Papers

Distributed vertical power delivery has emerged as a promising approach to meet aggressive current-density, efficiency, and transient response requirements in high-performance computing systems. Tight integration of voltage regulators within stacked substrates, however, increases the vulnerability of the power delivery system to short-circuit and open-circuit faults arising from elevated thermal and mechanical stresses. Such faults can propagate through the shared power delivery network, leading to rapid degradation of system-wide efficiency at worst-case rates of up to 0.5% per microsecond. Advanced fault-tolerant power management strategies are therefore required to ensure efficient power delivery. A real-time fault-detection and isolation methodology are proposed in this paper for vertical power delivery systems. The methodology is developed based on an analytical inductor-current models that rely solely on signals available within the converter control circuitry, thereby eliminating additional sensing overhead. The proposed framework is designed and simulated in SPICE environment, demonstrating sub-microsecond fault detection and effective dual-fuse isolation, maintaining uninterrupted power delivery with a system-wide efficiency degradation of less than 2%.

Decarbonizing aviation remains challenging because energy-dense jet fuels dominate beyond short-range operations, while batteries impose severe range and payload penalties. Here we evaluate a new infrastructure pathway in which utility-scale solar farms equipped with solar phased arrays wirelessly beam microwave power to hybrid-electric aircraft during cruise. Integrating 143,152 U.S. flight trajectories, 5,712 solar farms and wireless power transfer models, we quantify the spatial, temporal, and operational potential of this concept at continental scale. We find that benefits are highly concentrated in solar-rich, traffic-dense states and are dominated by short- and medium-range flights, accounting for nearly all delivered energy and cost savings. Schedule optimization and higher cruise altitudes further increase value by improving alignment between aircraft demand and beaming availability. Market penetration analysis reveals non-linear scaling between solar farm and flight adoption. These results show that wireless power beaming is best understood as a corridor-specific strategy complementing other aviation decarbonization pathways.

Distributed vertical power delivery (DVPD) architectures employ multiple parallel voltage regulators (VRs) to meet the high-power and high current density demands of modern high performance computing (HPC) systems. While full parallel activation maximizes efficiency near peak load, medium to light load operation leads to efficiency degradation when all VRs remain active due to persistent switching and gate drive losses. This work proposes a load aware power system activation framework targeted at the medium to light load regime, in which the number of active VRs scales proportionally with instantaneous load power. A spatially informed selection strategy determines which VRs are activated from the available pool, aligning regulator placement with localized power demand. This locality aware activation minimizes lateral redistribution currents within the power plane and reduces conduction losses and voltage drops. Simulation results on a representative DVPD system demonstrate 2x to 3x switching loss reduction relative to conventional full-parallel light load operation, while sustaining an approximately 87% efficiency plateau across the 5% to 30% load range. Output ripple constraints are preserved, with inductor current ripple maintained within 6% and output voltage ripple within 2%, ensuring regulation integrity while improving overall conversion efficiency.

Communication-aware trajectory generation for unmanned aerial vehicles (UAVs) operating in urban environments requires simultaneous consideration of vehicle dynamics, wireless communication quality, obstacle avoidance, and onboard energy limitations. In such missions, UAVs must navigate through obstacle-rich environments while ensuring reliable relay of mission-critical sensory information to ground infrastructure. This results in a highly nonlinear and nonconvex optimal control problem involving coupled communication and flight-dynamics constraints. This paper presents a communication-constrained energy-optimal trajectory generation framework for quadrotor UAVs operating in urban environments. The proposed formulation incorporates full rigid-body quadrotor dynamics, urban wireless communication models, cumulative data throughput constraints, and obstacle avoidance requirements within a unified free-final-time optimal control framework. Unlike conventional approaches based on simplified kinematic or point-mass models, the proposed framework generates dynamically feasible trajectories suitable for practical aerial platforms. The resulting nonconvex optimal control problem is solved iteratively using sequential convex programming (SCP). Numerical simulations for multiple urban mission scenarios demonstrate the ability of the proposed framework to generate energy-efficient and communication-aware trajectories while adapting mission duration according to data relay requirements. The proposed methodology provides a practical framework for autonomous UAV operations requiring reliable communication in dense urban environments.

