Papers

This paper introduces the asymptotic behavior assignment problem for nonlinear systems. Given a controlled system and a reference system with an “open” input, the goal is to design a regulator such that, for every admissible input, the asymptotic input-output behavior of the closed-loop system reproduces that of the reference. This formulation captures, as special cases, classical model matching, disturbance rejection, and master-slave synchronization, but does not assume that an explicit tracking or regulation error is available for feedback. Motivated by nonlinear output regulation, we discuss how steady-state concepts for autonomous systems must be adapted when the closed-loop dynamics is not autonomous. In a SISO normal-form setting we devise sufficient conditions for the solution of the behavior assignment problem by introducing a synchrony-detection signal whose convergence to zero is equivalent to successful behavior assignment, thereby reducing the problem to a standard stabilization one. Two examples, a tunnel-diode circuit with multiple input-dependent equilibria, and a pendulum frequency-matching problem, illustrate how the proposed framework avoids artificially selecting a specific steady state.

Preterm birth (PTB) remains a major global health problem, and reliable non-invasive risk assessment remains difficult. Electrohysterography (EHG) records uterine electrical activity from the maternal abdomen and may support PTB assessment, but performance can be inflated when segments from the same recording are split across training and validation folds. We evaluated empirical mode decomposition (EMD) for term-versus-preterm classification using 26 pregnancy recordings (13 preterm, 13 term) from the public TPEHGT dataset. Annotated intervals and non-overlapping fixed 3-minute windows were compared, and the first four intrinsic mode functions (IMFs) were evaluated. Fourteen features from each of three EHG channels were assessed with nine classifiers using repeated five-fold recording-grouped cross-validation and recording-level aggregation. IMF1 gave the strongest mean performance. With fixed 3-minute IMF1 features, Random Forest achieved mean accuracy 0.8308, F1 0.7969, balanced accuracy 0.8308, MCC 0.6998, ROC-AUC 0.8157, and average precision 0.8877. IMF1 also outperformed matched filtered time-domain features across all reported mean metrics. Preterm recordings showed smaller, more regularly spaced peak-like events, lower temporal-energy measures, and higher entropy. These findings support further evaluation of IMF1-based EHG classification in larger independent cohorts.

Modern embedded systems are becoming increasingly complex and typically integrate numerous heterogeneous devices, such as controllers, sensors, actuators, and supporting subsystems. As a result, their development and integration involve a wide variety of serial communication protocols, ranging from standardized solutions to partially standardized and fully project-defined formats. Efficient development of such systems increasingly depends on automation toolchains, which in turn require a clear, unified, and machine-processable formal basis. This paper proposes a unified, protocol-agnostic message model for explicit and deterministic description of serial messages. The model is based on formal definition of data types, atomic message elements (containers), and complete message structure. In addition to the model itself, the paper introduces methods for practical work with it, including configurable message types for expressing structural constraints and supporting deterministic automation, as well as configurable user representations for engineering-oriented reading and editing. The proposed model and methods are demonstrated through implementation in an industrial tool environment. The results show that the approach can support machine-readable interface control document development, automated generation of transport-layer software, and practical engineering work with both standardized and weakly formalized serial protocols. Taken together, the proposed model, methods, and tool implementation provide a practical foundation for automation toolchains in heterogeneous serial communication development.

Developing robots capable of understanding and manipulating objects requires compact, interpretable, and generalizable representations. This work proposes a reinforcement learning-based framework for robotic grasp refinement, integrating keypoint-based object representations with a Deep Q-Network (DQN). Using 2D overhead images captured in a simulated environment, a geometric-based algorithm generates initial grasp candidates, which are iteratively refined by the proposed framework, transforming failed grasps into successful ones. Experiments conducted on 300 objects from the Dex-Net dataset using a UR5 manipulator demonstrate the framework's effectiveness, achieving a 100% success rate on objects previously deemed ungraspable by geometrical methods. The framework's sim-to-real transferability is further validated through physical experiments on a Delta parallel robot, where a refined grasp successfully manipulates an object that was previously ungraspable. The findings underscore the effectiveness of reinforcement learning in addressing challenges in robotic grasping, offering a scalable and adaptable solution for contact-rich manipulation tasks.

