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Dynamic SLAM Visual Odometry Based on Instance Segmentation:A Comprehensive Review

Computers, Materials & Continua 2024年第1期78卷 167-196页

作者： Jiansheng Peng Qing yang Dunhua Chen chengjun yang Yong Xu Yong Qin College of Automation Guangxi University of Science and TechnologyLiuzhou545000China Department of Artificial Intelligence and Manufacturing Hechi UniversityHechi547000China

Dynamic Simultaneous Localization and Mapping(SLAM)in visual scenes is currently a major research area in fields such as robot navigation and autonomous driving.However,in the face of complex real-world envi-ronments,current dynamic SLAM systems struggle to achieve precise localization and map construction.With the advancement of deep learning,there has been increasing interest in the development of deep learning-based dynamic SLAM visual odometry in recent years,and more researchers are turning to deep learning techniques to address the challenges of dynamic SLAM.Compared to dynamic SLAM systems based on deep learning methods such as object detection and semantic segmentation,dynamic SLAM systems based on instance segmentation can not only detect dynamic objects in the scene but also distinguish different instances of the same type of object,thereby reducing the impact of dynamic objects on the SLAM system’s positioning.This article not only introduces traditional dynamic SLAM systems based on mathematical models but also provides a comprehensive analysis of existing instance segmentation algorithms and dynamic SLAM systems based on instance segmentation,comparing and summarizing their advantages and disadvantages.Through comparisons on datasets,it is found that instance segmentation-based methods have significant advantages in accuracy and robustness in dynamic environments.However,the real-time performance of instance segmentation algorithms hinders the widespread application of dynamic SLAM systems.In recent years,the rapid development of single-stage instance segmentationmethods has brought hope for the widespread application of dynamic SLAM systems based on instance segmentation.Finally,possible future research directions and improvementmeasures are discussed for reference by relevant professionals.

关键词： Dynamic SLAM instance segmentation visual odometry

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Estrogen receptor beta suppresses the androgen receptor oncogenic effects in triple-negative breast cancer

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Chinese Medical Journal 2024年第3期137卷 338-349页

作者： Feng Xu Kun Xu Lingling Fan Xintong Li Yiqiu Liu Fang yang chengjun Zhu Xiaoxiang Guan Department of Oncology The First Affiliated Hospital of Nanjing Medical UniversityNanjingJiangsu 210029China Department of Oncology Jiangsu Cancer HospitalThe Affiliated Cancer Hospital of Nanjing Medical UniversityJiangsu Institute of Cancer ResearchNanjingJiangsu 210009China The Comprehensive Cancer Center of Nanjing Drum Tower Hospital Affiliated Hospital of Medical SchoolNanjing UniversityNanjingJiangsu 210008China Jiangsu Key Lab of Cancer Biomarkers Prevention and TreatmentCollaborative Innovation Center for Personalized Cancer MedicineNanjing Medical UniversityNanjingJiangsu 211166China

Background:Triple-negative breast cancer(TNBC)is an aggressive type of breast cancer associated with poor prognosis and limited treatment options.The androgen receptor(AR)has emerged as a potential therapeutic target for luminal androgen receptor(LAR)TNBC.However,multiple studies have claimed that anti-androgen therapy for AR-positive TNBC only has limited clinical benefits.This study aimed to investigate the role of AR in TNBC and its detailed mechanism.Methods:Immunohistochemistry and TNBC tissue sections were applied to investigate AR and nectin cell adhesion molecule 4(NECTIN4)expression in TNBC tissues.Then,in vitro and in vivo assays were used to explore the function of AR and estrogen receptor beta(ERβ)in TNBC.Chromatin immunoprecipitation sequencing(ChIP-seq),co-immunoprecipitation(co-IP),molecular docking method,and luciferase reporter assay were performed to identify key molecules that affect the function of AR.Results:Based on the TNBC tissue array analysis,we revealed that ERβand AR were positive in 21.92%(32/146)and 24.66%(36/146)of 146 TNBC samples,respectively,and about 13.70%(20/146)of TNBC patients were ERβpositive and AR positive.We further demonstrated the pro-tumoral effects of AR on TNBC cells,however,the oncogenic biology was significantly suppressed when ERβtransfection in LAR TNBC cell lines but not in AR-negative TNBC.Mechanistically,we identified that NECTIN4 promoter–42 bp to–28 bp was an AR response element,and that ERβinteracted with AR thus impeding the AR-mediated NECTIN4 transcription which promoted epithelial–mesenchymal transition in tumor progression.Conclusions:This study suggests that ERβfunctions as a suppressor mediating the effect of AR in TNBC prognosis and cell proliferation.Therefore,our current research facilitates a better understanding of the role and mechanisms of AR in TNBC carcinogenesis.

