Papers

Monotone co-design enables compositional engineering design by modeling components through feasibility relations between required resources and provided functionalities. However, its standard boolean formulation cannot natively represent quantitative criteria such as cost, confidence, or implementation choice. In practice, these quantities are often introduced through ad hoc scalarization or by augmenting the resource space, which obscures system structure and increases computational burden. We address this limitation by developing a quantale-enriched theory of co-design. We model resources and functionalities as quantale-enriched categories and design problems as quantale-enriched profunctors, thereby lifting co-design from boolean feasibility to general quantitative evaluation. We show that the fundamental operations of series, parallel, and feedback composition remain valid over arbitrary commutative quantales. We further introduce heterogeneous composition through change-of-base maps between quantales, enabling different subsystems to be evaluated in different local semantics and then composed in a common framework. The resulting theory unifies feasibility-, cost-, confidence-, and implementation-aware co-design within one compositional formalism. Numerical examples on a target-tracking system and a UAV delivery problem demonstrate the framework and highlight how native quantitative enrichment can avoid the architectural and computational drawbacks of boolean-only formulations.

Brain connectomics is still largely dominated by pairwise-based models, such as graphs, which cannot represent circulatory or higher-order functional interactions. In this paper, we propose a multimodal framework based on Topological Signal Processing (TSP) that models the brain as a higher-order topological domain and treats functional interactions as discrete vector fields. We integrate diffusion MRI and resting-state fMRI to learn subject-specific brain cell complexes, where statistically validated structural connectivity defines a sparse scaffold and phase-coupling functional edge signals drive the inference of higher-order interactions (HOIs). Using Hodge-theoretic tools, spectral filtering, and sparse signal representations, our framework disentangles brain connectivity into divergence (source-sink organization), gradient (potential-driven coordination), and curl (circulatory HOIs), enabling the characterization of temporal dynamics through the lens of discrete vector calculus. Across 100 healthy young adults from Human Connectome Project, node-based HOIs are highly individualized, yet robust mesoscale structure emerges under functional-system aggregation. We identify a distributed default mode network-centered gradient backbone and limbic-centered rotational flows; divergence polarization and curl profiles defining circulation regimes with insightful occupancy and dwell-time statistics. These topological signatures yield significant brain-behavior associations, revealing a relevant higher-order organization intrinsic to edge-based models. By making divergence, circulation, and recurrent mesoscale coordination directly measurable, this work enables a principled and interpretable topological phenotyping of brain function.

We present a passive, data-driven velocity control method for nonlinear robotic manipulators that achieves better tracking performance than optimized PID with comparable design complexity. Using only three minutes of probing data, a VRFT-based design identifies passive iFIR controllers that (i) preserve closed-loop stability via passivity constraints and (ii) outperform a VRFT-tuned PID baseline on the Franka Research 3 robot in both joint-space and Cartesian-space velocity control, achieving up to a 74.5% reduction in tracking error for the Cartesian velocity tracking experiment with the most demanding reference model. When the robot end-effector dynamics change, the controller can be re-learned from new data, regaining nominal performance. This study bridges learning-based control and stability-guaranteed design: passive iFIR learns from data while retaining passivity-based stability guarantees, unlike many learning-based approaches.

Discrete events change how parameter-influence propagates in hybrid systems. Prevailing Fisher information for- mulations assume that sensitivities evolve smoothly according to continuous-time variational equations and therefore neglect the sensitivity updates induced by discrete events. This paper derives a Fisher information matrix formulation compatible with hybrid systems. To do so, we use the saltation matrix, which encodes the first-order transformation of sensitivities induced by discrete events. We call the resulting formulation the salted Fisher information matrix (SFIM). The proposed framework unifies continuous information accumulation during flows with discrete updates at event times. We also show that hybrid persistence of excitation is sufficient for the SFIM to be positive definite

In the reinforcement learning literature, strong theoretical guarantees have been obtained for algorithms applicable to LTI systems. However, in the nonlinear case only weaker results have been obtained for algorithms that mostly rely on the use of function approximation strategies like, for example, neural networks. In this paper, we study the applicability of a known output-feedback Q-learning algorithm to the class of nonlinear systems that admit a Koopman linear embedding. This algorithm uses only input-output data, and no knowledge of either the system model or the Koopman lifting functions is required. Moreover, no function approximation techniques are used, and the same theoretical guarantees as for LTI systems are preserved. Furthermore, we analyze the performance of the algorithm when the Koopman linear embedding is only an approximation of the real nonlinear system. A simulation example verifies the applicability of this method.