In this paper, we consider the connectivity of a random network of N mobile devices in three dimensions (3D), where the location of each device or node has a Gaussian distribution in each dimension. For each pair of nodes, the probability of connectivity is related to the nodes' separation by a Gaussian connectivity function. The fundamental analytical tool for studying such systems is the probability of a given network state, derived and expressed in terms of its graph Laplacian. Leveraging this result, we obtain results for the connectivity of small networks, the probability of a complete network (where all nodes are connected to all other nodes), and the probability of an isolated node, which gives an approximation to the connectivity probability of larger networks. The general results are then simplified for special cases and limiting scenarios.

We consider the dynamic principal-agent problem under asymmetric information, wherein a principal sequentially designs contracts to incentivize an agent with unknown preferences and hidden actions. A fundamental bottleneck in the existing literature is the assumption of deterministic agent utility, which renders the principal's expected utility discontinuous and forces computationally intractable discretizations of the contract space. In this paper, we address this limitation by introducing a stochastic counterpart into the agent's utility model, capturing the inherent physical and behavioral variations in realistic subsystems. We formally prove that this stochastic formulation restores the continuity of the principal's expected utility. Leveraging this continuous geometric structure, we formulate the interaction as a structured multi-armed bandit problem subject to heteroscedastic noise. We propose a Heteroscedastic GP-UCB algorithm that utilizes a Neural Network (Arcsin) kernel, chosen to capture the non-stationary, sigmoidal geometry of the utility landscape. For an $m$-dimensional compact contract space, we establish a high-probability cumulative regret bound of $O\left(\sqrt{T}(\log T)^{m+1}\right)$. Finally, we demonstrate the practical efficacy of our theoretical framework by formulating the Vehicle-to-Grid (V2G) incentive design problem, proving its equivalence to a dynamic principal-agent problem, and showing superior economic performance for grid aggregators.

In this paper, we investigate downlink scheduling for urban air mobility (UAM) in a cooperative space-air-ground integrated network. Multiple ground stations (GSs) employ narrow three-dimensional beams and share spectrum across multiple subbands, while a satellite provides an orthogonal-band service option. Rapidly time-varying geometry and directional interference require joint decisions on base station association, GS subband assignment, and transmit powers. We formulate a finite-horizon mixed discrete-continuous problem that maximizes sum rate while penalizing handovers and GS overload, using only UAM positions and velocities. To address the combinatorial scheduling problem, we propose GeoSetPPO, a geometry-aware set-attention proximal policy optimization (PPO) method that outputs per-UAM discrete association and subband decisions with permutation-invariant representations. Conditioned on each schedule, GS powers are computed by a per-slot successive convex approximation (SCA) module under per-GS power budgets and minimum signal-to-interference-plus-noise ratio (SINR) constraints. To reduce training cost and improve stability, we adopt a two-stage training strategy that transitions reward evaluation from uniform power to SCA-based power allocation. Simulations demonstrate stable convergence, higher returns than multi-layer perceptron (MLP)- and Transformer-based PPO under the considered training setting, and favorable reward and schedule-feasibility performance relative to algorithm-based and distance-based schedulers. In the larger evaluated network, GeoSetPPO also reduces the scheduling latency from 40.84 ms to 2.90 ms relative to the previous algorithm-based method.

The communication demands of distributed model prediction control (DMPC) can overwhelm even advanced wireless communication technologies as agents must exchange a significant amount of information at least once per time step. To semantically reduce communication demands, this work employs encoder-decoder networks built around long-short term memory (LSTM) cells in a distributed optimization algorithm. Agents publish a reduced representation of a message and receivers reconstruct the original message upon reception. In tests with reduced communication using formations of mobile robots, trained networks retain satisfactory performance and work reliably under conditions overwhelming full communication. As the results show, the usage of LSTMs either allows unprecedented reconstruction accuracy or the usage of different prediction-horizon lengths without the necessity to retrain.