关键词： Androgen receptor Estrogen receptor beta Triple-negative breast cancer NECTIN4 Oncogenic effects Tumor progression

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Life forms affect beta-diversity patterns of larch forests in China

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Plant Diversity 2024年第1期46卷 49-58页

作者： Wenjing Fang Qiong Cai chengjun Ji Jiangling Zhu Zhiyao Tang Jingyun Fang School of Ecology and Environmental Science Yunnan UniversityKunming 650091China Department of Ecology College of Urban and Environmental Sciencesand Key Laboratory for Earth Surface Processes of the Ministry of EducationPeking UniversityBeijing 100871China

Beta-diversity reflects the spatial changes in community species composition which helps to understand how communities are assembled and biodiversity is formed and maintained. Larch(Larix) forests, which are coniferous forests widely distributed in the mountainous and plateau areas in North and Southwest China, are critical for maintaining the environmental conditions and species diversity. Few studies of larch forests have examined the beta-diversity and its constituent components(species turnover and nestedness-resultant components). Here, we used 483 larch forest plots to determine the total betadiversity and its components in different life forms(i.e., tree, shrub, and herb) of larch forests in China and to evaluate the main drivers that underlie this beta-diversity. We found that total betadiversity of larch forests was mainly dependent on the species turnover component. In all life forms,total beta-diversity and the species turnover component increased with increasing geographic, elevational, current climatic, and paleoclimatic distances. In contrast, the nestedness-resultant component decreased across these same distances. Geographic and environmental factors explained 20%-25% of total beta-diversity, 18%-27% of species turnover component, and 4%-16% of nestedness-resultant component. Larch forest types significantly affected total beta-diversity and species turnover component. Taken together, our results indicate that life forms affect beta-diversity patterns of larch forests in China, and that beta-diversity is driven by both niche differentiation and dispersal limitation. Our findings help to greatly understand the mechanisms of community assemblies of larch forests in China.

关键词： Beta-diversity Species turnover Nestedness-resultant Geographic distance Climatic distance Larch forest

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Embracing digital mindsets to ensure a sustainable future

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Frontiers of Environmental Science & Engineering 2024年第3期18卷 177-179页

作者： chengjun Li Riqing Yu Wenjing Ning Huan Zhong Christian Sonne Institute of Environmental Research at Greater Bay Area Guangzhou UniversityGuangzhou 510000China Department of Biology Center for EnvironmentBiodiversity and ConservationThe University of Texas at TylerTylerTX 75701USA School of Environment Nanjing UniversityNanjing 210000China Environmental and Life Science Program Trent UniversityPeterboroughOntarioK9H 0A1Canada Faculty of Science and Technology Aarhus UniversityRoskildeDenmark 4000The Kingdom of Denmark Sustainability Cluster School of EngineeringUniversity of Petroleum&Energy StudiesDehradunUttarakhand 248001India

The 19th Asian Games astounded global audiences with an opening spectacle that showcased stunning digital fireworks(International Olympic Committee,2021;Zhe,2023).The groundbreaking display was brought to life through virtual reality(VR)and augmented reality(AR)technologies.It sets a pioneering example to replace conventional fireworks in major international events as well as in other large-scale entertainment activities,marking a historic milestone in the pursuit of a sustainable and healthy future.

关键词： Wildlife Climate Change Heavy metals Noise LAN Light pollution

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Effects of iron oxide on crystallization behavior and spatial distribution of spinel in stainless steel slag

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International Journal of Minerals,Metallurgy and Materials 2024年第2期31卷 292-300页

作者： Zihang Yan Qing Zhao Chengzhi Han Xiaohui Mei chengjun Liu Maofa Jiang Key Laboratory for Ecological Metallurgy of Multimetallic Mineral(Ministry of Education Northeastern UniversityShenyang 110819China School of Metallurgy Northeastern UniversityShenyang 110819China

Chromium plays a vital role in stainless steel due to its ability to improve the corrosion resistance of the latter.However,the re-lease of chromium from stainless steel slag(SSS)during SSS stockpiling causes detrimental environmental issues.To prevent chromium pollution,the effects of iron oxide on crystallization behavior and spatial distribution of spinel were investigated in this work.The results revealed that FeO was more conducive to the growth of spinels compared with Fe2O3 and Fe3O4.Spinels were found to be mainly distrib-uted at the top and bottom of slag.The amount of spinel phase at the bottom decreased with the increasing FeO content,while that at the top increased.The average particle size of spinel in the slag with 18wt%FeO content was 12.8μm.Meanwhile,no notable structural changes were observed with a further increase in FeO content.In other words,the spatial distribution of spinel changed when the content of iron oxide varied in the range of 8wt%to 18wt%.Finally,less spinel was found at the bottom of slag with a FeO content of 23wt%.

