Papers

Computational constraints permeate the controller design process, and yet are rarely treated as explicit design constraints. Towards addressing this gap, we propose a quantitative framework that captures the effects of common design approximations, such as model order reduction, temporal discretization, horizon truncation, and solver accuracy, on both controller performance and computational requirements. Our framework highlights that these approximations are tunable parameters within an overall controller design process. By leveraging incremental input-to-state stability, we show that bounding the aggregate effects of these approximations reduces to verifying a design-dependent sector bound on the difference between the deployed policy and an idealized baseline, with stability enforced via a small-gain condition. We operationalize these insights via a Design Meta-Problem in which the performance gap is minimized subject to stability, real-time compute, and timing constraints. Finally, we instantiate the framework on a receding horizon LQR case study, and demonstrate a principled near-optimal navigation of tradeoffs among sampling rate, model order, horizon length, and solver iterations.

We propose VISION-SLS, a method for nonlinear output-feedback control from high-resolution RGB images which provides robust constraint satisfaction guarantees under calibrated uncertainty bounds despite partial observability, sensor noise, and nonlinear dynamics. To enable scalability while retaining guarantees, we propose: (i) a learned low-dimensional observation map from pretrained visual features with state-dependent error bounds, and (ii) a causal affine time-varying output-feedback policy optimized via System Level Synthesis (SLS). We develop a scalable, novel solver for the resulting nonconvex program that leverages sequential convex programming coupled with efficient Riccati recursions. On two simulated visuomotor tasks (a 4D car and a 10D quadrotor) with >= 512 x 512 pixels and a 59D humanoid task with partial observability, our method enables safe, information-gathering behavior that reduces uncertainty while guaranteeing constraint satisfaction with empirically-calibrated error bounds. We also validate our method on hardware, safely controlling a ground vehicle from onboard images, outperforming baselines in safety rate and solve times. Together, these results show that learned visual abstractions coupled with an efficient solver make SLS-based safe visuomotor output-feedback practical at scale. The code implementation of our method is available at https://github.com/trustworthyrobotics/VISION-SLS.

Monitoring sea states across the offshore wind farm areas is essential to keep their structures safe, efficiently operate the systems, and assess the environmental effects of wind turbines. Conventional sea state sensors like buoys limit their observable coverage; therefore, installing many sensors across the wide area is necessary to obtain sufficient sea state information. However, such a situation is not practical in terms of cost. Instead, the study proposes utilising optical fibres, which is embedded in existing power cables for telecommunications on the seabed, as sea state monitoring sensors with distributed acoustic sensing (DAS). DAS is a vibration-sensing technology along optical fibres based on the Rayleigh backscattering of the injected laser. It measures the dynamic strain of the optical fibre in real time at each spatial bin, which is called a "channel" along the fibre. In power cables on the seabed, time-varying water pressure due to waves is expected to exert dynamic strain. This hypothesis motivates us to validate whether the application of DAS for power cables can estimate sea state, such as wave period, height, and the direction of arrival. Hence, the authors carried out a wave tank experiment with a programmable wave generator. An actual power cable is installed under the same condition as the bottom-mounted offshore wind turbines. The experimental results show that (i) the wave period can be accurately estimated from the frequency-domain analysis. (ii) The strong linearity between DAS vibration power and the wave height is found. (iii) The direction of arrival of waves can be estimated with the error of 1.5$^\circ$ when there are at least two laying angles of the cable in parallel with the estimation of wavelength. These outcomes promote the feasibility of utilising the existing power cables across offshore wind farms as sea state monitoring sensors.

This study proposes an anomaly-detection framework for monitoring exposure-length variations in submarine free-span cables using Distributed Acoustic Sensing (DAS), which is one of the distributed fiber-optic sensing technologies. To address environmental variability and limited training data in offshore environments, a regression-based feature extraction method was introduced to derive low-dimensional latent representations that retain exposure length-dependent vibration characteristics while suppressing environmental influences. The extracted features were used for one-class Support Vector Machine (SVM)-based anomaly detection. The proposed framework was evaluated through wave-tank experiments with exposure lengths ranging from 2 to 10 m. Experimental results showed that anomaly scores decreased approximately monotonically with increasing exposure-length change, exhibiting a strong correlation ($r = -0.83$). The binary classification achieved an F1 score of 0.82 despite training with only small-sample datasets. These findings demonstrate that exposure-length variations can be reliably detected under severe data limitations, supporting the potential of DAS-based cable condition monitoring.

