Papers

With the growing integration of renewable energy sources into power grids, the risks of oscillation caused by interactions between grid-tied inverters and the grids are becoming increasingly prominent. Although existing studies have made significant progress in inverter modeling and oscillatory stability analysis, most of them do not sufficiently consider complex mirror frequency coupling effects (MFCE) under unbalanced operating conditions, leading to unreliable models and erroneous stability analysis results. To address this inadequacy, this work develops a novel sequence impedance modeling scheme that can be widely applied to unbalanced operating conditions. In particular, taking a representative type of grid-forming inverter for instance, i.e., droop-controlled inverter (DCI), a single-input single-output sequence impedance modeling method based on harmonic linearization (HL) is proposed to comprehensively model both a given DCI and the connected grid. By accounting for multi-frequency interactions within the DCI, this method captures MFCE and unbalanced factors, leading to a more accurate impedance model. Further, the dominant factors influencing system stability are identified with a combination of normalized sensitivity analysis and proportional weighting. Finally, the detailed impacts of these dominant factors on system stability margin under three typical unbalanced operating conditions are analyzed through the Bode criterion. The effectiveness and reliability of the whole scheme proposed in this work are validated on the constructed grid-connected droop-controlled experimental platform.

This paper investigates the stabilization of linear systems subject to simultaneous, mismatched time delays in both the control input and system output vectors. The proposed control framework is developed in two primary stages. First, an asymptotically stabilizing delayed state-feedback controller is synthesized by leveraging recent advancements in Linear Matrix Inequality (LMI) techniques. Second, this controller is realized using novel time-delay compensators \cite{trinhnam26}. This architecture successfully accommodates an output measurement delay $\tau_y$ that is independent of the input delay $\tau_u$, enabling direct estimation of the delayed state-feedback control law. The proposed methodology is then extended to target output controllers to account for simultaneous, mismatched time delays in both the control input and system output vectors.

Diffusion models achieve high-fidelity radio map construction through iterative denoising, yet their sampling cost limits practicality in dynamic wireless systems where radio maps must be refreshed repeatedly. Meanwhile, classical propagation models encode valuable scene-level knowledge that standard diffusion inference discards entirely by initializing from pure Gaussian noise. This paper bridges propagation priors and diffusion refinement through a mid-start sampling strategy. A matched propagation prior is perturbed to an intermediate diffusion timestep, and the pretrained diffusion backbone executes only the remaining reverse steps, focusing computation on multipath-aware refinement rather than full reconstruction from noise. We provide theoretical analysis establishing an upper bound on the initialization gap, a sufficient condition under which truncation improves reconstruction fidelity, and a formal characterization of prior-quality sensitivity under aggressive truncation. Experiments on IRT4HighRes show that, at $P_{\text{start}}=0.5$, the proposed method achieves a $2.01\times$ speedup while simultaneously improving NMSE, RMSE, SSIM, and PSNR over the full-step baseline. A prior-quality ablation across three propagation models of different fidelity confirms that reconstruction quality tracks prior quality, with the sensitivity amplified under shorter reverse trajectories, consistent with the theoretical predictions. These results also suggest that mid-start reconstruction quality can serve as a proxy for ranking the scene-level fidelity of different propagation models.

Emerging distributed computing paradigms, such as the computing continuum, are inherently heterogeneous, stochastic, and complex. Efficiently and effectively utilizing all available resources across the continuum demands a unified formal model of the system. To address this gap, we propose a general framework for modeling distributed computing systems as a generative Markov model, factorized over a structured system state. In our model, the state decomposes into high-dimensional variables, each further factorized over its elements, reflecting the sparse dependency structure inherent to distributed systems. This yields a tractable model enabling simulation, inference, and policy learning over otherwise intractable system states, bridging distributed computing with Markov chain theory and reinforcement learning (RL). We demonstrate our framework through a case study of collaborative AI inference, in which a dedicated server combines resources with those volunteered by service users. Our results show that centralized scheduling becomes a bottleneck at scale, while distributing computation across user devices reduces both latency and server resource consumption. These findings highlight the value of adaptive decision-making in distributed computing systems and demonstrate the framework's utility for modeling, simulation, and optimization.

