Papers

We propose a hue-split model-tree method for boundary-continuous cross-camera RGB mapping. Cross-camera RGB mapping aims to produce consistent color representations across cameras whose recorded RGB values differ due to sensor spectral sensitivities and image-signal processing pipelines. A common chart-based remedy is to estimate a single global affine color correction matrix (CCM), but such a global model cannot capture hue-specific discrepancies between cameras. To capture that behavior, we recursively partitions the source-camera color space along a scalar hue coordinate and builds an model tree that stores an affine CCM at every node. For fitting the node CCMs, we utilize a log-domain error objective. To prevent false contours that arise from hard hue splits, we further introduce a boundary-continuous formulation in which the prediction is obtained by blending the log-domain outputs of all node CCMs along the root-to-leaf path. The path-wise blending weights are optimized under a simplex constraint using both a chart-pair fitting loss and an explicit continuity regularizer defined on deterministic boundary prototype pairs placed just on either side of each learned hue threshold. We conducted an experiment on a Canon EOS-1Ds Mark II to Canon EOS 20D mapping using the Middlebury Registered Color Checker dataset. The results show that hue splitting substantially reduces log-RMSE over a single global affine CCM and that the proposed path blending with boundary prototype regularization simultaneously improves accuracy and suppresses chromaticity gaps at the learned hue thresholds across two illuminants and multiple exposure conditions.

The convergence of artificial intelligence (AI), Industrial Internet of Things, cyber-physical systems, and advanced robotics is reshaping manufacturing faster than engineering curricula can adapt, widening the gap between the competencies required on the shop floor and those delivered by traditional engineering and technology education. This paper proposes a Workforce Readiness Level (WRL) framework, which adapts the Technology Readiness Level scale into nine progressive competency stages and a four-pillar rubric, digital and AI literacy, cyber-physical systems fluency, human-machine collaboration, and data-driven decision making, aggregated through a composite stage score and a cohort-level workforce-readiness index under a “no-thin-pillar” rule. The framework is instantiated at a university smart-manufacturing teaching laboratory and draws on 89 sponsored capstone projects delivered over four semesters, four of which are analyzed in depth. Four pillars jointly span the relevant ABET student outcomes. Across the highlighted cohorts the workforce-readiness index ranged from 5.2 to 6.4, and the no-thin-pillar rule was diagnostically informative in three of the four cases and the binding certification constraint in one, repeatedly surfacing cyber-physical and data-driven-decision gaps concealed behind strong analytics profiles; advancement to the highest stages was gated by industry-embedded experience rather than additional coursework. WRL offers educators, accreditation bodies, and regional workforce systems a common, evidence-based instrument for diagnosing and advancing workforce readiness; future work will calibrate pillar weights and test reliability and predictive validity.

Generative semantic segmentation exposes structured predictions as images, but direct color decoding is susceptible to color drift and boundary mixing, whereas latent-feature decoders that predict a separate output distribution may relegate the rendered image to an intermediate visualization. We present Semantic Prism, a conditional semantic-image generation-and-refinement framework with deterministic inference. A diffusion-distilled one-step generator renders a semantic RGB image; per-pixel distances from the rendered colors to a fixed class-color codebook define an explicit probabilistic interface. Hierarchical Generator Evidence Alignment spatially aligns multi-level generator features and uses a zero-initialized output projection to predict an additive residual in the interface logit space, retaining the image-defined interface as the reference for the final distribution. The interface and refined distributions further enable Contextual Interface–Hierarchy Disagreement (C-IHD), a fixed readout for ranking remaining pixel errors without an auxiliary predictor or additional forward pass. On the 500-image Cityscapes validation set, Semantic Prism achieves 72.07% mean intersection over union, 11.39 mIoU points above direct-interface decoding, with 0.41% expected calibration error. Matched-capacity ablations over three seeds support the benefit of jointly aligned multi-level evidence. A separately trained model attains 62.22% mIoU on BDD100K, while the Cityscapes-trained model reaches 46.89% mIoU under source-frozen transfer to the Adverse Conditions Dataset with Correspondences, without target-domain adaptation. Across all three datasets, C-IHD consistently improves the area under the precision–recall curve for pixel-error ranking over maximum softmax probability on the same segmentation predictions; on ACDC, it raises AUPR from 0.6580 to 0.7557.

