Low-resolution data converters can significantly reduce the power consumption and silicon area of all-digital massive multi-user (MU) multiple-input multiple-output (MIMO) basestations. However, the existing literature almost exclusively focuses on idealistic quantization models, neglecting the inherent non-idealities present in real-world analog-to-digital converter (ADC) implementations. To overcome this limitation, we propose two affine models, one based on Bussgang's decomposition and one that maximizes the signal-to-distortion ratio (SDR), both accounting for the most prominent non-idealities in successive approximation register (SAR) ADCs. Subsequently, we utilize these models to devise low-complexity methods that mitigate SAR-ADC non-idealities in massive MU-MIMO wireless systems.

Affine frequency division multiplexing~(AFDM) has emerged as a compelling waveform candidate for future wireless networks, owing to its strong resilience to doubly selective channels and its ability to enable the seamless integration of communication and sensing functionalities. Against this context, this article provides a systematic study of AFDM from a standardization perspective. We first introduce the principles of AFDM and discuss the major considerations involved in waveform standardization. We then examine the backwards compatibility of AFDM with 4G/5G multi-numerology frameworks and their anticipated evolution, frequency-modulated continuous-wave (FMCW) radar waveforms, and long-range (LoRa) modulation, demonstrating that AFDM can be incorporated into legacy processing chains with limited modification. Key standardization-critical capabilities are further discussed, including multiple-antenna and multi-user support, and peak-to-average power ratio (PAPR). Finally, we investigate the potential of AFDM in several emerging scenarios, including non-terrestrial networks~(NTN), integrated sensing and communications (ISAC), vehicle-to-everything (V2X), and underwater acoustic (UWA) communications, whereby severe delay-Doppler dispersion places stringent demands on waveform robustness. Through these explorations, it is shown that that AFDM represents a timely and compelling technology for future wireless networks.

Practical implementations of phased arrays suffer from per-antenna gain, phase, and delay mismatches, which can significantly worsen the maximum sidelobe level (SLL) of beampatterns. The existing literature either analyzes specific structured mismatch patterns or derives per-angle marginal statistics under random mismatches, which fail to characterize global beampattern metrics such as the maximum SLL. To address this limitation, we propose a frequency-domain framework in which the beampattern is described by a tapering-window-dependent base function evaluated along a deformation determined by the array architecture and signal bandwidth. This formulation enables a spectral analysis of mismatches, revealing that element-wise errors generate weighted replicas of the ideal beampattern whose amplitudes are given by the discrete Fourier transform of the mismatch sequence. Building on this insight, we derive an approximation of the maximum SLL distribution under random gain and phase mismatches. The resulting expressions enable yield-oriented design and rapid design-space exploration without relying on computationally intensive Monte-Carlo simulations.

Chopper stabilized amplifiers are popularly used for realizing amplifiers with low offset and for rejecting flicker noise. One of the main limitations of these amplifiers is the low Input Impedance (Zin) produced by the switch capacitor input network. Zin here is resistive due to the switch capacitor action and is inversely proportional to the product of Chopping frequency (Fch) and Input Capacitance (Ci). Since Fch should be greater than the flicker noise corner frequency, this results in a low Zin. When interfacing sensors with high Sensor Output Impedance (Zo), chopper stabilized amplifiers load the sensors resulting in reduced sensitivity. This paper presents a novel input impedance boosting technique - Differential capacitor flipping technique for chopper based Capacitively Coupled Instrumentation Amplifier (CCIA), which prevents discharge and recharge of Ci's in every cycle by reconfiguring the capacitor positions while preserving the chopping operation. This ideally results in a purely capacitive Zin which is independent of Fch. The proposed architecture is used to demonstrate Electrocardiogram (ECG) signal acquisition with dry electrodes that have Zo in the order of a few Mega Ohms. This circuit implemented in TSMC 65 nm CMOS technology node features Zin of 21 GOhms at DC. The circuit has a power consumption of 2.6E(-6)W (2.8E(-6)W including clock generation circuits), with 7.2E(-6)Vrms (1 Hz-150 Hz) of total integrated input referred noise. ~

