Papers

Integrating legacy industrial machinery into modern cloud infrastructures poses a significant software engineering challenge. Industrial Internet of Things (IIoT) deployments frequently rely on rigid and proprietary edge controllers that require extensive manual configuration. Open-source single-board computers (SBCs) offer a highly adaptable hardware alternative, but they still lack standardized software deployment frameworks capable of bridging localized serial protocols with global cloud environments. In this paper, we present a modular event-driven software architecture designed specifically for open-source IIoT edge gateways. We built a containerized web stack to provide a unified architecture that abstracts the complexities of Modbus-to-MQTT protocol translation, enabling rapid configuration of telemetry streams to cloud platforms such as Amazon Web Services (AWS) IoT. Furthermore, we designed a localized event engine that processes conditional logic directly at the edge layer, which significantly reducing network latency. The proposed architecture is preliminarily deployed and validated on an industrial-grade Raspberry Pi Compute Module 4 (CM4) to investigate its robustness, scalability and user-friendliness. Experimental results demonstrate a substantial reduction in system integration time and high operational stability, thus establishing a robust software foundation for real-time edge-based industrial automation. This paper contributes to extending the lifespan of legacy machinery by enabling seamless integration with modern industrial infrastructure.

Frequency-collapse attention [Zeris, 2026e] achieves large gains over standard dot-product attention by replacing the Q/K dot product with a bandpass-filtered inner product at a learned frequency. A natural follow-up question is: which filter shape works best, and why? We test five hypotheses about filter properties – DC suppression, Nyquist suppression, bandwidth, centre frequency, and multi-scale coverage – using a controlled ablation on character-level language modelling (TinyShakespeare, 6-layer GPT). Our main findings are: (1) DC and Nyquist components are actively harmful (val ~= 2.0, equivalent to phase randomisation), confirming that oscillatory bandpass structure is essential, not just any low-dimensional spectral summary; (2) the optimal single-scale bandwidth is sigma ~= 2 bins centred at paragraph scale (~70 tokens), giving a clean gain of Delta = +1.15 nats over BASE-DOT; (3) admissible filters (zero-mean, Mexican Hat DOG m = 2) outperform non-admissible Gaussians at the same scale and provide partial protection against bilateral FFT leakage; (4) bilateral FFT leakage scales monotonically with spectral coverage – narrowband filters (gap > +4) are clean, wideband filters (gap < +2) are leaky; and (5) causal time-domain Morlet at character scale cannot beat BASE-DOT (K=128 taps covers 50% of T=256 context), motivating word-level experiments in the companion MorletQK paper [Zeris, 2026f]. Together, findings (1)-(5) characterise FourierQK as effective in bidirectional attention settings (encoder-style, e.g. BERT), where full-sequence context is available at both training and inference time; autoregressive generation requires a causal spectral variant such as MorletQK [Zeris, 2026f] (decoder-style, e.g. GPT). Code available at: https://github.com/AthanasiosZeris/energy-gated-attention

Fine-grained recognition of aquatic species is challenging due to subtle morphological differences and long-tailed distributions, where ultra-rare species are underrepresented. A natural solution is to jointly model segmentation, morphological traits, and species classification within a multi-task learning (MTL) framework. However, existing MTL methods suffer from negative transfer caused by gradient conflicts between low-level dense tasks and high-level classification objectives, degrading fine-grained representations. To address this limitation, we identify gradient interference across hierarchical tasks as a fundamental bottleneck and propose FISHER, a gradient-decoupled hierarchical multi-task learning framework. FISHER aligns optimization with the biological hierarchy of aquatic species by enforcing a unidirectional information flow from segmentation to trait prediction and finally to species classification, while explicitly decoupling gradients across task boundaries. This design prevents high-level objectives from corrupting low-level morphological representations, effectively mitigating negative transfer while preserving the benefits of shared supervision. Furthermore, we introduce a prototypebased segmentation head with orthogonality regularization to encourage disentangled anatomical representations, and employ homoscedastic uncertainty weighting to dynamically balance task contributions during training. Our analysis shows that robust trait representations serve as a critical bridge for transferring knowledge to ultra-rare species. Extensive experiments on the Fish-Vista benchmark demonstrate that FISHER achieves 97.7% mAP for trait identification on unseen species and improves ultra-rare species classification accuracy by 13.4% over strong baselines, highlighting the effectiveness of gradient-decoupled hierarchical learning for long-tailed biodiversity recognition.

