Papers

As all generators are distributed in different areas among large scale power systems, the cooperative manipulation of the multi-generator system cannot be done well without consideration of the distance information of the generators, A distributed step-by-step finite-time consensus scheme for the heterogeneous Battery Energy Storage System (BESS) is proposed in this paper, where the coordinated consensus can be come into reality within a limited time, which is appealing for the electrical engineering community. To be concrete, at first, all BESSs are classified into several clusters according to their locations, and in each cluster, there is an active leader in charge of information receiving from outside. Then after, in order to coordinate the multi BESSs, five inputs, which are function oriented, were used to achieve energy level balancing, active/reactive power sharing, and voltage/frequency synchronization of the multi BESSs. To be further, the frequency and voltage restoration to the nominal values of the main grid was made possible by the introduction of a virtual leader, which is actually an external leader. Compared with the centralized methods, this control scheme is entirely distributed, and each BESS only utilizes the information of its own and its neighbors. Besides, this control is robust to the load perturbation and the plug-and-play of the communication topology. Finally, some simulation experiments are executed on the modified IEEE 57-bus system to verify the suggested scheme.

Discrete-time non-symmetric algebraic Riccati equations (DTNAREs) arise in game-theoretic computations of Nash equilibria. Solving such equations at large scale is often computationally prohibitive. This paper develops a numerical approach for large-scale DTNAREs whose solutions are low rank. A low-rank alternating direction implicit (ADI) method is introduced that recursively constructs a low-rank stabilizing solution without explicitly solving any projected DTNARE. Through the pole-placement property of the low-rank ADI iteration, the method ensures that the implicitly solved projected DTNARE always admits a stabilizing solution. An automatic shift-generation strategy is also developed for the ADI iterations. Once an initial shift is provided, the algorithm computes the low-rank solution without further user intervention. Numerical experiments on DTNAREs with dimensions between \(10^6\) and \(10^7\) demonstrate the accuracy and efficiency of the method. The results confirm that the proposed low-rank ADI algorithm is an effective solver for large-scale DTNAREs that would otherwise be computationally prohibitive.

We consider the problem of H-infinity control in the presence of a digital communication channel between the observer and the controller and investigate the fundamental trade-off between the required communication data rate and H-infinity performance. The system follows linear dynamics and has no additive internal noise, so that the uncertainty is confined to the initial state. For the scalar system, using a deterministic time-zero covering argument, we establish a lower bound on the required data rate for a given H-infinity cost and demonstrate why logarithmic quantization (Elia, 2000) is a natural choice. We further develop an achievability scheme and show that, for the scalar system, its rate matches the converse asymptotically in the high-data-rate limit.

We study online control of a scalar storage system with adversarial nonnegative arrivals, known retention coefficient, and convex costs depending on both state and action. Each action must respect current resource availability and is chosen before the current arrival and cost function are revealed. For the existing simplex disturbance-action policy class, we give an exact reparameterization by cumulative allocation fractions and a decay-weighted projected subgradient update. The resulting regret bound is independent of policy memory length. For fixed retention coefficient and cost constants, the controller achieves $O(\sqrt T)$ regret against the best fixed infinite-memory policy in this class, using $O(\log T)$ memory and arithmetic operations per round and one cost-subgradient query. A storage-specific block construction gives a matching lower bound against every causal feasible controller, including randomized controllers. Writing $\tau=(1-\alpha)^{-1}$, the minimax expected regret is $\Theta(\sqrt T\min\{T,\tau\}^{3/2})$ for every finite-memory simplex policy class and its infinite-memory extension, when $\alpha\in[1/2,1)$, $T\ge4$, and the positive cost constants are fixed. This identifies the joint horizon and retention-time dependence for these policy benchmarks.

