Toward Extending Concentric Tube Robot Kinematics for Large Clearance and Impulse Curvature

Concentric Tube Robots (CTRs) have been proposed to operate within the unstructured environment for minimally invasive surgeries. In this letter, we consider the operation scenario where the tubes travel inside the channels with a large clearance or large curvature, such as aortas or industrial pipes. Accurate kinematic modeling of CTRs is required for the development of advanced control and sensing algorithms. To this end, we extended the conventional CTR kinematics model to a more general case with large tube-to-tube clearance and large centerline curvature. Numerical simulations and experimental validations are conducted to compare our model with respect to the conventional CTR kinematic model. In the physical experiments, our proposed model achieved a tip position error of 1.53 mm in the 2D planer case and 4.36 mm in 3D case, outperforming the state-of-the-art model by 71% and 66%, respectively.

Eva-KELLM: A New Benchmark for Evaluating Knowledge Editing of LLMs

Large language models (LLMs) possess a wealth of knowledge encoded in their parameters. However, this knowledge may become outdated or unsuitable over time. As a result, there has been a growing interest in knowledge editing for LLMs and evaluating its effectiveness. Existing studies primarily focus on knowledge editing using factual triplets, which not only incur high costs for collection but also struggle to express complex facts. Furthermore, these studies are often limited in their evaluation perspectives. In this paper, we propose Eva-KELLM, a new benchmark for evaluating knowledge editing of LLMs. This benchmark includes an evaluation framework and a corresponding dataset. Under our framework, we first ask the LLM to perform knowledge editing using raw documents, which provides a more convenient and universal approach compared to using factual triplets. We then evaluate the updated LLM from multiple perspectives. In addition to assessing the effectiveness of knowledge editing and the retention of unrelated knowledge from conventional studies, we further test the LLM's ability in two aspects: 1) Reasoning with the altered knowledge, aiming for the LLM to genuinely learn the altered knowledge instead of simply memorizing it. 2) Cross-lingual knowledge transfer, where the LLM updated with raw documents in one language should be capable of handling queries from another language. To facilitate further research, we construct and release the corresponding dataset. Using this benchmark, we investigate the effectiveness of several commonly-used knowledge editing methods. Experimental results indicate that the current methods for knowledge editing using raw documents are not effective in yielding satisfactory results, particularly when it comes to reasoning with altered knowledge and cross-lingual knowledge transfer.

An Overview about Emerging Technologies of Autonomous Driving

Since DARPA started Grand Challenges in 2004 and Urban Challenges in 2007, autonomous driving has been the most active field of AI applications. This paper gives an overview about technical aspects of autonomous driving technologies and open problems. We investigate the major fields of self-driving systems, such as perception, mapping and localization, prediction, planning and control, simulation, V2X and safety etc. Especially we elaborate on all these issues in a framework of data closed loop, a popular platform to solve the long tailed autonomous driving problems.

Near-Field Beamforming for STAR-RIS Networks

Recently, simultaneously transmitting and reflecting reconfigurable intelligent surfaces (STAR-RISs) have received significant research interest. The employment of large STAR-RIS and high-frequency signaling inevitably make the near-field propagation dominant in wireless communications. In this work, a STAR-RIS aided near-field multiple-input multiple-multiple (MIMO) communication framework is proposed. A weighted sum rate maximization problem for the joint optimization of the active beamforming at the base station (BS) and the transmission/reflection-coefficients (TRCs) at the STAR-RIS is formulated. The non-convex problem is solved by a block coordinate descent (BCD)-based algorithm. In particular, under given STAR-RIS TRCs, the optimal active beamforming matrices are obtained by solving a convex quadratically constrained quadratic program. For given active beamforming matrices, two algorithms are suggested for optimizing the STAR-RIS TRCs: a penalty-based iterative (PEN) algorithm and an element-wise iterative (ELE) algorithm. The latter algorithm is conceived for STAR-RISs with a large number of elements. Numerical results illustrate that: i) near-field beamforming for STAR-RIS aided MIMO communications significantly improves the achieved weighted sum rate compared with far-field beamforming; ii) the near-field channels facilitated by the STAR-RIS provide enhanced degrees-of-freedom and accessibility for the multi-user MIMO system; and iii) the BCD-PEN algorithm achieves better performance than the BCD-ELE algorithm, while the latter has a significantly lower computational complexity.

Concentric Tube Robot Redundancy Resolution via Velocity/Compliance Manipulability Optimization

Concentric Tube Robots (CTR) have the potential to enable effective minimally invasive surgeries. While extensive modeling and control schemes have been proposed in the past decade, limited efforts have been made to improve the trajectory tracking performance from the perspective of manipulability , which can be critical to generate safe motion and feasible actuator commands. In this paper, we propose a gradient-based redundancy resolution framework that optimizes velocity/compliance manipulability-based performance indices during trajectory tracking for a kinematically redundant CTR. We efficiently calculate the gradients of manipulabilities by propagating the first- and second-order derivatives of state variables of the Cosserat rod model along the CTR arc length, reducing the gradient computation time by 68\% compared to finite difference method. Task-specific performance indices are optimized by projecting the gradient into the null-space of trajectory tracking. The proposed method is validated in three exemplary scenarios that involve trajectory tracking, obstacle avoidance, and external load compensation, respectively. Simulation results show that the proposed method is able to accomplish the required tasks while commonly used redundancy resolution approaches underperform or even fail.