Speech and audio systems operate in inherently non-stationary environments, yet continual learning (CL) research in this domain, especially in the foundation model era, remains fragmented that fail to account for the coupled, geometry-sensitive nature of acoustic representations. Modern speech foundation models operate over highly entangled, continuous representations that jointly encode linguistic, speaker, and paralinguistic factors within a shared latent space. CL is therefore fundamentally about preserving and evolving shared representation structure rather than retaining isolated task knowledge. In this work, we revisit CL for speech from a representation-centered perspective, and introduce a new taxonomy that organizes CL according to how underlying representation geometry evolves under non-stationary acoustic conditions. We further identify key mismatches between current CL assumptions and speech foundation model behavior, and finally outline a set of open challenges and future research directions.

Advanced driver assistance systems (ADAS) play an important role in modern automotive intelligence, significantly enhancing vehicle safety and stability. The performance of ADAS critically relies on accurate and reliable vehicle state estimation, particularly from vehicle dynamic sensors. Among these signals, wheel load is a key variable for chassis control and safety-critical functions, yet it remains difficult to estimate robustly due to complex suspension geometry, nonlinear dynamics, and measurement noise. To address this issue, we propose DBPnet, a Bayesian physics-informed neural network (PINN) with a physics-aware embedding module inspired by damper characteristics. First, this paper presents a suspension linkage-level modeling (SLLM) approach that constructs a nonlinear instantaneous dynamic model by explicitly considering the complex geometric structure of the suspension. Building upon SLLM, Bayesian inference is integrated into the PINN to effectively cope with noise and uncertainty in the vehicle chassis system, thereby improving the model's robustness. Then, a physics-informed loss function is employed to ensure consistency with fundamental physical principles, while the damper characteristics-inspired embedding module extracts temporal variation features of input signals and incorporates them into each layer of the PINN, ensuring that physical observations guide the neural network without being constrained by fixed physical models. Extensive evaluations on high-fidelity simulations and real-world experiments demonstrate that our DBPnet consistently achieves lower RMSE and MaxError than baseline methods. These results highlight the potential of our DBPnet to advance wheel load estimation and contribute to the development of more reliable ADAS actuator functions.

Recent advances in learning-based model predictive control (MPC) have leveraged neural networks for online model learning, achieving strong performance when nonstationary system dynamics deviate from nominal models. However, existing approaches primarily address specific or relatively structured forms of dynamical variation, leaving more general, unknown, and unpredictable time-varying dynamics insufficiently handled. To tackle this challenge, we propose T2S-MPC, a framework that adaptively learns a residual dynamics model online and integrates it with the nominal model within the MPC framework to enable fast-evolving online planning. To make the model time-aware, we explicitly encode temporal information through a structured time embedding and employ a two-timescale update scheme, allowing the controller to capture nonstationary dynamics while balancing rapid adaptation with stable learning. We evaluate the proposed method on a 2D quadrotor across stabilization and trajectory tracking tasks under diverse time-varying disturbances, including linear drifting and periodic perturbations. Experimental results show that T2S-MPC consistently outperforms classical MPC, neural MPC, and ablated variants in control performance, while also demonstrating strong robustness across a wide range of disturbance conditions without additional tuning. The source code is publicly available at https://github.com/Zeyuu0920/T2S_MPC

In dynamic acoustic environments with time-varying interferers, effective beamforming requires identifying stationary regions over time. The Capon beamformer, a whitened matched filter constrained to maintain unity gain in the desired direction, theoretically relies on the instantaneous ensemble covariance matrix. Practical implementations rely on the batch Capon (or Sample Matrix Inversion), which estimates the sample covariance matrix (SCM) by averaging over a block of snapshots. This practical approach implicitly assumes that the data within the batch window is stationary and can be coherently combined. In non-stationary settings, a batch approach that averages over fixed or excessively long windows fails, as moving interferers smear the SCM and degrade the beamformer's nulling capabilities. To address this, this paper introduces a temporally segmented distortionless response beamformer. Inspired by the segmented least squares method, which fits piecewise polynomials to data while penalizing excessive segmentation to prevent overfitting, the framework extends practical Capon beamforming by incorporating data-driven temporal segmentation. This formulation minimizes output power while dynamically adapting the SCM estimation windows to local stationarity, offering a principled approach to tracking time-varying interferers.

