Papers

We present a set-based framework for estimating human cognitive states in human-automation interaction (HAI) contexts. Unlike probabilistic approaches dominant in the HAI literature, our framework treats process and measurement uncertainties as unknown but bounded, avoiding the need for large structured datasets or distributional assumptions on noise. We demonstrate the framework in the context of conditionally automated (SAE Level 3) driving, where we estimate three cognitive states (trust, perceived risk, and workload) that influence human reliance on the automation during a continuous, non-trial-based interaction. We leverage a hybrid dynamical modeling framework to identify individual-specific process and measurement models, systematically estimate noise bounds by enforcing reachset conformance, and identify the subset of cognitive states that influence each individual's reliance on the automation. Set-valued estimates of those states are then produced by fusing binary reliance observations and intermittent, quantized self-reports. The framework is evaluated through an in-person experiment in a medium-fidelity driving simulator with 20 participants. The set-valued estimator achieves at least 75% consistency for most participants during testing, and multi-step-ahead reliance predictions derived from the estimates outperform both an open-loop baseline and a particle filter across all choices of prediction horizons (15, 30, 45, 60 time steps), with the performance gap more evident at longer horizons. The proposed estimation framework can enable automation systems that are continuously aware of, and responsive to, the human driver's state.

Deformable image registration (DIR) is a core problem in medical image analysis; but, unlike labeling decision problems such as classification and segmentation, registration is a problem class that involves stringent physical constraints. Although deep learning methods have made faster registration possible, the resulting models are often difficult to interpret compared to hand-crafted methods with explicit objectives and interpretable physical meaning. In this work, we show that an analytical method can still yield competitive and superior results to deep learning in a common deformable registration task. We study pTVreg as a parametric total variation based registration in that context. Observing its different implementations to perform at various degrees, we introduce here an accessible implementation of this method, together with a Bayesian optimization framework that automatically sets self-parameters for any DIR task from a set of sample examples. Experiments on Lung250M-4B show that our proposed implementation achieves state-of-the-art results in this benchmark, substantially superior to existing deep learning solutions and other pTVreg variants as baselines. The source code will be made publicly available at https://github.com/oazeybekoglu/ptvreg-python .

This paper studies a resource-allocation inefficiency in batched large language model (LLM) serving: heterogeneous requests that share a decode batch impose max-driven computational costs on one another. Because the wall-clock cost of a batch step is largely governed by the largest active KV-cache footprint, a short request co-batched with a long request can experience latency and GPU-resource consumption disproportionate to its own token workload. We formalize this phenomenon as a resource-fair scheduling problem. We develop a mathematical scheduling model that connects within-batch resource fairness to system throughput. The proposed fairness constraint bounds the disparity in decode progress, equivalently KV-cache footprint, among co-batched requests. Based on this model, we design the Insert-Short-Jobs-with-Limit (ISJL) algorithm, a parameterized hybrid batching policy. We prove that ISJL achieves a global competitive-ratio lower bound of $3/4$. We further examine the profit implications of resource-fair scheduling under the token-metered pricing convention used by commercial LLM APIs. Numerical experiments show that ISJL occupies a favorable middle ground between FCFS, which has large batching externalities, and LJF, which is cost-aligned but sacrifices batching flexibility. Thus, ISJL provides a bi-criterion scheduling policy: it maintains high throughput while aligning max-driven batch cost with token-metered revenue.

We numerically investigate gas-line absorption in hollow-core fibre C+L-band transmission. Results show limited C-band but severe L-band performance degradation. Ideal suppression enables a 1.5$\times$ higher L-band throughput, reaching 59.1 Tb/s over 1000 km, while reducing repeater number by up to 3.3$\times$.

This paper investigates commercial-style capacitive MEMS microphone dies as air-coupled ultrasonic transmitters under nonlinear pull-in and snap-back actuation and demonstrates a compact parametric-array prototype. A single die produces large diaphragm displacement and measurable ultrasonic pressure in air. A 28-die array driven at 83 and 93 kHz generates a directional component at the 10 kHz difference frequency. Measurements are compared with analytical radiation theory and finite-element modeling, and the effects of aperture, fill factor, device uniformity, and receiver nonlinearity are discussed.