Zero-shot text-to-speech (TTS) can clone a voice from seconds of audio. Yet the quality comes from billion-parameter diffusion transformers whose size and multi-step sampling put them out of reach of the on-device, assistive, and real-time applications that need them most. Post-training quantization (PTQ) shrinks such models without retraining, but it has been built for language and vision, not speech. At 4 bits, a strong quantizer leaves intelligibility close to full precision but consistently erodes speaker timbre, so error rates stay low while the voice drifts from the target speaker. We ask why quantization hurts speech, where the damage lives, and whether it can be repaired without retraining. To find out, we run the first 4-bit weight-and-activation (W4A4) PTQ study of a TTS diffusion transformer at 1B and 3.5B. The timbre cost comes from both the weight and the activation quantization, but only the activation part has the timestep structure a precision schedule can exploit. We therefore introduce TTS-Q, which selects hard-to-quantize items from task-matched calibration candidates and applies a budget-balanced mixed-precision schedule that assigns higher precision to late-step feed-forward activations. TTS-Q recovers timbre best at both scales, at no cost to intelligibility. Separately, the deployed calibrated-W4A4 reference reduces peak memory on GPU, providing a practical reference for resource-constrained TTS deployment.

Ordered-statistics decoding (OSD) post-processing substantially improves the performance of belief propagation (BP) ensembles, but it also removes their natural syndrome-based stopping criterion. The high computational complexity of ensemble decoding and OSD can be reduced by sequential activation of ensemble members paired with an early termination. Instead of a syndrome-based termination we therefore apply dynamic ensemble termination (DET) to sequential ensembles: members are evaluated one at a time and decoding stops when the estimated risk that an unseen member would correct the current decision falls below an offline-fitted threshold. With hardware-oriented design in mind, we instantiate the framework with layered normalized min-sum component decoders, a row-boosted ensemble, conditional low-order OSD on the dual code, and a conventional low-cost decoder gate. A decision tree estimates the residual risk from statistics of the current candidate list. Member-dependent thresholds then target a prescribed frame error rate (FER) loss. We validate this framework on mutliple IEEE 802.11 low-density parity-check (LDPC) codes with blocklengths \(648,1296\), and \(1944\) at rates \(1/2\) and \(5/6\). At each code's design point, where the full \(64\)-member list reaches an FER of \(10^{-3}\), the DET decoder processes \(1.04\) to \(1.15\) members on average. On the \((648,540)\) code, it reduces BP work by \(39\times\) and OSD activations by \(18\times\) against the full list while retaining an signal-to-noise ratio (SNR) gain of about \(0.4\,\mathrm{dB}\).

We present a methodology that places a 3D digital twin (DT) of the environment as the main enabler behind the development of radio sensing at scale. The DT acts as a world model, providing geometry, materials, and transmitter/receiver placements to a ray-tracing engine that generates time-indexed channel impulse responses (CIRs) for large numbers of plausible scenes (moving people and objects, layout variants, seasonal/weather conditions, etc). From these synthetic sequences, we train a sequential neural network that maps CIR time series to spatial occupancy estimates, enabling device-free localization (DFL) without instrumented targets. We posit that sensing is best approached as an environment-conditioned learning problem: rather than seeking a single global model, we advocate training or fine-tuning local models specialized to a site-specific DT. As a first experiment, we introduce a novel State Space Model architecture, trained and evaluated across multiple room geometries. The localization performances obtained demonstrate the potential of the approach.

This demo presents real-time AI-based uplink channel-estimation inference using data collected from a hardware-in-the-loop 5G platform. The data-collection setup integrates commercial RF signal generation, programmable channel emulation, an O-RAN Radio Unit, DU emulation, and a lightweight phase-aware convolutional neural network (CNN) that estimates the channel response directly from received DMRS signals. Unlike simulation-only evaluations, the hardware-derived dataset exposes the estimator to practical RF and system-level impairments, including calibration mismatches, synchronization imperfections, quantization effects, phase noise, and implementation-specific nonlinearities. During the demo, attendees will observe real-time CNN inference and channel reconstruction using captured hardware-generated DMRS observations and compare the proposed CNN against Least Squares (LS) and frequency-domain LMMSE baselines. The objective is to showcase a practical AI-native physical-layer inference pipeline that combines hardware-derived 5G data with real-time neural channel estimation for future 5G-Advanced and 6G systems.