Electrification of marine transport is a promising solution to reduce sector greenhouse gas emissions and operational costs. However, the large upfront cost of electric vessels and the required charging infrastructure can be a barrier to the development of this technology. Optimization algorithms that jointly design the charging infrastructure and the operation of electric vessels can help to reduce these costs and make these projects viable. In this paper, we present a mixed-integer linear programming optimization framework that jointly schedules ferry operations, charging infrastructure and ship battery size. We analyze our algorithms with the case of the China Zorrilla, the largest electric ferry in the world, which will operate between Buenos Aires and Colonia del Sacramento in 2025. We find that the joint system and operations design can reduce the total costs by 7.8% compared to a scenario with fixed power limits and no port energy management system.

This paper studies an unmanned aerial vehicle (UAV) position and attitude sensing problem, where a base station equipped with an antenna array transmits signals to a predetermined potential flight region of a flying UAV, and exploits the reflected echoes for wireless imaging. The UAV is represented by an electromagnetic point cloud in this region that contains its spatial information and electromagnetic properties (EPs), enabling the unified extraction of UAV position, attitude, and shape from the reconstructed point cloud. To accomplish this task, we develop a generative UAV sensing approach. The position and signal-to-noise ratio embedding are adopted to assist the UAV features extraction from the estimated sensing channel under the measurement noise and channel variations. Guided by the obtained features, a conditional diffusion model is utilized to generate the point cloud. The simulation results demonstrate that the reconstructed point clouds via the proposed approach present higher fidelity compared to the competing schemes, thereby enabling a more accurate capture of the UAV attitude and shape information, as well as a more precise position estimation.

Future wireless systems increasingly require predictive and transferable representations that can support multiple physical-layer (PHY) tasks under dynamic environments. However, most existing supervised learning-based methods are designed for a single task, which leads to high adaptation cost. To address this issue, we propose a joint-embedding predictive architecture for multimodal sensing-assisted communications (JEPA-MSAC), a self-supervised multimodal predictive representation learning framework for wireless environments. The proposed framework first maps multimodal sensing and communication measurements into a unified token space, and then pretrains a shared backbone using temporal block-masked JEPA to learn a predictive latent space that captures environment dynamics and cross-modal dependencies. After pretraining, the backbone is frozen and reused as a general future-feature generator, on top of which lightweight task heads are trained for localization, beam prediction, and received signal strength indicator (RSSI) prediction. Extensive experiments show the latent state supports accurate multi-task prediction with low adaptation cost. Additionally, ablation studies reveal its scaling behavior and the impact of key pretraining setups.

Control barrier functions (CBFs) are widely used to enforce safety in autonomous systems, yet their placement within networked control architectures remains largely unexplored. In this work, we investigate where to enforce safety in a networked control system in which a remote model predictive controller (MPC) communicates with the plant over a delayed network. We compare two safety strategies: i) a local myopic CBF filter applied at the plant and ii) predictive CBF constraints embedded in the remote MPC. For both architectures, we derive state-dependent disturbance tolerance bounds and show that safety placement induces a fundamental trade-off: local CBFs provide higher disturbance tolerance due to access to fresh state measurements, whereas MPC-CBF enables improved performance through anticipatory behavior, but yields stricter admissible disturbance levels. Motivated by this insight, we propose a combined architecture that integrates predictive and local safety mechanisms. The theoretical findings are illustrated in simulations on a planar three-degree-of-freedom robot performing a collision-avoidance task.

