Papers

Blind Source Separation(BSS) is a fundamental problem in signal processing, aiming to separate multiple source signals from their mixtures without prior knowledge of the sources or the mixing process. Traditional approaches, such as Independent Vector Analysis (IVA) exploits statistical independence of sources. Recently, diffusion-based approaches have emerged as a promising alternative by leveraging powerful generative priors. Among them, ArrayDPS formulates BSS problem as a posterior sampling problem, and utilizes a pretrained speech diffusion model to guide the recovery of clean source signals. A key factor behind its separation capability is the multi-channel consistency (MC) objective, which enforces the estimated source signals to reconstruct the observed microphone mixtures through the estimated acoustic transfer functions. However, the number of microphones in the array is often limited, which constrains the performance of ArrayDPS. To address this issue, we propose VM-ArrayDPS, a novel method that augments the microphone array with virtual microphones with higher-SNR, these microphones can offer extra MC constraints to enhance the separation performance. Experimental results demonstrate that VM-ArrayDPS significantly outperforms ArrayDPS on both 2-speaker and 3-speaker datasets, showcasing the effectiveness of virtual microphone augmentation in improving BSS performance. We also did ablation studies to show the influence of the number of virtual microphones and weight of the MC objective brought by virtual microphones.

Speech Language Model (SLM) performance often degrades on dialects due to data scarcity. Conventional text-to-speech (TTS) augmentation struggles to cover diverse dialects as it requires a certain amount of real dialect speech. We propose synthesizing pseudo-dialect speech by converting LLM-generated dialect text via a standard-language TTS model, requiring zero real dialect speech. Additionally, we introduce intermediate standard-text prediction during training, acting as semantic normalization for downstream tasks. We evaluate dialect understanding via dialect-to-English speech translation across Japanese, German, and Chinese dialects. Compared to synthetic standard speech baselines, pseudo-dialect augmentation improves scores for Japanese (from 25.38 to 26.24) and German (from 31.57 to 32.47). Furthermore, the intermediate standard-text prediction effectively bridges the semantic gap, boosting performance to 28.26 for Japanese and from 11.67 to 16.37 for Chinese. These results suggest that our approach scales to various languages without requiring speech resources specific to each dialect.

In music beat tracking, model-predicted activations must be decoded into a discrete, musically coherent event sequence. Direct peak picking closely follows local evidence but can retain spurious peaks or miss weak beats. Dynamic Bayesian networks (DBNs), a widely used structured post-processor, improve sequence consistency under predefined global tempo, meter, and transition constraints, but their behavior can depend strongly on these settings. We introduce CASM, a context-aware semi-Markov decoder that instead conditions its temporal constraint on local activation evidence. CASM also accounts for ambiguity among competing periodic interpretations, including half- and double-tempo alternatives. Deterministic safeguards prevent implausible outputs and preserve beat-downbeat consistency. Applied to fixed activations from three neural beat trackers (BeatThis, MSCNN, and TCN), CASM improves temporal continuity while preserving event-level F1 across the GTZAN and SMC datasets, without backbone retraining or dataset-specific retuning. Further analysis shows that CASM is less sensitive than the DBN baseline to the composition of the calibration data.

Safe navigation in dynamic environments requires robots to plan under obstacle predictions whose errors are uncertain, non-stationary, and can induce rare but safety-critical failures. Existing control-barrier-function safety filters can reject immediately unsafe controls, but they provide little guidance on when the current finite-horizon planning mode itself is becoming unsafe as prediction uncertainty evolves. We propose Conformal Event-Triggered Risk-Certified Replanning (CERT-Replan), a framework that uses calibrated barrier risk as an early-warning signal for replanning. CERT-Replan calibrates horizon-indexed obstacle-prediction residuals online and uses the resulting uncertainty radii to evaluate dynamic-obstacle safety margins. A one-step safety filter protects the next applied control, while a horizon-level risk monitor evaluates the upper-tail CVaR of predicted barrier-violation losses along the current MPC rollout. When this risk exceeds an allocated budget, CERT-Replan rejects the current planning mode and selects a lower-risk alternative, such as a different speed profile, corridor, or homotopy class, rather than repeatedly correcting the same nominal plan. In a non-stationary benchmark, CERT-Replan achieves an \(83.3\%\) collision reduction relative to the safety-filter-only baseline \textcolor{black}{and a \(77.8\%\) reduction relative to simple replanning triggers}, while reducing average safety-filter intervention by \(32.4\%\). \textcolor{black}{With Trajectron++, CERT-Replan achieves \(96\%\) collision-free operation. Hardware experiments and onboard runtime profiling demonstrate computational feasibility.}

