Search

Your search keyword '"Jiang, Zhengsong"' showing total 6 results
Start Over Author "Jiang, Zhengsong"
6 results on '"Jiang, Zhengsong"'

1. Digital Twin System for Home Service Robot Based on Motion Simulation

Author

Jiang, Zhengsong, Tian, Guohui, Cui, Yongcheng, Liu, Tiantian, Gu, Yu, and Wang, Yifei

Subjects
Computer Science - Robotics
Abstract

In order to improve the task execution capability of home service robot, and to cope with the problem that purely physical robot platforms cannot sense the environment and make decisions online, a method for building digital twin system for home service robot based on motion simulation is proposed. A reliable mapping of the home service robot and its working environment from physical space to digital space is achieved in three dimensions: geometric, physical and functional. In this system, a digital space-oriented URDF file parser is designed and implemented for the automatic construction of the robot geometric model. Next, the physical model is constructed from the kinematic equations of the robot and an improved particle swarm optimization algorithm is proposed for the inverse kinematic solution. In addition, to adapt to the home environment, functional attributes are used to describe household objects, thus improving the semantic description of the digital space for the real home environment. Finally, through geometric model consistency verification, physical model validity verification and virtual-reality consistency verification, it shows that the digital twin system designed in this paper can construct the robot geometric model accurately and completely, complete the operation of household objects successfully, and the digital twin system is effective and practical.

Published
2023

2. Pyroptosis-based risk score predicts prognosis and drug sensitivity in lung adenocarcinoma

Author

Jiang Zhengsong, Wang Xiang, Huang Jinghan, Li Guoyin, and Li Shangfu

Subjects
pyroptosis, lung adenocarcinoma, tumor microenvironment, tumor mutation burden, drug sensitivity, Medicine
Abstract

Pyroptosis is a recently identified form of programmed cell death; however, its role in lung adenocarcinoma (LUAD) remains unclear. Therefore, we set out to explore the prognostic potential of pyroptosis-related genes in LUAD. The pyroptosis-related risk score (PRRS) was developed by least absolute shrinkage and selection operator Cox regression and multivariate Cox regression. We found that PRRS was an independent prognostic factor for LUAD. LUAD patients in the high-PRRS group showed a significantly shorter overall survival (OS) and enriched in cell proliferation-related pathways. Then pathway enrichment analyses, mutation profile, tumor microenvironment, and drug sensitivity analysis were further studied in PRRS stratified LUAD patients. Tumor purity (TP) analyses revealed that L-PRRS LUAD patients had a lower TP, and patients in L-TP + L-PRRS subgroup had the most prolonged OS. Mutation analyses suggested that the L-PRRS LUAD patients had a lower tumor mutation burden (TMB), and patients in H-TMB + L-PRRS subgroup had the most prolonged OS. Drug sensitivity analyses showed that PRRS was significantly negatively correlated with the sensitivity of cisplatin, besarotene, etc., while it was significantly positively correlated with the sensitivity of kin001-135. Eventually, a nomogram was constructed based on PRRS and clinical characters of LUAD. Overall, the pyroptosis-related signature is helpful for prognostic prediction and in guiding treatment for LUAD patients.

Published
2023
Full Text
View/download PDF

4. An Active Task Cognition Method for Home Service Robot Using Multi-Graph Attention Fusion Mechanism

Author

Cui, Yongcheng, Tian, Guohui, Jiang, Zhengsong, Zhang, Mengyang, Gu, Yu, and Wang, Yifei

Abstract

Active Task Cognition (ATC) requires the robot to comprehend the current scene using the image within the field of view, enabling them to reason about appropriate and executable tasks, thus allowing the robot to achieve service task scene discovery capability similar to humans. This capability is paramount for robots to provide comfort and intelligent service while performing their tasks. To enhance home service robots’ ATC capability, a multi-graph fusion mechanism based on Graph Attention Network (GAT) is proposed in this paper to model the semantic feature related to the task. First, a multi-graph fusion encoder is proposed to maximally capture the integrated features of objects, tasks, and scenes from the images, thereby obtaining a semantic representation related to the home service task from the robot’s perspective. Next, to enhance the interpretability of the model, we propose a multi-task scene understanding decoder based on the attention mechanism to utilize the integration features of multi-graph fusion efficiently. Lastly, we present a loss function for multi-task scene understanding in the proposed Encoder-Decoder network model for scene comprehension. Furthermore, a new dataset comprising various daily household tasks is constructed in the experiments. Extensive experimental results indicate that the proposed method significantly enhances the robot’s active cognitive abilities in service tasks, empowering it with advanced levels of intelligence.

Published
2024
Full Text
View/download PDF

6. Instantaneous death risk, conditional survival and optimal surgery timing in cervical fracture patients with ankylosing spondylitis: A national multicentre retrospective study

Author

Huang, Jinfeng, primary, Bai, Hao, additional, Tan, Quanchang, additional, Hao, Dingjun, additional, Wu, Aimin, additional, Wang, Qingde, additional, Wang, Bing, additional, Wang, Linfeng, additional, Liu, Hao, additional, Chen, Xiongsheng, additional, Jiang, Zhengsong, additional, Ma, Xiaoming, additional, Liu, Xinyu, additional, Liu, Peng, additional, Cai, Weihua, additional, Lu, Ming, additional, Mao, Ningfang, additional, Wang, Yong, additional, Fu, Suochao, additional, Zhao, Shuai, additional, Zang, Xiaofang, additional, Xie, Youzhuan, additional, Yu, Haiyang, additional, Song, Ruixian, additional, Sun, Jiangbo, additional, Xiang, Liangbi, additional, Liu, Xiang, additional, Li, Songkai, additional, Liao, Bo, additional, and Wu, Zixiang, additional

Published
2022
Full Text
View/download PDF

Catalog

Books, media, physical & digital resources
See catalog results