RF fingerprinting authenticates satellite transmitters by exploiting hardware-specific signal impairments, yet existing methods operate without theoretical performance guarantees. We derive the Fisher information matrix (FIM) for joint estimation of in-phase/quadrature (IQ) imbalance and power amplifier (PA) nonlinearity parameters, establishing Cramér-Rao bounds (CRBs) whose structure depends on constellation moments. A necessary condition for full IQ identifiability is that the identifiability factor~$\beta$ exceeds zero; for binary phase-shift keying (BPSK), $\beta = 0$ yields a rank-deficient FIM, rendering IQ parameters unidentifiable. This provides a plausible theoretical explanation for OrbID's near-random performance (area under the ROC curve, AUC~$= 0.53$) on Orbcomm. From the FIM, we define a discrimination metric that predicts which hardware parameters dominate authentication for a given modulation. For constant-modulus PSK signals, PA nonlinearity features are predicted to dominate while IQ features are ineffective. We validate the framework on 24~Iridium satellites using two recording campaigns, achieving cross-file PA fingerprint correlation $r = 0.999$ and confirming all four CRB predictions. A discrimination-ratio-weighted (DR-weighted) authentication test achieves AUC~$= 0.934$ from six features versus $0.807$ with equal weighting, outperforming machine-learning classifiers (AUC~$\leq 0.69$) on the same data.

This vision paper addresses the research challenges of integrating traditional signal processing with Artificial Intelligence (AI) to enable energy-efficient, programmable, and scalable wireless connectivity infrastructures. While prior studies have primarily focused on high-level concepts, such as the potential role of Large Language Model (LLM) in 6G systems, this work advances the discussion by emphasizing integration challenges and research opportunities at the system level. Specifically, this paper examines the role of compact AI models, including Tiny and Real-time Machine Learning (ML), in enhancing wireless connectivity while adhering to strict constraints on computing resources, adaptability, and reliability. Application examples are provided to illustrate practical considerations and highlight how AI-driven signal processing can support next-generation wireless networks. By combining classical signal processing with lightweight AI methods, this paper outlines a pathway toward efficient and adaptive connectivity solutions for 6G and beyond.

Driven by the MagNet Challenge 2025 (MC2), increased research interest is directed towards modeling transient magnetic fields within ferrite materials. An accurate time-resolved and temperature-aware H-field prediction is essential for optimizing magnetic components in applications with quasi-stationary / non-stationary excitation waveforms. Within the scope of this investigation, a selection of model architectures with varying degrees of physically motivated structure is compared. Based on a Pareto investigation, a rather black-box gated recurrent unit (GRU) model structure with a graceful initialization setup is found to offer the most attractive model size vs. model accuracy trade-off in the small-model regime, while the examined physics-inspired models performed worse. For a GRU-based model architecture with only 325 parameters (trained separately per material), an average sequence relative error of 8.02 % and an average normalized energy relative error of 1.07 % across five different materials are achieved on unseen test data. With this excellent parameter efficiency, the proposed model won the first place in the performance category of the MC2.

Kazantzis-Kravaris/Luenberger (KKL) observers are a class of state observers for nonlinear systems that rely on an injective map to transform the nonlinear dynamics into a stable quasi-linear latent space, from where the state estimate is obtained in the original coordinates via a left inverse of the transformation map. Current learning-based methods for these maps are designed exclusively for autonomous systems and do not generalize well to controlled or non-autonomous systems. In this paper, we propose two learning-based designs of neural KKL observers for non-autonomous systems whose dynamics are influenced by exogenous inputs. To this end, a hypernetwork-based framework ($HyperKKL$) is proposed with two input-conditioning strategies. First, an augmented observer approach ($HyperKKL_{obs}$) adds input-dependent corrections to the latent observer dynamics while retaining static transformation maps. Second, a dynamic observer approach ($HyperKKL_{dyn}$) employs a hypernetwork to generate encoder and decoder weights that are input-dependent, yielding time-varying transformation maps. We derive a theoretical worst-case bound on the state estimation error. Numerical evaluations on four nonlinear benchmark systems show that input conditioning yields consistent improvements in estimation accuracy over static autonomous maps, with an average symmetric mean absolute percentage error (SMAPE) reduction of 29% across all non-zero input regimes.