关键词： stainless steel slag spinel chromium waste remediation ferrous oxide

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Visual SLAM Based on Object Detection Network:A Review

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Computers, Materials & Continua 2023年第12期77卷 3209-3236页

作者： Jiansheng Peng Dunhua Chen Qing yang chengjun yang Yong Xu Yong Qin College of Automation Guangxi University of Science and TechnologyLiuzhou545000China Department of Artificial Intelligence and Manufacturing Hechi UniversityHechi547000China

Visual simultaneous localization and mapping(SLAM)is crucial in robotics and autonomous driving.However,traditional visual SLAM faces challenges in dynamic environments.To address this issue,researchers have proposed semantic SLAM,which combines object detection,semantic segmentation,instance segmentation,and visual SLAM.Despite the growing body of literature on semantic SLAM,there is currently a lack of comprehensive research on the integration of object detection and visual SLAM.Therefore,this study aims to gather information from multiple databases and review relevant literature using specific keywords.It focuses on visual SLAM based on object detection,covering different aspects.Firstly,it discusses the current research status and challenges in this field,highlighting methods for incorporating semantic information from object detection networks into mileage measurement,closed-loop detection,and map construction.It also compares the characteristics and performance of various visual SLAM object detection algorithms.Lastly,it provides an outlook on future research directions and emerging trends in visual SLAM.Research has shown that visual SLAM based on object detection has significant improvements compared to traditional SLAM in dynamic point removal,data association,point cloud segmentation,and other technologies.It can improve the robustness and accuracy of the entire SLAM system and can run in real time.With the continuous optimization of algorithms and the improvement of hardware level,object visual SLAM has great potential for development.

关键词： Object detection visual SLAM visual odometry loop closure detection semantic map

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High performance wide bandgap perovskite solar cell with low V_(OC) deficit less than 0.4 V

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Journal of Energy Chemistry 2024年第4期91卷 313-322页

作者： Haikuo Guo Fuhua Hou Xuli Ning Xiaoqi Ren Haoran yang Rui Liu Tiantian Li chengjun Zhu Ying Zhao Wei Li Xiaodan Zhang School of Physical Science and Technology Key Laboratory of Semiconductor Photovoltaic Technology and Energy Materials at Universities of Inner Mongolia Autonomous RegionInner Mongolia UniversityHohhot 010021Inner MongoliaChina Institute of Photoelectronic Thin Film Devices and Technology of Nankai University Key Laboratory of Photoelectronic Thin Film Devices and Technology of TianjinSolar Energy Research Center of Nankai UniversityTianjin 300350China State Key Laboratory of Advanced Technology for Materials Synthesis and Processing Wuhan University of TechnologyWuhan 430000HubeiChina

Wide bandgap perovskite solar cells(PSCs)have attracted significant attention because they can be applied to the top cells of tandem solar cells.However,high open-circuit voltage(V_(OC))deficit(>0.4 V)result from poor crystallization and high non-radiative recombination losses become a serious limitation in the pursuit of high performance.Here,the relevance between different Pbl_(2)proportions and performance parameters are revealed through analysis of surface morphology,residual stress,and photostability.The increase of Pbl_(2)proportion promotes crystal growth and reduces the work function of the perovskite film surface and promotes the energy level alignment with the carrier transport layer,which decreased the V_(OC)deficit.However,residual PbI_(2)exacerbated the stress level of perovskite film,and the resulting lattice disorder deteriorated the photostability of the device.Ultimately,after the synergistic passivation of residual PbI_(2)and PEAI,the V_(OC)achieves 1.266 V and V_(OC)deficit is less than 0.4 V,the record value in wide bandgap PSCs.

关键词： Pb management Perovskite solar cell Strain Wide bandgap Stability

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Construction of a bivalent vaccine candidate against HAdV4/HAdV7 based on capsid-display strategy via Red-homologous recombination and counter-selection methodology

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Biosafety and Health 2024年第2期6卷 70-79页

作者： Peng Wang Yunting Shao Xichun yang Wenning Zhang Jianguang Zhou Fang Huang Shuang Liu Jiping Zheng chengjun Wu Shanhu Li Department of Cell Engineering Bejing Institute of BiotechnologyBejing 100850China School of Basic Medical Sciences Faculty of MedicineDalian University of TechnologyDalian 116024China Lab of Microbiological Engineering School of Life and Health SciencesHainan UniversityHaikou 570228China