Sampling-based model predictive control methods, such as Model Predictive Path Integral (MPPI), offer derivative-free optimization and robustness in complex robotic systems. However, standard MPPI relies on cost-based soft penalties that cannot guarantee hard-constraint satisfaction, severely limiting its applicability to highly constrained tasks such as closed-chain manipulation. To address this, we propose Manifold-Constrained MPPI (MC-MPPI), a real-time sampling-based control framework that regulates nonlinear equality constraints while preserving the computational advantages of MPPI. The key idea is to decouple the constrained optimal control problem into latent-space planning and execution-level correction. At the planning stage, a Variational Autoencoder (VAE) learns a low-dimensional latent representation of the constraint manifold, enabling MPPI to efficiently generate near-feasible candidate trajectories without per-sample modification. Since this reference enables accurate linearization of the equality constraints, an execution-level Quadratic Programming (QP) controller resolves the residual manifold mismatch in a single solve rather than through iterative projection. Experiments on a 14-DoF closed-chain dual-arm system in both simulation and real-world settings demonstrate 100 Hz planning and 500 Hz execution, equality-residual regulation in static and dynamic environments, and a 95% success rate over 40 randomized hardware trials. Supplementary videos and implementation details are available at https://rcilab.github.io/mcmppi.

Large audio and language models have recently demonstrated zero-shot reasoning capabilities across various domains. However, it remains unclear how the form of audio input, whether handcrafted acoustic features extracted from speech or the raw audio waveform itself, affects performance for Parkinson's disease (PD) detection across different languages. In this study, we systematically compare two input modalities for zero-shot PD detection: (i) handcrafted acoustic features extracted from speech recordings analyzed by a general-purpose LLM, and (ii) direct waveform input analyzed by audio-capable models. Experiments on PD speech datasets in four languages show that performance varies across input modalities, speech tasks, and languages. Handcrafted acoustic features provide more stable performance in a low-resource language (e.g., Bengali), whereas audio input yields dataset-dependent gains. These findings highlight the impact of input modality on zero-shot PD detection from speech.

We study stochastic density control between Gaussian-mixture endpoint distributions under Brownian prior dynamics. Since the direct Schrödinger bridge between Gaussian mixtures is generally not available in closed form, we introduce a lifted path-space construction in which each trajectory is augmented with a source–target component label. Consequently, the problem decomposes into Gaussian component-to-component Schrödinger bridges with explicit marginal, drift, and cost formulas, while the mixture-level assignment reduces to a finite-dimensional entropic coupling problem with a Sinkhorn scaling form. We then analyze the projection obtained by discarding or forgetting the label. By construction, the projected law satisfies the original Gaussian-mixture endpoint constraints, but its relative entropy generally differs from the lifted relative entropy by a nonnegative conditional label-information gap. This gap reveals a path-space obstruction: the lifted optimizer cannot, in general, be identified with the direct unlabeled Schrödinger bridge after projection. We also derive the posterior-averaged Markov drift associated with the projected marginal flow, prove a kinetic-energy upper bound, and identify a common path-potential condition under which the projection gap vanishes. Several numerical illustrations showing density and shape control are recorded for a self-contained exposition.

Vision Transformer (ViT) models, utilizing self-attention mechanisms, have demonstrated robust generalization capabilities across various vision tasks, including image classification. However, these models, typically pretrained on general public datasets, often lack the specialized domain knowledge necessary for medical imaging applications. In this study, we investigate the adaptation of ViT models, specifically for cardiac magnetic resonance (MR) images, using an in-house dataset. We found that pretrained ViT features do not effectively transfer to the cardiac MR domain. To overcome this limitation, we introduce an adaptation strategy that utilizes image-based self-supervised contrastive learning, demonstrating superior performance compared to traditional supervised training approaches. Moreover, our adapted ViT model exhibits strong generalization to external MR datasets such as BraTS and ADNI. Through ablation studies, we further investigate the impact of batch size and dataset scale on performance. Ultimately, our adapted model achieves classification AUC exceeding 0.75 across the four most common cardiac MR sequences.