While Third Generation Partnership Project (3GPP) has confirmed orthogonal frequency division multiplexing (OFDM) as the baseline waveform for sixth-generation (6G), its performance is severely compromised in the high-mobility scenarios envisioned for 6G. Building upon the GEARBOX-PHY vision, we present gear-switching OFDM (GS-OFDM): a unified framework in which the base station (BS) adaptively selects among three gears, ranging from legacy OFDM to delay-Doppler domain processing based on the channel mobility conditions experienced by the user equipments (UEs). We illustrate the benefit of adaptive gear switching for communication throughput and, finally, we conclude with an outlook on research challenges and opportunities.

This paper proposes an $\alpha$-fair multistatic integrated sensing and communication (ISAC) framework for multi-user multi-input multi-output (MIMO)-orthogonal frequency division multiplexing (OFDM) systems, where communication users act as passive bistatic receivers to enable multistatic sensing. Unlike existing works that optimize aggregate sensing metrics and thus favor geometrically advantageous targets, we minimize the $\alpha$-fairness utility over per-target Cramér–Rao lower bounds (CRLBs) subject to per-user minimum data rate and transmit power constraints. The resulting non-convex problem is solved via the Riemannian conjugate gradient (RCG) method with a smooth penalty reformulation. Simulation results validate the effectiveness of the proposed scheme in achieving a favorable sensing fairness–communication trade-off.

Nonnegative matrix factorization (NMF) approximates a nonnegative matrix, X, by the product of two nonnegative factors, WH, where W has r columns and H has r rows. In this paper, we consider NMF using the component-wise L1 norm as the error measure (L1-NMF), which is suited for data corrupted by heavy-tailed noise, such as Laplace noise or salt and pepper noise, or in the presence of outliers. Our first contribution is an NP-hardness proof for L1-NMF, even when r=1, in contrast to the standard NMF that uses least squares. Our second contribution is to analyze, under simplified probabilistic assumptions, how the sparsity in the data enforces zero solution in the optimal scalar update in the factors of L1-NMF when all the other entries are kept fixed. This provides an intuition of the connection between the sparsity of the L1-NMF factors with the sparsity of the input. Even though sparsity favors interpretability, if the data is affected by false zeros, too sparse solutions might degrade the model. Our third contribution is a new, more general, L1-NMF model for sparse data, dubbed weighted L1-NMF (wL1-NMF), where the sparsity of the factorization is controlled by adding a penalization parameter to the entries of WH associated with zeros in the data. The fourth contribution is a new coordinate descent (CD) approach for wL1-NMF, denoted as sparse CD (sCD), where each subproblem is solved by a weighted median algorithm. Although it lacks convergence guarantees to a stationary point, sCD is, to the best of our knowledge, the first algorithm for L1-NMF whose complexity scales with the number of nonzero entries in the data, making it efficient in handling large-scale, sparse data. We perform extensive numerical experiments on synthetic and real-world data, including imaging mass spectrometry and topic modeling, to show the effectiveness of our new proposed model (wL1-NMF) and algorithm (sCD).

Pulse charging can be used to boost up charging speed for lithium-ion batteries and delay battery capacity fading by periodically pausing the current during charging. However, this technique introduces intermittence for current and may thus challenge the electric stability of charger as well as its energy supply source. To deal with this challenge, a coordination method for multiple loads simultaneously being charged has been proposed in this paper. The method exploits the off-time intervals of pulse current to charge other loads. By properly grouping and coordinating the charging loads, the fluctuation and amplitude of the charging current can be mitigated. To optimally schedule all charging loads, mathematical models are formulated to help find out the best scheduling scheme for the loads. Two scenarios have been considered as well as two mathematical models have been proposed and elucidated in the paper. In one scenario all loads are charged using PCs with the same frequency, while in the other scenario PCs with various frequencies are considered. In addition, a procedure of scheduling the charging process considering power limit is developed. The proposed method has been applied to and quantitatively evaluated in two application scenarios. Compared to randomly charging, both fluctuation and amplitude of the total current for multiple loads simultaneously being charged have been mitigated after properly scheduled. Using the proposed method, the merits of pulse charging for batteries can be utilized while the stability issue can be alleviated.

