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Electrical Engineering and Systems Science

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Thursday 23 October

Systems and Control

Soft Switching Expert Policies for Controlling Systems with Uncertain Parameters

This paper proposes a simulation-based reinforcement learning algorithm for controlling systems with uncertain and varying system parameters. While simulators are useful for safely learning control policies, the reality gap remains a major challenge. To alleviate this challenge, we propose a two-stage algorithm. First, multiple control policies are learned for systems with different system parameters in a simulator. Second, for a real system, the control policies are adaptively switched using an online convex optimization algorithm based on observations. This approach is expected to reduce learning complexity compared with existing approaches that rely on a single policy to address the reality gap.
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Signal Processing

Deep Learning Based Joint Space-Time-Frequency Domain Channel Prediction for Cell-Free Massive MIMO Systems

The cell-free massive multi-input multi-output (CF-mMIMO) is a promising technology for the six generation (6G) communication systems. Channel prediction will play an important role in obtaining the accurate CSI to improve the performance of CF-mMIMO systems. This paper studies a deep learning (DL) based joint space-time-frequency domain channel prediction for CF-mMIMO. Firstly, the prediction problems are formulated, which can output the multi-step prediction results in parallel without error propagation. Then, a novel channel prediction model is proposed, which adds frequency convolution (FreqConv) and space convolution (SpaceConv) layers to Transformer-encoder. It is able to utilize the space-time-frequency correlations and extract the space correlation in the irregular AP deployment. Next, simulated datasets with different sizes of service areas, UE velocities and scenarios are generated, and correlation analysis and cross-validation are used to determine the optimal hyper-parameters. According to the optimized hyper-parameters, the prediction accuracy and computational complexity are evaluated based on simulated datasets. It is indicated that the prediction accuracy of the proposed model is higher than traditional model, and its computational complexity is lower than traditional Transformer model. After that, the impacts of space-time-frequency correlations on prediction accuracy are studied. Finally, realistic datasets in a high-speed train (HST) long-term evolution (LTE) network are collected to verify the prediction accuracy. The verification results demonstrate that it also achieves higher prediction accuracy compared with traditional models in the HST LTE network.
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All authors Yongning Qi, Tao Zhou, Zuowei Xiang, Liu Liu, Bo Ai

Signal Processing

Sensing Security in Near-Field ISAC: Exploiting Scatterers for Eavesdropper Deception

In this paper, we explore sensing security in near-field (NF) integrated sensing and communication (ISAC) scenarios by exploiting known scatterers in the sensing scene. We propose a location deception (LD) scheme where scatterers are deliberately illuminated with probing power that is higher than that directed toward targets of interest, with the goal of deceiving potential eavesdroppers (Eves) with sensing capability into misidentifying scatterers as targets. While the known scatterers can be removed at the legitimate sensing receiver, our LD approach causes Eves to misdetect targets. Notably, this deception is achieved without requiring any prior information about the Eves' characteristics or locations. To strike a flexible three-way tradeoff among communication, sensing, and sensing-security performance, the sum rate and power allocated to scatterers are weighted and maximized under a legitimate radar signal-to-interference-plus-noise ratio (SINR) constraint. We employ the fractional programming (FP) framework and semidefinite relaxation (SDR) to solve this problem. To evaluate the security of the proposed LD scheme, the Cramer-Rao Bound (CRB) and mean squared error (MSE) metrics are employed. Additionally, we introduce the Kullback-Leibler Divergence (KLD) gap between targets and scatterers at Eve to quantify the impact of the proposed LD framework on Eve's sensing performance from an information-theoretical perspective. Simulation results demonstrate that the proposed LD scheme can flexibly adjust the beamforming strategy according to performance requirements, thereby achieving the desired three-way tradeoff. In particular, in terms of sensing security, the proposed scheme significantly enhances the clutter signal strength at Eve's side, leading to confusion or even missed detection of the actual target.
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All authors Jiangong Chen, Xia Lei, Kaitao Meng, Kawon Han, Yuchen Zhang, Christos Masouros, Athina P. Petropulu

Systems and Control

Design Optimization and Global Impact Assessment of Solar-Thermal Direct Air Carbon Capture

The dual challenge of decarbonizing the economy and meeting rising global energy demand underscores the need for scalable and cost-effective carbon dioxide removal technologies. Direct air capture (DAC) is among the most promising approaches, but its high energy intensity, particularly the thermal energy required for sorbent regeneration, remains a critical barrier to cost reduction and sustainable deployment. This study explores solar-thermal DAC systems that combine concentrated solar thermal technology with low-cost sand-based thermal energy storage to meet this demand. We analyze the techno-economic performance of such systems in both grid-connected and stand-alone configurations. Results show that solar-thermal DAC can achieve annual capacity factors exceeding 80% and CO2 removal costs as low as 160-200 USD per ton, making it competitive with leading DAC technologies. The proposed system operates most efficiently with short-cycle sorbents that align with solar availability. The stand-alone Solar-DAC systems, which rely solely on solar energy for both electricity and thermal energy, are particularly promising in regions with high solar capacity and sandy terrain, exhibiting minimal ambient sensitivity from temperature and humidity. An optimal 6000 ton/yr modular system design takes <1 km2 land-use requirement and potentially >26 Gt/year DAC capacity is identified for sandy terrain alone globally. In areas with sedimentary basins suitable for CO2 storage, solar-powered DAC offers a lower-cost alternative to geothermal heating, which often faces geological and economic constraints.
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Signal Processing