This paper presents an N:1 resonant switched-capacitor (ReSC) ladder converter of an output voltage that can be regulated continuously below the native N:1 resonant ratio while maintaining high efficiency. The topology can be generalized to any N-to-1 dc-dc conversion application while requiring only a single inductor. Efficient wide-range voltage regulation is realized by operating the bottom stack of the ReSC switches as diodes to maintain their switching always in phase with the inductor current, and hence, circumvent circulating currents that increase the inductor RMS current and ohmic losses under frequency control. A theoretical model has been developed to predict the output voltage and efficiency of the converter, with simulation results confirming its accuracy for N = 1, 2, and 4. A hardware prototype on a printed circuit board is developed to validate the performance of the proposed frequency-controlled regulation scheme. The prototype achieves a peak efficiency of 97% (94.3%) with a load of 30Ohms (resp. 6Ohms) and an efficiency >90% while generating a 9V USB-compatible voltage from a 40V-to-60V input. The measurement results match the model predictions within 0.63% accuracy.

Growing wireless traffic is increasing pressure on the congested radio-frequency spectrum. Optical wireless communication (OWC) provides a complementary solution by using the abundant unlicensed optical spectrum. However, indoor OWC networks are dynamic: users move, enter or leave the network, and subscribe to different services. Poorly coordinated resource allocation can consequently waste subcarriers, require excessive transmission power and cause frequent AP reassignments. Energy efficiency (EE), defined as the total delivered data rate divided by the total network power consumption, therefore requires the serving AP, number of allocated subcarriers, and transmission power to be jointly adapted while maintaining QoS. Optimising these in a dynamic time series, multi-service OWC environment produces a complex sequential EE optimisation problem. To address this problem, this work proposes Dual-Agent Resource Allocation using Deep Reinforcement Learning (DARA-DRL). DARA-DRL combines a branching duelling deep Q-network for association and subcarrier allocation with a conditional soft actor-critic agent for continuous power control. The agents are coupled through a common reward and a cooperative value update that evaluates each discrete allocation together with its corresponding power decision. Simulation results show that DARA-DRL remains within 5% of the optimal solution and, compared with state-of-the-art benchmarks, it improves EE by 28.8% and QoS satisfaction by 10.5%, while reducing online decision time by 14.5%. Results demonstrate that agent specialisation simplifies mixed-action learning, and cooperation outperforms independently trained agents.

Recent advances in mean-field games and its multi-population variants enable large-scale heterogeneous multi-agent systems to be modeled through representative agents and their associated mean-field distributions. However, existing approaches do not explicitly account for uncertainty in the behavior of other populations. To this end, we introduce a new paradigm: risk-averse multi-population mean-field games, where each population optimizes a worst-case expected reward over dynamically feasible ambiguity sets of mean-field flows of a subset of the other populations. Employing an occupation-measure formulation along with tools from set-valued analysis, we establish, under mild assumptions, several theoretical properties of the multi-population game, including the geometric properties of the ambiguity sets and the existence of a novel risk-averse multi-population mean-field equilibrium. Further, we derive contractivity results of the fixed-point operator under entropy regularization and show that it can be utilized to learn the equilibrium. Finally, we propose a risk-averse fictitious-play scheme and show that exploitability decays to zero, despite the additional nonlinearity introduced by the worst-case objective. We report several numerical experiments to illustrate convergence and risk-averse behavior.