I present the generation and analysis of the largest known open-source corpus of playable piano chords (approximately 19.3 million entries). This dataset enumerates the two-handed search space subject to biomechanical constraints (two hands, each with 1.5 octave reach) to an unprecedented extent. To demonstrate the corpus's utility, the relationship between voicing shape and psychoacoustic targets was modeled. Harmonicity proved intrinsic to pitch-class identity: voicing statistics added negligible variance ($\Delta R^2 \approx 0.014\%$, $p \approx 0.13$). Conversely, voicing significantly predicted dissonance ($\Delta R^2 \approx 6.75\%$, $p \approx 0.0008$). Crucially, skewness ($\beta \approx +0.145$) was approximately 5.8$\times$ more effective than spread ($\beta \approx -0.025$) at predicting roughness. The analysis challenges the pedagogical emphasis on “spread”: skewness is a stronger predictor of dissonance than spread. This suggests that clarity in “open voicings” is driven less by width than by negative skewness; achieving lower-register clearance by placing wide gaps at the bottom and allowing tighter clustering in the treble. The results demonstrate the corpus's ability to enable future research, especially in areas such as generative modeling, voice-leading topology, and psychoacoustic analysis.

Robots operating in human-centric environments must be both robust to disturbances and provably safe from collisions. Achieving these properties simultaneously and efficiently remains a central challenge. While Dynamic Movement Primitives (DMPs) offer inherent stability and generalization from single demonstrations, they lack formal safety guarantees. Conversely, formal methods like Control Barrier Functions (CBFs) provide provable safety but often rely on computationally expensive, real-time optimization, hindering their use in high-frequency control. This paper introduces SafeDMPs, a novel framework that resolves this trade-off. We integrate the closed-form efficiency and dynamic robustness of DMPs with a provably safe, non-optimization-based control law derived from Spatio-Temporal Tubes (STTs). This synergy allows us to generate motions that are not only robust to perturbations and adaptable to new goals, but also guaranteed to avoid static and dynamic obstacles. Our approach achieves a closed-form solution for a problem that traditionally requires online optimization. Experimental results on a 7-DOF robot manipulator demonstrate that SafeDMPs is orders of magnitude faster and more accurate than optimization-based baselines, making it an ideal solution for real-time, safe, and collaborative robotics.

We present a receiver-side framework for identifying amplitude distortions in frequency-selective OFDM channels. The core novelty is the use of the DCT Neuron, a compact adaptive processor based on the discrete cosine transform (DCT), to characterize the channel's nonlinear response, leveraging its properties for highly efficient estimation. Operating directly in the time domain, the method builds an accurate signal model and tracks channel variations adaptively, achieving reliable identification with as few as two OFDM symbols. The learned nonlinear response can then be exploited for predistortion and iterative decoding, enabling low-complexity, real-time adaptive compensation of complex responses in multicarrier systems.

Certifying the Region of Attraction (ROA) for high-dimensional nonlinear dynamical systems remains a severe computational bottleneck. Traditional deterministic verification methods provide hard guarantees but suffer from the curse of dimensionality, typically failing to scale beyond 20 dimensions. To overcome these limitations, we propose SCORE, a statistical certification framework that shifts from seeking deterministic guarantees to bounding the worst-case safety violation with high statistical confidence. By integrating Projected Stochastic Gradient Langevin Dynamics (PSGLD) with Extreme Value Theory (EVT), we frame ROA certification as a constrained extreme-value estimation problem. Under stationary sampling and a regular local-geometry condition around the global maximum, we show that the Lyapunov derivative belongs to the Weibull maximum domain of attraction. Its finite right endpoint enables statistical estimation of the global maximum of the Lyapunov derivative and construction of an upper confidence bound, conditional on the sampling and inference assumptions. Numerical experiments validate that our EVT-based approach achieves certification tightness competitive to exact Sum of Squares programming on a 2D Van der Pol benchmark. Furthermore, we demonstrate strong scalability by successfully applying the statistical verification procedure to a dense, unstructured 500-dimensional ODE system at a nominal confidence level of 99.99%, effectively bypassing the severe combinatorial constraints that limit existing formal verification pipelines.

