Papers

Accurate prediction does not establish that a world model has recovered a physical law: distinct dynamics can generate identical records under the same observation protocol. We formulate law recovery on a fixed physical domain under an explicit catalog of experiments, sensor uncertainty, and an acquisition budget. A rate–distortion converse separates the information needed to describe a law from the information the apparatus can reveal. Its constructive counterpart gives a finite response codebook and an explicit decoding budget. On compact world classes, uniform recovery is possible exactly when every pair of different laws is experimentally distinguishable; equivalently, the apparatus can recover all the entropy of every finite law source. An inverse response modulus quantifies stability. For Lipschitz fields on a $d$-dimensional state–action domain, noisy full-state readouts after resets require minimax budget $\Theta(\varepsilon^{-(d+4)/2})$ for squared law error $\varepsilon$, compared with $\Theta(\varepsilon^{-(d+2)/2})$ for direct field observations. Exact crossing-time symmetries establish the lower bound under adaptive experiment selection and arbitrary durations with constant inputs. Reproducible synthetic cases illustrate the separate roles of intervention, calibration, and repeated measurement. Together, the results identify which evidence supports a claim of physical-law recovery and the cost of acquiring it.

Image restoration is inherently challenging due to the diverse and highly input-dependent nature of real-world degradations. While recent architectures like Transformers and state-space models have advanced the field, they predominantly rely on static, globally shared parameters, which struggle to fully accommodate instance-specific degradation patterns. Test-Time Training (TTT) offers a promising paradigm for generating data-dependent operators, yet its standard self-supervised inner loop lacks the explicit guidance required to transition degraded features toward clean structures. To address this, we propose TTTIR, a novel framework that reformulates image restoration as an instance-specific state evolution process. Specifically, we design Progressive State Sequence Generation (PSSG) to construct complementary spatial-frequency target states (defining what to recover), and State Transition Evolution (STE) to adapt lightweight transition operators via a restoration-oriented TTT inner loop (determining how the features should evolve). Extensive experiments demonstrate that TTTIR consistently outperforms state-of-the-art models across multiple image restoration benchmarks, achieving dynamic instance-specific recovery with favorable computational scalability. The code is available at https://github.com/Elysiaaaaaaaa/TTTIR.git.

Training spike detectors on real recordings is challenging because algorithmically generated labels can be noisy and incomplete. We propose VanillaSort, combining multichannel detection with spatially augmented, template-guided clustering. VanillaDet uses visibility-aware masking, truncated Gaussian targets and a temporally tolerant positive-bag loss, followed by conditional event-SNR gating. VanillaCluster combines HuiduRep embeddings with relative-amplitude features for Gaussian mixture clustering and refines assignments using cross-fitted waveform templates built from selected core events. VanillaDet improves detection accuracy over SimSort by two and three percentage points on the static and drift subsets of Hybrid Janelia, respectively. The complete pipeline also improves sorting performance over the corresponding HuiduRep baselines. These results support learning from imperfect real-data labels and incorporating waveform consistency into neuronal assignment.

Automated segmentation of CT images has become increasingly important to enhance the reliability of simulations through the generation of high fidelity numerical models. This study addresses the challenging task of semi-automatically tracking textile reinforcements in fan blade dry preforms using X-ray CT images captured at coarse resolutions (i.e., above 140 $\mu$m). Our approach offers a scalable, slice-based analysis conducted on planes orthogonal to the main yarn directions, applied to a large-scale real industrial component. This enables accurate identification and tracking of yarn paths while requiring minimal training. The method models three key yarn properties statistically: their typical cross-section shape, their continuity and movement in the 3D space, and their spatial relative arrangement with respect to neighboring yarns. These statistical properties are integrated into a tracking framework via a variational formulation that optimizes all yarn center positions in successive cross-section planes. The method tracks more than 3,000 warp yarns across 1,500 slices and achieves a tracking success rate above 90%. Overall, this work demonstrates a promising approach toward large-scale, automated textile reinforcement annotation, paving the way for more efficient material characterization in complex composite structures.

