Papers

This letter proposes an active reconfigurable intelligent surface (ARIS) assisted rate-splitting multiple access (RSMA) integrated sensing and communication (ISAC) system to overcome the fairness bottleneck in multi-target sensing under obstructed line-of-sight environments. Beamforming at the transceiver and ARIS, along with rate splitting, are optimized to maximize the minimum multi-target echo signal-to-interference-plus-noise ratio under multi-user rate and power constraints. The intricate non-convex problem is decoupled into three subproblems and solved iteratively by majorization-minimization (MM) and sequential rank-one constraint relaxation (SROCR) algorithms. Simulations show our scheme outperforms nonorthogonal multiple access, space-division multiple access, and passive RIS baselines, approaching sensing-only upper bounds.

Simultaneous Localization and Mapping (SLAM) using 3D LiDAR has emerged as a cornerstone for autonomous navigation in robotics. While feature-based SLAM systems have achieved impressive results by leveraging edge and planar structures, they often suffer from the inconsistent estimator associated with feature parameterization and estimated covariance. In this work, we present a consistency-improved LiDAR-inertial bundle adjustment (BA) with tailored parameterization and estimator. First, we propose a stereographic-projection representation parameterizing the planar and edge features, and conduct a comprehensive observability analysis to support its integrability with consistent estimator. Second, we implement a LiDAR-inertial BA with Maximum a Posteriori (MAP) formulation and First-Estimate Jacobians (FEJ) to preserve the accurate estimated covariance and observability properties of the system. Last, we apply our proposed BA method to a LiDAR-inertial odometry.

Xona is deploying Pulsar, a low Earth orbit (LEO) commercial navigation system designed to deliver resilient positioning, navigation, and timing (PNT) where traditional solutions fall short. Pulsar satellites broadcast dedicated signals optimized for commercial users. This brings rapid geometry change, strong Doppler observability, and robust timing, enabling new approaches to positioning even when only one satellite is visible. Internet of Things (IoT) applications often prioritize availability over sub-meter accuracy in urban canyons, semi-indoor spaces, and other constrained environments. Many platforms are battery-powered, have strict size, weight, and power (SWaP) limits, and cannot support complex multi-sensor architectures. Leveraging LEO dynamics and signal strength, Pulsar can maintain navigation capability under these conditions without specialized user hardware. Here we present a single-satellite positioning (SSP) concept that uses available Pulsar measurements to estimate user position and receiver clock states without external aiding. Early in Pulsar deployment, only one or two satellites may be in view, yet this still benefits stationary or near-stationary users, including in semi-indoor and indoor settings. We discuss algorithmic details and system implications: SSP enables positioning with minimal satellite visibility, reduces reliance on dense constellations, and supports integration into resource-constrained platforms. We present simulation and live sky results. High-fidelity constellation simulations configured for Pulsar provide controlled performance assessment. We also present early findings from a Pulsar-enabled receiver using observations from the Pulsar-0 satellite on orbit. Preliminary tests demonstrate meter-level accuracy outdoors and indoors, highlighting potential under varied reception conditions.

The existing literature on Battery Energy Storage Systems (BESS) predominantly focuses on two main areas: control system design aimed at achieving grid stability and the techno-economic analysis of BESS dispatch on power grid. However, with the increasing incorporation of ancillary services into power grids, a more comprehensive approach to energy management systems is required. Such an approach should not only optimize revenue generation from BESS but also ensure the safe, efficient, and reliable operation of lithium-ion batteries. This research seeks to bridge this gap by exploring literature that addresses both the economic and operational dimensions of BESS. Specifically, it examines how economic aspects of grid duty cycles can align with control schemes deployed in BESS systems. This alignment, or synergy, could be instrumental in creating robust digital twins virtual representations of BESS systems that enhance both grid stability and revenue potential. The literature review is organized into five key categories: (1) ancillary services for BESS, exploring support functions that BESS can provide to power grids; (2) control systems developed for real-time BESS power flow management, ensuring smooth operations under dynamic grid conditions; (3) optimization algorithms for BESS dispatch, focusing on efficient energy allocation strategies; (4) techno-economic analyses of BESS and battery systems to assess their financial viability; and (5) digital twin technologies for real-world BESS deployments, enabling advanced predictive maintenance and performance optimization. This review will identify potential synergies, research gaps, and emerging trends, paving the way for future innovations in BESS management and deployment strategies.

