In this paper, we propose a novel framework for the joint identification of system dynamics and noise covariance in linear systems, under general noise distributions beyond Gaussian. Specifically, we would like to simultaneously estimate the dynamical matrix $A$ and the noise covariance matrix $\varSigma$ using state transition data. The formulation builds upon a novel parameterization of the state-transition distribution, which enables more effective use of distributional "shape" information for improved identification accuracy. We introduce two practical estimators, namely the maximum likelihood estimator (MLE) and the score-matching estimator (SME), to solve the joint dynamics-covariance identification problem, and provide rigorous analysis of their statistical properties and sample complexity. Simulation results show that the proposed estimators outperform the ordinary least squares (OLS) baseline.

A mode sorter separates a set of M orthogonal spatial modes in a shared input channel into M different output channels. Here we present an analytic derivation and experimental validation of a single plane device for sorting spatial modes from a diverse variety of mode families, including Hermite-Gaussian (HG), Laguerre-Gaussian (LG), Bessel-Gaussian (BG), with almost no cross-talk. This sorting capability is required for a wide range of applications that employ classical or quantum light. We also show that applying this design in order to sort a set of Orbital Angular Momentum (OAM) modes with zero radial index reproduces the well-known Fork grating configuration. Furthermore, by taking the limit of M -> inf, we present an analytical expression for sorting all the modes of a given family. By operating this device in reverse, it can be used to generate arbitrary modes, by illuminating it with a Gaussian beam. The power transmission coefficient for this sorter goes as 1/M and we provide a mathematical proof that this is optimal for any typical arrangement of the detector positions. We further study the sorter sensitivity to wavelength and random phase noise.

Designing robust architectures that can mitigate sophisticated attacks is now a key priority for modern wireless systems. This paper investigates a single-cell bistatic integrated sensing and communication (ISAC) network facing simultaneous coordinated active jamming and malicious detection. These threats aim to disrupt the downlink communication and detect the presence of the ISAC target, respectively. To counter these attacks, we propose the SAFE-ISAC framework, which utilizes a simultaneous transmit and reflect reconfigurable intelligent surface (STAR-RIS) to jointly suppress jamming power and reduce the malicious detector's Signal-to-Interference-plus-Noise Ratio (SINR). We formulate a joint minimization problem for jamming gain and detection probability by optimizing the STAR-RIS reflection and transmission responses. This non-convex problem is decoupled into two subproblems: i) malicious detection mitigation in the transmission subspace, solved using the Dinkelbach method and Semidefinite Programming (SDP) relaxation, and ii) jamming suppression in the reflection subspace, addressed via Polak-Reibére Riemannian conjugate gradient algorithm. Numerical results validate that the proposed scheme effectively achieves jamming mitigation and target concealment while meeting all communication and sensing Quality-of-Service (QoS) requirements, compared to existing benchmarks.

We promote in this paper the processing of radar data in the frequency domain to achieve higher robustness against noise and structural errors, especially in comparison to feature-based methods. This holds also for high dynamics in the scene, i.e., ego-motion of the vehicle with the sensor plus the presence of an unknown number of other moving objects. In addition to the high robustness, the processing in the frequency domain has the so far neglected advantage that the underlying correlation based methods used for, e.g., registration, provide information about all moving structures in the scene. A typical automotive application case is overtaking maneuvers, which in the context of autonomous racing are used here as a motivating example. Initial experiments and results with Fourier SOFT in 2D (FS2D) are presented that use the Boreas dataset to demonstrate radar-only-odometry, i.e., radar-odometry without sensor-fusion, to support our arguments.

