Papers

This paper presents a systematic analysis of inter-symbol and inter-carrier interference (ISCI) modeling in doubly dispersive channels for integrated sensing and communication (ISAC) systems. We propose a generalized OFDM (Weyl-Heisenberg) framework to evaluate four ISCI treatment approaches: (1) explicit estimation and compensation, (2) complete ignorance, (3) uncorrelated colored noise approximation, and (4) correlated colored noise modeling. Through continuous delay-Doppler channel characterization, we derive LMMSE channel estimators and corresponding estimation errors (as sensing metrics) for both pilot-assisted and fully-known symbol scenarios. The communication performance is quantified via ergodic capacity bounds under imperfect CSI. Our theoretical analysis and numerical results reveal fundamental performance-complexity trade-offs, providing insights for practical ISAC waveform and receiver design in doubly dispersive channels.

This paper studies targeted opinion formation in multi-agent systems evolving over signed, time-varying directed graphs. The dynamics of each agent's state follow a Laplacian-based update rule driven by both cooperative and antagonistic interactions in the presence of exogenous factors. We formulate these exogenous factors as external control inputs and establish a suitable controller design methodology enabling collective opinion to converge to any desired steady-state configuration, superseding the natural emergent clustering or polarization behavior imposed by persistently structurally balanced influential root nodes. Our approach leverages upper Dini derivative analysis and Grönwall-type inequalities to establish exponential convergence for opinion magnitude towards the desired steady state configuration on networks with uniform quasi-strong $\delta$-connectivity. Finally, the theoretical results are validated through extensive numerical simulations.

Analog matrix computing (AMC) circuits based on resistive random-access memory (RRAM) have shown strong potential for accelerating matrix operations. However, as matrix size grows, interconnect resistance increasingly degrades computational accuracy and limits circuit scalability. Modeling and evaluating these effects are therefore critical for developing effective mitigation strategies. Traditional SPICE (Simulation Program with Integrated Circuit Emphasis) simulators, which rely on modified nodal analysis, become prohibitively slow for large-scale AMC circuits due to the quadratic growth of nodes and feedback connections. In this work, we model AMC circuits with interconnect resistance for two key operations-matrix inversion (INV) and eigenvector computation (EGV), and propose fast solving algorithms tailored for each case. The algorithms exploit the sparsity of the Jacobian matrix, enabling rapid and accurate solutions. Compared to SPICE, they achieve several orders of magnitude acceleration while maintaining high accuracy. We further extend the approach to open-loop matrix-vector multiplication (MVM) circuits, demonstrating similar efficiency gains. Finally, leveraging these fast solvers, we develop a bias-based compensation strategy that reduces interconnect-induced errors by over 50% for INV and 70% for EGV circuits. It also reveals the scaling behavior of the optimal bias with respect to matrix size and interconnect resistance.

Recent work on wireless radiance fields represents a promising deep learning approach for channel prediction, however, in complex environments these methods still exhibit limited robustness, slow convergence, and modest accuracy due to insufficiently refined modeling. To address this issue, we propose Mip-NeWRF, a physics-informed neural framework for accurate indoor channel prediction based on sparse channel measurements. The framework operates in a ray-based pipeline with coarse-to-fine importance sampling: frustum samples are encoded, processed by a shared multilayer perceptron (MLP), and the outputs are synthesized into the channel frequency response (CFR). Prior to MLP input, Mip-NeWRF performs conical-frustum sampling and applies a scale-consistent hybrid positional encoding to each frustum. The scale-consistent normalization aligns positional encodings across scene scales, while the hybrid encoding supplies both scale-robust, low-frequency stability to accelerate convergence and fine spatial detail to improve accuracy. During training, a curriculum learning schedule is applied to stabilize and accelerate convergence of the shared MLP. During channel synthesis, the MLP outputs, including predicted virtual transmitter presence probabilities and amplitudes, are combined with modeled pathloss and surface interaction attenuation to enhance physical fidelity and further improve accuracy. Simulation results demonstrate the effectiveness of the proposed approach: in typical scenarios, the normalized mean square error (NMSE) is reduced by 14.3 dB versus state-of-the-art baselines.