A speech synthesizer produces a detailed waveform, but a listener need not hear every detail. Strong sounds can mask weaker neighbors, creating context-dependent "blind spots" in hearing. Could neural text-to-speech (TTS) spend less computation on those details? We investigate a first step: how the placement of spectral degradation affects completed speech from Piper and Kokoro. At matched time-frequency bin-removal budgets, a simple low-energy-first policy achieves higher mean wideband PESQ than random deletion and the tested psychoacoustic masking criteria. At 50% removal in the spreading-matrix comparison, energy, masking, and random policies score 4.46, 3.60, and 1.19 on Piper, and 3.42, 2.10, and 1.22 on Kokoro. Spectrograms and masking maps expose where these perturbations fall and why a model's below-threshold regions cannot automatically be treated as inaudible. Calibration diagnostics show substantial threshold sensitivity, while a small single-listener pilot establishes no transparent removal budget. CPU profiles identify waveform decoding as the main measured kernel cost, but a tested dynamic-INT8 Kokoro decoder runs slower than FP32 on both CPUs. The results establish energy ranking as a strong oracle baseline and motivate testing perceptual allocation inside a decoder. They do not yet demonstrate saved computation: the decisions here use already synthesized audio, and quality metrics are evaluated at 16 kHz. We release scripts, results, audio examples, and a listening-study instrument.

The problem of incompressible fluid mixing is long-studied, yet many questions remain open. This paper aims to address the question “what do efficient flow fields for mixing look like, and how do they behave?” Inspired by the dynamic and geometric approach to optimal mass transport, we formulate a version of the fluid mixing problem as an optimal control problem for transport of a passive scalar, in which the dynamics are given by the continuity equation together with an incompressibility constraint. We then develop a geometric framework around this problem which parallels that of classical optimal transport: the optimal control problem induces a metric on the set of reachable states (analogous to the Wasserstein metric), and this metric carries a formal Riemannian structure when the optimal control objective is induced by an inner product. Using this structure, we decompose our problem into a series of more fundamental geometric problems and derive (formal) necessary conditions for optimality, geodesic equations, and gradient flows for mixing. Specializing the control objective to the kinetic energy recovers the incompressible Euler equation, connecting our framework to the geometric hydrodynamics of Arnold. The resulting problem appears to be ill-posed, however, suggesting that the kinetic energy is an unnatural measure of mixing effort. Specializing instead to the enstrophy, which we argue is better suited to mixing, yields the Euler-Poincaré (EPDiff) geodesic equation for the right-invariant homogeneous $\dot{H}^1$ metric on the group of volume-preserving diffeomorphisms, and we present numerical simulations of both geodesics and gradient flows in this case. Along the way, we generalize the classical Helmholtz decomposition of vector fields, rederive the Clebsch representation of incompressible flows, and develop a parallel to the Otto calculus of optimal transport.

Vision-language-action (VLA) policies trained on large datasets are capable within their training domains, yet they still fail to generalize to the variety of situations a robot meets in real-world deployment. Agentic robot systems complement the policy with a vision-language model (VLM) orchestrator that learns when to call the policy, how to instruct it, and when to use scripted skills instead. However, because the harness is built around a frozen policy that has limited language steerability, the orchestrator can avoid the policy's failures but never overcome them. The policy becomes the bottleneck of the whole system. Fine-tuning the policy can remove this bottleneck, but updating it alone decouples it from an orchestrator tuned to its old behavior. We propose Robo-COP, in which the orchestrator and policy co-evolve during deployment. Robo-COP curates skill demonstrations from its own executions, fine-tunes the policy when this data can address recurring failures, and adopts each new policy only after it improves the skills it was trained for. Across ten simulated RoboLab tasks, Robo-COP raises mean held-out success from 64.8% to 73.8% over the same harness with a frozen policy, while fine-tuning on a fixed schedule without verification reaches only 65.8%. On three real-world tasks, Robo-COP raises held-out success from 38.3% to 50.0%. Robo-COP turns deployment into a self-improving flywheel in which robots learn by doing, with each improvement in execution producing better data for the next round of learning. Videos and code are available at https://robo-cop.pages.dev/.

Electromyography-to-Speech (ETS) synthesis is typically a non-linear, chaotic dynamical system. However, no prior work has studied the chaotic behavior of ETS synthesis to date. Yet, prior works strictly rely on standard reconstruction metrics with parameter-heavy transformers that systematically over-smooth natural acoustic dynamics. To close this gap, for the first time, we propose a chaos-inspired Lyapunov-derived activation function (LyRIC) with two novel chaotic loss functions, Lyapunov Exponent Regularization and Multi-Scale Detrended Fluctuation Analysis, to explicitly capture the deterministic chaos of human phonation. In addition, we introduce a compressed novel encoder, GLAME, which synergizes global Mamba state-space modeling with localized GLARE attention. We comprehensively perform frame-level acoustic evaluation in a multilingual and multi-speaker setup using English and Mandarin datasets. The proposed system outperforms the established baseline with a 4.69x increase in objective intelligibility (STOI: 0.61 vs. 0.13) and a 2.08x improvement in spectral reconstruction (LSD: 1.08 vs. 2.25). Importantly, this improvement is achieved with 73.49% fewer parameters (14.34M vs. 54.10M), establishing a new baseline for ETS synthesis. To the best of our knowledge, this is the first work demonstrating that integrating non-linear chaotic physics into neural networks yields superior yet compact inductive biases for real-time ETS synthesis.