Variational autoencoder-based neural video coding has demonstrated impressive rate-distortion performance. However, its adoption in real-world applications remains hindered by challenges, such as prohibitively high computational complexity and limited cross-platform interoperability. These issues are often overlooked, as most neural video codecs rely on floating-point arithmetic to fully explore their rate-distortion potential. Practical deployment, however, requires integer-based implementations. Converting floating-point implementations into integer-based networks is non-trivial, since it involves quantizing inter-dependent coding components, whose sensitivity to precision may vary across codec designs. This paper introduces a Jointly-Optimized Mixed-Precision (JOMP) framework, in which both quantization parameters and bit widths are treated as learnable variables during training. This enables different codec modules to operate at varying precision levels, thereby jointly optimizing the rate-distortion-complexity trade-off. To the best of our knowledge, JOMP is the first mixed-precision quantization framework for neural video codecs. Its effectiveness is validated through a systematic investigation of quantization across different coding frameworks and temporal buffering strategies. Our study marks the first attempt to a unified understanding of the combined effects of modern coding frameworks and temporal buffering strategies, with the aim of informing future development of neural video codecs from a practicality perspective. In addition, we develop a complete integerization pipeline to achieve deterministic decoding. Overall, when applied to our best-performing model, JOMP enables end-to-end mixed-precision learning for integer neural video codecs, achieving rate-distortion performance comparable to that of the state-of-the-art DCVC-FM while reducing bit operations by 87.6%.

6G is expected to bring unprecedented advancements in the capabilities of vehicular networks. However, the advent of 6G will also introduce changes in the operation of vehicular communication infrastructures such as roadside units (RSUs), including the incorporation of autonomous intent-based network paradigm and integrated sensing and communication (ISAC) capabilities. While ISAC enables sensing and communication within a single 6G network node, intent-based network design paradigm ensures that network nodes such as RSUs, act as autonomous cognitive agents to fulfill the objectives of their respective communication service providers. This paradigm shift necessitates the development of V2I communication strategies that learns and adapts to the sensing-assisted communication and the autonomous decision-making strategies of RSUs. We model the RSU as a constrained utility maximizer, where the utility function characterizes the RSU intent, and formulate an inverse learning (IL) problem to infer the underlying utility function from observed ISAC RSU actions, for example the adaptive beamwidth allocation in response to the kinematic states of vehicles within a vehicular micro-cloud (VMC). The main contributions of this paper are: (i) ATIL, a nonparametric method based on Afriat theorem for fixed utility learning; (ii) FICNNIL, a parametric approach using fully input-concave neural networks, for structured fixed utility learning; and (iii) PICNNIL, a parametric approach based on partially input-concave neural networks, for inverse learning of state-dependent utilities. (iv) Federated inverse learning algorithms FedFICNNIL and FedPICNNIL for fixed and state dependent utility, respectively. We demonstrate the proposed IL-based framework for two V2I communication applications in VMCs, namely predictive scheduling for cooperative data downloading and dynamic cluster-head selection.

Scanning Photothermal Radiometry (SPR) is an active thermal technique that is simultaneously non-destructive, contactless, and allows for temporal resolutions on the order of nanoseconds, spatial resolutions down to the sub-micrometre scale and at different depths. This scanning method can be time consuming thus this work shows that it is possible to reduce the amount of measurements taken by 6 when using SPR on a sample consisting of carbon fibres in an aluminium matrix. It uses irregular sampling on sparse signals, and a weighted random technique to further decrease the amount of samples needed.

Gears are an integral component of electromechanical applications, but accurate condition monitoring methods, including data-driven predictive maintenance, are strongly dependent on high-quality data, especially from faulty components. To address the scarcity of data, we proposed a multibody simulation using an advanced polygonal contact method to replicate torsional vibrations from an experimental azimuth thruster test rig. The key novelty is the ability to simulate both healthy and faulty gears with arbitrary fault geometries. The simulated signals closely matched the measurements in both time and frequency domains. In the time domain, average torque levels and periodic fluctuations aligned well, although measured signals exhibited higher peak-to-peak amplitudes and greater noise, particularly in healthy conditions at lower rotational speeds. In the frequency domain, the simulations accurately reproduced expected fault frequencies and corresponding sidebands, with larger faults producing higher amplitudes. While the simulations tended to overestimate peak amplitudes and underestimate external noise, the results were highly comparable to measurements and consistent with the physical expectations. These findings provide a robust foundation for enhancing data-driven condition monitoring methods, particularly those employing machine learning or deep learning.