Rotatable antenna (RA) technology has emerged as a promising solution to enhance spectrum efficiency by exploiting additional spatial degrees of freedom (DoFs) in multiple access networks. However, the relative performance superiority among different multiple access schemes remains largely unclear due to the unique capability of RA in reconfiguring the directional gain pattern. In this letter, we conduct a theoretical comparison between non-orthogonal multiple access (NOMA) and orthogonal multiple access (OMA) schemes in RA-assisted communication systems in terms of transmit power minimization, subject to constraints on antenna rotational range and users' target rates. To address the associated non-convex optimization problem, a particle swarm optimization (PSO) algorithm is employed to optimize the rotational angle. Simulation results demonstrate that RA-assisted schemes significantly reduce transmit power compared to fixed-antenna benchmarks. Furthermore, RA-assisted NOMA may perform worse than time-division multiple access (TDMA) for symmetric user deployments, while it exhibits superior robustness and energy efficiency in asymmetric scenarios.

Reconfigurable holographic surface (RHS)-aided integrated sensing and communication (ISAC) systems hold great promise for achieving both sensing and communication with low hardware costs and high energy efficiency. However, existing works largely overlook practical hardware impairments in RHSs, particularly faulty RHS elements with uncontrollable amplitudes, which degrade system performance if left unaddressed. This work aims to fill the gap by i) quantifying the impact of faulty RHS elements on ISAC performance and ii) optimizing the functional RHS elements to preserve the ISAC performance. Specifically, we derive the misspecified Cramer-Rao bound (MCRB) for sensing and the signal-to-interference-and-noise ratio (SINR) for communication to measure the performance loss caused by faulty elements. We then formulate an optimization problem that minimizes MCRB, subject to constraints on SINR, transmit power budget, and RHS amplitude. The high non-convexity of the formulated problem poses a significant challenge, which we address by reformulating and proposing a block coordinate descent-based solution incorporating majorization-minimization and successive convex approximation techniques. Simulation results verify that the proposed approach achieves an average 13.7% performance gain compared to the fault-unaware benchmark.

Automated cough analysis offers a path to low-cost respiratory screening, but most existing work stops at binary COVID-19 detection. A practical tool needs to tell apart several respiratory conditions from one cough recording on a consumer smartphone. We present CoughSense, a system that sorts cough recordings into five classes. These are healthy, COVID-19, asthma or respiratory condition, bronchitis, and pneumonia. We aggregated 18,301 recordings from four public datasets (Coswara, CoughVID, Virufy, and the West China Hospital Pediatric Cough Dataset) and used the OpenAI Whisper encoder as a pretrained backbone for cough disease classification. The main contribution is active-frame QKV attention pooling, which restricts attention to the first 200 of 1500 encoder tokens. This avoids the silence-dilution problem that arises because a 3-second cough fills only 150 tokens of Whisper's 30-second input window. Other training parts handle the 19 to 1 class imbalance and the four-dataset domain shift. These include WeightedRandomSampler, SpecAugment, Balanced Mixup with forced minority pairing, a supervised contrastive auxiliary loss, FiLM symptom conditioning, and gradient-reversal domain adaptation. A dual-encoder model fuses Whisper with the OPERA-CT respiratory foundation model through cross-attention. CoughSense (Whisper-tiny, 8.6M parameters) reached 82.3 percent balanced accuracy on five-fold cross-validation (macro-F1 of 0.817, AUC of 0.941). It beat an ImageNet-pretrained EfficientNet-B2 by 11.1 points and a ViT trained from scratch by 29.6 points. All five classes passed 74 percent recall and four of five passed 80 percent. The dual-encoder model reached 85.4 percent balanced accuracy. Active-frame pooling is the largest single contributor across all ablation components at 5.1 points, which should help any short-audio task using Whisper as a backbone.

