Papers

Early warning signatures of sudden cardiac arrest (SCA) remain poorly characterised in long-duration ECG. We quantified pre-event changes in ECG morphology using a motif-based trajectory framework. Holter ECGs from 23 patients with annotated SCA were analysed over non-overlapping 10 s windows. Window-level motifs were extracted to quantify trajectories of instability, consistency, dispersion, heterogeneity, and personalised-baseline distance. Each trajectory was normalised to an early baseline using z-scores and aligned to ventricular fibrillation (VF) onset. Abnormal burden was defined as the proportion of windows with z>=3 within a rolling 10-minute window. Median sustained abnormal burden onset occurred 5.8-8.4 h before VF across morphological metrics. Motif dispersion showed the most consistent long-horizon detection, with sustained abnormal burden >=1 h before VF in 100% of patients and >=2 h in 89%. Motif consistency showed the strongest late-stage change, with 70% median abnormal burden in the final 10 min. Peak morphological deviation occurred ~2 h prior to VF. Our label-free framework transforms longitudinal ECG analysis from an event detection approach towards a continuous characterisation of evolving cardiac change, enabling a personalised early warning of SCA, well suited to long-duration wearable ECG monitoring.

Large audio language models (LALMs) can describe what is heard, but their ability to localize when queried content occurs remains less systematically evaluated. We present TAG-Bench, a benchmark for temporal audio grounding in which a model returns every time interval that matches a natural-language query. TAG-Bench contains 1,750 human-verified query-recording pairs covering 149.5 hours, with eight source-dependent subsets spanning query categories and audio durations from 7 s to 20 min; 22.1% of the queries have multiple ground-truth intervals. Across 21 evaluated systems, the best-performing model achieves 31.2 mIoU and is the only system above 20 mIoU on the two long subsets, yet even this top performer reaches only 21.5% recall at IoU >= 0.7. Moreover, 9 of 21 systems fall below 5 mIoU, and every model under-reports the number of occurrences on one-to-many queries, with none exceeding 13.2% count accuracy. Because responses are free-form, we report parsing-failure rate and MAE coverage: parsing failures remain in mIoU, Recall, gIoU, and count metrics as empty predictions but do not enter MAE. The results separate precise localization, occurrence enumeration, and output-format reliability within a benchmark whose cross-subset comparisons are descriptive rather than controlled estimates of query abstraction or duration. We will release the TAG-Bench data and evaluation code to support future research.

Generalized semi-infinite programs (GSIPs) arise in robust optimal control whenever the admissible uncertainty depends on the state or controls. Existing GSIP methods either impose restrictive structural assumptions or require global optimization that scales poorly to control problems. We present a general framework that reformulates any GSIP with mild regularity as an existence-constrained semi-infinite program, smoothing its disjunctive feasibility condition into differentiable existence constraints over a fixed index superset. The resulting program is solved by established adaptive discretization (cutting-plane) methods using only off-the-shelf nonlinear-programming solvers, and converges under standard assumptions. Treating the state trajectory as part of the uncertainty extends the framework to robust nonlinear optimal control with state-dependent uncertainty. We demonstrate it on a nonconvex benchmark GSIP and a satellite de-tumbling problem with dynamically varying inertia.

Group-embedding graph signal processing buys exact Fourier analysis either by enlarging the domain until a graph embeds isometrically into an abelian Cayley graph, or by perturbing the graph until it is one. We give a linear-time procedure that chooses between the two, and study the criterion governing the lossy branch. We prove that the perturbation of the Dirichlet form is exactly the signed sum of the edited-edge energies, and is bounded in modulus by their total, into which the combinatorial cost of the completion does not enter. We confirm experimentally that this energy predicts signal fidelity strongly though not strictly monotonically (Spearman rho = -0.79 on an instance where the completion, and hence the cost, is held fixed), while the cost itself carries no information about it. Selecting among completions of identical cost by this energy recovers 61 percent of the available performance gap on the exhaustive range, on a sample too small to establish that the effect persists beyond eight vertices. On real payment data the router takes the exact branch everywhere; on real anti-money-laundering data the completion invariant is a re-encoding of maximum degree and is not distinguishable from it, and the linear-time bound it rivals is shown to have a blind spot on near-complete graphs.