Low-dose positron emission tomography (LD-PET) reduces radiation exposure but leads to poor image quality and hinders diagnostic confidence. Existing supervised LD to standard-dose (SD) PET recovery methods often fail to generalise across dose variations, while dose-agnostic supervised methods require paired LD-SD data. Current self-supervised methods, although more flexible, typically produce inferior results, including loss of anatomical details and oversmoothing pathological features. These pose major limitations for practical applications. To overcome these limitations, we propose SinoDiff, a novel self-supervised, physics-consistent diffusion framework for the recovery of PET sinograms across multiple predefined dose levels. Unlike the noise simulation in traditional diffusion methods, SinoDiff integrates the PET acquisition model into the forward diffusion process via Poisson thinning, enabling physically consistent sampling/modelling of dose-dependent count statistics. During the reverse diffusion process, SinoDiff estimates the incremental change in PET signals from predefined dose levels. Therefore, SinoDiff is a single, unified model that requires no retraining across multiple dose levels. To consider the characteristics of PET sinogram, we incorporate a frequency-domain convolution to capture long-range dependencies across projection angles and detector bins. Experiments on [18F]-FDG and [18F]-FDOPA datasets demonstrate that SinoDiff achieves competitive performance against supervised and self-supervised baselines across multiple dose levels.

This paper investigates the rejection of matched disturbances generated by coupled port-Hamiltonian (PH) dynamics in previously stabilized PH systems. The disturbance dynamics are incorporated into a unified PH representation, allowing the disturbance to affect the plant through both the matched input channel and an interconnection structure. Unlike existing results that typically impose restrictive structures on the disturbance dynamics, the proposed framework accommodates a more general class of coupled PH disturbances, including nonzero interconnection and damping terms. A baseline disturbance rejection scheme is first established for known disturbance storage parameters. The framework is then extended to the case of an unknown symmetric storage matrix through online parameter estimation. Two control designs are developed under different structural conditions, with the latter relaxing the dimensional restriction imposed by the first design. The proposed methods guarantee asymptotic convergence of the plant state to the desired equilibrium, while preserving a port-Hamiltonian representation of the closed-loop dynamics under the corresponding conditions. The results generalize existing disturbance rejection approaches and broaden their applicability to coupled PH disturbance models.

Hamilton-Jacobi (HJ) reachability provides a mathematically rigorous framework for safe control of dynamical systems, but its practical application is bottlenecked by the computational complexity of solving Hamilton-Jacobi-Isaacs variational inequality PDEs in high dimensions. Physics-informed neural networks (PINNs) have recently emerged as a promising alternative to classical mesh-based solvers, yet their performance is highly sensitive to the choice of collocation sampling. In order to learn accurate safety value functions, existing PINNs-based HJ reachability solvers must rely on complex training pipelines and auxiliary supervision. In this work, we propose STEER2REACH (S2R), a PINNs-based HJ reachability solver that requires minimal modification on top of standard PINNs training. S2R's key contribution is a lightweight, low-overhead adaptive collocation sampling distribution constructed by steering forward trajectories using a combination of the optimal control and disturbance signals induced by the current value function, with injected stochastic exploration noise. We demonstrate that despite its simplicity, S2R achieves competitive–and in some cases improved–performance on safety metrics while reducing relative L2 error across a range of reachability benchmarks compared with SoTA MPC-guided HJ reachability solvers, all without requiring multi-stage training or MPC-based supervision.

Beyond-diagonal reconfigurable intelligent surfaces (BD-RIS) achieve their best performance when fully connected, at the price of an optimization and hardware burden that grows quadratically, and per iteration cubically, with the number of elements. Extremely large surfaces make this burden prohibitive, while their sheer aperture places both the base station and the users in the radiative near field, where far-field design tools break down. This paper introduces the extremely large BD-RIS (XL-BD-RIS) concept and shows that near-field geometry is precisely what makes fully connected performance affordable at scale. Modeling the cascade with the free-space Green function, we prove that the aperture fields live in a low-dimensional subspace spanned by the spherical-wave responses of the terminal positions, and we design a compact unitary modal matrix on this subspace, built from localization information alone, that provably attains the fully connected optimum with a number of reconfigurable entries set by the geometry and independent of the panel size. A weighted-MMSE Riemannian algorithm optimizes the beamformers and the modal matrix with monotone convergence at panel-size-independent cost. Numerical results show that a $24\times24$-element panel reaches the fully connected optimum with about two hundred entries instead of three hundred thousand. A mismatched DFT beamspace pays a sixty-fold entry penalty rooted in the beam spread of spherical wavefronts, while the classical block-wise architecture delivers strictly lower rates at any matched entry budget.