How cautious should an agent be while it is still learning its environment? We propose RATTL (Risk-Adversarial Total-Reward Learning), which ties caution to epistemic uncertainty: the agent holds a Bayesian posterior over unknown dynamics and plans against a Wasserstein ambiguity set whose radius is a monotone function of that posterior. The radius contracts with evidence, so behaviour interpolates continuously between worst-case robustness and risk-neutral total-reward maximization. The design follows the duality underlying the Entropic Value-at-Risk, which converts the choice of a risk level into the choice of an ambiguity radius. We show the resulting planning problem is well posed under transience and compactness conditions, and prove a Safety Sandwich: the RATTL value lies between the uninformed robust value and the full- knowledge optimum, with a gap that vanishes as the posterior concentrates. In a canonical binary-hazard instance, the induced criterion reduces to Conditional Value-at-Risk at a level set by the posterior entropy. A worked example shows the agent deferring the efficient action until a sharp identification threshold. RATTL targets runtime safety for agents, including LLM-based systems, acting under uncertainty.

Wireless channels are commonly treated as link-specific observations, although their multipath structure is governed by the surrounding radio-frequency (RF) environment. In this paper, we propose Channel2World, a wireless foundation model that learns a reusable environment-level representation from multiple-input multiple-output (MIMO) channel-position observations. The model aggregates channels collected within the same base-station-centered environment into a wireless world embedding using a Transformer-based encoder. The encoder is pretrained through context-query prediction, where context channels condition user equipment (UE) position and relative path-gain prediction for disjoint query channels. After pretraining, the encoder is frozen and used as a task-agnostic environment-conditioning module for downstream wireless models, enabling adaptation to unseen environments without site-specific fine-tuning. To learn an environment-level latent space that generalizes across deployments, we pretrain Channel2World using ray-tracing data from 26,000 environments, with approximately 5,000 channel measurements per environment. Evaluations on UE localization, beam-domain channel state information (CSI) reconstruction, and RF-observable geometry reconstruction show that the learned embeddings provide effective conditioning in unseen environments. For localization and CSI reconstruction tasks, embedding-based conditioning outperforms or remains competitive with site-specific fine-tuning, although fine-tuning requires task-specific labeled data and additional gradient-based adaptation. The embeddings also support the reconstruction of dominant reflector structures, indicating their utility as reusable environmental priors across tasks.

We propose a data-driven method for designing state-feedback gains that achieve stabilization, $H_2$-control, and $H_\infty$-control for continuous-time systems. The state-input data are assumed to be corrupted by process noise, measurement noise, and input disturbances. We first characterize the set of all systems consistent with the noisy data using operator-based data embedding. This characterization yields necessary and sufficient conditions for data informativity under a certain class of noise. These conditions are formulated as linear matrix inequalities, and the feedback gains are constructed from their solutions. To enable direct controller design from noisy sampled data for continuous-time systems, we also obtain an upper bound on the reconstruction error of continuous-time signals.

This paper presents a Python-based simulation framework for the physical layer of Bluetooth Channel Sounding in accordance with Bluetooth Core Specification v6.2. The simulator implements Mode 3 phase-based ranging across 72 active tones in the 2.4 GHz ISM band and supports multiple propagation conditions, including free-space, static multipath, and IEEE 802.15.4a stochastic multipath channels. In addition, it models relevant hardware and interference effects such as phase noise, phase ramp, carrier frequency offset, IQ imbalance, ADC quantization, and narrowband interference from co-located Wi-Fi systems, with parameters derived from commercial SoC datasheets and field measurements. The framework enables controlled and repeatable analysis of physical layer effects that are difficult to isolate in over-the-air experiments and are not sufficiently represented in existing higher-level simulation tools. This work focuses exclusively on physical layer signal generation, channel modeling, and impairment injection, providing a foundation for future studies on Bluetooth Channel Sounding ranging and localization algorithms.

Acoustic scene analysis is essential for adapting hearing-aid signal processing algorithms to the current listening environment. However, state-of-the-art (SOTA) systems typically rely on multiple independent estimators for tasks such as scene classification, Voice Activity Detection (VAD), or Signal-to-Noise Ratio estimation, which increases computational complexity and fails to exploit dependencies between related tasks. To address this problem, we propose a unified and interpretable acoustic scene representation by decomposing the observed mixture spectrum into speech, music, and noise power components. This is motivated by the typical listening targets of hearing-aid users. In particular, we estimate time- and frequency-dependent power proportions by a causal low-complexity Deep Neural Network, from which multiple downstream acoustic scene analysis measures can in principle be derived by simple post-processing. In this work, we validate the proposed representation using VAD as a representative downstream task and show performance comparable to a SOTA estimator while providing a substantially richer scene description.