Active Localization of Close-range Adversarial Acoustic Sources for Underwater Data Center Surveillance

Underwater data infrastructures offer natural cooling and enhanced physical security compared to terrestrial facilities, but their storage systems remain susceptible to acoustic injection attacks, where sound-induced mechanical vibrations disrupt critical I/O operations and compromise data availability. This work presents a surveillance framework for localizing and tracking such close-range adversarial acoustic sources targeting offshore infrastructures, particularly underwater data centers (UDCs). We propose a scalable heterogeneous receiver configuration with one facility-mounted hydrophone and one mobile hydrophone carried by a surveillance robot. The resulting problem differs from conventional sound source localization (SSL) due to distributed facility scale, narrowband signaling with phase ambiguity, non-cooperative sources, and mobile receiver state uncertainty. To address these challenges, we formulate a Locus-Conditioned Maximum A-Posteriori (LC-MAP) scheme that generates acoustically informed priors, ensuring a physically plausible initial state for a joint time- and frequency-difference-of-arrival (TDOA-FDOA) filtering. We integrate this into an unscented Kalman filter (UKF) pipeline, along with a multipath-aware measurement model that compensates for surface and bed reflections, and an effective measurement covariance that accounts for mobile receiver uncertainty. Extensive Monte Carlo analyses, fixed-array baseline comparisons, Gazebo-based physics simulations, and field trials demonstrate reliable real-time localization and tracking. The framework achieves sub-meter localization accuracy and over 90% success rates in most scenarios, with convergence times nearly halved compared to baselines. Overall, this study establishes a geometry-aware, real-time approach for acoustic threat localization and advances autonomous surveillance capabilities of underwater infrastructure.
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All authors Adnan Abdullah, David Blow, Sara Rampazzi, Md Jahidul Islam

Systems and Control

Interpolatory Approximations of PMU Data: Dimension Reduction and Pilot Selection

This work investigates the reduction of phasor measurement unit (PMU) data through low-rank matrix approximations. To reconstruct a PMU data matrix from fewer measurements, we propose the framework of interpolatory matrix decompositions (IDs). In contrast to methods relying on principal component analysis or singular value decomposition, IDs recover the complete data matrix using only a few of its rows (PMU datastreams) and/or a few of its columns (snapshots in time). This row-/column-based compression enables real-time monitoring of power transmission systems using measurements from a smaller subset of pilot datastreams, thereby minimizing communication bandwidth. The ID perspective gives a rigorous error bound on the quality of the data compression. We propose selecting the pilot measurements used in an ID via the discrete empirical interpolation method (DEIM), a greedy algorithm that aims to control the error bound. This bound yields a computable estimate of the reconstruction error during online operations. A violation of this estimate suggests a change in the system's operating conditions and thus serves as a tool for fault detection. Following a disturbance, DEIM can be used to localize the event source across all buses with high accuracy. Numerical tests on synthetic PMU data demonstrate DEIM's excellent performance in data compression and validate the proposed DEIM-based fault-detection and localization method.
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All authors Sean Reiter, Mark Embree, Serkan Gugercin, Vassilis Kekatos

Systems and Control

SpeechAgent: An End-to-End Mobile Infrastructure for Speech Impairment Assistance

Speech is essential for human communication, yet millions of people face impairments such as dysarthria, stuttering, and aphasia conditions that often lead to social isolation and reduced participation. Despite recent progress in automatic speech recognition (ASR) and text-to-speech (TTS) technologies, accessible web and mobile infrastructures for users with impaired speech remain limited, hindering the practical adoption of these advances in daily communication. To bridge this gap, we present SpeechAgent, a mobile SpeechAgent designed to facilitate people with speech impairments in everyday communication. The system integrates large language model (LLM)- driven reasoning with advanced speech processing modules, providing adaptive support tailored to diverse impairment types. To ensure real-world practicality, we develop a structured deployment pipeline that enables real-time speech processing on mobile and edge devices, achieving imperceptible latency while maintaining high accuracy and speech quality. Evaluation on real-world impaired speech datasets and edge-device latency profiling confirms that SpeechAgent delivers both effective and user-friendly performance, demonstrating its feasibility for personalized, day-to-day assistive communication.
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All authors Haowei Lou, Chengkai Huang, Hye-young Paik, Yongquan Hu, Aaron Quigley, Wen Hu, Lina Yao

Signal Processing

Signal Design for OTFS Dual-Functional Radar and Communications with Imperfect CSI