Modern end-to-end driving agents can achieve high average performance yet still violate basic traffic rules that a human driver would never miss. The reason is structural: they learn statistical patterns rather than the physical conditions that guarantee safe driving, leaving their decision-making process opaque and safety constraints unenforced. We introduce a neuro-symbolic safety guard, a lightweight module that attaches to the final command interface of an already-trained agent. Immediately before a command reaches the vehicle, it checks the command against explicit safety rules and, only when necessary, replaces it with the nearest safe alternative. Each intervention is directly executable and traceable to the rule that triggered it, while the guard itself requires no retraining and adds no learned component. Evaluated on the long-tail benchmarks Fail2Drive and Bench2Drive using the state-of-the-art TransFuser v6 (TFv6) as a case study, the guard improves Success Rate by 15% and reduces safety-critical collisions by up to 53%, while preserving the original Driving Score.

This paper presents a comparative study of two distinct approaches, XGBoost and Long-Short Term Memory (LSTM), for forecasting transmitted heat energy in District Heating Systems (DHS). The objective is to explore scenarios in which conventional ML algorithms demonstrate better performance over deep learning networks in time series forecasting and the associated benefits in terms of computational cost and environmental impact. The study focuses on a real-world DHS dataset. Through experimentation and analysis, it is demonstrated that XGBoost consistently outperforms LSTM in this specific forecasting task. The difference is explained by the error distribution illustrating that LSTM makes more significant errors in the intervals of less data availability. The reduced computational demands of conventional ML approaches not only result in cost savings but also minimize the carbon footprint associated with data analysis tasks in energy systems.

Human movement is inherently variable, with variability structured according to task relevance: movements are typically more consistent at task-critical points and more flexible elsewhere. In human-robot interaction (HRI), however, model-based assistance strategies commonly assume deterministic human behavior and suppress such variability, potentially altering how interactions are experienced and lowering sense of agency. While movement variability is increasingly recognized as functionally meaningful, its deliberate preservation in assisted interaction, and its consequences for user experience, remain underexplored. In this paper, we empirically investigate how different assistance strategies shape human movement variability, task performance, and subjective interaction experience in a shared control setting. We introduce an autonomy-supportive shared control strategy that preserves users' natural movement structure. This approach is evaluated in a user study in which participants push an intelligent powered wheelchair under three conditions: no assistance, conventional variability-reducing assistance, and variability-preserving assistance. While task-relevant performance remained comparable across assisted modes, preserving natural movement variability led to more favorable interaction experiences. In particular, participants reported significantly higher perceived agency compared to conventional assistance and highest perceived usefulness. These findings suggest that variability-aware assistance can support both performance and user autonomy in physical human-robot collaboration. More broadly, the results highlight the importance of designing assistive robotic systems that respect the embodied structure of human movement rather than treating variability as noise to be neglected or eliminated.

Human-machine interaction (HMI) requires control strategies that account for the nature of human motor behavior. Conventional shared-control and haptic-assistance methods typically ignore the stochastic nature of human behavior, potentially limiting both performance and human interaction experience. In this study, we designed an experimental setting and evaluated a novel human-variability-aware optimal controller. Participants performed a physically coupled haptic interaction task in three conditions: a controller mode that aims at conventionally reducing overall variability, a variability-aware controller mode designed to maintain human natural variability patterns, and a human-only control condition serving as a baseline. We analyzed behavioral variability, task performance, and human interaction experience. The results show that considering natural movement variability significantly increased perceived interaction quality in terms of usability while maintaining task performance. These findings highlight the importance of incorporating stochastic human movement characteristics into shared-control designs and demonstrate the feasibility and benefits of the proposed control strategy for human-centered control design of HMI.

