In scientific research and its application, scientific literature analysis is crucial as it allows researchers to build on the work of others. However, the fast growth of scientific knowledge has led to a massive increase in scholarly articles, making in-depth literature analysis increasingly challenging and time-consuming. The emergence of Large Language Models (LLMs) has offered a new way to address this challenge. Known for their strong abilities in summarizing texts, LLMs are seen as a potential tool to improve the analysis of scientific literature. However, existing LLMs have their own limits. Scientific literature often includes a wide range of multimodal elements, such as tables, charts, and molecule, which are hard for text-focused LLMs to understand and analyze. This issue points to the urgent need for new solutions that can fully understand and analyze multimodal content in scientific literature. To answer this demand, we present \textbf{Uni-SMART} (Universal Science Multimodal Analysis and Research Transformer), an innovative model designed for in-depth understanding of multimodal scientific literature. Through rigorous quantitative evaluation across several domains, Uni-SMART demonstrates superior performance over other text-focused LLMs. Furthermore, our exploration extends to practical applications, including patent infringement detection and nuanced analysis of charts. These applications not only highlight Uni-SMART's adaptability but also its potential to revolutionize how we interact with scientific literature.

Safety-critical intelligent cyber-physical systems, such as quadrotor unmanned aerial vehicles (UAVs), are vulnerable to different types of cyber attacks, and the absence of timely and accurate attack detection can lead to severe consequences. When UAVs are engaged in large outdoor maneuvering flights, their system constitutes highly nonlinear dynamics that include non-Gaussian noises. Therefore, the commonly employed traditional statistics-based and emerging learning-based attack detection methods do not yield satisfactory results. In response to the above challenges, we propose QUADFormer, a novel Quadrotor UAV Attack Detection framework with transFormer-based architecture. This framework includes a residue generator designed to generate a residue sequence sensitive to anomalies. Subsequently, this sequence is fed into a transformer structure with disparity in correlation to specifically learn its statistical characteristics for the purpose of classification and attack detection. Finally, we design an alert module to ensure the safe execution of tasks by UAVs under attack conditions. We conduct extensive simulations and real-world experiments, and the results show that our method has achieved superior detection performance compared with many state-of-the-art methods.

Trajectory planning for quadrotors in cluttered environments has been challenging in recent years. While many trajectory planning frameworks have been successful, there still exists potential for improvements, particularly in enhancing the speed of generating efficient trajectories. In this paper, we present a novel hierarchical trajectory planning framework to reduce computational time and memory usage called MINER-RRT*, which consists of two main components. First, we propose a sampling-based path planning method boosted by neural networks, where the predicted heuristic region accelerates the convergence of rapidly-exploring random trees. Second, we utilize the optimal conditions derived from the quadrotor's differential flatness properties to construct polynomial trajectories that minimize control effort in multiple stages. Extensive simulation and real-world experimental results demonstrate that, compared to several state-of-the-art (SOTA) approaches, our method can generate high-quality trajectories with better performance in 3D cluttered environments.

Alzheimer's disease (AD) is the fifth-leading cause of death among Americans aged 65 and older. Screening and early detection of AD and related dementias (ADRD) are critical for timely intervention and for identifying clinical trial participants. The widespread adoption of electronic health records (EHRs) offers an important resource for developing ADRD screening tools such as machine learning based predictive models. Recent advancements in large language models (LLMs) demonstrate their unprecedented capability of encoding knowledge and performing reasoning, which offers them strong potential for enhancing risk prediction. This paper proposes a novel pipeline that augments risk prediction by leveraging the few-shot inference power of LLMs to make predictions on cases where traditional supervised learning methods (SLs) may not excel. Specifically, we develop a collaborative pipeline that combines SLs and LLMs via a confidence-driven decision-making mechanism, leveraging the strengths of SLs in clear-cut cases and LLMs in more complex scenarios. We evaluate this pipeline using a real-world EHR data warehouse from Oregon Health \& Science University (OHSU) Hospital, encompassing EHRs from over 2.5 million patients and more than 20 million patient encounters. Our results show that our proposed approach effectively combines the power of SLs and LLMs, offering significant improvements in predictive performance. This advancement holds promise for revolutionizing ADRD screening and early detection practices, with potential implications for better strategies of patient management and thus improving healthcare.