Vision-Language Navigation (VLN) requires embodied agents to interpret natural language instructions and navigate through complex continuous 3D environments. However, the dominant imitation learning paradigm suffers from exposure bias, where minor deviations during inference lead to compounding errors. While DAgger-style approaches attempt to mitigate this by correcting error states, we identify a critical limitation: Instruction-State Misalignment. Forcing an agent to learn recovery actions from off-track states often creates supervision signals that semantically conflict with the original instruction. In response to these challenges, we introduce BudVLN, an online framework that learns from on-policy rollouts by constructing supervision to match the current state distribution. BudVLN performs retrospective rectification via counterfactual re-anchoring and decision-conditioned supervision synthesis, using a geodesic oracle to synthesize corrective trajectories that originate from valid historical states, ensuring semantic consistency. Experiments on the standard R2R-CE and RxR-CE benchmarks demonstrate that BudVLN consistently mitigates distribution shift and achieves state-of-the-art performance in both Success Rate and SPL.

Metal artifact significantly degrades Computed Tomography (CT) image quality, impeding accurate clinical diagnosis. However, existing deep learning approaches, such as CNN and Transformer, often fail to explicitly capture the directional geometric features of artifacts, leading to compromised structural restoration. To address these limitations, we propose the Asymmetric Self-Guided Mamba (AS-Mamba) for metal artifact reduction. Specifically, the linear propagation of metal-induced streak artifacts aligns well with the sequential modeling capability of State Space Models (SSMs). Consequently, the Mamba architecture is leveraged to explicitly capture and suppress these directional artifacts. Simultaneously, a frequency domain correction mechanism is incorporated to rectify the global amplitude spectrum, thereby mitigating intensity inhomogeneity caused by beam hardening. Furthermore, to bridge the distribution gap across diverse clinical scenarios, we introduce a self-guided contrastive regularization strategy. Extensive experiments on public andclinical dental CBCT datasets demonstrate that AS-Mamba achieves superior performance in suppressing directional streaks and preserving structural details, validating the effectiveness of integrating physical geometric priors into deep network design.

In reconfigurable intelligent surface (RIS)-assisted millimeter-wave (mmWave) communication systems, the large-scale RIS introduces pronounced geometric effects that lead to the coexistence of far-field and near-field propagation. Furthermore, random blockages induce spatial non-stationarity across the RIS array, causing signals from different scatterers to illuminate only partial regions, referred to as visible regions (VRs). This renders conventional far-field and fully visible array-based channel models inadequate and makes channel estimation particularly challenging. In this paper, we investigate the non-stationary cascaded channel estimation problem in a hybrid-field propagation environment, where the RIS-base station (BS) link operates in the far-field, while the user-RIS link exhibits near-field characteristics with partial visibility. To address the resulting high-dimensional and coupled estimation problem, a reduced-dimensional sparse bilinear representation is developed by exploiting the structural characteristics of the cascaded channel. In particular, a dictionary compression technique is proposed to represent the high-dimensional coupled dictionary using a low-dimensional polar-domain dictionary weighted by a visibility matrix, thereby significantly reducing the problem scale. Based on this representation, a turbo-structured joint Bayesian estimation (TS-JBE) approach is proposed to simultaneously estimate the channel gains, VRs, and off-grid parameters, thereby avoiding error propagation inherent in existing sequential methods. Simulation results demonstrate that the proposed method significantly improves the estimation accuracy compared with existing approaches.

In this paper, we present our submission to the LUMIR25 task of Learn2Reg 2025, which ranked 1st overall on the test set. Extended from LUMIR24, this year's task focuses on zero-shot registration under domain shifts (e.g., high-field MRI, pathological brains, and various MRI contrasts), while the training data comprises only in-domain T1-weighted brain MRI. We start with a meticulous analysis of LUMIR24 winners to identify the main contributors to strong monomodal registration performance. We highlight the importance of registration-specific inductive biases, including multi-resolution pyramids, inverse and group consistency, topological preservation or diffeomorphism, and correlation-based correspondence establishment. To further generalize to diverse contrasts, we employ three simple but effective strategies: (i) a multimodal loss based on the modality-independent neighborhood descriptor (MIND), (ii) intensity randomization for unseen contrast augmentation, and (iii) lightweight instance-specific optimization (ISO) on feature encoders at inference time. On the validation set, the proposed approach substantially improves T1-T2 registration accuracy, demonstrating robust cross-contrast generalization without relying on explicit image synthesis. These results suggest a practical step toward a registration foundation model that can leverage a single training domain yet remain robust across domain shifts.