Latent Semantic Diffusion-based Channel Adaptive De-Noising SemCom for Future 6G Systems

Compared with the current Shannon's Classical Information Theory (CIT) paradigm, semantic communication (SemCom) has recently attracted more attention, since it aims to transmit the meaning of information rather than bit-by-bit transmission, thus enhancing data transmission efficiency and supporting future human-centric, data-, and resource-intensive intelligent services in 6G systems. Nevertheless, channel noises are common and even serious in 6G-empowered scenarios, limiting the communication performance of SemCom, especially when Signal-to-Noise (SNR) levels during training and deployment stages are different, but training multi-networks to cover the scenario with a broad range of SNRs is computationally inefficient. Hence, we develop a novel De-Noising SemCom (DNSC) framework, where the designed de-noiser module can eliminate noise interference from semantic vectors. Upon the designed DNSC architecture, we further combine adversarial learning, variational autoencoder, and diffusion model to propose the Latent Diffusion DNSC (Latent-Diff DNSC) scheme to realize intelligent online de-noising. During the offline training phase, noises are added to latent semantic vectors in a forward Markov diffusion manner and then are eliminated in a reverse diffusion manner through the posterior distribution approximated by the U-shaped Network (U-Net), where the semantic de-noiser is optimized by maximizing evidence lower bound (ELBO). Such design can model real noisy channel environments with various SNRs and enable to adaptively remove noises from noisy semantic vectors during the online transmission phase. The simulations on open-source image datasets demonstrate the superiority of the proposed Latent-Diff DNSC scheme in PSNR and SSIM over different SNRs than the state-of-the-art schemes, including JPEG, Deep JSCC, and ADJSCC.

Study on Soft Robotic Pinniped Locomotion

Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and navigate through tight spaces. These robots have the potential to be used for various applications, such as search and rescue, inspection, surveillance, and more. The state-of-the-art still faces many challenges, including limited degrees of freedom, a lack of diversity in gait trajectories, insufficient limb dexterity, and limited payload capabilities. To address these challenges, we develop a modular soft-limbed robot that can mimic the locomotion of pinnipeds. By using a modular design approach, we aim to create a robot that has improved degrees of freedom, gait trajectory diversity, limb dexterity, and payload capabilities. We derive a complete floating-base kinematic model of the proposed robot and use it to generate and experimentally validate a variety of locomotion gaits. Results show that the proposed robot is capable of replicating these gaits effectively. We compare the locomotion trajectories under different gait parameters against our modeling results to demonstrate the validity of our proposed gait models.

Design, Modeling, and Redundancy Resolution of Soft Robot for Effective Harvesting

Blackberry harvesting is a labor-intensive and costly process, consuming up to 50\% of the total annual crop hours. This paper presents a solution for robotic harvesting through the design, manufacturing, integration, and control of a pneumatically actuated, kinematically redundant soft arm with a tendon-driven soft robotic gripper. The hardware design is optimized for durability and modularity for practical use. The harvesting process is divided into four stages: initial placement, fine positioning, grasp, and move back to home position. For initial placement, we propose a real-time, continuous gain-scheduled redundancy resolution algorithm for simultaneous position and orientation control with joint-limit avoidance. The algorithm relies solely on visual feedback from an eye-to-hand camera and achieved a position and orientation tracking error of $0.64\pm{0.27}$ mm and $1.08\pm{1.5}^{\circ}$, respectively, in benchtop settings. Following accurate initial placement of the robotic arm, fine positioning is achieved using a combination of eye-in-hand and eye-to-hand visual feedback, reaching an accuracy of $0.75\pm{0.36}$ mm. The system's hardware, feedback framework, and control methods are thoroughly validated through benchtop and field tests, confirming feasibility for practical applications.

Teleoperation of Soft Modular Robots: Study on Real-time Stability and Gait Control

Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait diversity and real-time control, and onboard sensors to sense the surroundings are some of the common issues with soft-limbed robots. To overcome these limitations, we propose a spatially symmetric, topologically-stable, soft-limbed tetrahedral robot that can perform multiple locomotion gaits. We introduce a kinematic model, derive locomotion trajectories for different gaits, and design a teleoperation mechanism to enable real-time human-robot collaboration. We use the kinematic model to map teleoperation inputs and ensure smooth transitions between gaits. Additionally, we leverage the passive compliance and natural stability of the robot for toppling and obstacle navigation. Through experimental tests, we demonstrate the robot's ability to tackle various locomotion challenges, adapt to different situations, and navigate obstructed environments via teleoperation.