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Feature Matching via Topology-Aware Graph Interaction Model

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 113-130页

作者： yifan Lu Jiayi Ma xiaoguang Mei Jun Huang xiao-Ping Zhang the Electronic Information School Wuhan UniversityWuhan 430072China IEEE Tsinghua Berkeley Shenzhen Institute Shenzhen 518071China the Department of Electrical Computer and Biomedical EngineeringToronto Metropolitan UniversityToronto ON M5B 2K3Canada

Feature matching plays a key role in computer vision. However, due to the limitations of the descriptors, the putative matches are inevitably contaminated by massive outliers.This paper attempts to tackle the outlier filtering problem from two aspects. First, a robust and efficient graph interaction model,is proposed, with the assumption that matches are correlated with each other rather than independently distributed. To this end, we construct a graph based on the local relationships of matches and formulate the outlier filtering task as a binary labeling energy minimization problem, where the pairwise term encodes the interaction between matches. We further show that this formulation can be solved globally by graph cut algorithm. Our new formulation always improves the performance of previous localitybased method without noticeable deterioration in processing time,adding a few milliseconds. Second, to construct a better graph structure, a robust and geometrically meaningful topology-aware relationship is developed to capture the topology relationship between matches. The two components in sum lead to topology interaction matching(TIM), an effective and efficient method for outlier filtering. Extensive experiments on several large and diverse datasets for multiple vision tasks including general feature matching, as well as relative pose estimation, homography and fundamental matrix estimation, loop-closure detection, and multi-modal image matching, demonstrate that our TIM is more competitive than current state-of-the-art methods, in terms of generality, efficiency, and effectiveness. The source code is publicly available at http://***/yifanLu2000/TIM.

关键词： Feature matching graph cut outlier filtering topology preserving

Advances in perovskite photodetectors

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InfoMat 2020年第6期2卷 1247-1256页

作者： Chenglong Li Yao Ma Yifan Xiao Liang Shen Liming Ding State Key Laboratory of Integrated Optoelectronics College of Electronic Science and EngineeringJilin UniversityChangchunChina Center for Excellence in Nanoscience(CAS) Key Laboratory of Nanosystem and Hierarchical Fabrication(CAS)National Center for Nanoscience and TechnologyBeijingChina

Perovskite photodetectors have gradually shown preeminent photoelectric performance due to the unique material properties.In recent years,lots of works have been reported in improving the sensitivity,changing detection spectrum range and enhancing long-term stability.Herein,we summarize the some efficient strategies for performance improvement and synchronously analyze severe issues exposed in that.Furthermore,some reasonable proposals are put forward to solve future predicted troubles.In addition,more prospective assumptions are proposed on the basis of the development trend in photoelectric detection fields.We hope this perspective will allow researchers to have a clearer understanding of recent studies based on perovskite photodetectors and inspire more meaningful work in the future.

关键词： detectivity perovskite photodetectors response speed stability

Design of a novel side-mounted leg mechanism with high flexibility for a multi-mission quadruped earth rover BJTUBOT

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机械工程前沿:英文版 2023年第2期18卷 115-142页

作者： yifan WU Sheng GUO Luquan LI Lianzheng NIU xiao LI School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China

Earth rover is a class of emerging wheeled-leg robots for nature exploration.At present,few methods for these robots’leg design utilize a side-mounted spatial parallel mechanism.Thus,this paper presents a complete design process of a novel 5-degree-of-freedom(5-DOF)hybrid leg mechanism for our quadruped earth rover BJTUBOT.First,a general approach is proposed for constructing the novel leg mechanism.Subsequently,by evaluating the basic locomotion task(LT)of the rover based on screw theory,we determine the desired motion characteristic of the sidemounted leg and carry out its two feasible configurations.With regard to the synthesis method of the parallel mechanism,a family of concise hybrid leg mechanisms using the 6-DOF limbs and an L1F1C limb(which can provide a constraint force and a couple)is designed.In verifying the motion characteristics of this kind of leg,we select a typical(3-UPRU&RRRR)&R mechanism and then analyze its kinematic model,singularities,velocity mapping,workspace,dexterity,statics,and kinetostatic performance.Furthermore,the virtual quadruped rover equipped with this innovative leg mechanism is built.Various basic and specific LTs of the rover are demonstrated by simulation,which indicates that the flexibility of the legs can help the rover achieve multitasking.