In integrated sensing and communication (ISAC) systems, stringent sensing performance constraints can severely limit the power available for communication. Hybrid reconfigurable intelligent surfaces (HRISs) with capabilities of both passive reflection and active signal amplification can significantly improve communication performance in the power-limited regime. This motivates us to analyze and optimize the performance of an HRIS-aided multiple-input-multiple-output (mMIMO) ISAC system. We first estimate the effective uplink/downlink channels using the minimum mean square error method. We then derive closed-form expressions for the communication sum-rate and sensing Cramér-Rao lower bound (CRLB). It is shown that under the equal power allocation strategy, the CRLB remains independent of the HRIS coefficients. Then, we formulate a joint optimization problem of power allocation and HRIS beamforming to maximize the communication sum-rate while ensuring specified sensing CRLB constraints. To solve the formulated non-convex problem, we propose an alternating optimization algorithm based on fractional programming and successive convex approximation. Extensive simulations validate our analysis and proposed algorithm, showing significant improvements in both communication and sensing performances enabled by the HRIS. For example, an HRIS with only $4$ active elements offers $97.30\%$ improvement in the communication sum-rate, while ensuring a sensing CRLB constraint of $-30$ dB.

Reliable photovoltaic (PV) forecasts can support low-carbon energy systems, but deployed sites may have only short and incomplete records. Physical and hybrid methods can be sensitive to weather inputs, calibration, and timestamp-alignment, while individual machine learning models may capture different parts of the forecasting problem. We study hourly day-ahead PV forecasting at a United Kingdom charging station using one year of inverter measurements, with 9.25% of hours missing. The pipeline checks timestamp-alignment, derives solar and clearness features, adds short-term weather context, and combines five complementary models using non-negative least squares stacking, with the combination fitted only on validation observations. We compare against smart persistence, a weather-scaled baseline that carries the previous day's PV behaviour forward using target-day irradiance. With retrospective weather, the combined model reduces daylight normalised root mean square error (RMSE) by 31.2% under random day-fold evaluation and by 2.9% under rolling-origin evaluation, although the latter improvement is not robust across days. It also improves by 3.0% over the single model selected from validation performance. Replacing retrospective weather with a public product sampled at a constant 24-hour lead increases daylight RMSE by 13.1% and 4.2% under the two protocols, while retaining positive skill over smart persistence.

Closed-loop lower-limb exoskeleton control via Electroencephalography (EEG) remains limited by motion artifacts, low signal-to-noise ratio, and binary gait formulations that fail to capture full cortical gait complexity. We propose a 2-block Brain-Computer Interface (BCI) architecture: a trainable session-specific Feature Extraction Block with real-time artifact suppression and multi-domain feature extraction, coupled with a Decoder Block built on a novel Polynomial Time-Varying Layer (PolyTVL)+LSTM for four-state gait classification (Stand, Initiate, Execute, Terminate). Ablation confirmed v01 (PolyTVL+LSTM) outperformed all variants (validation MCC: 0.435, gap: 0.187), with consistent EEG feature discriminability across ROIs and sub-bands (p<0.05). Closed-loop deployment with v01 achieved 55.3% (Rex-assisted) and 52.7% (volitional) gait initiation success, with a mean end-to-end processing time of 70.5~ms (+/-41.5), validating real-time feasibility in this pilot study.

In vision-aided navigation and visual-inertial odometry, the quality of triangulated three-dimensional feature positions is a fundamental prerequisite for state estimation accuracy. Triangulation becomes ill-conditioned or even impossible when a camera undergoes pure rotation without translation, or when the observed bearing vectors provide insufficient parallax. Even though visual-inertial odometry has been extensively studied, the active maintenance of feature-observability during navigation has not been sufficiently addressed in the literature. To address this gap, this study presents TANGO-VIO, a triangulation-aware navigation framework that embeds a log-determinant metric of the feature-wise stacked-bearing matrix into a control barrier function. In this proposed method, the observability guarantee is established in the feature-geometric sense by enforcing a lower bound on the aggregate triangulation-information metric through a nominal-direction-weighted minimum-deviation velocity correction. The proposed architecture is evaluated through software-inthe- loop simulations and real flight experiments. The results show improved triangulation conditioning under low-parallax motion, while the flight response closely reproduces the corresponding simulation behavior and confirms the practical realizability of the proposed safety filter. Supplementary materials are available on the project webpage.