Integrated sensing and communications (ISAC) is a cornerstone of sixth-generation (6G) wireless networks: a single waveform, aperture, and hardware platform simultaneously conveys information and senses the physical environment. Its literature, however, is spread across radar signal processing, estimation and information theory, and wireless communications, which makes it difficult for a newcomer to assemble the full mathematical picture. This tutorial fills that gap. Starting from complex-baseband signal models, we build the required foundations step by step, with self-contained derivations. We develop the sensing toolkit (matched filter, ambiguity function, maximum-likelihood estimation, Fisher information, the Cramér-Rao bound (CRB), and Neyman-Pearson detection) and the communication toolkit (Shannon and MIMO capacity, water-filling, and multiuser precoding), and then unify them into the fundamental limits of ISAC: the CRB-rate region, the capacity-distortion function, and the deterministic-random tradeoff. On these foundations we treat waveform design (OFDM radar with two-dimensional FFT processing, OTFS, and jointly optimized waveforms), transmit beamforming as explicit optimization, including semidefinite relaxation, and receiver-side estimation and detection. We then survey the architectures that scale ISAC to the network level (millimeter-wave and terahertz operation, reconfigurable intelligent surfaces, and cell-free networks), together with applications, standardization, and security. A worked MIMO-OFDM design example with concrete numerology ties the mathematics together. Throughout, notation is unified and tabulated, key results are derived rather than merely cited, and seminal contributions are placed in context, so that the reader finishes with both the mathematical fluency and the literature map required to begin research in ISAC.

An orthogonal affine-precoded superimposed training sequence (AP-STS)-based framework is conceived for cyclic prefix (CP)-assisted multiple-input multiple-output (MIMO) direct-current-biased orthogonal time frequency space (DCOOTFS) visible light communication (VLC) links using arbitrary transmit-receive pulse shaping for transmission over doubly selective channels. For each light-emitting diode (LED), the pilot and data matrices are jointly affine-precoded and overlaid in the delay-Doppler (DD)-domain. Then, a unified end-to-end DD-domain input-output relationship is derived. At each photodiode (PD), orthogonal precoders are utilized to separate the pilot and data components, thereby suppressing mutual interference. Building on this model, an expectation-maximization (EM)-driven DD-domain pilot-aided Bayesian learning (DD-PBL) scheme is developed to estimate the channel state information (CSI). A DD-domain data-aided Bayesian learning (DD-DBL) procedure is then proposed for jointly refining the CSI and detecting data by exploiting the detected symbols as virtual pilots in the spirit of decision-directed channel estimation. The linear minimum mean square error (LMMSE) detector harnessed explicitly accounts for CSI uncertainty due to realistic estimation errors. In addition, Bayesian Cramer-Rao lower bounds (BCRLBs) are derived for the MIMO DCO-OTFS VLC setting considered. Numerical results confirm improved normalized mean-square-error (NMSE), reduced pilot overhead, and mitigated symbol error-rate (SER) relative to recent benchmarks.

Coupling-matrix synthesis of cross-coupled resonator filters is difficult when the desired topology is noncanonical. Automatic differentiation removes the need for problem-specific sensitivity expressions, but does not by itself overcome the nonconvex optimization landscape. This work develops a staged differentiable synthesis framework and identifies the importance of its initial objective through a controlled comparison that varies only the objective of the first optimization phase. For tenth- and sixteenth-order benchmarks, directly matching a frequency-sampled response under the prescribed topology reaches the target from $0$ of $24$ and $0$ of $12$ random starts, respectively. Replacing the first-stage objective with characteristic-polynomial matching increases the success rate to $18$ of $24$ and $12$ of $12$ (exact paired $p=7.6\times10^{-6}$ and $4.9\times10^{-4}$). The observed difference is not explained by local conditioning and is consistent with saturation of the bounded response residual far from the solution. A differentiable front end converts symmetric multiband specifications into target polynomials and, when applied end to end to a fabricated dual-band filter specification, finds a realization with one fewer cross-coupling than the published design. Finally, differentiating through Monte Carlo tolerance simulations enables yield-driven design centering, increasing the model-predicted yield from $50.9\%$ to $67.0\pm0.5\%$ under an additive coupling-error model, an improvement of $16.1$ percentage points.

