Open Radio Access Network (O-RAN) is an important 5G network architecture enabling flexible communication with adaptive strategies for different verticals. However, testing for O-RAN deployments involve massive volumes of time-series data (e.g., key performance indicators), creating critical challenges for scalable, unsupervised monitoring without labels or high computational overhead. To address this, we present ESN-DAGMM, a lightweight adaptation of the Deep Autoencoding Gaussian Mixture Model (DAGMM) framework for time series analysis. Our model utilizes an Echo State Network (ESN) to efficiently model temporal dependencies, proving effective in O-RAN networks where training samples are highly limited. Combined with DAGMM's integratation of dimensionality reduction and density estimation, we present a scalable framework for unsupervised monitoring of high volume network telemetry. When trained on only 10% of an O-RAN video-streaming dataset, ESN-DAGMM achieved on average 269.59% higher quality clustering than baselines under identical conditions, all while maintaining competitive reconstruction error. By extending DAGMM to capture temporal dynamics, ESN-DAGMM offers a practical solution for time-series analysis using very limited training samples, outperforming baselines and enabling operator's control over the clustering-reconstruction trade-off.

Multimodal federated learning enables privacy-preserving collaborative model training across healthcare institutions. However, a fundamental challenge arises from modality heterogeneity: many clinical sites possess only a subset of modalities due to resource constraints or workflow variations. Existing approaches address this through feature imputation networks that synthesize missing modality representations, yet these methods produce point estimates without reliability measures, forcing downstream classifiers to treat all imputed features as equally trustworthy. In safety-critical medical applications, this limitation poses significant risks. We propose the Probabilistic Feature Imputation Network (P-FIN), which outputs calibrated uncertainty estimates alongside imputed features. This uncertainty is leveraged at two levels: (1) locally, through sigmoid gating that attenuates unreliable feature dimensions before classification, and (2) globally, through Fed-UQ-Avg, an aggregation strategy that prioritizes updates from clients with reliable imputation. Experiments on federated chest X-ray classification using CheXpert, NIH Open-I, and PadChest demonstrate consistent improvements over deterministic baselines, with +5.36% AUC gain in the most challenging configuration.

This paper investigates the robust stability problem of a feedback system in the presence of uncertainties induced by graphical regions in the plane where the scaled relative graphs (SRGs) reside. Our main results are developed using a novel and intuitive concept, the Davis-Wielandt shell, together with its connection to SRGs and related variants. We first study a matrix robust nonsingularity (MRN) problem for two types of graphically induced uncertainty sets: one with prior information on $θ$ and one without. In the former case, we show that, whenever the uncertainty-inducing region is mirror symmetric about the $θ$-axis, the separation between a specific variant of the SRG and the region provides a necessary and sufficient condition for MRN. When the region is asymmetric, the necessity generally fails. This recovers the necessity of the small gain condition, and reveals the necessity of small angle conditions and sectored-disc conditions at the matrix level. In the latter case, we show that an additional $θ$-circular connectivity property is required to obtain necessary and sufficient conditions. Building on these MRN results, we then derive sufficient conditions for robust stability of multi-input multi-output (MIMO) linear time-invariant (LTI) systems under frequencywise symmetric uncertainties. In addition, connections with existing system characteristics such as disc-boundedness are discussed and exploited to obtain state-space characterisations for angle-bounded and mixed gain-angle-bounded systems. Based on these results, we construct a $θ$-angle-gain profile of a system that provides an intuitive visualisation of its feedback robustness against conic and sectorial uncertainties.