Robot throwing has emerged as a promising technique for improving efficiency in logistics and warehouse automation, by enlarging the workspace and speeding up the process. To significantly increase the throwing system's throughput, we develop strategies for throwing multiple objects in one swipe. Such multi-object multi-target throwing (MOMT) leverages the large degrees of freedom of anthropomorphic hands. The key is to quickly generate fast and feasible throwing motions, which involves a complex trade-off between short trajectory duration and short planning time. We solve this problem in two stages. Offline, we build a model of the feasible set by combining object's inverted flying dynamics and the robot's kinematics and dynamics. Online, we generate feasible throws through fast solution matching and filtering of object's valid detach state and robot's feasible state that can compose sequences of throws in less than 5 ms. We validate the framework on a 7-DoF manipulator equipped with a multi-fingered hand. In simulation, coordinated two-object throwing reduces execution time by up to 46% compared to independent single-object planning, and this improvement is maintained when scaling to three objects. Real-world experiments with two objects confirm a 29% reduction; the remaining gap to the theoretical 50% is attributed to inter-throw transition overhead. When target positions are randomly changed mid-execution, the system re-plans and successfully reaches the new targets within 100 ms latency without stopping the robot. These results establish the first unified planning framework for MOMT throwing – demonstrating scalability to multiple objects in simulation and real-world feasibility on two-object tasks – advancing the frontier of high-throughput robotic manipulation. A video summarizing the method and the hardware experiments is available at https://liuyangdh.github.io/momt-video

We study finite-horizon LQR with independent disturbances whose laws may drift over time. We address uncertainty in this evolution through ex-ante distributionally robust regret optimization (DRRO), which minimizes worst-case excess expected cost relative to the optimal causal controller that knows the law sequence. To specify the admissible law sequences, we introduce a temporally coupled moment ambiguity set with a Gelbrich kinetic-energy budget and a second budget limiting departures from reference moments and persistent cumulative mismatch. Despite the coupling of moments across time, affine disturbance-feedback synthesis reduces exactly to a semidefinite program. An optimal policy uses past disturbances to predict the correction to nominal LQR determined by current and future disturbance means. The SDP solution also yields worst-case moment paths and corresponding laws. For standard distributionally robust optimization (DRO), the analogous SDP relaxation can have a duality gap. Portfolio liquidation experiments show substantially lower worst-case regret over the drifting ambiguity set than common-law DRRO and nominal control.

Motivated by emerging mission-critical applications and an increasingly congested spectrum, we develop a decentralized multi-agent reinforcement learning (MARL) model for dynamic spectrum access. The model enables secondary users to learn effective transmission strategies across shared frequency bands while minimizing collisions with high-priority primary users and among themselves. We design the agent-level learners following a Markov potential game approach, connecting independent local updates to system-level improvement. We instantiate this design using lightweight linear actor-critic learners suitable for resource-constrained edge devices, rather than computationally intensive centralized or deep multi-agent architectures. Across spectrum environments with different incumbent activities, the learned policies adapt their transmission policy and waiting behavior to preserve throughput while greatly reducing transmission collisions relative to random and forecast-aware heuristic baselines. The results establish the value of decentralized MARL and shows up to 96.8% reduction in overall collisions.

Fault and error detection is crucial for ensuring the correctness of safety-critical systems. Safety verification often addresses reachability of bad system states, where exhaustive state inspection may be intractable due to the large state spaces of complex systems. We propose a reachability relaxation for hybrid trace nets, a useful mathematical model for analyzing concurrent event systems, to efficiently verify system safety. We further use our relaxation to effectively identify invariants, expressions that hold in all reachable states, allowing state-space reduction for efficient verification. Empirically, our approach proves unsafe states unreachable in 1.5x more instances, generates 2.5x more invariants with up to 2 orders of magnitude faster generation times than the baselines in the tested problems.