Oil spills represent a severe threat, making early-stage thickness estimation crucial for guiding remediation efforts. Unmanned Aerial Vehicles (UAVs) are an attractive platform for environmental monitoring. However, due to their limited computation and power budgets, real-time onboard processing requires optimized algorithms or lightweight machine learning models. While the standard U-Net architecture is often too large for constrained UAV hardware, the compressed Tiny U-Net variant fits on FPGA platforms and achieves competitive estimation performance (0.79 in the metric Intersection over Union, or IoU). Despite this success, Tiny U-Net processes every radar image through the complete inference pipeline, resulting in unnecessary computation for simple cases. To address this inefficiency, we integrate an early exit feature into the Tiny U-Net architecture. We introduce an early exit branch that returns an early prediction when a compact confidence score exceeds a tunable threshold, bypassing deeper layers for high-confidence evaluations. Our experiments demonstrate that this design achieves comparable IoU to the full baseline model. Crucially, the technique is shown to reduce the average number of multiplications by up to 42% for an aggressive threshold, reducing the dynamic power consumption. Choosing a threshold that ensures extreme confidence reduces the complexity-reduction gains for an improved IoU. This early exit approach substantially improves computational efficiency in Tiny U-Net, enabling more practical deployment in UAV-based environmental monitoring systems.

The rise of Artificial Intelligence (AI)-driven services, machine-type communications, and massive Internet of Things (IoT) deployments is reshaping wireless traffic toward dense, uplink-oriented, bursty, and latency-critical patterns. In these regimes, Multi-User Multiple-Input Multiple-Output (MU-MIMO) is essential to support massive concurrent connectivity through spatial multiplexing. However, the need for frequent, low-latency scheduling decisions exposes fundamental scalability barriers in existing user selection approaches. The inherently combinatorial nature of MU-MIMO user selection leads computational complexity to grow rapidly with both the number of candidate users and spatial layers, rendering existing near-optimal heuristic methods impractical in dense and highly dynamic scenarios. This paper introduces the Space Splitting-based User Selection (SS-US) algorithm, a complexity barrier-breaking, massively parallelizable method that departs from subset-based selection by constructing orthonormal spatial bases and independently matching users to spatial directions. Simulation results across diverse MIMO configurations, channel conditions, and user densities show that SS-US reduces computational complexity by over three orders of magnitude while achieving spectral efficiency comparable to state-of-the-art practical baselines.

Crack segmentation on edge devices can support continuous infrastructure monitoring and maintenance and thereby help to preserve public safety. Furthermore, autonomous infrastructure monitoring by using Unmanned Aerial Vehicles (UAVs) can reduce inspection risks, as human operators no longer need to enter hazardous areas. Edge processing reduces the cost of inspection by eliminating the need for high resolution image storage for offline processing and mitigates the security risks and bandwidth requirements of streaming to cloud servers. Edge inference is difficult due to the limited memory and computational capabilities of edge devices, which can affect both accuracy and latency. Furthermore, battery-powered devices are subject to strict power and energy constraints. Together, these limitations impose restrictions on the model size and computational complexity that can be deployed close to the sensor. In recent years, Transformers have achieved state-of-the-art accuracy in a variety of applications, including semantic segmentation. However, Transformer-based models are typically large and computationally intensive, making efficient edge deployment difficult. To address this, we first apply knowledge distillation to enhance the performance of the base models. We then use PTQ to compress the models further. Additionally, we consider the deployment of these models across multiple edge platforms. To maximize energy efficiency, we design and implement a custom hardware architecture for the models on an FPGA. Our results show that Knowledge Distillation (KD) improves all tested U-Net variants. Among the evaluated platforms, the selected FPGA implementation achieves 398 FPS at 204.99 Frames/J while maintaining a mean IoU of 69.42%. In addition, our best model reaches 71.92% mean IoU, which is 8.82 percentage points (pps) higher than the previously reported result on the CrackVision12K dataset.

Future mobile networks must achieve substantial improvements in energy efficiency to offset the anticipated traffic growth. Despite this requirement, many discussions regarding physical layer design remain primarily focused on peak data rates and spectral efficiency, even though typical network operation is dominated by low-data-rate regimes. To address this mismatch, the Gearbox-PHY was proposed as an energy-efficient physical layer architecture that dynamically switches between modulation schemes and their associated analog front ends in order to adapt to varying operating requirements. This paper quantifies the achievable energy savings by jointly modeling front end power consumption and hardware-aware spectral efficiency to formulate an energy-per-bit minimization problem. To move beyond idealized assumptions, non-ideal hardware effects, including oscillator phase noise and limited quantizer resolution, are incorporated. These impairments simultaneously affect power consumption and achievable spectral efficiency, thereby introducing trade-offs between front end complexity, hardware non-linearities, spectral efficiency, and energy efficiency. Numerical results demonstrate that the Gearbox-PHY enables significant energy savings, particularly at low data rates. Evaluations with spatially distributed users confirm that gains of up to two orders of magnitude persist in a cellular deployment scenario.

