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299 results on '"Wang, Jingping"'

1. Implicit Swept Volume SDF: Enabling Continuous Collision-Free Trajectory Generation for Arbitrary Shapes

Author

Wang, Jingping, Zhang, Tingrui, Zhang, Qixuan, Zeng, Chuxiao, Yu, Jingyi, Xu, Chao, Xu, Lan, and Gao, Fei

Subjects
Computer Science - Robotics, Computer Science - Computational Geometry, Computer Science - Graphics
Abstract

In the field of trajectory generation for objects, ensuring continuous collision-free motion remains a huge challenge, especially for non-convex geometries and complex environments. Previous methods either oversimplify object shapes, which results in a sacrifice of feasible space or rely on discrete sampling, which suffers from the "tunnel effect". To address these limitations, we propose a novel hierarchical trajectory generation pipeline, which utilizes the Swept Volume Signed Distance Field (SVSDF) to guide trajectory optimization for Continuous Collision Avoidance (CCA). Our interdisciplinary approach, blending techniques from graphics and robotics, exhibits outstanding effectiveness in solving this problem. We formulate the computation of the SVSDF as a Generalized Semi-Infinite Programming model, and we solve for the numerical solutions at query points implicitly, thereby eliminating the need for explicit reconstruction of the surface. Our algorithm has been validated in a variety of complex scenarios and applies to robots of various dynamics, including both rigid and deformable shapes. It demonstrates exceptional universality and superior CCA performance compared to typical algorithms. The code will be released at https://github.com/ZJU-FAST-Lab/Implicit-SVSDF-Planner for the benefit of the community., Comment: accecpted by SIGGRAPH2024&TOG. Joint First Authors: Jingping Wang,Tingrui Zhang, Joint Corresponding authors: Fei Gao, Lan Xu

Published
2024
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3. Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization

Author

Zhang, Tingrui, Wang, Jingping, Xu, Chao, Gao, Alan, and Gao, Fei

Subjects
Computer Science - Robotics
Abstract

Optimization-based trajectory generation methods are widely used in whole-body planning for robots. However, existing work either oversimplifies the robot's geometry and environment representation, resulting in a conservative trajectory, or suffers from a huge overhead in maintaining additional information such as the Signed Distance Field (SDF). To bridge the gap, we consider the robot as an implicit function, with its surface boundary represented by the zero-level set of its SDF. Based on this, we further employ another implicit function to lazily compute the signed distance to the swept volume generated by the robot and its trajectory. The computation is efficient by exploiting continuity in space-time, and the implicit function guarantees precise and continuous collision evaluation even for nonconvex robots with complex surfaces. Furthermore, we propose a trajectory optimization pipeline applicable to the implicit SDF. Simulation and real-world experiments validate the high performance of our approach for arbitrarily shaped robot trajectory optimization.

Published
2023

4. Towards Efficient Trajectory Generation for Ground Robots beyond 2D Environment

Author

Wang, Jingping, Xu, Long, Fu, Haoran, Meng, Zehui, Xu, Chao, Cao, Yanjun, Lyu, Ximin, and Gao, Fei

Subjects
Computer Science - Robotics
Abstract

With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation planning framework beyond 2D. Existing methods rarely considers both simultaneously, limiting the capabilities and applications of ground robots. In this paper, we proposed an optimization-based planning framework for ground robots considering both active and passive height changes on the z-axis. The proposed planner first constructs a penalty field for chassis motion constraints defined in R3 such that the optimal solution space of the trajectory is continuous, resulting in a high-quality smooth chassis trajectory. Also, by constructing custom constraints in the z-axis direction, it is possible to plan trajectories for different types of ground robots which have z-axis degree of freedom. We performed simulations and realworld experiments to verify the efficiency and trajectory quality of our algorithm.