Developing deployable locomotion policies through conventional reinforcement learning often requires complex reward engineering and expensive training times. While differentiable simulation offers a highly efficient alternative, open-source tools capable of end-to-end transfer of these policies to physical hardware remain limited. This paper introduces Open-DiffLoco, an open-source framework for training deployable blind quadruped locomotion policies with differentiable simulation. The framework implements the Short-Horizon Actor-Critic (SHAC) algorithm in MuJoCo XLA (MJX) and trains a proprioceptive policy that transfers to real-world hardware. The deployed policy removes privileged actor observations, including base linear velocity, and does not rely on reference trajectories. It also uses a substantially simplified reward function, enabling the robot to discover walking patterns without the complex auxiliary rewards typically used in conventional reinforcement learning pipelines. When deployed on physical hardware (a Unitree Go2 quadruped), the trained policy tracks omnidirectional velocity commands with root-mean-square error below 0.2 m/s, reaches speeds above 1 m/s, and remains robust to uneven terrain and external physical disturbances, such as lateral pushes. Across the reported configurations, training uses under 6 GB of VRAM on a single NVIDIA GeForce RTX 5080 GPU and completes in approximately 20-60 minutes. As an algorithmic extension to SHAC, we propose Jacobian-Augmented Value Estimation (JAVE), which supervises the critic Jacobians to improve early first-order policy-gradient training. To our knowledge, Open-DiffLoco is the first open-source framework for training deployable locomotion policies using differentiable simulation. Deployment videos and source code are available at: https://diffloco.martin-opat.com/

Faster-than-Nyquist signaling improves spectral ef- ficiency by deliberately introducing inter-symbol interference. Classical sequence detectors such as BCJR can approach optimal performance, but their computational cost grows rapidly with channel memory. This paper investigates data-driven FTN BPSK detection under AWGN through a direct comparison between multilayer perceptrons and Kolmogorov Arnold Networks. A large-scale Monte Carlo dataset containing nearly four million labeled windows is generated for a time-packing factor of zero point eight and signal-to-noise ratio values from seven to ten decibels. The best MLP obtained from width sweeping uses hidden width thirty two, whereas the selected KAN uses hidden width four with spline grid size five. At ten decibels, the MLP produces a bit error rate of one point three times ten to the minus four, while the KAN reaches seven times ten to the minus six. This corresponds to an eighteen point six times lower bit error rate while using only one eighth of the MLP hidden width. The results show that KAN provides a more effective and more parameter-efficient neural decision model than the MLP baseline for FTN BPSK detection.

Brain tissue microstructure estimation with machine learning provides higher computational efficiency than conventional fitting. However, machine learning still presents important limitations that hamper its clinical utility. Specifically, current models typically lack generalisation across diffusion MRI acquisition protocols and require retraining whenever b-vectors or b-values change. Moreover, the recent machine learning methods that were developed to address protocol generalisation lack rotational equivariance. Particularly suitable for dMRI parameter estimation is a geometric deep learning model known as spherical convolutional neural network (SCNN), which guarantees rotational equivariance and b-vector generalisation. However, this architecture currently does not account for b-values. Therefore, obtaining a model that combines protocol generalisation and rotational equivariance remains an open challenge. In this paper, we directly address this issue by incorporating explicit b-value dependence into an SCNN architecture via a hypernetwork. This new approach is illustrated using NODDI as an example forward model for estimating brain tissue microstructure. To evaluate b-value generalisation, the original and newly proposed SCNN architectures are trained on synthetic data and tested on both synthetic and real data across different b-value pairs. Results demonstrate that the proposed method achieves reduced RMSE and bias on synthetic data, as well as higher agreement with conventional NODDI fitting on real data, indicating improved robustness to unseen b-values and a reduced need for retraining. By combining generalisation across b-values with generalisation across b-vectors and rotational equivariance, the proposed framework enhances the applicability of deep learning to clinical diffusion MRI parameter estimation. Code available at https://github.com/aerdnairo/arXiv\_generalisedSCNN.