Controlling illumination in images is essential for photography and visual content creation. While closed-source models have demonstrated impressive illumination control, open-source alternatives either require heavy control inputs like depth maps or do not release their data and code. We present a fully open-source and reproducible pipeline for learning illumination control in diffusion models. Our approach builds a data engine that transforms well-lit images into supervised training triplets consisting of a poorly-illuminated input image, a natural language lighting instruction, and a well-illuminated output image. We finetune a diffusion model on this data and demonstrate significant improvements over baseline SD 1.5, SDXL, and FLUX.1-dev models in perceptual similarity, structural similarity, and identity preservation. Our work provides a reproducible solution built entirely with open-source tools and publicly available data. We release all our code, data, and model weights publicly.

CONCERTO is a millimeter-wave imaging instrument that operated on the Atacama Pathfinder Experiment (APEX) telescope from April 2021 to May 2023. Its primary scientific objectives include the study of galaxy clusters through the Sunyaev-Zel'dovich (SZ) effects, the observation of Galactic star-forming regions, and the first measurements constraining the power spectrum of dusty star-forming galaxies. The instrument consists of two detector arrays, each comprising 2400 Microwave Kinetic Inductance Detectors (MKIDs). Each of the two arrays comprises six feed-lines and is read out by six KID_READOUT electronic boards, each capable of reading out one feed-line coupled to 400 frequency-multiplexed MKIDs. As the demand for higher-resolution millimeter-wave imaging continues to grow, future instruments aim to significantly increase the pixel count, with more than 800 detectors per feed-line. However, the MKID readout electronics chain is inherently complex, making it difficult to fully understand its performance limits and optimization margins. To address this challenge, we initiated a modeling effort that first focused on the digital section of KID\_READOUT. In this phase, we developed a digital twin of the FPGA-based signal processing chain, which led to substantial performance improvements. The present paper extends this modeling strategy to the analog readout chain. It presents the characterization and behavioral modeling of all analog components, allowing us to identify the elements that limit the frequency multiplexing factor, determine the dominant noise contributors, and highlight areas for improvement in signal conditioning for the future-generation board. Together, these developments establish, to the best of our knowledge, the first consolidated digital-and-analog behavioral framework of an MKID readout architecture, implemented in a unified Python-based modeling environment.

Three-dimensional convolutional neural networks (3D CNNs) have demonstrated remarkable performance in video recognition tasks by processing both spatial and temporal features. However, the cubic scaling of computational complexity poses significant time and energy efficiency challenges for conventional silicon-based hardware. To address this, we propose a hybrid optoelectronic architecture that delegates the computationally intensive 3D convolutional layer to an opto-atomic Spatio-temporal Holographic Correlator (STHC). This system stores temporal information as atomic coherence in an array of inhomogeneously broadened cold Rubidium-85 atoms and combines a traditional 2D spatial correlator to perform correlation in both space and time simultaneously. Our results on a four-class human action dataset demonstrate a classification accuracy of 59.72% using parallel large-scale kernels (30X40 pixels spatially, 8 frames temporally), with potential operating speeds projected up to 125,000 frames per second. This approach offers a pathway to massively accelerated video classification through a hybrid architecture.