The space industry is quietly building toward something nobody has fully reckoned with: orbital data centers running thousands of autonomous AI workloads with no human in the loop, 550 km above the Earth. Microsoft, AWS, and a growing list of orbital computing ventures are moving cloud-scale processing off the ground and into orbit. What none of them have answered yet is the governance question – when autonomous AI systems at orbital data center scale make wrong decisions in space, what stops those decisions before they become irreversible? We introduce Glass Box: a runtime constitutional AI verification layer that intercepts every candidate action from an onboard AI policy and evaluates it against six physics-grounded constitutional constraints and seven Linear Temporal Logic (LTL) safety invariants before a single command reaches any spacecraft subsystem. Every approved action carries a weighted explainability score E(a_t) in [0,1] and a complete constitutional audit log. We demonstrate Glass Box within Project October: a fully simulated five-layer autonomous orbital intelligence architecture for CubeSat-class spacecraft. We prove that Glass Box verification overhead is O(N_c) in the number of constitutional rules, independent of model size or spacecraft state dimension. We present a complete formal specification of the constitutional constraint grammar, seven LTL safety invariants verified by Z3 and NuSMV model checking, and a detailed worked example of Glass Box intercepting an unsafe inference request at eclipse-entry under degraded battery state. As orbital computing scales toward data center infrastructure, runtime constitutional verification is no longer a research novelty – it is mission-critical safety infrastructure that every autonomous orbital platform will eventually require.

Recent advances in Omni-Multimodal Large Language Models (Omni-MLLMs) have enabled strong integration of vision, audio, and language. However, their audio-visual intelligence (AVI) remains insufficiently evaluated due to the lack of systematic and comprehensive benchmarks. We introduce AVI-Bench, a cognitively inspired benchmark that evaluates Omni-MLLMs across three stages, perception, understanding, and reasoning, through cross-modal tasks requiring joint audio-visual interpretation. This design enables fine-grained diagnosis of model capabilities and failure modes. To further assess robustness beyond familiar domains, we propose AVI-Bench-PriSe, an extension that probes models' primitive audio-visual sensation using unfamiliar, low-semantic stimuli, testing generalization beyond common training distributions. Extensive experiments on both open-source and closed-source models reveal substantial limitations in current Omni-MLLMs. Based on these findings, we present a four-level AVI taxonomy. Overall, AVI-Bench provides a principled evaluation framework to guide the development of more robust and generalizable AVI. Project website: https://fudancvl.github.io/AVI-Bench/

Recent studies on sensor-language alignment have shown that two-stage frameworks can improve the semantic modeling ability of wearable-sensor human activity recognition (HAR), where SensorLLM-style methods first perform motion-to-language alignment and then fine-tune the model for downstream tasks. However, our experiments reveal a consistent failure mode when the Stage 2 backbone is compressed to a compact model such as TinyLlama: recognition of dynamic activities remains relatively strong, while the discrimination of low-motion static classes such as standing, sitting, and lying degrades substantially. To address this issue, we propose a gravity-aware hierarchical routing head as a lightweight post-alignment adaptation built on top of an already aligned model, rather than a new large-scale pretraining framework. The method uses the per-channel mean and std from the Chronos tokenizer state to extract statistical cues related to posture and gravity direction, and adaptively combines a static expert and a full expert through soft routing, together with a load-balancing loss for stable training. On the MHealth dataset, this design significantly improves macro-F1 with minimal parameter overhead, and the gains are concentrated mainly on static classes while preserving strong performance on dynamic activities. As a first arXiv disclosure, the current paper reports results on a single dataset only, with the goal of highlighting the core method and laying the groundwork for broader evaluation in future work.

Egocentric Natural Language Query (NLQ) grounding asks a model to localize, in a long first-person video, the temporal interval that answers a free-form text query. Existing methods fuse video appearance with the query but ignore hand motion, despite the fact that roughly 41% of Ego4D NLQ queries are answered at a moment of hand–object manipulation or their immediate outcomes.We propose a hand-trajectory encoder for converting a sequence of hand skeletons into highly-semantic hand kinematic features, which are then aligned and combined with pretrained video–text features through a cross-attention fusion strategy with adaptive gating. On the Ego4D NLQ v2 validation split, the clearest gains appear for Hand-Object Interaction queries (+2.54 R1@IoU=0.3) and Quantity/State queries (+4.32 R1@IoU=0.3), indicating that hand trajectory provides grounding cues beyond appearance alone.