Measuring retinal fluid from optical coherence tomography (OCT) drives treatment decisions in macular disease, but manual annotation is slow and segmentation models trained on one scanner degrade on another. We present an attention-guided TransUNet that segments three fluid types across four independent OCT sources, combining a domain-adaptive normalisation scheme with an uncertainty estimate that flags unreliable pixels. The model reaches a mean fluid Dice of 0.78, and – most usefully for clinicians – its uncertainty is 1.34x higher exactly where expert graders disagree (p<10^-4), turning a raw segmentation map into an actionable clinical triage signal.

Deep models for retinal optical coherence tomography (OCT) classification report high accuracy but rarely report whether their confidence can be trusted – a gap that matters when a wrong-but-confident reading delays sight-saving treatment. We pair a hybrid convolutional-Transformer encoder with a gradient-boosting (XGBoost) classification head and a three-part clinical safety layer: confidence calibration, out-of-distribution (OOD) rejection, and per-prediction uncertainty flagging. On four-class OCT (84,495 scans) the model reaches 95.4% accuracy while cutting calibration error twelve-fold (expected calibration error, ECE = 0.0024), so the confidence it reports tracks its true accuracy. To our knowledge this is the first OCT classifier to validate all three safety mechanisms jointly, with public weights and reproducible multi-seed evaluation.

Percutaneous Coronary Intervention (PCI) is a minimally invasive procedure used to restore coronary blood flow obstructed by atherosclerotic plaque. During PCI, repeated injections of iodine-based contrast agents are required to visualize the coronary arteries and guide interventional devices. However, frequent contrast injections increase radiation exposure and the risk of contrast-induced nephropathy, with acute kidney injury reported in up to 30% of patients with renal impairment. Dynamic Coronary Roadmapping (DRM) reduces these risks by overlaying a precomputed angiographic vessel map onto live fluoroscopy and continuously updating it throughout the procedure. Accurate DRM relies on precise cardiac phase matching between angiography and fluoroscopy, together with reliable catheter tip tracking for motion compensation. These tasks remain challenging in ECG-free settings and when only limited manual annotations are available. We present a unified DRM framework that simultaneously performs cardiac phase matching and catheter tip tracking for accurate real-time guidance. Our method employs a large-scale spatio-temporal encoder pretrained on 16 million X-ray frames to learn cardiac motion dynamics. To the best of our knowledge, this is the first application of large-scale spatio-temporal pretraining for motion compensation in DRM. We further introduce auxiliary tasks based on ECG R-peak detection and catheter tip tracking, improving optimization while eliminating the need for extensive catheter mask annotations. Finally, a majority-voting postprocessing strategy aggregates temporal predictions, improving robustness and providing a confidence score that correlates with phase-matching error. Comprehensive evaluation on clinical X-ray datasets demonstrates state-of-the-art performance, achieving low temporal misalignment and robust phase-matching accuracy suitable for real-time DRM.

Recently, large language models (LLMs) have been successfully adopted in various fields, including wireless communications, robotics, and autonomous vehicles, owing to their outstanding adaptability and reasoning abilities. Despite their huge potential, the application of LLMs for mobility management is relatively scarce since it requires not only analyzing wireless measurements but also predicting dynamic user trajectories and making real-time handover decisions across densely deployed small base stations (SBSs). In this paper, we propose an environment-aware mobility management scheme based on large multimodal models (LMMs), which extend capabilities of LLMs to process multimodal sensing data. By leveraging LMMs, the proposed scheme extracts contextual information on the surrounding environments from RGB-D images to capture user equipment (UE) mobility patterns and identify signal reflections and blockages caused by static reflectors and dynamic obstacles. Using the extracted environmental information, the proposed scheme learns the intrinsic mapping from UE and SBS positions to channel capacity, referred to as channel capacity map (CCM), from which future channel capacities along UE trajectories are predicted. Based on the predicted channel capacities, we determine proactive handover decisions maximizing the cumulative channel capacities. Simulation results demonstrate that the proposed scheme achieves substantial channel capacity improvements over conventional deep learning (DL)-based approaches.

