Electrical Engineering and Systems Science

Kanazawa, Yuta; Iimori, Hiroki; Pradhan, Chandan; Malomsoky, Szabolcs; Ishikawa, Naoki

doi: 10.1109/tvt.2025.3608199pmid: N/A

Abstract:Orthogonal time frequency space (OTFS) modulation is a promising solution to handle doubly-selective fading, but its channel estimation is a nontrivial task in terms of maximizing spectral efficiency. Conventional pilot assignment approaches face challenges: the standard embedded pilot-based scheme suffers from low transmission rates, and the single superimposed pilot (SP)-based scheme experiences inevitable data-pilot interference, leading to coarse channel estimation. To cope with this issue, focusing on the SP-based OTFS system in channel coded scenarios, we propose a novel pilot assignment scheme and an iterative algorithm. The proposed scheme allocates multiple SPs per frame to estimate channel coefficients accurately. Furthermore, the proposed algorithm performs refined interference cancellation, utilizing a replica of data symbols generated from soft-decision outputs provided by a decoder. Assuming fair and unified conditions, we evaluate each pilot assignment scheme in terms of reliability, channel estimation accuracy, effective throughput, and computational complexity. Our numerical simulations demonstrate that the multiple SP-based scheme, which balances the transmission rate and the interference cancellation performance, has the best throughput at the expense of slightly increased complexity. In addition, we confirm that the multiple SP-based scheme achieves further improved throughput due to the proposed interference cancellation algorithm.

Ataei, Masoud; Khojasteh, Mohammad Javad; Dhiman, Vikas

doi: 10.48550/arxiv.2501.04757pmid: N/A

Abstract:We develop a new class of distance-aware error bounds that tightly characterize the approximation error of spline neural networks. Our bottom-up approach analyzes the error bound of each neuron (a spline) and then extends it to the full network. We begin with error bounds for Newton's polynomial, generalize them to arbitrary splines under higher-order Lipschitz continuity, and extend the result to function compositions, the core of deep networks such as Kolmogorov-Arnold networks. By analyzing error propagation through composed spline layers, we obtain error bounds for the entire network. These bounds are deterministic, do not rely on sampling or probabilistic assumptions, and hold under mild regularity conditions. We evaluate our method on object shape estimation from sparse laser scans and safe navigation in unstructured environments. Our method is faster than the Gaussian process and Monte Carlo approaches, and our bounds reliably enclose the true error. We also develop a metric for the distance-awareness of an uncertainty estimator and show that distance-aware uncertainty for Kolmogorov networks (DAREK) is distance-aware in more regions than the baselines.

Yin, Mingzhou; Müller, Matthias A.

doi: 10.48550/arxiv.2501.15849pmid: N/A

Abstract:This work investigates data-driven prediction and control of Hammerstein-Wiener systems using physics-informed Gaussian process (GP) models that encode the block-oriented model structure. Data-driven prediction algorithms have been developed for structured nonlinear systems based on Willems' fundamental lemma. However, existing frameworks do not apply to output nonlinearities in Wiener systems and rely on a finite-dimensional dictionary of basis functions for Hammerstein systems. In this work, an implicit predictor structure is considered, leveraging the linearity for the dynamical part of the model. This implicit function is learned by GP regression, utilizing carefully designed structured kernel functions from linear model parameters and GP priors for the nonlinearities. Virtual derivative points are added to the regression by expectation propagation to encode monotonicity information of the nonlinearities. The linear model parameters are estimated as hyperparameters by assuming a stable spline hyperprior. The implicit GP model provides explicit output prediction by optimizing selected optimality criteria. The implicit model is also applied to receding horizon control with the expected control cost and chance constraint satisfaction guarantee. Numerical results demonstrate that the proposed prediction and control algorithms are superior to black-box GP models without model structure knowledge.