Driven by the massive video transmission requirements in the Internet of Everything, semantic communication holds great promise for striking a balance between transmission efficiency and quality. This paper introduces a large-model-driven generative video semantic communication (LGVSC) framework, enabling efficient video semantic transmission under extremely low bandwidth conditions. First, by decoupling the encoder and decoder as well as exposing explicit intermediate semantic representations, LGVSC maintains interpretability, avoiding the black-box behavior commonly observed in end-to-end systems. Next, we introduce a new metric, i.e., the probability-based semantic similarity score (PSSS), which quantifies semantic similarity for complex modalities within a continuous range, allowing for more precise evaluation of semantic content. Building on PSSS, we propose a semantic-guided keyframe extraction module driven by a multimodal large model. This module can enhance fine-grained semantic consistency during keyframe selection at the transmitter, optimizing transmission bandwidth without compromising semantic fidelity. Additionally, we design a generative large-model-driven dynamic semantic-adaptive decoder at the receiver, which can adapt to videos of arbitrary lengths. Simulation results demonstrate that LGVSC significantly outperforms traditional schemes, achieving a channel bandwidth ratio on the order of 10^-4 to 10^-3, while maintaining strong zero-shot generalization across downstream tasks.

In this paper, we propose leveraging rotatable antennas (RAs) to enhance near-field communication and sensing by exploiting a new orientation-domain spatial degree-of-freedom (DoF) provided by element-wise antenna rotation. Specifically, we investigate an RA-enabled near-field integrated sensing and communication (ISAC) system with sub-connected hybrid beamforming, where each transmit RA can independently adjust its boresight direction under a practical rotation constraint. A spherical-wave channel model incorporating orientation-dependent antenna gains is established to characterize multi-user communication and target sensing in the presence of clutters. Based on this model, a weighted communication-sensing utility maximization problem is formulated by jointly optimizing the receive beamformer, digital beamformer, analog beamformer, and RA boresight directions. To solve the resulting non-convex problem, an alternating optimization algorithm is developed by combining fractional programming, Riemannian optimization, and a spherical-cap Frank--Wolfe-based boresight update. To further understand the impact of RA rotation on near-field sensing, we derive a closed-form root Cramer--Rao bound (RCRB) expression. Simulation results demonstrate the convergence and effectiveness of the proposed algorithm. It is shown that the RA-enabled hybrid design can match or even outperform the fully-digital FPA benchmark in some regimes, indicating that the orientation-domain DoF introduced by element-wise rotation can compensate for limited RF chains. The RCRB and beampattern results further show that RA rotation improves off-broadside sensing accuracy, enhances range-domain focusing, and suppresses same-angle clutters in the near field.

Radio maps provide the essential foundation for low altitude networking systems. Unlike terrestrial radio maps that are typically generated via drive test measurements, mapping the air-ground environment requires the deployment of unmanned aerial vehicles (UAVs). This shift introduces two formidable challenges in uncharted 3D scenarios. First, sparse radio measurements and incomplete geometric observations hinder accurate reconstruction. Second, the large 3D action space and strict power constraints from high spectrum scanner energy consumption make informative exploration difficult. To address these issues, this paper proposes 3D uncertainty aware radio active mapping (3D-URAM), a closed loop active perception framework that decouples the mapping process into two offline trained stages. In Stage I, a Bayesian UNet is developed to recover radio maps from sparse measurements and partial geometry while providing calibrated predictive uncertainty. In Stage II, a dynamic probabilistic roadmap and a transformer based waypoint selection policy trained via proximal policy optimization maximize long horizon uncertainty reduction under travel budgets. Experimental results demonstrate that 3D-URAM reduces reconstruction error by over 50% compared to representative baselines. Real-world field tests within a 300mx200mx100m space also validate the potential of active radio map reconstruction.