The beekeeping sector holds significant potential for livelihood diversification among the agropastoral communities in Kenya. Melliferous tree species play a critical role by providing essential nectar sources for bees. However, limited knowledge of their precise spatial distributions constrains the full development of beekeeping. One-class classification (OCC) offers a practical solution for detecting single target species without requiring extensive labeled data from other classes. Although existing OCC methods perform well in trained domains, the generalization capability to unseen domains remains limited due to domain shift. To address these challenges, this study proposes a hyperspectral unsupervised domain adaptation OCC framework (HyUDA-One) for tree species mapping using airborne hyperspectral imagery and laser scanning data. The spatial-spectral regularized pseudo-positive learning was designed to mitigate domain shift and improve model generalizability. The effectiveness of HyUDA-One was demonstrated by mapping three key melliferous tree species in two savanna landscapes in southern Kenya. The results show that HyUDA-One significantly improves performance in unlabeled domains. The F1-scores of 0.788, 0.845, and 0.768 were achieved for Senegalia mellifera, Vachellia tortilis, and Commiphora africana in the trained domain, respectively. In the untrained domain, the F1-scores of Senegalia mellifera and Vachellia tortilis were 0.756 and 0.884, respectively. The distribution maps revealed the spatial patterns of these melliferous tree species and the nectar source availability, offering an important reference for sustainable beekeeping development in savanna landscapes. Furthermore, the proposed framework can potentially be extended to other mapping applications, such as invasive species detection.

Speech and audio generation is often needed in animation dubbing, audio drama, movies, advertising, games, podcasts, and short-video production. In these scenarios, creators may need to design voices without reference recordings, control speaker styles with natural language, support acoustic scenes with environments and audio effects, and later reuse the designed voices. Therefore, it is important to support multi-speaker speech and audio generation for both instruct and zero-shot tasks. The instruct task requires a caption of the environment, speaker styles, and fine-grained content, while the zero-shot task uses reference audio together with the same fine-grained content. We address these tasks from both the data and model sides. First, we propose SwanData-Caption, which cleans raw speech and audio data, adds targeted synthetic coverage, and annotates diverse and accurate multi-level captions. Then, we propose SwanTale, a multi-speaker expressive speech and audio generation model that supports both zero-shot and instruct tasks. We introduce SwanVAE to support high-quality multi-audio-modality generation. Then, we adopt reward-conditioned quality control and Engram conditioning, along with Unified MoE for multi-task and multi-audio-modality modeling. In addition, we use curriculum learning and GRPO post-training to let the model progressively learn and strengthen its capabilities. Experimental results show that SwanTale leads on multiple key zero-shot and instruct metrics, achieves the best expressiveness scores in both tasks, and supports complex instruct generation involving multi-speaker speech and audio. Demos can be found at https://swanaigc.github.io/#swantale.

Cervantes-Pérez et al. (arXiv:2601.12545) claim, on experimental grounds, that high-gain injection is practically inadmissible, taking the SM observer of Davila, Fridman & Poznyak as a prototypical example. We re-simulate their plant, trajectory and gains with explicit Euler integration at \Delta t = 1 ms and 0.1 ms, and implement both observers on independent hardware. We got three findings: i) the controller gains k_p=1600, k_v=1100 place the tracking-error poles at the "pathological" locations -1.455 and -1098.5 (\zeta = 13.7); the super-twisting scheme lands on the resulting nominal response and is invariant to its own observer gain over a fifty-fold range; ii) the I&I margin is monotone in k_v and reverses near k_v \approx 170, where the loop pole crosses the induced observer pole at -9.0 rad/s; iii) refining the sampling step tenfold moves every I&I figure by a factor of three, while the SM figures move by 0.2%. On hardware, a signum-based super-twisting observer tuned at the Levant-Moreno perturbation bound outperforms I&I on ISE, ITAE and ISC simultaneously, without audible chattering, on a $60 motor with a 0.043^\circ encoder at 500 Hz. The gains of Cervantes-Perez et al. exceed the same prescription by two orders of magnitude; the chattering the authors report is the designed consequence of that excess.