The problem of fast Doppler counter-aliasing for short-dwell weather-radar measurements is addressed. The proposed approach realizes a log-periodic slow-time design by changing only the waiting time between otherwise unchanged frequency-modulated continuous-wave (FMCW) chirps. The fast-time waveform, bandwidth, and range-processing chain are preserved while the acquisition changes the Doppler ambiguity structure. We formulate a novel moment-space ambiguity function for distributed weather spectra. It measures statistical ambiguity jointly in mean Doppler velocity and spectral width and expresses the competing sidelobes through their expected relative likelihood. A complex Gaussian process (CGP) maximum-likelihood estimator reconstructs the spectrum from the measured aperiodic samples. A deterministic basin-selection and optimization strategy accelerates the same CGP likelihood without defining a different statistical estimator. Real precipitation measurements establish central-branch stability over an extended search domain. Using 64 slow-time sweeps, we compare three acquisitions and their associated estimators. Periodic data are processed by the discrete Fourier transform (DFT) and parametric spectral estimation (PSE), log-periodic data by the nonuniform discrete Fourier transform (NUDFT) and CGP, and staggered data by velocity-difference and CGP estimators. The differences become more pronounced when the dwell is reduced to 32 sweeps. The results show that aperiodic time sampling enables extended-domain branch identification without degrading spectral-width estimation.

The computational cost of Whittle maximum-likelihood parametric spectrum estimation (PSE) for short-dwell weather-radar Doppler moment retrieval is addressed. PSE can reduce finite-sample bias, especially for short coherent processing intervals and broad spectra, but repeated likelihood evaluations make direct use expensive. A fast implementation of the finite-sample Gaussian Doppler model is introduced by writing the likelihood in terms of closed-form autocorrelation lags and synthesizing the model spectrum and analytic derivatives by fast Fourier transforms (FFTs) on the same N-point grid as the periodogram. The estimator is extended to jointly estimate total power, normalized mean Doppler frequency, and normalized spectral width. Monte Carlo simulations with 1000 noise realizations show that the fast PSE keeps the accuracy advantage of the original PSE, while objective-level timing confirms the reduction from dense lag-to-frequency synthesis to FFT-based evaluation.

Randomized exploration is central to bandit learning, multi-agent reinforcement learning, and zeroth-order policy search, yet its independence and privacy are usually only treated as technical assumptions. We show that these properties are critical for security purposes and demonstrate how an adversarial agent can exploit privileged information on another agent's exploration. We analyze a deceiver-victim pair in the minimal two-player strongly monotone setting, where a deceptive player obtains leaked signals that are merely correlated with the victim's exploration. We show that, by coupling their own exploratory action with this information, the deceptive player injects an externality that steers the learning dynamics to a new steady state, called the deceptive Nash equilibrium (DNE). We prove that the deceptive bandit learning (DBL) dynamics converge to an arbitrarily small neighborhood of the DNE while retaining optimal convergence rates. Interestingly, our analysis attains these optimal rates while relaxing second-order smoothness conditions from standard bandit optimization literature. We characterize conditions under which deception strictly shifts the steady state and its effect on the deceiver's cost, illustrating the results in a resource-allocation game.

This work presents a super-resolution (SR) deep-learning (DL) architecture to simultaneously upscale low-resolution (LR) depth and intensity images acquired by a consumer-grade VL53L9CX time-of-flight (ToF) sensor, a compact single-photon avalanche diode (SPAD) ranging device, while targeting deployment on a resource-constrained microcontroller (MCU) with only 640 KB SRAM and 2 MB Flash. The VL53L9CX provides 54 $\times$ 42 depth and intensity measurements. The proposed framework performs $\times$4 spatial SR to reconstruct 216 $\times$ 168 depth and intensity images simultaneously. The network employs separate reconstruction branches for intensity and high-resolution (HR) depth. We train the network with efficient loss functions and investigate the performance by testing multiple compact, hardware-oriented backbones, including Spatially Adaptive Feature Modulation (SAFM), Swift Parameter-Free Attention Network (SPAN), and Residual Local Feature Network (RLFN). We evaluate the network on both synthetic and real measurements, with particular attention to constrained activation and memory storage. We export the selected network to ONNX, quantize it to INT8, generate C inference code for an STM32H563ZI Arm Cortex-M33 MCU, and integrate it with our simplified sensor's firmware. This work is the first to demonstrate a compact DL SR model on a low-cost bare-metal MCU for a consumer-grade LR SPAD sensor, integrated with customized MCU firmware to enable on-device SR inference.