A rigid motion in $\mathbb{R}^d$ consists of a proper rotation and a translation, and it can be represented as a matrix in $\mathbb{R}^{(d+1)\times (d+1)}$. The problem of rigid motion synchronization aims to estimate a collection of rigid motions $G^*_1, \dots, G^*_n$ from noisy observations of their comparisons ${G^*_i}^{-1} G^*_j$. Such problems naturally arise in diverse applications across signal processing, robotics, and computer vision, and have thus attracted intense research attention in recent years. Motivated by geometric considerations, this paper develops a novel spectral approach for rigid motion synchronization, called the anchored spectral estimator (ASE). Theoretically, we establish uniform estimation error bounds for the estimators produced by ASE. Empirically, we show that ASE outperforms the widely used two-stage approach, which first estimates the rotations and then the translations. Further numerical experiments on the multiple point-set registration problem are presented to demonstrate the superiority of ASE over state-of-the-art methods.

Automated driving at unsignalized intersections is challenging due to complex multi-vehicle interactions and the need to balance safety and efficiency. Model Predictive Control (MPC) offers structured constraint handling through optimization but relies on hand-crafted rules that often produce overly conservative behavior. Deep Reinforcement Learning (RL) learns adaptive behaviors from experience but often struggles with safety assurance and generalization to unseen environments. In this study, we present an integrated MPC-RL framework to improve navigation performance in multi-agent scenarios. Experiments show that MPC-RL outperforms standalone MPC and end-to-end RL across three traffic-density levels. Collectively, MPC-RL reduces the collision rate by 21% and improves the success rate by 6.5% compared to pure MPC. We further evaluate zero-shot transfer to a highway merging scenario without retraining. Both MPC-based methods transfer substantially better than end-to-end PPO, which highlights the role of the MPC backbone in cross-scenario robustness. The framework also shows faster loss stabilization than end-to-end RL during training, which indicates a reduced learning burden. These results suggest that the integrated approach can improve the balance between safety performance and efficiency in multi-agent intersection scenarios, while the MPC component provides a strong foundation for generalization across driving environments. The implementation code is available open-source.

Synchronized radio telescope-based experiments conducted since 2017, together with subsequent interferometer experiments, provide evidence of an anomalous source of 3.7 Hz bandwidth pulses, sourced from near the direction of the star Rigel. The current experiment, reported here, uses a two-element phase-measuring interferometer to monitor the hypothetical pulse source across azimuths within the beam-widths of the elements of a south-facing interferometer. 123 days of phase measurements of 3.7 Hz bandwidth pulse pairs, adds to the prior evidence that the pulsing signal source has celestial origin. Associated measurements of noise power in 954 Hz and 50 MHz bandwidths, made simultaneous with the 0.27 second duration pulse pair measurements, are presented. Measurement results are presented to aid in the development of independent experimental replication, and alternate and auxiliary explanatory hypotheses.

The growing proliferation of unmanned aerial vehicles (UAVs) poses major challenges for reliable airspace surveillance, as drones are typically small, have low radar cross-sections, and often move slowly in cluttered environments. These characteristics make the joint tasks of detecting, localizing, and tracking multiple objects difficult for conventional detect-then-track (DTT) approaches, which rely on pre-processed measurements and may discard informative low-signal-to-noise ratio (SNR) signal components. To overcome these limitations, we propose a variational message passing (VMP)-based direct multiobject tracking (MOT) method that operates directly on raw radar signals and explicitly accounts for an unknown and time-varying number of objects. The proposed method is formulated for MIMO multi-radar systems and performs data fusion by jointly processing the signals of all radar sensors using a probabilistic model. A superimposed signal model is employed to capture correlations in the raw sensor data caused by closely spaced objects, and a hierarchical Bernoulli-Gamma model is introduced to jointly model object existence, reflectivities, and the reliability of individual radar-object links. Using a mean-field approximation, we derive message updates, yielding a computationally efficient VMP algorithm that simultaneously performs object detection, track formation, state estimation, and nuisance parameter learning directly from the radar signal. Simulation results in synthetic scenarios with weak and closely-spaced objects show that the proposed direct-MOT method outperforms a conventional pipeline based on super-resolution estimation followed by belief propagation (BP)-based tracking, particularly in low-SNR and clutter-rich conditions, demonstrating the advantages of direct signal-level inference and coherent multi-radar fusion.