关键词： design synthesis parallel mechanism hybrid leg mechanism screw theory quadruped robot

Multi-Joint Active Collision Avoidance for Robot Based on Depth Visual Perception

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IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2186-2189页

作者： Hui Li Xingfang Wang xiao Huang yifan Ma Zhihong Jiang School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China

Dear editor,Human-robot collaboration is a research topic that has numerous potential applications, such as in smart cities. An important safety consideration in human-robot collaboration is collision avoidance[1]. Many studies have prioritized collision avoidance of the robot end-effector. However, multi-joint(whole-body) collision avoidance is also very important in complex working scenarios. Several studies have achieved multi-joint collision avoidance by estimating the distance between obstacles and control points placed on the robot body.

关键词： robot Robot Visual

Hierarchical porous carbon derived from one-step self-activation of zinc gluconate for symmetric supercapacitors with high energy density

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Frontiers of Chemical Science and Engineering 2023年第4期17卷 387-394页

作者： Junlei xiao Hua Zhang yifan Wang Chunmei Zhang Shuijian He Shaohua Jiang Jiangsu Co-Innovation Center of Efficient Processing and Utilization of Forest Resources International Innovation Center for Forest Chemicals and MaterialsCollege of Materials Science and EngineeringNanjing Forestry UniversityNanjing 210037China College of Chemistry and Chemical Engineering Jiangxi Normal UniversityNanchang 330022China Institute of Materials Science and Devices School of Materials Science and EngineeringSuzhou University of Science and TechnologySuzhou 215009China

Porous carbons with high specific area surfaces are promising electrode materials for supercapacitors.However,their production usually involves complex,time-consuming,and corrosive processes.Hence,a straightforward and effective strategy is presented for producing highly porous carbons via a self-activation procedure utilizing zinc gluconate as the precursor.The volatile nature of zinc at high temperatures gives the carbons a large specific surface area and an abundance of mesopores,which avoids the use of additional activators and templates.Consequently,the obtained porous carbon electrode delivers a satisfactory specific capacitance and outstanding cycling durability of 90.9%after 50000 cycles at 10 A·g^(-1).The symmetric supercapacitors assembled by the optimal electrodes exhibit an acceptable rate capability and a distinguished cycling stability in both aqueous and ionic liquid electrolytes.Accordingly,capacitance retention rates of 77.8%and 85.7%are achieved after 50000 cycles in aqueous alkaline electrolyte and 10000 cycles in ionic liquid electrolyte.Moreover,the symmetric supercapacitors deliver high energy/power densities of 49.8 W·h·kg^(-1)/2477.8 W·kg^(-1) in the Et4NBF4 electrolyte,outperforming the majority of previously reported porous carbon-based symmetric supercapacitors in ionic liquid electrolytes.

关键词： self-activation zinc organic salts abundant mesopores symmetric supercapacitor liquid electrolyte

Dissection the endocytic routes of viral capsid proteins-coated upconversion nanoparticles by single-particle tracking

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Chinese Chemical Letters 2022年第10期33卷 4710-4714页

作者： Yujun Ning Lin Wei Shen Lin yifan Jiang Naidong Wang Lehui xiao College of Chemistry Zhengzhou UniversityZhengzhou 450001China State Key Laboratory of Medicinal Chemical Biology Tianjin Key Laboratory of Biosensing and Molecular RecognitionCollege of ChemistryNankai UniversityTianjin 300071China College of Chemistry and Chemical Engineering Hunan Normal UniversityChangsha 410081China College of Veterinary Medicine Hunan Agricultural UniversityChangsha 410128China School of Chemistry and Chemical Engineering Henan Normal UniversityXinxiang 453007China