This paper proposes a beamforming optimization scheme with joint antenna sub-array selection (SAS) and angular perturbation-based nulling (APN) for full-duplex (FD) massive multiple-input multiple-output (mMIMO) systems, to simultaneously suppress self-interference (SI) and multi-user interference (MUI). A comprehensive over-the-air SI channel measurement campaign, conducted with an 8x8Tx-8x8Rx FD array prototype, reveals significant variations across sub-arrays at different spatial locations, as well as reconfigurable characteristics of the SI channel under diverse Tx and Rx sub-array configurations. To exploit the selective SI channels, a particle swarm optimization (PSO)-based algorithm is developed to jointly determine optimal sub-array indices and perturbed steering angles, thereby effectively nullifying potential interference. Selecting sub-arrays with inherently lower SI channels notably enhances the beam-level isolation, while the added selection flexibility among comparable SI channels ensures more uniform SI suppression across diverse DL/UL locations and significantly improves worst-case isolation. Experimental evaluation based on the measured SI channel demonstrates that the proposed SAS technique achieves residual Tx-Rx beam-level SI suppression improvements of 29.2 dB and 26.6 dB for the sample 1x2 and 1x4 sub-arrays, respectively. A worst-case improvement greater than 30.7 dB is observed. Overall, the joint SAS and APN optimization scheme achieves average beam-level isolation of 85.2 dB and 83.3 dB with the 1x2 and 1x4 sub-arrays, respectively. With the application of a baseband precoder, all tested sub-array configurations achieve average MUI suppression better than -181.3 dB. These results confirm the potential of the proposed optimization algorithm to successfully reduce interference to the noise floor, thereby guaranteeing reliable FD mMIMO operation.

Affine frequency division multiplexing (AFDM) exhibits excellent Doppler robustness and the ability to characterize doubly selective channels. However, its signal dispersion characteristics make it challenging to directly adopt traditional time-frequency multiple access schemes. To address this issue, we introduce cooperative rate splitting multiple access (RSMA) for AFDM systems. The flexible configuration of AFDM chirp parameters can reduce the correlation between users' equivalent channels, which decreases the interference from RSMA private streams. We conduct a theoretical analysis of the cooperative RSMA-AFDM system and demonstrate that minimizing the overlap in the channel column spaces among users can effectively enhance the system performance. Guided by this analysis, we design a chirp parameter optimization scheme that reduces multi-user interference and maximizes diversity gain. To fully exploit the diversity gain brought by the proposed chirp parameter optimization, two expectation propagation (EP)-based distributed cooperative detection schemes are proposed. First, a decision-fusion-based method is developed, where local information and cooperative information are fused by maximum ratio combining, achieving a globally consistent estimate of the common stream. Second, we develop a belief-consensus EP-based detection scheme. In each iteration, user nodes exchange and fuse the first- and second-order statistics of the common stream, and the resulting beliefs gradually converge to a consistent global decision, which significantly improves the overall reliability.

The monomial parameterization of finite-memory Volterra identification is ill-conditioned under non-Gaussian input, and the Wiener--Hermite expansion removes this ill-conditioning only for Gaussian white-noise input. We construct the distribution-matched Volterra--Wiener--Kunchenko (VWK) basis by oriented Gram--Schmidt orthogonalization of monomials in $L^2(P)$ and use it as an arbitrary-polynomial-chaos coordinate system for finite-memory Volterra identification from data, following the generalized polynomial chaos of Xiu and Karniadakis (2002) and the data-driven arbitrary polynomial chaos of Oladyshkin and Nowak (2012). The basis itself is classical; the contribution is the Volterra-estimation reading. First, an order-2 misspecification-penalty theorem shows that a self-normalized diagonal estimator in the variance-matched Gaussian basis incurs an excess $L^2(P)$ risk governed by the skew coefficient $\delta=\mu_3/\sigma^2$, vanishing exactly for symmetric inputs. Second, conditioning experiments separate the constructional fact that the population matched Gram is the identity from the finite-sample design Gram: at $n=2000$, the centered-exponential empirical VWK Gram remains far better conditioned than the power Gram, although it degrades with degree. Third, a machine-checked Lean 4 proof establishes the Binomial$(N,p)$ Krawtchouk row for arbitrary $N$. Full least squares over a fixed span is basis-invariant, so VWK stabilizes diagonal cross-correlation and regularized coordinate fits rather than claiming universal prediction superiority. The analysis is moment-based, finite-memory, and restricted to product input laws.

