Papers

The integration of artificial intelligence (AI) and wireless communications is widely regarded as a core objective of sixth-generation (6G) systems. However, both the meaning of native AI and the type of AI capability that should be embedded into future wireless systems remain open to interpretation. This paper discusses 6G native AI from a system-design perspective and argues that native AI should be co-designed, optimized, and deployed as an intrinsic component of the wireless system rather than as a removable post-deployment add-on. From this perspective, conventional task-specific supervised models are difficult to use as the main technical basis of native AI because they depend heavily on labeled data, generalize poorly across propagation conditions, and require fragmented designs for different channel-related tasks. Motivated by these limitations, we position channel foundation models (CFMs) as a channel-centric foundation-model paradigm for 6G native AI. We define the scope of CFMs, clarify their differences from task-specific wireless AI models and large language models, and summarize three pretraining families: generative, discriminative, and hybrid pretraining. We further discuss how CFMs may support physical-layer processing, radio access network intelligence, and integrated sensing and communications. Preliminary CSI-CLIP-based results are included as bounded evidence that CFM-style pretraining can improve positioning and beam prediction when task-specific labels are limited.

Structural health monitoring (SHM) has emerged as an essential tool for ensuring the integrity and reliability of critical engineering structures, particularly in aerospace applications. Since each sensing technology has its limitations, the fusion of different modalities enables capturing a more complete picture of inhomogeneous materials, like composites. However, effective multisensor data fusion in SHM is often hindered by heterogeneous sensing modalities that operate at disparate sampling frequencies and acquisition intervals. To address these challenges, this paper proposes a Transformer-based data fusion framework that integrates multisensor data streams from piezoelectric transducer (PZT) capturing ultrasonic guided wave signals and fiber Bragg grating (FBG) sensors for strain measurements. By incorporating an attention-mechanism visualization, the proposed framework enables transparent, multitask learning for both health indicator (HI) prediction and damage localization. The framework was experimentally validated using aircraft composite structures subjected to compression-compression fatigue cyclic loading. For HI prediction, the framework consistently achieved a mean absolute error (MAE) and root mean squared error (RMSE) below 0.1, representing a nearly 60% performance improvement over single-sensor approaches (PZT or FBG alone) and baseline deep learning models. For damage localization, the model demonstrated the highest accuracy, maintaining an MAE and RMSE below 0.0465 and 0.1571, respectively. These results demonstrate that the proposed Transformer-based data fusion framework significantly outperforms single-source models and state-of-the-art deep learning models in both HI prediction and damage localization accuracy.

The powerset construction is the classical determinisation procedure for nondeterministic finite automata. In the coalgebraic setting, this construction has been generalised to structured coalgebras, which are coalgebras equipped with extra data. For stochastic Moore machines over the distribution monad, a type of structured coalgebra, the determinisation construction induces a semantics assigning to each finite input word a distribution on the current output. This semantics is appropriate when only the current output matters, but it is too coarse for settings in which intermediate observations must also be taken into account, as is typical for agents solving POMDPs in control theory and reinforcement learning. In these contexts, agents need to condition on all realised observations, not just the final one, so to better plan for the future. This has been addressed from a category theoretic perspective through a procedure called “unifilarisation”, which (in our context) takes a stochastic Mealy machine and produces a machine whose states are priors over the original state space and whose transitions are given by Bayesian filtering. Here we show that unifilarisation is an instance of coalgebraic determinisation. We work with Mealy machines over monads equipped with extra structure generalising the notion of the support of a distribution. We show that in this setting, unifilarisation arises from the general determinisation procedure. We then compare the resulting final coalgebra semantics with the Moore-style one. Instead of assigning only a distribution on current outputs to each finite input word, it yields causal stochastic behaviours, that is, families mapping input words to distributions on output words compatible with the “causality” constraint that outputs cannot depend on future inputs.

BEST-RQ is a simple and effective self-supervised training method for speech representation learning that performs well on automatic speech recognition (ASR) tasks. It generates pseudolabels using a fixed online quantization scheme, which simplifies training but provides weaker supervision than HuBERT-style models that iteratively refine pseudo-labels. In this work, we improve online pseudo-label generation while preserving simplicity. We propose three modifications: replacing the quantizer's linear projection with Principal Component Analysis (PCA), updating the codebook via iterative codebook refinement, and introducing an additional codebook updated via codebook distillation. We pre-train on the LibriSpeech 960-hour dataset and fine-tune using 100 hours of supervised LibriSpeech data. With all three modifications enabled, we achieve a 12% relative reduction in word error rate (WER) on the LibriSpeech test-other set, improving from 10.1% to 8.8%.