Distributed IoT systems generate multivariate time-series streams for monitoring physical assets, servers, and embedded sensing platforms. Detecting abnormal temporal behavior is critical for fault diagnosis, predictive maintenance, and security. However, practical IoT anomaly detection is hindered by decentralized and non-IID data, limited bandwidth, and the constrained computation and memory of edge devices. This paper proposes FedKAD, a resource-efficient federated Koopman anomaly detection framework for distributed IoT multivariate time series. Unlike deep-learning-based anomaly detectors that require training and communicating large neural models, FedKAD learns normal temporal dynamics through lightweight sliding-window Koopman representations. Federated training is formulated as a low-rank consensus problem, where raw sensor streams and local reduced dynamics remain on device while only compact subspace variables are exchanged with the server. To optimize the shared representation under orthonormality constraints, we develop a federated Stiefel-ADMM algorithm and provide convergence and stationarity analysis under partial client participation. During inference, each client detects anomalies locally by measuring the prediction residual between observed future trajectories and the learned Koopman dynamics. Experiments on four widely used multivariate time-series anomaly detection benchmarks show that FedKAD maintains or improves detection performance compared with federated deep-learning baselines. More importantly for IoT deployment, FedKAD provides up to $2.1\times10^3$ faster training, $80\times$ lower communication, and $79\times$ lower inference latency than neural baselines, confirming its suitability for resource-constrained edge devices.

Fine-tuning language models often requires enforcing constraints on individual inputs without compromising downstream performance. Existing constrained alignment methods impose constraints on average, which can induce undesirable disparities across inputs or users. We propose a novel alignment framework that addresses this gap by enforcing per-sample constraints while still minimizing an average loss. To mitigate the impact of overly restrictive constraints and outliers, we introduce a learned, sample-dependent relaxation that minimally adjusts the constraints, trading off a user-defined relaxation cost with the training objective. To address practical duality and optimization challenges, we develop an augmented Lagrangian approach tailored to this formulation. We demonstrate the flexibility of the framework by instantiating it under distinct small language-model fine-tuning tasks and constraints: safety in instruction following, preferences in function calling and length in re-ranking. Across these settings, our approach reduces tail constraint violations while largely preserving the model's performance.

We study Model Predictive Path Integral (MPPI) control for nonlinear systems with additive process disturbances whose covariance is unknown, spatially varying, and slowly time-varying. A mismatched disturbance covariance produces a persistent penalty in closed-loop stability certificates, while online estimation can reduce this penalty as data are collected. We propose a cell-wise recursive covariance estimator with spatial diffusion and prove a finite-horizon error bound that separates stochastic-approximation error, spatial-smoothing bias, and temporal-drift effects. The diffusion kernel is chosen to be reversible with respect to the stationary visitation measure, making the diffusion operator dissipative in the weighted Lyapunov analysis. We then substitute the resulting covariance estimate into the MPPI sampling distribution and derive an adaptive stability certificate with an explicit learning penalty. The main result is a payoff theorem: after a computable crossover time, the adaptive controller achieves a strictly tighter certified stability bound than any fixed covariance choice whose mismatch exceeds the residual smoothing and drift allowance. Numerical experiments illustrate the estimator convergence and the resulting stability-tightening effect.