Published
2023

5. Decentralized Planning for Car-Like Robotic Swarm in Cluttered Environments

Author

Ma, Changjia, Han, Zhichao, Zhang, Tingrui, Wang, Jingping, Xu, Long, Li, Chengyang, Xu, Chao, and Gao, Fei

Subjects
Computer Science - Robotics
Abstract

Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided by environmental topology information to avoid frequent topological change, and search-based speed planning is leveraged to escape from infeasible initial value's local minima. Then spatial-temporal optimization is employed to generate a safe, smooth and dynamically feasible trajectory. During optimization, the trajectory is discretized by fixed time steps. Penalty is imposed on the signed distance between agents to realize collision avoidance, and differential flatness cooperated with limitation on front steer angle satisfies the non-holonomic constraints. With trajectories broadcast to the wireless network, agents are able to check and prevent potential collisions. We validate the robustness of our system in simulation and real-world experiments. Code will be released as open-source packages., Comment: Accepted by IROS 2023

Published
2022

12. Prevalence and Epidemiologic Features of Skin Injuries in Chinese Older Adults: a Multicenter Cross-sectional Study

Author

Qixia JIANG, Yijie XIE, Yuxuan BAI, Haixia FENG, Qianzhu CHEN, Defeng CHEN, Yanhong GAO, Xuehong WANG, Yanshuang ZHANG, Xiaohong PAN, Yingchun PAN, Jing ZHAO, Jinmei YU, Huijuan SUO, Yanyan HONG, Yingying ZHAN, Dongmei LI, Haiyan LIU, Xia LI, Dan KUANG, Qing PENG, Jing WANG, Ping YU, Rui CHEN, Yunmin CAI, Ling HUANG, Zujing WANG, Guangyang WANG, Jingping HAO, Dongmei ZHU

Subjects
wounds and injuries, aged, prevalence, epidemiologic study characteristics, pressure injury, incontinence-associated dermatitis, skin tear, multicenter study, cross-sectionalsurvey, Medicine
Abstract

Background Population aging is a major challenge in the global healthcare field. Due to pathological and physiological changes in ageing skin, skin injuries are highly prevalent in older population. And epidemiological studies on skin injuries in this population has become a research hotspot recently. Objective To examine the prevalence and epidemiological characteristics of three types of skin injuries 〔pressure injuries (PI) , incontinence-associated dermatitis (IAD) and skin tears (ST) 〕in elderly inpatients using a multicenter cross-sectional study, providing a basis for formulating strategies for the prevention of skin injuries in older people. Methods A multicenter study was carried out in 52 hospitals selected from 16 provinces, two autonomous regions and two municipalities of China, from which 1 067 nurses who had completed the online homogenization training conducted by our research group and passed the relevant examination were selectedas investigators. Every 2-3 nurses were divided into a investigation group. Eligible older inpatients were selected as participants. Full body skin examination for screening skin injuries was conducted in participants in each hospital by nurses using the same tools and methods. PI, IAD and ST were defined and classified by relevant international guideline or expert consensus, respectively. Then demographics, length of stay (LOS) , chronic disease history, use of medications in the past month, living independence and risk of PI assessed by the Braden Scale of the participants were collected. After that, two nurses of each group signed to confirm the results, and uploaded to https://www.wjx.cn. SPSS 22.0 was used for statistical analysis. Results A total of 14 675 elderly inpatients were investigated, and all of them responded effectively (100.0%) . The respondents had an average age of (73.5±9.0) years and a median LOS of 7 (4, 13) days, among whom 56.3% (8 262/14 675) were men, and 43.7% (6 413/14 675) were women; 95.5% (14 020/14 675) were Han people, and 4.5% (655/14 675) were 19 ethnic minorities. The overall prevalence of the three types of skin injuries was 6.0% (881/14 675) , of which the prevalence of PI, IAD, ST and at least two types of skin injuries was 3.3% (484/14 675) , 1.4% (199/14 675) , 0.8% (110/14 675) and 0.6% (88/14 675) , respectively. Epidemiologic characteristics: Han people had higher prevalence of skin injuries compared with ethnic minorities (6.2% vs 2.9%, P=0.001) . Eighty-year-olds had higher prevalence of skin injuries than 71-80-year-old (10.2% vs 6.1%, P

Published
2022
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21. RoGraphER: Enhanced Extraction of Chinese Medical Entity Relationships Using RoFormer Pre-Trained Model and Weighted Graph Convolution.