Sub-terahertz (sub-THz) and terahertz (THz) frequency-modulated continuous-wave (FMCW) radars have opened a plethora of scientific and industrial applications, especially in the imaging field. While strong candidates for sub-THz/THz FMCW radar imagers are implemented using photonic methods, there is a desire to achieve the full integration and portability that only electronics can offer. However, integrated electronic sub-THz/THz FMCW radars have significantly lower bandwidth (< 100 GHz) than photonic-based radars, restricting the radar range resolution to the millimeter scale (> 1.5 mm). In addition, the electronic FMCW radar's broad bandwidth comes with increased transmitter phase noise, consequently degrading the radar range accuracy. Here, we present a sub-THz fully-integrated autodyne frequency-modulated (AFM) radar utilizing a self-injection locking (SIL) mechanism that fundamentally overcomes the aforementioned challenges of FMCW radars. The AFM radar supports an exceptionally wide effective bandwidth extending into the terahertz sweep range by forming an intermediate frequency comb spectrum in a quadratic receiver, unlocking the path for super-resolution ranging. Furthermore, SIL significantly reduces the transmitter's phase noise, allowing high-accuracy range measurements. We theoretically describe and experimentally demonstrate the SIL operation of the AFM radar. The proposed radar experimentally achieves sub-millimeter range resolution and a range accuracy of < 0.002%, enabling the imaging of covered printed letters with micrometer features.

Sparse optimal control is considered in the infinite horizon. In the literature, sparse control has been considered mostly in a finite horizon for its formulation into a finite-dimensional optimization problem. It is shown in this paper that an optimal solution of the infinite-horizon sparse control problem can be obtained through a solution of some finite-horizon subproblem. This is due to sparsity of the optimal solution in the sense that the optimal control input is constantly equal to zero at its tail. An estimate is given on the horizon length required by this subproblem and its adaptive choice is also discussed. Implementation with a receding-horizon technique is considered and its optimality and sparsity are guaranteed.

This paper addresses the problem of efficiently estimating aggregate human preferences by dynamically adapting questions based on respondents'answers. To this end, we formulate and address two sub-problems: preference estimation and question design. First, regarding preference estimation, we model respondents' preferences and estimate them using Bayesian estimation, employing a particle filter as a computationally efficient approximation. The main theoretical contribution to this sub-problem is to analyze the preference estimation error using an information-theoretic approach, deriving a theoretical lower bound for the error. Second, regarding question design, we formulate the design problem as an Expected Information Gain maximization problem and employ an epsilon-greedy strategy to solve the problem in a computationally efficient way. We theoretically analyze the search efficiency of the approach, demonstrating that it achieves higher efficiency than a random search. Finally, we verify the effectiveness of the proposed method through numerical simulations.

In ski jumping, performance during the gliding phase depends on achieving an aerodynamic posture that maximizes the lift-to-drag ratio. In the V-style technique, the ski edge angle is a key determinant. Reducing the edge angle flattens the skis, increases their effective surface area, and improves aerodynamic lift, ultimately contributing to longer flight distances. Ski edge angles are biomechanically constrained by the limited range of ankle inversion. Current sensing solutions widely quantify these angles using multi-system approaches that combine sensor signals through geometric relations. Such configurations require instrumentation on both the boot and the ski, altering mass distribution, affecting balance during flight, and increasing system complexity. To overcome these limitations, this work presents a wearable sensing system that measures both boot inclination and ski edge angle without modifying the ski surface. Two ultrasonic Time of Flight (ToF) sensors and an in-shoe Inertial Measurement Unit (IMU) are integrated into a single boot-mounted unit. Edge angles are estimated by combining ultrasonic distance measurements with IMU data through geometric reconstruction of the boot-ski configuration. Laboratory experiments demonstrate an angle resolution of 0.4500{\deg}, a Mean Absolute Error (MAE) of 0.2640{\deg}, and a coefficient of determination exceeding 99% when compared with reference measurements, indicating strong linear agreement between the two modalities. The system achieves an end-to-end latency of 30.31 ms, enabling real-time feedback suitable for athlete training, while consuming 1.28 mW of power. With a total weight of only 18.6 g the proposed system enables unobtrusive measurement of ski edge angle and boot orientation.