Vehicles and roadside infrastructure are increasingly equipped with sensors capable of perceiving their surroundings. Sharing this information through vehicle-to-everything (V2X) communications is a key enabler of Day-2 applications and is supported by the ETSI collective perception service (CPS). While CPS is expected to play a fundamental role in future intelligent transportation systems, its operation may significantly increase channel load, posing challenges in terms of radio resource utilization, communication reliability, and information management. This paper reviews the current status of CPS standardization and investigates its impact in dense deployment scenarios where connected vehicles communicate through fifth-generation (5G) New Radio-V2X (NR-V2X) sidelink (SL) communications. The main contribution is a realistic evaluation of communication reliability, latency, channel occupancy, and information usefulness under different object-selection strategies for collective perception messages. The analysis is conducted through a network-level simulation framework integrating empirical object traces derived from real-world datasets, thereby avoiding the limitations of synthetic traffic models. Results show that perception message generation and radio access mechanisms are tightly coupled and should be jointly designed to maximize the benefits of collective perception services.

Clear cell renal cell carcinoma (CCRCC) grading is essential for treatment planning, yet existing approaches either analyze patch-level images directly or focus solely on nuclei-level classification, without linking to final tumor grading. We propose a semantic-guided multimodal preprocessing method that integrates nuclei classification maps from existing pre-trained models with RGB histopathology images for Vision Transformer (ViT)-based CCRCC grading. Our approach employs classification map channel concatenation and multiplicative modulation, with optimized overlays to leverage nuclei grading information, while preserving RGB textural features. Evaluation of multiple preprocessing strategies demonstrates that semantic-guided enhancement achieves 0.916 balanced accuracy, outperforming RGB-only baseline (0.707) and max-voting aggregation from prior studies (0.427). Sensitivity analysis reveals that this 21 percentage point improvement over baseline persists even under simulated perturbation at rates matching current state-of-the-art nuclei classification model error thresholds, suggesting both effective semantic utilization and practical robustness. These findings show that preprocessing-based multimodal fusion can leverage the diagnostic potential of existing imperfect nuclei classifiers, effectively bridging previously isolated fine-grained nuclear-level analysis with coarse-grained ViT-based patch classification. Per-class recall was consistent across grades (0.93, 0.91, 0.91), indicating that gains are not concentrated in the majority class. Because the sensitivity analysis perturbs ground-truth maps rather than predictions from an actual nuclei model, this result characterizes robustness under simulated error rather than deployment with a real upstream model, which remains for future work.

Power electronic converters are envisaged to be key enablers of modern electric power distribution systems. Grid-connected three-phase inverters are widely used in Smart Grids and microgrids, but also in standard grids. They provide controllability and dynamic decoupling capabilities, which are fundamental in the integration of renewable sources and storage systems and in specialized applications such as FACTS. Nevertheless, power electronics-based systems can exhibit dynamic interactions, which may lead to power quality issues. Although the electrical model of each element of these systems is important for their system-level analysis, they are rarely available. Blackbox modeling strategies are useful for obtaining behavioral models of commercial electronic converters. Most blackbox modeling strategies are focused on dc-dc electronic converters; however, some works have extended these concepts to three-phase converters by means of the dq framework, under the assumption of symmetrical and balanced conditions. This work proposes a new structure in the sequence domain to represent the dynamic behavior of grid-connected commercial converters in asymmetrical conditions. Experimental tests have been performed on a three-phase inverter to identify its blackbox model and its performance has been validated during an asymmetric voltage sag.

Equivalent dq0 models of three-phase passive impedances are widely used for the design of three-phase inverter and rectifier controllers in the synchronous frame. However, these equivalent models assume that the impedance in each phase are the same, which is not always applicable. The fact that the impedance in each phase is different, generates second order harmonic content in the dq0 components, which hinders the advantages of the dq0 transformation. To avoid the second harmonic in these scenarios, it is possible to use the Fortescue's theorem to represent any asymmetrical set of three-phase signals as a linear combination of three symmetrical sequences. In the literature, only a few works have attempted to derive the equivalent model of unbalanced three-phase passive elements in the sequence domain, and none is able to account for the interaction between the zero sequence and the positive and negative sequences. This work presents the derivation of the equivalent dq sequence-domain model of unbalanced three-phase passive elements both analytically and with an intuitive graphical approach. Experimental results are shown to validate the proposed models.