We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables scalability and high performance, a lack of formal safety guarantees in the face of unforeseen disturbances and unsafe network topology changes may lead to system failure. To address this challenge, we introduce structured control barrier functions (s-CBFs) as a multi-agent safety framework. The s-CBFs are augmented to a distributed predictive control barrier function (D-PCBF), a predictive, optimization-based safety layer that uses model predictions to guarantee recoverable safety at all times. The proposed approach enables a permissive yet formal plug-and-play protocol, allowing agents to join or leave the network while ensuring safety recovery if a change in network topology requires temporarily unsafe behavior. We validate the formulation through simulations and real-time experiments of a miniature race-car platoon.

The Linear Parameter-Varying (LPV) framework enables the construction of surrogate models of complex nonlinear and high-dimensional systems, facilitating efficient stability and performance analysis together with controller design. Despite significant advances in data-driven LPV modelling, existing approaches do not quantify the uncertainty of the obtained LPV models. Consequently, assessing model reliability for analysis and control or detecting operation outside the training regime requires extensive validation and user expertise. This paper proposes a Bayesian approach for the joint estimation of LPV state-space models, including their scheduling map, together with characterization of the model uncertainty and confidence bounds on the predicted model response directly from input-output data. Both aleatoric uncertainty due to measurement noise and epistemic uncertainty arising from limited training data and structural bias are considered. The resulting model preserves the LPV structure required for controller synthesis while enabling computationally efficient simulation and uncertainty propagation. The approach is demonstrated on the surrogate modelling of a two-dimensional nonlinear interconnection of mass-spring-damper systems.

This paper investigates the robust output regulation problem for an uncertain linear minimum-phase plant with cooperative parallel operation of multiple actuators. Building on the internal model approach, we first propose a dynamic output feedback control law to solve the robust output regulation problem with a single actuator. Then, we construct a distributed dynamic output feedback control law that is nearly independent of the number of actuators and incorporates coupling terms to address the linear robust output regulation problem with cooperative parallel operation of multiple actuators over undirected communication networks. We reveal the connection in the design of parameters between the dynamic output feedback control law under single actuator operation and the distributed dynamic output feedback control law under cooperative parallel operation with multiple actuators. Moreover, we remove the existing assumption that the actuator dynamics must be Hurwitz stable, thereby enabling the incorporation of unstable actuators in our framework. Finally, two numerical examples are provided to validate the effectiveness of the proposed control laws.

Distribution-level studies increasingly require feeder models that are both electrically usable and structurally representative of practical service areas. However, detailed utility feeder data are rarely accessible, while benchmark systems often fail to capture the geographic organization of real urban and suburban networks. This paper presents GeoDistNet, an open-source tool for synthetic distribution network generation from publicly available geographic information. Starting from map-derived spatial data, the proposed workflow constructs a candidate graph, synthesizes feeder-compatible radial topology through a mixed-integer formulation, assigns representative electrical parameters and loads, and exports the resulting network for power-flow analysis. A Melbourne case study shows that the generated feeder remains geographically interpretable, topologically structured, and directly usable in pandapower under multiple loading levels. GeoDistNet therefore provides a reproducible workflow for bridging publicly accessible GIS data and simulation-ready distribution feeder models when detailed utility networks are unavailable.