We propose a Z-transform framework for the analysis and synthesis of finite range lattice momentum operators in quantum field theory. In this formulation, translation-invariant lattice operators are represented as functions of the complex variable $z$ in the unit circle, allowing their spectral properties to be analyzed using tools from digital signal processing and rational approximation theory. Within this framework, the fermion doubling problem is reinterpreted as the appearance of unwanted zeros of the discrete momentum operator on the unit circle — an aliasing phenomenon in the sense of the Nyquist sampling theorem — and the conditions for ghost suppression are expressed as precise constraints on the zero structure of the operator's transfer function. It is proven that no rational function can satisfy all required conditions simultaneously, motivating the finite impulse response approach developed here. This reframing naturally suggests a class of finite-range momentum operators, constructed by solving a least-squares approximation problem in the frequency domain. The resulting finite impulse response (FIR) operator approximates the continuum derivative across the full Brillouin zone, with ghost suppression achieved through the accuracy of the spectral approximation rather than through the addition of a symmetry-breaking Wilson term or the infinite-range nonlocal SLAC derivative. Numerical investigation confirms that near $\theta = \pi$ only plane waves propagate coherently, and these exhibit group velocities far exceeding the speed of light, further distinguishing them from physical low-energy excitations. No ghost wave packet solutions exist near $\theta = \pi$.

Accurate and timely radio environment reconstruction is important but challenging under particularly dynamic transmitter configurations. The conventional methods such as compressed sensing (CS), Kriging method or U-Net typically require environment measurements and reconstruction overhead for radio environment updating as the transmitter locations or radiation patterns change. In this paper, we propose a novel channel knowledge map (CKM)-enabled dynamic radio environment reconstruction method for efficient radio map updating. Specifically, the recently proposed CKM can store reusable path-level propagation knowledge that is decoupled from the transmitter-side radiation characteristics. We can leverage CKM for lightweight forward radio map generation as the transmitter locations and radiation patterns are known, without requiring new target-map measurements. Simulation results show that the proposed method outperforms CS, Kriging, and U-Net in reconstruction accuracy and exhibits strong robustness performance under dynamic transmitter configurations, which demonstrates the potential of the proposed method for flexible and efficient radio environment reconstruction in dynamic wireless networks.

Maximal Lyapunov functions encode the entire domain of attraction of an asymptotically stable equilibrium, but preserving strict decrease under neural approximation is difficult because its margin vanishes at the equilibrium. For systems locally dominated by an asymptotically stable homogeneous vector field, we construct a continuously differentiable maximal target and an anchored, positivity-preserving neural family. We prove semiglobal universal approximation: strict neural Lyapunov functions and their first derivatives can approximate the target on nested invariant sublevel sets that exhaust the domain of attraction. We also provide directly verifiable conditions under which a candidate neural Lyapunov function can be formally certified, and illustrate the effectiveness of the proposed neural architecture through numerical examples.

Coordinated scheduling of district heating networks (DHNs) and electric power systems can improve operational flexibility and reduce costs by exploiting thermal inertia. Most existing formulations rely on simplified discrete-time DHN models, which may inadequately represent continuous spatiotemporal thermal dynamics and can lead to biased flexibility estimation and suboptimal schedules. In this paper, an integrated heat and power system scheduling framework that explicitly incorporates the continuous-time thermal dynamics of DHNs is proposed. A Bernstein-Galerkin transform method is developed to convert the underlying partial-differential thermal-dynamics constraints into a finite set of algebraic constraints, enabling tractable optimization while retaining dynamic fidelity. The resulting model transforms the original infinite-dimensional variational problem into a finite-dimensional coefficient optimization that can be solved using optimization solvers. Compared with conventional discretization approaches, the proposed method provides a more accurate representation of thermal dynamics and yields schedules with improved economic performance and reliability.