Unsupervised speech emotion recognition (SER) focuses on addressing the problem of data sparsity and annotation bias of emotional speech. Reinforcement learning (RL) is a promising method which enhances the performance through rule-based or model-based verification functions rather than human annotations. We treat the sample selection during the learning process as a long-term procedure and whether to select a sample as the action to make policy, thus achieving the application of RL to measure sample quality in SER. We propose a modified Group Relative Policy Optimization (GRPO) to adapt it to classification problems, which takes the samples in a batch as a group and uses the average reward of these samples as the baseline to calculate the advantage. And rather than using a verifiable reward function as in GRPO, we put forward self-reward functions and teacher-reward functions to encourage the model to produce high-confidence outputs. Experiments indicate that the proposed method improves the performance of baseline without RL by 19.8%.

Misophonia is a disorder characterized by a decreased tolerance to specific everyday sounds (trigger sounds) that can evoke intense negative emotional responses such as anger, panic, or anxiety. These reactions can substantially impair daily functioning and quality of life. Assistive technologies that selectively detect trigger sounds could help reduce distress and improve well-being. In this study, we investigate sound event detection (SED) to localize intervals of trigger sounds in continuous environmental audio as a foundational step toward such assistive support. Motivated by the scarcity of real-world misophonia data, we generate synthetic soundscapes tailored to misophonia trigger sound detection using audio synthesis techniques. Then, we perform trigger sound detection tasks using hybrid CNN-based models. The models combine feature extraction using a frozen pre-trained CNN backbone with a trainable time-series module such as gated recurrent units (GRUs), long short-term memories (LSTMs), echo state networks (ESNs), and their bidirectional variants. The detection performance is evaluated using common SED metrics, including Polyphonic Sound Detection Score 1 (PSDS1). On the multi-class trigger SED task, bidirectional temporal modeling consistently improves detection performance, with Bidirectional GRU (BiGRU) achieving the best overall accuracy. Notably, the Bidirectional ESN (BiESN) attains competitive performance while requiring orders of magnitude fewer trainable parameters by optimizing only the readout. We further simulate user personalization via a few-shot "eating sound" detection task with at most five support clips, in which BiGRU and BiESN are compared. In this strict adaptation setting, BiESN shows robust and stable performance, suggesting that lightweight temporal modules are promising for personalized misophonia trigger SED.

Medical diagnosis using Large Multimodal Models (LMMs) has gained increasing attention due to capability of these models in providing precise diagnoses. These models generally combine medical questions with visual inputs to generate diagnoses or treatments. However, they are often overly general and unsuitable under the wide range of medical conditions in real-world healthcare. In clinical practice, diagnosis is performed by multiple specialists, each contributing domain-specific expertise. To emulate this process, a potential solution is to deploy a dynamic multi-agent LMM framework, where each agent functions as a medical specialist. Current approaches in this emerging area, typically relying on static or predefined selection of various specialists, cannot be adapted to the changing practical scenario. In this paper, we propose MedRoute, a flexible and dynamic multi-agent framework that comprises of a collaborative system of specialist LMM agents. Furthermore, we add a General Practitioner with an RL-trained router for dynamic specialist selection, and a Moderator that produces the final decision. In this way, our framework closely mirrors real clinical workflows. Extensive evaluations on text and image-based medical datasets demonstrate improved diagnostic accuracy, outperforming the state-of-the-art baselines. Our work lays a strong foundation for future research. Code and models are available at https://github.com/UCF-CRCV/MedRoute/.

This study presents a new system performance function for process plant reliability analysis, formulated to capture both structural topology and process sequencing constraints. Built on a modified maximum-flow framework and solved via linear programming, the proposed function efficiently quantifies the maximum feasible flow through a series of interconnected stages. It addresses limitations of existing models, such as fault trees and event trees, that often overlook flow continuity and topological dependencies. The system function is integrated into a reliability assessment framework, enabling the evaluation of system failure probability and reliability-based component importance measures. Application to two benchmark examples, including a gas supply plant with 57 nodes and 102 edges, demonstrates the effectiveness of the proposed system function and the validity of the resulting reliability assessment for risk-informed layout planning. A reconfiguration guided by component importance measures yields up to a 20% reduction in system failure probability, underscoring the importance of effective equipment and pipeline layout. The proposed framework offers a promising direction for reliability-based management of industrial process facilities.