In practical early-stage battery-electric vehicle studies, analysis workflows may become fragmented across spreadsheets, notebooks, and project-specific scripts, making reuse, audit, and extension harder. VEHRON is an open-source Python framework for a deterministic, traceable workflow built around prescribed-speed longitudinal simulation of battery-electric vehicles using validated YAML configuration, packaged drive-cycle resources, interchangeable subsystem models, and auditable case outputs. VEHRON currently runs as a command-line workflow in which a vehicle definition and a testcase definition are combined to execute a simulation, emit a flat time series, and write a case package containing copied inputs, resolved configuration, summary metadata, and standard plots. Architecturally, VEHRON is organized around a small simulation engine, a shared state bus, a registry of model selections, schema-based configuration loading, and extension points for custom battery and HVAC models loaded from external Python files. VEHRON currently focuses on battery-electric longitudinal simulation with low-order battery, thermal, auxiliary-load, and HVAC models. This paper explains how VEHRON is structured, how it is used, which models it implements, and where its present limits lie. Source code is available at https://github.com/vehron-dev/vehron, with archived release metadata recorded under DOI https://doi.org/10.5281/zenodo.19820111.

Vehicle-to-Grid (V2G) technology allows bidirectional power flow for real-time grid support, making electric vehicles (EVs) well-suited for ancillary services such as frequency regulation. However, existing methods for flexibility estimation and coordinating aggregated EVs often rely on individual EV traveling information (e.g., arrival/departure time) and/or characteristic parameters (e.g., charging efficiency, battery capacity) as well as real-time state-of-charge (SOC), which raises privacy concerns and faces data quality issues. To address these challenges, this paper proposes a data-driven, privacy-preserving modeling and control framework for frequency regulation using aggregated EVs. The proposed method can provide accurate estimation for power outputs and flexibility of aggregated EVs and carry out effective frequency regulation without any individual EV information. Simulation results validate the accuracy and effectiveness of the proposed method, which also outperforms the model-based and federated learning-based method under SOC data inaccuracies.

Understanding the structure of the brain, and how it changes with time and disease, is a core goal of structural neuroimaging. Contemporary approaches to structural brain analysis are dominated by voxel-wise, mass-univariate methods such as voxel-based morphometry (VBM). However, these techniques require images to be normalized to a standard template, which can obscure subject-specific geometric features. Normalization to a common stereotactic space can also be problematic when comparing groups with substantial brain pathology, lesions, or other anatomical abnormalities. Here, we introduce two complementary pipelines based on persistent homology (PH), a tool from topological data analysis, to quantify multiscale geometric features of structural T1-weighted MRI scans. Pipeline 1 quantifies regional thinning by applying the Euclidean distance transform to tissue masks in a slice-wise manner. Pipeline 2 uses \(\alpha\)-filtrations to measure structural similarity between pairs of scans, capturing sulcal widening and ventricular enlargement. Synthetic experiments with controlled induced lesions showed that Pipeline 1 is best suited to between-subject analyses, whereas Pipeline 2 is better suited to within-subject designs. Applied to real-world data from the Alzheimer's Disease Neuroimaging Initiative (ADNI), Pipeline 1 separated Alzheimer's disease (AD) from cognitively normal (CN) participants using single-modality T1-weighted MRI without nonlinear registration (ROC-AUC = 0.895), with peak effects localized to medial temporal regions. Pipeline 2 captured disease-related longitudinal change, with follow-up scans remaining closest to their own baselines and AD subjects showing greater short-interval change than CN subjects. Together, these pipelines provide interpretable topological biomarkers for cross-sectional group comparisons and longitudinal tracking.

Learning-based control techniques use data from past trajectories to control systems with uncertain dynamics. However, learning-based controllers are often computationally inefficient, limiting their practicality. To address this limitation, we propose a learning-based controller that exploits differential flatness, a property of many robotic systems. Recent research on using flatness for learning-based control either is limited in that it (i) ignores input constraints, (ii) applies only to single-input systems, or (iii) is tailored to specific platforms. In contrast, our approach uses a system extension and block-diagonal cost formulation to control general multi-input, nonlinear, affine systems. Furthermore, it satisfies input and half-space flat state constraints and guarantees probabilistic Lyapunov decrease using only two sequential convex optimizations. We show that our approach performs similarly to, but is multiple times more efficient than, a Gaussian process model predictive controller in simulation, and achieves competitive tracking in real hardware experiments.