In this paper, we test different methods for multivariate detection of outliers in the data of transmitted heat energy in the selected substation of local District Heating System, by also considering outside ambient temperature, namely Z-score (univariate, as a benchmark), Mahalanobis distances, Principal Component Analysis (PCA), Isolation Forest and Hotelling's T-squared test. The overall research aims at uncovering irregular plant operation, with a wider objective of identifying the opportunities for reducing the consumption of gas in central heating plants as well as the CO2 emission. The proposed approach considers specific domain circumstances, such as irrelevance of zero transmit-ted energy timepoints as indication of off-grid plant. The outcomes of the different methods are discussed with domain experts. It was concluded that PCA, Isolation Forest and Hotelling method provide relevant results. Finally, we adopt the ensemble method (selection based on the agreement of all three methods on the detected outliers) as the final approach.

The time-optimal solution for a double integrator is a foundational result: its time-displacement law $T_r = 2\sqrt{L}$ for a normalized step $L$ is structure that numerical methods cannot provide. We solve the time-optimal control for rest-to-rest maneuvers of a double integrator coupled to a harmonic oscillator, deriving the first analytical solution and closed-form time-displacement law. Synthesis reduces to a single scalar inversion. This is the model to which the two-mass-spring system, the one-bending-mode flexible structure, and the linearized overhead crane reduce. A Pythagorean identity $T^2 = T_r^2 + 2T_s^2$ decomposes the optimal maneuver time into the rigid-body minimum and a synchronization time $T_s \leq \pi$, the cost of flexibility, giving the sharp envelope $2\sqrt{L} \leq T \leq 2\sqrt{L + \pi^2/2}$. The penalty is scale-dependent. For small maneuvers $T \propto L^{1/4}$: one oscillator mode costs as much as two additional integrators. For large ones, flexibility is asymptotically free. It vanishes at the natural motions, where the oscillator completes whole cycles. A closed-form sensitivity formula proves the maneuver time non-monotone in stiffness. Adding flexibility to a rigid body never shortens a maneuver, yet softening an already flexible structure can: stiffer is not always faster. The natural motions are robust design targets since first-order sensitivity to stiffness vanishes there.

Clinical text can narrow down what to segment, but recent text-guided designs emphasize spatial alignment while overlooking frequency content that governs texture and boundaries. We propose Dual-Domain Cross-Modal Decoding (DD-CMD) for clinical text-guided pulmonary infection segmentation, integrating two complementary forms of language guidance during decoding. In the spatial domain, Text-Guided Spatial Cross-Attention (TGSA) aligns multi-scale visual tokens with text semantics and updates features through gated residual fusion. In the frequency domain, Spectral-Text Adaptive Modulation (STAM) applies a 2D DCT to compute learnable band-energy statistics and predicts text-conditioned FiLM parameters to recalibrate decoder channels for frequency-aware decoding. DD-CMD embeds TGSA and STAM into a coarse-to-fine decoder (7x7 to 56x56) and restores full-resolution masks using a lightweight two-stage refinement module. Experiments on QaTa-COV19 and MosMedData+ show that DD-CMD achieves 91.46% Dice / 84.26% mIoU and 81.95% Dice / 69.42% mIoU, respectively, with average gains of +1.96 Dice and +2.67 mIoU over the strongest prior baselines. Code: https://github.com/maklachur/DD-CMD.

Assessing catheter and tube placement on chest X-rays is safety-critical yet tedious and error-prone. Current deep learning methods either classify placement globally – losing track of which device is where – or segment all devices into a single mask, making per-device assessment impossible when catheters overlap. We introduce UCompCXR, a compositional framework that detects local catheter fragments, associates them into device instances via graph-based clustering, fuses per-fragment tip predictions through precision-weighted Gaussian estimation, and classifies placement per device. On the RANZCR CLiP dataset (30,083 images, 5-fold patient-level CV with bootstrap CIs), UCompCXR detects 26% more devices than a strong multi-task baseline sharing the same MobileNetV3 backbone, with 75% fewer false positives and well-calibrated tip uncertainty (95% coverage = 0.948). The aggregate tip error rises – but only because the model finds devices the baseline misses entirely, especially nasogastric tubes. On matched devices, catastrophic localization failures drop substantially. At 2.27M parameters in a single forward pass, the model is deployable on resource-constrained clinical hardware.