Critical retained foreign objects (RFOs) on intraoperative chest radiographs are rare but high-risk events. Their scarcity limits robust automated detection model training and generalization. We introduce SurgRFO, a two-stage synthesis framework for generating realistic RFO-present intraoperative chest X-rays. In Stage 1, a Roentgen chest X-ray foundation model is fine-tuned on surgical-domain images to generate realistic RFO-free backgrounds that preserve anatomy, indwelling lines and tubes, and intraoperative imaging characteristics. In Stage 2, a lightweight generator trained on localized RFO patches from limited positive cases synthesizes diverse RFO instances, which are composited onto generated backgrounds using conditional Poisson fusion to improve photometric consistency. We evaluate SurgRFO through (i) a blinded clinician study assessing realism and clinical plausibility, and (ii) downstream detection experiments in which synthesized data are used to augment Faster R-CNN, YOLOv8, and RetinaNet. SurgRFO consistently improves sensitivity at low false-positive-per-image (FPPI) operating points on internal and external test sets. Clinician ratings indicate that the synthesized images achieve realism comparable to real intraoperative images. Ablation analyses further examine fusion strategies and synthesis scale. Ethical safeguards for synthetic surgical data are also discussed.

This letter investigates Airy beam dispersion in near-field wideband terahertz communications. Unlike conventional focusing beams, whose dispersion mainly appears as focal-point migration, Airy beams exhibit frequency-dependent shifts of both the reference focusing point and the self-bending main-lobe trajectory. Based on the Fresnel diffraction integral, a closed-form trajectory expression is derived to characterize the dispersion behavior across subcarriers. Furthermore, a true-time-delay (TTD)-assisted Airy beamforming structure is developed to actively control the trajectory dispersion. By properly designing the time delay parameters, the proposed scheme can either generate frequency-dependent curved trajectory clusters for sensing-oriented scanning or suppress trajectory drift for reliable communication.

Coronary artery stenosis is a common cardiovascular disease, with severe, untreated cases posing significant risks of heart attack. Although coronary (X-ray) angiograms remain the standard for stenosis diagnosis, they are invasive, time- and resource-intensive, and therefore only performed on patients with a high probability of disease based on symptoms and prior clinical tests. However, a subset of patients, especially those without symptoms, may remain undiagnosed. Detecting indications of stenosis from ECGs, which are fast, cheap, non-invasive, and thus routinely acquired even in asymptomatic patients, would support early diagnosis. However, as no reliable stenosis-specific signal has been identified in ECGs, they can not currently be used for stenosis risk stratification. To address this, we introduce StenCE, a pretraining framework, allowing stratification of patients based on features derived directly from ECGs. Evaluations across varying stenosis severity thresholds and additional ECG disease classification tasks demonstrate consistent performance improvements across different ECG encoders, outperforming previous work. The obtained models successfully detect signals for stenosis diagnosis in ECGs and are the first to achieve high performance in severe stenosis classification. The source code is available at https://github.com/NikolaCenic/ecg-stenosis-cls.

Hyperspectral image restoration faces several challenges, including limited training data, strong sensor specificity, and high spectral dimensionality. These limitations hinder the learning of robust hyperspectral priors, motivating the reuse of priors learned from large-scale RGB data. In this work, we propose a minimally trained, lightweight adapter that repurposes frozen pretrained RGB denoisers for hyperspectral restoration through a projection mapping. The method denoises low-dimensional spectral projections and reconstructs the hyperspectral cube through constrained linear aggregation, while preserving plug-and-play compatibility and the stability properties of the underlying RGB denoiser. Experiments on denoising, deblurring, and super-resolution across multiple datasets demonstrate consistent improvements over hyperspectral-specific baselines, showing the strong transferability of large-scale RGB priors.

