arXiv subjects

David Lu

Publications and source records attributed to David Lu.

6 recordsLinked to original sources

arXiv2026

A Master-Slave Robot Manipulator for Needle-Based Teleoperation in MRI Chamber

We present a MR safe, master-slave robot manipulator for abdominal interventions in the MRI chamber. A human operated 2+1-DoF master controller manipulator transmits motion and force to a 2+1-DoF slave manipulator via fluid transmission. Jointly, a digital master controller provides multimodal control capability beyond common split axis or mode switchable hybrid human-digital controller configurations found in previous studies. High input impedance, low-leakage, elastomeric fluid actuators are delegated to remote angulation control. Low-friction graphite piston cylinders are delegated to needle insertion axis remote actuation given the sub-newton force transparency and sub-millimeter motion transmission over bedside fluid piping lengths. The device enables real-time MRI guided interventions allowing manual, digital, hybrid, and collaborative control modes. Collaborative tasks such as assisted tissue penetration, fault-driven virtual fixture, and motion compensation through feedback control are presented in this paper. Preliminary MR scanner results demonstrate manipulator functional viability for an in-vivo pig experiment in bedside, manual control mode configuration.

cs.RO↗

arXiv2025

Sparse Phased Array Optimization Using Deep Learning

Antenna arrays are widely used in wireless communication, radar systems, radio astronomy, and military defense to enhance signal strength, directivity, and interference suppression. We introduce a deep learning-based optimization approach that enhances the design of sparse phased arrays by reducing grating lobes. This approach begins by generating sparse array configurations to address the non-convex challenges and extensive degrees of freedom inherent in array design. We use neural networks to approximate the non-convex cost function that estimates the energy ratio between the main and side lobes. This differentiable approximation facilitates cost function minimization through gradient descent, optimizing the antenna elements' coordinates and leading to an improved layout. Additionally, we incorporate a tailored penalty mechanism that includes various physical and design constraints into the optimization process, enhancing its robustness and practical applicability. We demonstrate the effectiveness of our method by applying it to the ten array configurations with the lowest initial costs, achieving further cost reductions ranging from 411% to 643%, with an impressive average improvement of 552%. By significantly reducing side lobe levels in antenna arrays, this breakthrough paves the way for ultra-precise beamforming, enhanced interference mitigation, and next-generation wireless and radar systems with unprecedented efficiency and clarity.

cs.LG↗

arXiv2023

From the Desks of ROS Maintainers: A Survey of Modern & Capable Mobile Robotics Algorithms in the Robot Operating System 2

The Robot Operating System 2 (ROS 2) is rapidly impacting the intelligent machines sector -- on space missions, large agriculture equipment, multi-robot fleets, and more. Its success derives from its focused design and improved capabilities targeting product-grade and modern robotic systems. Following ROS 2's example, the mobile robotics ecosystem has been fully redesigned based on the transformed needs of modern robots and is experiencing active development not seen since its inception. This paper comes from the desks of the key ROS Navigation maintainers to review and analyze the state of the art of robotics navigation in ROS 2. This includes new systems without parallel in ROS 1 or other similar mobile robotics frameworks. We discuss current research products and historically robust methods that provide differing behaviors and support for most every robot type. This survey consists of overviews, comparisons, and expert insights organized by the fundamental problems in the field. Some of these implementations have yet to be described in literature and many have not been benchmarked relative to others. We end by providing a glimpse into the future of the ROS 2 mobile robotics ecosystem.

cs.RO↗

arXiv2021

LaneAF: Robust Multi-Lane Detection with Affinity Fields

This study presents an approach to lane detection involving the prediction of binary segmentation masks and per-pixel affinity fields. These affinity fields, along with the binary masks, can then be used to cluster lane pixels horizontally and vertically into corresponding lane instances in a post-processing step. This clustering is achieved through a simple row-by-row decoding process with little overhead; such an approach allows LaneAF to detect a variable number of lanes without assuming a fixed or maximum number of lanes. Moreover, this form of clustering is more interpretable in comparison to previous visual clustering approaches, and can be analyzed to identify and correct sources of error. Qualitative and quantitative results obtained on popular lane detection datasets demonstrate the model's ability to detect and cluster lanes effectively and robustly. Our proposed approach sets a new state-of-the-art on the challenging CULane dataset and the recently introduced Unsupervised LLAMAS dataset.

cs.CV↗

arXiv2019

XRD: Scalable Messaging System with Cryptographic Privacy

Even as end-to-end encrypted communication becomes more popular, private messaging remains a challenging problem due to metadata leakages, such as who is communicating with whom. Most existing systems that hide communication metadata either (1) do not scale easily, (2) incur significant overheads, or (3) provide weaker guarantees than cryptographic privacy, such as differential privacy or heuristic privacy. This paper presents XRD (short for Crossroads), a metadata private messaging system that provides cryptographic privacy, while scaling easily to support more users by adding more servers. At a high level, XRD uses multiple mix networks in parallel with several techniques, including a novel technique we call aggregate hybrid shuffle. As a result, XRD can support 2 million users with 251 seconds of latency with 100 servers. This is 12x and 3.7x faster than Atom and Pung, respectively, which are prior scalable messaging systems with cryptographic privacy.

cs.CR↗

arXiv2018

Var-CNN: A Data-Efficient Website Fingerprinting Attack Based on Deep Learning

In recent years, there have been several works that use website fingerprinting techniques to enable a local adversary to determine which website a Tor user visits. While the current state-of-the-art attack, which uses deep learning, outperforms prior art with medium to large amounts of data, it attains marginal to no accuracy improvements when both use small amounts of training data. In this work, we propose Var-CNN, a website fingerprinting attack that leverages deep learning techniques along with novel insights specific to packet sequence classification. In open-world settings with large amounts of data, Var-CNN attains over $1\%$ higher true positive rate (TPR) than state-of-the-art attacks while achieving $4\times$ lower false positive rate (FPR). Var-CNN's improvements are especially notable in low-data scenarios, where it reduces the FPR of prior art by $3.12\%$ while increasing the TPR by $13\%$. Overall, insights used to develop Var-CNN can be applied to future deep learning based attacks, and substantially reduce the amount of training data needed to perform a successful website fingerprinting attack. This shortens the time needed for data collection and lowers the likelihood of having data staleness issues.

cs.CR↗