arXiv preprints from January 1, 2026 through September 19, 2026 — 19:22:00 EST
For second-order systems under continuous sliding mode control (SMC), the literature has long relied, largely through phase-portrait illustrations, on the implicit convention that the phase-plane trajectory approaches the equilibrium along a direction tangential to the designed sliding surface. This paper investigates this tangential...
This paper presents a scalable framework for high-precision near-field multipath channel parameter estimation in extremely large antenna array (ELAA) systems, enabling joint recovery of path number, path gains, angles, and ranges from a single noisy observation. The key idea is to interpret the near-field multipath channel as a...
In this work we present an experimental demonstration of one-dimensional Fourier-domain imaging using a fully-digital wirelessly coordinated coherent distributed antenna array (CDA) receiver. The nodes consist of two software-defined radios (SDRs) operating with independent system clocks performing wireless time, frequency, and phase...
Clinical B-mode images are widely available as potential data sources for quantitative ultrasound (QUS) analysis for tissue characterization. However, standard clinical ultrasound devices apply unknown log-compression to RF envelope data before display and storage. Previous work has demonstrated estimation of the underlying RF...
Many signal processing tasks require intensive computations. Quantum computing promises to accelerate certain tasks, but algorithms must be designed around the limitations of quantum mechanics. This paper provides a quantum implementation of finite impulse response (FIR) filters, which are a widely used tool in classical signal...
This paper addresses leader-follower formation control using only relative bearing and velocity measurements. Bearing-based leader-follower control strategies commonly use fixed control gains, for which the guaranteed convergence rates explicitly depend on the persistence of excitation (PE) properties of the desired formations. We...
This paper establishes the necessary and sufficient conditions for asymptotic stability of the time-varying Kalman filter applied to a linear time invariant system with semidefinite initial state covariance and positive definite process and measurement noise. Rather than analyze the discrete Riccati equation as in the classic...
As data center (DC) loads increasingly penetrate the power grid, there is an urgent need for grid operators to provide clear dynamic specifications to DC owners to ensure safe grid operation. To this end, we study two salient behaviors of large language model (LLM) training loads: abrupt ramps at job initiation and termination, which...
This paper addresses the problem of designing time-optimal control profiles for point-to-point control of a gantry crane moving in a two dimensional plane. It is assumed that the hoisting motor completes the hoisting maneuver at a constant rate and completes its transition in the same time that it takes for the cart to reach its...
Two-stage stochastic Mixed-Integer Linear Programs are a canonical modeling tool to optimize power system operations under uncertainty, yet their extensive-form counterparts scale linearly with the number of scenarios and quickly become computationally prohibitive under day-ahead time constraints. We propose an Input Convex Neural...
Compact acoustic models face a challenging quality-capacity trade-off. We investigate two factors in this regime: encoder context and Mel-spectrogram supervision. A receptive-field-scaling study shows that expanding self-attention beyond 15 phonemes provides no consistent gains in pitch, energy, or duration prediction. Guided by this...
A central challenge across control and learning is the design of mechanisms regulating the interactions between humans and autonomous agents. Inspired by the free energy principle from computational neuroscience, we introduce a control-theoretical framework to integrate human preferences online into an agent policy. We turn the...
The rapid proliferation of grid-edge distributed energy resources has significantly increased the operational complexity of modern power systems. Consequently, conventional computational techniques face growing scalability and computational-efficiency challenges in addressing large-scale optimization and control, uncertainty...
Near-field propagation between finite apertures can support multiple spatial channels, while far-field transmission is effectively single mode and follows the Friis transmission formula. This letter establishes a direct connection between these two regimes through the mutual shadow area between the transmitting and receiving...
Low signal-to-noise ratio (SNR) data is a core challenge of online Data-Driven Predictive Control (DPC) for linear, time-varying systems. This paper proposes a Bayesian, online DPC framework based on autoregressive models with exogenous inputs (ARX) that uses an externally-provided prior, which encodes inductive bias such as smooth...
We demonstrate dual-modal distributed sensing on an operational 110-kV OPGW during crane maintenance. DAS resolves meter-scale lifting events and matches impulsive events to phone audio, while DTSS quantifies post-reclamping residual strain up to $\sim$398 $με$, enabling maintenance verification and asset monitoring in transmission grids.
Generating signals on graphs requires permutation-equivariant models that exhibit stability with respect to relative structural perturbations. While recent graph-aware Schrödinger bridge models incorporate topology information directly into their reference dynamics, it is unclear how perturbations of the graph propagate through these...
Speech Enhancement (SE) supports listening, particularly for older adults with age-related hearing loss. Yet, enhanced Speech Quality (SQ) is commonly evaluated by young normal-hearing listeners, and how their ratings translate to older adults remains under-explored. We compared absolute SQ ratings from 40 younger normal-hearing...
In interactions with uncertain opponents, dual model predictive control (MPC) can improve performance through information-seeking actions that reduce uncertainty about opponents' behavior. Its recent applications to autonomous driving, however, are limited to scenarios involving a single opponent on a single lane. This paper presents...
Subspace methods such as multiple signal classification (MUSIC) achieve super-resolution direction of arrival (DoA) estimation by exploiting the orthogonality between the array manifold and the noise subspace of the measurements. Their accuracy therefore depends on the assumed manifold and degrades under model mismatch, while...
MPnRAGE enables multiple inversion contrast images in a single scan, allowing quantitative T1 mapping, tissue nulled contrasts, and standard MPRAGE synthesis. However, current 3D scan times remain clinically impractical, motivating accelerated 3D MPnRAGE. This work provides a highly accelerated Cartesian 3D MPnRAGE sequence with joint...
Quantum computers can potentially solve large-scale combinatorial problems very efficiently when the problems are first converted into the quadratic unconstrained binary optimization (QUBO) format. Scheduling in fifth generation (5G) base stations is a practical combinatorial problem that cannot be solved optimally in real-time using...
Mask-based speech enhancement is widely used for suppressing noise and interference, but its performance in spatial audio algorithms with multichannel output has not been studied extensively. In such settings, speech enhancement must improve speech quality while preserving spatial cues that are essential for localization, spatial...
In integrated sensing and communications (ISAC), the same spectral and hardware resources are shared for two functionalities. Most ISAC designs assume perfect target-angle information neglecting angle estimation errors, which introduce steering-vector mismatches, degrade sensing accuracy, and may invalidate deterministic sensing...
This paper presents a bio-inspired antagonistic variable stiffness actuator (VSA) based on two crossed four-bar compliant transmission elastic units (CFB-CTEs). The design addresses the difficulty of combining nonlinear elastic shaping with low structural inertia in antagonistic VSA mechanisms. Inspired by the crossed constraint...