A model predictive controller (MPC) is used to construct a virtual assistant to aid a physician in prescribing cortisol replacement therapy for patients with adrenal insufficiency (AI). AI, also known as hypocortisolism, is a condition that occurs due to a low concentration of cortisol. This hormonal imbalance significantly impacts the individual's ability to regulate stress, metabolism, and immune responses. Thus, it is essential to maintain cortisol levels within a healthy range. The production of cortisol is governed by the hypothalamus-pituitary-adrenal (HPA) axis, a part of the endocrine system. In this paper, a novel mathematical model of the HPA axis is proposed that incorporates the endogenous circadian rhythm. This model simulates two conditions of hypocortisolism: primary and secondary AI. Adrenal insufficiency cannot be cured, but it can be treated with cortisol replacement therapy. The standard practice is to prescribe a therapeutic dose of hydrocortisone (HC). To evaluate the accuracy of the proposed HPA axis model, an open-loop cortisol replacement strategy with a fixed dosage is used to simulate both primary and secondary AI. The simulation results show that, analytically, it is possible to arrive at a fixed working cortisol replacement strategy. However, this strategy, though effective, is not optimal. To obtain optimal cortisol replacement strategies, an MPC is proposed. An important feature of MPC is that constraints on allowable cortisol replacement dosages can be rigorously addressed. This controller can serve as a virtual assistant to physicians in prescribing daily cortisol replacement therapy.

Signal Temporal Logic (STL) is increasingly used to describe interpretable objectives and constraints for optimal control and learning methods, especially when no target time series data is available. In this work, we propose to synthesize parameters for nonlinear systems that robustly satisfy continuous-time STL specifications for uncertain initial conditions. To this end, we use gradient-based optimization along with set-based reachability verification to efficiently learn in high-dimensional parameter spaces while providing provable satisfaction guarantees for the optimized parameters. We demonstrate the effectiveness and scalability of our method on three systems with up to 18 parameter dimensions.

A pinching-antenna system (PASS) is considered for over-the-air computation (AirComp). Multiple dielectric waveguides are deployed at the base station, and one pinching antenna (PA) is activated on each waveguide. For practical implementation, each PA is restricted to a finite set of preconfigured locations. The resulting discrete activation problem is formulated to minimize the AirComp mean-squared error (MSE). After the optimal aggregation vector is derived, the minimum MSE is expressed through an inverse Gram matrix. A rank-one recursion is derived to evaluate the exact MSE reduction produced by each candidate. Greedy search and beam search are then developed for fast tree search. To further reduce complexity, coherent aggregation search is proposed from a first-order MSE approximation. It admits a separable closed-form selection rule and is asymptotically optimal in the low signal-to-noise ratio (SNR) regime. Numerical results show that the proposed methods substantially improve the AirComp accuracy of PASS over conventional antenna arrays.

This paper addresses the problem of observer design for a class of linear descriptor systems affected by a certain class of unknown unmatched disturbances. The objective is to estimate the components of the state vector, as well as the unknown parameters of the unmeasured disturbance. To solve this problem, structural assumptions are introduced under which an observer for the dynamic part of the state vector is constructed. Then, based on the obtained state estimate, the disturbance signal is reconstructed, and its unknown parameters are identified. A new parameterization method is proposed for a class of disturbance input signals that depend nonlinearly on unknown parameters, making it possible to obtain a linear regression in the corresponding unknowns. Numerical simulations are presented to demonstrate the effectiveness of the proposed procedures.

The functional organization of the brain relies on coordinated activity across spatially distributed regions, making the analysis of inter-regional dependencies fundamental. Existing connectivity measures address this predominantly through phase synchronization, which is vulnerable to volume conduction artifacts and discards amplitude-domain coupling. This study introduces the Spatial Neighboring Scattering Transform, which extends the wavelet scattering transform to the multichannel setting, yielding two descriptors that jointly capture amplitude-envelope coupling between channels and its modulation across frequency scales. SNST was evaluated on the BCI Competition IV-2a motor imagery dataset using a bias-corrected, false-discovery-rate-controlled statistical pipeline, with the validation criterion defined as spatial consistency of significant coupling across subjects. The first-order descriptor identified statistically significant amplitude coupling within a central-parietal electrode neighborhood, reproduced consistently across all subjects and both imagery conditions. The second-order descriptor revealed that this coupling is periodically gated by slow rhythms, indicating a cross-frequency amplitude-modulation structure absent from single-frequency connectivity measures. Phase lag index and weighted phase lag index, computed under an identical correction procedure and verified robust to volume conduction, identified negligible significant coupling with zero overlap with SNST findings, demonstrating that amplitude envelope coupling constitutes a largely distinct connectivity signal. These results establish SNST as a cross-channel scattering-based connectivity descriptor that recovers amplitude-envelope and cross-frequency coupling structure systematically, applicable to any multichannel EEG analysis where amplitude-domain inter-regional dependence is of interest.