Turn-taking in multi-party spoken conversations remains a fundamental challenge for voice-based agents, particularly under dynamic floor competition and varying user expectations. We propose ModeratorLM, a role-playing voice agent that conditions turn-taking behavior on an explicitly assigned role in multi-party settings. The system is built on a speech large language model operating in chunk-wise streaming manner. We further introduce a reasoning-augmented variant that incorporates chain-of-thought reasoning over conversational context and the assigned role. We construct RolePlayConv, a large-scale synthetic dataset of spoken multi-party conversations with diverse assistant roles. Experiments on real-world meeting data and RolePlayConv show improved turn-taking precision by over 40% and recall by more than 70%, while substantially reducing false-positive interruptions compared to non-role-conditioned baselines.

While low-latency interaction is critical for spoken dialogue, cascaded architectures are often bottlenecked by reactive turn-completion detection. We propose Endpoint Anticipation, shifting from reactive detection to proactive forecasting of end-of-turn signals. Our speech-based model anticipates endpoints upto 2.56 seconds in advance, enabling speculative execution of LLM and TTS pipelines on partial context. We introduce metrics to quantify the trade-off between realized latency reduction and computational redundancy. Evaluation across conversational and task-oriented datasets shows our model consistently outperforms competitive VAP-based baselines. Integration with the Unmute framework demonstrates a 505 ms average latency reduction with a 28.4% increase in speculative computation, effectively masking sequential bottlenecks to enable complex reasoning in real-time speech-to-speech interaction.

We describe faust2clap, a framework establishing the first officially maintained compilation pathway from Faust DSP specifications to the CLAP format. The system operates in two different modes. A static mode employs ahead-of-time compilation to yield native binaries of optimal efficiency, while a dynamic mode uses runtime interpretation to permit DSP code modification without interrupting the host application. This latter capability addresses a persistent friction in audio software development, namely the cumulative overhead of the edit, compile, and reload cycle. We detail the algorithmic machinery underlying both modes, focusing specifically on the problem of parameter identity. To preserve both parameter values and their bindings to host automation across structural DSP mutations, we introduce an address-based identity matching algorithm and a stable slot allocation scheme. The implementation, comprising approximately 2,400 lines of C++ architecture and Python tooling code, has been integrated into the main Faust distribution.

Training neural networks (NNs) for speech enhancement (SE) in distant speech-capturing scenarios requires paired distorted and clean reference speech signals. While such data are often generated through simulation, the mismatch between simulated and real recordings significantly limits SE accuracy. To address this issue, we propose Close-to-Distant microphone Projection (C2D projection), a method that generates paired data from real recordings captured by close and distant microphones. C2D projection estimates an optimal projection matrix that transforms close-microphone inputs into clean reference signals aligned with distant-microphone recordings, while simultaneously performing denoising. We show this projection can be effectively realized using a variant of the Parametric Multichannel Wiener Filter (PMWF). Experimental results demonstrate that an NN trained with C2D-projected data outperforms the state-of-the-art Guided Source Separation (GSS) on the challenging CHiME6 dinner party ASR task under oracle diarization, when using the enhanced output from GSS as an auxiliary input to the NN.

Multi-talker speech recognition is often addressed by combining automatic speech recognition (ASR) and speaker diarization in a pipeline system. Recently, LLM-based approaches have shown promise by jointly modeling semantic and speaker information, but they typically require large-scale multi-talker corpora that are costly to annotate. In this paper, we investigate how to efficiently train an LLM-based system with limited real-recorded data while maintaining high accuracy in speaker attribution. We propose several strategies: (1) a dual-encoder architecture to extract semantic and speaker features, (2) a feature interleaving format to merge these features as the inputs to the LLM, (3) a length-aware speaker ID loss to enhance diarization capability, and (4) an adaptive threshold strategy for ASR loss computation to mitigate hallucinations caused by speech overlaps. These strategies balance training between ASR and diarization tasks. Our system outperforms open-source baseline approaches, achieving relative improvements of 18% on the AliMeeting corpus and 24% on the Aishell4 corpus.