Splatting (GS)-based shared geometry framework adopts a two-stage training strategy, in which an explicit, subject-specific Gaussian scaffold encoding anatomical geometry is first learned from the isotropic structural scan and then reused to fit appearance for target modalities acquired with sparse slices. Experiments on the UK Biobank, GBM, and ABCD datasets for through-plane super-resolution across multiple modalities (T2-weighted, FLAIR, DWI, ASL), degradation factors ($\times 3$, $\times 5$, $\times 7$), and pathological abnormalities (glioblastoma) demonstrate state-of-the-art reconstruction fidelity. The shared Gaussian geometry enables arbitrary-view generation for target modalities with strong structural consistency and further shows potential for self-supervised in-plane super-resolution. This work establishes explicit geometry-guided representations as a novel, flexible, and interpretable pathway toward retrospective multi-contrast MRI harmonization and reliable clinical reference construction. Source code is available at: https://github.com/yfgao76/AtlasGS

Control barrier functions (CBFs) have become a standard tool in safety critical-control systems. CBFs convert state constraints into real time control conditions that certify forward invariance (meaning that once the system starts in a safe region, it remains there for all future times) and minimally modify a nominal controller only when safety is at risk. In power systems, CBF based methods have been proposed for frequency and voltage safety, but they largely remain disconnected from three key features that are central to power system operation: differential algebraic equation (DAE) models that capture network power flow constraints, safety specifications involving algebraic variables such as bus voltages, and formal verification of the resulting closed loop system. This paper closes this gap by developing a CBF framework for power system DAE models that supports safety constraints on both dynamic and algebraic variables. The framework provides real time safety filtering through an optimization layer that wraps around an existing controller and minimally modifies its command to enforce safety. In addition, it provides formal verification (i.e., a mathematical guarantee that all admissible trajectories satisfy the prescribed safety constraints) through an offline reachability based certificate of safe operation. The result is a unified filter and verify methodology for enforcing and certifying frequency and voltage safety in power systems while preserving the DAE structure of the underlying model.

Interpretable brain-computer interface classifiers that generalize across subjects without calibration remain an open challenge. We evaluated whether prototype-based cross-attention can provide competitive, inherently interpretable ERP classification across paradigms under deployment-compatible conditions. We propose ERP-XTTN (ERP Cross-Attention), a cross-attention architecture that routes input EEG peaks to fixed difference-wave prototypes via query-key-only cross-attention with no value projection. Classification is based directly on prototype similarity and a separate measure of component amplitude, so that prototype content contributes to every decision by construction. Prototypes are derived automatically from prominent extrema in the training-fold grand-average difference wave. We evaluated across three public sources (BNCI Horizon 2020, HRI Cursor, and ERP CORE) encompassing eight ERP components (ERN, LRP, ErrP, N170, P300, N2pc, MMN, N400). Evaluations used LOSO cross-validation with causal filtering at a three-channel montage, compared against EEGNet, EEG-Deformer, EPMN, and xDAWN with Riemannian geometry. The mean performance gap between the best baseline and ERP-XTTN was 0.025 AUROC. Prototype interventions confirmed that decisions depend on prototype content rather than on the routing attention pattern alone. False positives morphologically resembled true positives more than true negatives did, so classification errors are neurophysiologically explicable. ERP-XTTN generalizes across diverse ERP morphologies under causal, calibration-free conditions, while retaining competitive performance and decisions that depend directly on physiological prototype content. Unlike post-hoc explanation methods for black-box models, the basis of each decision is directly observable in the trained model. To our knowledge, this is the first epoch-level LOSO benchmark on ERP CORE.

This paper develops a data-driven realization of the generalized Koopman operator (GeKo) [1], in which states and inputs are lifted independently and the dynamics are expressed as a tensor bilinear system. The first contribution is a time-sequenced multi-step Khatri-Rao kernel regression formulation that exposes the operator to evolved snapshots along trajectories rather than only single one-step pairs, which reduces compounded prediction error. Secondly, we develop a kernel- and input-agnostic structured SVD reduction that compresses the lifted state and input spaces while preserving the Khatri-Rao realization. We instantiate the framework with random Fourier features and describe a complete predictive-control pipeline, including a multi-step roll-out diagnostic that guides the choice of MPC horizon. The framework is validated on the chaotic Lorenz system, where the learned reduced-order GeKo model reduces the long-horizon prediction error by up to a factor of five relative to one-step and lifted linear baselines fitted on the same data, and stabilizes an unstable equilibrium.