We propose a matrix zonotope perturbation framework that leverages matrix perturbation theory to characterize how noise-induced distortions alter the dynamics within sets of models. The framework derives interpretable Cai-Zhang bounds for matrix zonotopes (MZs) and extends them to constrained matrix zonotopes (CMZs). Motivated by this analysis and the computational burden of CMZ-based reachable-set propagation, we introduce a coefficient-space approximation in which the constrained coefficient space of the CMZ is over-approximated by an unconstrained zonotope. Replacing CMZ-constrained-zonotope (CZ) products with unconstrained MZ-zonotope multiplication yields a simpler and more scalable reachable-set update. Experimental results demonstrate that the proposed method is substantially faster than the standard CMZ approach while producing reachable sets that are less conservative than those obtained with existing MZ-based methods, advancing practical, accurate, and real-time data-driven reachability analysis.

The invariance principle, through which the steady-state behavior of nonlinear systems was introduced by Isidori and Byrnes, is leveraged in this article to bring forth a unifying characterization of the frequency response of nonlinear systems. We show that, for systems under nonlinear periodic excitations, the frequency response can still be defined as a complex-valued function in a phasor form. However, together with suitable notions of gain and phase functions, we show the existence of another function that completes the frequency response and allows quantifying the distortion introduced by the system in the steady-state output. This nonlinear characterization enabled the representation over input frequency and amplitude of the gain, phase, and distortion produced by the system, via a nonlinear enhancement of the Bode diagrams. This graphical representation of the frequency response is well-suited to performance analysis of a nonlinear system and, furthermore, allows for the formulation of the loop-shaping problem for nonlinear systems.

This paper investigates the uplink capacity of single-input single-output (SISO) systems assisted by a swarm of network-controlled repeaters (NCRs). We develop a rigorous wideband formulation based on OFDM signaling. Starting from the continuous-time passband model, we derive the capacity expression for the repeater-assisted OFDM channel, accounting for amplified noise contributions from multiple repeaters. Numerical results demonstrate that NCRs can substantially enhance system capacity even with simple activation strategies, and that activating only the closest repeater yields nearly the same performance as activating all repeaters, thereby offering significant energy-saving opportunities. These findings highlight the potential of NCR swarms as a cost-effective and scalable solution for coverage extension and capacity enhancement in wideband wireless networks.

Data-driven reachability analysis using matrix zonotopes faces a fundamental challenge: the number of generators in the reachable set grows exponentially during propagation, while current order reduction yields overly conservative approximations in data-driven settings. This paper introduces an orthogonal matrix-based framework that appropriately transfers the coordinate system before reducing the generators of the reachable set, dramatically reducing reachable set volumes. By exploiting the factorized structure of data-driven matrix zonotope generators, we develop several efficient algorithms to solve the problem. Numerical experiments demonstrate order-of-magnitude volume reductions compared to traditional methods, while maintaining comparable generator numbers. Our method provides a practical solution to improve precision in data-driven safety verification.