Radio frequency (RF) integrated circuit design using the open-source complementary Metal-Oxide semiconductor (CMOS) ecosystem, such as for phase-locked loops (PLLs), is limited by the absence of reliable passive device models, particularly on-chip spiral inductors. Consequently, prior work relies on ring-oscillator-based voltage-controlled oscillators (VCOs) with degraded phase noise performance. This work presents a 2.4 GHz type-II fractional-N PLL implemented in the IHP SG13G2 130 nm BiCMOS open-source technology. The proposed design employs a cross-coupled differential LC-VCO integrated with a custom-designed spiral inductor, developed using an open-source electromagnetic modelling workflow in OpenEMS. The optimized inductor achieves 4 nH inductance with a quality factor of 16.8 at 2.45 GHz. The LC-VCO sensitivity is approximately 120 MHz/V, while the PLL phase noise is -100.8 dBc/Hz at 1 MHz offset. The complete PLL is realized using a fully open-source electronic design automation (EDA) flow, occupying a total area of 930 um x 666 um (~0.619 mm2) and consuming 12.73 mW, demonstrating the feasibility of RF integrated circuit design in an open-source CMOS IC design ecosystem.

Narrowband interference (NBI) severely degrades orthogonal frequency-division multiplexing (OFDM) systems by corrupting subcarriers and rendering classical soft demodulation ineffective. Conventional compressed-sensing (CS) mitigation exhibits high sequential latency and leaves structured, non-Gaussian residuals that cause log-likelihood ratio (LLR) unreliability, decoder saturation, and severe error floors when employing classical Gaussian demappers. We resolve this pipeline mismatch using a unified deep learning framework for joint NBI cancellation and robust soft demodulation. First, NBI-CNet employs a physics-informed convolutional architecture to estimate NBI parameters and remove multi-tone interference in a single forward pass. Without requiring prior knowledge of the active interferer count, NBI-CNet reduces computational complexity by up to 60% ($N{=}2048, Q{=}64$) compared to the state-of-the-art EOMP-IDS algorithm. Second, LLR-CNet acts as a structural whitener by mapping non-Gaussian post-mitigation residuals onto well-calibrated soft metrics. Simulations demonstrate that this joint framework eliminates the error floors inherent to traditional baselines across dense grids. Under severe interference ($\text{SIR}{=}{-}10$ dB), the pipeline operates within a $0.2$ to $0.5$ dB SNR margin of the optimal iterative baseline at a target block error rate (BLER) of $10^{-4}$. Under mild interference ($\text{SIR}{=}10$ dB) with heavy spectral overlap ($Q{=}12$), where classical greedy algorithms erroneously subtract valid data components and corrupt the payload, NBI-CNet avoids signal-peak confusion to deliver a coding gain exceeding $3$ dB. Finally, the architecture circumvents the $2{\times}10^{-4}$ error floor triggered by interferer-estimation errors, while its scale-invariant design enables robust generalization across arbitrary FFT sizes without retraining.

Asthma affects over 260 million people worldwide, yet diagnosis remains dependent on spirometry and specialist assessment, limiting accessibility in primary care and low-resource settings. Vocal biomarkers offer a promising non-invasive alternative, but prior studies have largely focused on acoustic features without integrating clinical context. We present a multimodal Mixture-of-Experts framework for asthma identification that adaptively combines acoustic embeddings from sustained vowel phonation and reading passage tasks with structured clinical and demographic data. The model was evaluated on a matched cohort of 1,218 self-reported asthma cases and healthy controls from the Colive Voice study. The multimodal model achieved an AUROC of 0.83 and Brier score of 0.18, outperforming unimodal approaches. Exploratory analysis of the gating mechanism in asthma cases showed that greater respiratory symptom burden was associated with increased weighting of reading-passage modality and reduced weighting of sustained-vowel phonation modality. These findings support the feasibility of voice-based identification of self-reported asthma; however, independent prospective validation remains necessary before clinical use.