Vision-language-action (VLA) models map visual observations and natural-language instructions to robotic actions, but distribution shifts can compromise their reliability. Because these models may still succeed under out-of-distribution (OOD) conditions, detecting OOD inputs alone is insufficient to predict execution failure. In this paper, we introduce VLA-Scope, a two-stage framework that combines input-shift characterization with execution history to predict failure during OOD rollouts. The first stage uses pooled image and language representations to detect OOD inputs and classify their shift categories. For inputs flagged as OOD, the second stage combines the predicted category, action-prefix features, and execution progress features. A logistic regression model shared across shift categories updates failure risk as execution proceeds. We evaluate the framework with OpenVLA on ten LIBERO-Spatial tasks using leave-one-group-out cross-validation. OOD detection achieves a ROC-AUC of 0.9454, and shift classification achieves 91% accuracy. Evaluated independently of the OOD gate on all 1,400 OOD rollouts, the failure predictor achieves a ROC-AUC of 0.8497 after 60 executed actions, compared with 0.7906 without execution progress features. It also achieves a higher ROC-AUC than the evaluated ActProbe and SAFE-MLP baselines. These results suggest that combining action features with temporally aggregated execution step representations improves failure prediction under input shifts.

We study in-market uniform pricing and out-of-market bid cost recovery (BCR) payments in rolling-window dispatch for real-time power system operations with energy storage resources (ESRs). Due to intertemporal state-of-charge (SOC) constraints, ESR operations are temporally coupled, and existing in-market locational marginal pricing (LMP) may fail to compensate ESR's intertemporal opportunity costs, thereby triggering out-of-market BCR payments. We show that positive BCR is unavoidable when dispatched generators or ESRs have supply-side bids higher than the demand-side bid. We further identify an intertemporal coupling indicator associated with binding SOC constraints and demonstrate empirically that positive BCR arises only when this indicator is active, revealing that BCR is fundamentally driven by intertemporal coupling. In the simulation, we compare a BCR-minimizing uniform pricing scheme (UP-BCR) with existing real-time pricing methods under forecast uncertainty and show that UP-BCR substantially reduces BCR and demand payments relative to LMP while maintaining zero merchandising surplus in a copper-plate model.

Large language models (LLMs) are moving onto mobile devices for increasingly diverse workloads over text, images, video, and audio. These applications often require long contexts, making the Key-Value (KV) cache a dominant memory bottleneck because it grows linearly with sequence length and is accessed at every decoding step. Prior work reduces KV-cache footprint through low-rank compression, token eviction, or flash offloading, but the resulting reconstruction overhead, irreversible token loss, or I/O stalls can offset the benefit of saving memory. We present TierKV, a mobile LLM inference framework built on Predictive Multi-Tier Cache Optimization (PMCO). Before decoding starts, PMCO predicts future cache demand from prefill hidden states and jointly assigns tokens to exact, low-rank, and flash-offloaded tiers under the device memory and accuracy budgets. This formulation retains access to the full context, removes the circular dependency of reactive eviction, and admits a closed-form solver that selects tier boundaries and per-layer ranks at runtime. Across eight text, vision, and audio models on three mobile SoCs, TierKV improves prefill throughput by up to 17.6x over existing mobile LLM frameworks, reduces RAM-resident KV cache by 12.5-34%, thereby enabling substantially longer contexts under the same memory budget, while incurring only minor accuracy degradation.

Safety-critical control systems must contend with disturbances whose extreme deviations occur far more frequently than classical light-tailed models predict. Existing stochastic MPC (SMPC) formulations tighten constraints using an assumed distribution, a moment bound, or a finite scenario sample, each of which degrades under an unknown heavy-tailed disturbance. This paper develops an SMPC formulation for linear systems under heavy-tailed disturbances that is only assumed to be regular varying, replacing these approaches with an explicit extreme value theory (EVT) characterization of the tube error tail that is asymptotically exact. We further show that closed-loop dynamics induce temporal clustering of rare excursions across the prediction horizon, and characterize this clustering through a closed-form extremal index estimable from data. The resulting $\theta$-corrected constraint bounds the probability of a rare-event episode over the horizon, rather than only the marginal per-step exceedance probability. Simulation on a nonlinear unicycle navigating past an obstacle under Student-$t$ disturbances validates both approaches and demonstrates reduced frequencies of safety constraint violations.