Author

Zhang, Qinghui, Sun, Yaya, Lv, Pengtao, Lu, Lei, Zhang, Mengya, Wang, Jinhui, Wan, Chenxia, and Wang, Jingping

Subjects
KNOWLEDGE graphs, WEIGHTED graphs, MEDICAL personnel, ENCODING, ROPE
Abstract

Unstructured Chinese medical texts are rich sources of entity and relational information. The extraction of entity relationships from medical texts is pivotal for the construction of medical knowledge graphs and aiding healthcare professionals in making swift and informed decisions. However, the extraction of entity relationships from these texts presents a formidable challenge, notably due to the issue of overlapping entity relationships. This study introduces a novel extraction model that leverages RoFormer's rotational position encoding (RoPE) technique for an efficient implementation of relative position encoding. This approach not only optimizes positional information utilization but also captures syntactic dependency information by constructing a weighted adjacency matrix. During the feature fusion phase, the model employs an entity attention mechanism for a deeper integration of features, effectively addressing the challenge of overlapping entity relationships. Experimental outcomes demonstrate that our model achieves an F1 score of 83.42 on datasets featuring overlapping entity relations, significantly outperforming other baseline models. [ABSTRACT FROM AUTHOR]

Published
2024
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29. A Narrative Review of the Reciprocal Relationship Between Sleep Deprivation and Chronic Pain: The Role of Oxidative Stress.

Author

Chen, Shuhan, Xie, Yanle, Liang, Zenghui, Lu, Yu, Wang, Jingping, Xing, Fei, Mao, Yuanyuan, Wei, Xin, Wang, Zhongyu, Yang, Jianjun, and Yuan, Jingjing

Subjects
SLEEP deprivation, OXIDATIVE stress, CHRONIC pain, SLEEP quality, PAIN threshold
Abstract

Sleep is crucial for human health, insufficient sleep or poor sleep quality may negatively affect sleep function and lead to a state of sleep deprivation. Sleep deprivation can result in various health problems, including chronic pain. The intricate relationship between sleep and pain is complex and intertwined, with daytime pain affecting sleep quality and poor sleep increasing pain intensity. The article first describes the influence of sleep on the onset and development of pain, and then explores the impact of daytime pain intensity on nighttime sleep quality and subsequent pain thresholds. However, the primary emphasis is placed on the pivotal role of oxidative stress in this bidirectional relationship. Although the exact mechanisms underlying sleep and chronic pain are unclear, this review focuses on the role of oxidative stress. Numerous studies on sleep deprivation have demonstrated that it can lead to varying degrees of increased pain sensitivity, while chronic pain leads to sleep deprivation and further exacerbates pain. Further research on the role of oxidative stress in the mechanism of sleep deprivation-induced pain sensitization seems reasonable. This article comprehensively reviews the current research on the interrelationship between sleep deprivation, pain and the crucial role of oxidative stress. [ABSTRACT FROM AUTHOR]

Published
2024
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35. A coarse pixel scale ground 'truth' dataset based on the global in situ site measurements to support validation and bias correction of satellite surface albedo products

Author

Pan, Fei, Wu, Xiaodan, Tang, Rongqi, Zeng, Qicheng, Li, Zheng, Wang, Jingping, You, Dongqin, Wen, Jianguang, and Xiao, Qing

Abstract

In situ measurements from sparsely distributed networks worldwide are a valuable source of the reference data for validating or correcting the bias of satellite products. However, the significant differences in spatial scale between in situ and satellite measurements make them incomparable except for that the underlying surface of in situ sites is absolutely homogeneous. Instead, in site measurements need to be upscaled to be matched with satellite pixel. Based on the upscaling model we proposed as well as the consideration that in-situ observation generally lacks spatial representativeness due to the widely distributed spatial heterogeneity, we have developed a coarse pixel-scale ground "truth" dataset based on ground measurements of 368 in situ sites from the sparsely distributed observation networks. Furthermore, the effectiveness of the dataset was carefully evaluated over the sites with different degrees of spatial representativeness. The results demonstrate that using this dataset in validation outperforms the direct comparison between satellite and in situ site measurements. The accuracy of the reference data employed for validation or bias correction can be enhanced by 3.5 % overall with this dataset. But the performance of the dataset show dependence on the degree of spatial heterogeneity. Specifically, the improvement of accuracy was the most significant over the regions with strong spatial heterogeneity, with the accuracy of reference data enhanced by 7.3 %. To the best of our knowledge, this dataset is unique in providing coarse pixel scale ground truth with the widest spatial distribution and longest time series. Its ability to capture both spatial and temporal variations of surface albedo at coarse spatial scales makes it an invaluable resource for validating and correcting global surface albedo products.