In this paper, we study the reachability of two closely related matrices appearing in the analysis of linear time-varying (LTV) systems over a finite time interval, namely, its closed-loop state transition matrix via a state feedback control and its state covariance matrix starting from some given initial state covariance matrix. Under a mild assumption, we first characterize the set of closed-loop terminal state transition matrices reachable from the identity matrix using controls of the state feedback form. Then, we provide the set of terminal state covariance matrices reachable from any given positive definite initial state covariance matrix when the LTV system is not necessarily controllable. Both results are based on the solutions of corresponding matrix Riccati differential equations (RDE).

We study finite-horizon quadratic control of linear systems with bilinear observations, in which the control input affects not only the state dynamics but also the partial observations of the state. In this setting, the separation principle can fail because control inputs influence the future quality of state estimates. State estimation requires an input-dependent Kalman filter whose gain and error covariance evolve as functions of the control inputs. To address this challenge, we propose a belief-space model predictive control ($\texttt{B-MPC}$) method that plans directly over both the estimated state and its error covariance. In particular, $\texttt{B-MPC}$ plans with a deterministic surrogate of the belief evolution defined by the input-dependent Kalman filter. Through numerical experiments in two synthetic settings, we show that $\texttt{B-MPC}$ can outperform both the separation-principle controller and its MPC variant in favorable regimes, and that these gains are accompanied by lower estimation covariance and more uncertainty-aware action choices.

Orbit prediction and space situational awareness require accurate thermospheric mass density, which responds nonlinearly to solar and geomagnetic forcing across several orders of magnitude. Physics-based general circulation models resolve that response but are computationally expensive, while empirical models run cheaply and carry no time-evolving atmospheric state. An autoregressive Sparse Identification of Nonlinear Dynamics with control (SINDyc-AR) model, derived from the Thermosphere-Ionosphere-Electrodynamics General Circulation Model (TIE-GCM), captures the dominant modes of variability and their dependence on the drivers at a fraction of the parent model's cost. An extended Kalman filter assimilates in situ observations from CHAMP, GRACE, GRACE-FO, GOCE, and Swarm into that model across several orbital configurations and geomagnetic conditions, with a linear DMDc model as reference. Assimilation reduces density error relative to open-loop prediction, most visibly during geomagnetic storms and under single-satellite coverage. The two reduced-order models perform comparably throughout. NRLMSIS 2.1 and HASDM can outperform the assimilated model far from the assimilated track, so results are framed as improvements over the open-loop forecast. An observation-calibrated global density record spanning August 2000 to December 2025 is released alongside this work.

The escalating data rate demands of future wireless communications necessitate the deployment of extremely large aperture arrays (ELAAs) in communication systems. Acquiring accurate channel state information is crucial to execute effective precoding for such systems, in which the near-field curvature effects on the channel must be considered. Current channel estimation algorithms are generally restricted to the spherical wavefront channel (SWC), which is appropriate for isotropic scatterers, point sources, and planar reflecting surfaces. However, in practical scenarios involving curved reflecting surfaces, the reflected waves exhibit anisotropic rather than spherical wavefronts, significantly degrading the accuracy of conventional SWC-based algorithms. To tackle this challenge, we first derive a parameterized model for the anisotropic wavefront channel (AWC). Based on this model, we then propose the matching-free acquisition of channels with anisotropic wavefronts (MACAW) algorithm. Unlike conventional dictionary-based matching pursuit techniques, MACAW recovers channel parameters through fast-Fourier-transform-based frequency analysis. This approach enables precise channel estimation in AWC scenarios while maintaining a significantly lower computational complexity than existing methods. Simulation results illustrate how physical characteristics of the propagation environment influence the degree of wavefront anisotropy, and demonstrate the effectiveness of the proposed algorithm.