This letter addresses budgeted stealthy false-data-injection (FDI) scheduling against remote state estimation, where a resource-constrained adversary may corrupt at most a fraction $\bar{\Gamma}$ of transmissions. Existing event-triggered schedulers invert a Gaussian innovation tail to set the firing threshold and certify stealth by covariance matching; both are exact only under Gaussianity, which real cyber-physical residuals routinely violate. We propose a distribution-free scheduler pairing the worst-case FDI action with a split-conformal calibrated trigger, requiring neither the plant matrices nor any distributional model. We establish exact pathwise stealth against every magnitude-measurable detector, for any firing rule and innovation law; a finite-sample distribution-free bound on the mean firing rate, with almost-sure budget attainment under stationarity and ergodicity; and a steady-state degradation identity linear in a single scalar energy capture $\psi$, maximized by the same order statistic that delivers the budget guarantee. A conditional sign-symmetry condition delimits when the certificate extends to sign-sensitive detectors, the residual exposure being governed by a fourth cumulant that vanishes under Gaussian noise. Monte-Carlo studies and a heavy-duty truck CAN record confirm the bounds and quantify what the Gaussian assumption costs outside its regime.

The 30 and 40 GHz instruments of the QUIJOTE radio astronomy experiment use very sensitive receivers which need to be characterized both to ensure their proper functioning and for their calibration. Given the age of the PXI-1031DC device used up until now for this purpose, the design of a new device, the Calibrator TFGI QUIJOTE, has been proposed. This new device has been designed with the idea of being simple and modular, easy to use and upgrade. It is built on a Raspberry Pi 5 system, using an MCC 118 as analog reading module. This system, widely known among both makers and professionals, not only meets the requirements of modularity and ease of use, but also ensures that the device is much more economically competitive than the PXI. A first version of the device has been built and tested, obtaining good results in accuracy and ease of use.

Coaxial rotor drones have generated considerable interest because of energy efficiency and small size, but they are afflicted with inherent underactuation for roll and pitch control, although systems like swashplates have circumvented this limitation at the cost of greater mechanical complexity. This work presents a novel coaxial drone supplemented by a two-degreesof-freedom pendulum mechanism for active thrust vectoring that offers a less mechanically complicated alternative. We develop a comprehensive Lagrangian dynamic model that does not ignore the inertial contributions of all the components, including body, servo arms, and motor assembly. A Linear Quadratic Regulator(LQR) is designed based on the linearized dynamics around the hover equilibrium. High-fidelity simulations taking actuator dynamics and sensor noise into account validate the proposed architecture. An Extended Kalman Filter (EKF) blends GPS, barometer, and IMU estimates with high accuracy for state estimation. The findings verify the potential and reliability of this approach for power-saving, rapid coaxial UAVs.

As Urban Air Mobility (UAM) systems scale toward high-density operations, managing autonomous Unmanned Aerial Vehicle (UAV) traffic requires control frameworks that are both tractable and safety-critical. This paper presents a principled optimal control-theoretic foundation for routing in multi-destination UAM networks subject to vertiport capacity and flow constraints. We first model the network as a destination-conditioned Continuous-Time Markov Chain (CTMC) to capture the stochastic transitions between queueing, service, and flight states. To ensure tractability, we employ a mean-field fluid approximation and derive the underlying system dynamics as a set of coupled ordinary differential equations. A key contribution of this work is the formal proof of the positive invariance of the queue-free state space. We demonstrate that under specific underloaded conditions, a system initialized without queues will remain queue-free indefinitely. This result allows us to transform a complex, infinite-dimensional continuous-time optimal control problem into a tractable, finite-dimensional algebraic optimization. The resulting framework jointly optimizes for travel time and multi-hop efficiency while ensuring network-wide stability. We validate the approach by characterizing the steady-state flow equilibria and providing sufficient conditions for safe, congestion-free operation in large-scale mobility systems.

Quadcopters offer great utility in many applications, but their nonlinear nature and disturbance sensitivity present great control challenges. Basic PID controllers are generally not sophisticated enough to cope with these complexities. This paper suggests a control system that integrates the Asynchronous Advantage Actor-Critic (A3C) algorithm with a PID controller for quadcopter attitude and trajectory tracking. The A3C controller uses parallel agents to optimize PID parameters dynamically using a neural network. A system identification module for the complementary system makes predictions about system states for optimal control policy. The proposed framework was compared with a standard actor-critic (A2C) model. Simulation results verify that they both track accurately. However, the A3C-based controller converges much more for the loss function, as evidenced by reward figures and loss curves, demonstrating better parameter optimization. This shows that A3C-based approach results in improved performance for the control of quadcopter, effectively integrating reinforcement learning and traditional control to achieve higher adaptability.