This work investigates 2D distributed satellite swarm configurations for direct-to-cell (D2C) applications. Unlike previous studies, which primarily considered swarms as deployment alternatives to monolithic arrays, this paper focuses on exploiting the increased spatial resolution enabled by large distributed apertures. Simulation results show that, for the considered scenarios, increasing the level of antenna distribution across satellite platforms enlarges the effective aperture and improves the system sum rate under ideal operating conditions. While gains are moderate for uniformly distributed users, they become particularly pronounced in scenarios including hotspot with high user densities. The results further show that user scheduling strategies do not invalidate the superiority of highly distributed configurations, as these architectures provide a more balanced rate distribution across the coverage area, including hotspot regions. In addition, the paper analyzes several key implementation challenges associated with large distributed swarms, including errors in inter-satellite relative positioning, synchronization impairments, and limited beamforming and user-position update rates. Although within the range of swarm configurations and scenarios considered in this work, performance gains continue to increase with aperture size, these practical constraints may restrict swarm sizes in the medium term. Nevertheless, the observed performance gains strongly motivate further research into scalable synchronization, positioning and data distribution techniques for future large-scale satellite swarms.

Scenario optimization, conformal prediction, and related distribution-free certification methods use finite samples to construct decisions or prediction sets with violation-risk guarantees for fresh observations. In several classical settings, the conditional violation risk follows an exact beta law, whose tail has a beta-binomial representation and whose parameter is a support, calibration, or compression dimension. This paper identifies the deterministic boundary mechanism behind these formulas and derives the corresponding law when the observed boundary size is random. A decision rule is represented by an acceptance set for future observations, together with a boundary map selecting the sample points responsible for that set. The resulting pair is called a proper projective boundary scheme when held-out samples are accepted precisely if the full-sample boundary is retained, and accepted non-boundary samples can be deleted without changing that boundary. For every such scheme, the conditional law of the violation risk given the observed boundary size is determined by the boundary's cross-sample complexity profile. A stable profile yields the usual beta law, whereas a varying profile produces an exact profile correction. The framework covers scalar order-statistic calibration, support-reconstructive scenario programs, cascaded support-removal certificates, coordinatewise envelopes, and Pareto-frontier calibration with vector scores. It also yields conditional probabilistic certificates and a no-go result explaining why observed complexity alone is insufficient.

Port-Hamiltonian (PH) theory offers a passivity-based framework for grid-forming control, yet conventional dispatchable virtual oscillator control (dVOC) does not naturally admit a dissipative PH realization, since its amplitude egulation, synchronization, and power dispatch are inherently coupled without a unified energy interpretation. This paper formulates the outer-loop dynamics as a dissipative PH system, thereby unifying amplitude regulation, synchronization, and power dispatch within one energy structure. The formulation rests on the key property that logistic-type radial regulation, characterized by an inherent saturation-like nonlinearity, permits an exact gradient decomposition compatible with the quadratic energy storage. On this basis, a unified shaped Hamiltonian is constructed, which encapsulates both amplitude restoration and power dispatch. Radial gain matching derived from this Hamiltonian yields explicit closed-form arameter inequalities that guarantee almost-global asymptotic stability and local exponential convergence. Moreover, tuning the power-error weighting coefficient actively shapes the energy landscape, thereby eliminating the undesirable low-voltage power-flow solution from the stationary set and ensuring convergence to the desired high-voltage equilibrium point. The Hessian singularity condition further provides the critical weight threshold that guarantees uniqueness of the high-voltage equilibrium. Numerical simulations validate the proposed method.