Orthogonal time frequency space (OTFS) offers significant advantages in managing mobility for both wireless sensing and communication systems, making it a promising candidate for dual-functional radar-communication (DFRC). However, the optimal signal design that fully exploits OTFS's potential in DFRC has not been sufficiently explored. This paper addresses this gap by formulating an optimization problem for signal design in DFRC-OTFS, incorporating both pilot-symbol design for channel estimation and data-power allocation. Specifically, we employ the integrated sidelobe level (ISL) of the ambiguity function as a radar metric, accounting for the randomness of the data symbols alongside the deterministic pilot symbols. For communication, we derive a channel capacity lower bound metric that considers channel estimation errors in OTFS. We maximize the weighted sum of sensing and communication metrics and solve the optimization problem via an alternating optimization framework. Simulations indicate that the proposed signal significantly improves the sensing-communication performance region compared with conventional signal schemes, achieving at least a 9.44 dB gain in ISL suppression for sensing, and a 4.82 dB gain in the signal-to-interference-plus-noise ratio (SINR) for communication.
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All authors Borui Du, Yumeng Zhang, Christos Masouros, Bruno Clerckx

Systems and Control · Cross-listed from math.OC

Modeling to Generate Alternatives for Robustness of Mixed Integer DC Optimal Power Flow

Transmission system operators face a variety of discrete operational decisions, such as switching of branches and/or devices. Incorporating these decisions into optimal power flow (OPF) results in mixed-integer non-linear programming problems (MINLPs), which can't presently be solved at scale in the required time. Various linearizations of the OPF exist, most famously the DC-OPF, which can be leveraged to find integer decisions. However, these linearizations can yield very poor integer solutions in some edge cases, making them challenging to incorporate into control rooms. This paper introduces the use of modeling to generate alternatives (MGA) to find alternative solutions to the linearized problems, reducing the chance of finding no AC feasible solutions. We test this approach using 13 networks where the DC linearization results in infeasible integer decisions, and MGA finds a solution in all cases. The MGA search criteria selected drastically affects the number and quality of solutions found, so network specific search functions may be necessary.
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Signal Processing

RIS-Aided mmWave O-RAN: Coverage Extension and User Mobility Handling

Reconfigurable Intelligent Surfaces (RISs) can redirect electromagnetic waves to desired directions to enhance signal coverage and/or improve signal-to-noise ratio (SNR) at the user equipment (UE). We present the design, implementation, and evaluation of an RIS-assisted O-RAN 5G system operating in the FR2 millimeter wave (mmWave) frequency band. We first introduce the design of 1,024 element (32 $\times$ 32) 1-bit RIS operating at the 28 GHz band, utilizing a modular and scalable tiled architecture. Then we demonstrate how the O-RAN E2 interface can be leveraged to dynamically control RIS configurations without modifying standard 5G signaling procedures. To evaluate the RIS-assisted 5G system, we conducted extensive field trials in both indoor and outdoor environments. The results of the O-RAN link coverage trials show that the deployed RIS provides substantial received signal power gains, ranging from 9 to 20 dB and 6 to 18 dB in indoor and outdoors scenarios, respectively. Handling UE mobility in RIS-assisted systems is challenging due to the need for joint RIS and UE beam management. For that, we develop two UE mobility management algorithms and evaluate them in real-time operation using the RIS O-RAN testbed. These algorithms leverage the received signal power at the UE to jointly track and adapt the RIS and UE beams in real time as the UE moves. The findings draw important insights into the practical feasibility of integrating RIS into O-RAN systems to enhance coverage, mobility support, and link reliability in next-generation cellular networks.
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All authors Tawfik Osman, Aditya S. Shekhawat, Abhradeep Roy, Georgios C. Trichopoulos, Ahmed Alkhateeb

Wednesday 22 October

Systems and Control

Gas Fire Power Plant Management Through Numerical Approximation of Spark Spread Options

Cross-commodity valuation approaches to value gas fire power plants are well studied in the literature. Hence, the value of the gas fire power plant is identical to the value of a spark spread option wherein the underlying are electricity and gas with a strike price assimilated to operating and maintenance costs. Power and fuels spot prices account for uncertain futures cash-flows for power-plant generator owners. For instance, for gas-fired turbine plant, spot prices of electricity and gas determine the random cash-flows of the power-plant. Other than the spot prices, the valuation of such plant involves among other deterministic cost the plant heat rate and operating costs. Recently, the cost of emissions is considered into the valuation to tackle environmental issues. Given some simplifications in the plant cash-flow modelling, the value of such plant can either be expressed as the price of i) a cross-commodity option or ii) the price of a real option. Here, we focus on cross-commodity option valuation approach where the value of the power plant is approached as the value of a spark spread option. When spot prices of the underlying commodities are log-normal, closed formulae or approximations can be obtained using Kirk's approximation. Naturally, the spot price of electricity and gas present spikes due to seasonality among other factors. However, in that case it is not possible to get a closed formula for the spark spread option. In this paper we explore possibilities to approximate spark spread options when spot prices fall into a class of jump diffusion processes.
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Signal Processing

Affordable EEG, Actionable Insights: An Open Dataset and Evaluation Framework for Epilepsy Patient Stratification