This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful execution of complex tasks, ensuring stability of human-in-the-loop systems on the $SO(3)$ manifold remains a largely unsolved challenge. We first propose a new control architecture in which a multi-robot system preserves invariance of the average information fed back to the human operator through so-called stealthy control, and the human intervention is mediated through a virtual leader, which is coupled with the robots via a passivity-based attitude synchronization law. We then rigorously prove closed-loop stability of the proposed human-in-the-loop system under the assumption that the human behaves as a passive system. To support this analysis, simulation studies are conducted to identify the human operator as a dynamical system, and to examine passivity properties of the identified model.

Dynamic models of power systems are critical for analyzing grid response to disturbances and blackouts, but the release of real-world dynamic models is hindered by privacy and cybersecurity concerns, as such models carry sensitive information about transmission, generation, and load parameters. We develop an algorithm for synthesizing dynamic grid models from real-world power grids balancing two objectives: the privacy of the source grid, quantitatively measured using the notion of differential privacy, and the fidelity of the synthesized model. The algorithm applies privacy-preserving noise to obfuscate the original grid parameters, but then optimizes the perturbed parameters to ensure that the resulting model dynamics are statistically consistent with those observed in the source grid. Application to the frequency dynamics of the IEEE 30-bus system reveals the inherent privacy-fidelity trade-off: stricter privacy requirements degrade modeling fidelity, yet optimization significantly improves the quality of the synthesized models.

This paper presents QCommE2E as an open-source simulation framework for end-to-end quantum communication systems, with explicit tutorial emphasis. The primary objective is to develop a comprehensive framework that includes transmitters, receivers, communication channels, performance metrics, and visualization tools, to facilitate the systematic design, configuration, and analysis of experimental simulations for novel quantum communication architectures. As the primary use case, we walk through the current quantum channel comparison, which maps textbook quantum-information channels and reduced optical-fiber/free-space surrogates into a single executable benchmark. We describe the common density-matrix interface, the matched modulation and detection chain, and the exact role of the channel classes Depolarizing Channel, Dephasing Channel, Erasure Channel, Bosonic Channel, Turbulence Channel, and PMD Channel. We also explain the current visualization layer, which projects received states onto constellation and Bloch representations for qualitative inspection. To keep the implementation-faithful, we provide a summary of the baseline execution, which uses a square 16-QAM embedding, a pretty-good-measurement detector constructed from the same reference-state codebook, and BER/SER. Finally, we position the channel-comparison as an entry point for broader future work, including equalization, quantum autoencoder, learning-based, and system-level algorithm integration.

This letter introduces a physics-informed self-supervised framework for sonar image despeckling that reformulates despeckling as residual consistency in the homomorphic log domain. By constraining the log-ratio residual to obey multiplicative speckle statistics, the proposed method eliminates the need for clean supervision while preventing degenerate identity solutions. A variance-targeted statistical loss combined with edge-aware structural regularization and median-guided curriculum stabilization enables effective speckle suppression with preserved structural fidelity. This formulation along with a lightweight neural network achieves state-of-the-art performance across multiple real sonar datasets and demonstrates excellent cross-dataset robustness, while remaining suitable for real-time deployment.

Machine learning has emerged as a promising approach to path loss prediction, yet its effectiveness often degrades when measurement data are scarce. To address this limitation, we propose an ensemble-based machine learning framework that integrates real measurements with synthetic data generated using a lidar-based simulator. The simulator provides broad spatial coverage through static path loss values that capture terrain variations and physical obstacles in the propagation environment. A dynamically weighted ensemble then combines simulation results with measured data, balancing the contribution of both data sources and improving generalization across diverse environments. To further mitigate the effects of limited measurements, we incorporate the Synthetic Minority Over-sampling Technique (SMOTE), a data augmentation technique that synthesizes additional samples through interpolation between measurements while preserving their statistical properties. By leveraging simulation data, SMOTE, and engineered propagation features, the proposed framework captures geographical and physical variability, enabling adaptability across urban, suburban, residential, industrial, and rural environments. Experimental results demonstrate that the proposed method achieves up to a 50% reduction in mean absolute error (MAE), compared with models trained solely on real data, and up to a 25% improvement relative to models trained exclusively on synthetic data, particularly for cross-environment generalization. These findings highlight the effectiveness of combining simulation-based synthetic data with SMOTE to overcome data scarcity and enhance the model's generalization ability. Overall, the proposed framework provides a robust and practical solution for path loss prediction across diverse environments with limited measurement data, supporting cost-effective planning and optimization of wireless networks.