Aerial wildfire suppression requires not only predicting fire spread, but also designing effective intervention strategies under operational and environmental uncertainty. We present a modeling and optimization framework for aerial wildfire suppression that combines a hybrid neural-cellular automaton wildfire model with gradient-based design of targeted aerial drops. The wildfire model predicts spatially varying spread behavior from terrain, fuel, and wind data, while the intervention module determines binary drop actions with continuous-valued location and orientation parameters mapped to the simulation grid. Water and retardant are represented with distinct suppression effects, corresponding to immediate reduction of active burning and persistent reduction of future spread. To evaluate the robustness of the resulting suppression plans, we quantify both aleatoric uncertainty through Monte Carlo sampling of daily fire-state realizations and epistemic uncertainty through spatially correlated prediction-error perturbations. A case study based on the 2020 Bear Fire shows that the framework can generate coherent aerial suppression schedules for reducing total fire-affected area and can support uncertainty-aware analysis of wildfire intervention strategies.

Dexterous robotic hands are usually formulated as high dimensional active control systems governed by degrees of freedom, actuation, and algorithms. Human hand dexterity, however, is partly encoded in the physical architecture of bones, ligaments, tendons, aponeuroses, and intrinsic muscles. This work describes that contribution as two linked forms of structural intelligence: structural prior generation, in which wrist to finger tenodesis, FDS/FDP routing, and the dorsal extensor hood transform low dimensional posture inputs into default grasp configurations and PIP to DIP coordination; and muscle mediated modulation, in which extrinsic muscles, lumbricals, and interossei regulate MCP posture, distal stability, fingertip force paths, and contact states around that default state. Based on this framework, MCR-Bionic Hand is developed as a 1:1 musculoskeletal biomimetic hand integrating a two row eight bone wrist, cross wrist tendons, anatomical flexor routing, volar plate and collateral ligament constraints, the dorsal extensor hood, and intrinsic muscle pathways within one body. Functional demonstrations and geometric mechanical models show that wrist posture induces multi joint pre shaping, the extensor hood maps PIP posture to a coupled DIP response, and intrinsic plus pathways modulate distal stability and fingertip action direction after grasp formation. Contact rich tasks, including coin rotation, pen transfer, dorsal coin flipping, and cube manipulation, show that MCR-Bionic links low dimensional state generation with fine post contact modulation. These results suggest that anatomical biomimetics is valuable not for visual similarity, but for identifying human hand structures that perform part of control.

The frequency bands between 7 and 24 GHz, also known as upper midband or Frequency Range (FR) 3, are being considered as an enabler of 6th Generation (6G) mobile networks. This portion of the spectrum exhibits different propagation characteristics compared to frequencies above 24 GHz, while also offering the potential to provide larger bandwidth allocations for mobile systems than those available in the sub-6 GHz range. 6G technology and spectrum policy, however, will need to guarantee coexistence with the incumbents that already use these frequency bands, which include a variety of services, from radiolocation to satellite-based communications, remote sensing, and radioastronomy. In this paper, we consider the challenge of coexistence between 6G terrestrial systems and satellite incumbents in different portions of the FR3 bands. Using a large-scale 3D model of a terrestrial deployment in the city of Boston and an open-source ray tracing solution, we evaluate the level of Radio Frequency Interference (RFI) that tens of terrestrial Next Generation Node Bs (gNBs) generate toward satellites at different elevation angles. Our model, based on realistic obstruction, clutter, diffraction, and reflections, shows that sidelobes and Non-Line-of-Sight (NLoS) paths can significantly contribute to RFI. Besides directionality, the spatial distribution of gNBs also plays a key role in defining the RFI levels, suggesting that a careful design and operation of terrestrial deployments can create coexistence opportunities.

Knee rehabilitation exoskeletons must enforce a prescribed joint trajectory while remaining safely compliant with involuntary spasm and voluntary patient effort-objectives in tension for any fixed-gain impedance controller. We present an Impedance Model Predictive Control framework for knee rehabilitation exoskeletons, demonstrated on a series-elastic-actuator (SEA) platform: an algebraic feedforward reduces the knee dynamics to a constant-coefficient scalar double integrator, and a receding-horizon quadratic program (QP) computes corrective torques while enforcing hard range-of-motion, torque, and velocity limits (ISO 13482). A Kalman disturbance state driven by direct SEA-based torque sensing (the series-elastic spring deflection measured through the elastic element - an intrinsic, EMG-free patient-torque estimate, not a separate load cell) gives a nominal offset-free guarantee and, via its sign and the desired-motion direction, sensorless Assist-as-Needed. The constant state matrix permits offline precomputation of the QP cost inverse, enabling 500 Hz operation with a multi-step horizon. Across seven-controller benchmarks (sinusoidal tracking, isometric hold), the 500 Hz Kalman MPC is offset free 0.1 mrad RMS, 0.1 mrad steady-state, 0.2 mrad peak under 15 Nm spasm, versus a 515 mrad steady-state offset for classical impedance at the same stiffness - the direct-measurement channel converging the estimate near-immediately (within a few sampling periods). Without the estimator it realizes a classical impedance (4.8 mrad RMS, 8.3 mrad steady-state). All MPC variants meet the 87 mrad clinical criterion; no classical controller does. The architecture is formulated for the 20 DOF MyoSuite myoLeg via coupling-aware per-joint QPs.