Blockage is a critical challenge for near-field communications, where reliable transmission depends heavily on the line-of-sight (LoS) path and can suffer severe power degradation when that path is obstructed. Near-field Airy beams offer a promising solution for blockage mitigation by forming curved trajectories that guide energy around obstacles, and can be practically generated with phased arrays by imposing a cubic source phase. However, trajectory-based interpretations explain how Airy beams propagate, but not why cubic-phase Airy beamforming is sufficient for blockage recovery or how much received-power gain the cubic term itself contributes. To answer these questions, we identify the blockage-induced phase mismatch relative to conventional near-field focusing and quantify how successive phase orders compensate it. The resulting analysis reveals that the linear and quadratic degrees of freedom, originally used to compensate the free-space geometric phase, can be reoptimized under blockage to provide resteering and refocusing, respectively. The quadratic term can compensate the dominant quadratic component of the additional mismatch, while the Airy cubic provides the first independent correction to the remaining non-quadratic mismatch. Simulations show that linear and quadratic compensation recover most of the available gain. The Airy cubic adds only $0.1433$ dB on average, yet enables the cubic-phase family to attain $99.77\%$ of the phase-only upper bound. Residual-phase analysis further determines when the remaining higher-order components are negligible within a prescribed received-power tolerance. These results explain why cubic-phase Airy beamforming is sufficient: lower-order phase terms provide most of the recovery, while the cubic term closes nearly all of the remaining gap.

Medical image segmentation remains difficult to scale because high-performing methods typically rely on dense expert annotations and task-specific training. We introduce GazeRefine, a training-free framework that uses gaze as an inference-time prompt for zero-shot medical image segmentation. Sparse, duration-weighted fixations are converted into foreground and background priors that initialize semantic prototypes in frozen DINOv3 feature space. These prototypes are iteratively refined through foreground-background discrimination, feature-space affinity propagation, and anchoring to the initial gaze guidance, allowing segmentation to extend beyond directly fixated regions while limiting semantic drift. GazeRefine requires no segmentation masks, fine-tuning, adapters, prompt encoders, or gradient updates. We evaluate the method on gaze-annotated polyp segmentation and prostate MRI segmentation. The results show strong performance on colonoscopy images and competitive performance on prostate MRI, supporting gaze-guided prototype refinement as a promising approach for segmentation-label-efficient, human-in-the-loop medical image segmentation. Our tools and code can be found in the following repository: https://github.com/MohammedOussamaBEN/GazeRefine.git

Sharing analog integrated circuit designs remains difficult: foundry non-disclosure agreements restrict the process details a design depends on, and the testbenches behind published results are rarely released. We present analog-db, an open-source, versioned database built on a shareable design representation. A domain-specific language captures each design as a process-neutral topology, reusable testbenches, and a machine-readable datasheet under one schema, so a design is shared in full and re-simulates on the process kits it is bound to. A parameterization scheme exposes functional sub-blocks and device sizes as named parameters that carry their matching constraints, making circuits composable and retargetable; a schema-governed contract and queryable catalog let AI design agents discover and reuse them directly. Across the regulator corpus, all 23 circuit-kit bindings on three open kits meet their own recorded specification bands (typical corner, matched devices, no layout) and 10 of 23 meet a common class band. Seventeen of the 23 imported sizings failed their testbenches and closed under a gm/ID sizing loop driven by the annotated sub-block roles, typically within one to three iterations. In a supervised case study, a coding agent working from the released artifacts sized the op-amp cores of a chopper instrumentation amplifier on an open 130nm kit, locating four hand-entry defects and a missing common-mode feedback loop that the sizing-only baseline did not repair. The database holds 68 circuits across sixteen classes, verifiable at schematic level under a tiered harness and tracked on a power/performance scoreboard, released at https://github.com/MacAnalog/spicexplorer-release.

This paper addresses the joint reduction of the peak-to-average power ratio (PAPR) and out-of-band emissions (OOBE) in affine frequency division multiplexing (AFDM) systems by selecting the pre-chirp parameter c2. While existing approaches typically optimize either PAPR or OOBE independently, the proposed method jointly considers both metrics. To this end, a weighted cost function combining PAPR and OOBE is introduced to evaluate the trade-off between the two objectives. A pre-chirp selection scheme, inspired by the selected mapping (SLM) technique, is then employed to identify the optimal c2 value from a finite set of candidates, yielding a Pareto-optimal operating point within a discrete set. Simulation results demonstrate that the proposed approach simultaneously reduces both PAPR and OOBE compared with conventional AFDM. Moreover, its performance remains close to that of methods specifically optimized for a single objective, with only about a 1 dB degradation in PAPR reduction and a 2-3 dB degradation in OOBE suppression.