This paper presents a non-orthogonal multiple access (NOMA)-enabled integrated sensing and communication (ISAC) framework for low-altitude wireless networks (LAWN), where an aerial access point simultaneously serves ground users and senses aerial targets. To improve both communication efficiency and sensing reliability, a matching-based user-target pairing (MUTP) scheme is proposed, in which strong and weak channel NOMA users are first paired into NOMA groups and then assigned to sensing targets according to a sensing-aware pairing criterion. Furthermore, an adaptive power allocation (APA) strategy is developed to balance communication quality-of-service requirements and target detection performance. The proposed MUTP-APA scheme is compared with fixed greedy pairing, exhaustive search pairing, and conventional ISAC benchmark schemes under both fixed power allocation and APA. Simulation results show that our proposed scheme achieves higher sum rate, improved worst-target detection probability, and lower communication and sensing outage probabilities compared with conventional ISAC and fixed pairing baselines in NOMA-ISAC LAWN. Moreover, the proposed method closely approaches the exhaustive search benchmark while avoiding the high computational complexity.

The rapid expansion of text-to-music generative models challenges traditional paradigms of music creation and intellectual property. Plagiarism in this context is rarely an absolute mathematical binary, but an ambiguous threshold negotiated over harmonic structure, melodic contours, or overall perceived stylistic character. In this work, we test the transferability of state-of-the-art music version identification architectures from the human-to-human cover domain to the human-to-AI plagiarism setting. To evaluate this task, we introduce COPYCAT, a benchmark derived from real-world plagiarism cases and extended through generative re-synthesis and digital signal processing obfuscations, yielding 350,654 evaluation pairs. We show that scalar distance thresholding collapses under generative re-synthesis, while a supervised framework leveraging coordinate-wise embedding shifts recovers the dispersed plagiarism signal, raising overall $F_{0.5}$ from $0.612$ to $0.803$.

Induction-heated microrobots face a fundamental thermal management challenge: the alternating magnetic fields required for localized hyperthermia simultaneously generate parasitic ohmic heating within the actuation coils. Conventional cooling approaches can fail because conductive cooling structures placed near the coil can couple to the time-varying field, generating additional electromagnetic losses. This paper addresses this architectural limitation by evaluating two liquid-cooling frameworks designed to isolate the electromagnetic workspace: an indirect configuration utilizing an external copper water block, and a direct architecture routing coolant internally through a hollow helical coil. Evaluated over a 100~s window with multi-point thermocouple telemetry, the indirect water-block configuration failed due to secondary inductive coupling with the block itself, acting as an unintended susceptor that drove the block temperature to an extreme peak of 805$^{\circ}$C. In contrast, the direct internal cooling architecture successfully extracted ohmic losses at the source, sustaining a localized ablation tip temperature of 63.4$^{\circ}$C while strictly restricting surrounding fluid and boundary surfaces below defined thresholds of 33.9$^{\circ}$C and 37.6$^{\circ}$C, respectively. These results establish coil-level fluidic integration as a key design principle for thermally isolated microrobot actuation and provide a hardware foundation for future spatially controlled hyperthermia.

In this paper, we propose a unifying framework to analyze layered networked epidemic processes where the population, represented either as a networked SIS or SIR model, is coupled with an infrastructure network. We propose novel local metrics that enable the analysis of the epidemic spreading locally (node-level) and the prediction of the network-wide spreading under some sufficient conditions. Inspired by the bilayer nature of our model, we partition the layered network between intra- and inter-layer interactions. We identify conditions at the layer level which allow the characterization of the network-level basic reproduction number in terms of the physical structure of the layered network. Then, we leverage the local metrics to propose an optimization framework for epidemic mitigation based on a fundamental notion: the network-wide spreading can be quantified by the aggregation of the local (node-level) epidemic burden. We provide guarantees that the local metric-based optimization can be solved as a geometric program. We illustrate our theoretical results via numerical examples and evaluate the performance of the local metrics and the optimization framework they enable versus other existing epidemic mitigation approaches based on network-level metrics.