One objective of Artemis science is to determine the impact human activities have on the lunar environment, which might compromise science objectives and measurements. We perform a preliminary analysis of the contamination associated with airlock venting and outgassing from a prototype lunar-module geometry intended to host astronauts on the lunar surface. The air flow generated by the depressurization of the airlock, expanding in the lunar exosphere, is studied using the Direct Simulation Monte Carlo (DSMC) method for two different venting configurations and the particle flux on the surface is computed as a function of the distance from the the module. Outgassing from the main body of the module – assumed to be covered with a Multi-Layer Insulation (MLI) blanketing – and from the solar panels is then analyzed using a view-factor method, employing outgassing rates from the literature.Our results give preliminary indications of the distance at which contamination levels fall below the values characteristic of native species in the lunar atmosphere. Scientific measurements targeting 40Ar should be carried farther than 30–100 meters from the module, while the detection of lower-abundance species such as polar-crater water might require to travel up to and beyond 3 km from the module.

MRI cross-modal synthesis involves generating images from one acquisition protocol using another, offering considerable clinical value by reducing scan time while maintaining diagnostic information. This paper presents a comprehensive comparison of three state-of-the-art generative models for T1-to-T2 MRI reconstruction: Pix2Pix GAN, CycleGAN, and Variational Autoencoder (VAE). Using the BraTS 2020 dataset (11,439 training and 2,000 testing slices), we evaluate these models based on established metrics including Mean Squared Error (MSE), Peak Signal-to-Noise Ratio (PSNR), and Structural Similarity Index (SSIM). Our experiments demonstrate that all models can successfully synthesize T2 images from T1 inputs, with CycleGAN achieving the highest PSNR (32.28 dB) and SSIM (0.9008), while Pix2Pix GAN provides the lowest MSE (0.005846). The VAE, though showing lower quantitative performance (MSE: 0.006949, PSNR: 24.95 dB, SSIM: 0.6573), offers advantages in latent space representation and sampling capabilities. This comparative study provides valuable insights for researchers and clinicians selecting appropriate generative models for MRI synthesis applications based on their specific requirements and data constraints.

Muon Scattering Tomography (MST) is a promising non-invasive inspection technique, yet the practical application of short-time MST is hindered by poor image quality due to limited muon flux. To address this limitation, we propose a U-Net-based framework trained on Point of Closest Approach (PoCA) images reconstructed with simulation MST data to enhance image quality. When applied to experimental MST data, the framework significantly improves image quality, increasing the Structural Similarity Index Measure (SSIM) from 0.7232 to 0.9699 and decreasing the Learned Perceptual Image Patch Similarity (LPIPS) from 0.3604 to 0.0270. These results demonstrate that our method can effectively enhance low-statistics MST images, thereby paving the way for the practical deployment of short-time MST.

We use a series of pre-registered, incentive-compatible online experiments to investigate how people evaluate and choose among different waiting time distributions. Our main findings are threefold. First, consistent with prior literature, people show an aversion to both longer expected waits and higher variance. Second, and more surprisingly, moment-based utility models fail to capture preferences when distributions have thick-right tails: indeed, decision-makers strongly prefer distributions with long-right tails (where probability mass is more evenly distributed over a larger support set) relative to tails that exhibit a spike near the maximum possible value, even when controlling for mean, variance, and higher moments. Conditional Value at Risk (CVaR) utility models commonly used in portfolio theory predict these choices well. Third, when given a choice, decision-makers overwhelmingly seek information about right-tail outcomes. These results have practical implications for service operations: (1) service designs that create a spike in long waiting times (such as priority or dedicated queue designs) may be particularly aversive; (2) when informativeness is the goal, providers should prioritize sharing right-tail probabilities or percentiles; and (3) to increase service uptake, providers can strategically disclose (or withhold) distributional information depending on right-tail shape.