Beam prediction leveraging environmental data reduces over-the-air beam training overhead. Existing frameworks, however, assume continuous access to fresh sensory data, an assumption that breaks down under sensing budget constraints or sensor failures. To make this more practical, this paper proposes a sensing-aided beam prediction framework that operates under an average sensing rate constraint. We incorporate the age of information (AoI) directly into the beam prediction pipeline as a synthetic input modality: the age of the most recently captured data is encoded and fused with visual features through a gating mechanism. This provides the predictor with explicit context information about input sensory data reliability. We formalize and examine three fixed sampling policies, accumulated, uniform, and randomized, under the average sensing budget. We further develop a knowledge distillation (KD) framework that operates as a robustness regularizer rather than a pure model compression method. In particular, the high-capacity teacher is trained unconstrained on fully sampled data, and its representational knowledge is transferred to a compact student deployed under the sensing budget. We conduct numerical experiments on the DeepSense 6G data set. The results show that AoI fusion nearly doubles top-1 accuracy at strict sensing budgets, and age-aware models achieve near-optimal top-3 accuracy with only 20% of the data. Furthermore, we find that the teacher training regime is a more consequential design choice than the distillation loss function.

The following paper addresses how much pilot training is needed when a digital twin (DT) of the wireless radio channel is available to aid a wireless communication system with a channel estimation task. The DT of a wireless channel is widely expected to reduce the pilot overhead of channel estimation, following the informal rule that “the more accurate the twin, the fewer pilots are needed.” This trade-off, however, has only ever been demonstrated empirically and never quantified. We close this gap by treating the DT as a complementary measurement of the channel that the receiver fuses with its pilot observations in the physical world. Consequently, fusing the physical and digital worlds through the best linear unbiased estimator, we derive a DT-aided Cramér-Rao bound, and from it a pilot-equivalence law that converts DT fidelity into an equivalent number of training symbols. For a biased twin unknown to the estimator, we obtain the exact mismatch threshold beyond which trusting the DT is worse than ignoring it. We quantify how much training is needed with the DT to attain a desired mean square error on channel estimation. Particular cases are discussed to tell when training in the physical world can be completely bypassed. We finally translate these results into a block-fading achievable rate whose optimal training length is the unique root of a single equation, and identify the DT fidelity above which pilot training can be dispensed with altogether. Extensive numerical results corroborate closed-form expression and reveal that the value of a DT is largest at finite signal-to-noise ratio and vanishes in both the low- and high-SNR limits.

This paper studies constrained spacecraft attitude tracking on the Riemannian configuration manifold $\mathrm{SO}(3)$ in the presence of multiple attitude pointing constraints and matched external disturbances. To address this, an attitude potential function is proposed intrinsically on $\mathrm{SO}(3)$, and its key properties are established using intrinsic geometric analysis. Under mild conditions, the potential function is shown to admit a unique nondegenerate minimum at the desired attitude over the admissible subset of $\mathrm{SO}(3)$, defined by excluding the forbidden attitude regions as well as a measure-zero set, thereby ensuring a well-posed constrained attitude tracking problem. A Riemannian Hessian analysis shows that the Hessian of the potential function is locally uniform positive definite in an open neighborhood of the desired attitude, thereby establishing local strong convexity. A nonsingular fixed-time geometric sliding manifold is proposed using the Riemannian gradient of the potential function, leading to a geometric fixed-time sliding-mode-based constrained attitude control law. It is shown that, for every initial attitude in the admissible subset, the closed-loop state trajectory evolves on $\mathrm{SO}(3)\times\mathbb{R}^3$, with the attitude remaining in the admissible subset throughout the maneuver, while the state converges to a sufficiently small compact neighborhood of the desired equilibrium in a prescribed fixed time. Numerical simulations validate the proposed control approach and illustrate the theoretical results.