Skull stripping magnetic resonance images (MRI) of the human brain is an important process in many image processing techniques, such as automatic segmentation of brain structures. Numerous methods have been developed to perform this task, however, they often fail in the presence of neuropathology and can be inconsistent in defining the boundary of the brain mask. Here, we propose a novel approach to skull strip T1-weighted images in a robust and efficient manner, aiming to consistently segment the outer surface of the brain, including the sulcal cerebrospinal fluid (CSF), while excluding the full extent of the subarachnoid space and meninges. We train a modified version of the U-net on silver-standard ground truth data using a novel loss function based on the signed-distance transform (SDT). We validate our model both qualitatively and quantitatively using held-out data from the training dataset, as well as an independent external dataset. The brain masks used for evaluation partially or fully include the subarachnoid space, which may introduce bias into the comparison; nonetheless, our model demonstrates strong performance on the held-out test data, achieving a consistent mean Dice similarity coefficient (DSC) of 0.964$\pm$0.006 and an average symmetric surface distance (ASSD) of 1.4mm$\pm$0.2mm. Performance on the external dataset is comparable, with a DSC of 0.958$\pm$0.006 and an ASSD of 1.7$\pm$0.2mm. Our method achieves performance comparable to or better than existing state-of-the-art methods for brain extraction, particularly in its highly consistent preservation of the brain's outer surface. The method is publicly available on GitHub.

Standard model-based control design deteriorates when the system dynamics change during operation. To overcome this challenge, online and adaptive methods have been proposed in the literature. In this work, we consider the class of discrete-time linear systems with unknown time-varying parameters. We propose a simple, modular, and computationally tractable approach by combining two classical and well-known building blocks from estimation and control: the least mean square filter and the certainty-equivalent linear quadratic regulator. Despite both building blocks being simple and off-the-shelf, our analysis shows that they can be seamlessly combined to a powerful pipeline with stability guarantees. Namely, finite-gain $\ell^2$-stability of the closed-loop interconnection of the unknown system, the parameter estimator, and the controller is proven, despite the presence of unknown disturbances and time-varying parametric uncertainties. Real-world applicability of the proposed algorithm is showcased by simulations carried out on a nonlinear planar quadrotor.

Embedding non-restrictive prior knowledge, such as energy conservation laws, into learning methods is a key motive to construct physically consistent dynamics models from limited data, relevant for, e.g., model-based control. Recent work incorporates Hamiltonian dynamics into Gaussian Processes (GPs) to obtain uncertainty-quantifying, energy-consistent models, but these methods rely on -- rarely available -- velocity or momentum data. In this paper, we study dynamics learning using Hamiltonian GPs and focus on learning solely from input-output data, without relying on velocity or momentum measurements. Adopting a non-conservative formulation, energy exchange with the environment, e.g., through external forces or dissipation, can be captured. We provide a fully Bayesian scheme for estimating probability densities of unknown hidden states, GP hyperparameters, as well as structural hyperparameters, such as damping coefficients. The proposed method is evaluated in a nonlinear simulation case study and compared to a state-of-the-art approach that relies on momentum measurements.

Audio and music generation based on flexible multimodal control signals is a widely applicable topic, with the following key challenges: 1) a unified multimodal modeling framework, and 2) large-scale, high-quality training data. As such, we propose AudioX, a unified framework for anything-to-audio generation that integrates varied multimodal conditions (i.e., text, video, and audio signals) in this work. The core design in this framework is a Multimodal Adaptive Fusion module, which enables the effective fusion of diverse multimodal inputs, enhancing cross-modal alignment and improving overall generation quality. To train this unified model, we construct a large-scale, high-quality dataset, IF-caps, comprising over 7 million samples curated through a structured data annotation pipeline. This dataset provides comprehensive supervision for multimodal-conditioned audio generation. We benchmark AudioX against state-of-the-art methods across a wide range of tasks, finding that our model achieves superior performance, especially in text-to-audio and text-to-music generation. These results demonstrate our method is capable of audio generation under multimodal control signals, showing powerful instruction-following potential. The code and datasets will be available at https://zeyuet.github.io/AudioX/.

This letter derives the noncoherent (NC) maximum likelihood (ML) detection rule for LoRa signals under Rician multi-path fading channel. The proposed NC-ML detection only requires the channel statistic, not the actual instantaneous channel state information (CSI), which eliminates the overhead associated with channel estimation. Simulation results show that despite the low-complexity, the proposed detection scheme significantly improves the performance of LoRa detection over multipath channel. Notably, in time-invariant channel, the NCML receiver can achieve an equivalently good performance as compared to existing coherent schemes, and even surpasses them when Doppler shift is present, while not relying on the channel estimation nor reference signal extracted from the preamble.