State-dependent switching diffusions can contract in law even when individual modes are expansive. We establish a computable, constant-one contraction certificate on $\mathbb{R}^n$ and compact convex domains with normal reflection. The mode-weighted transport cost combines spatial separation with a discrete graph penalty and retains spatial dependence when the modes differ. A synchronous Brownian coupling and a maximal coupling of jump clocks in equal modes lead to separate equal- and unequal-mode generator inequalities. We give a complete regularization argument for the nonsmooth cost, including the drift and jump errors, the sign of reflection, and the limiting Itô-Dynkin calculation. A resolvent proof transfers contraction to probability-valued weak solutions of the no-flux Fokker-Planck-Kolmogorov system, while an explicit Foster-Lyapunov condition ensures existence and uniqueness of an invariant law on the whole space. For fixed weight ordering and decay rate, certificate synthesis is a semi-infinite linear feasibility problem; on compact domains, a Lipschitz-buffered finite mesh provides a rigorous test. One-dimensional and planar examples illustrate the certificate and its numerical verification.

This work presents a human-centered collaborative framework that integrates Preference-Based Optimization (PBO) and Dynamic Movement Primitives (DMPs) to optimize robot-assisted tasks such as painting. The system allows the operator to perform the process while the robot adapts its behavior in real-time, dynamically adjusting the orientation of the piece in order to match the orientation of the operator's hand. The PBO framework leverages the GLISp algorithm to iteratively refine control parameters such as execution time, robot responsiveness, and rotation amplification through human feedback. Moreover, DMPs have been modified to enhance the reactive behavior of the robot and its adaptability to ergonomic requirements. The method was validated with a heterogeneous group of participants executing \rev{painting tasks}. The results show that our strategy effectively reduces operator effort while optimizing process outcomes.

Music restoration seeks to recover a clean signal from an observed recording degraded by an unknown effect, distortion, or corruption. Existing systems often rely on paired training data and distortion-specific supervision, which limits their use when the forward process is not known in advance. We propose LOUDAR (Latent-space Optimization of Unknown Distortion for Audio Restoration) a general-purpose restoration method that operates in the latent space of a pretrained audio autoencoder and models the unknown distortion as a learnable latent operator. At inference time, LOUDAR alternates between estimating the clean latent variable and updating the latent operator parameters. An unconditional latent diffusion model provides a prior over clean audio and regularizes this inference by steering the latent estimate toward the manifold of clean recordings. Because the degradation model is adapted per input, the approach is broadly applicable across diverse restoration problems. We evaluate LOUDAR on singing voice effect removal and restoration, as well as guitar distortion removal, and show that it consistently improves over degraded inputs and is competitive with supervised and unsupervised baselines in waveform and latent domains.

Passive overlay communication for batteryless devices is an important enabling capability for next-generation vehicle-to-everything (V2X) networks. However, enabling reliable passive payload delivery without occupying additional spectrum remains challenging, since overlay signaling must be embedded into short and time-varying vehicular packets while preserving the decodability of the legacy host transmission. This paper investigates a packetized batteryless V2X overlay architecture in which a dedicated short-range communications (DSRC)-based packet simultaneously carries conventional V2X data and a passive overlay payload. A compact PHY-layer model is developed to characterize the coupled effects of attenuation depth, embedded-bit rate, and legacy modulation and coding scheme (MCS) on host-link and passive-link reliability, as well as packet-level embedding feasibility. We then formulate a sum-throughput maximization problem that jointly accounts for the legacy packet error rate and passive decoding error rate. We further propose a multi-agent reinforcement learning (MARL)-based adaptive parameter-selection method. Simulation results show that the proposed MARL controller achieves stable convergence and improves the average throughput by 15%, demonstrating the effectiveness of throughput-driven PHY adaptation for batteryless V2X overlay communications.