In 6G, MIMO dimensions continue to scale, yet the increased cost, power consumption, and hardware complexity associated with growing RF chains limit practical deployment. Parasitic antennas offer a promising alternative that can add spatial degrees of freedom and array gain without a proportional increase in RF chains. From a communication perspective, prior work on parasitic antennas has primarily focused on adjusting continuous reactance values using varactors, but such varactor-based tuning has increased cost and complexity in the analog control and practical RF circuit design. This paper proposes a multi-active multi-parasitic antenna (MAMP) architecture with binary controllers, where each parasitic element operates in one of two discrete reactance states. To validate the practicality of the system, we experimentally identify array geometries that best match the actual radiation patterns with those of the mathematical model through HFSS simulations. We express the induced current vector as a quadratic function of the binary state vector, and propose a pair of discrete reactance values that minimize the relative error of the proposed model while being implementable with off-the-shelf RF components. With these results, we develop two transmit beamforming codebook designs based on the generalized Lloyd algorithm. The first design exhaustively searches for all possible binary combinations to find the optimal solution, representing the theoretical upper limits of our framework. The second design leverages eigenvalue perturbation to significantly reduce computational complexity, making it suitable for online adaptation. Extensive simulations under various channel scenarios demonstrate that the proposed codebook designs enable MAMP with only few active antennas to achieve beamforming performance comparable to fully active antenna arrays with significantly more active antennas.

This paper proposes an adaptive wavelet division multiplexing scheme for wireless systems serving users with heterogeneous mobility profiles over frequency-selective Rayleigh fading channels. By exploiting the multiresolution structure of the discrete wavelet transform (DWT), users are adaptively assigned to different decomposition levels according to their channel dynamics and Doppler conditions. A single-tap minimum mean square error (MMSE) equalizer is applied in the frequency domain, and the system performance is evaluated under realistic time-varying multipath fading environments. Simulation results demonstrate that the proposed adaptive allocation achieves balanced bit error rate (BER) across all user mobility classes while delivering substantial peak-to-average power ratio (PAPR) reductions relative to both conventional orthogonal frequency division multiplexing (OFDM) and orthogonal time-frequency space (OTFS) modulation. The proposed framework is further validated in a four-user heterogeneous-mobility scenario, confirming its scalability and effectiveness to mixed-mobility multi-user scenarios.

As the accuracy of speech deepfake detection improves with the use of self-supervised representations such as wav2vec 2.0 and HuBERT, understanding why the speech is classified as bona fide or deepfake remains an open challenge. In pursuit of more trustworthy and interpretable artificial intelligence, we introduce a phoneme-level analysis framework that connects model predictions to phonetic units. Our post-hoc explainability method is generally applicable to a variety of speech deepfake detection systems based on convolutional neural networks since it leverages Gradient-weighted Class Activation Mapping in conjunction with speech recognition to generate saliency maps aligned with phonemes and pauses. This pipeline reveals statistically significant attack- and speaker-dependent phonetic cues associated with spoofed speech in terms that humans can understand. Experiments using ASVspoof 5 show comparable detection performance to similar architectures while providing linguistic interpretations across speakers and spoofing conditions.

This paper proposes a robust optimization formulation to calculate dynamic operating envelopes (DOEs) to safely operate unbalanced three-phase distribution systems. Unlike conventional formulations that satisfy network constraints only at the envelope bound, the robust formulation covers the entire envelope range. We formulate a robust non-linear programming (NLP) problem with the full AC power flow equations, as well as an approximate linear programming (LP) model. Numerical simulations are run with real-world data from Belgium and two different distribution test feeders. The paper compares the conventional approaches with their robust counterparts and examines the trade-off between constraint violation and envelope size as well as accuracy and solve time aspects.