Real-time exploring the cellular endocytic pathway of viral capsid proteins(VCPs)functionalized nanocargos at the single-particle level can provide deep insight into the kinetic information involved in virus infection.In this work,porcine circovirus type 2(PCV2)VCPs with different functions are modified onto the surface of upconversion nanoparticles(VCPs-UCNPs)to investigate the cellular internalization process in real-time.Clathrin-mediated endocytosis is found to be the essential uptake mechanism for these VCPs-UCNPs.Besides,it is verified that P_(1)-UCNPs(PCV2 VCPs with nuclear localization signal,namely P1)can be easily assembled close to the perinuclear area,which is different from that of P_(2)-UCNPs(PCV2 VCPs without nuclear localization signal,namely P_(2)).Interestingly,multistep entry processes are observed.Particularly,confined diffusion is observed during the transmembrane process.The intracellular transport of VCPs-UCNPs is dependent on microtubules toward the cell interior.During this process,P_(1)-UCNPs display increased velocities with active transport,while diffusion much faster around the perinuclear area.But for P_(2)-UCNPs,there are only two phases involved in their endocytosis process.This study presents distinct dynamic mechanisms for the nanocargos with different functions,which would make a useful contribution to the development of robust drug delivery systems.

关键词： Upconversion nanoparticles Viral capsid proteins Single-particle tracking Hepatoma cells Endocytosis

HMGB1 from Astrocytes Promotes EAE by Influencing the Immune Cell Infiltration-Associated Functions of BMECs in Mice

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Neuroscience Bulletin 2022年第11期38卷 1303-1314页

作者： Junyu Shi Yifan Xiao Na Zhang Mengya Jiao Xuhuan Tang Chan Dai Chenchen Wang Yong Xu Zheng Tan Feili Gong Fang Zheng Department of Immunology School of Basic MedicineTongji Medical CollegeHuazhong University of Science and TechnologyWuhan 430030China Key Laboratory of Organ Transplantation Ministry of EducationNHC Key Laboratory of Organ TransplantationKey Laboratory of Organ TransplantationChinese Academy of Medical SciencesWuhan 430030China Department of Pathology and Pathophysiology School of MedicineJianghan UniversityWuhan 430056China

High mobility group box 1(HMGB1)has been reported to play an important role in experimental autoimmune encephalomyelitis(EAE).Astrocytes are important components of neurovascular units and tightly appose the endothelial cells of microvessels by their perivascular endfeet and directly regulate the functions of the blood-brain barrier.Astrocytes express more HMGB1 during EAE while the exact roles of astrocytic HMGB1 in EAE have not been well elucidated.Here,using conditional-knockout mice,we found that astrocytic HMGB1 depletion decreased morbidity,delayed the onset time,and reduced the disease score and demyelination of EAE.Meanwhile,there were fewer immune cells,especially pathogenic T cells infiltration in the central nervous system of astrocytic HMGB1 conditional-knockout EAE mice,accompanied by up-regulated expression of the tight-junction protein Claudin5 and down-regulated expression of the cell adhesion molecules ICAM1 and VCAM1 in vivo.In vitro,HMGB1 released from astrocytes decreased Claudin5 while increased ICAM1 and VCAM1 expressed by brain microvascular endothelial cells(BMECs)through TLR4 or RAGE.Taken together,our results demonstrate that HMGB1 derived from astrocytes aggravates EAE by directly influencing the immune cell infiltration-associated functions of BMECs.

关键词： HMGB1 Astrocytes Experimental autoimmune encephalomyelitis Blood-brain barrier

Neoadjuvant radiohormonal therapy for oligo-metastatic prostate cancer:safety and efficacy outcomes from an open-label,dose-escalation,single-center,phase Ⅰ/Ⅱ clinical trial

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Frontiers of Medicine 2023年第2期17卷 231-239页

作者： yifan Chang Xianzhi Zhao Yutian xiao Shi Yan Weidong Xu Ye Wang Huojun Zhang Shancheng Ren Department of Urology Shanghai Changhai HospitalNaval Medical UniversityShanghai 200433China Department of Radiation Oncology Shanghai Changhai HospitalNaval Medical UniversityShanghai 200433China Department of Urology Shanghai Changzheng HospitalNaval Medical UniversityShanghai 200003China