This paper investigates the optimal pilot pattern design, in the linear minimum mean square error (LMMSE) estimator sense, for OFDM systems in doubly dispersive channels. To enable analytical tractability, the channel covariance matrix is decomposed into the Kronecker product of two Hermitian Toeplitz matrices corresponding to the delay and Doppler domains. By invoking the Szegö limit theorem, these matrices are shown to be approximately diagonalizable by discrete Fourier transform (DFT) matrices. Based on this structure, the LMMSE channel estimation error is reformulated into a compact analytical form, from which a closed-form lower bound is derived. Furthermore, we establish the condition under which this bound is achieved by a lattice-based pilot pattern. Numerical results verify that the proposed matrix approximation introduces negligible error and examples of the proposed lattice design are given.

The Tactile Internet requires ultra-low latency and high-fidelity haptic feedback to enable immersive teleoperation. A key challenge is to ensure ultra-reliable and low-latency transmission of haptic packets under channel variations and potential network outages. To address these issues, one approach relies on local estimation of haptic feedback at the operator side. However, designing an accurate estimator that can faithfully reproduce the true haptic forces remains a significant challenge. In this paper, we propose a novel deep learning architecture, xHAP, based on cross-modal attention to estimate haptic feedback. xHAP fuses information from two distinct data streams: the teleoperator's historical force feedback and the operator's control action sequence. We employ modality-specific encoders to learn temporal representations, followed by a cross-attention layer where the teleoperator haptic data attend to the operator input. This fusion allows the model to selectively focus on the most relevant operator sensory data when predicting the teleoperator's haptic feedback. The proposed architecture reduces the mean-squared error by more than two orders of magnitude compared to existing methods and lowers the SNR requirement for reliable transmission by $10~\mathrm{dB}$ at an error threshold of $0.1$ in a 3GPP UMa scenario. Additionally, it increases coverage by $138\%$ and supports $59.6\%$ more haptic users even under 10 dB lower SNR compared to the baseline.

The operational lifetime of energy-harvesting wireless sensor nodes is limited by availability of the energy source and the capacity of the installed energy buffer. When a sensor node depletes its energy reserves, manual intervention is often required to resume node operation. While lowering the duty cycle would help extend the network lifetime, this is often undesirable, especially in time-critical applications, where rapid collection and dissemination of information is vital. In this paper, we propose a context-aware energy management policy that helps balance the two opposing objectives of timely data collection and dissemination with energy conservation. We capture these objectives through the Value of Information (VoI) of observations made by a sensor node and the State of Energy (SoE) of the energy buffer. We formulate the energy management policy as a Model Predictive Control (MPC) problem which computes device sampling and transmission frequencies to maximize a defined utility criterion over a finite, receding, time-horizon. In the process, we also develop a unique mathematical representation for VoI, that adequately captures aspects related to continuity in monitoring, urgency of dissemination, and representation of the phenomena being observed. In the end, we use data collected from a real-world flash flood event, to evaluate our decision framework across multiple scenarios of energy availability.

This paper presents a unified framework that connects sequential quadratic programming (SQP) and the iterative linear-parameter-varying model predictive control (LPV-MPC) technique. Using the differential formulation of the LPV-MPC, we demonstrate how SQP and LPV-MPC can be unified through a specific choice of scheduling variable and the 2nd Fundamental Theorem of Calculus (FTC) embedding technique and compare their convergence properties. This enables the unification of the zero-order approach of SQP with the LPV-MPC scheduling technique to enhance the computational efficiency of robust and stochastic MPC problems. To demonstrate our findings, we compare the two schemes in a simulation example. Finally, we present real-time feasibility and performance of the zero-order LPV-MPC approach by applying it to Gaussian process (GP)-based MPC for autonomous racing with real-world experiments.