Resource-constrained visual Internet of Things (IoT) systems, such as edge cameras, unmanned sensing platforms, industrial inspection nodes, and remote monitoring sensors, often need to transmit task-relevant visual evidence over low-rate wireless links to an edge/cloud service. Existing image communication methods usually compress or transmit complete global representations, leaving limited room to exploit receiver-side generative restoration. This paper proposes a semantic-aware generative image transmission framework for edge-assisted visual IoT. The image captured by an IoT visual sensor is encoded into a discrete token grid by a VQ encoder. At the IoT transmitter or nearby gateway, token recoverability, estimated from prediction entropy and local structure complexity, is fused with semantic importance obtained from instance segmentation and category-aware scoring. A spatial dispersal sampler then selects the tokens to be transmitted under a bitrate budget. The transmitter sends only the quantization indices of kept tokens and a binary mask map, while the edge/cloud receiver recovers masked tokens through MaskGIT with Halton sequence scheduling. Experiments on Kodak and VisDrone scenes under AWGN and Rayleigh channels show that the proposed method provides a flexible bitrate-quality tradeoff for narrowband visual IoT links. At 0.074 bpp, it uses 44.6% of the transmitted bits of the 0.167-bpp DeepJSCC/WITT reference while achieving 29.9 dB PSNR. A pseudo-GT downstream detection study on Kodak further shows that semantic-aware masking preserves task-relevant objects better than random masking at both 30% and 50% mask ratios.

Non-coherent Grassmannian (unitary space-time) signaling detects on the received subspace, which is invariant to a branch-side (polarization or mode-coupling) rotation and to a phase that is constant over the coherence block. It therefore needs no carrier-phase or polarization recovery within the block and is robust to phase noise when the per-block phase drift is small, while a multi-branch (polarization or spatial) front end harvests diversity without channel estimation or pilots. However, the Grassmannian-constellation literature usually assumes a distortion-free, linear channel and transmitter and already-acquired symbol timing. This paper closes both gaps while reusing off-the-shelf Grassmannian packings. First, we impose a constant-modulus (low peak-to-average-power-ratio, PAPR) constraint on the constellation and quantify the PAPR/chordal-distance trade-off: a constant-modulus design lowers the 0.1% PAPR from 6.1 dB (unconstrained) to 3.6 dB – 1.6 dB below 16-QAM (5.2 dB) – easing the optical modulator linear range and the fiber Kerr-nonlinearity penalty, at a ~1.8 dB cost in high-SNR coding gain. Second, we derive a phase-blind subspace timing-error detector (TED) that exploits the invariance of the GLRT projection energy to the unknown carrier phase, plus a feedforward acquisition metric, supplying clock recovery without prior carrier or polarization recovery. The TED yields a clean S-curve with a stable lock point for roll-offs down to beta=0.1. Under block fading the proposed estimator attains genie-timing SER within a fraction of a dB and recovers full diversity, whereas an uncorrected 0.35-symbol timing offset floors the error rate near 0.4. Results use a symbol-rate block-fading abstraction; full fiber, modulator, and phase-noise modeling is future work. The scheme combines low PAPR with the diversity and phase-recovery-free operation of non-coherent reception.

Input convex neural networks (ICNNs) are increasingly used as surrogates for stability indices and embedded as constraints in power-system optimization. This letter clarifies two recurring formulation limitations that can negate ICNN convexity benefits: (i) applying generic Big-$M$ mixed-integer reformulations introduces auxiliary binaries that are unnecessary for enforcing ICNN sublevel constraints; and (ii) reversing the stability inequality transforms a convex sublevel set into a generally nonconvex superlevel set, invalidating global-convergence guarantees of cut-based methods. After clarifying the limitations, we provide (i) an exact LP-based epigraph reformulation for ReLU-ICNNs, (ii) an outer-approximation scheme with global guarantees under the sublevel convention, and (iii) a feasibility-preserving inner-approximation scheme for the superlevel convention, with simulations on IEEE 14- and 118-bus unit commitment instances.