This paper develops a power control framework driven by delayed signal-to-interference-plus-noise ratio (SINR) feedback for orthogonal time frequency space (OTFS) unmanned aerial vehicle (UAV) communications operating under high mobility, with reliability and fairness as the primary design targets.A base station with a uniform linear array serves several UAVs on a common OTFS frame, while the path delays, Doppler shifts, and inter-UAV interference are determined by the three-dimensional propagation geometry and the base-station array response rather than by a postulated coupling model. In place of instantaneous channel state information, the proposed controller refreshes the transmit-power vector from delayed SINR measurements alone, which matches the practical limitations of fast-fading aerial links. A prediction-smoothing-projection rule mixes a reliability share, a fairness share and a spectral-efficiency share, each normalized separately, so that the utility weights control the closed loop directly. Simulations show that the effective SINR of OTFS changes 37.8% less per frame than that of orthogonal frequency division multiplexing (OFDM) at 70 m/s under the same numerology, and that the resulting controller raises the average minimum SINR by 1.21 dB over equal power allocation at 40 m/s while lifting Jain's fairness index from 0.833 to 0.970, at a sum-rate cost of 24.6% that the utility weights keep under the designer's control. The margin of OTFS over OFDM within the same controller widens from 0.18 dB at 10 m/s to 0.81 dB at 90 m/s, showing that the waveform contribution to the usefulness of stale SINR feedback increases with mobility.

This paper investigates a reconfigurable intelligent surface (RIS)-enabled secure integrated sensing and communication (ISAC) system, where the direct links between the base station (BS) and users are blocked and a mobile eavesdropper is treated as both a potential wiretapper and a sensing target. The time-varying eavesdropper state leads to dynamically changing wiretap channels, which may degrade the effectiveness of conventional transmission designs based on outdated eavesdropper information. To address this issue, the BS tracks the eavesdropper over consecutive time slots and exploits the predicted state information to adapt secure transmission. An optimization problem is formulated to maximize the sum secrecy rate by jointly designing the BS beamforming, artificial noise, and the RIS reflection coefficients for secure transmission and echo sensing. Meanwhile, an error-covariance constraint is imposed to guarantee the required tracking accuracy. To solve the nonconvex and temporally coupled problem, we propose an optimization algorithm integrating the extended Kalman filter (EKF) and block coordinate optimization framework, in which the eavesdropper state is recursively predicted and updated, while the joint design problem is decomposed into four tractable subproblems. Simulation results demonstrate that compared with benchmark schemes, the proposed algorithm can better guarantee the secrecy rate and effectively track the moving trajectory of the eavesdropper.

We present TAPe+ML v3, a compact computer vision system based on TAPe (Theory of Active Perception), a structured representation that encodes relations among perceptual elements before recognition. Instead of operating directly on pixel tensors, the system uses a shared TAPe representation and a modular recognition architecture for image classification, object detection, and instance segmentation. TAPe+ML v3 combines background and contour processing, local object localization, prototype-based classification, and a coordinator for specialized submodels. Across the reported experiments, it uses fewer than 100,000 parameters. On COCO object detection, it obtains 84.7 mAP50 and 65.3 mAP50-95. On COCO instance segmentation, it obtains 80.7 mask mAP50 and 58.4 mask mAP50-95. In classification experiments, it reaches 92 percent validation accuracy on Imagenette under an identical-training comparison with a raw-pixel baseline, and 89.9 percent Top-1 accuracy on ImageNet-Real. We also evaluate compactness in video scene detection and adaptation under distribution shift in an industrial pilot. The results suggest that shifting part of the modeling burden from network parameters to a structured input representation can support compact multi-task vision systems with reduced data, memory, and compute requirements.