Published
2023

45. An Improved Upscaling Method of In Situ Measurements With Consideration of Their Uncertainty for the Spatial Scale Match Between Satellite and In Situ Measurements

Author

Du, Xianglei, primary, Wu, Xiaodan, additional, Tang, Rongqi, additional, Zeng, Qicheng, additional, Li, Zheng, additional, Wang, Jingping, additional, Jiang, Zhiyong, additional, Wang, Kaizhong, additional, You, Dongqin, additional, Wen, Jianguang, additional, and Xiao, Qing, additional

Published
2023
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48. Effect of Mixed Infections with Mycobacterium tuberculosis and Nontuberculous Mycobacteria on Diagnosis of Multidrug-Resistant Tuberculosis: A Retrospective Multicentre Study in China

Author

Huang, Mingxiang, Tan, Yaoju, Zhang, Xuxia, Wang, Yufeng, Su, Biyi, Xue, Zhongtan, Wang, Jingping, and Pang, Yu

Subjects
nontuberculous mycobacteria, Pharmacology, China, Infectious Diseases, tuberculosis, Infection and Drug Resistance, multidrug-resistant, Pharmacology (medical), bacterial infections and mycoses, Original Research
Abstract

Mingxiang Huang,1,* Yaoju Tan,2,* Xuxia Zhang,3,* Yufeng Wang,3 Biyi Su,2 Zhongtan Xue,3 Jingping Wang,4 Yu Pang3 1Department of Clinical Laboratory, Fuzhou Pulmonary Hospital and Fujian Medical University Clinical Teaching Hospital, Fuzhou, People’s Republic of China; 2Department of Clinical Laboratory, Guangzhou Chest Hospital, State Key Laboratory of Respiratory Disease, Guangzhou, People’s Republic of China; 3Department of Bacteriology and Immunology, Beijing Chest Hospital, Capital Medical University/Beijing Tuberculosis & Thoracic Tumor Research Institute, Beijing, People’s Republic of China; 4Clinical Department, Beijing Chest Hospital, Capital Medical University/Beijing Tuberculosis & Thoracic Tumor Research Institute, Beijing, People’s Republic of China*These authors contributed equally to this workCorrespondence: Yu Pang,Department of Bacteriology and Immunology, Beijing Chest Hospital, Capital Medical University/Beijing Tuberculosis & Thoracic Tumor Research Institute, No. 9, Beiguan Street, Tongzhou District, Beijing, 101149, People’s Republic of ChinaTel/Fax +86-10-8950 9359, Email pangyupound@163.com;Jingping Wang,Clinical Department, Beijing Chest Hospital, Capital Medical University/Beijing Tuberculosis & Thoracic Tumor Research Institute, No. 9, Beiguan Street, Tongzhou District, Beijing, 101149, People’s Republic of China, Tel/Fax +86-10-8950 9029, Email 13641335712@163.comBackground: Correct species identification is essential before initiation of TB treatment, due to substantial drug susceptibility profile differences among mycobacterial species. Given that nontuberculous mycobacteria (NTM) are frequently resistant to first-line anti-tuberculosis drugs, cases with mixed infections with Mycobacterium tuberculosis (MTB) and NTM tend to be diagnosed as multidrug-resistant tuberculosis (MDR-TB) cases. Here we report results of a retrospective multicentre study that was conducted to determine the prevalence of TB-NTM infections in previously diagnosed laboratory-confirmed multidrug-resistant tuberculosis (MDR-TB) patients using phenotypic drug susceptibility testing. The results were then used to identify risk factors associated with susceptibility to mixed infections.Methods: From January 2019 through December 2019, we retrospectively collected MDR-TB isolates from three TB specialised hospitals. Species identifications of isolates were performed using the MeltPro Myco assay.Results: A total of 837 MDR-TB isolates were analysed, of which 22 isolates (2.6%) were found to contain a mixture of NTM and MTB organisms. Significant differences in prevalence rates of mixed infections across regions were observed, with prevalence rates ranging from 0.0% (0/213) in Beijing to 3.4% (12/353) in Fuzhou to 3.7% (10/271) in Guangzhou. Among the 22 patients with NTM-TB mixed infections, a total of five different mycobacterial species were identified, of which the most prevalent species was Mycobacterium intracellulare. Notably, a history of previous TB episodes correlated with higher mixed infection risk.Conclusion: The results reported here demonstrated that mixed infections with MTB and NTM occurred in approximately 3% of suspected MDR-TB patients in China. These findings raise concerns about the accuracy of molecular diagnostics-based species identification tests and draw attention to the possibility that NTM-MTB mixed infections will be misdiagnosed as MDR-TB in high TB burden settings.Keywords: tuberculosis, nontuberculous mycobacteria, multidrug-resistant, China

Published
2022

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