With the explosive advancement of unmanned aerial vehicles (UAVs), the security of efficient UAV networks has become increasingly critical. Owing to the open nature of its communication environment, illegitimate malicious UAVs (MUs) can infer the position of the source UAV (SU) by analyzing received signals, thus compromising the SU location privacy. To protect the SU location privacy while ensuring efficient communication with legitimate receiving UAVs (RUs), we propose an Active Reconfigurable Intelligent Surface (ARIS)-assisted covert communication scheme based on virtual partitioning and artificial noise (AN). Specifically, we design a novel ARIS architecture integrated with an AN module. This architecture dynamically partitions its reflecting elements into multiple sub-regions: one subset is optimized to enhance the communication rate between the SU and RUs, while the other subset generates AN to interfere with the localization of the SU by MUs. We first derive the Cramér-Rao Lower Bound (CRLB) for the localization with received signal strength (RSS), based on which, we establish a joint optimization framework for communication enhancement and localization interference. Subsequently, we derive and validate the optimal ARIS partitioning and power allocation under average channel conditions. Finally, tailored optimization methods are proposed for the reflection precoding and AN design of the two partitions. Simulation results validate that, compared to baseline schemes, the proposed scheme significantly increases the localization error of the SU by MUs while maintaining efficient communication between the SU and RUs, thereby effectively protecting the SU location privacy.

Video-to-music (V2M) generation aims to create music that aligns with visual content. However, two main challenges persist in existing methods: (1) the lack of explicit rhythm modeling hinders audiovisual temporal alignments; (2) effectively integrating various visual features to condition music generation remains non-trivial. To address these issues, we propose Diff-V2M, a general V2M framework based on a hierarchical conditional diffusion model, comprising two core components: visual feature extraction and conditional music generation. For rhythm modeling, we begin by evaluating several rhythmic representations, including low-resolution mel-spectrograms, tempograms, and onset detection functions (ODF), and devise a rhythmic predictor to infer them directly from videos. To ensure contextual and affective coherence, we also extract semantic and emotional features. All features are incorporated into the generator via a hierarchical cross-attention mechanism, where emotional features shape the affective tone via the first layer, while semantic and rhythmic features are fused in the second cross-attention layer. To enhance feature integration, we introduce timestep-aware fusion strategies, including feature-wise linear modulation (FiLM) and weighted fusion, allowing the model to adaptively balance semantic and rhythmic cues throughout the diffusion process. Extensive experiments identify low-resolution ODF as a more effective signal for modeling musical rhythm and demonstrate that Diff-V2M outperforms existing models on both in-domain and out-of-domain datasets, achieving state-of-the-art performance in terms of objective metrics and subjective comparisons. Demo and code are available at https://Tayjsl97.github.io/Diff-V2M-Demo/.

Automatic speech recognition (ASR) systems often rely on autoregressive (AR) Transformer decoder architectures, which limit efficient inference parallelization due to their sequential nature. To this end, non-autoregressive (NAR) approaches aim primarily to achieve significant decoding speedup while the maintaining recognition accuracy that is comparable to AR baselines. This paper proposes a novel NAR block-based attention mask decoder (AMD) that effectively improves decoding efficiency while maintaining ASR accuracy, and also offering flexibility in balancing the performance-efficiency trade-off on both Conformer and large language model (LLM)-based ASR systems. The proposed AMD performs parallel inference within contiguous blocks of output labels while maintaining monotonic left-to-right prediction between blocks. A one-pass beam search algorithm is designed to dynamically fuse Connectionist Temporal Classification (CTC), AR decoder, and AMD probabilities. Experiments are conducted on normal speech LS960 and DBank elderly speech across: a) The Conformer encoder-decoder ASR system with filterbank input features; b) its integration with WavLM features; and c) further advancement by integrating an LLM-based decoder. On the LS960 task, the proposed AMD empowered tripartite decoder achieves decoding speedup ratios of up to 1.44x, 1.55x, and 2.31x under the three model configurations over the CTC + AR baselines, without statistically significant WER increases. When operating with real-time factors (RTFs) comparable to the baselines, the tripartite decoder produces statistically significant WER reductions of 0.19%, 0.62% and 0.13% absolute (4.3%, 16.3%, and 3.8% relative). Similar improvements are also obtained on the DBank task.