Recurrent Neural Networks (RNNs) can learn to predict Signal Temporal Logic (STL) verdicts online from partial trajectories, but deploying them as runtime monitors in safety-critical systems demands more than predictive accuracy. Standard RNN architectures offer no structural guarantee that outputs degrade gracefully under sensor degradation; a dropped input can silently flip a verdict from safe to unsafe. We introduce the Recurrent Differentiable Ternary Logic Gate Network (R-DTLGN), a recurrent architecture that operates over Kleene's three-valued logic $\{-1, 0, +1\}$, where $0$ explicitly represents unknown. The R-DTLGN trains through continuous polynomial surrogates and hardens to a discrete ternary logic circuit at inference. We analyze the hardened circuit through two gate vocabularies derived from two orderings on the ternary domain: numerically monotone gates ensure stable recurrent dynamics, while information-monotone gates, when present, guarantee principled abstention (unknown inputs never produce wrong outputs) and monotonicity in input certainty (more information can only improve the verdict). We show that the recurrent connections required by bounded STL operators use exclusively AND and OR, which belong to both vocabularies, linking the monitoring task to the architecture's guarantees. A realizability bound derived from the STL formula's temporal operators directly sizes the network's hidden state, replacing hyperparameter search with a formula-driven specification. We evaluate on STL specifications over D4RL PointMaze navigation data, testing prediction accuracy, degradation under predicate dropout, and the accuracy-versus-safety tradeoff between two label construction pipelines. The R-DTLGN is, to our knowledge, the first recurrent architecture that couples learned temporal prediction with formal degradation guarantees rooted in three-valued logic.

This paper presents reinforcement learning (RL) policies for dynamic quadrupedal locomotion in planetary exploration scenarios. Building on a taskoptimized quadruped with a 5-bar leg design, we develop RL policies for walking, vertical jumping, forward jumping, and in-flight attitude control, explicitly tailored to the reduced gravity on Mars. These policies jointly enable such robots to overcome obstacles larger than themselves through coordinated jumping and precise in-flight reorientation for safe landings. We demonstrate Sim2Real transfer of the attitude control policy on the Olympus quadruped through single-axis reorientation tests, while all locomotion policies are validated in simulation. A complete Mars exploration mission scenario demonstrates coordinated policy deployment across challenging terrain. Experimental results show 90{\deg} attitude reorientation in 2.6 seconds, with simulations demonstrating 3.1 meter vertical jumps and 3.9 meter forward jumps under Martian gravity conditions. - Supplementary video: https://www.youtube.com/watch?v=qlSJ3P87A4A

Recent advances in zero-shot text-to-speech (TTS) have enabled accurate imitation of reference speech in terms of both speaking style and speaker timbre. However, achieving disentangled control over these aspects from separate references remains a challenging task. Several studies have proposed disentangled speech representations that decompose speech into interpretable attributes (e.g., timbre, prosody, and content), providing a promising foundation for TTS with attribute control from separate references. Yet, how to effectively integrate such representations into TTS systems to achieve independent and precise control remains underexplored. In this paper, we present FC-TTS, a zero-shot TTS framework that enables disentangled control of style and timbre by conditioning on two distinct reference utterances. Unlike existing systems that inherit limitations from those pre-trained disentangled representations, FC-TTS introduces key design strategies, including architectural choices, training framework, and auxiliary training objectives, which improve the reliability of attribute separation and dual-reference control. Experiments show that FC-TTS achieves high-fidelity synthesis and competitive zero-shot naturalness, while uniquely supporting consistent and independent manipulation of style and timbre. Audio samples are available at https://qualcomm-ai-research.github.io/fc-tts