Open Radio Access Network (O-RAN) architectures enhance flexibility for 6G and NextG networks. However, it also brings significant challenges in O-RAN testing with evaluating abundant, high-dimensional key performance indicators (KPIs). In this paper, we introduce a novel two-stage framework to learn temporally-aware low-dimensional representations of O-RAN testing KPIs. To be specific, stage one employs an information-theoretic H-score to train a hybrid self-attentive transformer and echo state network (ESN) reservoir, called Transformer-ESN, capturing temporal dynamics and producing task-aligned $8$-dimensional embeddings. Stage two evaluates these embeddings by training a lightweight multilayer perceptron (MLP) predictor exclusively on them for key target KPIs such as reference signal received quality (RSRQ) and spectral efficiency. Using real-world O-RAN testbed data (video streaming with interference), our approach demonstrates a significant advantage specifically when training samples are very limited. In this scenario, the low-dimensional representations learned from the Transformer-ESN yield mean square error (MSE) reductions of up to 41.9\% for RSRQ and 29.9\% for spectral efficiency compared to predictions from the original high-dimensional data. The framework exhibits high efficiency for O-RAN testing, significantly reducing testing complexities for O-RAN systems.

In this paper, we investigate safety-critical control problem of discrete-time stochastic systems with incomplete information, where safety constraints must be enforced using state estimates obtained from noisy measurements. We develop an output-feedback control barrier function (CBF) framework based on an expectation-based discrete-time barrier condition that explicitly incorporates estimation uncertainty through the evolving belief over the state. To enable real-time implementation, we derive deterministic sufficient conditions that conservatively enforce the expectation-based CBF by bounding the expectation with computable functions of the belief statistics using Jensen inequalities. The resulting safety filter is formulated as a tractable optimization problem compatible with standard online controllers. Numerical simulations demonstrate that the proposed output-feedback approach achieves fast online computation while providing reliable safety performance in the presence of process noise and measurement uncertainty.

Hypertrophic Cardiomyopathy (HCM) is a genetic heart disease affecting approximately 1 in 500 people and is the leading cause of sudden cardiac death in young athletes. Current diagnostic methods -- cardiovascular magnetic resonance (CMR), echocardiography, and genetic testing -- are limited by high costs, operator dependency, or insufficient accuracy, while standard electrocardiogram (ECG) analysis cannot reliably distinguish HCM from acquired left ventricular hypertrophy (LVH). This paper presents a wearable ECG device paired with a classification algorithm that differentiates HCM from acquired LVH using ECG signals alone. The portable device integrates a 3-lead electrode system, an AD8232 signal conditioning module, an Arduino Nano 33 BLE microcontroller, and a lithium polymer battery. The algorithm extracts two quantitative indices -- HCM Index~1 and HCM Index~2 -- from each heartbeat and classifies patients via dual statistical thresholds. Validation on 483 LVH patients (PhysioNet) and 29 HCM patients (digitized clinical records) yields 75.86\% sensitivity, 99.17\% specificity, and an F1-score of 80.00\%. Leave-one-out cross-validation confirms generalizability, with cross-validated sensitivity of 72.41\%, specificity of 98.96\%, and F1-score of 76.36\% (95\% confidence intervals reported). A digitization confound analysis demonstrates that the classification is driven by physiological cardiac features rather than data source artifacts. A simulated device acquisition chain analysis confirms that the wearable hardware's signal characteristics are compatible with the classification algorithm. The system offers a promising tool for affordable HCM screening in resource-limited settings.

Token-based semantic communication is promising for future wireless networks, as it can compact semantic tokens under very limited channel capacity. However, harsh wireless channels often cause missing tokens, leading to severe distortion that prevents reliable semantic recovery at the receiver. In this article, we propose a token encoding framework for robust semantic recovery (TokCode), which incurs no additional transmission overhead and supports plug-and-play deployment. For efficient token encoder optimization, we develop a sentence-semantic-guided foundation model adaptation algorithm (SFMA) that avoids costly end-to-end training. Based on simulation results on prompt-based generative image transmission, TokCode mitigates semantic distortion and can approach the performance upper-bound, even under harsh channels where 40% to 60% of tokens are randomly lost.