Access to clinical multi-channel EEG remains limited in many regions worldwide. We present NEUROSKY-EPI, the first open dataset of single-channel, consumer-grade EEG for epilepsy, collected in a South Asian clinical setting along with rich contextual metadata. To explore its utility, we introduce EmbedCluster, a patient-stratification pipeline that transfers representations from EEGNet models trained on clinical data and enriches them with contextual autoencoder embeddings, followed by unsupervised clustering of patients based on EEG patterns. Results show that low-cost, single-channel data can support meaningful stratification. Beyond algorithmic performance, we emphasize human-centered concerns such as deployability in resource-constrained environments, interpretability for non-specialists, and safeguards for privacy, inclusivity, and bias. By releasing the dataset and code, we aim to catalyze interdisciplinary research across health technology, human-computer interaction, and machine learning, advancing the goal of affordable and actionable EEG-based epilepsy care.
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All authors HM Shadman Tabib, Md. Hasnaen Adil, Ayesha Rahman, Ahmmad Nur Swapnil, Maoyejatun Hasana, Ahmed Hossain Chowdhury, A. B. M. Alim Al Islam

Image and Video Processing · Cross-listed from physics.optics

A Calibration Method for Indirect Time-of-Flight Cameras to Eliminate Internal Scattering Interference

In-camera light scattering is a typical form of non-systematic interference in indirect Time-of-Flight (iToF) cameras, primarily caused by multiple reflections and optical path variations within the camera body. This effect can significantly reduce the accuracy of background depth measurements. To address this issue, this paper proposes a calibration-based model derived from real measurement data, introducing three physically interpretable calibration parameters: a normal-exposure amplitude influence coefficient, an overexposure amplitude influence coefficient, and a scattering phase shift coefficient. These parameters are used to describe the effects of foreground size, exposure conditions, and optical path differences on scattering interference. Experimental results show that the depth values calculated using the calibrated parameters can effectively compensate for scattering-induced errors, significantly improving background depth recovery in scenarios with complex foreground geometries and varying illumination conditions. This approach provides a practical, low-cost solution for iToF systems, requiring no complex hardware modifications, and can substantially enhance measurement accuracy and robustness across a wide range of real-world applications.
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All authors Yansong Du, Jingtong Yao, Yuting Zhou, Feiyu Jiao, Zhaoxiang Jiang, Xun Guan

Audio and Speech Processing

Data-Centric Lessons To Improve Speech-Language Pretraining

Spoken Question-Answering (SQA) is a core capability for useful and interactive artificial intelligence systems. Recently, several speech-language models (SpeechLMs) have been released with a specific focus on improving their SQA performance. However, a lack of controlled ablations of pretraining data processing and curation makes it challenging to understand what factors account for performance, despite substantial gains from similar studies in other data modalities. In this work, we address this gap by conducting a data-centric exploration for pretraining SpeechLMs. We focus on three research questions fundamental to speech-language pretraining data: (1) how to process raw web-crawled audio content for speech-text pretraining, (2) how to construct synthetic pretraining datasets to augment web-crawled data and (3) how to interleave (text, audio) segments into training sequences. We apply the insights from our controlled data-centric ablations to pretrain a 3.8B-parameter SpeechLM, called SpeLangy, that outperforms models that are up to 3x larger by 10.2% absolute performance. We hope our findings highlight the impact of effective data curation for speech-language pretraining and guide future data-centric exploration in SpeechLMs.
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All authors Vishaal Udandarao, Zhiyun Lu, Xuankai Chang, Yongqiang Wang, Violet Z. Yao, Albin Madapally Jose, Fartash Faghri, Josh Gardner, Chung-Cheng Chiu

Image and Video Processing

Lightweight Classifier for Detecting Intracranial Hemorrhage in Ultrasound Data

Intracranial hemorrhage (ICH) secondary to Traumatic Brain Injury (TBI) represents a critical diagnostic challenge, with approximately 64,000 TBI-related deaths annually in the United States. Current diagnostic modalities including Computed Tomography (CT) and Magnetic Resonance Imaging (MRI) have significant limitations: high cost, limited availability, and infrastructure dependence, particularly in resource-constrained environments. This study investigates machine learning approaches for automated ICH detection using Ultrasound Tissue Pulsatility Imaging (TPI), a portable technique measuring tissue displacement from hemodynamic forces during cardiac cycles. We analyze ultrasound TPI signals comprising 30 temporal frames per cardiac cycle with recording angle information, collected from TBI patients with CT-confirmed ground truth labels. Our preprocessing pipeline employs z-score normalization and Principal Component Analysis (PCA) for dimensionality reduction, retaining components explaining 95% of cumulative variance. We systematically evaluate multiple classification algorithms spanning probabilistic, kernel-based, neural network, and ensemble learning approaches across three feature representations: original 31-dimensional space, reduced subset, and PCA-transformed space. Results demonstrate that PCA transformation substantially improves classifier performance, with ensemble methods achieving 98.0% accuracy and F1-score of 0.890, effectively balancing precision and recall despite class imbalance. These findings establish the feasibility of machine learning-based ICH detection in TBI patients using portable ultrasound devices, with applications in emergency medicine, rural healthcare, and military settings where traditional imaging is unavailable.
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Audio and Speech Processing