Reverse parking maneuvering of a vehicle with trailer system is a difficult task to complete for human drivers due to the multi-body nature of the system and the unintuitive controls required to orientate the trailer properly. The problem is complicated with the presence of other vehicles that the trailer and its connected vehicle must avoid during the reverse parking maneuver. While path planning methods in reverse motion for vehicles with trailers exist, there is a lack of results that also offer collision avoidance as part of the algorithm. This paper hence proposes a modified Hybrid A*-based algorithm that can accommodate the vehicle-trailer system as well as collision avoidance considerations with the other vehicles and obstacles in the parking environment. One of the novelties of this proposed approach is its adaptability to the vehicle with trailer system, where limits of usable steering input that prevent the occurrence of jackknife incidents vary with respect to system configuration. The other contribution is the addition of the collision avoidance functionality which the standard Hybrid A* algorithm lacks. The method is developed and presented first, followed by simulation case studies to demonstrate the efficacy of the proposed approach.

This paper investigates a joint hybrid digital-analog beamforming and trajectory design for a cell-free multi-static integrated sensing and communication (ISAC) system supported by multiple unmanned aerial vehicles (UAVs). Specifically, these UAVs cooperatively serve ground users and perform multi-static sensing to detect the target. We formulate a weighted sum-rate (WSR) maximization problem by jointly optimizing the hybrid beamformers and the UAV trajectories. This joint design explicitly accounts for practical constraints, including transmit power budgets, sensing signal-to-noise ratio (SNR) requirements, UAV kinematic constraints, and both continuous and discrete phase shifters. In particular, we reformulate the original complex problem into a solvable form that can be addressed using the penalty dual decomposition (PDD) method. Simulation results demonstrate that the proposed design achieves performance close to that of the fully digital (FD) scheme and significantly outperforms other schemes. Furthermore, leveraging UAV mobility and multi-static cooperation provides crucial spatial degrees of freedom, effectively avoiding WSR degradation under limited transmit power or strict sensing requirements.

In large antenna arrays, hardware power consumption becomes a dominant design constraint, making energy efficiency (EE) a first-class objective alongside spectral efficiency (SE). Microwave linear analog computer (MiLAC)-aided beamforming, whose front end is a passive reciprocal stream-to-antenna network, addresses this tension by reducing the active radio-frequency chain count to the stream number, at a moderate SE cost. Despite this promise, no EE optimization framework has been established for MiLAC-aided beamforming that accounts for digital-to-analog converter quantization noise and post-quantized transmit power. We fill this gap for downlink multiuser multiple-input single-output (MU-MISO) systems by formulating quantization-aware EE maximization over the MiLAC-feasible beamformer and characterizing the resulting SE-EE tradeoff. Three contributions follow. First, we prove a row-space optimality property of the effective MiLAC-aided beamformer, yielding an equivalent reduced-dimension reformulation whose complexity scales with the stream number rather than the antenna number. Second, we develop a low-complexity Dinkelbach-weighted minimum mean-square error algorithm aided by projected gradient descent that is guaranteed to converge to a stationary point. Third, we cast the SE-EE tradeoff as a multi-objective problem and trace its Pareto boundary via a weighted-sum method that combines an alternative reduced-dimension coordinate with auxiliary-variable successive convex approximation, yielding convex per-iteration subproblems with guaranteed convergence. Numerical results on a DeepMIMO v4 deployment show MiLAC-aided beamforming substantially improves EE over digital and hybrid benchmarks at a moderate SE cost and significantly expands the achievable SE-EE operating region.

This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle dynamics into a strict feedback form, facilitating the design of a Sliding Mode Control (SMC) strategy for precise and robust reference tracking. To ensure operational safety in dynamic environments, the tracking controller is integrated with a Collision Cone Control Barrier Function (C3BF) based safety filter. The proposed architecture guarantees asymptotic tracking in the presence of external disturbances while strictly enforcing collision avoidance constraints. The novelty of this work lies in designing a sliding mode controller for ground robots like the Ackermann drive, which has not been done before. The efficacy and versatility of the approach are validated through numerical simulations and extensive real-world experiments on three distinct platforms: an Ackermann-steered vehicle, a differential drive robot, and a quadrotor drone. Video of the experiments are available at https://youtu.be/dWcxwum96vk