We propose PreSPA (Partial-Reference Structural Prediction Approach), a Partial-Reference Image Quality Assessment framework that decomposes perceptual quality into two complementary indices. A structure-aware index, operating in a No-Reference manner, captures structural degradation through Hermite-Gauss prediction of the distorted gradient field and the angular variance of its curvature. A texture-sensitive index estimates local noise through a scalar prior $\mu$, obtained from energy differences between reference and distorted complex gradient maps on strong-edge regions and accumulated over weakly-structured ones, reflecting the perceptual leakage of degraded edges into surrounding textures. Crucially, $\mu$ is the only information extracted from the reference and is computed once per image pair, reducing the reference footprint to a single scalar value. The final score is produced by an affine fusion with only three interpretable parameters, making the method compact, transparent, and computationally efficient, with the viewing distance embedded into the operator scale and no dataset-specific calibration. Extensive evaluations on six standard benchmarks show that PreSPA consistently rivals or exceeds leading No-Reference approaches, while in several cases matching the accuracy of Full-Reference models.

OpenPLC, Arduino OPTA, CONTROLLINO, and Industrial Shields M-Duino bring IEC 61131-3 to low-cost microcontrollers used in real automation and industrial control system (ICS) security research. Existing open-source verifiers for IEC 61131-3, including ESBMC-PLC, prove safety over an abstract scan-cycle model with idealized unbounded integers. The board artifact runs on a resource-constrained microcontroller unit (MCU) with 16-bit words (8-bit AVR Arduinos), and sensors are read via a finite-resolution analog-to-digital converter (ADC). We show this deployment gap makes naive width-aware verification unsound: across 123 real programs, checking 16-bit overflow without a hardware input model yields 44% false alarms (54/123) and finds no genuine defects, because it explores sensor values no ADC can produce. Since the gap lies where computation meets the physical process - a bounded sensor reading scaled by finite-width arithmetic into an actuation command - an overflow can silently suppress a safety action, such as a high-level alarm. An unbounded input model fabricates alarms that no environment can trigger. We present hardware-faithful verification for IEC 61131-3 on open hardware: a declarative hardware abstraction layer (HAL) descriptor (width, ADC/PWM resolution, I/O binding) and a sound lowering that interprets arithmetic at target width and constrains inputs to hardware-realizable ranges. We instantiate it for Arduino as ArduinoTool, deriving HAL parameters from official cores and realizing the input-range model in the ESBMC Ladder Diagram (LD) frontend. On the 123-program corpus, the HAL annotator eliminates all 54 false alarms while preserving robustness proofs, and a controlled corpus demonstrates the rare width-dependent defects it detects with realizable witnesses.

In future 6G vehicular networks, users employing orthogonal frequency division multiplexing (OFDM) and orthogonal time frequency space (OTFS) waveforms may coexist under diverse mobility conditions, where both can experience high-mobility and low-mobility profiles. Since OFDM users can suffer severe inter-carrier interference (ICI) and OTFS users occupy larger spectrum resources, rate-splitting multiple access (RSMA) is a flexible framework that can efficiently handle these heterogeneous aspects. In this work, we propose a novel RSMA-assisted system to provide downlink communication to multiple OFDM and OTFS users. A common stream comprising the common messages of OFDM users spans the whole bandwidth to help OFDM users manage the ICI induced by potential high Doppler effects. OTFS users do not participate in the common stream. The private streams of OFDM users and the streams of OTFS users are transmitted over disjoint frequency bands. During the SIC process implemented at all receivers, channel estimation errors are taken into account. The simulation results highlight the impact of the power allocation factors and channel estimation errors on the system performance, and demonstrate the superiority of the proposed framework over orthogonal multiplexing in terms of outage probability and rate performance.