Beyond Hearing: Learning Task-Agnostic ExG Representations from Earphones via Physiology-Informed Tokenization

Electrophysiological (ExG) signals offer valuable insights into human physiology, yet building foundation models that generalize across everyday tasks remains challenging due to two key limitations: (i)~insufficient data diversity, as most ExG recordings are collected in controlled labs with bulky, expensive devices; and (ii)~task-specific model designs that require tailored processing (i.e., targeted frequency filters) and architectures, which limit generalization across tasks. To address these challenges, we introduce an approach for scalable, task-agnostic ExG monitoring in the wild. We collected 50 hours of unobtrusive free-living ExG data with an earphone-based hardware prototype to narrow the data diversity gap. At the core of our approach is Physiology-informed Multi-band Tokenization (PiMT), which decomposes ExG signals into 12 physiology-informed tokens, followed by a reconstruction task to learn robust representations. This enables adaptive feature recognition across the full frequency spectrum while capturing task-relevant information. Experiments on our new DailySense dataset, the first to enable ExG-based analysis across five human senses, together with four public ExG benchmarks, demonstrate that PiMT consistently outperforms state-of-the-art methods across diverse tasks.
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All authors Hyungjun Yoon, Seungjoo Lee, Yu Yvonne Wu, Xiaomeng Chen, Taiting Lu, Freddy Yifei Liu, Taeckyung Lee, Hyeongheon Cha, Haochen Zhao, Gaoteng Zhao, Dongyao Chen, Cecilia Mascolo, Sung-Ju Lee, Lili Qiu

Systems and Control

Safe Output-Feedback Adaptive Optimal Control of Affine Nonlinear Systems

In this paper, we develop a safe control synthesis method that integrates state estimation and parameter estimation within an adaptive optimal control (AOC) and control barrier function (CBF)-based control architecture. The developed approach decouples safety objectives from the learning objectives using a CBF-based guarding controller where the CBFs are robustified to account for the lack of full-state measurements. The coupling of this guarding controller with the AOC-based stabilizing control guarantees safety and regulation despite the lack of full state measurement. The paper leverages recent advancements in deep neural network-based adaptive observers to ensure safety in the presence of state estimation errors. Safety and convergence guarantees are provided using a Lyapunov-based analysis, and the effectiveness of the developed controller is demonstrated through simulation under mild excitation conditions.
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All authors Tochukwu E. Ogri, Muzaffar Qureshi, Zachary I. Bell, Wanjiku A. Makumi, Rushikesh Kamalapurkar

Signal Processing

Semantic Communication for Task Execution and Data Reconstruction in Multi-View Scenarios

Semantic communication has gained significant attention with the advances in machine learning. Most semantic communication works focus on either task execution or data reconstruction, with some recent works combining the two. In this work, we propose a semantic communication system for concurrent task execution and data reconstruction for a multi-view scenario, which we formulate as the maximization of mutual information. To investigate the trade-off between the two objectives, we formulate a joint objective as a convex combination of task execution and data reconstruction. We show that under specific assumptions, the \ac{SSIM} loss can be obtained from the mutual information maximization objective for data reconstruction, which takes human visual perception into account. Furthermore, for constant resource use, we show that by increasing the weight of the reconstruction objective up to a certain point, the task execution performance can be kept nearly constant, while the data reconstruction can be significantly improved.
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All authors Maximilian H. V. Tillmann, Avinash Kankari, Carsten Bockelmann, Armin Dekorsy

Systems and Control · Cross-listed from cs.CR

Ultra-Fast Wireless Power Hacking

The rapid growth of electric vehicles (EVs) has driven the development of roadway wireless charging technology, effectively extending EV driving range. However, wireless charging introduces significant cybersecurity challenges. Any receiver within the magnetic field can potentially extract energy, and previous research demonstrated that a hacker could detect the operating frequency and steal substantial power. However, our approach required time to track new frequencies or precise adjustments of inductance and capacitance, which would be less effective against potential rapid transmitter frequency changes or capacitance drift. As a solution, we enhanced the interceptor and enabled it to intrude as well as steal energy within just three cycles of the high-frequency signal. Moreover, it can work without any circuit parameters or look-up tables. The key innovation is synchronizing the receiver current with the phase of the magnetic sensor voltage. Through MATLAB / Simulink simulations, finite-element analysis, and experimental validation, we demonstrated that our improved method can steal over 76% of the power received by a fully resonant receiver under identical conditions. This attack demonstrates that simple frequency-changing power encryption offers limited protection against such threats.
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Systems and Control

Approximate Model Predictive Control for Microgrid Energy Management via Imitation Learning