Emerging delay-critical edge AI applications, such as VR perception and real-time video analytics, impose stringent latency and reliability requirements on 5G networks. However, existing mobility management mechanisms are largely reactive and fail to adapt to dynamic network conditions, resulting in suboptimal handover decisions and degraded performance. In this paper, we present TARMM, a 5G Open Radio Access Network (O-RAN) system that optimizes user mobility management for delay-critical edge AI offloading. The core of TARMM is a temporal graph model that captures the spatiotemporal dynamics of the RAN across users and cells, enabling near real-time handover decisions. Building on this representation, we design a multi-agent reinforcement learning (MARL) framework with rule-based action masking and proactive resource preparation to ensure safe, stable, and efficient handovers. We implement TARMM on a multi-cell indoor 5G O-RAN testbed and evaluate it using diverse VR workloads. Extensive experiments show that TARMM reduces tail latency by up to 44% and packet loss by up to 56% compared to state-of-the-art approaches. Source code and demo videos are available at: https://margo-source.github.io/Margo/

Direct Device-to-Satellite (D2S) communications, which enable direct satellite connectivity with unmodified user equipment (UE), not only expand global coverage but also reshape the evolution of future access networks. However, D2S links face fundamental challenges due to inherently low signal-to-noise ratios (SNRs) and limited spatial multiplexing gains arising from near line-of-sight propagation, both of which severely constrain achievable spectral efficiency. Despite the lack of spatial multiplexing, this work shows that aggressive non-orthogonal transmissions, where multiple users (e.g., four) transmit concurrently over the same frequency resources, even to a single receive antenna, can unlock substantial capacity gains that remain entirely unexploited by existing systems. Realizing these gains in practice, however, requires receiver architectures that, to the best of our knowledge, have not yet been developed. To this end, we introduce NL-COMM-Sat, an efficient and flexible framework that overcomes this limitation by enabling aggressive non-orthogonal signal transmissions. In contrast to conventional non-orthogonal multiple access (NOMA) schemes, NL-COMM-Sat supports more than two UEs per receive antenna on the same frequency resource. The framework revisits optimal receiver design principles and proposes computationally efficient processing schemes that translate previously unexplored theoretical gains into tangible throughput improvements, even under realistic channel estimation errors and high-mobility Doppler conditions. Our evaluation shows that NL-COMM-Sat achieves up to a 2x increase in spectral efficiency compared to orthogonal multiple access and NOMA baselines across all considered SNR and Doppler regimes, even with a single-antenna receiver and user speeds of up to 500 km/h.

Learning methods are increasingly used to synthesize controllers from data, yet existing sample-complexity characterizations for continuous control are sharp only in the fully observed setting. This paper studies the partially observed case by deriving information-theoretic lower bounds for learning Linear Quadratic Gaussian (LQG) controllers from offline trajectories generated by a (linear) exploration policy. We prove an $\varepsilon$-local minimax excess-cost lower bound that applies to any algorithm mapping the offline dataset to a stabilizing linear controller. The bound is expressed in terms of the Hessian of the LQG cost with respect to model parameters and the inverse Fisher Information induced by the exploration policy. We further provide system-theoretic characterizations of these objects, enabling transparent construction of hard instances. Instantiating the bound on classical fragile robust-control examples, including variants of the Doyle LQG fragility counterexample and non-minimum-phase systems, demonstrates when fragile robust control problems translate into high sample complexity for learning-enabled control. These results suggest the asymptotic optimality of certainty-equivalent synthesis and motivate the importance of both task-directed experiment design and system co-design for sample-efficient learning in partially observed control.

Control applications for cyber-physical systems must make reliably safe control decisions in the presence of continuous dynamics as well as stochastic uncertainty. Providing safety guarantees for such systems requires formal modeling and analysis techniques that capture these aspects. For modeling, in this paper we consider rectangular automata with random clocks under prophetic scheduling. For this model class, existing methods can compute only upper bounds on reachability probabilities, enabling optimistic, best-case safety reasoning. We complement this view by introducing a novel method to compute lower bounds, thereby enabling worst-case analysis that is essential for safety-critical applications. Although both upper and lower bounds rely on reachability analysis, they are not dual: computing lower bounds requires an explicit separation of stochastic and nondeterministic choices along executions. We implement our approach and demonstrate its practical feasibility on an electric vehicle charging scenario, showing that meaningful worst-case guarantees can be obtained.