To evaluate the safety and efficacy of neoadjuvant radiohormonal therapy for oligometastatic prostate cancer(OMPC),we conducted a 3+3 dose escalation,prospective,phase Ⅰ/Ⅱ,single-arm clinical trial(CHiCTR1900025743),in which long-term neoadjuvant androgen deprivation was adopted 1 month before radiotherapy,comprising intensity modulated radiotherapy to the pelvis,and stereotactic body radiation therapy to all extra-pelvic bone metastases for 4‒7 weeks,at 39.6,45,50.4,and 54 Gy.Robotic-assisted radical prostatectomy was performed after 5‒14 weeks.The primary outcome was treatment-related toxicities and adverse events;secondary outcomes were radiological treatment response,positive surgical margin(pSM),postoperative prostate-specific antigen(PSA),pathological down-grading and tumor regression grade,and survival parameters.Twelve patients were recruited from March 2019 to February 2020,aging 66.2 years in average(range,52‒80).Median baseline PSA was 62.0 ng/mL.All underwent RARP successfully without open conversions.Ten patients recorded pathological tumor down-staging(83.3%),and 5(41.7%)with cN1 recorded negative regional lymph nodes on final pathology.66.7%(8/12)recorded tumor regression grading(TRG)–Ⅰ and 25%(3/12)recorded TRG-Ⅱ.Median follow-up was 16.5 months.Mean radiological progression-free survival(RPFS)was 21.3 months,with 2-year RPFS of 83.3%.In all,neoadjuvant radiohormonal therapy is well tolerated for oligometastatic prostate cancer.

关键词： neoadjuvant radiotherapy oligometastatic prostate cancer radical prostatectomy

Injectable bone cement with magnesium-containing microspheres enhances osteogenesis via anti-inflammatory immunoregulation

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Bioactive Materials 2021年第10期6卷 3411-3423页

作者： Shenglong Tan yifan Wang Yingying Du Yin xiao Shengmin Zhang Advanced Biomaterials and Tissue Engineering Center Huazhong University of Science and TechnologyWuhan430074China Department of Biomedical Engineering Huazhong University of Science and TechnologyWuhan430074China Institute of Regulatory Science for Medical Devices Huazhong University of Science and TechnologyWuhan430074China Institute of Health and Biomedical Innovation Queensland University of TechnologyBrisbane60 Musk AveKelvin GroveBrisbaneQueensland4059Australia Australia-China Centre for Tissue Engineering and Regenerative Medicine Queensland University of Technology60 Musk AveKelvin GroveBrisbaneQueensland4059Australia

Injectable bone cement is especially useful in minimally invasive surgeries to repair small and irregular bone defects.Amongst different kinds of injectable bone cements,bioactive calcium phosphate bone cement(CPC)has been widely studied due to its biological activity.However,its dense structure and poor biodegradability prevent the ingrowth of living tissue,which leads to undesirable bone regeneration and clinical translation.To address this issue,we prepared bone cement based on Magnesium-containing microspheres(MMSs)that can not only be cured into a 3D porous scaffold but also have controllable biodegradability that continuously provides space for desired tissue ingrowth.Interestingly,magnesium ions released from MMSs cement(MMSC)trigger positive immunomodulation via upregulation of the anti-inflammatory genes IL-10 and M2 macrophage polarization with increased expression of CD206,which is beneficial to osteogenesis.Moreover,the physicochemical properties of MMSC,including heat release,rheology and setting time,can be tuned to meet the requirements of injectable bone cement for clinical application.Using a rat model,we have demonstrated that MMSC promoted osteogenesis via mediation of tissue ingrowth and anti-inflammatory immunomodulation.The study provides a paradigm for the design and preparation of injectable bone cements with 3D porous structures,biodegradability and anti-inflammatory immunoregulation to efficiently promote osteogenesis.

关键词： Injectable bone cement microsphere Mg Immunomodulation Anti-inflammation Osteogenesis