Electromyogram (EMG)-based motion classification using machine learning has been widely employed in applications such as prosthesis control. While previous studies have explored generating synthetic patterns of combined motions to reduce training data requirements, these methods assume that combined motions can be represented as linear combinations of basic motions. However, this assumption often fails due to complex neuromuscular phenomena such as muscle co-contraction, resulting in low-fidelity synthetic signals and degraded classification performance. To address this limitation, we propose a novel method that learns to synthesize combined motion patterns in a structured latent space. Specifically, we employ a variational autoencoder (VAE) to encode EMG signals into a low-dimensional representation and introduce a mixconsistency loss that structures the latent space such that combined motions are embedded between their constituent basic motions. Synthetic patterns are then generated within this structured latent space and used to train classifiers for recognizing unseen combined motions. We validated our approach through upper-limb motion classification experiments with eight healthy participants. The results demonstrate that our method outperforms input-space synthesis approaches, achieving approximately 30% improvement in accuracy.

Radar-based human activity recognition (HAR) still lacks a comprehensive simulation method. Existing software is developed based on models or motion-captured data, resulting in limited flexibility. To address this issue, a simulator that directly generates Doppler spectra from recorded video footage (RadHARSimulator V2) is presented in this paper. Both computer vision and radar modules are included in the simulator. In computer vision module, the real-time model for object detection with global nearest neighbor is first used to detect and track human targets in the video. Then, the high-resolution network is used to estimate two-dimensional poses of the detected human targets. Next, the three-dimensional poses of the detected human targets are obtained by nearest matching method. Finally, smooth temporal three-dimensional pose estimation is achieved through Kalman filtering. In radar module, pose interpolation and smoothing are first achieved through the Savitzky-Golay method. Second, the delay model and the mirror method are used to simulate echoes in both free-space and through-the-wall scenarios. Then, range-time map is generated using pulse compression, moving target indication, and DnCNN. Next, Doppler-time map (DTM) is generated using short-time Fourier transform and DnCNN again. Finally, the ridge features on the DTM are extracted using the maximum local energy method. In addition, a hybrid parallel-serial neural network architecture is proposed for radar-based HAR. Numerical experiments are conducted and analyzed to demonstrate the effectiveness of the designed simulator and the proposed network model. The open-source code of this work can be found in: https://github.com/JoeyBGOfficial/RadHARSimulatorV2-Video-to-Doppler-Generator.

The Kalman filter and Rauch-Tung-Striebel (RTS) smoother are optimal for state estimation in linear dynamic systems. With nonlinear systems, the challenge consists in how to propagate uncertainty through the state transitions and output function. For the case of a neural network model, we enable accurate uncertainty propagation using a recent state-of-the-art analytic formula for computing the mean and covariance of a deep neural network with Gaussian input. We argue that cross entropy is a more appropriate performance metric than RMSE for evaluating the accuracy of filters and smoothers. We demonstrate the superiority of our method for state estimation on a stochastic Lorenz system and a Wiener system, and find that our method enables more optimal linear quadratic regulation when the state estimate is used for feedback. Code available at https: //github.com/simontheflutist/analytic-moments.

Integrate-and-fire time encoding machines (IF-TEMs) provide an efficient framework for asynchronous sampling of bandlimited signals through discrete firing times. However, conventional IF-TEMs often exhibit excessive oversampling, leading to inefficient encoding for signals with smoothly distributed information. This letter introduces a linear-bias IF-TEM (LB-IF-TEM), where the bias dynamically tracks the input signal to maintain a nearly constant integrator input, thereby localizing the firing intervals. The resulting concentrated distribution enables effective non-uniform quantization with reduced distortion. Theoretical analysis establishes explicit bounds on the achievable oversampling range, while experimental results demonstrate that the proposed method attains comparable reconstruction accuracy at significantly lower bitrate than existing IF-TEM variants. The LB-IF-TEM thus provides a low-power, communication-efficient, and analytically tractable framework for time-based signal encoding and reconstruction.