This paper proposes a hard-constrained unsupervised learning framework for rapidly solving the non-linear and non-convex AC optimal power flow (AC-OPF) problem in real-time operation. Without requiring ground-truth AC-OPF solutions, feasibility and optimality are ensured through a properly designed learning environment and training loss. Inspired by residual learning, the neural network (NN) learns the correction mapping from the DC-OPF solution to the active power setpoints of the generators through re-dispatch. A subsequent optimization model is utilized to restore the optimal AC-OPF solution, and the resulting projection difference is employed as the training loss. A replay buffer is utilized to enhance learning efficiency by fully leveraging past data pairs. The optimization model is cast as a differentiable optimization layer, where the gradient is derived by applying the implicit function theorem to the KKT conditions at the optimal solution. Tested on IEEE-118 and PEGASE-9241 bus systems, numerical results demonstrate that the proposed NN can obtain strictly feasible and near-optimal solutions with reduced computational time compared to conventional optimization solvers. In addition, aided by the updated DC-OPF solution under varying topologies, the trained NN, together with the PF solver, can rapidly find the corresponding AC solution. The proposed method achieves a $40\times$ time speedup, while maintaining an average constraint violation on the order of $10^{-4}$ and an optimization gap below $1\%$.

Rate control allocates bits efficiently across frames to meet a target bitrate while maintaining quality. Conventional two-pass rate control (2pRC) in Versatile Video Coding (VVC) relies on analytical rate-QP models, which often fail to capture nonlinear spatial-temporal variations, causing quality instability and high complexity due to multiple trial encodes. This paper proposes a content-adaptive framework that predicts frame-level bit consumption using lightweight features from the Video Complexity Analyzer (VCA) and quantization parameters within a Random Forest regression. On ultra-high-definition sequences encoded with VVenC, the model achieves strong correlation with ground truth, yielding R2 values of 0.93, 0.88, and 0.77 for I-, P-, and B-frames, respectively. Integrated into a rate-control loop, it achieves comparable coding efficiency to 2pRC while reducing total encoding time by 33.3%. The results show that VCA-driven bit prediction provides a computationally efficient and accurate alternative to conventional rate-QP models.

This paper proposes a quantum framework for the design of communication topologies in consensus-based multi-agent systems. The communication graph is selected online by solving a mixed-integer quadratic program (MIQP) that minimizes a cost combining communication and distance penalties with degree-regularization terms, while enforcing exact connectivity through a flow-based formulation. To cope with the combinatorial complexity of this NP-hard problem, we develop a three-block ADMM scheme that decomposes the MIQP into a convex quadratic program in relaxed edge and flow variables, a pure binary unconstrained subproblem, and a closed-form auxiliary update. The binary subproblem is mapped to a quadratic unconstrained binary optimization (QUBO) Hamiltonian and approximately solved via quantum imaginary time evolution (QITE). The resulting time-varying, optimizer-generated Laplacians are applied to linear first- and second-order consensus dynamics. Numerical simulations on networks demonstrate that the proposed method produces connected topologies that satisfy degree constraints, achieve consensus, and incur costs comparable to those of classical mixed-integer solvers, thereby illustrating how quantum algorithms can be embedded as topology optimizers within closed-loop distributed control architectures.

“Phoneme Hallucinations (PH)” commonly occur in low-bitrate DNN-based codecs. It is the generative decoder's attempt to synthesize plausible outputs from excessively compressed tokens missing some semantic information. In this work, we propose language model-driven losses (LM loss) and show they may alleviate PHs better than a semantic distillation (SD) objective in very-low-bitrate settings. The proposed LM losses build upon language models pretrained to associate speech with text. When ground-truth transcripts are unavailable, we propose to modify a popular automatic speech recognition (ASR) model, Whisper, to compare the decoded utterance against the ASR-inferred transcriptions of the input speech. Else, we propose to use the timed-text regularizer (TTR) to compare WavLM representations of the decoded utterance against BERT representations of the ground-truth transcriptions. We test and compare LM losses against an SD objective, using a reference codec whose three-stage training regimen was designed after several popular codecs. Subjective and objective evaluations conclude that LM losses may provide stronger guidance to extract semantic information from self-supervised speech representations, boosting human-perceived semantic adherence while preserving overall output quality. Demo samples, code, and checkpoints are available online.

We study localization and control for unstable systems under coarse, single-bit sensing. Motivated by understanding the fundamental limitations imposed by such minimal feedback, we identify sufficient conditions under which the initial state can be recovered despite instability and extremely sparse measurements. Building on these conditions, we develop an active localization algorithm that integrates a set-based estimator with a control strategy derived from Voronoi partitions, which provably estimates the initial state while ensuring the agent remains in informative regions. Under the derived conditions, the proposed approach guarantees exponential contraction of the initial-state uncertainty, and the result is further supported by numerical experiments. These findings can offer theoretical insight into localization in robotics, where sensing is often limited to coarse abstractions such as keyframes, segmentations, or line-based features.

