arXiv preprints from January 1, 2026 through September 23, 2026 — 05:59:04 EST
Background Lung cancer remains the deadliest cancer worldwide because it is often diagnosed too late. Effective treatment depends on detection at an early screening stage. However, the growing number of patients and the limited number of radiologists lead to prolonged diagnostic waiting times. In very early stage lung cancer, nodule...
We show that, on trees, any locally checkable labeling problem (LCL) $Π$ that can be solved by an $n^{o(1)}$-dependent distribution can also be solved by an $O(\log n)$-round deterministic LOCAL algorithm. The result is obtained through a rake-and-compress-style decomposition of the input tree, and local simulations of the bounded...
Multi-segment suction-based soft robots are promising for inspection and maintenance in confined or fragile environments, but existing approaches still depend heavily on manually designed gaits and environment-specific motion scripts. This work presents a planning framework for serial multi-segment soft robots with deformable body...
Time-critical interactive systems increasingly require ultra-low-latency device identification for multiple users, yet prevailing approaches such as passwords, QR codes, and RFID/NFC are constrained by human input, frame-based sensing, or near-contact range. This paper presents ECO-ID, an event-camera-based optical system for...
Lung nodule segmentation in computed tomography is essential for extracting clinically relevant information for lung cancer assessment and treatment planning. Foundation models have shown notable segmentation capabilities, but state-of-the-art approaches often depend on input prompts, such as points or boxes, making their performance...
We investigate power-efficient multiuser integrated sensing and communication (ISAC) assisted by an element-grouping extremely large-scale intelligent reflecting surface (EG-XL-IRS). The grouping pattern is designed using slowly varying statistical channel state information (S-CSI), so that both IRS-related channel acquisition and...
Design structure matrices (DSMs) are used to comprehensively represent complex systems. They visualize and describe the dependencies between various variables, processes, states, and events. As such they are used in several system engineering approaches, such as requirement and interface management, fault detection, and supervisory...
Individually measuring head-related transfer functions (HRTFs) at scale remains a central challenge for personalised spatial audio, motivating growing interest in synthetic HRTFs. We evaluated the numerical, computational, and behavioural validity of synthetic HRTFs, generated through the boundary element method simulation using...
This paper presents a real-time orthogonal frequency-division multiplexing (OFDM) radar embedded in the OpenAirInterface (OAI) 5G base-station process. The radar removes communication symbols by regularized element-wise division and performs range-Doppler processing and ordered-statistic constant-false-alarm-rate detection online...
An accurate estimation of the state of health (SOH) underpins a safe and optimized use of the battery system. Although compelling, data-driven SOH estimation models typically require large amounts of high-quality labeled cycling data, while in practice such labels are often sparse in both quantity and coverage. Therefore, in this...
Oscillation is a critical issue that power systems have long faced. Especially over the past two decades, with the large-scale inte-gration of renewable energy into the grid, oscillation problems have posed a serious threat to the secure operation of power systems. However, the current literature has not fully explained the...
Objective assessment of learning remains a fundamental challenge in education. Electroencephalography (EEG) provides a direct, non-invasive window into the neural correlates of knowledge acquisition, including cognitive familiarity. This study benchmarks fifteen machine learning (ML) and deep learning (DL) models for EEG-based...
Large Audio Language Models (LALMs) have made rapid progress on standardized benchmarks, yet their deployment in practical media workflows, curation, archival indexing, and content distribution remains largely unrealized. We identify automated audio chapterization, the task of segmenting continuous audio streams into thematically...
Near-field antenna measurements underpin the characterization of electrically large apertures, yet the fidelity of the Near-Field to Far-Field (NF-FF) transformation depends on the reconstruction algorithm's assumptions and robustness to real-world imperfections, including those from drone-based scanning platforms. Classical...
This paper outlines a sonification design to support fault detection in the transmission of I2S transport signals. I2S is a protocol for communicating real-time digital audio between integrated circuits that, while in wide and general use, does not include built-in error detection. Moreover, given the nature of the protocol...
Modern power systems face growing operational complexity driven by the integration of renewable energy sources, decentralization, and the need for real-time decision-making across a wide range of timescales. Addressing these challenges traditionally relies on model-based methods that, while accurate, can be too slow for operational...
Terahertz time-domain spectroscopy (THz-TDS) based on air-plasma generation and balanced air-biased coherent detection offers gap-free broadband coverage, but individual continuous-scan traces are strongly affected by pulse-to-pulse fluctuations and electronic noise. Reaching a useful signal-to-noise ratio therefore requires averaging...
This paper proposes a two-layer model predictive control (MPC) framework for the real-time operation of data centers integrated with on-site photovoltaic generation, battery energy storage, waste heat recovery, and district heating. The upper layer employs scenario-based stochastic optimization to jointly optimize intraday market...
Multi-step rollouts are essential for model-based reinforcement learning (RL) and predictive control, yet learned dynamics models often become unstable when recursively applied, leading to divergence and unreliable policy updates. This paper proposes a model-agnostic hybrid dynamics framework that blends a provably contracting nominal...
The stringent energy-efficiency requirements of future Integrated Sensing and Communications (ISAC) systems are fundamentally challenged. Unlike conventional communication systems, ISAC transmitters must radiate significantly higher power to ensure reliable target detection, forcing the High-Power Amplifier (HPA) to operate closer to...
Learning-based Model Predictive Control (MPC) using Gaussian processes (GPs) is an effective approach for safe control in the presence of model mismatch. High-probability safety guarantees typically require uncertainty bounds that hold uniformly over the entire state--input domain, but existing bounds are available only for full GP...
Direct Device-to-Satellite (D2S) communications promise global connectivity to unmodified user equipment (UE), extending coverage beyond terrestrial networks. Realizing this promise is fundamentally challenging: severe path loss and limited UE transmit power push uplink SNRs far below terrestrial norms, while suitable spectrum remains...
Reconstructing heard speech from non-invasive electroencephalography (EEG) is challenging due to a low signal-to-noise ratio (SNR) and inter-session variability. While trial averaging improves the SNR, it is difficult to apply to continuous speech. We instead use repeated EEG responses to the same stimulus across different sessions as...
Allocation schemes that greedily maximize a readiness metric over the actuator fiber bundle of an overactuated multirotor produce commands that jump between disconnected optimal strata, demanding actuator rates no motor can deliver; effort-minimizing schemes are continuous but cannot guarantee that wrench-rate authority stays above...
Shared autonomy requires principled mechanisms for allocating and transferring control between a human and an autonomous agent. Existing approaches often rely on blending control inputs or heuristic switching rules, which lack theoretical guarantees and fail to account for the dynamics of authority transfer. This paper develops a...