The reliable operation of Unmanned Underwater Vehicle (UUV) clusters is highly dependent on continuous acoustic communication. However, this communication method is highly susceptible to intermittent interruptions. When communication outages occur, standard state estimators such as the Unscented Kalman Filter (UKF) will be forced to make open-loop predictions. If the environment contains unmodeled dynamic factors, such as unknown ocean currents, this estimation error will grow rapidly, which may eventually lead to mission failure. To address this critical issue, this paper proposes a Variational History Distillation (VHD) approach. VHD regards trajectory prediction as an approximate Bayesian reasoning process, which links a standard motion model based on physics with a pattern extracted directly from the past trajectory of the UUV. This is achieved by synthesizing “virtual measurements” distilled from historical trajectories. Recognizing that the reliability of extrapolated historical trends degrades over extended prediction horizons, an adaptive confidence mechanism is introduced. This mechanism allows the filter to gradually reduce the trust of virtual measurements as the communication outage time is extended. Extensive Monte Carlo simulations in a high-fidelity environment demonstrate that the proposed method achieves a 91% reduction in prediction Root Mean Square Error (RMSE), reducing the error from approximately 170 m to 15 m during a 40-second communication outage. These results demonstrate that VHD can maintain robust state estimation performance even under complete communication loss.

Non-destructive testing using ultrasound is based on the interaction of sound waves with the object being tested and any defects it may contain. The aim is to extract as much information as possible about the object and its defects from the scattered wave field. In this paper, the concept of information in the context of ultrasonic testing is formalized and quantified physically for the first time. To this end, a balance equation for information is derived, analogous to Poynting's theorem for elastic energy. Various examples demonstrate how structural information is generated and annihilated within a component and along which pathways it travels from the defect to the sensor. Subsequently, the significance and potential of this new information concept for practical ultrasonic testing, structural health monitoring, numerical simulation, and machine learning are discussed. Finally, similarities and differences to mathematical Shannon information and statistical Fisher information are highlighted.

Classical proportional–integral–derivative (PID) control remains widely used in industrial control systems, while model predictive control (MPC) is actively studied to achieve higher performance for systems with nonlinear dynamics. Model predictive path integral (MPPI) control is a sampling-based MPC method that optimizes control inputs without gradient calculations and can handle non-differentiable models and objective functions. However, conventional MPPI directly samples control-input sequences, which can produce large temporal input increments and causes the optimization dimension to grow with the prediction horizon. This study proposes MPPI–PID control, which uses MPPI to optimize PID gains online instead of directly optimizing the control-input sequences. By replacing high-dimensional input-sequence optimization with low-dimensional gain-space optimization while retaining the PID structure, the proposed formulation improves sampling efficiency and promotes smoother control inputs. Theoretical analyses are provided for a unified path-integral update, the relation between optimization dimension and effective sample size, and the temporal correlation of input perturbations induced by the PID structure. The method is evaluated on a learning-based path following of a mini forklift using a residual-learning dynamics model that combines a physical model and a neural network identified from real-machine driving data. Numerical results show that MPPI–PID improves tracking performance over fixed-gain PID, yields smaller input increments than conventional MPPI, and maintains favorable performance under reduced sampling budgets.

The paper presents an approach to flatness-based control design for hyperbolic multi-input systems, building upon the hyperbolic controller form (HCF). The transformation into HCF yields a simplified system representation that considerably facilitates the design of state feedback controllers for trajectory tracking. The proposed concept is demonstrated for a Timoshenko beam and validated through numerical simulations, demonstrating trajectory tracking and closed-loop stability.

Integrated Sensing and Communication (ISAC) is a key enabler of high speed, ultra low latency vehicular communication in 6G. ISAC leverages radar signal processing (RSP) to localize multiple unknown targets amid static clutter by jointly estimating range, azimuth, and Doppler velocity (3D), thereby enabling highly directional beamforming toward intended mobile users. However, the speed and accuracy of RSP significantly impact communication throughput. This work proposes a novel 3D reconfigurable RSP accelerator, implemented on a Zynq Multi processor System on Chip (MPSoC) using a hardware software codesign approach and fixed point optimization. We propose two RSP frameworks: (1) high accuracy and high complexity, and (2) low complexity and low accuracy, along with their respective architectures. Then, we develop an adaptive architecture that dynamically switches between these two frameworks based on the signal to clutter plus noise ratio. This adaptive reconfiguration achieves up to 5.6 times faster RSP compared to state of the art designs. At the system level, the proposed RSP based ISAC delivers a 24% improvement in communication throughput without increasing hardware complexity.