Efficient energy management is essential for reliable and sustainable microgrid operation amid increasing renewable integration. In this paper, an imitation learning-based framework to approximate mixed-integer Economic Model Predictive Control (EMPC) is proposed for microgrid energy management, considering fuel generators, renewable energy resources, a unified energy storage unit, and curtailable loads. Within the proposed framework, a neural network is trained to imitate expert EMPC control actions from offline trajectories, thereby enabling fast real-time decision making without solving online mixed-integer optimization problems, which often exhibit highly variable solution times across instances and do not scale well to large problem sizes; in particular, worst-case solve times can be excessively large and therefore unsuitable for real-time deployment. In contrast, the learned policy provides predictable and consistently low computation times. To enhance robustness and generalization, the learning process incorporates noise injection during training to mitigate distribution shift and explicitly accounts for forecast uncertainty in renewable generation and demand. Furthermore, a constraint-tightening approach combined with a projection layer is proposed to ensure recursive feasibility and constraint satisfaction of the learned controller. Simulation results demonstrate that the learned policy achieves economic performance comparable to EMPC, while reducing computation time by approximately one order of magnitude relative to the optimization-based EMPC.
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All authors Changrui Liu, Shengling Shi, Anil Alan, Ganesh Kumar Venayagamoorthy, Bart De Schutter

2510.20040 · 22 Oct · Submitted to Engineering Applications of Artificial Intelligence (EAAI) and IFAC WC 2026 (Accepted by the IFAC WC 2026) Main changes: (1) extensive simulations with real data; (2) formal feasibility and recursive feasibility guarantees using discrete-time control barrier functions

Signal Processing

NanoHydra: Energy-Efficient Time-Series Classification at the Edge

Time series classification (TSC) on extreme edge devices represents a stepping stone towards intelligent sensor nodes that preserve user privacy and offer real-time predictions. Resource-constrained devices require efficient TinyML algorithms that prolong the device lifetime of battery-operated devices without compromising the classification accuracy. We introduce NanoHydra, a TinyML TSC methodology relying on lightweight binary random convolutional kernels to extract meaningful features from data streams. We demonstrate our system on the ultra-low-power GAP9 microcontroller, exploiting its eight-core cluster for the parallel execution of computationally intensive tasks. We achieve a classification accuracy of up to 94.47% on ECG5000 dataset, comparable with state-of-the-art works. Our efficient NanoHydra requires only 0.33 ms to accurately classify a 1-second long ECG signal. With a modest energy consumption of 7.69 uJ per inference, 18x more efficient than the state-of-the-art, NanoHydra is suitable for smart wearable devices, enabling a device lifetime of over four years.
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All authors Cristian Cioflan, Jose Fonseca, Xiaying Wang, Luca Benini

Systems and Control

IMAS$^2$: Joint Agent Selection and Information-Theoretic Coordinated Perception In Dec-POMDPs

We study the problem of jointly selecting sensing agents and synthesizing decentralized active perception policies for the chosen subset of agents within a Decentralized Partially Observable Markov Decision Process (Dec-POMDP) framework. Our approach employs a two-layer optimization structure. In the inner layer, we introduce information-theoretic metrics, defined by the mutual information between the unknown trajectories or some hidden property in the environment and the collective partial observations in the multi-agent system, as a unified objective for active perception problems. We employ various optimization methods to obtain optimal sensor policies that maximize mutual information for distinct active perception tasks. In the outer layer, we prove that under certain conditions, the information-theoretic objectives are monotone and submodular with respect to the subset of observations collected from multiple agents. We then exploit this property to design an IMAS$^2$ (Information-theoretic Multi-Agent Selection and Sensing) algorithm for joint sensing agent selection and sensing policy synthesis. However, since the policy search space is infinite, we adapt the classical Nemhauser-Wolsey argument to prove that the proposed IMAS$^2$ algorithm can provide a tight $(1 - 1/e)$-guarantee on the performance. Finally, we demonstrate the effectiveness of our approach in a multi-agent cooperative perception in a grid-world environment.
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All authors Chongyang Shi, Wesley A. Suttle, Michael Dorothy, Jie Fu

Signal Processing

MATLAB-Simulated Dataset for Automatic Modulation Classification in Wireless Fading Channels

Accurate modulation classification is a core challenge in cognitive radio, adaptive communications, spectrum analysis, and related domains, especially under dynamic channels without transmitter knowledge. To address this need, this article presents a labeled synthetic dataset designed for wireless modulation classification under realistic propagation scenarios. The signals were generated in MATLAB by modulating randomly generated bitstreams using five digital modulation schemes: BPSK, QPSK, 16-QAM, 64-QAM, and 256-QAM. These signals were then transmitted through Rayleigh and Rician fading channels with standardized parameters, along with additional impairments to enhance realism and diversity. Each modulated signal contains 1000 symbols. A comprehensive set of features was extracted from the signals, encompassing statistical, time-domain, frequency-domain, spectrogram-based, spectral correlation-based, and image-processing-based descriptors such as BRISK, MSER, and GLCM. The dataset is organized into 10 CSV files covering two channel types (Rayleigh and Rician) across five sampling frequencies: 1 MHz, 10 MHz, 100 MHz, 500 MHz, and 1 GHz. To facilitate reproducibility and encourage further experimentation, the MATLAB scripts used for signal generation and feature extraction are also provided. This dataset serves as a valuable benchmark for developing and evaluating machine learning models in modulation classification, signal identification, and wireless communication research.
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Image and Video Processing