Cyberattack detection in electric vehicle charging infrastructure is complicated by legitimate post-activation revisions to requested energy and departure time. Charging manipulation attacks can exploit the same interface and variables; therefore, detecting a request change alone does not establish malicious intent. This paper develops a leakage-controlled session-level benchmark that preserves the ordered inputs of real Adaptive Charging Network (ACN) sessions and models legitimate revisions as normal behavior. A fixed pool keeps each generated attack in its source session's split and contains six physically motivated attacks and their coordinated variants. We compare 22 profile-only, transition-aware, and context-stratified model families under common source-grouped folds, attack data, and operating constraints. The proposed Dual-Branch Masked-Autoencoder (Masked-AE) Transition Boost model evaluates whether the current request is normal and whether its producing transition resembles an observed benign update. Its state branch combines masked reconstruction with a radial-basis-function one-class support boundary, while its transition branch combines masked reconstruction with shrinkage covariance distance. Source-grouped five-fold cross-validation selects complete configurations under explicit overall-normal and benign-update acceptance constraints; disjoint normal data then calibrate the final threshold before one test evaluation. The developed dual-branch model provides the strongest robust validation performance while detecting malicious request manipulations without learning to reject legitimate user choices.

Quantifying myocardial perfusion from cardiac magnetic resonance (CMR) can be achieved by fitting tracer-kinetic models to the dynamic contrast-enhanced MR data. However, fitting the observed data with multi-compartment exchange models, which describe the evolution of the contrast agent in the tissue, to estimate perfusion parameters is a challenging inverse problem that is sensitive to noise and acquisition variability. Previously, physics-informed neural networks (PINNs) have been proposed as an alternative to conventional non-linear least squares fitting methods with promising results for quantitative perfusion CMR. In this work, we extend the previously proposed PINN framework with spatiotemporal implicit neural representations (INRs) to represent the MR signal as a continuous spatiotemporal function and to improve the accuracy, smoothness, and physical consistency of the PINN model. In realistic simulated CMR datasets, our proposed PINN with INRs demonstrates improved robustness and parameter estimation accuracy over the previously established methods. The code is available at https://github.com/q-cardIA/pinn-inr.

Skin cancer diagnosis from dermoscopic images remains challenging due to high intra-class variability, inter-class similarity, class imbalance, and the limited interpretability of deep learning models. This paper proposes an uncertainty-aware and explainable deep learning framework for multi-class skin lesion classification. The framework combines a vision transformer model (MaxViT-Tiny) with CNN-based models (ConvNeXt-Tiny and EfficientNetV2-B0) through deep ensemble learning. Monte Carlo (MC) Dropout estimates predictive uncertainty and identifies unreliable predictions, while Grad-CAM++, an explainable AI (XAI) technique, provides visual explanations by highlighting lesion regions that influence model decisions. Evaluated on the HAM10000 dataset, the framework achieves 96% accuracy and 99% ROC-AUC under uncertainty-aware filtering (entropy < 1.0, confidence >= 0.7), with macro-average precision, recall, and F1-score of 94%, 95%, and 95%, respectively, and 96% weighted-average scores across all three metrics. The results demonstrate accurate, interpretable, and uncertainty-aware skin lesion classification for trustworthy computer-aided diagnosis.

Plenoptic point clouds (PPC) are novel data structures that represent the light from different viewing directions in order to provide a higher degree of realism to regular point clouds. This is achieved by associating each point to multiple colors instead of a single one. Here, we present a method to efficiently compress the attributes of a PPC, consisting of a Karhunen-Loève transform over the color attributes followed by multiple attribute coders with intra prediction capability. This compression scheme can be incorporated within the MPEG's geometry-based PCC (G-PCC) standard, using any of G-PCC's existing solutions for attribute coding. Compression performance assessment using PPCs of different spatial resolutions reveals competitive results in comparison to existing methods, such as RAHT-based or video-based PCC solutions. We believe our coder to be the new state of the art.