Synthetic aperture radar (SAR) systems collect raw I/Q echo data at rates that exceed downlink capacity; fielded systems compress onboard with block-adaptive quantization (BAQ/FDBAQ). Proposed replacements, including learned compression, are typically evaluated with image-quality metrics (PSNR, SSIM, SQNR); none measures whether the data still supports its operational use. We introduce a pre-registered, task-based evaluation methodology for raw radar compression: codecs are scored after SAR focusing against a two-sided detection criterion – a CFAR detection-agreement floor and a false-alarm budget at matched threshold – using frozen task models trained once on uncompressed data. On Sentinel-1 stripmap Level-0 data the evaluation reproduces the operating point of the fielded FDBAQ codec (3-bit BAQ sustains utility at 6.12 bits per complex sample), with a previously reported reconstruction-lattice artifact tested for and ruled out. No classical configuration tested sustains utility below 4.86 bits per complex sample (roughly 13:1) on this scene, and each failure has an identifiable mechanism: raw echoes offer no transform-coding gain, while energy concentration after focusing delivers the predicted detection gain (Pd 0.888 vs 0.691 at 2 bits per complex sample) but converts it into false alarms through wavelet ringing; detection probability alone would have certified a codec producing roughly 53 times the tolerable false-alarm count. Applying the same protocol to AFRL Gotcha GMTI data (airborne, never compressed onboard) replicates both findings independently (frontier at 7.99 bits per complex sample). We release the evaluation harness, a unitary dechirp/focus transform with verified round-trip invertibility (relative error ~1e-7), and the complete pre-registration trail, including one retracted overclaim and a bounded negative result for a small learned codec, reported as a lower bound.

This paper considers robust nonadaptive regulation for general nonlinear systems in an output-feedback setting with arbitrarily high relative degree. We develop a nonadaptive design that combines an input-driven filter and a generic internal model with a recursive backstepping law, thereby recasting the regulation problem as the robust input-to-state stabilization of an augmented error system. Unlike adaptive schemes, the proposed method does not rely on linearly parameterized regressors and does not require the construction of Lyapunov functions having merely nonpositive derivatives. Under standard assumptions on the exosystem, including purely imaginary and simple eigenvalues, together with a minimum-phase input-to-state stability condition on the internal dynamics, we establish global asymptotic regulation and derive explicit, verifiable inequalities for selecting the design gains. The resulting nonadaptive framework guarantees convergence of the estimation and tracking errors even when the controlled-system dynamics are complex or only partially known. The effectiveness of the theoretical results is demonstrated using a benchmark controlled Duffing system.

This paper presents a novel whole-body Backstepping control strategy for safe quadcopter path-following. The proposed approach introduces an integrated control scheme that combines a translational guidance controller with a rigid-body attitude controller. To guarantee asymptotic path convergence, the method utilizes a nominal Integrated Guidance and Control (IGC) based on Artificial Vector Fields (AVF). To ensure reactive safety and collision avoidance, the control law is modified using a smooth distance function within the High-Order Control Barrier Function (HOCBF) framework. The quadcopter dynamics are modeled using quaternion algebra to represent position, velocity, and attitude. By combining the Backstepping approach with HOCBF, the controller guarantees that the vehicle avoids obstacle sets while successfully converging to the target path when unobstructed. The proposed methodology is validated through software-in-the-loop simulations and real-world experimental results using the Crazyflie platform.

Connected and automated vehicles demand lateral controllers that are simultaneously accurate, low-effort, and safe under model error and sensor noise. Modular controllers such as model predictive control (MPC) are interpretable and constraint-aware but rely on accurate models and hand-tuned weights. End-to-end learned policies, in particular continuous-action deep reinforcement learning, are adaptable and require no hand-designed control law, but offer no intrinsic safety guarantees and limited interpretability. This paper presents a hybrid architecture that combines an end-to-end Soft Actor-Critic (SAC) policy with a constrained linear MPC into a single steering command, using the MPC's first-step optimum as the model-based anchor and a single monotone blending coefficient that interpolates between the two paradigms. The architecture is evaluated on a linearized lateral bicycle model against a PID baseline, a tuned linear MPC, and a stand-alone SAC policy, across nominal, single-axis robustness, and multi-initial-condition ensemble experiments. The hybrid retains the tracking quality of stand-alone SAC while remaining inside the MPC's actuator envelope and preserving a deterministic, model-based contribution to every steering command. The architecture provides an actuator-envelope guarantee by construction but does not establish recursive feasibility or terminal invariance, and the closed-form blend does not prevent all corner-case divergences at the boundary of the training distribution. A corner-case analysis shows that the blend attenuates but cannot prevent failure under distribution shift, motivating a connectivity-aware extension in which the blending coefficient is scheduled by vehicle-to-everything (V2X) signals to restore model-based authority. Limitations and a path toward a constrained-QP predictive safety filter are discussed.