To date, various paradigms of soft-Computing have been used to solve many modern problems. Among them, a self organizing combination of fuzzy systems and neural networks can make a powerful decision making system. Here, a Dynamic Growing Fuzzy Neural Controller (DGFNC) is combined with an adaptive strategy and applied to a 3PSP parallel robot position control problem. Specifically, the dynamic growing mechanism is considered in more detail. In contrast to other self-organizing methods, DGFNC adds new rules more conservatively; hence the pruning mechanism is omitted. Instead, the adaptive strategy 'adapts' the control system to parameter variation. Furthermore, a sliding mode-based nonlinear controller ensures system stability. The resulting general control strategy aims to achieve faster response with less computation while maintaining overall stability. Finally, the 3PSP is chosen due to its complex dynamics and the utility of such approaches in modern industrial systems. Several simulations support the merits of the proposed DGFNC strategy as applied to the 3PSP robot.

Network-controlled repeaters (NCRs) are a low-cost means to extend coverage and strengthen macro diversity in wireless networks. They operate in real time by amplifying and re-transmitting the incoming signal with only hardware-level delays, without requiring any channel state information (CSI) at the repeater itself. However, their power amplifiers (PAs) generate non-linear distortion that is jointly forwarded with the desired signal and can undermine multiuser performance unless the distortion statistics are exploited. This paper develops a distortion-aware (DA) uplink framework for repeater-assisted massive MIMO (RA-MIMO) under PA non-linearities. We adopt a memoryless third-order polynomial model for the repeater PA and characterize the achievable spectral efficiency (SE) using the Bussgang decomposition. Closed-form expressions are derived for the Bussgang gain matrix and the distortion covariance. We also design a DA combining vector that maximizes the effective signal-to-interference-plus-distortion ratio.

Indoor wireless communication environments are strongly influenced by dynamic conditions, which affect channel state information (CSI) and, consequently, the precoding strategy and the selection of the access point (AP). Device-free sensing and localization functionalities can provide information about these conditions, including, for example, the user's position and the position of mobile blocking objects. To model the statistical relationship between the CSI and the provided conditions, we employ a conditional variational autoencoder (cVAE). We treat the user and object positions - referred to as context information - as conditional inputs to the cVAE. The proposed model does not rely on ground-truth CSI and is trained directly on noisy data. Once trained, the framework can infer channel statistics solely from user and blocking object positions, enabling proactive AP selection based on inferred statistical CSI without requiring continuous CSI estimation. Extensive simulations with the state-of-the-art ray-tracing tool Sionna validate the proposed method.

We address the multi-agent motion planning problem where interactions, collisions, and congestion co-exist. Conventional game-theoretic planners capture interactions among agents but often converge to conservative, congested equilibria. Homotopy planners, on the other hand, can explore topologically distinct paths, but lack mechanisms to account for the interdependence of agents' future actions. We propose a unified framework that leverages homotopy classes as structured strategy sets within a receding-horizon setup. At each planning stage, a deterministic homotopy planner generates topologically distinct paths for each agent, conditioned on the joint configuration. To avoid intractable growth of candidate paths, we propose a simple heuristic filtering step that selects a top-$K$ subset of the most suitable congestion-free joint strategies to ensure computational tractability. These serve as initializations for a potential game that enforces homotopy-consistent constraints and yields a generalized open-loop Nash equilibrium (OLNE), with penalties discouraging abrupt strategy shifts in a receding-horizon setting. Simulations with three agents demonstrate improved efficiency (faster completion) and enhanced safety (greater inter-agent clearance, leading to reduced congestion) compared to a local baseline and NH-ORCA that do not reason about homotopies. Hardware trials with two robots and one human demonstrate robustness to irrational behaviors, where our method adapts by switching to alternative feasible equilibria while the baseline game fails.