Next-generation Synthetic Aperture Radar (SAR) missions will generate data far faster than they can downlink, making onboard data reduction essential for near-real-time Earth observation. Learned Image Compression (LIC) offers better rate-distortion performance than handcrafted codecs used operationally today, and recent work shows that simultaneously despeckling and compressing SAR imagery enables better representation capacity while unlocking higher compression rates. These methods, however, have yet to be confronted with the strict power, compute, and operational constraints of spaceborne systems. In this work, we bridge this gap by deploying a joint SAR Despeckling and Data Compression (DDC) framework on an embedded ZCU102 FPGA-based platform, introducing model adaptations that respect the accelerator's fixed-point arithmetic and limited set of supported operations. We evaluate four model topologies across precision levels and across CPU, GPU, and FPGA platforms, revealing several findings with direct design implications. We find that replacing conventional GDN activation functions with plain ReLU improves quality on SAR, suggesting that design principles established for compression of natural images do not necessarily transfer to SAR imagery. In addition, we demonstrate that residual blocks offer little representational benefit for ten times the compute, and show that the FPGA is the most energy-efficient of the platforms tested. Together, these results set a functioning edge deployment workflow and an evidence-based starting point for onboard SAR compression. The code is available at https://github.com/CedricLeon/SAR_DDC_FPGA.

For autonomous space exploration, robotic agents need to perform motion planning in which environmental interactions may be unknown. Learning these interactions, such as terrain mechanics for wheeled robots, can introduce uncertainties that lead to risky motion plans and potentially hazardous operations or mission failures. Moreover, uncertainties induced by perception-based systems can exacerbate the problem of safe motion planning. In this letter, we address the problem of performing cost-optimal kinodynamic motion planning with risk awareness. We approach this in two steps. First, a sampling-based planner (AO-RRT) generates a dynamically feasible, risk-aware, and asymptotically cost-optimal trajectory. Second, we formulate motion planning as a nonlinear optimization problem and solve it using sequential convex programming (SCP), using the AO-RRT trajectory as an initial solution. By quantifying risk using conditional value-at-risk (CVaR), we demonstrate a reduction in risk by over $\sim$97% across trajectories in simulation and hardware experiments.

Voltage certificates for droop-controlled radial distribution networks are often constructed from worst-case quantities. In heterogeneous radial networks, this approach can hide where voltage deviations are most likely. Furthermore, such certificates become increasingly conservative as the network sensitivities accumulate. Leveraging the structure of the linearized DistFlow model and slope-restricted droop controllers, we derive tighter deterministic voltage certificates that retain heterogeneous network, disturbance and inverter characteristics of each bus. The certificates reveal the buses and local limitations that dominate certified voltage performance. Worst-case bounds are recovered as a special case. Although tighter, the heterogeneous certificates can still deteriorate downstream due to the network structure. To address this, we leverage our certificates as design variables for coordinated voltage control. Specifically, we develop a virtual droop architecture with coordination and affine feedforward compensation to reshape the effective voltage sensitivity, and formulate a linear program that jointly synthesizes the controller and minimizes its heterogeneous voltage certificates under operational, communication and inverter placement constraints. The resulting controller guarantees the voltage and inverter bounds for all admissible disturbances. Evaluation on two network benchmarks, a five-customer residential feeder and a 26-customer rural network comprising four feeders, demonstrates improved certificates and voltage behaviour under inverter limits.

We present MAJEPPA, a self-supervised framework to learn piano performance representations that span the full skill spectrum, from beginner practice sessions to virtuoso concert recordings. We curate the MAJEPPA dataset, comprising ~4,000 annotated recordings across six expertise levels and six recording contexts. We adapt a single pre-trained MIDI autoregressive model with a joint objective: next-token prediction learns score-conditioned performance generation at various skill levels, while InfoNCE and supervised contrastive losses align abstract score and performance representations in a joint embedding space. The proposed model both generates and understands performances in a unified framework. By introducing the EVPMR benchmark, a suite of downstream tasks spanning quality assessment, competition ranking, mistake and technique classification, we evaluate the learnt representations, demonstrating progress towards a real-world model for the piano performance space.