Fast dynamic obstacle avoidance (DOA) on uncrewed aerial vehicles (UAVs) demands not only low-latency control and actuation but also reliable perception with sufficient sensing range for accurate obstacle detection and speed estimation. This letter presents, to the best of our knowledge, the first mmWave RADAR-based perception-and-control system for fast onboard DOA. We derive and analyze latency and spatial bounds that relate sensing range, relative speed, and control delay, yielding sufficient conditions for successful avoidance. Our system adopts a lightweight tracker based on interacting multiple models and a controller based on control-barrier functions that directly outputs evasive accelerations. It achieves position errors of less than 0.15 m, 0.93 m, and 0.87 m in x, y, and z directions for 300 experiments with three different object sizes and varying visibility (light and dark), and a similar spread for 90 experiments in smoke. An onboard implementation on a Raspberry Pi 4B demonstrates real-time feasibility with an end-to-end sensing-to-command latency of approximately 14 ms. Code and the full dataset of 390 throws are available (https://tinyurl.com/radardoagit).

This letter investigates an integrated sensing and communication (ISAC) system aided by movable subarrays (MSAs) using a hybrid near-far field channel model. The sensing target and communication users are assumed to lie in the near field of the overall MSA aperture but in the far-field region of each subarray. Accordingly, a hybrid near-far field channel model is established, and the equivalent Fisher information matrix and Cramér-Rao bound (CRB) for joint range, elevation, and azimuth estimation are derived. The transmit beamforming matrix and subarray positions are jointly optimized to minimize the trace CRB subject to minimum communication signal-to-interference-plus-noise ratio (SINR), maximum transmit power and subarray movement constraints. An alternating optimization algorithm is developed combining iterative rank-one-penalized semidefinite relaxation with projected finite-difference block descent and backtracking. Numerical results show that the hybrid-field model closely matches the spherical-wave model, while MSAs substantially reduce the CRB.

This brief presents a circuit-level conductive-textile interconnection technique for batteryless distributed wearable modules. Two conductive textile layers separated by an insulating fabric layer are used as a garment-wide shared bus that simultaneously conveys DC power and pulse-based data signals without point-to-point wiring. To minimize the circuit overhead of each module, universal asynchronous receiver/transmitter (UART) pulses are directly coupled onto the textile through AC-coupling capacitors without carrier modulation. The textile is modeled as a lumped resistance–capacitance network. The textile waveform is then modeled as the transient response of a second-order circuit. From this model, design conditions for comparator-based waveform recovery and high-bitrate transmission are analytically derived. The resulting design framework determines whether a given combination of data rate, textile capacitance, and resistance is feasible, and also provides the corresponding design range of the decoupling inductors. The required textile parameters are characterized, and robustness to parameter drift is analyzed. These results establish a basic methodology for textile-based simultaneous power and data transfer.

Due to the high complexity of geometry-deterministic wireless channel modeling and the difficulty in its implementation, geometry-based stochastic channel modeling (GBSM) approaches have been used to evaluate system performance of wireless communications. This paper introduces a new method to model a GBSM by training a generative neural network using images formed by channel parameters. Toward this end, we process the data of channel parameters in the form of images and train the generative neural networks where the convolutional layers are mainly employed to capture correlation among multipath components. Through a case study, we demonstrate that the use of channel images facilitates the training of the generative model and ensures that the model learns the correlations among multipath components. We show that the outputs of the generative model faithfully represent the joint distributions of the original data, and that the trained model reliably interpolates across held-out conditions not used during training, demonstrating its practical value as a data-efficient alternative to directly resampling the ray-tracing database. Furthermore, to corroborate applicability of the trained model, we run simple system-level simulations and show the results obtained from the trained model closely match those from the ray-tracing data. Therefore, the proposed model is expected to ease the burden of GBSM implementations with general wireless conditions and capture the statistical joint distributions of the original channel data.