The exploding power consumption of AI and cloud datacenters (DCs) intensifies the long-standing concerns about their carbon footprint, especially because DCs' need for constant power clashes with volatile renewable generation needed for grid decarbonization. DC flexibility (a.k.a. load adaptation) is a key to reducing DC carbon emissions by improving grid renewable absorption. DC flexibility can be created, without disturbing datacenter capacity by decoupling a datacenter's power capacity and grid load with a collection of energy resources. Because decoupling can be costly, we study how to best distribute and manage decoupling to maximize benefits for all. Key considerations include site variation and datacenter-grid cooperation. We first define and compute the power and energy needs of datacenter load decoupling, and then we evaluate designed distribution and management approaches. Evaluation shows that optimized distribution can deliver >98% of the potential grid carbon reduction with 70% of the total decoupling need. For management, DC-grid cooperation (2-way sharing and control vs. 1-way info sharing) enables 1.4x grid carbon reduction. Finally, we show that decoupling may be economically viable, as on average datacenters can get power cost and carbon emissions benefits greater than their local costs of decoupling. However, skew across sites suggests grid intervention may be required.

In today competitive business environment, efficient logistics are essential, especially in industries where timely delivery matters. This research aims to improve warehouse picking cycle time through simulation-based analysis, using a leading plumbing equipment distributor in Thailand as a case study. The study identifies inefficiencies such as disorganized storage and poor placement of high-frequency items that slow down picking. To address this, an optimized storage approach using ABC analysis is proposed, prioritizing high-demand items near the entrance. Three storage policies-Fixed, Random, and Combination (Fixed Zone)-are tested with a Zone Picking strategy through simulation to identify the most efficient picking routes. The findings provide insights for improving warehouse layout and inventory placement to enhance overall performance.

Region of Interest (ROI)-based image compression has rapidly developed due to its ability to maintain high fidelity in important regions while reducing data redundancy. However, existing compression methods primarily apply masks to suppress background information before quantization. This explicit bit allocation strategy, which uses hard gating, significantly impacts the statistical distribution of the entropy model, thereby limiting the coding performance of the compression model. In response, this work proposes an efficient ROI-based deep image compression model with implicit bit allocation. To better utilize ROI masks for implicit bit allocation, this paper proposes a novel Mask-Guided Feature Enhancement (MGFE) module, comprising a Region-Adaptive Attention (RAA) block and a Frequency-Spatial Collaborative Attention (FSCA) block. This module allows for flexible bit allocation across different regions while enhancing global and local features through frequencyspatial domain collaboration. Additionally, we use dual decoders to separately reconstruct foreground and background images, enabling the coding network to optimally balance foreground enhancement and background quality preservation in a datadriven manner. To the best of our knowledge, this is the first work to utilize implicit bit allocation for high-quality regionadaptive coding. Experiments on the COCO2017 dataset show that our implicit-based image compression method significantly outperforms explicit bit allocation approaches in rate-distortion performance, achieving optimal results while maintaining satisfactory visual quality in the reconstructed background regions.

Human activity recognition (HAR) with millimeter-wave (mmWave) radar offers a privacy-preserving and robust alternative to camera- and wearable-based approaches. In this work, we propose the Occupancy-Gated Parallel-CNN Bi-LSTM (OG-PCL) network to process sparse 3D radar point clouds produced by mmWave sensing. Designed for lightweight deployment, the parameter size of the proposed OG-PCL is only 0.83M and achieves 91.75 accuracy on the RadHAR dataset, outperforming those existing baselines such as 2D CNN, PointNet, and 3D CNN methods. We validate the advantages of the tri-view parallel structure in preserving spatial information across three dimensions while maintaining efficiency through ablation studies. We further introduce the Occupancy-Gated Convolution (OGConv) block and demonstrate the necessity of its occupancy compensation mechanism for handling sparse point clouds. The proposed OG-PCL thus offers a compact yet accurate framework for real-time radar-based HAR on lightweight platforms.