This paper presents a modular method for generating reference signals online for saturable synchronous machine drives. The method dynamically generates optimal references without precomputed lookup tables, following the maximum-torque-per-ampere (MTPA) trajectory while respecting maximum-torque-per-volt (MTPV), current, and voltage limits. The proposed tracking laws are formulated to yield exact, decoupled first-order error dynamics, ensuring predictable tracking responses and simplifying system tuning. The algorithm requires only the forward flux map, thereby eliminating the need for current-map inversion. By operating in a feedforward manner, the method ensures noise-free reference signals and structural separation from the feedback control. Both simulation and experimental results are presented, demonstrating that the proposed method achieves dynamic and steady-state performance on par with conventional lookup-table-based approaches, while avoiding the need for precomputed reference tables.

Belief propagation (BP) is widely used for data association (DA) in target tracking. Existing convergence analyses of BP for DA address only the two-way correspondence between targets and measurements, where each target generates at most one measurement per scan. Multipath DA (MPDA) allows a single target to produce multiple measurements via distinct propagation paths, creating a three-way correspondence among targets, paths, and measurements, for which a complete convergence proof has not yet been provided. We provide such a proof for the BP updates in MPDA, establishing convergence to a unique fixed point. Simulations illustrate the convergence behavior of BP in MPDA and demonstrate a favorable accuracy–efficiency trade-off relative to both single-scan and two-scan variants of the multiple-detection multiple-hypothesis tracker.

This paper presents a Cramér-Rao lower bound (CRLB)-based performance bound analysis of cooperative multiple-input multiple-output (MIMO) integrated sensing and communications (ISAC) networks. We first show the CRLB transformation of the signal-level parameters to the state parameters (position and velocity) in cooperative ISAC networks. Unlike existing studies that primarily ignored coupling between position and velocity in the Fisher information matrix (FIM), we derive the full FIM and the corresponding exact CRLB. Particularly, the results of multi-monostatic sensing, multi-bistatic sensing, and their hybrid are discussed. Addressing the complexity and tractability, we simplify the FIM and CRLB by excluding the coupling terms between the position and velocity, and provide a criterion for determining whether the simplification is valid. The simplified CRLB benefits from low computational complexity and provides a tractable and reliable performance metric for optimization problems such as resource allocation and beamforming. Finally, the position and velocity CRLBs and the simplification-induced error are examined in the simulation. The results demonstrate that the simplified CRLB can be applied in general cases. Based on the simulation results, the impact of resource and geometric parameters on position and velocity error bounds, and the validity of the simplified CRLBs is explained through the corresponding CRLB expressions.

The computational speed of electromagnetic transient programs (EMTP) is severely limited by both the curse of dimensionality and the ill-conditioned system matrix, which collectively degrade solver performance. However, existing research on EMTP acceleration has largely overlooked the issue of ill-conditioning. This letter presents a first systematic, EMT-oriented investigation of the ill-conditioning of the EMTP admittance matrix by establishing a link between its physical origins and mathematical pathologies, thereby revealing the underlying mechanism by which network topology induces ill-conditioning. Building upon these structural insights, a preconditioner-based strategy is developed that significantly accelerates computation while preserving numerical accuracy. Simulation results demonstrate the outstanding efficiency and robustness of the proposed approach.

Quantifying how mirror-symmetric an image is about a given axis (symmetry scoring) underpins applications from visual aesthetics to medical imaging, yet proposed scoring methods have never been compared on a common, statistically grounded protocol. We benchmark 13 scoring methods (9 collected from the literature; 4 introduced here) spanning from classical features to frozen deep features, across four single-axis and five multi-axis datasets under a reflection-exact protocol with a chance-anchored, significance-tested discrimination skill. Deep backbones perform best on single-axis and harder multi-axis protocols. However, a classical histogram-of-oriented-gradients (HOG) descriptor trails the best frozen-network readout by a small (but significant) margin, is not statistically separable from the runner-up (a CNN-filter measure), and runs $\sim$300$\times$ faster on CPU. Our results show that discrimination concentrates in mid-scale oriented features, where deep backbones peak at a low or mid stage, and HOG peaks at a mid cell size. Among existing methods, frozen deep features thus offer little over a tuned classical descriptor for measuring symmetry; whether task-trained deep scorers can do better remains open. We release the scorers and harness, in imgsym, an open toolkit for image symmetry detection and measurement.