We present a communication-aware task decomposition framework for multi-agent systems with collaborative relative configuration objectives specified in Signal Temporal Logic (STL), allowing for dynamic task reallocation under time-varying communication networks. Building on our prior work, the framework supports the direct use of existing feedback controllers for reactive task satisfaction. We address two key challenges: disjunctive STL specifications and time-varying communication networks. Disjunctive specifications are handled through a graph transition system that captures the alternative task sequences induced by logical OR operators. To address time-varying connectivity, we introduce a redistribution mechanism that transfers tasks from disconnected agents to connected ones as the network evolves while preserving decentralized execution. Simulations and experiments on a swarm of Crazyflie drones demonstrate scalability in the number of agents, communication connectivity, and specification complexity.

This paper proposes a novel adaptive control framework that embeds nonlinear opinion dynamics within the dynamical sensorimotor layers of an automated vehicle governed by second-order nonholonomic bicycle kinematics. The framework enables an ego vehicle to perform adaptive decision-making and achieve safe motion control under interaction uncertainty with non-cooperative neighboring agents. We consider a representative case study in which an ego vehicle autonomously attempts to merge into a lane occupied by human-driven or automated vehicles whose intentions are unknown. Within the proposed framework, the ego vehicle adaptively selects and executes merging versus non-merging behaviors in response to changing environmental conditions. Formal safety guarantees, as well as equilibrium and stability analyses of the closed-loop system, are provided. Numerical simulations further demonstrate the effectiveness of the proposed approach.

We consider stochastic model predictive control (MPC) for constrained linear systems subject to multiplicative binary input uncertainty, motivated by applications such as networked control with packet losses and intermittent actuation. A common approach in this setting replaces the stochastic dynamics with their expectation, yielding tractable formulations that admit standard terminal ingredients and stability guarantees in expectation. We show that such formulations can exhibit structural properties that differ fundamentally from those of deterministic MPC and may be misleading as indicators of realized closed-loop behaviour. In particular, the expected value function is not necessarily monotonic in the prediction horizon, and value function-based inner approximations of the region of attraction may deteriorate as the horizon increases. Furthermore, we establish a probabilistic comparison with certainty-equivalent (optimistic) MPC, showing that the latter can ensure a strictly positive probability of recursive feasibility in situations where stochastic MPC certifies feasibility but fails with probability one. These results highlight inherent limitations of expectation-based stochastic MPC for systems with multiplicative binary uncertainty and motivate a re-examination of how stochasticity is incorporated into constrained predictive control design for such systems.

Line-commutated converter high-voltage direct current (LCC-HVDC) has proven to be a reliable technology for bulk power transmission over long distances. However, the growing penetration of converter interfaced generation (CIG) is resulting in weaker AC grids, rendering the operation of LCC-HVDC systems vulnerable and posing a serious challenge to their stability. Grid-forming (GFM) controlled voltage source converter (VSC) have been shown to provide stabilizing impact in weak grid conditions. However, the impact of GFM controlled VSCs (GFM-VSC) on stability of LCC-HVDC in weak grid conditions has not been studied in depth in the literature. In this paper, a simplified model of LCC-HVDC is proposed and validated. Then a small-signal state-space model of a system consisting of aforementioned LCC-HVDC, a GFM-VSC and an infinite grid is developed to study the interactions between different components. The small-signal stability analysis shows the stabilizing effect of the GFM-VSC on the stability of the LCC-HVDC link in weak grid condition. Furthermore, the study on the sizing of the GFM power converter reveals that even a modest share of the capacity of the GFM power converter relative to the total nominal apparent power (sum of nominal power of LCC-HVDC and the nominal apparent power of GFM-VSC) is sufficient to ensure the stability of the system, in the test system analyzed in this study. This work just focuses in small-signal stability, but it is important to highlight that other stability phenomena should also be taken into account when selecting the final size of the GFM-VSC.