Seed3D 1.0: From Images to High-Fidelity Simulation-Ready 3D Assets

Developing embodied AI agents requires scalable training environments that balance content diversity with physics accuracy. World simulators provide such environments but face distinct limitations: video-based methods generate diverse content but lack real-time physics feedback for interactive learning, while physics-based engines provide accurate dynamics but face scalability limitations from costly manual asset creation. We present Seed3D 1.0, a foundation model that generates simulation-ready 3D assets from single images, addressing the scalability challenge while maintaining physics rigor. Unlike existing 3D generation models, our system produces assets with accurate geometry, well-aligned textures, and realistic physically-based materials. These assets can be directly integrated into physics engines with minimal configuration, enabling deployment in robotic manipulation and simulation training. Beyond individual objects, the system scales to complete scene generation through assembling objects into coherent environments. By enabling scalable simulation-ready content creation, Seed3D 1.0 provides a foundation for advancing physics-based world simulators. Seed3D 1.0 is now available on https://console.volcengine.com/ark/region:ark+cn-beijing/experience/vision?modelId=doubao-seed3d-1-0-250928&tab=Gen3D
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All authors Jiashi Feng, Xiu Li, Jing Lin, Jiahang Liu, Gaohong Liu, Weiqiang Lou, Su Ma, Guang Shi, Qinlong Wang, Jun Wang, Zhongcong Xu, Xuanyu Yi, Zihao Yu, Jianfeng Zhang, Yifan Zhu, Rui Chen, Jinxin Chi, Zixian Du, Li Han, Lixin Huang, Kaihua Jiang, Yuhan Li, Guan Luo, Shuguang Wang, Qianyi Wu, Fan Yang, Junyang Zhang, Xuanmeng Zhang

Image and Video Processing

Visible Iris Area as a Quality Metric for Reliable Iris Recognition Under Pupil Dilation and Eyelid Occlusion

With the increasing adoption of iris recognition systems and the expansion of large-scale enrollment databases, there is a growing need to efficiently assess iris image quality at the time of acquisition, particularly to model user non-compliance in real time. Image quality may degrade due to eyelid occlusion or pupil dilation. Although previous studies have shown that occlusion and changes in the pupil-to-iris ratio negatively impact recognition performance, these investigations were typically limited by small sample sizes and did not examine the combined effects of eyelid and pupil variations. In this study, we analyze both dilation and eyelid occlusion using a large dataset of 555 distinct irises and demonstrate a strong correlation between probe image visible iris area and the Hamming distance of iris code pairs. These results suggest that visible iris area is a robust indicator of probe image quality and could be efficiently incorporated into the iris acquisition process to improve confidence in match predictions.
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All authors Jack Pessaud, Eric Moran, John Nguyen, Joel Palko

Systems and Control · Cross-listed from math.OC

Nodal Capacity Expansion Planning with Flexible Large-Scale Load Siting

We propose explicitly incorporating large-scale load siting into a stochastic nodal power system capacity expansion planning model that concurrently co-optimizes generation, transmission and storage expansion. The potential operational flexibility of some of these large loads is also taken into account by considering them as consisting of a set of tranches with different reliability requirements, which are modeled as a constraint on expected served energy across operational scenarios. We implement our model as a two-stage stochastic mixed-integer optimization problem with cross-scenario expectation constraints. To overcome the challenge of scalability, we build upon existing work to implement this model on a high performance computing platform and exploit scenario parallelization using an augmented Progressive Hedging Algorithm. The algorithm is implemented using the bounding features of mpisppy, which have shown to provide satisfactory provable optimality gaps despite the absence of theoretical guarantees of convergence. We test our approach to assess the value of this proactive planning framework on total system cost and reliability metrics using realistic testcases geographically assigned to San Diego and South Carolina, with datacenter and direct air capture facilities as large loads.
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Signal Processing

Interpretable machine learning for identifying individual-specific cardiogram signatures

This study investigates cardiogram-based biometric identification as a physiological authentication problem, focusing on the discriminative capacity of electrocardiogram (ECG) and impedance cardiogram (ICG) features and their robustness to emotional variability. A total of 29 features spanning four domains (temporal, amplitude, slope, and morphological) are evaluated using random forest (RF) models combined with multiple interpretability methods. Features derived from ECG and ICG rank consistently among the top 10 most important by Gini importance, permutation importance, and Shapley additive explanations (SHAP) values, with ECG-derived QRS descriptors occupying the highest positions. In parallel, BCX features derived from ICG provide complementary information, although their stability across methods is lower. Correlation analysis reveals substantial multicollinearity, where the RF distributes and diminishes importance across highly correlated pairs, confirming reduced independent contributions. Statistical analysis identifies 14 features that differ significantly between baseline and anger, without a clear pattern by domain. Feature selection with recursive feature elimination and genetic algorithms converges on a subset (12 features) that attains accuracy within 1% of the full set (99%), improving efficiency in storage and computation. Complementary analyses indicate that individual differences are primarily encoded in ECG features describing QRS amplitude, slope, morphology, and duration, with the first three remaining stable between baseline and anger, and duration being the only selected QRS feature that changes significantly. BCX amplitude features provide supportive but less stable discriminatory cues. More broadly, the proposed framework may help distinguish stable person-related characteristics, such as identity and personality-related traits, from transient affective changes.
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All authors Ilija Tanasković, Ljiljana B. Lazarević, Goran Knežević, Nikola Milosavljević, Olga Dubljević, Bojana Bjegojević, Nadica Miljković