To improve the operational readiness of combat aircraft engines and reduce unplanned maintenance costs, accurately estimating the remaining useful life (RUL) is critical. Traditional maintenance often proves insufficient under dynamic mission profiles. In this study, a deep learning-based predictive maintenance model capable of autonomously extracting features from multivariate sensor data was developed. Using the NASA C-MAPSS FD001 and FD004 datasets, data were converted into sequential blocks via 50- and 30-step sliding windows, respectively. The model's architectural superiority in autonomously extracting temporal degradation features was validated against RF, CNN-LSTM, and BiLSTM baselines. On FD001, it achieved an R-squared (R2) of 0.8901, a 13.28 RMSE, and a 320.34 NASA risk score, demonstrating generalizability on the multi-regime FD004 dataset with a 15.71 RMSE. The proposed maintenance protocol achieved a 0.9973 AUC at the critical 30-cycle threshold, ensuring high reliability. Additionally, a decision-support simulator has been developed to validate this protocol under aggressive combat flight profiles.

Reconfigurable intelligent surface (RIS) has demon- strated remarkable potential to enhance the performance of integrated sensing and communication (ISAC), particularly when the line-of-sight (LoS) paths are obstructed. By controlling the reconfigurable elements on the surface, RIS can establish virtual LoS paths and provide considerable passive beamforming gains, thereby significantly improving the received signal quality. In this paper, we design a novel multi-hop RIS ISAC system for target positioning, where multiple RISs are deployed to assist the communication from a transmitter to associated users while simultaneously enhancing receiver sensing performance in target positioning. Specifically, we formulate an optimization problem to minimize the root mean square error (RMSE) of the target detection while guaranteeing the communication requirements of the users. To solve this problem, we first unfold the cascaded sens- ing channel through parallel factor decomposition, and develop a low-rank CANDECOMP/PARAFAC decomposition (CPD)-based scheme to extract the location parameters (i.e., angle of arrival, angle of departure and delay) of the sensing targets. Then, we develop a scheme for jointly selecting the transmit beamforming and RIS phase shift configurations to maximize the sensing energy at the receiver, which in turn leads to improved accuracy in target positioning. We also provide a uniqueness analysis, complexity analysis, and Cramér-Rao lower bound (CRLB) of the parameters estimated by our methodology. Simulation results validate the improvement in target positioning obtained by our design relative to baselines.

Multi-link aerial robots can actively deform their articulated structures during flight, giving them strong potential for aerial manipulation. However, they still face substantial challenges in contact-rich aerial manipulation tasks such as surface sliding, which requires both disturbance robustness and compliance to uncertain surface geometry. Force-control strategies such as impedance and admittance control are commonly employed to address these requirements. Although impedance control can provide disturbance-resistant interaction and admittance control can offer compliant adaptation, their opposite force–motion causalities prevent their simultaneous implementation when applied through the same actuation source, such as the rotor thrusts used by conventional aerial robots. To overcome this limitation, we propose a hybrid impedance–admittance control strategy for a multi-link aerial robot. The articulated morphology enables a functional separation of force and motion regulation across joint and rotor actuation sources. In this framework, admittance behavior is generated through joint angle regulation to enhance adaptive interaction, while impedance behavior is achieved by modulating rotor thrust to regulate the sliding motion. This structural coordination allows the robot to leverage the complementary strengths of both control paradigms. As a result, the multi-link aerial robot achieves resilient and adaptive surface sliding. Experimental results demonstrate robust and compliant sliding performance on unknown surfaces.

The 3.5 GHz Citizens Broadband Radio Service (CBRS) is a shared wireless band that allows both government systems and commercial networks (such as private LTE/5G) to use the same spectrum. To prevent interference with critical government systems, especially naval radars, CBRS uses a monitoring system called the Environmental Sensing Capability (ESC). ESC acts like a network of sensors that continuously listens for radar signals and alerts the system when they are detected, so commercial users can temporarily stop or adjust their transmissions. This paper reviews how radar signals are detected within the CBRS band. We first explain the regulatory framework and describe the types of radar signals that need to be identified. We then examine traditional detection methods, such as energy-based and pattern-matching techniques, and compare them with newer approaches based on machine learning and deep learning, which can automatically learn to recognize radar signals from data. We also review publicly available datasets and testing platforms used to evaluate these detection methods, along with key performance requirements such as high detection accuracy (e.g., 99% detection probability (radar overlap recall)) and low delay (e.g., within 60 seconds). Finally, we highlight current challenges, including false alarms, interference from modern wireless systems, and the need for real-time operation. Overall, this survey shows that while traditional methods are simple and reliable in controlled settings, modern learning-based approaches offer better performance in complex environments. The future of CBRS radar detection will likely combine both approaches to achieve accurate, fast, and robust performance in real-world deployments.