This work addresses the challenge of ignition timing and load control in homogeneous charge compression ignition engines operating subject to uncertainty from complex combustion dynamics and external disturbances. To handle this issue, we propose a nonlinear stochastic model predictive control approach explicitly incorporating distributional information of uncertainties. Specifically, we integrate an uncertainty model learned from empirical residual data to capture realistic probabilistic characteristics and handle the nonlinear additive uncertainty propagation within the prediction horizon based on polynomial chaos expansion. Additionally, we introduce a novel cost function based on maximum mean discrepancy, enabling direct penalization of the discrepancy between predicted and desired distributions of combustion indicators. The simulation results demonstrate that our proposed method achieves over a 28 \% reduction on combustion phasing variation and more than a 26 \% improvement in load tracking accuracy compared to traditional nonlinear and Gaussian-based predictive control strategies. These findings indicate the effectiveness of explicitly modeling uncertainty distributions and highlight the advantages of distribution-level performance index in robust combustion control.

Machine learning models are increasingly deployed in wireless networks with stringent performance requirements. However, dynamic propagation environments and fluctuating traffic densities introduce concept drift, which complicates the ability to maintain accurate predictive machine learning models. We propose a distributed optimization framework that jointly clusters cells and trains cluster-level predictive models, enabling nodes to cooperatively predict quality of service (QoS) distributions under communication constraints. The proposed method models QoS as a multivariate Gaussian/lognormal distribution and uses a novel clustering mechanism that groups cells with similar network conditions, allowing each cell to select the most appropriate predictor without retraining new models for each cell. By leveraging block coordinate descent, our solution efficiently clusters the cells and updates the predictive models to mitigate concept drift, while maintaining a compact model set to minimize computation overhead. Evaluation using data from realistic simulations with the Sionna ray-tracer and the ns-3 simulator shows that the method converges and yields cluster constellations that adapt to changes in the network that cause concept drift. The experimental evaluation focuses on providing a prediction of the distribution latency, jitter, and RSRP over a one-hour prediction horizon. The proposed method significantly outperforms the traditional single global predictive model approach and reduces the mean absolute error by 9-27% compared to local cell-level predictors. This demonstrates that the proposed method effectively captures local variability using far fewer models through scalable distributed clustering.

Wireless communications in intelligent rail transit face harsh propagation conditions, including severe penetration loss, frequent blockages, and amplified large-scale fading. Existing leaky coaxial cables (LCX) provide wired-to-wireless conversion and stable coverage, but can be energy- and spectrum-inefficient, particularly at high carrier frequencies. Motivated by the growing demand for high-capacity and high-reliability rail services, this article introduces pinching-antenna systems (PASS), which are flexible waveguide-based architectures that enable reconfigurable radiation points with low deployment overhead and a natural fit to predominantly straight track geometries. We discuss the key benefits and deployment flexibility of PASS, evaluate their performance relative to LCX via representative simulations, and present a deep learning (DL)-enabled channel-estimation framework to cope with mobility-induced channel dynamics. Finally, we summarize the major open challenges for practical deployment and outline promising research directions.

Digital waveguide physical modeling offers efficient simulation of acoustic wave propagation as compared to general finite-difference schemes commonly used in computational physics. This efficiency has enabled the real-time implementation of physically modeled musical instruments and sound effects, as well as real-time vocal models and artificial reverberation. This paper provides an overview of the historical evolution and applications of digital waveguide modeling and highlights recent advances in the field. Parametric optimization using classical, evolutionary and neural approaches are also discussed and compared. Digital waveguides provide physically accurate simulations with reduced computational cost, and can now be optimized with modern machine learning and differentiable digital signal processing techniques.

Online Feedback Optimization leverages properties of optimization algorithms to develop controllers for systems with limited model availability, which is often the case in process control. The interplay between the parameters of the chosen optimization algorithm, as well as lack of direct connection to the characteristics of the underlying process make their tuning challenging. We propose a method for adaptive tuning of Online Feedback Optimization controllers based on scaled projected gradient descent by using sensitivity of the desired objective to the parameters of the algorithm. The proposed adaptive tuning method limits the operator-tunable parameters to scalar values that represent how much the control inputs and the objective can change between iterations without requiring either additional information about the controlled system or repeated experiments. Numerical studies on a gas lift and a continuously-stirred tank reactor processes confirm that our adaptive scheme improves closed-loop performance of Online Feedback optimization compared to standard manual tuning methods.