Mammogram-based deep learning models have improved breast cancer risk prediction, but the learned imaging patterns remain underexplored. Existing interpretability methods rely on single-image saliency maps, failing to identify recurring mammographic phenotypes across large patient cohorts. By clustering patch embeddings from a pre-trained model, Mirai, we isolate recurring phenotypes linked to 5-year cancer risk. Analyses show risk-increasing phenotypes capture complex structures (e.g., dense tissue, microcalcifications) and shortcut artifacts (e.g., clips). These phenotypes correlate strongly with older age and higher BI-RADS density. Our framework connects tissue patterns to AI risk scores, revealing clinical signatures and potential latent model confounders.

The shift towards advanced packaging technologies, including 2.5D and 3D integration, addresses the limitations of traditional methods while meeting increasing demands for performance, miniaturization, and efficiency. These methods enhance functionality and support heterogeneous integration but also introduce metrology challenges due to complex, three-dimensional structures. X-ray imaging, crucial for nondestructive inspection, faces compatibility issues such as material density similarities and noise scattering. To address these challenges, we propose a framework based on AI-integrated Design of Experiment (DoE) to develop design guidelines to optimize X-ray compatibility during the design stage. This framework, demonstrated through a case study on Chip-on-Wafer-on-Substrate (CoWoS) packaging, systematically analyzes design parameters and material properties to develop guidelines for improved inspection accuracy. Our method integrates AI to predict outcomes and optimize processes, ensuring high-quality X-ray images and enhancing defect detection. Implementing these guidelines can significantly improve inspection accuracy and reliability, reducing production costs and supporting the efficiency and scalability of advanced semiconductor technologies.

As hardware security threats escalate across semiconductor manufacturing and advanced packaging, there is a growing need for novel physical mechanisms to counter sophisticated attacks such as tampering, counterfeiting, and supply chain infiltration. This paper presents Nanoelectromechanical Systems (NEMS) as an emerging class of hardware security primitives that enable physical assurance, tamper detection, and authentication at the device level. Leveraging mechanisms such as NEMS-based Physically Unclonable Functions (PUFs), shape memory materials, resonance-based fingerprints, and physical unlocking architectures, these systems offer enhanced resilience to reverse engineering, side-channel attacks, and environmental degradation. By harnessing mechanical unpredictability and fabrication-induced nanoscale variability, NEMS technologies introduce a physically robust and low-power alternative to conventional digital security methods. Their seamless integration into standard semiconductor workflows paves the way for scalable, verifiable, and secure solutions across defense, aerospace, critical infrastructure, and consumer electronics.

Zak-Orthogonal Time Frequency Space (Zak-OTFS) modulation has demonstrated substantial performance gains over cyclic-prefix orthogonal frequency-division multiplexing (CP-OFDM) in highly time- and frequency-selective channels. In this paper, we extend Zak-OTFS to a multiple-input multiple-output (MIMO) framework. We first derive a complete system model for MIMO Zak-OTFS based directly on the physical multipath channel; ours is the first work to do so. We then propose an efficient channel estimation method using structured pilot placement in the delay-Doppler (DD) domain. The proposed approach is evaluated under the standardized CDL-C channel model, demonstrating that the advantages of Zak-OTFS observed in SISO scenarios extend to MIMO systems, particularly its robustness to Doppler and inter-carrier interference (ICI). We identify a fundamental crossover behavior: CP-OFDM performs slightly better at low SNR and low Doppler, while Zak-OTFS excels at higher SNR or under severe Doppler dispersion. Furthermore, we show that the crossover points for SNR and Doppler shift inversely to each other. We also observe that Zak-OTFS, particularly with MIMO, exhibits increased sensitivity to high values of pilot-to-data power ratio (PDR), but has a similar optimal PDR as CP-OFDM.