Physical-layer security based on pseudo-noise (PN) superposition is a promising approach for mitigating eavesdropping in future wireless systems. However, under Shannon's capacity formulation with Gaussian signaling, achieving secrecy typically requires allocating substantial transmit power to PN, resulting in a significant reduction in achievable information rate and limiting practical applicability. This limitation is alleviated when finite-alphabet modulation schemes, such as M-ary Quadrature Amplitude Modulation ($M$-QAM), are employed, as expected in practical 6G transceivers. In this work, we analyze the information rate performance of PN-assisted systems under $M$-QAM signaling using mutual information and derive the corresponding achievable secrecy rate. The impact of PN power allocation on both the legitimate user and the eavesdropper is investigated across different modulation orders and channel conditions. Monte Carlo simulations are conducted to evaluate system behavior under varying user and eavesdropper channel conditions and to examine how PN power allocation influences secrecy performance. The results show that, at sufficiently high signal-to-noise ratio (SNR), the information rate becomes largely insensitive to PN power allocation, enabling near-perfect secrecy with $M$-QAM modulation-highlighting a key departure from Shannon-capacity-based secrecy analyses and underscoring the practicality of finite-alphabet security mechanisms for 6G wireless systems.

Joint frequency and chirp-rate estimation for a noisy chirp signal arises in radar, sonar, and burst satellite communications. Conventional estimators combine a coarse grid search with fine interpolation; accuracy degrades at the edges of the residual cell (the edge effect) and below the breakdown SNR (the threshold effect). We present a deterministic two-stage estimator that controls both failure modes uniformly over the residual cell. The estimator combines a time-centered, zero-padded dechirp-FFT acquisition bank with alternating selectable-$p$ amplitude-interpolation refinements on DTFT samples at fractional bins; in the centered frame, the frequency-chirp-rate cross-term of the Fisher information vanishes. The paper derives a mean-squared-error and threshold characterization over the full SNR range, in closed form except for one calibrated scalar (an effective cell count), to our knowledge the first for the joint problem: the breakdown threshold is governed by the cell count, and its cell-position dependence is dominated by the scalloping loss of the coarse FFT, which the padding bounds at 0.4 dB. An asymptotic uniformity analysis over the cell, including its corners, gives fixed-point variance ratios of $1.003$ and $0.998$, analytically free of the residual. A closed-form bias analysis under a cubic phase mismatch shows the centered chirp-rate estimate is insensitive to first order. Monte Carlo experiments at $N=256$ (validated at $N=32$-$512$) measure frequency- and chirp-rate-axis efficiencies with median $1.03$ and worst case $1.07$ over $144$ cell positions at $-5$ dB. Threshold predictions hold within $1.0$ dB on four configurations not used in the calibration. The dechirp-FFT bank is fully parallel, and each of the four refinement iterations evaluates three DTFT samples per axis; under fixed operating conditions, per-estimate latency is constant at $O(N\log N)$ cost.

Over the past decade, deep learning has evolved from a tool for replacing isolated wireless blocks into a broader methodology for developing wireless intelligence. This article traces that trajectory through three shifts: learning wireless functional modules, redesigning and re-normalizing communication goals, and enabling generalization under practical physical constraints. Together, these shifts advance the broader pursuit of communication anytime and anywhere, through any appropriate means. Early studies showed that neural networks could approximate difficult physical-layer inference and network-optimization mappings, while subsequent research embedded domain-specific structure, shifted toward task-oriented semantics, and addressed the need for edge-efficient adaptation. Looking ahead, we argue that the next era of wireless artificial intelligence (AI) depends on more than scaling model capacity. Promising directions include physically grounded wireless world models, agentic reasoning and fulfillment, and standardization mechanisms that allow learned components to operate with clear boundaries, physical consistency, and system-level interoperability.