Hyperscale data centers are adding firm, high-utilization demand faster than grids can serve it, renewing interest in colocating them with small modular reactors. Such a plant could earn revenue in two ways, selling low-carbon power and diverting steam to absorption chillers that serve a cooling load accounting for 20-40% of facility electricity use, but neither revenue stream has been priced across the conditions that must coincide. Here we co-optimize reactor dispatch, steam extraction, absorption cooling and grid exchange hourly for a 200 MW$_\mathrm{e}$ data center in the Electric Reliability Council of Texas (ERCOT) region, across 109 runs spanning capital, market, policy, financing and cooling efficiency. At 2023 mid-range reactor capital, the nuclear configurations cost 49-62% more than grid supply even with the Section 45Y production tax credit. The viable region opens near \$5,000 kW$_\mathrm{e}^{-1}$, and nth-of-a-kind capital makes them 77-89% cheaper in 2023, though between parity and 34% more expensive in the low-price 2024 market. A carbon price of \$53-64 tCO$_2^{-1}$ closes the mid-range gap under hourly export crediting. Absorption cooling is dispatched in response to hourly electricity prices and supplies 38% of annual cooling, at an added cost of \$9.2 million yr$^{-1}$ relative to the reactor-only plant; that gap closes at an installed absorption cost of \$60 kW$_\mathrm{c}^{-1}$ at baseline efficiency and \$570 kW$_\mathrm{c}^{-1}$ on a legacy-efficiency campus, against surveyed commercial prices of \$450-1,200 kW$_\mathrm{c}^{-1}$. Together these results delineate the capital, market and policy conditions under which colocated reactor cogeneration is competitive with grid procurement, and the range over which each condition moves the outcome.

Laser diodes (LDs) promise an order-of-magnitude bandwidth advantage over light-emitting diodes for indoor optical wireless access, but reported prototype studies frequently leave the gap between hardware demonstrations and system-level performance unquantified. This paper develops a complete, reproducible system model of a diffused-beam LD LiFi transceiver - a 500-mW laser source beam-shaped by a holographic diffuser, an intensity-modulation/ direct-detection (IM/DD) receiver, and adaptive M-QAM signaling - and embeds it in two cross validated simulators: an open ns-3 module providing full-stack network simulation (channel, PHY, ARQ MAC, Net Device, IP/UDP/TCP) and a Python link-level engine used for Monte Carlo validation of all analytical error models. Starting from a hardware prototype that transferred data, real-time voice, and images over a 14-m line-of-sight link, we identify and close the technical gaps typical of prototype-class reports: serial-interface throughput ceilings misread as optical-link capacity, absent noise modeling, unmeasurable error floors, and unexamined beamwidth/coverage trade-offs. The framework shows that the same optical front end, freed of its 2-Mbaud UART bottleneck and driven at its 250-MHz electrical bandwidth, supports 930 Mb/s net at 14 m under a $3.8 \times 10^{-3}$ HD-FEC threshold with 16-QAM, scales to 1.86 Gb/s at 5 m with 256-QAM, and sustains on-off keying to 23.3 m; a $20^\circ$ diffuser covers a 4.2-m-radius cell of a standard room at desk height. Network simulations over the ns-3 stack yield saturation goodput within 7% of the PHY line rate and sub-0.11-ms 99th-percentile latency at 70% load. All models, code, and figures are released for reproduction.

We develop a multi-rate distributed unscented Kalman filter for nonlinear networks without a fusion center. Local continuous-discrete UKFs run on a common base grid, update at their own sampling instants, and exchange estimates within one-hop neighborhoods. Under a windowed collective-detectability condition, diffusion of information matrices gives uniformly bounded quotient covariances although no individual node need be observable. When the collectively invisible subspace is trivial and the statistical-linearization discrepancies satisfy an explicit coherence bound, the information weighted fused mean yields exponentially bounded mean-square errors without a contraction-mixing condition. This contrasts with the arithmetic diffusiojn mean, which requires one. A distributed $H_{\infty}$ variant uses a fixed attenuation penalty. A finite-prefix feasibility check and the one-hop detectability Gramian yield a uniform regularized-information margin - an explicit local-contraction-mixing condition then yields mean-square error boundedness. The developed methods are tested on a stochastic nonlinear benchmark and a three-inertia network in which every node misses at least one mode. Information diffusion is more accurate than five-round covariance-averaging consensus at one fifth of its communication. It remains stable under 3:2 multi-rate sampling, where the covariance-averaging consensus and the diffusion mean both diverge, and it keeps the quotient covariances bounded.