Background and Objectives: Spatial mapping retains the spatial distribution of radiomic features, but computational cost and fragmented software limit its use. We developed Flash-Radiomics with scalar extraction and spatial mapping, a central processing unit (CPU) backend, a hybrid Compute Unified Device Architecture (CUDA) backend, consistent feature names, and Hierarchical Data Format version 5 (HDF5) storage. Methods: We evaluated Image Biomarker Standardisation Initiative (IBSI) compliance, CPU-CUDA concordance, and end-to-end processing time. Compliance testing included 825 chapter 1 (IBSI-1) tests covering 165 high-consensus features and 323 chapter 2 (IBSI-2) tests with numerical references. Concordance testing included 1,148 scalar pairs and 93 spatial-map pairs. End-to-end processing time was measured five times per input volume of interest (VOI) size. Comparisons included the Medical Image Radiomics Processor (MIRP) and PyRadiomics for 102 shared scalar features and PyRadiomics for 93 shared spatial maps. Results: Both backends passed all 1,148 IBSI tests, and all paired results were concordant. At the largest scalar input, CPU required 76.343 s and hybrid CUDA 81.915 s; CPU was 4.7 times faster than MIRP and 190.7 times faster than PyRadiomics. At the largest spatial input completed by both backends, hybrid CUDA reduced processing time by 68.6% relative to CPU (79.280 versus 252.791 s). At PyRadiomics' largest completed spatial input, hybrid CUDA was 84.9 times faster. Conclusions: Flash-Radiomics unified standardized scalar extraction, spatial mapping, concordant CPU-CUDA results, and HDF5 storage. CPU processing time was similar or shorter for scalar extraction, whereas hybrid CUDA was faster for spatial mapping under the tested conditions.

In the current context of energy and climate transition, the preventive conservation of historic buildings is particularly important due to their impact on architecture and works of art. Establishing the correlation between environmental variables and the condition of artworks in situ requires comprehensive and individualized monitoring, allowing for an understanding of cause-and-effect mechanisms. To address this challenge, the EPICO method provides a systematic framework for assessing deterioration risks in palace-museums through multi-scale monitoring and correlation between environmental parameters and object condition. The aim of the proposed topic is to enhance this decision-making tool with the creation of digital twins. These digital twins being fed with three-dimensional hyperspectral and LiDAR mapping of spaces and objects.

Magnetic resonance imaging (MRI) is among the most energy-intensive medical imaging modalities. To facilitate the development of more energy-efficient MRI protocols and sequences, we developed an interpretable data-driven deep learning (DL) framework to characterize the factors driving energy and power consumption. The aim was to identify the most influential acquisition parameters and their interactions on MRI energy and power demand, and to prospectively predict energy and power consumption on a per-sequence level. Two separate DL models were trained to predict energy and power consumption from MRI acquisition parameters. Attention weights were analyzed to identify the most influential parameters and their interactions. The proposed DL models successfully captured the variability in the data (energy model: $R^2 = 0.963$, power model: $R^2 = 0.843$). Energy was primarily driven by temporal parameters, whereas power depended on more complex sequence, gradient, and RF-related interactions. These results demonstrate that energy and power consumption can be accurately predicted from MRI acquisition parameters alone. The proposed framework reveals that a small subset of parameters governs energy and power demand, providing interpretable insights to support the development of more energy-efficient scanning protocols and sequences.