The reliance on scarce and expensive accelerators such as GPUs and TPUs in modern datacenters places unprecedented demands on backend infrastructure. For workloads characterized by heterogeneous service times and complex multi-stage processing, such as Generative AI, conventional load balancing techniques are often inadequate, relying heavily on costly overprovisioning to maintain service level objectives. This paper introduces DLB, the Distributed Load Balancer, a novel system designed to minimize end-to-end user latency for large-scale, heterogeneous workloads. DLB employs a scalable, distributed design with peer-to-peer probing to maintain real-time visibility into server capacity across large-scale, geographically distributed infrastructure. The system continuously learns latency models to estimate the latency impact of routing decisions, allowing it to effectively manage heterogeneous hardware and diverse model architectures. We provide a novel theoretical analysis of our routing algorithms that establishes their stability and global performance guarantees over time. We also evaluate DLB through extensive simulations, which show substantial gains compared to state-of-the-art load balancing algorithms. Finally, following a 22-month deployment of DLB at Google, where it facilitates large-scale Generative AI inference for thousands of different machine learning models and millions of requests per second, we detail the design choices and practical experiences gained from the system in production. Analysis of production migrations demonstrates that DLB yields statistically significant latency reductions compared to the legacy baseline, including a 17% decrease in median latency and a 13% decrease at the p95 tail.

Geofencing refers to controlling the availability of wireless services within a network perimeter. In this paper, we study how RIS can be used to achieve geofencing in outdoor-to-indoor network scenarios. Particularly, we propose GeoRIS, a RIS controller that achieves geofencing by exploiting beam management procedures to control beam alignment in networks with steerable directional transmission links. GeoRIS does not require control over the outdoor base station and can work with or without channel state information. Through simulations based on 3GPP network models, we validate GeoRIS and demonstrate that it can "shield" an indoor network area (for example, by weakening communication links to the point where indoor users cannot meet the minimum requirements of 5G eMBB services). We also highlight an interesting insight: the same RIS can play a dual role, extending or inhibiting outdoor-to-indoor communication. In our simulations, we show that GeoRIS can easily change an indoor space from a "strongly covered area" (e.g., supports eMBB services in approx. 90% of network area) to an "out-of-service area" (e.g., inhibits eMBB services in approx. 90% of network area), or vice-versa, an attractive characteristic in scenarios in which dynamic indoor coverage control is needed.

In strategic interactions, deterrence is an outcome where one party incentivizes the other party to not participate. This concept can be applied to Colonel Blotto games between two generals where troops can be deterred from following orders by the actions of the opposing general. In this setting, deterrence depends not only on how generals allocate troops, but also on the information available to troops when they decide whether to follow orders or defect. In this work, we study a two-battlefield Colonel Blotto model of deterrence under multiple information structures, ranging from decisions made with only aggregate information to decisions made after local battlefield conditions are observed. We show how different information structures alter the structure of the induced game, affect the existence of equilibria, and substantially change expected utilities. Our findings also prove that the ratio of troops available to each general combined with a capture probability threshold is enough to inform generals about what information they want their troops to have access to.

Federated learning (FL) enables collaborative model training without sharing raw data, but its performance degrades under non-IID data and stochastic client participation. Remedies built on classical Federated Averaging (FedAvg) typically presuppose that client participation probabilities are known to the server, which is rarely the case in deployed systems. We first discuss and then characterize the optimization problem that distributionally agnostic FedAvg actually solves when participation is entirely unknown, possibly highly skewed, and of variable size across rounds: uniform aggregation is shown to minimize a well-defined stochastic objective, weighted by the participation-induced marginal, at a standard $\mathcal{O}(1/\sqrt{T})$ rate for convex and possibly nonsmooth losses. Building on this characterization, we propose Federated Risk-Averse Averaging (FedeRage), a risk-averse extension of FedAvg that embeds the Conditional Value-at-Risk (CVaR) into the local objective within a natural distributionally robust optimization (DRO) framework. FedeRage implicitly upweights high-loss and infrequently participating clients while adding only a single scalar per-client, and admits an $\mathcal{O}(\kappa/\sqrt{T})$ rate in which the factor $\kappa$ is the upper bound on the “price" of risk aversion. In contrast with aggregation-alignment schemes based on optimal transport, which require the availability distribution as an input, FedeRage remains agnostic to it. Several experiments on three heterogeneous benchmarks indicate consistent improvements over state-of-the-art methods in accuracy, fairness, and convergence speed.