The high-temperature glassblowing-fabricated micro hemispherical resonator (MHR) exhibits high symmetry and high Q-value for precision inertial navigation. However, MHR design entails a comprehensive evaluation of multiple possible configurations and demands extremely time-consuming simulation of key parameters combination. To address this problem, this paper proposed a rapid prediction method of modal frequency and actual anchor radius of designed MHR using an improved Transformer-LSTM (Long Short-Term Memory) model for rapid design sizing. High-temperature-induced softening deformation at the anchor point reduces the actual anchor radius below the designed value. By varying key parameters such as resonator height, anchor radius and edge thickness, finite element glassblowing simulation and modal analyse were conducted to obtain the first six modal frequencies and actual anchor radius. To address regression prediction challenges with limited data, dual multi-head self-attention (MHSA) mechanisms replaced the transformer's standard Feed Forward Network, to improve hidden information capture for high-accuracy predictions of modal frequencies and anchor radius. By checking fabricating feasibility of anchor radius and allowing rapid modal characteristics evaluation without interference, ablation and comparative experiments validated the method's superiority, as an effective support of MHR design. Design optimization experiments demonstrate a prediction accuracy of 96.35%, with computational time reduced to 1/48,000 of traditional finite element methods, significantly improving design efficiency. This study offers a new paradigm for intelligent Micro-Electro-Mechanical System (MEMS) device design under complex process conditions.

Graph super-resolution, the task of inferring high-resolution (HR) graphs from low-resolution (LR) counterparts, is an underexplored yet crucial research direction that circumvents the need for costly data acquisition. This makes it especially desirable for resource-constrained fields such as the medical domain. While recent GNN-based approaches show promise, they suffer from two key limitations: (1) matrix-based node super-resolution that disregards graph structure and lacks permutation invariance; and (2) reliance on node representations to infer edge weights, which limits scalability and expressivity. In this work, we propose two GNN-agnostic frameworks to address these issues. First, Bi-SR introduces a bipartite graph connecting LR and HR nodes to enable structure-aware node super-resolution that preserves topology and permutation invariance. Second, DEFEND learns edge representations by mapping HR edges to nodes of a dual graph, allowing edge inference via standard node-based GNNs. We evaluate both frameworks on a real-world brain connectome dataset, where they achieve state-of-the-art performance across seven topological measures. To support generalization, we introduce twelve new simulated datasets that capture diverse topologies and LR-HR relationships. These enable comprehensive benchmarking of graph super-resolution methods.

This paper investigates a lightweight deep reinforcement learning (DRL)-assisted weighting framework for CSI-free multi-satellite positioning in LEO constellations, where each visible satellite provides one serving beam (one pilot response) per epoch. A discrete-action Deep Q-Network (DQN) learns satellite weights directly from received pilot measurements and geometric features, while an augmented weighted least squares (WLS) estimator provides physics-consistent localization and jointly estimates the receiver clock bias. The proposed hybrid design targets an accuracy-runtime trade-off rather than absolute supervised optimality. In a representative 2-D setting with 10 visible satellites, the proposed approach achieves sub-meter accuracy (0.395m RMSE) with low computational overhead, supporting practical deployment for resource-constrained LEO payloads.

This paper presents a measurement-driven study of early warning for reliability breakdown events in 5G non-standalone (NSA) railway networks. Using 10 Hz metro-train measurement traces with serving- and neighbor-cell indicators, we benchmark six representative learning models, including CNN, LSTM, XGBoost, Anomaly Transformer, PatchTST, and TimesNet, under multiple observation windows and prediction horizons. Rather than proposing a new prediction architecture, this study develops a measurement-driven benchmark to quantify the feasibility and operating trade-offs of seconds-ahead reliability prediction in 5G NSA railway environments. Experimental results show that learning models can anticipate radio link failure (RLF)-related reliability breakdown events seconds in advance using lightweight radio features available on commercial devices. The presented benchmark provides insights for sensing-assisted communication control and offers an empirical foundation for integrating sensing and analytics into future mobility control.