Multi-organ segmentation is often challenged by partially annotated datasets and domain shifts across different imaging sources. To address these limitations, we propose a two-stage learning framework that efficiently leverages partial supervision. In the first stage, the model learns from available annotations to produce accurate segmentations of annotated organs, establishing robust feature representations. In the second stage, we introduce learnable organ prototypes and a Sinkhorn-triplet loss to enforce organ-wise feature consistency across datasets. This encourages latent embeddings of the same organ to remain close, while increasing separation between different organs, even when annotations are missing. Our approach achieves performance comparable to state-of-the-art methods on the BTCV dataset, while remaining computationally efficient. By explicitly aligning feature distributions rather than relying solely on pseudo-labels, the framework effectively mitigates domain shift, making it particularly suitable for medical image segmentation tasks with limited annotation resources.

This paper proposes a deterministic bilevel optimization framework for the coordinated operation of Virtual Power Plants (VPPs) embedded in an active distribution network. The Distribution System Operator (DSO) acts as the upper-level leader, minimizing a weighted combination of expenditure, active losses and voltage deviation subject to nonlinear AC power flow constraints, while each VPP operates as a lower-level follower that maximizes its profit under the uniform price signal issued by the DSO. Unlike most existing formulations, which linearize the lower-level subproblem to obtain a Mixed-Integer Linear Program (MILP), the proposed model retains the full AC Optimal Power Flow (AC-OPF) equations, producing a bilevel Mixed-Integer Nonlinear Program (MINLP). The lower-level problem is replaced by its Karush-Kuhn-Tucker (KKT) optimality conditions and the Strong Duality Theorem, yielding a single-level Mathematical Program with Equilibrium Constraints (MPEC). Complementarity conditions are then linearized via the Fortuny-Amat big-M transformation. The framework is validated on the IEEE 33-bus feeder over a 24-hour horizon, with four distributed resources aggregated into a single VPP. Compared with individual dispatch against a regulated time-of-use tariff, aggregation reduces active losses by 10.5 %, the accumulated voltage deviation by 18.3 %, and the bus-hours below 0.95 p.u. from 132 to 29. These gains cost 0.31 % in social cost and 0.26 % in DSO expenditure, while the rent of the aggregator is preserved.

Recent advances in diagnostic techniques have enabled the accurate quantification of early-stage viral loads. A key problem of interest is translating these measurements into predictive clinical insights, such as forecasting a patient's onset of infectiousness and peak infection severity. In this work, we address this problem using the Target Cell Limited (TCL) model. Because the host's internal biological states are practically unobservable, predicting the viral trajectory from a single noisy viral load measurement is highly nontrivial. To overcome this, we introduce a novel coordinate transformation that converts the nonlinear viral dynamics into a monotone system. By leveraging monotone systems theory and taking into account invariant subspaces of the transformed system, we derive explicit analytical formulae that establish a strict upper bound on the peak viral load and a guaranteed lower bound on the time to infectiousness using a single early viral observation.

This paper considers feedback optimization for optimal steady-state operation of nonlinear discrete-time systems when the steady-state input-output map and its sensitivity are expensive to compute. We propose a hybrid extension of sequential feedback optimization (SFO) that augments the model-based SFO gradient with correction terms through a convex combination with summable diminishing weights. Two variants are studied: one based on recursive least-squares (RLS) sensitivity estimation, and another on extremum seeking control (ESC) gradient estimation. Under contractivity and smoothness assumptions, we show that both hybrid schemes preserve the convergence of SFO to a neighborhood of the optimal steady state. The proposed methods are validated through a wind farm power maximization problem using a medium-fidelity model, demonstrating improved early transient performance compared to pure SFO.