Choreographed aquatic performances require small autonomous surface vehicles to track precise paths under per-thruster force and rate limits, including after thruster failures. We report a deployed system in which trajectory tracking, thrust allocation, and the per-thruster force and rate limits are resolved in a single quadratic program over the per-thruster commands, with fault reconfiguration entering through one binary flag per thruster from an external detector. The system has driven a fleet in live performances on Lake Zürich and at the Time Space Existence 2025 exhibition in Venice. The field campaign measures 1.6 cm root mean square position error in a 10-minute hold and 4.3 cm over a 10 m square at 0.6 m/s. At 0.5 m/s, losing the front thruster increases the error to 11.6 cm, while losing the starboard-side thruster increases it to 11.5 cm. Losing two thrusters simultaneously leaves the craft tracking a 0.4 m/s square with a root mean square position error of 1.25 m. Compared to our own cascaded baseline, the unified formulation tracks the nominal square to the same few centimeters and holds station more tightly with roughly half the thruster force. The architectures separate after a thruster failure, where the unified controller stays within 24 cm of the reference path while the cascade leaves it.

Projection-based controllers can overcome fundamental limitations of classical linear time-invariant control by modifying the controller's input-output behavior via projection. A key example is given by the hybrid integrator-gain system, a projected integrator, which has recently found successful application in several industrial systems. While prior work on analysis and design of projection-based control systems has primarily focused on the continuous-time setting and non-incremental analysis, a more refined incremental analysis in discrete-time is needed to better reflect actual digital implementation and obtain more accurate (robust) performance assessment. To address this need, this paper considers incremental stability and convergence analysis of discrete-time projection-based control systems. Our first methodology is based on showing that such controllers preserve the quadratic incremental stability of their nominal (unprojected) dynamics, if the projection metric is well-designed. Building on this, we derive a small-gain condition guaranteeing incremental input-to-state stability for interconnections of projected controllers with general nonlinear plants. A second approach is grounded in a direct Lyapunov-based method for verifying incremental stability in input-affine piecewise-smooth systems, which can be seen as an extension of the classical discrete-time Demidovic conditions. We illustrate our results through several examples, and demonstrate performance quantification via nonlinear Bode plots, with a special focus on first-order projection elements.

The paper proposes a day-ahead scheduling framework with a novel multi-stage battery degradation modeling method for an electric vehicle (EV) fast charging station (FCS) equipped with a battery energy storage system (BESS). Unlike previous studies, which employ a single battery degradation model to represent the aging process, this paper proposes a novel multi-stage battery degradation modeling method to accurately capture the degradation process across the whole lifespan. Subsequently, the multi-stage model is explicitly integrated into the proposed adaptive optimization framework in a computationally tractable way, thus having important practical implications in the field. The paper provides case studies to demonstrate the effectiveness of the proposed modeling method on a selected cycle aging model in reducing the operation cost of FCS with BESS operating in different stages. As a result, the overall operation cost with the multi-stage model is around 2.1% on average lower than the single-stage model counterpart. In addition, results show that with the increasing number of divided stages, the model error decreases and becomes stable, while the reduced operation cost compared with the single-stage model increases and saturates. Finally, we apply the multi-stage framework considering other conventional degradation models to show the superiority of the proposed method.

The conventional distinction between forced and natural oscillations treats the oscillation source as external to a fixed power-system boundary. This paper develops a coupling-aware dynamical interpretation by explicitly accounting for the directionality of source-grid coupling. It examines when prescribed forcing and a one-way autonomous source are observationally equivalent, and when grid measurements can distinguish the presence of grid-to-source feedback. Matched interface signals yield exact equivalence under the same deterministic grid initial-value problem and measurement map. Bidirectional feedback enables source-grid eigenvalue interaction in the augmented autonomous model, while a reduced two-mode model shows that the interaction depends jointly on loop coupling and complex modal separation. The resulting framework establishes source-grid coupling directionality as a feedback-based dynamical boundary and clarifies when feedback can be inferred from grid-side measurements and why weak feedback may remain unresolved. Simulation studies on a two-area system demonstrate feedback detection within a calibrated source family, while source-model mismatch can be confounded with feedback. A WECC 243-bus system study demonstrates feasibility on a large system and shows that feedback detection need not require exact candidate selection.