Belief-space planning under motion uncertainty and state and control constraints remains a fundamental challenge, largely due to the difficulty of establishing reachability guarantees in constrained belief spaces. Existing constrained belief-space planners rely on sampling to construct multi-query belief roadmaps and explicitly find feasible trajectories between sampled nodes to establish reachability. These methods often struggle to cover the belief space or use robust control techniques that improve coverage at the cost of indirect, high-cost trajectories; they also lack finite-time or finite-memory completeness guarantees. We propose PRISM, a multi-query motion planning algorithm for belief spaces with state and control constraints that targets both high coverage and low cost. We present a new result on controllability of the state covariance under constraints, which is used by PRISM to decompose belief-space planning into deterministic mean planning and covariance shrinking. PRISM further includes an online local optimization method that reduces the cost of feasible belief-space trajectories. Under mild assumptions on the start and goal distributions, we prove that PRISM guarantees full coverage (i.e. completeness) despite actuator and obstacle constraints. In challenging simulated scenarios, PRISM achieves substantially higher roadmap coverage than state-of-the-art belief-space planning methods while producing trajectories with lower mean cost and cost variance. For example, PRISM achieves 100% coverage in easy and medium-difficulty scenarios, and, in the hardest scenario, which violates PRISM's coverage assumptions, it still achieves 97-100% coverage, while all other methods achieve less than 45%.

Agentic systems are changing how complex operational tasks are coordinated, introducing a new paradigm for connecting heterogeneous data sources and automating processes. Electric bus fleets provide a relevant test case. Their operation requires continuous coordination between service reliability, battery state-of-charge, charger availability, electricity prices, route-energy uncertainty, and vehicle-to-grid (V2G) opportunities. This paper proposes an agentic aggregator framework that streamlines this decision environment by coupling an optimization-based electric bus scheduling model with supervisory agents for disturbance detection, tariff adaptation, and schedule evaluation. The optimization core enforces physical feasibility across routes, chargers, batteries, and V2G exchanges, while the agentic layer interprets changing operating conditions, triggers real-time re-optimization when needed, and defines how flexibility value is allocated between the aggregator and the public transport operator (PTO). A realistic depot case study evaluates day-ahead and real-time operations under profit-based and operation-based coordination modes, considering service delays, route-energy deviations, electricity price shocks, and combined disturbances. The results show that agentic aggregation can support adaptive fleet-grid coordination by maintaining feasible schedules, activating re-optimization selectively, and improving the use of charging and V2G flexibility. However, they also reveal a critical trade-off: the same agentic capability that reduces operational complexity can extract value from the PTO when configured around profit-oriented pricing. These findings suggest that agentic aggregators can become useful for managing electric bus V2G operations, but their deployment in public-fleet contexts requires transparent coordination modes, auditable tariff-setting, and explicit value-sharing rules.

Discrete-time polynomial input–output models (ARX, ARMAX, OE, and Box–Jenkins) are usually estimated by prediction-error methods, but for OE, ARMAX, and BJ the finite-sample criterion is nonconvex: the estimate a user actually obtains is set by the initialization and the optimization procedure, not only by the asymptotic theory. This article documents the dedicated optimization strategy behind pysib, an open-source Python toolbox for SISO polynomial system identification. The strategy consists of an ARX-based initialization, a smoothed-gradient phase, an incremental Gauss–Newton refinement, and filtered continuation interpreted as cost-function shaping. This strategy produced the filtered-continuation results reported by the author in earlier work but had not previously been described or released; it is given here in full and as open Python software, with a common five-polynomial representation, shared prediction and simulation routines, and the scripts and archived release needed to reproduce the experiments. On a moderate-noise OE benchmark the strategy returns estimates far more concentrated around the true parameters than a general-purpose nonlinear-programming solver, and on a harder nonconvex benchmark filtered continuation raises the success rate from 60% to 100%.

Media over QUIC enables ultra low latency video streaming over QUIC, but its default quality-switching semantics risk introducing playback gaps during periods of network congestion. The in-progress SWITCH specification for MOQ Transport aims to streamline rate adaptation for MoQ. In this work, we characterize the performance of SWITCH-style Adaptive Bitrate (ABR) for both live and time-shifted clients in a Mininet simulated topology. We validate that standard ABR algorithms can be directly applied to time-shifted playback without modification, yielding substantially higher throughput. We demonstrate that a subscriber can experience increased overall throughput after a rebuffering scenario, and we identify focal points for further optimizations of MoQ ABR switching.

Reliable detection of the onset of accelerated degradation is central to safe and cost-efficient operation of lithium-ion batteries. This paper presents a Bayesian single-changepoint model applied to a simple but physically meaningful cycle-level health indicator (HI), defined as the ratio of charge time to discharge time. The indicator is computed directly from voltage-current telemetry typically available in battery management systems (BMS), without access to raw waveforms. The changepoint model is implemented in PyMC using Hamiltonian Monte Carlo and produces posterior distributions for onset time and pre/post-degradation slopes, together with posterior predictive checks. Experiments on an open 18650-cell remaining useful life (RUL) dataset show consistent midlife changepoints with narrow highest-density intervals. The formulation is lightweight, interpretable, and amenable to smart-sensing deployment on embedded BMS platforms.

