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

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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 ***,in the face of complex real-world envi-ronments,current dynamic SLAM systems struggle to achieve precise localization and map *** 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 *** 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 *** 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 *** comparisons on datasets,it is found that instance segmentation-based methods have significant advantages in accuracy and robustness in dynamic ***,the real-time performance of instance segmentation algorithms hinders the widespread application of dynamic SLAM *** recent years,the rapid development of single-stage instance segmentationmethods has brought hope for the widespread application of dynamic SLAM systems based on instance ***,possible future research directions and improvementmeasures are discussed for reference by relevant professionals.

关键词： Dynamic SLAM instance segmentation visual odometry

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 *** 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 ***,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 *** 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 ***,as scholars have studied more deeply,they found that federated learning has very limited privacy ***,how to protect data privacy from infringement remains an important *** 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

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 ***,traditional visual SLAM faces challenges in dynamic *** address this issue,researchers have proposed semantic SLAM,which combines object detection,semantic segmentation,instance segmentation,and visual *** the growing body of literature on semantic SLAM,there is currently a lack of comprehensive research on the integration of object detection and visual ***,this study aims to gather information from multiple databases and review relevant literature using specific *** focuses on visual SLAM based on object detection,covering different ***,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 *** also compares the characteristics and performance of various visual SLAM object detection ***,it provides an outlook on future research directions and emerging trends in visual *** 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 *** can improve the robustness and accuracy of the entire SLAM system and can run in real *** 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

Learning real-time search on c-space GVDs

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Frontiers of Computer Science 2017年第6期11卷 1036-1049页

作者： Quanjun YIN Long qin yong peng Wei DUAN College of Information System and Management National University of Defense Technology Changsha 410073 China

In the context of robotics, configuration space （c- space） is widely used for non-circular robots to engage tasks such as path planning, collision check, and motion planning. In many real-time applications, it is important for a robot to give a quick response to the user＇s command. Therefore, a constant bound on planning time per action is severely im- posed. However, existing search algorithms used in c-space gain first move lags which vary with the size of the under- lying problem. Furthermore, applying real-time search algo- rithms on c-space maps often causes the robots being trapped within local minima. In order to solve the above mentioned problems, we extend the learning real-time search （LRTS） algorithm to search on a set of c-space generalized Voronoi diagrams （c-space GVDs）, helping the robots to incremen- tally plan a path, to efficiently avoid local minima, and to ex- ecute fast movement. In our work, an incremental algorithm is firstly proposed to build and represent the c-space maps in Boolean vectors. Then, the method of detecting grid-based GVDs from the c-space maps is further discussed. Based on the c-space GVDs, details of the LRTS and its implemen- tation considerations are studied. The resulting experiments and analysis show that, using LRTS to search on the c-space GVDs can 1） gain smaller and constant first move lags which is independent of the problem size; 2） gain maximal clear- ance from obstacles so that collision checks are much re- duced; 3） avoid local minima and thus prevent the robot from visually unrealistic scratching.

关键词： generalized Voronoi diagrams real-time search,robotics configuration space incremental algorithms

Numerical study of transonic separation flow using an anisotropic turbulence model

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航空动力学报 2020年第1期35卷 114-125页

作者： YAN Wenhui peng Tengfei yong Yan qin Ruixin MA Ruige School of Mechanical and Materials Engineering North China University of TechnologyBeijing 100144China Department of Civil Environmental and Geomatics EngineeringFlorida Atlantic UniversityBoca RatonFlorida 33431U.S.A.

A transonic turbulent separation flow in a converging-diverging transonic diffuser was studied,when there existed a separation bubble on the top wall of the diffuser triggered by strong shock-wave-boundary-layer-interaction(SWBLI).To capture the essential behavior of this complex flow,the current study utilized an anisotropic turbulence model developed on the basis of a statistical partial average *** first order moment of turbulent fluctuations,retained by a novel average scheme,and the turbulent length scale,can be determined from the momentum equations and mechanical energy equation of the fluctuation flow,*** two physical quantities were readily used to construct the nonlinear anisotropic eddy viscosity tensor and to significantly improve the computational *** between the computational results and experimental data were carried out for velocity profiles,pressure distribution,skin friction coefficient,Reynolds stress as well as streamline vectors *** using any empirical coefficients and wall functions,the numerical results were in good agreement with the available experimental data,further confirming that the nonlinear anisotropic eddy viscosity tensor is the decisive factor for the success of the computational results.

关键词： transonic separation flow eddy viscosity tensor shock wave boundary layer interaction anisotropic turbulence model statistical partial average scheme

Analysis of parallel multigrid methods in real-time fluid simulation

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International Journal of Modeling, Simulation, and Scientific Computing 2017年第4期8卷 105-121页

作者： Feifei Wan yong Yin qin Zhang Xiuquan peng Marine dynamic simulation and Control Laboratory of Dalian Maritime University Dalian Liaoning116026P.R.China

The multigrid method has been widely used in computational fluid dynamics(CFD)numerical calculations because of its strong *** achieve real-time simulation of a fluid in computer graphics(CG),the operation efficiency is also a significant factor to consider except for operational *** this problem,we introduced two multigrid cycling schemes,V-Cycle and full multigrid(FMG).Moreover,we have proposed a simple geometric multigrid method(GMG),and compared with the existing wide application of algebraic multigrid(AMG).All the calculations are the solution of parallel computing of GPU in this *** results showed that our approaches have improved the algorithm’s computational speed and convergence time,which prominently enhanced the efficiency of the fluid simulation.