We develop the interpolatory $\mathcal{H}_2$ optimal model reduction framework for linear control systems posed on infinite dimensional state, input and output spaces. Specifically, we consider linear systems formulated as controlled abstract Cauchy problems on a Banach space and approximate them via Petrov-Galerkin projection onto finite dimensional trial and test subspaces. We show that the resulting reduced order transfer function interpolates the original at prescribed points, and we characterize precisely how the projection subspaces must be constructed to enforce this interpolation. Building on this, we develop a data-driven realization framework -- an infinite dimensional analogue of the Loewner approach -- that recovers the system behavior directly from input-output data without requiring access to the underlying operators. Finally, we derive $\mathcal{H}_2$ optimality conditions for the reduced model and show that the classical interpolatory characterization persists in this infinite dimensional setting: first-order optimality requires Hermite interpolation of the transfer function at the mirror images of the reduced model's poles. Taken together, these results establish that the interpolatory $\mathcal{H}_2$ optimal model reduction theory extends naturally and completely to infinite dimensional linear control systems with infinite dimensional input and output spaces.

Autonomous vehicles (AVs) are now operating on public roads, which makes their testing and validation more critical than ever. Simulation offers a safe and controlled environment for evaluating AV performance in varied conditions. However, existing simulation tools mainly focus on graphical realism and rely on simple rule-based models and therefore fail to accurately represent the complexity of driving behaviors and interactions. Artificial intelligence (AI) has shown strong potential to address these limitations; however, despite the rapid progress across AI methodologies, a comprehensive survey of their application to mixed autonomy traffic simulation remains lacking. Existing surveys either focus on simulation tools without examining the AI methods behind them, or cover ego-centric decision-making without addressing the broader challenge of modeling surrounding traffic. Moreover, they do not offer a unified taxonomy of AI methods covering individual behavior modeling to full scene simulation. To address these gaps, this survey provides a structured review and synthesis of AI methods for modeling AV and human driving behavior in mixed autonomy traffic simulation. We introduce a taxonomy that organizes methods into three families: agent-level behavior models, environment-level simulation methods, and cognitive and physics-informed methods. The survey analyzes how existing simulation platforms fall short of the needs of mixed autonomy research and outlines directions to narrow this gap. It also provides a chronological overview of AI methods and reviews evaluation protocols and metrics, simulation tools, and datasets. By covering both traffic engineering and computer science perspectives, we aim to bridge the gap between these two communities.

Operation at steady state is often not optimal when optimizing over an economic cost objective. In many cases, periodic operation yields better performance. Therefore, we derive asymptotic stability guarantees of an economic model predictive control scheme with terminal conditions for systems with optimal periodic operation for a more general setup than existing methods can handle. Moreover, we establish a non-averaged closed-loop performance bound by defining the closed-loop cost via a Cesàro summation instead of ordinary summation. Such a non-averaged performance bound provides new insights for systems with periodic optimal operation.

Radio frequency fingerprints (RFFs) enable secure wireless authentication but struggle in open-set scenarios with unknown devices and varying channels. Existing methods face challenges in generalization and incur high computational costs. We propose a lightweight, self-adaptive RFF extraction framework using Low-Rank Adaptation (LoRA). By pretraining LoRA modules per environment, our method enables fast adaptation to unseen channel conditions without full retraining. During inference, a weighted combination of LoRAs dynamically enhances feature extraction. Experimental results demonstrate a 15% reduction in equal error rate (EER) compared to non-finetuned baselines and an 83% decrease in training time relative to full fine-tuning, using the same training dataset. This approach provides a scalable and efficient solution for open-set RFF authentication in dynamic wireless vehicular networks.

In this paper, we develop a scaled gradient-momentum framework for continuous-time optimization that achieves global finite-time convergence. A state-dependent scaling mechanism is introduced to enable classical dynamics, such as Heavy-Ball-type and proportional-integral (PI)-type flows, to attain finite-time convergence. We establish explicit conditions that bridge the gradient-dominance property of the objective function and finite-time stability of the proposed scaled dynamics. Numerical experiments validate the theoretical results.