Artificial intelligence (AI) workloads are creating large, power-electronic loads whose effects on power systems depend on location, temporal variability, controllability, and interactions with other loads and resources. Annual electricity consumption alone cannot capture these effects. This review examines how AI data centers affect power systems stability, renewable-energy integration, and low-carbon planning by tracing the power-delivery chain from accelerators and workloads through rack converters, uninterruptible power supplies (UPS), storage, and microgrids to the transmission point of interconnection. Reported oscillatory events and multi-gigawatt load transfers highlight how facility responses can amplify disturbances, while programmable workloads and controllable power converters offer opportunities for demand flexibility. Challenges and mitigation strategies are organized across device, rack, facility, and power systems levels, spanning millisecond-to-year timescales. A bandwidth-matching framework relates disturbances to the response capabilities of mitigation resources. The review distinguishes computational energy efficiency from power systems and sustainability outcomes: lower energy consumption per token does not necessarily reduce peak demand, electrical disturbances, or carbon emissions. It examines how coordinated workload scheduling, grid-interactive UPS systems, storage, high-voltage DC distribution, and flexible interconnection can support reliability, efficiency, and decarbonization. Key research needs include dynamic load models, high-bandwidth telemetry, carbon-and grid-aware scheduling, and mechanisms for valuing flexible computational demand.

Continuous cardiac monitoring outside clinical settings requires signals that are both informative and practical to collect during daily life. Electrocardiography (ECG) provides rich information about cardiac rhythm and waveform morphology, while wearable photoplethysmography (PPG) is easier to acquire continuously but is only an indirect cardiovascular measurement and is highly sensitive to motion. We present BeatFlow-ECG, a conditional rectified-flow model for reconstructing single-channel ECG from synchronized PPG and inertial measurements. BeatFlow-ECG models reconstruction as conditional transport from noise to ECG using a convolutional encoder-decoder with a transformer bottleneck and explicit flow-time conditioning. Motion information is incorporated through IMU-derived conditioning features, motion-dependent loss weighting, and an easy-to-hard training curriculum. We evaluate the model under leave-one-subject-out protocols on PPG-DaLiA and WESAD. BeatFlow-ECG achieves the best results among the evaluated deterministic, adversarial, and diffusion-based baselines across all reported waveform and beat-timing metrics, with Pearson correlations of 0.983 and 0.986 and R-peak F1 scores of 0.946 and 0.955, respectively. Compared with Conditional DDPM-1D, L1 error decreases from 0.085 to 0.062 on PPG-DaLiA and from 0.074 to 0.055 on WESAD. Additional analyses on PPG-DaLiA show higher correlation in fixed R-peak-relative waveform regions and lower reconstruction error across low-, medium-, and high-motion subsets.

The growing demand for diverse sixth-generation (6G) applications requires efficient connectivity, seamless service continuity, and extended network coverage. Although terrestrial infrastructures can effectively serve most wireless user equipment (UE), communication reliability may be significantly degraded in remote or blocked environments. To address this challenge, this paper proposes a reconfigurable intelligent surface (RIS)-assisted space-air-ground integrated network (SAGIN) operating in the upper mid-band (FR3) spectrum. The considered network consists of a terrestrial base station (BS), a low Earth orbit (LEO) satellite, multiple terrestrial RISs (TRISs), and unmanned aerial vehicle-mounted RISs (ARISs), where the BS serves as the primary access node, while the LEO satellite provides complementary connectivity when terrestrial links are unavailable or cannot satisfy the required quality-of-service (QoS) requirements. Within this framework, we formulate a hierarchical RIS association problem to maximize the achievable network sum rate under RIS capacity constraints. The resulting optimization problem is a mixed-integer nonconvex problem due to the binary association variables and the coupling among UEs competing for limited RIS resources. To efficiently solve the problem, we develop a hierarchical many-to-one matching-based RIS association framework. Specifically, UEs with satisfactory terrestrial connectivity are first associated with TRISs, whereas UEs that cannot be reliably served by the terrestrial network are subsequently associated with ARISs through the non-terrestrial network. Simulation results demonstrate that the proposed hierarchical association framework significantly outperforms greedy and random association schemes in terms of the achievable network sum rate.