Cloud datacenters must increasingly modulate power in response to time-varying grid and infrastructure constraints. We study this problem as finite-horizon control of a networked hybrid dynamical system, where datacenter power and service capacity depend on interactions between servers, workers, and hosted services. Power can be reduced through fast continuous worker throttling, which acts immediately but degrades service capacity, and slow discrete server transitions, which provide deeper savings but evolve with delay. Coordinating these mechanisms yields a high-dimensional mixed-integer dynamic optimization problem which is intractable to solve at scale. We propose a hierarchical receding-horizon controller that separates slow server reconfiguration from fast throttling recourse. For fixed server states, the throttling layer reduces to a service-level convex recourse problem solved efficiently by dual decomposition. The server layer then uses a ranked-prefix search that evaluates candidate configurations through the recourse value over the planning horizon. Experiments on realistic instances with over 15,000 servers, 200,000 workers, and 1,400 services show that the controller satisfies time-varying power caps with no violations and substantially lower service impact than fast-only or slow-only baselines. Our method offers significant speedups compared to standard optimization solvers, computing near-optimal plans within a 20 second real-time control interval.

The increasing adoption of electric vehicles (EVs) is expected to place significant additional demand on residential distribution networks, creating a need for realistic charging datasets for planning and simulation studies. However, access to real-world EV charging data is often limited due to privacy constraints, incomplete records, and restricted availability. This paper proposes a conditional variational autoencoder (CVAE) for the generation of synthetic EV charging sessions from real transaction-level charging data. The model is trained on engineered session features describing plug-in duration, charging duration, delivered energy, charging delay, and cyclical time-of-week, while conditioning on day of week and managed charging status. A Gaussian negative log-likelihood (NLL) reconstruction loss is employed to model feature-wise heteroscedastic uncertainty, and the latent space is regularised using a Kullback-Leibler (KL) divergence term. The statistical fidelity of the generated data is evaluated using distributional metrics and downstream task performance through the Train-on-Synthetic-Test-on-Real (TSTR) protocol. Results demonstrate that the proposed approach produces synthetic EV charging sessions that preserve key statistical properties of the original dataset while supporting predictive modelling tasks.

This paper proposes a set-membership approach (SMA) to localize radio frequency (RF) sources observed by a collaborating fleet of Unmanned Aerial Vehicles (UAVs). Considering frequency-separable RF transmitters with intermittent and periodic emission patterns, %and unknown but bounded periods the SMA evaluates set estimates of the source locations and a set free of sources. Simulation results show that SMA outperforms a Bayesian baseline approach in terms of localization accuracy and convergence speed.

Soft robotic systems have long been theorized as ideal candidates for use in search and rescue operations; however, there have been significant barriers to entry in graduating soft robotic systems from the laboratory to the field. To address this gap in replicable, reliable soft robot systems, we present the designs for SPROUT, the Soft Pathfinding Robotic Observation Unit. The system has matured over years of interaction with professional urban search and rescue communities, with the goal of operating in dusty, wet, and isolated conditions. This manuscript contains supplementary material, including code, parts manifests, CAD assemblies, and build instructions to allow the broader robotics research community to build their own SPROUT systems. The modular hardware and ROS 2-based software stack support task-specific payloads and control functions, allowing SPROUT to be adapted for applications beyond search and rescue, including infrastructure inspection and archaeology. Here, we demonstrate SPROUT performing a variety of challenging inspection and traversal tasks in collapsed structure training sites used by first responders. The main project page is available online at https://sprout-mitll.github.io/sprout/.

Shared-control arbitration mechanisms can fail structurally when they are driven by quantities that evolve on the same automation-assisted trajectory that unsafe automation can corrupt. Under unsafe assistance, arising from faults or flawed design, the arbitration logic can adapt to the corrupted trajectory instead of resisting it. Focusing on workload regulation, this paper proposes a framework that prevents this problem by anchoring the safety constraints to an unassisted pilot trajectory. A baseline model evolving without automation assistance generates the acceptable workload envelope, while an assistance-induced deviation barrier and a closed-form mismatch bound relate actual and baseline workload evolution. The resulting control barrier function based quadratic program is always feasible and guarantees forward invariance of an augmented safe set. Simulations on an F-16 pitch-tracking problem show that the proposed method prevents workload-constraint drift under unsafe assistance.