We study safety verification for linear time-invariant systems with bounded inputs in continuous time. The standard approach reduces to a reachability analysis in two steps: first discretize time and then apply a forward analysis in the discretized system. Existing algorithms use either a fixed time step or an adaptive time step that changes based on the approximation error compared to the underlying continuous system. In this paper, we present an efficient reachability algorithm that adapts the time step based on a given safety property. Essentially, our algorithm makes the largest possible time step such that it can still prove safety. For this approach to be scalable in practice, we discuss several optimizations such as avoiding the repeated expensive calculation of the matrix exponential during discretization and a careful balance how we tame the approximation error stemming from the states and the inputs. This allows our algorithm to yield a moderate approximation error even when using a large time step, thus requiring much fewer steps than prior algorithms. We demonstrate the effectiveness and scalability on the large-scale SLICOT benchmark suite, where our algorithm consistently outperforms other state-of-the-art approaches.

Health monitoring methods are critical for lithium-ion battery modules connected to the grid to prevent faults that can lead to catastrophic events. However, assessing the health of cells in modules from their operational data presents challenges including variable operating conditions, which directly confound health features, and sparse sensing in the modules, particularly within cells in parallel, which prevents observing critical states of individual cells. Here, we present a framework for extracting and calibrating health features for battery modules from their operational data to identify discriminative features for separating faulty parallel-connected cell groups within the modules. We applied this framework to operational data from 25 commercial grid-connected lithium-ion Battery Energy Storage System (BESS) modules. Each module consisted of 14 series-connected parallel groups, one of which was confirmed as faulty via post-mortem investigation; in total, the dataset included 25 faulty and 325 non-faulty cell groups. A statistical evaluation of these calibrated features demonstrated that group-level capacity, capacity degradation rate, and dV/dQ peak heights separate faulty parallel-connected cell groups within the modules with statistical significance (p<0.05). Conversely, group internal resistance did not (p>0.05), indicating that increased resistance was not a primary characteristic of the faults in this dataset. These findings challenge the exclusive reliance on resistance features for fault detection. The observed feature signatures suggest potential failure mechanisms, furthering the understanding of fault behavior in lithium-ion battery modules during field operation. More importantly, this work demonstrates a framework for robustly monitoring the health of cells in lithium-ion battery modules under real-world operations.

Security-constrained unit commitment (SCUC) couples binary commitment, economic dispatch, reserves, and network security over a multiperiod horizon, which makes an exact solution expensive at realistic system sizes. This paper proposes a three-layer hybrid framework in which a Bernoulli hybrid soft actor-critic (HSAC) policy proposes hourly commitments, a quantum-sampled auxiliary channel augments the state, and a native SCUC mixed-integer linear program recovers dispatch and security variables after only a limited subset of commitment binaries is enforced. The method is therefore solver-compatible rather than an end-to-end replacement for exact optimization. We formalize the SCUC-to-reinforcement-learning interface, derive the temporal coverage induced by the fixed cap, and conduct representative experiments on the 14-, 57-, and 118-bus cases. The results show stable, low-cost recovery in the 14-bus case; a very low screen-rejection rate in the 57-bus case, consistent with learned feasibility generalization under fixed intertemporal SCUC constraints; and a clear coverage bottleneck in the 118-bus case once the enforcement cap no longer spans a complete commitment period. The 118-bus case runtime traces nevertheless remain tightly clustered for accepted episodes, indicating that the policy still captures a repeatable recovery pattern across most episodes. The study, therefore, identifies the dominant limitation of the current implementation as the amount of useful commitment information that reaches the recovery model under an exploratory Bernoulli actor and a small enforcement cap, and shows how that limitation governs scalability.