Recent progress in diffusion-based generative models has enabled high-quality image synthesis conditioned on diverse modalities. Extending such models to brain signals could deepen our understanding of human perception and mental representations. However,electroencephalography (EEG) presents major challenges for image generation due to high noise, low spatial resolution, and strong inter-subject variability. Existing approaches,such as DreamDiffusion, BrainVis, and GWIT, primarily adapt EEG features to pre-trained Stable Diffusion models using complex alignment or classification pipelines, often resulting in large parameter counts and limited interpretability. We introduce SYNAPSE, a two-stage framework that bridges EEG signal representation learning and high-fidelity image synthesis. In Stage1, a CLIP-aligned EEG autoencoder learns a semantically structured latent representation by combining signal reconstruction and cross-modal alignment objectives. In Stage2, the pretrained encoder is frozen and integrated with a lightweight adaptation of Stable Diffusion, enabling efficient conditioning on EEG features with minimal trainable parameters. Our method achieves a semantically coherent latent space and state-of-the-art perceptual fidelity on the CVPR40 dataset, outperforming prior EEG-to-image models in both reconstruction efficiency and image quality. Quantitative and qualitative analyses demonstrate that SYNAPSE generalizes effectively across subjects, preserving visual semantics even when class-level agreement is reduced. These results suggest that reconstructing what the brain perceives, rather than what it classifies, is key to faithful EEG-based image generation.

Prompt-driven vision foundation models, such as the Segment Anything Model, have recently demonstrated remarkable adaptability in computer vision. However, their direct application to medical imaging remains challenging due to heterogeneous tissue structures, imaging artefacts, and low-contrast boundaries, particularly in tumours and cancer primaries leading to suboptimal segmentation in ambiguous or overlapping lesion regions. Here, we present Segment Any Tumour 3D (SAT3D), a lightweight volumetric foundation model designed to enable robust and generalisable tumour segmentation across diverse medical imaging modalities. SAT3D integrates a shifted-window vision transformer for hierarchical volumetric representation with an uncertainty-aware training pipeline that explicitly incorporates uncertainty estimates as prompts to guide reliable boundary prediction in low-contrast regions. Adversarial learning further enhances model performance for the ambiguous pathological regions. We benchmark SAT3D against three recent vision foundation models and nnUNet across 11 publicly available datasets, encompassing 3,884 tumour and cancer cases for training and 694 cases for in-distribution evaluation. Trained on 17,075 3D volume-mask pairs across multiple modalities and cancer primaries, SAT3D demonstrates strong generalisation and robustness. To facilitate practical use and clinical translation, we developed a 3D Slicer plugin that enables interactive, prompt-driven segmentation and visualisation using the trained SAT3D model. Extensive experiments highlight its effectiveness in improving segmentation accuracy under challenging and out-of-distribution scenarios, underscoring its potential as a scalable foundation model for medical image analysis.

This paper presents the Jump Markov Filtering Network (JMFNet), a novel model-based deep learning framework for real-time state-state estimation in jump Markov systems with unknown noise statistics and mode transition dynamics. A hybrid architecture comprising two Recurrent Neural Networks (RNNs) is proposed: one for mode prediction and another for filtering that is based on a mode-augmented version of the recently presented KalmanNet architecture. The proposed RNNs are trained jointly using an alternating least squares strategy that enables mutual adaptation without supervision of the latent modes. Extensive numerical experiments on linear and nonlinear systems, including target tracking, pendulum angle tracking, Lorenz attractor dynamics, and a real-life dataset demonstrate that the proposed JMFNet framework outperforms classical model-based filters (e.g., interacting multiple models and particle filters) as well as model-free deep learning baselines, particularly in non-stationary and high-noise regimes. It is also showcased that JMFNet achieves a small yet meaningful improvement over the KalmanNet framework, which becomes much more pronounced in complicated systems or long trajectories. Finally, the method's performance is empirically validated to be consistent and reliable, exhibiting low sensitivity to initial conditions, hyperparameter selection, as well as to incorrect model knowledge