Electroencephalography (EEG) is highly susceptible to artifact contamination, such as electrooculographic (EOG) and electromyographic (EMG) interference, which severely degrades signal quality and hinders reliable interpretation in applications including neurological diagnosis, brain-computer interfaces (BCIs), etc. Effective EEG denoising remains challenging because different artifact sources exhibit diverse and temporally varying distributions, together with distinct spectral characteristics across frequency bands. To address these issues, we propose BandRouteNet, an adaptive frequency-aware neural network for EEG denoising that jointly exploits band-specific processing and full-band contextual modeling. The proposed model performs band-wise denoising to explicitly capture frequency-dependent artifact patterns. Within this framework, we introduce a routing mechanism that adaptively determines where and to what extent denoising should be applied across temporal locations within each frequency band. In parallel, a full-band conditioner directly processes the original noisy EEG to extract global temporal context, producing both conditional parameters for modulating the band-wise pathway and a coarse-grained signal-level refinement to supplement the final reconstruction. Extensive experiments on the EEGDenoiseNet benchmark dataset demonstrate that BandRouteNet outperforms other methods under EOG, EMG, and mixed-artifact conditions in terms of Relative Root Mean Square Error (RRMSE) and Signal-to-Noise Ratio Improvement (SNR$_{\text{imp}}$) under unified experimental settings, while remaining highly parameter-efficient with only 0.2M trainable parameters. These results highlight its strong potential for high-performance EEG artifact removal in resource-constrained applications.

Quantitative analysis of the kinematic chain in sports motion is essential for performance evaluation and injury prevention. Conventional methods such as the kinematic-sequence (KS) and continuous relative phase (CRP) are confined to adjacent joint pairs and lack a unified framework for whole-body coordination, while segmental power-flow analysis requires force plates and inertial parameters that restrict it to laboratory environments. We apply Complex Hilbert Principal Component Analysis (CHPCA) separately to each motion phase (backswing and downswing) on markerless 3D pose estimation data, extracting the dominant whole-body phase pattern as a single complex eigenvector. The pipeline further includes a fully automatic signal-based phase segmentation (no priors on strike count or rest location) and an extension to 1,079 body-surface mesh vertices, so that the kinematic chain is represented as a continuous phase field across the body. On 14 hammer-striking trials of a single subject, the framework reveals (i) a trunk-anchored global phase architecture, (ii) a functional asymmetry between preparation and execution phases quantified by Mode-1 contribution (45.5% vs. 70.5%) and inter-trial Spearman consistency (0.38 vs. 0.58), and (iii) a consistent reorganisation across both skeletal joints and mesh vertices ($p < 10^{-10}$ on 1,079 vertices). As a methodological consistency check, pairwise phase differences from the Mode-1 eigenvector are compared against CRP on all 190 joint pairs by a permutation test ($\rho = 0.473$, $p = 0.0005$). A correspondence analysis between Mode-1 amplitude and kinetic-energy mobilisation variance further shows a strong positive correlation in the downswing ($\rho \approx 0.71$ on both skeleton and mesh) and no correlation in the backswing, indicating that the proposed framework bridges kinematic and kinetic descriptions of coordination through phase structure.

Public warning systems (PWS) in cellular networks enable authorities to broadcast emergency alerts to all mobile phones in a geographic region in the event of threats such as earthquakes or severe weather. If an attacker can imitate these alerts and transmit a forged warning containing fake news or phishing links, the impact could range from public panic to user compromise. In this work, we present the first open-source 5G emergency alert spoofing attack, implemented by modifying the openairinterface (OAI) radio access network (RAN) code and executed using a software-defined radio, complemented by a custom network management system to automate network and warning configuration. We conduct a detailed analysis of how different smartphones behave under various conditions. Our findings show that while devices readily display spoofed alerts, the alerting mechanism enables multiple practical attack scenarios beyond simple warning display. Finally, to address this threat, we propose and implement a lightweight cross-cell verification mechanism in OAI, in which the device compares the received warning with neighboring cell broadcasts to flag single-source alerts as suspicious.