A long-standing open problem in robot manipulator control is whether global regulation can be achieved by classical PID control. This paper provides an answer to this question for classical PID controllers with triple parameters (k_p,k_i,k_d) in R^3. We find and prove that for one-degree-of-freedom manipulators, the classical PID control guarantees global stability and asymptotic regulation under standard structural assumptions, and further derive explicit quantitative design conditions for the PID gains. However, for multi-degree-of-freedom cases, we can construct a robot manipulator satisfying the same structural assumptions for which no choice of PID gains (k_p,k_i,k_d) can achieve global asymptotic regulation. These results provide a fundamental understanding of the abovementioned open problem, revealing both the fundamental capability and intrinsic limitation of the classical PID control for robot manipulator dynamics.

When the visual encoder and the language decoder of a vision-language model (VLM) run on different compute nodes, the intermediate visual-token embeddings become a communicated payload rather than an internal activation. We call such machine-consumed intermediate tensors AI traffic and ask how far they can be compressed with a standardized, training-free codec. We insert ISO/IEC 15938-17 Neural Network Coding (NNC) round trips on the complete visual interface of a Qwen3-VL-8B-Instruct video question answering pipeline, comprising the main visual-token representation and the DeepStack feature streams, while leaving weights, prompts, and generation untouched, and sweep the quantization parameter (QP) over a wide rate range. Closed-ended Video-MME accuracy remains close to the uncompressed reference up to a 98% reduction of the transmitted BF16 tensor and only then collapses; open-ended MLVU generation shows the same plateau-and-collapse profile under an LLM judge. This robustness is not due to near-lossless reconstruction: the decoded tensor is heavily discretized, carries substantial row-wise relative L2 error, and has a visibly steeper singular-value decay than its source. Downstream reasoning therefore depends on coarse structure and relative geometry rather than exact floating-point values, which argues for rate-task rather than rate-distortion optimization of AI traffic codecs.

This work introduces low-complexity, multiplierless approximations for the 32-point discrete Fourier transform. The proposed methods are obtained by minimizing the Frobenius error compared against the DFT matrix over a set of trivial multipliers. A row-wise, symmetry-constrained parameterization is employed to reduce the search space size, rendering the task computationally tractable. The resulting approximations could outperform the reference method in the literature according to energy-based error measurements. A sparse matrix factorization is provided for efficient computation; the arithmetic costs are 152 real additions and 34 bit-shifts only.

In this paper, a lower bound on the maximum ambiguity function (AF) sidelobes of a set of unimodular sequences is formulated for the desired low-ambiguity-zone (LAZ). Our main idea is to introduce a set of mismatched filters associated to a set of unimodular sequences and two weight vectors for the delay and Doppler shifts, respectively. The length of mismatched filter maybe different to the length of unimodular sequence. The proposed lower bound on the maximum AF sidelobes for the desired LAZ can be treated as an extension of Tan-Arlery-Rabaste-Lehmann-Ovarlez lower bound, published in 2020, which dealt with the conventional correlation of sequences.

One of the key challenges of future wireless communication systems is ensuring reliability in high-speed mobile scenarios, where accurate recovery of channel state information (CSI) is essential. Many recent studies have concluded that orthogonal time-frequency space (OTFS) modulation is a promising technology for addressing this challenge. Additionally, machine learning (ML)-based methods have the potential to improve channel estimation performance by leveraging ambient information more effectively than classical estimation techniques. This paper particularly addresses channel estimation for OTFS by employing a compressive sensing (CS)-based sparse Bayesian generative model (SBGM), namely the recently introduced compressive sensing Gaussian mixture model (CSGMM). We show that our proposed approach yields significant improvement in normalized mean squared error (NMSE) over the next-best-performing baseline. We additionally provide insights into the theoretical potential of the model to optimally approximate complex channel distributions with arbitrary precision within the Doppler-delay (DD) domain. To summarize, this work establishes the OTFS-CSGMM framework as a promising solution for high mobility wireless channel estimation.