Integrated deep reinforcement learning (DRL) and model predictive control (MPC) methods are increasingly used to control autonomous systems by combining their complementary capabilities. DRL learns control policies through interaction with the environment. MPC uses a system model to optimize control inputs while accounting for constraints. In DRL-MPC frameworks with shared control authority, both the DRL agent and the MPC controller each determine part of the control inputs. However, common learning formulations treat MPC as part of the environment and therefore do not explicitly account for MPC's contribution to control or its interaction with the DRL agent. This paper proposes a novel composite-gradient learning (CGL) method that integrates the MPC controller into the learning process by representing the DRL and MPC control inputs as a joint action and accounting for their interaction when updating the DRL agent during training. CGL is evaluated on two multi-class freeway traffic networks with different strengths of interaction between the DRL and MPC control inputs and it is compared with alternative methods that treat MPC as part of the environment or that only partially incorporate MPC into learning. The results show that CGL offers limited benefit under weak interaction, but learns higher-performing control policies than the alternative methods in a subset of training runs under strong interaction, although the average control-performance gains remain modest.

We present a framework for the modeling and analysis of geometric hybrid dynamical systems as hybrid inclusions on $C^1$-manifolds. Using tools from nonsmooth and set-valued analysis on manifolds, we derive coordinate-independent sufficient conditions for the existence of nontrivial solutions to this type of systems. We present geometric notions of uniform stability and attractivity of compact sets, and establish their equivalence to metric-based stability notions when the manifold is endowed with a Riemannian structure. We also introduce nonsmooth Lyapunov functions and a hybrid Lyapunov theorem providing sufficient conditions for uniform global asymptotic stability of compact sets. Finally, by characterizing $\omega$-limit sets of precompact solutions, we derive a hybrid invariance principle for geometric hybrid dynamical systems. The results are demonstrated through several running examples.

This paper proposes a least squares approach for the training of quadratic neural networks with regularization. The proposed methodology yields a lower bound on the solution of the training optimization problem for the case where the regularization coefficient is positive. Moreover, it yields closed-form expressions for the approximate solution and its sensitivity The lower bound is tight and the approximate solution is the optimal solution when the regularization coefficient is zero. Having a closed-form expression for the weights reduces considerably the computational time when compared with iterative numerical methods such as backpropagation that can get stuck in local minima. The proposed approach has three main contributions, namely, (i) it yields an analytical expression for the weights, (ii) an analytical expression for the sensitivity of the weights to errors in the data is also provided, (iii) it establishes a connection between the optimization to compute a lower bound and nuclear norm minimization. The proposed least squares training is successfully applied to a nonlinear system identification example where the proposed lower bound is compared with the optimal value.

This work reports surface acoustic wave (SAW) acoustic delay lines (ADLs) on an aluminum scandium nitride (AlScN) on diamond platform operating in the X band and approaching the Ku band. The large acoustic-velocity contrast between the AlScN film and the diamond substrate produces a strongly dispersive Sezawa branch that decouples the phase velocity from the group velocity. Delay lines with a 1 $\mu$m wavelength show a Sezawa passband at 9.55 GHz with a fractional bandwidth of 1.05%, a propagation loss of 0.094 dB per wavelength, a propagation-limited quality factor of 465, and a group velocity of 5979 m/s, while co-fabricated resonators give a phase velocity of 9560 m/s, a ratio of about 1.6. Scaling the wavelength to 0.5 $\mu$m moves the passband to 16.5 GHz with a fractional bandwidth of 0.7%. The platform therefore reaches an operating frequency about 1.5 times higher than AlScN on sapphire at the same lithographic pitch while preserving group delay per unit length.