Stress remains a significant social problem for individuals in modern societies. This paper presents a machine learning approach for the automatic detection of stress of people in a social situation by combining two sensor systems that capture physiological and social responses. We compare the performance using different classifiers including support vector machine, AdaBoost, and k-nearest neighbor. Our experimental results show that by combining the measurements from both sensor systems, we could accurately discriminate between stressful and neutral situations during a controlled Trier social stress test (TSST). Moreover, this paper assesses the discriminative ability of each sensor modality individually and considers their suitability for real-time stress detection. Finally, we present an study of the most discriminative features for stress detection.

This paper investigates DeGroot-Friedkin (DF) dynamics over signed influence networks with interdependent topics. We propose a multi-topic signed framework that combines repelling interpersonal interactions with cross-issue self-appraisal, examining how antagonism and topic interdependence shape the evolution of agent-level social power. When the logic matrices (for topic interdependence) of all agents share a common dominant left eigenvector, we identify structural conditions under which the original dynamics admit an exact reduction to an explicit scalar DF map. This yields a complete classification of limiting social power configurations into pluralistic, mixed, and vertex-dominant types. In all three cases, the dynamics are globally convergent, and in the first two the ordering induced by the interaction centrality is preserved. We further show local robustness under small heterogeneous perturbations of the logic matrices. We also clarify what changes when this common-eigenvector structure is lost. These results extend signed social power dynamics beyond the standard nonnegative scalar setting and shed light on the robustness and scope of centrality-based social power formation in multi-topic signed influence systems.

Objective: This study aimed to assess how wearable physiological signals, alone and combined with salivary cortisol, distinguish physical and psychological stress and their recovery states. Methods: Six healthy adults completed three laboratory sessions on separate days: rest, physical stress (high-intensity cycling), or psychological stress (modified Trier Social Stress Test). Heart rate, heart rate variability, electrodermal activity, and wrist accelerometry were recorded continuously, and salivary cortisol was sampled at five time points. Features were extracted in non-overlapping 10-minute windows and labelled as rest, physical stress, physical recovery, psychological stress, or psychological recovery. A gradient boosting classifier was trained using wearable features alone and with five additional cortisol features per window. Performance was evaluated using leave-one-participant-out cross-validation. Results: Wearable-only classification achieved 77.8% overall accuracy, with high accuracy for physical stress and recovery but frequent misclassification of psychological stress and recovery (recall 50.0% and 54.2%). Including cortisol improved overall accuracy (94.4%), particularly for psychological states, increasing recall to 83.3% and 87.5%. Cortisol also reduced misclassification between psychological stress and rest. Conclusion: Wearable signals alone were insufficient to reliably distinguish psychological stress from rest and recovery. Integrating salivary cortisol improved classification of psychological stress and recovery and reduced confusion with rest, highlighting the value of endocrine context alongside wearable physiology. Significance: These findings support multimodal stress monitoring and motivate larger, ecologically valid studies and scalable alternatives to repeated cortisol sampling.

We study finite horizon reachable set estimation for unknown discrete-time dynamical systems using only sampled state trajectories. Rather than treating scenario optimization as a black-box tool, we show how it can be tailored to reachable set estimation, where one must learn a family of sets based on whole trajectories, while preserving probabilistic guarantees on future trajectory inclusion for the entire horizon. To this end, we formulate a relaxed scenario program with slack variables that yields a tunable trade-off between reachable set size and out-of-sample trajectory inclusion over the horizon, thereby reducing sensitivity to outliers. Leveraging the recent results in adversarially robust scenario optimization, we then extend this formulation to account for bounded adversarial perturbations of the observed trajectories and derive a posteriori probabilistic guarantees on future trajectory inclusion. When probability distribution shifts in the Wasserstein distance occur, we obtain an explicit bound on how gracefully the theoretical probabilistic guarantees degrade. For different geometries, i.e., $p$-norm balls, ellipsoids, and zonotopes, we derive tractable convex reformulations and corroborate our theoretical results in simulation.