Large Audio-Language Models show consistent performance gains across speech and audio benchmarks, yet high scores may not reflect true auditory perception. If a model can answer questions without processing the acoustic signal, the benchmark fails as a measure of auditory understanding. We present a diagnostic framework using two axes: text prior, which measures answerability from text and general knowledge alone, and audio reliance, which assesses actual dependency on the acoustic signal. Evaluating eight LALMs across three benchmarks, we find that models retain 60-72% of their full audio scores even without any audio input. Moreover, among items that require audio, only 3.0-4.2% need the complete audio clip; the majority can be resolved using localized fragments. These findings challenge the assumption that benchmark performance equals robust audio understanding, and we conclude with practical guidelines for improving evaluation reliability and benchmark design.

The objective of Emergency Medical Services (EMSs) is to promptly respond to calls from citizens for first aid, providing pre-hospital care and, if necessary, to transfer patients to an appropriate Emergency Department (ED) by ambulance. The efficiency of such a system strongly depends on the deployment of ambulance home bases, i.e., locations where ambulances and their crews are strategically positioned, ready to respond to emergency calls. This paper presents a general Discrete Event Simulation (DES) model designed to capture the stochastic behaviour and workflow of regional ambulance emergency systems. The proposed model incorporates and integrates information collected from different sources, reproducing very accurately the operation of the ambulance system, thus allowing a more comprehensive and realistic analysis. To show the applicability and reliability of the proposed general model, a case study provided by the Azienda Regionale Emergenza Sanitaria - ARES 118 (an Italian Regional Emergency Medical Services Authority - ARES~118}) is presented. It concerns a territory within the Lazio region of Italy, including a medium-size city along with sparsely populated areas. The reported results about scenario analyses highlight how the model we propose can be fruitfully used by the managers to improve effectiveness and quickness of the entire regional EMS system.

Automatic chord recognition (ACR) extracts time-aligned chord labels from music audio recordings. Despite recent advances, ACR still struggles with oversegmentation, data scarcity, and imbalance, especially in recognizing complex chords such as non-triads, which are unpopular in existing datasets. To address these challenges, we reformulate ACR as a segment-level sequence-to-sequence prediction task, where chord sequences are predicted auto-regressively rather than frame by frame. This design mitigates excessive segmentation by detecting chord changes only at segment boundaries. We further introduce two types of token representations and an encoder pre-training method, both specifically designed for time-aligned chord modeling. Experimental results show that our model improves performance in both chord recognition and segmentation, with notable gains for complex and infrequent chord types. These findings demonstrate the effectiveness of segment-level sequence modeling, structured tokenization, and representation learning for advancing chord recognition systems.

Resource allocation in integrated sensing and communication (ISAC) systems needs to be optimized to balance the requirements of the communication and sensing modules considering complicated cross-layer data traffic and queue status in dynamic multi-user environments. This paper studies the beam allocation for cross-layer ISAC that achieves low-latency communication and minimizes sensing parameters estimation error. To handle the complex coupling between practical data buffer dynamics and varying wireless channels, we propose a deep reinforcement learning (DRL)-assisted approach. Rather than relying on explicit channel state information, the DRL-assisted beam allocation reduces feedback overhead by leveraging sensing observations. Simulation results verify that the DRL framework effectively takes buffer status into account and adapts to the wireless environment while allocating resources. The proposed multi-beam scheme improves overall throughput with only modest delay increases. Finally, the DRL-assisted beam management achieves both communication and sensing performance close to that of the genie-aided benchmark with perfect angle-of-departure (AoD) knowledge. These contributions advance the state-of-the-art intelligent resource management for ISAC systems.