Hybrid dynamical systems provide a powerful modeling framework for robotic systems, particularly in contact-rich environments. However, ensuring safety and performance in such systems remains challenging due to the intricate coupling between continuous dynamics and discrete mode transitions. In this work, we extend classical Hamilton-Jacobi (HJ) reachability analysis, a formal verification method for continuous-time nonlinear systems, to hybrid dynamical systems. Our framework characterizes safe sets for hybrid systems through a generalized value function defined over both discrete and continuous states while accounting for control constraints and model uncertainty. We additionally provide a numerical algorithm to compute this value function. Building on these safe sets, we propose two different mechanisms to integrate performance objectives. First, we introduce a hybrid least-restrictive safety filter that intervenes on both the discrete and continuous components of a nominal controller only when necessary to avoid unsafe states, thereby preserving nominal behavior whenever possible. Second, we formulate and compute hybrid backward reach-avoid tubes, enabling the simultaneous enforcement of safety and goal-reaching behavior, an extension not previously addressed within hybrid HJ reachability. This enables the synthesis of continuous and discrete control policies that guarantee both safety and task completion. We validate our framework through simulation studies and real-world experiments on a quadrupedal robot, demonstrating its effectiveness in hybrid mode planning and safety-critical applications.

The Spanish trill /r/ is canonically described as a short sequence of lingual closures, yet large-scale acoustic evidence across corpora is scarce, and automatic counters locating envelope peaks tend to conflate each closure with its release. We present a closure-based detector that locates closures gated by a quality filter and cross-checked against an independent autocorrelation-based period estimator. Applied to 3,560 well-formed (voiced, periodic) trill tokens from 356 speakers across six Spanish corpora, the detector yields a median of two closures and an inter-closure period near 36ms, matching the descriptive literature on all corpora. At the speaker level, phonotactic context is the only factor with a robust, medium effect: onset trills (word-initial and post-/n,l,s/) show more closures than intervocalic rr. We find no robust evidence of a sex effect once closures are counted directly. We report reference values and release a reproducible measurement pipeline for Spanish trills.

In embodied cyber-physical systems, active cyberattacks pose an immediate threat not just to data, but to physical integrity and human safety. While existing security approaches excel at detection, they lack the runtime mechanisms to determine whether a disruption is tolerable or if performance degradation remains within safe operational bounds. This gap leaves autonomous systems vulnerable to graceful failure paralysis, where they cannot distinguish between a safe, degraded state and a catastrophic hazard during an ongoing attack. This paper presents RobResilience, an implementation of a formal resilience framework for embodied cyber-physical systems in a Webots simulation environment, using a PR2 robot and ROS2. The framework evaluates three predicates at runtime: tolerable disruption ($\delta$), tolerable degradation ($\gamma$), and mitigation feasibility ($\mu$), over a compromised device set derived from IDS confidence scores. When resilience is lost, the framework triggers available mitigation strategies. We evaluate our implementation through eight attack scenarios that systematically cover all possible combinations of the predicate state space, varying attack targets, degradation rates, and mitigation availability. Results confirm that the runtime behaviour of the implementation is consistent with the theoretical definitions.

Collision avoidance constraints for autonomous systems are typically formulated in position or velocity space, implicitly reacting to geometric proximity. We propose an alternative paradigm based on the adversarial time-to-collision (aTTC): the minimum time in which an adversary could achieve a collision given its dynamical constraints. By defining a control barrier function (CBF) directly in the time domain, the resulting controller is inherently anticipatory. The evading agent responds not only to whether a pursuer is on a collision course, but to how quickly it could reach one. This formulation enables velocity modulation that exploits the pursuers dynamic limits as an evasive strategy, a behavior not captured by standard distance-based CBFs. Since exact aTTC computation requires integrating the full system dynamics, we employ a lightweight neural network surrogate that admits a real-time quadratic program-based control law. We validate the approach in a 2D comparative study and a 3D multi-agent pursuit-evasion scenario, where the aTTC-based CBF outperforms a higher-order distance-based baseline by more effectively buying time against superior pursuers with a significant speed advantage.