In this study, we conduct a comprehensive comparative analysis of generative and discriminative deep learning-based speech enhancement methods, specifically in noise reduction tasks. Our investigation focuses on evaluating their effectiveness under high and low signal-to-noise ratio conditions, considering both matched and mismatched training scenarios. We further investigate the impact of training data volume, model convergence speed, and interpret the performance differences in terms of objective results for the considered training paradigms. Additionally, we compare the complexity-performance trade-off and the practical viability of these approaches. To further strengthen the evaluation, we study the hallucination characteristics of generative approaches in terms of word error rate and phoneme similarity. The insights derived from this study provide empirical evidence to assist researchers and practitioners in understanding whether the perceptual gains of different approaches justify their computational cost in practical applications.

We introduce D^3S Consensus, a physics-based, closed-form algorithm that unifies depth-from-defocus (DfD) and stereo to achieve highly accurate depth estimation throughout an extended working range beyond the depth-of-field (DoF) of cameras. Given a pair of dual-defocus stereo images, the method estimates an overdetermined set of depth using a novel DfD theory, Dual Differential Defocus (D^3), and (S)tereo in a coupled fashion. It then picks the most confident depth prediction from the set by enforcing consensus between these physically independent cues to reject unreliable estimates. Analysis shows that D^3S achieves a comparable working range under the same error tolerance with 10x smaller baseline than previous triangulation-based depth estimation systems. This enables compact passive binocular rangefinders with substantially smaller form factors than conventional stereo and DfD designs. We demonstrate the first D^3S prototype with only 4 mm baseline and 12 mm EFL. It generates up to 900 x 1800-pixel depth maps with 1-cm mean absolute error over 0.3-1.64 m from a snapshot acquisition. This has surpassed the reported accuracy of certain commercially available stereo cameras with much larger form factors.

Over-the-air computation (AirComp) is widely used for model aggregation in wireless distributed learning. Although it enhances communication efficiency, we believe the AirComp aggregation has limited effectiveness due to the difference between its target problem and that of distributed learning. In this paper, we develop a rigorous formulation for optimal model aggregation in wireless distributed learning. Using this formulation, we show that AirComp aggregation generally assumes a mismatched statistical model for local parameters. We then propose a statistical framework for model aggregation, called global unknown estimation (GUE). It captures the statistical relation between the local and global model parameters, allowing to interpret model aggregation as an inference task. We validate the efficiency of GUE through numerical experiments. Our results show that, in the low SNR regime, GUE can reduce the required power for model aggregation by approximately 15 dB compared to AirComp aggregation. Remarkably, this gain is obtained without additional computational overhead

Photonic graph states with advanced topologies can enable measurement-based quantum computing, distributed quantum sensing, and quantum interconnects. However, the efficient generation of photonic graph states is limited by the probabilistic nature of photonic entangling operations and the exponential dependence of generation rate on resource cost. In this work, we study photonic graph state synthesis as a cost-aware decomposition problem, exploiting local Clifford (LC) equivalence to identify more synthesis-friendly representations of the target graph state before decomposition. Specifically, we propose Cost-aware Fusion-based Decomposition (CFD), a three-stage heuristic framework that decomposes a target graph state into ring, star, and linear motifs, and assembles them via Type-I fusion operations to minimize fusion overhead and physical-qubit consumption. We further show that selecting the LC-equivalent graph state with the minimum number of edges provides a highly effective proxy for near-optimal synthesis: in many cases it matches the best generation rate observed within the LC equivalence class under CFD, and in most remaining cases it remains close to it. Numerical evaluations on graph state orbit data and 2D and 3D lattice graph states demonstrate that CFD achieves up to 84.6% reduction in resource overhead compared to baseline constructions, and yields improvements in photonic generation rate spanning multiple orders of magnitude. These results suggest that combining structure-aware motif decomposition with LC equivalence is a practical and scalable strategy for photonic graph state synthesis.