Successive convex programming (SCP) is a powerful class of direct optimization methods, known for its polynomial complexity and computational efficiency, making it particularly suitable for autonomous applications. Direct methods are also referred to as “discretize-then-optimize” with discretization being a fundamental solution step. A key step in all practical direct methods is mesh refinement, which aims to refine the solution resolution by enhancing the precision and quality of discretization techniques through strategic distribution and placement of mesh/grid points. We propose a novel method to enhance adaptive mesh refinement stability by integrating it with a nonlinearity-index-based trust-region strategy within the SCP framework for spacecraft trajectory design. The effectiveness of the proposed method is demonstrated through solving minimum-fuel, low-thrust missions, including a benchmark Earth-to-Asteroid rendezvous and an Earth-Moon L2 Halo-to-Halo transfer using the Circular Restricted Three-Body (CR3BP) model.

In the design and operation of complex dynamical systems, it is essential to ensure that all state trajectories of the dynamical system converge to a desired equilibrium within a guaranteed stability region. Yet, for many practical systems – especially in aerospace – this region cannot be determined a priori and is often challenging to compute. One of the most common methods for computing the stability region is to identify a Lyapunov function. A Lyapunov function is a positive function whose time derivative along system trajectories is non-positive, which provides a sufficient condition for stability and characterizes an estimated stability region. However, existing methods of characterizing a stability region via a Lyapunov function often rely on explicit knowledge of the system governing equations. In this work, we present a new physics-informed machine learning method of characterizing an estimated stability region by inferring a Lyapunov function from system trajectory data that treats the dynamical system as a black box and does not require explicit knowledge of the system governing equations. In our presented Lyapunov function Inference method (LyapInf), we propose a quadratic form for the unknown Lyapunov function and fit the unknown quadratic operator to system trajectory data by minimizing the average residual of the Zubov equation, a first-order partial differential equation whose solution yields a Lyapunov function. The inferred quadratic Lyapunov function can then characterize an ellipsoidal estimate of the stability region. Numerical results on benchmark examples demonstrate that our physics-informed stability analysis method successfully characterizes a near-maximal ellipsoid of the system stability region associated with the inferred Lyapunov function without requiring knowledge of the system governing equations.

We present the design and application of a general algorithm for Prediction And Control using MAchiNe learning (PACMAN) in DIII-D. Machine learing (ML)-based predictors and controllers have shown great promise in achieving regimes in which traditional controllers fail, such as tearing mode free scenarios, ELM-free scenarios and stable advanced tokamak conditions. The architecture presented here was deployed on DIII-D to facilitate the end-to-end implementation of advanced control experiments, from diagnostic processing to final actuation commands. This paper describes the detailed design of the algorithm and explains the motivation behind each design point. We also describe several successful ML control experiments in DIII-D using this algorithm, including a reinforcement learning controller targeting advanced non-inductive plasmas, a wide-pedestal quiescent H-mode ELM predictor, an Alfvén Eigenmode controller, a Model Predictive Control plasma profile controller and a state-machine Tearing Mode predictor-controller. There is also discussion on guiding principles for real-time machine learning controller design and implementation.

This paper addresses the power control design for a cell-free massive MIMO (CF-mMIMO) system that performs integrated sensing and communications (ISAC). Specifically, the case where many access points are deployed to simultaneously communicate with mobile users and monitor the surrounding environment at the same time-frequency slot is considered. On top of the user-centric architecture used for the data services, a target-centric approach is introduced for the detection tasks. As a valuable performance metric, we derive the receive sensing signal-to-noise (SNR) ratio under generalized likelihood ratio test processing. Based on that, we formulate a quality-of-service (QoS) scheme that maximizes the two figures of merit: achievable data rate and effective sensing SNR. Simulations demonstrate that our proposal surpasses orthogonal resource algorithms, underscoring the potential of ISAC-enabled CF-mMIMO networks.