The rapid growth of Electric Vehicle (EV) adoption challenges power distribution networks through peak load spikes, voltage instability, and transformer overloads from uncoordinated charging. While Model Predictive Control (MPC) and standard Reinforcement Learning (RL) methods have addressed these issues, existing approaches rarely treat real-time carbon intensity or fluctuating renewable energy (RE) availability as primary scheduling objectives, leaving substantial decarbonisation potential unrealised. This paper proposes an emission-aware RL strategy based on the Soft Actor Critic (SAC) algorithm, with a multi-objective reward that penalises carbon emissions, curtailed on-site renewables, and unmet user demand. The agent is trained within a unified benchmarking framework on the EV2Gym platform, incorporating behind-the-meter solar and wind profiles, time-varying EirGrid carbon intensity data, and realistic workplace EV behaviour across 25 Electric Vehicle Supply Equipment (EVSE) units. Nine control strategies, including heuristics, emission-aware MPC variants, and the proposed RL agent, are compared under five renewable penetration scenarios (0%-50%) over ten independent runs each. The RL agent achieves a carbon intensity as low as 23.96 grams of carbon dioxide per kilowatt-hour under 50% wind penetration, representing up to 87% emission reduction versus the uncontrolled baseline, and outperforms the external graph-based Power Distribution Network (PDN) benchmark. Transformer overload remains below 7 kWh across scenarios, against up to 1093 kWh for the As Fast As Possible (AFAP) heuristic, and renewable self-consumption reaches 52% under combined wind and solar supply. Embedding carbon intensity forecasts into the RL state and reward aligns charging with low-emission periods while preserving grid compliance and user satisfaction.

This study evaluates remote Photopletismography (rPPG) algorithms, Spatial Subspace Rotation (2SR), Chrominance-based method (CHROM), Plane-Orthogonal-to-Skin (POS), and Principal Component Analysis (PCA), applied to selected superpixel-based facial regions (with target counts of 10 and 20 regions) for monitoring in a driving simulator. Two novel peak enhancement approaches, based on the Lp norm and Fractional-Order Derivative (FOD), are introduced to enable robust Heart Rate Variability (HRV) estimation. A signal-to-noise ratio-based quality assessment of 20 s segments serves as a data cleaning mechanism to mitigate motion artifacts inherent to dynamic recording conditions. In a sample of 29 participants recorded during baseline and driving simulation conditions, Pulse Rate (PR) is calculated with clinically acceptable accuracy across configurations (validated against simultaneous Electrocardiography (ECG) recordings), achieving the lowest Mean Absolute Error (MAE) of 1.92 bpm (sd = 1.72) using 2SR with FOD and 20 superpixel regions. The best-case MAE reached 0.061 s for Standard Deviation of Normal-to-Normal intervals (SDNN) and 0.081 s for Root Mean Square of Successive Differences (RMSSD), with inter-beat interval detection yielding an F1 score of 0.93. Optimal parameters clustered around p = 6-7 for Lp norm and fractional orders of 1.0-1.4. All rPPG-derived parameters reproduced the statistical structure of the reference ECG across conditions and configurations. Caution is advised when using FOD due to slow changes in the rPPG waveform. Overall, 2SR is recommended for PR, while CHROM for HRV estimation, using Lp norm with 20 superpixels, providing clear methodological guidance for rPPG monitoring in driving simulators

The deployment of learning-based models in safety-critical control systems demands mathematical guarantees that standard regression architectures cannot provide. This paper presents an integrated framework that bridges Neural Ordinary Differential Equations (Neural ODEs), measurement-induced geometric structures, and Koopman operator theory, with the explicit aim of producing data-driven models whose stability certificates are computable, not merely conjectured. Three complementary components are developed and analyzed. First, ControlSynth Neural ODEs enforce global convergence through tractable linear matrix inequalities (LMIs), enabling complex nonlinear dynamics to be captured without sacrificing boundedness guarantees. Second, the ICODE formulation incorporates extrinsic environmental inputs into the learned vector field, while measurement-induced bundle structures confine state trajectories to physically admissible manifolds. Third, a systematic ISS verification pipeline certifies the input-to-state stability of Koopman-identified models via a convex $L_2$-gain LMI, converting an otherwise intractable robustness question into a solvable semidefinite program. The certified model is embedded in an ICODE-MPPI controller, which uses continuous-time residual learning inside a stochastic sampling loop to deliver robust path tracking under parametric uncertainty and persistent disturbances. Numerical experiments on a vehicle path-tracking benchmark and a nonlinear mechanical oscillator demonstrate up to a 61% reduction in tracking RMSE and a 54% reduction in state estimation error relative to uncertified baselines, with near-zero LMI violation rates across all evaluated disturbance levels.

