanism is introduced in the upsampling stage, maintaining real-time performance while ensuring segmentation stability for key objects under complex background interference. Evaluations on the On_Water and Seaships datasets demonstrate that the proposed method achieves mIoU scores of 83.1% and 73.2%, respectively, with ship segmentation accuracy reaching 88.2% on On_Water. The inference speed attains 69.1 FPS, outperforming mainstream real-time segmentation models (e.g., DDRNet, STDC) in balancing accuracy and efficiency. Notably, it exhibits stronger robustness in complex inland river scenarios with dense shore structures and numerous small targets.

Handling stability analysis of decoupling suspension for formula racing

Xu Han, Xu Jiachuan, Cui Xuemin, Zhou Yang, Sun Xinyu, Wang Zongqi

Bulletin of the Polish Academy of Sciences. Technical Sciences

2025

Vol. 73, nr 3

art. no. 153829

In this paper, a university formula racing suspension is taken as the research object. Based on the requirements of racing suspension, the double wishbone suspension is improved, and a new arrangement scheme based on the stepped shaft is proposed, which theoretically realizes the decoupling of the pitch stiffness and the roll stiffness of the suspension. Based on the ADAMS/Car module, the front and rear suspension models are established. By simulating the motion of formula racing, it is further judged whether the pitch and roll stiffness of the suspension are decoupled. According to this, the hard point coordinates of the suspension are adjusted to ensure that the length of each spring changes within the ideal range. Based on the optimized suspension, according to the national standard test method and the scoring standard of the automobile industry, combined with the university formula racing project, the vehicle handling stability test and scoring evaluation are carried out, and the vehicle handling stability is verified by the real vehicle test. A set of decoupling suspensions is obtained, which can have pitch stiffness and roll stiffness separately adjusted, with improved vehicle handling stability.