HearAdvisor aims to provide hearing-aid consumers with audio-performance metrics and recordings that reflect real listening experience. For speech-related metrics, HearAdvisor has historically used HASPIv2, a metric designed to predict objective intelligibility and validated primarily under simulated distortions. Its relationship to consumer-rated ease of understanding for commercial hearing aids is uncertain. Here we introduce a large-scale perceptual dataset and learned metric for listener-rated perceived benefit for speech understanding. Website visitors with self-reported hearing loss completed a blind, MUSHRA-inspired listening test in which they rated recordings of commercial hearing aids on a five-point "Ease of Understanding" scale. The dataset contains 151,608 ratings, 104,298 after quality screening, spanning 10,394 binaural acoustic-manikin recordings from 83 commercial products across 72 realistic acoustic scenes. To predict these ratings, we pass aided audio and a matched clean-speech reference through a frozen Whisper encoder, subtract their internal representations, and train a small MLP head on the resulting difference embedding. On devices held out of training, the learned metric substantially outperforms HASPIv2 at the scene level (overall r = 0.92 vs. 0.83; loud = 0.89 vs. 0.75; quiet = 0.79 vs. 0.58). In loud scenes, performance reaches the split-half reliability of the listener ratings; in quiet scenes, it approaches that ceiling. The model also responds sensibly to controlled gain and SNR manipulations. Together, the dataset and model provide a new way to predict listener-rated ease of speech understanding for real commercial hearing-aid recordings.

This paper proposes a grid-aware coordination framework between data centers and distribution grids using a DLMP-based bilevel optimization model. The data center aggregator (DCA) determines active power demand in response to distribution locational marginal prices (DLMPs), while the distribution system operator (DSO) solves a network-constrained optimal power flow problem to determine DLMPs in an unbalanced three-phase system. The model incorporates both active and reactive power consumption of data centers to evaluate their impacts on voltage regulation and phase imbalance. To mitigate adverse network effects, two operating cases are analyzed: without reactive power compensation and with static var generator (SVG)-based compensation. The proposed approach is validated on the IEEE 37-bus unbalanced distribution test system. Simulation results show that DLMP-based coordination captures economically efficient data center operation, and phase- and location-dependent network conditions, while SVG-based compensation improves voltage profiles and reduces phase unbalance.

Accurate fault diagnosis of rolling element bearings in rotating machinery is considered essential for ensuring industrial safety and enabling predictive maintenance. Conventional statistical feature-based methods rely on predefined descriptors, whose diagnostic sensitivity is constrained by fixed configurations and limited adaptability across varying fault conditions. Although deep learning approaches offer strong representational capacity, their effectiveness is often restricted by high data requirements and reduced interpretability. In this work, a parametric adaptive feature extraction framework is proposed, in which feature characteristics are learned directly from data rather than being manually specified. Multiple complementary representations are extracted from vibration signals, including absolute features capturing signal energy distribution, signed moment features reflecting waveform asymmetry, and AC-coupled moment features emphasizing dynamic fluctuations, while interactions between multiple sensor channels are modeled through a structured fusion mechanism to enhance fault representation. The proposed approach is evaluated on a benchmark gearbox bearing dataset comprising five health conditions, including normal operation and multiple fault types. Improved classification performance is observed compared to conventional methods, with consistent results under cross-validation, indicating strong generalization capability. Additionally, enhanced feature separability is demonstrated through clearer clustering patterns in low-dimensional projections. The learned representations effectively capture a wide range of signal characteristics, supporting both improved diagnostic performance and practical applicability in industrial monitoring systems.

This paper presents a hierarchical control framework using model predictive control (MPC) and reinforcement learning (RL) for active roll control to manage lateral load transfer during autonomous racing of a wheeled quadruped. The framework integrates offline time-optimal raceline generation, an online MPC planner that actively minimizes the lateral Load Transfer Ratio (LTR), and a low-level, whole-body RL policy deployed directly onto the robot's 16 actuators. The MPC is based on a vehicle dynamics bicycle model of the Unitree Go2-W platform. The robot's leg actuators act as active suspension where knee joints generate anti-roll torque to bank into turns. Physical track experiments demonstrate that active roll control reduces mean LTR by up to 44%, improves the fastest lap time by 8.7%, and boosts peak lateral acceleration capability by 21.3% to 1.98 $m/s^2$, maintaining robust high-speed stability beyond the range of a non-tilting baseline controller. Supplementary code and video can be found at https://github.com/meisman-ucb/go2w-roll-control-mpc