The robotic autonomous luggage trolley collection system employs robots to gather and transport scattered luggage trolleys at airports. However, existing methods for detecting and locating these luggage trolleys often fail when they are not fully visible. To address this, we introduce the Hierarchical Progressive Perception System (HPPS), which enhances the detection and localization of luggage trolleys under partial occlusion. The HPPS processes the luggage trolley's position and orientation separately, which requires only RGB images for labeling and training, eliminating the need for 3D coordinates and alignment. The HPPS can accurately determine the position of the luggage trolley with just one well-detected keypoint and estimate the luggage trolley's orientation when it is partially occluded. Once the luggage trolley's initial pose is detected, HPPS updates this information continuously to refine its accuracy until the robot begins grasping. The experiments on detection and localization demonstrate that HPPS is more reliable under partial occlusion compared to existing methods. Its effectiveness and robustness have also been confirmed through practical tests in actual luggage trolley collection tasks. A website about this work is available at HPPS.

The intricate and multi-stage task in dynamic public spaces like luggage trolley collection in airports presents both a promising opportunity and an ongoing challenge for automated service robots. Previous research has primarily focused on handling a single trolley or individual functional components, creating a gap in providing cost-effective and efficient solutions for practical scenarios. In this paper, we propose a mobile manipulation robot incorporated with an autonomy framework for the collection and transportation of multiple trolleys that can significantly enhance operational efficiency. We address the key challenges in the trolley collection problem through the novel design of the mechanical system and the vision-based control strategy. We design a lightweight manipulator and docking mechanism, optimized for the sequential stacking and transportation of multiple trolleys. Additionally, based on the Control Lyapunov Function and Control Barrier Function, we propose a novel vision-based control with the online Quadratic Programming which significantly improves the accuracy and efficiency of the collection process. The practical application of our system is demonstrated in real world scenarios, where it successfully executes multiple-trolley collection tasks.

This study assesses the ability of state-of-the-art large language models (LLMs) including GPT-3.5, GPT-4, Falcon, and LLaMA 2 to identify patients with mild cognitive impairment (MCI) from discharge summaries and examines instances where the models' responses were misaligned with their reasoning. Utilizing the MIMIC-IV v2.2 database, we focused on a cohort aged 65 and older, verifying MCI diagnoses against ICD codes and expert evaluations. The data was partitioned into training, validation, and testing sets in a 7:2:1 ratio for model fine-tuning and evaluation, with an additional metastatic cancer dataset from MIMIC III used to further assess reasoning consistency. GPT-4 demonstrated superior interpretative capabilities, particularly in response to complex prompts, yet displayed notable response-reasoning inconsistencies. In contrast, open-source models like Falcon and LLaMA 2 achieved high accuracy but lacked explanatory reasoning, underscoring the necessity for further research to optimize both performance and interpretability. The study emphasizes the significance of prompt engineering and the need for further exploration into the unexpected reasoning-response misalignment observed in GPT-4. The results underscore the promise of incorporating LLMs into healthcare diagnostics, contingent upon methodological advancements to ensure accuracy and clinical coherence of AI-generated outputs, thereby improving the trustworthiness of LLMs for medical decision-making.

Sampling-based path planning is a widely used method in robotics, particularly in high-dimensional state space. Among the whole process of the path planning, collision detection is the most time-consuming operation. In this paper, we propose a learning-based path planning method that aims to reduce the number of collision detection. We develop an efficient neural network model based on Graph Neural Networks (GNN) and use the environment map as input. The model outputs weights for each neighbor based on the input and current vertex information, which are used to guide the planner in avoiding obstacles. We evaluate the proposed method's efficiency through simulated random worlds and real-world experiments, respectively. The results demonstrate that the proposed method significantly reduces the number of collision detection and improves the path planning speed in high-dimensional environments.

Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic complexity of continuum robots requires a significant amount of time for their motion planning, posing a hurdle to their practical implementation. To tackle these challenges, efficient motion planning methods such as Rapidly Exploring Random Trees (RRT) and its variant, RRT*, have been employed. This paper introduces a unique RRT*-based motion control method tailored for continuum robots. Our approach embeds safety constraints derived from the robots' posture states, facilitating autonomous navigation and obstacle avoidance in rapidly changing environments. Simulation results show efficient trajectory planning amidst multiple dynamic obstacles and provide a robust performance evaluation based on the generated postures. Finally, preliminary tests were conducted on a two-segment cable-driven continuum robot prototype, confirming the effectiveness of the proposed planning approach. This method is versatile and can be adapted and deployed for various types of continuum robots through parameter adjustments.

Trajectory tracking control of autonomous trolley collection robots (ATCR) is an ambitious work due to the complex environment, serious noise and external disturbances. This work investigates a control scheme for ATCR subjecting to severe environmental interference. A kinematics model based adaptive sliding mode disturbance observer with fast convergence is first proposed to estimate the lumped disturbances. On this basis, a robust controller with prescribed performance is proposed using a backstepping technique, which improves the transient performance and guarantees fast convergence. Simulation outcomes have been provided to illustrate the effectiveness of the proposed control scheme.