关键词： Multigrid parallel fluid simulation

Strengthening leaching effect of Carlin-type gold via high-voltage pulsed discharge pretreatment

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International Journal of Minerals,Metallurgy and Materials 2021年第6期28卷 965-973页

作者： peng Gao yong-hong qin Yue-xin Han Yan-jun Li Si-ying Liu College of Resources and Civil Engineering Northeastern UniversityShenyang 110819China National-local Joint Engineering Research Center of High-efficient Exploitation Technology for Refractory Iron Ore Resources Shenyang 110819China

A high-voltage pulsed discharge(HVPD)pretreatment was used to strengthen the leaching effect of Carlin-type gold ore containing *** results of the pretreatment experiments were obtained at the following operating conditions:a spherical gap spacing of 20 mm,pulse number of 100,and voltage of 30 *** leaching rate of gold was increased by 15.65%via the HVPD *** mass fraction of–0.5+0.35 mm and–0.35+0.1 mm was increased by 10.97%and 6.83%compared to the untreated samples,respectively,and the Au grade of–0.1 mm was increased by 22.84%.However,the superiority of the HVPD pretreatment would be weakened by prolonged grinding *** electron microscopy results indicated that the pretreated products presented as a melting state and then condensation,accompanying by some pore *** micro-cracks were generated at the interface of the ore and the original crack were expended via pulsed discharge pretreatment,with the contact area between the leaching reagent and ore increased,the leaching reaction rate enhanced and the leaching effect strengthened.

关键词： high-voltage pulse discharge pretreatment Carlin-type gold leaching rate particle size distribution micro-cracks

Adaptation analysis and fusion correction method of CMIP6 precipitation simulation data on the qinghai-Tibetan Plateau

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Journal of Mountain Science 2024年第2期21卷 555-573页

作者： peng Hao qin Dahui WANG Zegen ZHANG Menghan YANG Yanmei yong Zhiwei School of Civil Engineering and Geomatics Southwest Petroleum UniversityChengdu 610500China School of Geoscience and Technology Southwest Petroleum UniversityChengdu 610500China

In order to obtain more accurate precipitation data and better simulate the precipitation on the Tibetan Plateau,the simulation capability of 14 Coupled Model Intercomparison Project Phase 6(CMIP6)models of historical precipitation(1982-2014)on the qinghai-Tibetan Plateau was evaluated in this *** indicate that all models exhibit an overestimation of precipitation through the analysis of the Taylor index,temporal and spatial statistical *** correct the overestimation,a fusion correction method combining the Backpropagation Neural Network Correction(BP)and Quantum Mapping(QM)correction,named BQ method,was *** this method,the historical precipitation of each model was corrected in space and time,*** correction results were then analyzed in time,space,and analysis of variance(ANOVA)with those corrected by the BP and QM methods,***,the fusion correction method results for each model were compared with the Climatic Research Unit(CRU)data for significance analysis to obtain the trends of precipitation increase and decrease for each *** results show that the IPSL-CM6A-LR model is relatively good in simulating historical precipitation on the qinghai-Tibetan Plateau(R=0.7,RSME=0.15)among the uncorrected *** terms of time,the total precipitation corrected by the fusion method has the same interannual trend and the closest precipitation values to the CRU data;In terms of space,the annual average precipitation corrected by the fusion method has the smallest difference with the CRU data,and the total historical annual average precipitation is not significantly different from the CRU data,which is better than BP and ***,the correction effect of the fusion method on the historical precipitation of each model is better than that of the QM and BP *** precipitation in the central and northeastern parts of the plateau shows a significant increasing *** correlation coefficients between monthly

关键词： GCM CMIP6 Precipitation correction BP-QM fusion correction Spatio-temporal characteristics

Tiaobu Feishen therapy inhibits inflammation induced by cigarette smoke extracts in a human monocyte/macrophage cell line

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Journal of Traditional Chinese Medicine 2021年第3期41卷 360-366页

作者： qin Yanqin CHEN Yulong ZHAO peng FENG Suxiang WU Yaosong LIU Xuefang DONG Haoran ZHENG Wanchun MAO Xiaoning LI jiansheng Henan Key Laboratory of Chinese Medicine for Respiratory Disease Henan University of Chinese MedicineZhengzhou 450046China Co-construction Collaborative Innovation Center for Chinese Medicine and Respiratory Diseases by Henan&Education Ministry of China Henan University of Chinese MedicineZhengzhou 450046China

OBJECTIVE: To study the mechanistic effects of Tiaobu Feishen therapy(TBFS) on inflammation induced by cigarette smoke extract(CSE) in a human monocyte/macrophage cell ***: The human monocyte/macrophage cell line THP-1 was stimulated with 10% CSE in the presence or absence of Bufei Yishen formula(BYF),Bufei Jianpi formula(BJF) and Yiqi Zishen formula(YZF). All formulations contained serum. Pro-inflammatory cytokines were measured in the supernatants using enzyme-linked immunosorbent *** activity of STAT3 DNA binding was detected using electrophoretic mobility shift assay and janus kinase/signal transducer and activator of transcription(JAK/STAT) pathway activation was assessed using Western ***: The results showed that BYF, BJF and YZF treatment strongly decreased the CSE-induced secretion of interleukin(IL)-6, IL-8, tumor necrosis factor-α and matrix metalloproteinase-9 by THP-1 cells. Furthermore, BYF, BJF and YZF treatment attenuated STAT3 DNA binding capacity and JAK2 and STAT3 were shown to be ***: The data revealed that BYF, BJF and YZF effectively inhibited a CSE-induced inflammatory response in THP-1 cells by limiting activation of the JAK2/STAT3 pathway.

关键词： cigarette smoking janus kinase 2 STAT3 transcription factor THP-1 cells matrix metalloproteinases Tiaobu Feishen therapy