This paper proposes an online Genetic Algorithm (GA) estimator and a Model Predictive Control (MPC) approach to solve the flying inverted pendulum problem in a practical experiment where the pendulum length is unknown. The performance of the MPC approach was demonstrated on a practical system through disturbance and trajectory tracking tests to assess controller robustness and tracking accuracy. The convergence speed and accuracy of the online GA estimator were validated on a practical system using different initial conditions.

Advanced persistent threat (APT) actors increasingly employ sophisticated techniques to propagate laterally through segmented enterprise networks. Timely detection and defense depend on cross-subnetwork coordination, yet maintaining global situational awareness generates substantial communication overhead. To manage this tradeoff, flexible monitoring and adaptable containment are imperative. This paper presents ADAPTD, a communication- and computation-efficient, decision-theoretic framework integrating: (i) compact kill chains for identifying diverse attack vectors, (ii) an immediate blocking mechanism for timely containment, and (iii) a predictive eviction strategy to restore system security. Our experiments validate ADAPTD's effectiveness across diverse threat scenarios. First, our decentralized belief update scheme outperforms state-of-the-art diffusion HMM. Second, ADAPTD substantially reduces false evictions compared to transformer-based detection. Third, under noisy environments, adaptive blocking contains attackers while minimizing unnecessary disruption. Lastly, the ablation study confirms that combining two defensive actions significantly reduces the defender's total cost.

End-of-life support of satellites is necessary to improve post-mission-disposal compliance rates for maintaining space environment. Deorbit mission with low thrust, e.g. a laser, induces a low-level deceleration on the target object that gradually lowers the target altitude. Since such a low-thrust trajectory is time-consuming, the risk of collision greatly influences the mission success rate. In this context, this paper assesses the collision risk during deorbit trajectories with low thrust. Furthermore, parametric studies for the relationship between the re-entry time and the risk of collision are performed.

HVAC systems represent a major share of building energy consumption. Traditional control strategies are limited in coordinating energy-comfort tradeoffs across multiple zones simultaneously. Reinforcement learning (RL) offers adaptive, data-driven control that optimizes performance over time. However, deploying learned neural network controllers in safety-critical building systems remains challenging due to lack of formal safety guarantees. We propose a safety-certified deep RL framework for multi-zone residential HVAC control. Proximal Policy Optimization (PPO) and Soft Actor-Critic (SAC) agents are trained in an EnergyPlus/Sinergym simulation to minimize energy consumption while maintaining thermal comfort. Post-training safety certification is performed on the PPO policy using Lipschitz-based forward invariance analysis, building on existing tools for the computation of Lipschitz constants for neural networks, to guarantee constraint satisfaction. Both agents are evaluated over an annual simulation cycle in an eight-zone variable refrigerant flow (VRF) testbed. The PPO agent achieves 67% comfort violation reduction compared to rule-based control, while the SAC agent achieves 27.6% energy savings. The PPO policy satisfies formal safety certification with a margin of $2.003^\circ$C. These results demonstrate the feasibility of combining reinforcement learning with post-training safety verification for multi-zone building control.

The setting or tuning of specifications for the inertial measurement unit (IMU) is tricky in sensor fusion. The underneath conundrum is caused by the fact that the working condition of IMU is more complex than the stationary calibration scenario. Since the noises and biases instabilities calibrated under static condition cannot accommodate other cases, the effective tuning of IMU parameters largely hinges on the experience or profound understanding of the system. In the current work, the setting method of IMU parameters based on Allan variance calibration is delved into within the Kalman filtering framework. Specifically, the relationship between the power sepctral density and Allan variance is leveraged in formulating the process uncertainty in continuous-time filtering. Three typical IMU-based sensor fusion systems, including INS/GNSS integration, LiDAR-inertial odometry, and visual-inertial odometry are considered to show the feasibility and effectiveness of this parameter setting process.