Future sixth-generation (6G) networks require high spectral efficiency (SE), massive connectivity, and stringent reliability under imperfect channel state information at the transmitter. Rate-splitting multiple access (RSMA) addresses part of this challenge by flexibly managing interference through common and private message streams, while fluid antenna systems (FAS) offer low-cost spatial diversity by dynamically reconfiguring antenna positions within a compact aperture. In this paper, we first classify FAS-enabled multiple access systems from the perspectives of FAS deployment, objectives, and antenna configuration, along with some comparisons with benchmark schemes, thereby exhibiting the inherent efficiency of FAS-RSMA. Moreover, we reveal the mutually enhancing mechanism between FAS and RSMA: FAS strengthens the weakest effective link and improves the beamforming design in RSMA, whereas RSMA turns FAS-induced spatial diversity into robust interference management under diverse channel conditions. In addition, we identify representative 6G scenarios and highlight major research challenges in joint beamforming-antenna position design, channel estimation, and hardware design. Furthermore, case studies quantify the gains of FAS-RSMA over the fixed-position antenna (FPA) system with RSMA and NOMA baselines, which validates that FAS-RSMA is a strong candidate for interference-limited access in 6G systems.

In massive machine-type communication (mMTC) applications, a key challenge is joint device activity detection and channel estimation (JADCE) under grant-free random access, as a massive number of devices with sporadic traffic seek to connect to the base station. We address JADCE for massive random access using a covariance learning-based sparse Bayesian learning (SBL) approach. Specifically, we first use the successive convex approximation (SCA) framework to partially linearize the scaled negative log-likelihood function (LLF) of the data, then minimize it to estimate the sparse vector of devices' signal powers. After identifying active devices from these power estimates, empirical Bayesian estimation is used to obtain channel estimates. Simulation results demonstrate the efficiency and performance superiority of the proposed CL-SCA method compared to other existing methods.

Lithium Iron Phosphate (LFP) Battery Energy Storage Systems (BESSs) are a key enabler of the energy transition. However, they are known to exhibit significant inaccuracies in the estimation of their State of Charge (SOC). Such estimation errors can directly impact the participation of BESSs in electricity markets. In this work, we demonstrate that neglecting SOC uncertainty in battery bidding can lead to significant delivery failures, including the inability to meet promised frequency reserves. To address this risk, we investigate bidding strategies that account for SOC uncertainty. We propose three constraint-tightening optimization approaches of increasing complexity: (i) a fixed-margin formulation, (ii) an adaptive-margin optimizer, and (iii) an uncertainty-aware optimization model. The latter explicitly accounts for the decision-dependent nature of the uncertainty. Numerical results demonstrate that while all three approaches robustify against SOC uncertainty, the uncertainty-aware formulation outperforms the others in maximizing revenue while ensuring reliable frequency reserve provision. This highlights the significance of treating SOC uncertainty as an endogenous process within the operational strategy.

Micro-Doppler signatures are a proven modality for discriminating between drones and birds, but their reliability degrades in low-SNR, data-constrained settings where deep learning models often fail. This paper presents a systematic study of ten statistical and physics-motivated handcrafted features for micro-Doppler classification under controlled signal degradation, using a publicly available 77 GHz FMCW radar dataset. Spectrograms are corrupted with additive white Gaussian noise, phase noise, and their combination across SNRs from -10 dB to 10 dB and phase noise levels from 1 to 10 degrees. Features are evaluated using stratified 5-fold cross-validation with Support Vector Machine and Random Forest classifiers, using fixed hyperparameters across all noise conditions. On clean data, both models achieve mean accuracy of 0.916, with F1 scores of 0.909 (SVM) and 0.892 (Random Forest). Under severe noise, entropy-based and side-lobe features remain robust, yielding F1 scores up to 0.773 and 0.831, respectively. Permutation-based importance analysis shows that some features retain complementary discriminative power even when their individual importance is low. These results highlight the value of principled feature design and provide insight into feature robustness for interpretable radar classification systems.