Falsification searches for counterexamples to formal specifications in cyber-physical systems (CPS). With specifications written in Signal Temporal Logic (STL), falsification can be formulated as a robustness optimization problem, traditionally tackled with black-box search algorithms. In parallel, large language models (LLMs) have recently emerged as surprisingly effective optimizers when coupled with iterative prompting. In this work, we connect these ideas and introduce LLM-Falsifier, an LLM-based approach that falsifies specifications by minimizing the STL robustness degree. Beyond generic prompt-based optimization, our key idea is to expose the LLM to semantic information that is natural for language models but absent from standard numerical optimizers, including natural-language input and output names, output trajectories, and critical-time witnesses for the minimum robustness value. These additions enable smarter and more sample-efficient robustness search. On the ARCH-COMP falsification benchmarks, LLM-Falsifier is shown to outperform existing falsification tools based on a range of optimization paradigms, from surrogate-based and Bayesian optimization to search-based testing, on 14 of 21 specifications when measured by the average number of simulations required to find a counterexample.

We show that unless P = NP, there cannot be a polynomial-time (or even pseudo-polynomial-time) algorithm for output feedback stabilization of a linear dynamical system with a linear controller. This settles one of the best-known open problems in control theory. The result holds in both continuous and discrete time. We also present a family of stabilizable linear dynamical systems for which no polynomial-time algorithm can write down a stabilizing controller in its standard representation.

Connected vehicles use millimeter-wave (mmWave) sidelinks for the data rates cooperative driving demands, and emerging designs select the carrier band from sensed rainfall. We show that this weather awareness is an attack surface: an adversary who spoofs only the rainfall input dictates the victim's carrier frequency, and through it its communication range, without transmitting on the channel. We evaluate the attack in MilliCar, an ns-3 module that runs the selected band as the real 3GPP NR V2X carrier with per-band propagation, beamforming, and blockage. Forcing the band up to 73 GHz holds an eight-vehicle platoon's reliable range at 38 m while the honest baseline doubles it to 82 m; forcing it down to 5 GHz sustains 97% long-range reception but collapses the transport block to a third and quadruples long-range latency to 12.5 ms. We then implement the defense the mechanism implies. Rain loss grows linearly with distance while path loss grows logarithmically, so a receiver that tests measured SINR against the attenuation its reported weather predicts flags force-up with 98% probability within 1.5 s at a 1% false-alarm rate, and re-selection then restores long-range reception from 60% to 75%. The same test is structurally blind to force-down, because the 5 GHz fallback is nearly rain-immune. An advecting rain cell that swings the local rate from 15 to 81 mm/h leaves every result unchanged. Weather-aware band selection therefore requires an authenticated meteorological input; physical cross-checking covers one half of the threat.

In this paper, we tackle the problem of jointly estimating the system states and partially unknown dynamics within distributed sensor-equipped networks, particularly in scenarios where only partial state observations are available. To address this issue, we propose an observer-based dynamic cooperative learning framework incorporating online distributed Gaussian Process (GP) regression, which enables accurate estimation despite incomplete in measurements and deficient GP models. In addition, a novel data collection strategy is introduced, with theoretical conditions ensuring feasible data acquisition. Moreover, we also derive an error upper bound encompassing state estimation and model estimation, leveraging the deterministic error bounds of GPs. Empirical simulations demonstrate the superiority of our approach compared to existing distributed GP-based methods.

Connected-vehicle safety evaluations rely on coupled traffic and network simulations, but standard channel models ignore radio resource competition in 5G NR sidelink Mode-2, reporting unrealistically high message delivery in dense traffic. This study introduces resource-competition losses without requiring full protocol reimplementation. We labeled 10.5 million reception outcomes from ns-3 5G-LENA traces (calibrated on 3GPP scenarios and driven by SUMO trajectories) to fit NS3Learn - a closed-form model capturing half-duplex loss, scheduling collisions, receiver capture, and decoding. Evaluation spanned two signalized urban networks, six penetration levels (1-100%), and five random seeds per condition. NS3Learn achieved a mean absolute deviation of 0.06 in per-instant delivery compared to ns-3 5G-LENA, outperforming alternative models (0.44 and 0.55 deviation). Fitted parameters transferred to a distinct intersection with only 20% additional error. Crucially, using realistic communication models reversed simulated traffic speed trends and more than doubled predicted hard-braking events. The framework transfers reception realism between simulators via model distillation instead of full reimplementation. Every stage maps directly to an explicit physical mechanism. Researchers and transportation agencies can maintain existing simulation pipelines while accurately accounting for dense-traffic packet loss and denial-of-service impacts. Adapting to new radio configurations requires only offline refitting rather than code modification.