A novel power delivery framework, comprising a package-embedded inductor topology and an inductance-island methodology, is introduced to maximize both inductance and current densities in vertical power delivery (VPD). The framework leverages multiple multi-phase converters, a common strategy in high-performance computing systems, to enhance efficiency and scalability. The proposed topology employs an array of tightly coupled spiral square inductors sharing a common magnetic rod, serving multiple converters operating in the same conversion phase. The array is optimized to maximize coupling and minimize conversion losses, achieving superior inductance and current densities of 250 nH/mm^2 and 10 A/mm^2, respectively. At the system level, the inductance-island methodology partitions the power delivery network into multiple islands, each dedicated to a converter phase and supplying a portion of the load current, thereby enabling scalable and efficient distribution. To validate the framework, the inductor array is designed and simulated in ANSYS Maxwell 3D and Mechanical, exhibiting an average quality factor of 23.6 and efficiency of 97.4% at 2 A load current, 6 V input, and 10 MHz switching frequency. The inductor array netlist is extracted from ANSYS and co-designed in Cadence Virtuoso with a distributed dual-phase power conversion system, ensuring joint optimization of passive and active components. The co-designed converter achieves a significant efficiency gain of 5.65% on average and up to 11.04% at 40 A load over a similar converter with uncoupled inductors, demonstrating the practical benefits of the approach.

This paper considers the problem of simultaneously controlling an interceptor's impact time and impact angle using its lateral acceleration as the sole control input. With a single control input, the nonlinear engagement kinematics is inherently underactuated, which complicates guidance law synthesis. To overcome this challenge, a hierarchical sliding mode-based guidance law is developed to concurrently regulate the two terminal constraints. The proposed architecture consists of a two-layer sliding manifold. The first layer comprises two sub-sliding surfaces corresponding to the impact time and impact angle error dynamics, respectively, while the second layer introduces a composite sliding manifold that combines the two individual sub-surfaces. Then, a variable-gain adaptive guidance law is designed to ensure time and angle-constrained interception against a stationary target, which is further extended to intercept a constant velocity target. Simulations are conducted for various engagement scenarios to attest to the efficacy of the proposed approach.

A unified, closed-form analytical PI/PID tuning method is presented for all-pole plants up to third order that yields a strictly monotonic (zero-overshoot) step response with minimum settling time. The design target is the binomial closed loop p^n/(s+p)^n, which is monotonic with robustness depending only on the order n. Because a fixed PI/PID cannot assign the closed-loop poles and the controller zeros independently, realizing this target exactly requires the controller zeros to be cancelled, which forces the controller numerator to divide the plant denominator. It follows that an exact, real-gained solution exists for any stable plant precisely up to second order with a PI controller and third order with a PID controller; beyond that the residual binomial factor acquires a complex pair of damping sqrt(3)/2, which a generic plant does not contain. Explicit gains are derived for first-order plants (PI), second-order plants with real and complex poles (PI and PID), and third-order plants with three real poles or one real pole plus a complex pair (PID). The freedom of the coincident designs is shown to be bounded: a quadratic nonnegativity condition gives the exact window of the design pole for strict monotonicity, which collapses at the pole-ratio-2 changeover for real poles and is nonempty for damping ratios above approximately 0.443 for complex poles. Monotonicity guarantees Mt = 1, hence Ms <= 2, phase margin >= 60 degrees, and gain margin >= 6 dB, tightening to universal constants for the binomial family. Load-disturbance attenuation obeys IAEd = 1/Ki, making the cost of cancellation explicit, and comparisons with SIMC, the CHR zero-overshoot rule, and deadbeat-fitted explicit formulas quantify the trade: at matched maximum sensitivity the proposed design settles faster than SIMC on the third-order example, with markedly lower controller gains and peak control effort.