In process operations, it is desirable to manage the sensitivity of the system output against external disturbance in the form of finite $\mathcal{L}_2$-gain stabilization. This matter is, however, nonsensical for stochastic systems because the stochastic uncertainties in the control input almost always lead to an unbounded $\mathcal{L}_2$ gain from the disturbance to the output. To address this issue, this article develops a novel concept that characterizes the $\mathcal{L}_2$ gain of stochastic systems in a probabilistic way. Combined with a large data set, we formulate a data-driven probabilistic finite $\mathcal{L}_2$-gain stabilization design using noisy trajectory measurements and the disturbance forecast that does not necessarily agree with the actual future disturbance. The design approach consists of a data-driven trajectory estimation algorithm, whose resulting estimation error covariance is nicely integrated into the feasibility conditions for controller synthesis, leading to a convex offline design in the form of linear matrix inequalities. The effectiveness of the proposed design, along with the additional insights provided by the approach, is illustrated via a numerical example.

Mobile robots joining public spaces like sidewalks must care for pedestrian comfort. Many studies consider pedestrians' objective safety, for example, by developing collision avoidance algorithms, but not enough studies take the pedestrian's subjective safety or comfort into consideration. Quantifying comfort is a major challenge that hinders mobile robots from understanding and responding to human emotions. We empirically look into the relationship between the mobile robot-pedestrian interaction kinematics and subjective comfort. We perform one-on-one experimental trials, each involving a mobile robot and a volunteer. Statistical analysis of pedestrians' reported comfort versus the kinematic variables shows moderate but significant correlations for most variables. Based on these empirical findings, we design three comfort estimators/predictors derived from the minimum distance, the minimum projected time-to-collision, and a composite estimator. The composite estimator employs all studied kinematic variables and reaches the highest prediction rate and classifying performance among the predictors. The composite predictor has an odds ratio of 3.67. In simple terms, when it identifies a pedestrian as comfortable, it is almost 4 times more likely that the pedestrian is comfortable rather than uncomfortable. The study provides a comfort quantifier for incorporating pedestrian feelings into path planners for more socially compliant robots.

The abundance of process operating data in modern industries, along with the rapid advancement of learning techniques, has led to a paradigm shift towards data-centric analysis and control. However, integrating machine learning with control theory for big data-driven control of nonlinear systems remains a challenging open problem. This is because the state-based, model-centric, and causal framework of classical control theory fundamentally contradicts the trajectory-based, set-theoretic, and causality-absent rationale of big data-based learning approaches. Using the behavioral framework, we show that dynamical systems possess an intrinsic state variable that encodes the system behavior in a bijective and causality-free manner, and control design can be carried out entirely within the state space. This approach not only resolves the aforementioned conflict but also complements machine learning techniques well, leading to a neural network architecture that is capable of learning the behavior representation well-suited for control design.

During the first superior conjunction of the Tianwen-1 Mars probe in October 2021, its downlink signal received by the Wuqing 70-m radio telescope passed within 4.53 solar radii of the Sun. The signal was significantly perturbed by the solar wind, providing a mechanism to probe coronal activity. We analyze the Doppler frequency scintillation spectrum of the solar wind within 10 solar radii to derive a characteristic frequency scintillation parameter. Statistical analysis indicates this parameter increases as the signal path approaches the Sun, with notable anomalies observed on October 5, 13, and 15. Comparisons with SOHO and SDO data reveal strong spatio-temporal correlations between these scintillation anomalies and coronal activity. We demonstrate that this parameter effectively identifies solar phenomena, including coronal streamers, high-speed solar wind, and coronal mass ejections (CMEs). Quantitative analysis confirms a distinct temporal correlation and delay between frequency scintillation and solar wind speed changes, validating the feasibility of spatially localizing solar activity.

Solving optimal control problems to determine a stabilizing controller involves a significant computational effort. Time-varying optimal control provides a remedy by designing a tracking system, given as an ordinary differential equation, to track the solution of the optimal control problem. To improve the applicability of the method, measurement errors are considered in this paper and it is described how these errors influence a control Lyapunov function-based decay condition. As a result of these investigations, input-affine constraints that meet the standard formulation and that describe the set of admissible controls are obtained. The paper also derives a requirement on the necessary measurement accuracy as well as a triggering condition for taking a new measurement. The main theorem combines these results into a robustly stabilizing control algorithm, meaning that all closed-loop trajectories starting in a vicinity around the true state converge to zero. Additionally, the tracking system ensures that the optimal control is tracked at the end of each sampling period. The effectiveness of this approach is demonstrated using a train acceleration model and the well-known predator-prey model.