Open-source energy system models disaggregate zonal electricity demand to substations through Voronoi-based preprocessing pipelines that combine socioeconomic weighting with auxiliary spatial corrections. Whether the same auxiliary data helps or harms when the weighting component shifts from rule-based to learned has not been investigated. We fix Voronoi partitioning and cross two design axes on metered demand from 1,891 British primary substations: the demand-weighting method and the mechanism through which Nighttime Light (NTL) intensity and substation-proximity signals enter the allocation, giving 15 configurations. Mechanism-isolation experiments further test additive post-correction and random-noise controls to pinpoint the structural cause of any performance reversal. The same auxiliary data reduces RMSE by 41 % on the static base but increases it by 21 % on the GNN base under multiplicative post-correction (p < 0.001 for both); the best static pipeline outperforms the best GNN variant by 19 %. Post-correction on the GNN improves rank-order correlation (p < 0.001) yet worsens absolute error, so correlation-only evaluation masks the calibration penalty. The isolation experiments trace this reversal to the multiplicative correction form under demand conservation constraints, not to signal redundancy; switching to additive post-correction eliminates the antagonism entirely. A transfer check on 13 German primary substations confirms directional replication and shows amplified antagonism where the GNN baseline already explains over 95 % of demand variance. The NTL and proximity signals behind the 41 % static improvement are publicly available at no cost and should be adopted as default corrections in static pipelines; method evaluation should report RMSE and correlation jointly, as the two metrics diverge under post-correction on learned representations.

Ring-like communication graphs appear in UAV formations, cyclic patrols, perimeter monitoring, and other multi-agent tasks in which agents exchange information mainly with neighboring vehicles along a closed route. When measurement and actuation noise are persistent, a useful augmentation should improve both the convergence rate of consensus and the steady-state disagreement level. This paper studies the addition of a single weighted chord to a connected weighted cycle. The central observation is that a chord is not just a generic rank-one edge update: it splits the cycle into two complementary resistance arcs, and this resistance split governs both the algebraic-connectivity gain and the Kirchhoff-index reduction. We first derive exact chord-induced effective-resistance and Kirchhoff-index update formulas, giving a closed-form coherence objective. We then prove that, under bounded conductances and small resistance discrepancy, near-antipodal resistance-balanced chords are near-optimal for algebraic-connectivity improvement; an i.i.d. bounded-conductance model yields the same conclusion with high probability. Finally, because the best convergence-rate chord and the best coherence chord need not coincide, we formulate the design as a finite Pareto problem and introduce RBAPS and AW-RBAPS, two resistance-balanced screening rules that retain only linear or near-linear candidate sets. Numerical experiments show that AW-RBAPS remains effective beyond the formal moderate-heterogeneity regime and approximates the exhaustive Pareto front with mean hypervolume ratio $0.9987$ while evaluating about $10.1\%$ of admissible chords.

This paper addresses the problem of providing runtime assurance for systems operating online under unknown and potentially time-varying data distributions. We propose Cost-Aware Adaptive Conformal Inference (ACI), a novel framework that incorporates constraint violation costs directly into the conformal adaptation mechanism. Our key insight is that uncertainty margins should adapt not only to the frequency of constraint violations but also to their severity. We formalize this through a cost-aware loss function that couples the miscoverage indicator with violation costs. Unlike existing methods that regulate a single controlled metric, our approach provides a dual statistical guarantee: simultaneously bounding the long-run average violation frequencies (reliability) and cumulative violation cost (harm). By weighting prediction failures according to their severity, the algorithm enables the controller to respond proportionally to violation severity, expanding prediction sets aggressively when necessary while maintaining efficiency during nominal operation. We integrate Cost-Aware ACI into a robust control synthesis framework, creating a closed-loop system that balances task performance with runtime risk control without requiring explicit model knowledge. Experiments validate its effectiveness for online risk-aware controller synthesis.