We show that incorporating fairness constraints into virtual power plant (VPP) operations can incentivize consumer participation and thus improve the aggregator's long-run profitability. VPPs rely on sustained participation from heterogeneous consumers to provide a variety of grid services whose timing and frequency are often uncertain. As a result, consumers' willingness and ability to provide flexibility evolve over time, creating a dynamic link between past participation and future resource availability. We develop a dynamic aggregation framework to study how fairness in service allocation affects future participation and long-run profitability. By linking current dispatch decisions to future resource availability, we show that fairer allocations can strengthen consumer engagement, expand aggregate availability, and create additional value during high-price and high-demand events. To balance fairness and operational efficiency, we introduce a slack-augmented allocation mechanism that preserves most of the participation benefits from fairness while avoiding unnecessary reductions in service procurement. We derive conditions under which the resulting availability gains outweigh the short-run cost of redistribution and validate the approach using real-world consumer behavior and electricity market data from Norway.

Ultrasound localization microscopy (ULM) enables micrometer-scale microvascular imaging by localizing and tracking intravascular microbubbles, but its dependence on exogenous contrast agents and long acquisition times limits clinical translation. This study presents a high-frame-rate contrast-free super-resolution ultrasound microvascular imaging method based on high-frequency ultrafast ultrasound and nonlinear beamforming of backscatter signals from native blood flow. Using only 125 milliseconds of in vivo ultrafast data per image, the proposed method achieved an imaging frame rate of 8 frames/s in a rabbit kidney model. The reconstructed microvascular images resolved vessels with a global spatial resolution of 22.2 um over a field of view of 23.04 x 15.18 mm2, where the wavelength of ultrasound was 67.5 um. This corresponds to a three-fold improvement over conventional power Doppler imaging under the same acquisition duration. Compared with conventional flow imaging, the proposed method provided improved microvascular contrast and finer vessel delineation without microbubble injection. These results demonstrate a practical pathway toward high frame rate, contrast-free super-resolution ultrasound imaging for microvascular assessment.

In this study, we address the IMU-based heave motion estimation problem for inertial navigation systems. Unlike existing approaches, we propose a data-driven framework in which a bank of IIR filters, each associated with a specific frequency range, is optimized using a synthetically generated dataset of realistic heave-acceleration tuples. The synthetic heave signal generation pipeline starts by synthesizing random wave signals from established wave energy spectra and then processing them through heave response amplitude operators reported in the literature. The corresponding vertical acceleration measurements are obtained by double-differentiating the heave signals and corrupting them with realistic low- and high-frequency disturbances observed in real IMU recordings. A Fourier-transform-based method is used to estimate the mean peak period and select the appropriate filter. Simulation results from both offline and real-time tests demonstrate that the proposed method is robust to varying sea regimes and provides accurate heave estimation, with a maximum RMSE not exceeding the larger of 5 cm or 5% of the significant heave height.

Advanced Air Mobility (AAM) uses electric vertical take-off and landing (eVTOL) vehicles to address urban congestion and emissions. However, corridor design, operation management, and separation standards remain underexamined for safe high-density operations. This paper applies the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines to systematically review relevant literature from IEEE Xplore and Web of Science, focusing on publications from 2010 to 2024. A Context, Intervention, Mechanism, and Outcome (CIMO) framework guided the development of research questions. After screening 2,039 journal and conference papers, 62 articles met the inclusion criteria. The findings reveal a lack of integrated corridor design approaches, limited operational strategies, and reliance on standards originally designed for conventional aviation. A unified corridor design and separation definition frameworks and taxonomies are proposed to address these shortcomings, informing future investigations and operational frameworks for safe, efficient eVTOL operation deployment in urban settings.

Audio tokenizers serve as the discrete interface between continuous audio and Audio Language Models (ALMs), but existing tokenizers often struggle to support both understanding and generation. Reconstruction-oriented codecs preserve acoustic fidelity but lack rich semantics, while semantic-aware tokenizers typically rely on separate semantic and acoustic streams, introducing redundancy or misalignment. We propose EntangleCodec, a unified discrete audio tokenizer that learns caption-aligned semantic-acoustic representations before quantization. By aligning audio with rich captions rather than ASR transcripts, EntangleCodec captures linguistic content, speaker identity, emotion, prosody, and acoustic scenes within a compact token stream. A flow-matching diffusion decoder further enables high-quality reconstruction across speech, music, and general audio. EntangleCodec achieves reconstruction quality competitive with specialized codecs, outperforms all codec-based baselines on audio understanding by up to +7.4% on MMAR, and supports both TTS and TTA generation in a unified framework. Furthermore, EntangleCodec-based audio language models demonstrate strong scaling behavior: even at 0.6B parameters, the model surpasses specialized continuous-representation LLMs with over 13B parameters across three benchmarks using \textbf{22$\times$} fewer parameters; scaling to 8B further establishes new state-of-the-art results on MMAR, highlighting that representation quality is as critical as model scale in audio language modeling. Code and model weights are available at https://github.com/luckyerr/EntangleCodec.