Neural audio codecs are widely used for audio compression and can be integrated into token-based language models. Traditional codecs preserve acoustic details well but lack semantic information. Recent hybrid codecs attempt to incorporate semantic information through distillation, but this often degrades reconstruction performance, making it difficult to achieve both. To address this limitation, we introduce STACodec, a unified codec that integrates semantic information from self-supervised learning (SSL) models into the first layer of residual vector quantization (RVQ-1) via semantic token assignment (STA). To further eliminate reliance on SSL-based semantic tokenizers and improve efficiency during inference, we propose a semantic pre-distillation (SPD) module, which predicts semantic tokens directly for assignment to the first RVQ layer during inference. Experimental results show that STACodec outperforms existing hybrid codecs in both audio reconstruction and downstream semantic tasks, demonstrating a better balance between acoustic fidelity and semantic capability.

In [1], we introduced a NN designed to reduce the PAPR in OFDM systems. However, the original study did not include explicit generalization tests to assess how well the NN would perform on previously unseen data, which prevented a comprehensive evaluation of the model's robustness and applicability in diverse scenarios. To address this gap, we conducted additional generalization assessments, the results of which are presented in this case study. These results serve both to complement and to refine the original analysis reported in [1]. Most importantly, the overall conclusions of the initial study remain valid: the NN is still able to reduce the PAPR level to a desired reference value, also with a lower computational cost, confirming the effectiveness and practical applicability of the proposed method across a more generalized setting.

Watermarking is a technical alternative to safeguarding intellectual property and reducing misuse. Existing methods focus on optimizing watermarked latent variables to balance watermark robustness and fidelity, as Latent diffusion models (LDMs) are considered a powerful tool for generative tasks. However, reliance on computationally intensive heuristic optimization for iterative signal refinement results in high training overhead and local optima entrapment.To address these issues, we propose an \underline{A}na\underline{l}ytical Watermark\underline{i}ng Framework for Controllabl\underline{e} Generatio\underline{n} (ALIEN). We develop the first analytical derivation of the time-dependent modulation coefficient that guides the diffusion of watermark residuals to achieve controllable watermark embedding pattern.Experimental results show that ALIEN-Q outperforms the state-of-the-art by 33.1% across 5 quality metrics, and ALIEN-R demonstrates 14.0% improved robustness against generative variant and stability threats compared to the state-of-the-art across 15 distinct conditions. Code can be available at https://anonymous.4open.science/r/ALIEN/.

Conventional video encoders typically employ a fixed chroma subsampling format, such as YUV420, which may not optimally reflect variations in chroma detail across different types of content. This can lead to suboptimal chroma quality and inefficiencies in bitrate allocation. We propose an Adaptive Resolution-Chroma Subsampling (ARCS) framework that jointly optimizes spatial resolution and chroma subsampling to balance perceptual quality and decoding efficiency. ARCS selects an optimal (resolution, chroma format) pair for each bitrate by maximizing a composite quality-complexity objective, while enforcing monotonicity constraints to ensure smooth transitions between representations. Experimental results using x265 show that, compared to a fixed-format encoding (YUV444), on average, ARCS achieves a 13.48 % bitrate savings and a 62.18 % reduction in decoding time, which we use as a proxy for the decoding energy, to yield the same colorVideoVDP score. The proposed framework introduces chroma adaptivity as a new control dimension for energy-efficient video streaming.

This research presents a dynamic modeling framework and parameter identification methods for describing the highly nonlinear behaviors of flexibly connected dual-AUV systems. The modeling framework is established based on the lumped mass method, integrating axial elasticity, bending stiffness, added mass and hydrodynamic forces, thereby accurately capturing the time-varying response of the forces and cable configurations. To address the difficulty of directly measuring material-related and hydrodynamic coefficients, this research proposes a parameter identification method that combines the physical model with experimental data. High-precision inversion of the equivalent Youngs modulus and hydrodynamic coefficients is performed through tension experiments under multiple configurations, effectively demonstrating that the identified model maintains predictive consistency in various operational conditions. Further numerical analysis indicates that the dynamic properties of flexible cable exhibit significant nonlinear characteristics, which are highly dependent on material property variations and AUV motion conditions. This nonlinear dynamic behavior results in two typical response states, slack and taut, which are jointly determined by boundary conditions and hydrodynamic effects, significantly affecting the cable configuration and endpoint loads. In this research, the dynamics of flexible cables under complex boundary conditions is revealed, providing a theoretical foundation for the design, optimization and further control research of similar systems.