Distributed acoustic emission (AE) sensing is critical for early detection of structural degradation, yet conventional electrical sensors are difficult to scale and fiber-based approaches are limited by interrogation complexity and resolution. Here, we report an intelligent fiber Bragg grating (FBG) sensing system enabled by machine learning (ML)-trained hybrid III-V/SiN tunable lasers that achieve uniform, mode-hop-free, sub-picometer wavelength control. A supervised gradient-descent algorithm is used to learn the nonlinear electro-thermal tuning space of Vernier-based external-cavity lasers, enabling continuous tuning with <0.1 pm resolution and <0.5 dB power variation. This capability allows precise alignment to FBG reflection slopes for high-sensitivity acoustic detection. We demonstrate a four-laser interrogation system monitoring 16 FBG sensors distributed across multiple metallic structures, operating over a 35 nm wavelength span. The system autonomously identifies sensor resonances, dynamically tracks spectral shifts, and reconfigures interrogation wavelengths in response to localized acoustic events. Using pencil-lead break tests as calibrated AE sources, we show simultaneous multi-channel detection and adaptive spatial localization. The combination of narrow linewidth (<10 kHz), wide tunability, and ML-driven calibration enables robust, scalable, and high-resolution sensing. This approach establishes a pathway toward fully autonomous, distributed photonic sensing networks for real-time structural health monitoring.

The objective of this paper is to improve radiological gradings measured on MRIs of spines, by resampling scans so that the new view planes are better aligned with the target anatomy than the original sparse images. To this end, we adapt 3D Gaussian Splatting to form a volumetric reconstruction starting from non-aligned MRIs to render imaging planes aligned with the anatomy relevant for clinical evaluation. The novel view plane is optimal for diagnostic radiological grading of the target anatomy, whereas the original MRI is not. The resampled scans are then used to predict ordinal severity grades of localised stenosis conditions in spinal MRIs. We compare our method against (1) Voxel Interpolation, which takes the average of inverse-distance weighted nearest neighbour intensities for each target coordinate, and (2) Cubic B-spline resampling, which estimates target points using a smooth piecewise-cubic function built from the source points. Experiments show that across all stenosis conditions, resampled scans using Gaussian Splatting produce more accurate stenosis gradings compared to the raw scans which do not include the complete anatomy in-plane, as well as images resampled using Voxel Interpolation or Cubic B-spline resampling.

Urban tree biomass remains less spatially explicitly quantified than biomass in managed forests because many estimates rely on inventories or coarse products that cannot resolve individual crowns or fine-scale heterogeneity. We present a crown-level above-ground biomass (AGB) framework for an 810~km$^2$ landscape in Ontario, Canada, using leaf-off airborne LiDAR (8–10~pulses~m$^{-2}$) and near-infrared RGB orthophotography (0.16–0.20~m) from 2018 and 2023. A dual-stream cross-attention network trained on rule-based pseudo-labels produced semantic marks for buildings, needleleaf trees, and deciduous trees, supporting crown delineation and functional-type assignment. On independently annotated withheld tiles, global/mean precision, recall, and Dice scores were 0.86, 0.83, and 0.84. Crowns were delineated with multiscale watershed segmentation in mapped tree areas, and AGB was estimated from a crown area–height power-law proxy calibrated to species-specific allometry (Lambert et al., 2005) for 21,921 inventory trees. For 18,713 inventory–segment matched pairs from a 90,726-tree held-out test set, AGB prediction achieved $R^2=0.609$ using inventory crown geometry and $R^2=0.570$ under operational segmentation, identifying crown delineation as the remaining uncertainty source. Aggregated to 30~m, estimates yielded total AGB stocks of 1.73~Tg in 2018 and 1.81~Tg in 2023 (811–850~Gg~C), local densities up to ${\sim}140$~Mg~ha$^{-1}$ along the Niagara Escarpment, and a net carbon gain of 39~Gg~C over five years. Deep-ensemble uncertainty maps highlighted high-epistemic-uncertainty areas linked to underrepresented land covers and guided assignment of uncertain crowns to a pooled allometric equation. The framework uses standard provincial data, requires no manual annotation, and produces a public bitemporal crown-level AGB database for trees outside forests at management-relevant resolution.