Satellites are emerging as promising platforms to extend generative artificial intelligence (AI) services to remote areas lacking terrestrial infrastructure. However, deploying space generative AI is fundamentally constrained by the limited, time-varying onboard energy supplied by solar energy harvesting (EH). This paper presents a framework for solar-powered space generative AI in which a satellite receives a user prompt, executes a diffusion-based image-generation model, and downlinks the compressed result within a strict time window. We identify the fundamental computation–communication (C$^2$) trade-offs governed by the shared harvested-energy budgets. Specifically, increasing the number of generation steps improves intrinsic image quality but depletes energy and time available for downlink transmission, whereas prioritizing communication guarantees reliable delivery but sacrifices semantic quality. To balance these trade-offs and maximize end-to-end (E2E) generative performance, we exploit the predictable solar-EH dynamics induced by deterministic orbital motion and develop a joint C$^2$ resource-optimization framework using a tractable two-step approach. First, we characterize the maximum downlink throughput for a fixed generation depth under continuous solar EH. This establishes a separation principle that decouples waiting-time selection from optimal transmit-power control. Next, we formulate a joint C$^2$ utility-maximization problem and derive a closed-form, low-complexity step-selection policy in the dominant constant-power regime. Extensive experiments under realistic orbital dynamics demonstrate that the proposed policy dynamically balances generation quality and transmission reliability. This yields significant E2E performance gains over static computation- and communication-centric baselines across diverse solar-EH states.

In Model Predictive Control (MPC), cost-function weights shape closed-loop behavior, yet changing conditions often make fixed parametrizations suboptimal and motivate context-dependent online adaptation. Learning such policies is difficult because behavior depends implicitly on numerical MPC solutions, producing nonlinear, potentially nonsmooth, long-horizon dependencies on policy parameters. This creates a bias-variance tradeoff: Reinforcement Learning (RL) optimizes realized closed-loop return from environment samples but is sample-inefficient, whereas Gradient-Based Policy Learning (GB-PL) uses low-variance solver gradients from differentiable MPC to optimize surrogate losses on predicted trajectories but can be biased under model mismatch. We propose Solver-Gradient Guided Reinforcement Learning (SG-RL), a solver-sensitivity augmentation for RL-based online MPC cost-weight adaptation. SG-RL keeps sampled closed-loop return as the objective and uses bounded solver-derived gradients as auxiliary guidance to improve stability and sample efficiency. We instantiate SG-RL in Proximal Policy Optimization (PPO) with four modular algorithms that inject solver-gradient guidance into actor-update scaling, policy loss, advantage estimation, and value-function learning. On two full-scale autonomous racing platforms with intentional model mismatch, SG-RL reaches PPO's best closed-loop return with up to 70.6% fewer samples, outperforms GB-PL baselines by at least 54% in closed-loop return, and generalizes zero-shot to unseen environments.

Compact snapshot hyperspectral cameras provide rich instantaneous spectral measurements for ground-level machine vision, but at lower spatial resolution than standard RGB cameras. RGB-guided hyperspectral super-resolution (HSR) addresses this limitation by transferring spatial detail from a high-resolution RGB guide to a low-resolution hyperspectral image (HSI). These dual-camera systems are typically in a horizontal rig geometry, requiring cross-camera image alignment due to different fields of view. However, residual misregistration can inject spurious high-frequency details. Existing learned unaligned-fusion methods are usually trained for a fixed spectral support and spatial scale factors and can be computationally demanding, limiting their flexibility across sensors. We propose a lightweight and interpretable RGB-guided HSR framework combining cross-modal flow alignment with model-based Gram-Schmidt orthogonalization fusion. The method first warps the RGB guide onto the HSI grid, then estimates an energy-based confidence weight map by measuring local alignment reliability. This map is then used both in a weighted least-squares spectral regression and in a gated fusion between the super-resolved estimate and an HSI-preserving estimate. Unlike existing learned methods, the proposed framework has a low computational footprint and supports VIS-NIR spectral supports and scale factors without retraining. Experiments on the Real benchmark show that the proposed method improves reconstruction accuracy over learned fusion baselines while remaining substantially faster. On a 34-frame sequence acquired with our real RGB-HSI dual-camera setup, a reduced-resolution quantitative evaluation validates the method under genuine cross-sensor radiometric, noise, and geometric differences, while native-resolution qualitative results demonstrate deployment on the full 51-band VIS-NIR acquisition.