This diploma thesis documents the conversion of a petrol-powered go-kart into a battery-electric kart with a 10 kW BLDC drive, a LiFePO$_4$ traction battery with battery management system, a slip-based traction control and regenerative braking. The traction control estimates the slip of the driven rear axle from three Hall-effect wheel-speed sensors as $\lambda = (v_R - v_F)/v_R$ and reduces the torque command of the throttle pedal when the axle slips. It runs on a 32-bit ARM Cortex-M3 microcontroller (SAM3X8E) in the signal path between pedal and motor controller, with galvanic isolation and an emergency stop. Regenerative braking uses the generator mode of the motor controller in three stages: motor brake on throttle release, light braking via a steering-wheel button, and blended braking with the hydraulic brake. Drivetrain calculations show that the kart is traction-limited. At rated torque, the drive force at standstill exceeds the transmissible traction force by a factor of 1.7 to 2.0, up to approx. 27 to 43 km/h. Traction control is therefore a functional requirement of the drivetrain. The calculated top speed is approx. 65 km/h. Regenerative braking reaches approx. 0.45 g and could cover up to about 30 % of the energy demand on a winding track. With 80 % of the nominal battery energy, approx. 44 min of driving at 50 % motor load result, so the target of one hour is missed. The initial charging measurement quantifies the flat LiFePO$_4$ voltage plateau at 0.7 to 1.8 mV per percent state of charge, which makes voltage-based state-of-charge estimation unreliable. Cold cells showed a voltage sag under load that triggered the low-voltage alarm. Validation of the control functions by instrumented driving tests is the main open point.

Speech large language models (speech LLMs) perform well on automatic speech recognition (ASR) when sufficient paired speech-text data is available, but their performance degrades in low-resource settings. A cascaded pipeline that performs speech-to-phoneme (S2P) conversion followed by phoneme-to-grapheme (P2G) conversion has been shown to outperform end-to-end speech LLMs in this regime, suggesting that phoneme-mediated processing is beneficial when paired data is scarce. We propose phoneme-guided initialization, a simple method that uses this insight within an end-to-end framework: we pre-train the audio encoder on S2P and the LLM on P2G tasks, then connect them and fine-tune the full model end-to-end on the target ASR task. Experiments on Japanese (CSJ), Chinese (AISHELL-1), and two low-resource languages from Common Voice 25.0 (Tatar and Urdu) show that our method matches or outperforms both the cascaded S2P-P2G baseline and the end-to-end model without P2G initialization.

Reliable wireless systems depend on accurate uplink channel estimation for precoding, scheduling, and link adaptation at the base station. In the upper mid-band, wide bandwidths and large antenna arrays increase the channel dimension and make pilot-efficient estimation particularly challenging. While uplink data is available as every user transmits it, sounding resources are shared across all users in the cell, leaving only a few pilots for each user. Thus, channel estimation heavily depends on prior information. Existing approaches obtain such priors in different ways, each with limitations. Ray tracing requires a site model, channel knowledge maps rely on measurements at or near the locations they represent, and learned channel distributions do not explicitly capture propagation geometry. We therefore propose TRaffic-Aided Channel Estimation (TRACE), which builds the prior from uplink traffic without additional sounding. TRACE learns a geometry-aware channel prior from routine multi-UE uplink traffic and combines it with the available pilots for channel estimation. In a ray-traced street canyon at 15 GHz, TRACE achieves -7.48 dB NMSE with 8 pilots, outperforming three state-of-the-art priors and two geometric ablations by more than 3 dB, while remaining effective with only 2 pilots. Within a deployment, TRACE remains robust across SNRs, carrier frequencies, and reduced mapping traffic without retraining.

The paper studies learning in reservoir computing systems through the lens of the internal model principle. The key idea is to model training signals as outputs of an exogenous signal generator, thus connecting reservoir computing to output regulation, observer theory, and frequency-domain interpolation. For linear signal generators, we characterize the steady-state response of a linear reservoir through invariant subspaces, establishing connections with Luenberger observers and classical frequency-domain interpolation. For nonlinear signal generators, we obtain analogous results using invariant manifolds, connecting synchronization to Kazantzis-Kravaris/Luenberger observers and readout training to nonlinear moment matching. Case studies illustrate how our perspective explains possible instability of trained predictors and informs reservoir design.