Continuous contactless respiration monitoring of co-sleeping subjects faces a dilemma: conventional single-site multiple-input multiple-output (MIMO) radars struggle with limited angular resolution for closely spaced individuals, while distributed radar networks typically require complex hardware synchronization. To address these limitations, this paper proposes non-coherent multi-site single-input-single-output (SISO) radar systems that completely eliminate the need for physical synchronization cables or common reference clocks. The fundamental challenge of ghost target ambiguity in such non-coherent multilateration is resolved through a novel physiological-feature-assisted suppression technique. By exploiting the inherent statistical independence of individual respiratory rhythms, true target locations are robustly distinguished from ghosts via cross-correlation analysis. Experimental validation demonstrates that the proposed system can accurately resolve two subjects spaced less than 20 cm apart, surpassing the resolution limits of traditional compact MIMO arrays, while achieving a respiration rate estimation accuracy of 0.7 bpm root mean square error (RMSE) compared to contact-based ground truth.

We consider the constrained stabilization problem of second-order systems evolving on the n-sphere. We propose a control strategy with a constraint proximity-based dynamic damping mechanism that ensures safe and almost global asymptotic stabilization of the target point in the presence of star-shaped constraints on the n-sphere. It is also shown that the proposed approach can be used to deal with the constrained rigid-body attitude stabilization. The effectiveness of the proposed approach is demonstrated through simulation results on the 2-sphere in the presence of star-shaped constraint sets.

Binary on/off thrusters are commonly used for spacecraft attitude and position control during proximity operations. However, their discrete nature poses challenges for conventional continuous control methods. The control of these discrete actuators is either explicitly formulated as a mixed-integer optimization problem or handled in a two-layer approach, where a continuous controller's output is converted to binary commands using analog-to digital modulation techniques such as Delta-Sigma-modulation. This paper provides the first systematic comparison between these two paradigms for binary thruster control, contrasting continuous Model Predictive Control (MPC) with Delta-Sigma modulation against direct Mixed-Integer MPC (MIMPC) approaches. Furthermore, we propose a new variant of MPC for binary actuated systems, which is informed using the state of the Delta-Sigma Modulator. The two variations for the continuous MPC along with the MIMPC are evaluated through extensive simulations using ESA's REACSA platform. Results demonstrate that while all approaches perform similarly in high-thrust regimes, MIMPC achieves superior fuel efficiency in low-thrust conditions. Continuous MPC with modulation shows instabilities at higher thrust levels, while binary informed MPC, which incorporates modulator dynamics, improves robustness and reduces the efficiency gap to the MIMPC. It can be seen from the simulated and real-system experiments that MIMPC offers complete stability and fuel efficiency benefits, particularly for resource-constrained missions, while continuous control methods remain attractive for computationally limited applications.

We introduce Deep QP Safety Filter, a fully data-driven safety layer for black-box dynamical systems. Our method learns a Quadratic-Program (QP) safety filter without model knowledge by combining Hamilton-Jacobi (HJ) reachability with model-free learning. We construct contraction-based losses for both the safety value and its derivatives, and train two neural networks accordingly. In the exact setting, the learned critic converges to the viscosity solution (and its derivative), even for non-smooth values. Across diverse dynamical systems -- even including a hybrid system -- and multiple RL tasks, Deep QP Safety Filter substantially reduces pre-convergence failures while accelerating learning toward higher returns than strong baselines, offering a principled and practical route to safe, model-free control.

To enable Integrated Communications and Sensing (ICAS) in a peer-to-peer vehicular network, precise synchronization in frequency and phase among the communicating entities is required. In addition, self-driving cars need accurate position estimates of the surrounding vehicles. In this work, we propose a joint, distributed synchronization and localization scheme for a network of communicating entities. Our proposed scheme is mostly signal-agnostic and therefore can be applied to a wide range of possible ICAS signals. We also mitigate the effect of finite sampling frequencies, which otherwise would degrade the synchronization and localization performance severely.