Systems and Control

Bridging Earth and Space: A Survey on HAPS for Non-Terrestrial Networks

HAPS are emerging as key enablers in the evolution of 6G wireless networks, bridging terrestrial and non-terrestrial infrastructures. Operating in the stratosphere, HAPS can provide wide-area coverage, low-latency, energy-efficient broadband communications with flexible deployment options for diverse applications. This survey delivers a comprehensive overview of HAPS use cases, technologies, and integration strategies within the 6G ecosystem. The roles of HAPS in extending connectivity to underserved regions, supporting dynamic backhauling, enabling massive IoT, and delivering reliable low-latency communications for autonomous and immersive services are discussed. The paper reviews state-of-the-art architectures for terrestrial and non-terrestrial network integration, highlights recent field trials. Furthermore, key enabling technologies such as channel modeling, AI-driven resource allocation, interference control, mobility management, and energy-efficient communications are examined. The paper also outlines open research challenges. By addressing existing gaps in the literature, this survey positions HAPS as a foundational component of globally integrated, resilient, and sustainable 6G networks.
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All authors G. Svistunov, A. Akhtarshenas, D. López-Pérez, M. Giordani, G. Geraci, H. Yanikomeroglu

Signal Processing

Micro-Doppler Energy-Based Robust Multi-Target Vital Signs Monitoring Using 77-GHz FMCW Radar with Spatiotemporal Adaptive Processing

This paper presents a novel micro-Doppler energy-based framework for robust multi-target vital signs monitoring using 77-GHz Frequency-Modulated Continuous-Wave (FMCW) radar. Unlike conventional phase-based methods that are susceptible to environmental noise, random body movements, and stringent calibration requirements, our approach exploits the energy variations in radar returns induced by cardiopulmonary activities. The proposed system integrates a comprehensive processing pipeline including space-time adaptive processing (STAP) for target detection and tracking, MUSIC algorithm for high-resolution angle estimation, and an innovative adaptive spectral filtering technique for vital signs extraction. We establish a rigorous mathematical framework that formalizes the relationship between micro-Doppler energy variations and physiological activities, enabling robust separation of closely spaced targets. The key innovation lies in the micro-Doppler energy extraction methodology that provides inherent robustness to phase noise and motion artifacts. Experimental results using millimeter-wave radar datasets demonstrate that the system can accurately detect and separate vital signs of up to four targets within \SI{5}{\meter} range, achieving mean absolute errors of \SI{1.2}beats per minute and \SI{2.3} beats per minute for respiration and heart rates, respectively. The proposed approach demonstrates superior performance compared to traditional phase-based methods, particularly in challenging multi-target scenarios with environmental noise and subject movement.
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All authors Chenxing Tan, Yuguan Hou, Hao Wang, Zhonghao Yuan

Signal Processing

Multilayer Perceptron Neural Network Model: A Novel Approach for LFP Contrast Sensitivity Tuning

Local field potentials (LFPs) have been demonstrated to be an important measurement to study the activity of a local population of neurons. The response tunings of LFPs have been mostly reported as weaker and broader than spike tunings. Therefore, selecting optimized tuning methods is essential for appropriately evaluating the LFP responses and comparing them with neighboring spiking activity. In this paper, new models for tuning of the contrast response functions (CRFs) are proposed. To this end, luminance contrast-evoked LFP responses recorded in primate primary visual cortex (V1) are first analyzed. Then, supersaturating CRFs are distinguished from linear and saturating CRFs by using monotonicity index (MI). The supersaturated recording data are then identified through static identification methods including multilayer perceptron (MLP) neural network, radial basis function (RBF) neural network, fuzzy model, neuro-fuzzy model, and the local linear model tree (LOLIMOT) algorithm. Our results demonstrate that the MLP neural network, compared to traditional and modified hyperbolic Naka-Rushton functions, exhibits superior performance in tuning the local field potential responses to luminance contrast stimuli, resulting in successful tuning of a significantly higher number of neural recordings of all three types. These results suggest that the MLP neural network model can be used as a novel approach to measure a better fitted contrast sensitivity tuning curve of a population of neurons than other currently used models.
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All authors Sahar Maleki, Reza Lashgari, Mahdi Aliyari Shoorehdeli, Mohammad Komareji