User orientation is crucial for many context-aware applications, including interactive museum experiences, smart door access, and intuitive human-environment interaction. However, most existing indoor localization systems focus on estimating position, while body orientation is typically assigned to secondary devices such as inertial measurement units. In this paper, we propose a purely UWB-based approach that predicts yaw orientation directly from UWB Channel Impulse Response (CIR) measurements recorded at fixed anchors as they receive transmissions from a single wearable tag. We use a bidirectional Mamba architecture that captures dependencies across the anchor observations through forward and backward recurrent scans. The model uses per-anchor CIR and a body-part conditioning module to adapt the representation to different tag placements on the body. Two different Kalman filters are used as post-processing stages to exploit temporal continuity: an orientation-based filter that smooths the neural network predictions, and a location-based filter that additionally incorporates position-derived heading corrections. We evaluated the model's performance in different scenarios to ensure generalizability. The proposed Mamba model achieves a mean absolute error of 38.6 degrees in its raw form, outperforming a rule-based baseline of 49.5 degrees. With the location-based Kalman filter, the error is further reduced to 18.9 degrees, corresponding to a 51% reduction.

Speech conveys information through both words and vocal delivery. We evaluate four leading production realtime voice systems-OpenAI's GPT Realtime 2, Google's Gemini 3.1 Flash Live, and Alibaba's Qwen3.5 Omni Plus and Omni Flash-on tasks where the words and the delivery patterns both convey meaningful information. Across three consequential scenarios, all four systems act on the words rather than the voice. They end calls with crying callers who insist nothing is wrong, approve wire transfers authorized in frightened voices, and enroll callers whose agreement is clearly sarcastic. Surprisingly, this is often not a failure of perception. When asked directly, three of the four systems reliably identify the distress, fear, or sarcasm they later ignore when making decisions. We observe a similar pattern when these realtime voice systems estimate accent and age, as their responses frequently follow the biases of the words rather than the acoustic properties of the speaker. We term this disconnect between perception and action the emotional intelligence gap of voice AI. Prompting systems to explicitly attend to vocal delivery improves performance only partially and inconsistently. Our findings show that current realtime voice AI systems often behave as if speech had been reduced to a transcript, suggesting that they should be used with caution in settings where the tone and emotion of delivery convey important information.

Soft robots are challenging to control due to their nonlinear and time-varying dynamics. Data-enabled predictive control (DeePC) offers a model-free alternative by directly leveraging measured input-output trajectories to construct a predictive controller. However, its receding-horizon formulation requires solving a constrained optimization problem at every sampling instant, which can be computationally demanding for real-time deployment on resource-limited robotic platforms. To address this limitation, we propose an adaptive reinforcement-learning-based event-triggered DeePC (RL-ET-DeePC) framework for soft robotic control. A model-free RL policy is trained to determine when to invoke the DeePC optimizer based on the current system state representation, thereby reducing unnecessary optimization calls while preserving closed-loop performance. Simulation results show that RL-ET-DeePC reduces optimization frequency by up to 66% compared to periodic DeePC, while maintaining comparable tracking accuracy. Hardware experiments on a three-dimensional cable-driven soft robotic arm demonstrate zero-shot transfer, achieving a 34% reduction in optimization frequency with tracking accuracy comparable to periodic DeePC and more consistent performance than a static threshold-based event-triggered baseline.

Beam tracking in vehicular communication systems is inherently challenging due to high mobility and the use of narrow millimeter-wave (mmWave) beams. These challenges are further exacerbated by power amplifier (PA) nonlinearities, which introduce distortion-induced beam pattern deviations, array-gain loss, and non-Gaussian signal distortions. Motivated by the need for analytical tools capable of characterizing such effects, this paper extends Rice characteristic-function (ch. f.) method for the stochastic analysis of signals and noise in memoryless nonlinear systems. The proposed approach represents the nonlinearity using a Fourier series rather than a Fourier transform, transforming the evaluation of output correlation functions from computationally intensive double or triple improper integrals into tractable summations. The resulting framework preserves the generality of the original method, supporting one or more sinusoidal signals and noise processes that are not restricted to Gaussian distributions. A new fundamental ch. f.-based formulation is derived in terms of Fourier-series coefficients and a discrete parameterization of the generalized characteristic function. Numerical results are presented for a nonlinear GaN HEMT transconductance characteristic driven by a sinusoidal signal and Gaussian noise, demonstrating the applicability of the proposed method. The framework provides a computationally efficient tool for analyzing nonlinear RF front-end impairments and their impact on future wireless and vehicular communication systems.