Human adenoviruses(HAdvs)are major respiratory pathogens.Specifically,human adenovirus type 4(HAdV4)and human adenovirus type 7(HAdV7)are known for causing fever and pneumonia,with docu-mented cases of fatalities among the population.In recent years,HAdV4/HAdv7 has been implicated in caus-ing substantial outbreaks,leading to increased morbidity in multiple countries.Most HAdV4 and HAdV7 infections have been reported in North America,Asia,Europe,Africa,South America,Oceania,and the Middle East.Most fatalities occurred in North America(the United States)and Asia(China and Singapore).Engineered recombinant adenoviruses have played a crucial role as vaccine vectors.In this study,we con-structed a recombinant adenovirus,Ad4ITRmut-Ad7E3,and evaluated it in vitro and in vivo.We observed that the replication rate of Ad4ITRmut-Ad7E3 was lower than that of the RI-67 strain,indicating that the mutation of inverted terminal repeats(ITRs)weakened the replication ability of HAdV4.Immunization of BALB/c mice with the bivalent Ad4ITRmut-Ad7E3 vaccine strain,administered by intraperitoneal injection and oral gavage,resulted in the elicitation of neutralizing antibodies targeting HAdV4 and HAdv7.This finding not only pro-vides a novel method and technique for the efficient construction of a polyvalent recombinant adenovirus vac-cine candidate against HAdV4 and HAdv7 but also against other prevalent adenovirus serotypes such as HAdV3,HAdV11,HAdV14,and HAdv55,from various regions.

关键词： Bivalent adenovirusvaccine Capsid-displaystrategy ITRs modification Hexonepitopereplacement

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Cu single atoms embedded on hollow g-C_(3)N_(4)nanospheres with enhanced charge transfer and separation for efficient photocatalysis

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Chinese Chemical Letters 2024年第2期35卷 455-459页

作者： Linlin Zhang Jianjun Liao Yakun Li Wei Sun chengjun Ge Key Laboratory of Agro-Forestry Environmental Processes and Ecological Regulation of Hainan Province School of Ecology and EnvironmentHainan UniversityHaikou 570228China Shandong Ocean Chemical Industry Scientific Research Institute Weifang 262737China

Establishing an effective charge transfer mechanism in carbon nitride(g-C_(3)N_(4))to enhance its photocatalytic activity remains a limiting nuisance.Herein,the combination design of a single Cu atom with hollow g-C_(3)N_(4)nanospheres(Cu-N_(3)structure)has been proven to offer significant opportunities for this crucial challenge.Moreover,this structure endows two pathways for charge transfer in the reaction,namely,the N atoms in the three-dimensional planar structure are only bonded with a single Cu atom,and charge transfer occurs between the plane and the layered structure due to the bending of the interlayered g-C_(3)N_(4)hollow nanospheres.Notably,Cu-N_(3)and hollow nanosphere structures have been certified to greatly enhance the efficiency of photogenerated carrier separation and transfer between the layers and planes by ultrafast spectral analysis.As a result,this catalyst possesses unparalleled photocatalytic efficiency.Specifically,the hydrogen production rate up to 2040μmol h^(−1) g^(−1),which is 51 times that of pure C_(3)N_(4)under visible light conditions.The photocatalytic degradation performance of tetracycline and oxidation performance of benzene is also expressed,with a degradation rate of 100%,a conversion of 97.3%and a selectivity of 99.9%.This work focuses on the structure-activity relationship to provide the possibilities for the development of potential photocatalytic materials.

关键词： g-C_(3)N_(4) Cu single atom Hollow nanospheres Charge transfer pathways Photocatalytic hydrogen production

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Multi-Robot Privacy-Preserving Algorithms Based on Federated Learning:A Review

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Computers, Materials & Continua 2023年第12期77卷 2971-2994页

作者： Jiansheng Peng Jinsong Guo Fengbo Bao chengjun yang Yong Xu Yong Qin College of Automation Guangxi University of Science and TechnologyLiuzhou545000China Department of Artificial Intelligence and Manufacturing Hechi UniversityHechi547000China

The robotics industry has seen rapid development in recent years due to the Corona Virus Disease 2019.With the development of sensors and smart devices,factories and enterprises have accumulated a large amount of data in their daily production,which creates extremely favorable conditions for robots to perform machine learning.However,in recent years,people’s awareness of data privacy has been increasing,leading to the inability to circulate data between different enterprises,resulting in the emergence of data silos.The emergence of federated learning provides a feasible solution to this problem,and the combination of federated learning and multi-robot systems can break down data silos and improve the overall performance of robots.However,as scholars have studied more deeply,they found that federated learning has very limited privacy protection.Therefore,how to protect data privacy from infringement remains an important issue.In this paper,we first give a brief introduction to the current development of multi-robot and federated learning;second,we review three aspects of privacy protection methods commonly used,privacy protection methods for multi-robot,and Other Problems Faced by Multi-robot Systems,focusing on method comparisons and challenges;and finally draw conclusions and predict possible future research directions.

关键词： Federated learning multi-robot privacy protection gradient leakage attacks

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