Resolving complex fiber geometries in brain white matter requires high-resolution diffusion MRI at the cost of long acquisition times. This leads many clinical protocols to opt for low-resolution scans, making downstream microstructure estimation and tractography challenging. Implicit neural representations (INRs) can model the diffusion signal continuously, enabling native single-subject super-resolution by querying the network at arbitrary spatial coordinates, yet existing methods often suffer from long training times and lack a mechanism to incorporate anatomical priors to regularize super-resolution by constraining the space of plausible reconstructions. To address these limitations, we propose a novel transfer-learning framework that pre-trains an INR on a high-resolution template and then adapts it to subject-specific scans via registration and fine-tuning. For $4\times$ through-plane super-resolution from 5 mm to 1.25 mm on Human Connectome Project (HCP) data, our method reduces NRMSE by 36-49% and increases FSIM by 24-43% over a recent baseline with $6\times$ faster training, outperforming competing INR-based methods across both image quality and domain-specific metrics. Code is available on the project page at https://abdulkaderghandoura.github.io/research/msc-thesis/ .

Open-fit hearing aids have attracted growing attention due to their superior wearing comfort. However, the open-fit design inevitably causes acoustic leakage into the ear canal, degrading the performance of existing binaural speech enhancement (BSE). To this end, we propose ABSE-NET, an active BSE framework integrating active noise control (ANC) with BSE to jointly enhance target speech and suppress acoustic leakage. The ABSE-NET pipeline cascades a binaural MVDR (BMVDR) with a lightweight neural network (LNN). The former achieves a coarse BSE, whereas the latter simultaneously cancels acoustic leakage and compensates for BMVDR-induced distortion. The LNN uses an encoder-decoder with a feature fusion module, which includes frequency-time dependency learning and convolutional attention blocks. Unlike traditional BSE+ANC solutions via adaptive filtering, ABSE-NET needs no in-ear microphone in practical deployment. Experiments validate its superiority over state-of-the-art methods. Code repository: https://github.com/Bream101/ABSE-NET.

Pacific atoll islets are often described as stable in global-scale studies, typically based on long-term shoreline proxies such as vegetation line or morphometrics like planform surface area. While informative, these approaches can obscure short-term, localized coastal dynamics -including changes in island shape and position -that are critical for ecosystem function, cultural practices, and coastal infrastructure resilience. This study presents a transferable, automated approach to shoreline monitoring using very high-resolution Pléiades imagery and a XGBoost classifier. The method integrates spectral indices and textural features to delineate the outer limit of emerged land, including vegetated areas, beaches, man-made surfaces, and beach rock. This shoreline definition supports finescale, spatially explicit monitoring of reef island dynamics, even in morphologically complex environments. Developed and tested on multiple atolls in French Polynesia (Tetiaroa, Tikehau, Hao, and Puka Puka), the model achieves high accuracy (mean Intersection over Union $\approx$ 0.99; Mean Absolute Positional Error $\approx$ 1.28 m) and demonstrates strong performance on both training and held-out sites, validating its spatial transferability. The extracted shorelines reveal subtle but significant island-scale changes in extent, configuration, and spatial position that remain undetected by conventional shoreline proxies and surface metrics. By enabling highprecision, scalable shoreline monitoring, this method provides a more nuanced understanding of atoll change processes. It supports Pacific efforts to move beyond narratives of passive loss toward frameworks of resilience and adaptation, while providing spatial tools tailored to low-lying island realities.

Combining learned policies with model predictive control can leverage learned task priors while retaining online adaptation to new objectives and constraints, but performance degrades when the policy is out of distribution. In policy-guided model predictive path integral (MPPI) control, a policy-centered warm-start approach centers the sampling distribution on the policy output. When the prior is mismatched, centering the sampling distribution on the policy output restricts exploration around an unsuitable solution and prevents recovery toward the task optimum. We propose Proximal Prior Injection (ProxPI), which retains nominal-centered MPPI sampling and incorporates the policy through a soft proximity cost. This matches the in-distribution performance of existing prior-injection schemes while enabling the optimizer to escape an inaccurate policy and recover vanilla MPPI-level performance. We theoretically show that re-centering on the prior discards the optimizer's correction at every update, whereas nominal-centered sampling retains it and converges to a solution set by both the task cost and the prior, and that this failure is not removed by a larger rollout budget. Simulations and real-robot experiments demonstrate robust performance under both in-distribution and out-of-distribution tasks.