Gautam, Siddhant; Li, Angqi; Seiberlich, Nicole; Fessler, Jeffrey A.; Ravishankar, Saiprasad

doi: 10.48550/arxiv.2501.09799pmid: N/A

Abstract:Accelerated MRI involves collecting partial $k$-space measurements to reduce acquisition time, patient discomfort, and motion artifacts, and typically uses regular undersampling patterns or human-designed schemes. Recent works have studied population-adaptive sampling patterns learned from a group of patients (or scans). However, such patterns can be sub-optimal for individual scans, as they may fail to capture scan or slice-specific details, and their effectiveness can depend on the size and composition of the population. To overcome this issue, we propose a framework for jointly learning scan-adaptive Cartesian undersampling patterns and a corresponding reconstruction model from a training set. We use an alternating algorithm for learning the sampling patterns and the reconstruction model where we use an iterative coordinate descent (ICD) based offline optimization of scan-adaptive $k$-space sampling patterns for each example in the training set. A nearest neighbor search is then used to select the scan-adaptive sampling pattern at test time from initially acquired low-frequency $k$-space information. We applied the proposed framework (dubbed SUNO) to the fastMRI multi-coil knee and brain datasets, demonstrating improved performance over the currently used undersampling patterns at both $4\times$ and $8\times$ acceleration factors in terms of both visual quality and quantitative metrics. The code for the proposed framework is available at this https URL.

Amish, Timothy E.; Auletta, Jeffrey T.; Kessens, Chad C.; Smith, Joshua R.; Lipton, Jeffrey I.

doi: 10.48550/arxiv.2501.08469pmid: N/A

Abstract:Robotic systems with many degrees of freedom (DoF) are constrained by the demands of dedicating a motor to each joint, and while mechanical multiplexing reduces actuator count, existing clutch designs are bulky, force-limited, or restricted to one output at a time. The problem addressed in this study is how to achieve high-force multiplexing that supports both simultaneous and sequential control from a single motor. Here we show an electrostatic capstan clutch-based transmission that enables both single-input-single-output (SISO) and single-input-multiple-output (SIMO) multiplexing. We demonstrated these on a four-DoF tendon-driven robotic hand where a single motor achieved output forces of up to 212 N, increased vertical grip strength by 4.09 times, and raised horizontal carrying capacity to 111.2 N, the highest currently among five-fingered tendon-driven robotic hands. These results demonstrate that electrostatic-based multiplexing provides versatile actuation, overcoming the limitations of prior systems.

Liao, Guiqiu; Jogan, Matjaz; Hussing, Marcel; Nakahashi, Kenta; Yasufuku, Kazuhiro; Madani, Amin; Eaton, Eric; Hashimoto, Daniel A.

doi: 10.48550/arxiv.2501.12477pmid: N/A

Abstract:Object-centric slot attention is a powerful framework for unsupervised learning of structured and explainable representations that can support reasoning about objects and actions, including in surgical videos. While conventional object-centric methods for videos leverage recurrent processing to achieve efficiency, they often struggle with maintaining long-range temporal coherence required for long videos in surgical applications. On the other hand, fully parallel processing of entire videos enhances temporal consistency but introduces significant computational overhead, making it impractical for implementation on hardware in medical facilities. We present Slot-BERT, a bidirectional long-range model that learns object-centric representations in a latent space while ensuring robust temporal coherence. Slot-BERT scales object discovery seamlessly to long videos of unconstrained lengths. A novel slot contrastive loss further reduces redundancy and improves the representation disentanglement by enhancing slot orthogonality. We evaluate Slot-BERT on real-world surgical video datasets from abdominal, cholecystectomy, and thoracic procedures. Our method surpasses state-of-the-art object-centric approaches under unsupervised training achieving superior performance across diverse domains. We also demonstrate efficient zero-shot domain adaptation to data from diverse surgical specialties and databases.