Ventricular Assist Devices (VADs), particularly rotary Left Ventricular Assist Devices (LVADs), are essential for patients with advanced heart failure who are ineligible for transplantation. Despite advances in cardiovascular modeling and control, clinical translation of proposed LVAD control methods remains limited. This review examines the evolution of LVAD modeling and control and argues that the gap results not from insufficiently sophisticated algorithms, but from mismatches between modeling assumptions, sensing limitations, and real-world cardiovascular variability. A systematized review of more than 100 peer-reviewed studies covers mathematical cardiovascular models, lumped-parameter and reduced-order representations, classical and advanced control strategies, and emerging data-driven and machine learning approaches. The literature is synthesized using a problem-driven framework linking modeling and control choices to clinical challenges, including physiological observability, parameter identifiability, patient variability, and prevention of adverse events such as ventricular suction and thrombosis. The analysis shows that high-fidelity models and intelligent controllers can perform well in simulation, but their dependence on unmeasurable states, extensive parameter tuning, and dense sensing limits clinical implementation. Simpler control approaches often provide greater robustness under clinical constraints. Adaptive and data-driven techniques may help bridge this gap, but only if they account for implantable sensing limitations and interpretability requirements. By identifying structural barriers to adoption, this review synthesizes LVAD modeling and control paradigms and outlines research directions for physiologically adaptive, clinically implementable, and patient-safe LVAD systems.

This paper studies resource-limited external influence in time-varying opinion networks when a controller must choose both a small set of agents and a scalar intervention at each update. We use the affine free response, which includes DeGroot and Friedkin–Johnsen dynamics, followed by a direct sparse action. Eliminating the scalar action reduces the one-step problem to a cardinality-constrained support objective whose global optimum is obtained from the largest or smallest residual components. Hence exact sparse one-step-ahead optimal control requires one sort and \(O(|\mathcal T|\log|\mathcal T|)\) operations, where \(\mathcal T\) is the support set. For periodic affine dynamics, the resulting state-dependent low-rank feedback admits cycle-based ultimate bounds and exact tracking of model-invariant targets. The DeGroot and Friedkin–Johnsen specializations expose the role of target invariance and the affine mismatch term. With several competing external players, each sparse best response retains the same sorting structure and the complete binary–continuous stage game is an exact potential game, so a pure-strategy equilibrium exists at every frozen state. Same-state welfare benchmarks separate loss due to scalar competition from the additional loss due to strategic support selection. Numerical examples validate exact support selection and illustrate switching-order effects, DeGroot/Friedkin–Johnsen tracking, resource tradeoffs, and competitive implementations.

This paper investigates multi-time scale commu- nication schemes in synchronization of heterogeneous Lienard oscillator systems. Existing results rely on global exchange of information for all networked systems at discrete time instants, providing limited flexibility in adjusting the trade-off between communication rate and synchronization performance. A scheme to investigate how global updates are complemented by more frequent local interactions within a sub-network is thus proposed in this paper. For a prescribed bound on the synchronization error, conditions are derived under which the global and local update rates can be selected as design parameters. A numerical example illustrates the beneficial effect of the local interactions.

This paper presents dynamics-relaxed model predictive control (DR-MPC), a novel MPC formulation for legged locomotion, and a tailored interior-point method (IPM) solver. The formulation combines online optimization feasibility by construction with a contact-aware input parameterization. DR-MPC moves the dynamics equality and affine input constraints into quadratic penalties and retains only nonempty box constraints. The resulting box-constrained quadratic program (QP) has a block-arrow Hessian that enables the state and affine-output directions to be eliminated through a Schur complement. The solver factors only the reduced control system after swing-force elimination and contact-aligned move blocking. For the evaluated implementations using the same DR-MPC formulation, our method achieves median end-to-end MPC speedups of $16.0\times$ over HPIPM and $4.4\times$ over OSQP, with comparable locomotion performance in simulation. DR-MPC achieves a median onboard MPC end-to-end time of $4.4$ ms and is validated on a Unitree Go1 quadruped. Open-source code will be made available after publication.