Multimodal systems often benefit from combining information across language, sound, and visual streams, but this benefit is not guaranteed. A modality that is useful for one input may become distracting for another, and local feature responses within the same modality can disagree with evidence from other sources. This work investigates how to adjust multimodal representations before they are merged by a downstream predictor. We develop a compact calibration module that compares each modality with the others at the summary level, extracts cues of cross-source support and conflict, and converts these cues into instance-wise and dimension-wise modulation signals. The calibration is applied to the original modality features rather than to already fused representations, enabling the model to suppress misleading components, preserve weak but useful evidence, and emphasize responses that are better supported by the current multimodal context. The module is designed as a plug-in component and can be attached to different fusion backbones without changing their prediction heads. Across five benchmarks covering sentiment understanding, action recognition, audio-visual event detection, and audio-visual emotion classification, the proposed pre-combination calibration strategy improves performance under both sequence-based and convolutional fusion settings. Additional analyses under modality removal, synthetic corruption, training dynamics, and feature-level visualization show that calibrating signals before fusion can reduce interference from unreliable modalities and produce more stable multimodal optimization.

Accurate precipitation nowcasting is vital for disaster mitigation, but deep learning methods face a key trade-off: regression models produce over-smoothed, spectrally decaying predictions that blur convective details and violate turbulence power laws; diffusion models generate realistic yet unanchored hallucinations lacking physical grounding. We propose Spectral-Decoupled Iterative Refinement (SDIR), a deterministic framework that reformulates nowcasting as progressive frequency-decoupled refinement. SDIR first extracts a stable low-frequency synoptic skeleton, then iteratively refines high-frequency textures under physical constraints, eliminating both blurring and hallucinations. It features a dual-path design: the Synoptic Frequency-Guided Former (SFG-Former) with Scale-Adaptive Transformers for global structure, and the Fourier Residual Refiner (FR-Refiner) with Scale-Conditioned Fourier Neural Operators for fine residuals. A Physically Consistent Power Spectral Density (PCPSD) loss with dynamic masking enforces a turbulence-consistent spectral distribution. Experiments on three benchmarks show SDIR significantly outperforms SOTA methods in spatial accuracy while achieving spectral fidelity competitive with diffusion-based methods, enabling reliable high-resolution operational nowcasting. Code link: https://github.com/RuntimeWarning/SDIR.

Autonomous robots that interact with people must make safe and efficient decisions under human-induced uncertainty, such as their preferences, goals, competency, and willingness to cooperate. Safety filters are a popular approach for ensuring safety in interactive robotics, since their modular design separates safety from performance, allowing robots to operate safely around people with minimal impact on task efficiency. While traditional safety filters typically operate only in the physical space, neglecting the robot's ability to learn and adapt online, the recently proposed belief-space safety filter (BeliefSF) reasons about robot safety in closed-loop with runtime inference that actively reduces the robot's uncertainty online, thereby reducing conservativeness in filtering. However, providing formal safety guarantees for robots deploying BeliefSF remains a significant challenge due to errors in runtime inference and neural approximation of safety filters required to handle the high dimensionality of belief spaces. In this paper, we propose an algorithmic approach to certify high-probability safety of BeliefSF using conformal prediction, while explicitly accounting for the reliability of the robot's runtime inference module. Our method leverages the structure of belief-space safety filtering by focusing verification on a region where inference is expected to be reliable. It preserves the simplicity and sample complexity of standard conformal prediction, yet can certify a substantially less conservative safety filter. Through a simulated human-vehicle interaction benchmark, we show that our approach verifies a significantly more permissive belief-space safety filter than a standard conformal prediction baseline.