Meng, Rui; Fan, Dayu; Gao, Haixiao; Yuan, Yifan; Wang, Bizhu; Xu, Xiaodong; Sun, Mengying; Dong, Chen; Tao, Xiaofeng; Zhang, Ping; Niyato, Dusit

doi: 10.48550/arxiv.2501.10182pmid: N/A

Abstract:In recent years, Semantic Communication (SemCom), which aims to achieve efficient and reliable transmission of meaning between agents, has garnered significant attention from both academia and industry. To ensure the security of communication systems, encryption techniques are employed to safeguard confidentiality and integrity. However, existing encryption schemes encounter obstacles when applied to SemCom. To address this issue, this paper explores the feasibility of applying homomorphic encryption (HE) to SemCom. Initially, we review the encryption algorithms utilized in mobile communication systems and analyze the challenges associated with their application to SemCom. Subsequently, we overview HE techniques and employ scale-invariant feature transform (SIFT) to demonstrate that the extractable semantic information can be preserved in homomorphic encrypted ciphertext. Based on this finding, we further propose the HE-joint source-channel coding (HE-JSCC) scheme, where the traditional JSCC model architecture is modified to support HE operations. Moreover, we present the simulation results for image classification and image generation tasks. Furthermore, we provide potential future research directions for homomorphic encrypted SemCom.

Fallahi, Matin; Arias-Cabarcos, Patricia; Strufe, Thorsten

doi: 10.48550/arxiv.2501.17866pmid: N/A

Abstract:The field of brainwave-based biometrics has gained attention for its potential to revolutionize user authentication through hands-free interaction, resistance to shoulder surfing, continuous authentication, and revocability. However, current research often relies on single-session or limited-session datasets with fewer than 55 subjects, raising concerns about the generalizability of the findings. To address this gap, we conducted a large-scale study using a public brainwave dataset comprising 345 subjects and over 6,007 sessions (an average of 17 per subject) recorded over five years using three headsets. Our results reveal that deep learning approaches significantly outperform hand-crafted feature extraction methods. We also observe Equal Error Rates (EER) increases over time (e.g., from 6.7% after 1 day to 14.3% after a year). Therefore, it is necessary to reinforce the enrollment set after successful login attempts. Moreover, we demonstrate that fewer brainwave measurement sensors can be used, with an acceptable increase in EER, which is necessary for transitioning from medical-grade to affordable consumer-grade devices. Finally, we compared our results to prior work and existing biometric standards. While our performance is on par with or exceeds previous approaches, it still falls short of industrial benchmarks. Based on the results, we hypothesize that further improvements are possible with larger training sets. To support future research, we have open-sourced our analysis code.

Ning, Zhiyuan; Tang, Zhanyong; He, Juan; Meng, Weizhi; Chen, Yuntian; Zhang, Ji; Wang, Zheng

doi: 10.48550/arxiv.2501.15032pmid: N/A

Abstract:Acoustic eavesdropping is a privacy risk, but existing attacks rarely work in real outdoor situations where people make phone calls on the move. We present SuperEar, the first portable system that uses acoustic metamaterials to reliably capture conversations in these scenarios. We show that the threat is real as a practical prototype can be implemented to enhance faint signals, cover the full range of speech with a compact design, and reduce noise and distortion to produce clear audio. We show that SuperEar can be implemented from low-cost 3D-printed parts and off-the-shelf hardware. Experimental results show that SuperEar can recover phone call audio with a success rate of over 80% at distances of up to 4.6 m - more than twice the range of previous approaches. Our findings highlight a new class of privacy threats enabled by metamaterial technology that requires attention.

Hung, Clara S.; Kabuli, Leyla A.; Ponomarenko, Vasilisa; Waller, Laura

doi: 10.1117/12.3040992pmid: N/A

Abstract:Data-driven developments in lensless imaging, such as machine learning-based reconstruction algorithms, require large datasets. In this work, we introduce a data acquisition pipeline that can capture from multiple lensless imaging systems in parallel, under the same imaging conditions, and paired with computational ground truth registration. We provide an open-access 25,000 image dataset with two lensless imagers, a reproducible hardware setup, and open-source camera synchronization code. Experimental datasets from our system can enable data-driven developments in lensless imaging, such as machine learning-based reconstruction algorithms and end-to-end system design.