Detection Transformer-based methods have achieved significant advancements in general object detection. However, challenges remain in effectively detecting small objects. One key difficulty is that existing encoders struggle to efficiently fuse low-level features. Additionally, the query selection strategies are not effectively tailored for small objects. To address these challenges, this paper proposes an efficient model, Small Object Detection Transformer (SO-DETR). The model comprises three key components: a dual-domain hybrid encoder, an enhanced query selection mechanism, and a knowledge distillation strategy. The dual-domain hybrid encoder integrates spatial and frequency domains to fuse multi-scale features effectively. This approach enhances the representation of high-resolution features while maintaining relatively low computational overhead. The enhanced query selection mechanism optimizes query initialization by dynamically selecting high-scoring anchor boxes using expanded IoU, thereby improving the allocation of query resources. Furthermore, by incorporating a lightweight backbone network and implementing a knowledge distillation strategy, we develop an efficient detector for small objects. Experimental results on the VisDrone-2019-DET and UAVVaste datasets demonstrate that SO-DETR outperforms existing methods with similar computational demands. The project page is available at https://github.com/ValiantDiligent/SODETR.

The human palm demonstrates spatial reconfigurability during the gripping process and forms a spherical grasping envelope. Based on these observations, this study designs a reconfigurable spherical palm that incorporates a spatial scissor mechanism, which only requires a single actuator to reshape the palm into a range of spherical forms. We conduct a kinematic analysis and modelling of the structure, abstracting three key parameters and analysing their influence on the motion characteristics of the palm. Through multi-objective optimisation, a set of dimensional parameters is derived to balance workspace, human-like motion, and mechanical performance. The performance of the reconfigurability and the grasping capability of the proposed palm is compared to a planar folding palm by superquadrics, and the results show that the spherical design and the reconfigurable characteristics provide larger grasping arrangement and stronger grasping capability of the palm on most of the testing surfaces.

Unmanned aerial vehicle object detection (UAV-OD) has been widely used in various scenarios. However, most existing UAV-OD algorithms rely on manually designed components, which require extensive tuning. End-to-end models that do not depend on such manually designed components are mainly designed for natural images, which are less effective for UAV imagery. To address such challenges, this paper proposes an efficient detection transformer (DETR) framework tailored for UAV imagery, i.e., UAV-DETR. The framework includes a multi-scale feature fusion with frequency enhancement module, which captures both spatial and frequency information at different scales. In addition, a frequency-focused downsampling module is presented to retain critical spatial details during downsampling. A semantic alignment and calibration module is developed to align and fuse features from different fusion paths. Experimental results demonstrate the effectiveness and generalization of our approach across various UAV imagery datasets. On the VisDrone dataset, our method improves AP by 3.1% and AP50 by 4.2% over the baseline. Similar enhancements are observed on the UAVVaste dataset. The project page is available at https://github.com/ValiantDiligent/UAV-DETR.

Smart product-service systems (Smart PSS) are receiving increasing attention due to their potentials to satisfy customer needs and create sustainability to meet hybrid concerns. As a value co-creation business paradigm, various sustainable value propositions (SVPs) and their assessments come from stakeholders' subjective judgments, which values are imprecise, vague, and even inconsistent. The reliability of these values also varies with the confidence and cognitive bias of the respective stakeholder. How to evaluate these co-creative SVPs to ensure an objective and reliable result under such uncertain environments becomes a critical issue. To fill this gap, this paper proposes a rough-Z-number extended multi-criteria group decision-making framework integrating the rough-Z-number, DEMATEL (decision making trial and evaluation laboratory), and group decision-making strategy to evaluate the co-creative SVPs for Smart PSS. A novel rough-Z-number is presented to deal with the uncertainty and reliability representation of the stakeholder's individual assessment as well as the aggregation and subjectivity manipulation of these risk assessments from different stakeholders. A rough-Z-number extended DEMATEL is then proposed to determine the risk prioritization of the co-creative SVPs. Experimental results and comparative studies demonstrate the superiority of the proposed rough-Z-number-based DEMATEL in handling the uncertainty and reliability characterization as well as the subjectivity manipulation during the evaluation of the co-creative SVPs.

Biological inspiration evaluation has been widely acknowledged as one of the most important phases in biologically inspired design (BID) as it substantially determines the direction of the following-up design activities. However, it is inherently an interdisciplinary assessment, which includes both the engineering domain and the biological systems. Due to the lack of knowledge at the early stage of product design, the risk assessments mainly depend on experts' subjective judgments, which values are vague, imprecise, and even inconsistent. How to objectively evaluate the biological inspiration under such uncertain and interdisciplinary scenarios remains an open issue. To bridge such gaps, this study proposes a fuzzy rough number extended multi-criteria group decision-making (MCGDM) to evaluate the biological inspiration for BID. A fuzzy rough number is introduced to represent the individual decision maker's risk assessment and aggregate respective evaluation values within the decision-making group. A fuzzy rough number extended decision-making trial and evaluation laboratory is presented to determine the criteria weights and a fuzzy rough number extended multi-attribute ideal real comparative analysis is proposed to rank the candidate biological inspirations. Experimental results and comparative analysis validate the superiority of the proposed MCGDM in handling the subjectivity and uncertainty in biological inspiration evaluation.