Self-supervised foundation models have shown strong promise in medical imaging. However, existing MRI foundation-model studies have primarily emphasized segmentation and dense prediction tasks, while systematic investigation of self-supervised foundation models for MRI-based disease detection remains limited. In this work, we investigate two major self-supervised pretraining paradigms for MRI-based disease detection: reconstruction-based learning via Masked Autoencoders (MAE) and predictive representation learning via Joint Embedding Predictive Architectures (JEPA). We study the role of auxiliary objectives by introducing a novel spectral-domain reconstruction loss for MAE to enhance sensitivity to fine-grained anatomical structure, and by integrating variance--covariance regularization (VCR) within our JEPA framework to encourage decorrelated latent representations. Our models are pretrained on heterogeneous single-contrast MRI volumes in a contrast-agnostic setting, without modality concatenation. Across five downstream disease detection tasks, our results highlight the importance of self-supervised objective design for medical foundation model pretraining, demonstrating that the downstream benefit of each objective is determined by its relevance to the task's structure. Specifically, spectral regularization yields the largest improvements when the downstream discriminative signal is characterized by strong high-frequency anatomical structures, while covariance regularization is most beneficial when discriminative information spans multiple decorrelated feature dimensions. MAE with spectral-domain supervision consistently achieves superior downstream performance for MRI-based disease detection. These findings suggest that self-supervised objectives in medical imaging encode specific biases, and their downstream benefit is fundamentally conditioned on the task's structure.

The transition to heavy-duty battery electric vehicles requires an efficient and cost-effective deployment of the charging infrastructure, particularly when multiple operators share resources. This paper presents a multi-phase optimization framework for the joint planning of charging stations in a shared network, using high-resolution empirical truck trajectory data from two freight companies with distinct operational characteristics. The model is formulated to minimize the total number of charging stations while ensuring that the predefined electrification targets are met over successive expansion stages. The analysis captures heterogeneity in fleet usage, with one company operating a spatially concentrated network with shorter and more consistent routes, and the other exhibiting more dispersed operations with longer and more variable driving patterns. The results show that early-stage infrastructure deployment primarily supports fleets with concentrated operations, while later expansion phases are essential to accommodate long-haul and geographically dispersed transport demand. Furthermore, shared infrastructure not only enables reductions in redundant investments, but also introduces dependencies where certain fleets rely heavily on the full network to sustain electrified operations. In general, the findings highlight the importance of coordinated and data-driven infrastructure planning, and demonstrate that fleet-specific characteristics strongly influence both infrastructure requirements and electrification outcomes. The proposed framework provides practical insights on how collaborative and phased deployment strategies can enhance the scalability and efficiency of freight transport electrification.

As energy prices surge for the second time in recent years driven by the ongoing crisis in the Middle East, the European Union's continuing reliance on fossil energy imports is becoming increasingly apparent. However, despite offering an intriguing prospect of improved energy resilience, the ramp-up of local green hydrogen production lags far behind the officially stated ambitions set after the 2022 energy crisis. A prominent reason for the widening implementation gap between announced and realised production projects is overly strict rules on renewable power sourcing, prompting Member states' ministries and the European Commission to propose advancing a planned rules review from 2028 to 2026. To contribute to a successful review and rule adjustments, we address an important gap in understanding the effects of power purchase rules on green hydrogen production. By taking the perspective of European electrolyser operators, we show how the criterion of additionality and its interaction with required temporal correlation can jeopardise the fulfilment of green hydrogen offtake agreements and affect green hydrogen production costs across different European bidding zones. Applying different design paradigms to a green hydrogen production system reveals that electrolyser operator measures, such as PPA and storage upsizing, can help to mitigate the business risks posed by the additionality criterion but come with increased costs. Alternatively, relaxed temporal correlation and increased offtake flexibility both increase production system robustness and reduce production costs simultaneously. Whereby relaxing temporal correlation rules does not result in exceeded emission intensity thresholds, underlining the potential of extended transitional rules to support the ramp-up of European green hydrogen production.