Safety filtering is an effective method for enforcing constraints in safety-critical systems, but existing methods typically assume perfect state information. This limitation is especially problematic for systems that rely on neural network (NN)-based state estimators, which can be highly sensitive to noise and adversarial input perturbations. We address these problems by introducing GUARDIAN: Guaranteed Uncertainty-Aware Reachability Defense against Adversarial INterference, a safety filtering framework that provides formal safety guarantees for systems with NN-based state estimators. At runtime, GUARDIAN uses neural network verification tools to provide guaranteed bounds on the system's state estimate given possible perturbations to its observation. It then uses a modified Hamilton-Jacobi reachability formulation to construct a safety filter that adjusts the nominal control input based on the verified state bounds and safety constraints. The result is an uncertainty-aware filter that ensures safety despite the use of an NN estimator with noisy, possibly adversarial, observations. Theoretical and numerical results show how GUARDIAN effectively defends systems against adversarial attacks that would otherwise cause violation of safety constraints.

We study the Rectified Linear Unit (ReLU) dual, an existing dual formulation for stochastic programs that reformulates non-anticipativity constraints using ReLU functions to generate tight, non-convex, and mixed-integer representable cuts. While this dual reformulation guarantees convergence with mixed-integer state variables, it admits multiple optimal solutions that can yield weak cuts. To address this issue, we propose normalizing the dual in the extended space to identify solutions that yield stronger cuts. We prove that the resulting normalized cuts are tight and Pareto-optimal in the original state space. We further compare normalization with existing regularization-based approaches for handling dual degeneracy and explain why normalization offers key advantages. In particular, we show that normalization can recover any cut obtained via regularization, whereas the converse does not hold. Computational experiments demonstrate that the proposed approach outperforms existing methods by consistently yielding stronger cuts and reducing solution times on harder instances.

Hydraulic systems are widely utilized in industrial applications due to their high force generation, precise control, and ability to function in harsh environments. Hydraulic cylinders, as actuators in these systems, apply force and position through the displacement of hydraulic fluid, but their operation is significantly influenced by friction force. Achieving precision in hydraulic cylinders requires an accurate friction model under various operating conditions. Existing analytical models, often derived from experimental tests, necessitate the identification or estimation of influencing factors but are limited in adaptability and computational efficiency. This research introduces a data-driven, hybrid algorithm based on Long Short-Term Memory (LSTM) networks and Random Forests for nonlinear friction force estimation. The algorithm effectively combines feature detection and estimation processes using training data acquired from an experimental hydraulic test setup. It achieves a consistent and stable model error of less than 10% across diverse operating conditions and external load variations, ensuring robust performance in complex situations. The computational cost of the algorithm is 1.51 milliseconds per estimation, making it suitable for real-time applications. The proposed method addresses the limitations of analytical models by delivering high precision and computational efficiency. The algorithm's performance is validated through detailed analysis and experimental results, including direct comparisons with the LuGre model. The comparison highlights that while the LuGre model offers a theoretical foundation for friction modeling, its performance is limited by its inability to dynamically adjust to varying operational conditions of the hydraulic cylinder, further emphasizing the advantages of the proposed hybrid approach in real-time applications.

This is the third article in a series of three dealing with the exploitation of speckle for imaging purposes. In complex media, a fundamental limit is the multiple scattering phenomenon that completely blurs the imaging process in depth. Matrix imaging can provide a relevant framework for solving this problem. As it proved to be an adequate tool for probing reverberations in speckle [E. Giraudat et al., Part I], we will show how it can be used to tailor complex spatio-temporal focusing laws to monitor the interference between the multiply-reflected paths and the ballistic component of the wave-field. To do so, we extend the distortion matrix concept to the frequency domain. An iterative phase reversal process operated from the space-time Fourier space is then used to compensate for reverberations and optimize both the axial and transverse resolution of the confocal image. Here, we first present an experimental proof-of-concept consisting in imaging a tissue-mimicking phantom through a reverberating plate before outlining the potential and the limits of this strategy for transcranial ultrasound and beyond.