Quadruped robots are designed to achieve agile locomotion by mimicking legged animals. However, existing control methods for quadrupeds often lack one of the key capabilities observed in animals: adaptive and adjustable compliance in response to external disturbances. Most locomotion controllers do not provide tunable compliance and tend to fail under large perturbations. In this work, we propose a switched policy framework for compliant and safe quadruped locomotion. First, we train a force compliant policy with adjustable compliance levels using a teacher student reinforcement learning framework, eliminating the need for explicit force sensing. Next, we develop a safe policy based on the capture point concept to stabilize the robot when the compliant policy fails. Finally, we introduce a recoverability network that predicts the likelihood of failure and switches between the compliant and safe policies. Together, this framework enables quadruped robots to achieve both force compliance and robust safety when subjected to severe external disturbances.

Transformer-based architectures dominate time series modeling by enabling global attention over all timestamps, yet their rigid 'one-size-fits-all' context aggregation fails to address two critical challenges in real-world data: (1) inherent lag effects, where the relevance of historical timestamps to a query varies dynamically; (2) anomalous segments, which introduce noisy signals that degrade forecasting accuracy. To resolve these problems, we propose the Temporal Mix of Experts (TMOE), a novel attention-level mechanism that reimagines key-value (K-V) pairs as local experts (each specialized in a distinct temporal context) and performs adaptive expert selection for each query via localized filtering of irrelevant timestamps. Complementing this local adaptation, a shared global expert preserves the Transformer's strength in capturing long-range dependencies. We then replace the vanilla attention mechanism in popular time-series Transformer frameworks (i.e., PatchTST and Timer) with TMOE, without extra structural modifications, yielding our specific version TimeExpert and general version TimeExpert-G. Extensive experiments on seven real-world long-term forecasting benchmarks demonstrate that TimeExpert and TimeExpert-G outperform state-of-the-art methods. Code is available at https://github.com/xwmaxwma/TimeExpert.

Conventional Wi-Fi received signal strength indicator (RSSI) fingerprinting cannot meet the growing demand for accurate indoor localization and navigation due to its lower accuracy, while solutions based on light detection and ranging (LiDAR) can provide better localization performance but is limited by their higher deployment cost and complexity. To address these issues, we propose a novel indoor localization and navigation framework integrating Wi-Fi RSSI fingerprinting, LiDAR-based simultaneous localization and mapping (SLAM), and inertial measurement unit (IMU) navigation based on an extended Kalman filter (EKF). Specifically, coarse localization by deep neural network (DNN)-based Wi-Fi RSSI fingerprinting is refined by IMU-based dynamic positioning using a Gmapping-based SLAM to generate an occupancy grid map and output high-frequency attitude estimates, which is followed by EKF prediction-update integrating sensor information while effectively suppressing Wi-Fi-induced noise and IMU drift errors. Multi-group real-world experiments conducted on the IR building at Xi'an Jiaotong-Liverpool University demonstrates that the proposed multi-sensor fusion framework suppresses the instability caused by individual approaches and thereby provides stable accuracy across all path configurations with mean two-dimensional (2D) errors ranging from 0.2449 m to 0.3781 m. In contrast, the mean 2D errors of Wi-Fi RSSI fingerprinting reach up to 1.3404 m in areas with severe signal interference, and those of LiDAR/IMU localization are between 0.6233 m and 2.8803 m due to cumulative drift.

Abstract--End-of-Life (EoL) phones significantly exacerbate global e-waste challenges due to their high production volumes and short lifecycles. Disassembly is among the most critical processes in EoL phone recycling. However, it relies heavily on human labor due to product variability. Consequently, the manual process is both labor-intensive and time-consuming. In this paper, we propose a low-cost, easily deployable automated and selective disassembly and sorting system for EoL phones, consisting of three subsystems: an adaptive cutting system, a vision-based robotic sorting system, and a battery removal system. The system can process over 120 phones per hour with an average disassembly success rate of 98.9%, efficiently delivering selected high-value components to downstream processing. It provides a reliable and scalable automated solution to the pressing challenge of EoL phone disassembly. Additionally, the automated system can enhance disassembly economics, converting a previously unprofitable process into one that yields a net profit per unit weight of EoL phones. E-waste presents a global challenge due to its rapid growth, high resource value, and the severe environmental and health risks from improper recycling and hazardous substances [1-3]. Global e-waste surged to a record 62 million tonnes in 2022 and is expected to reach 82 million tonnes by 2030 [4]. Recycling converts e-waste components into valuable raw materials, which is critical for addressing the escalating e-waste problem and supporting a sustainable circular economy [5-10]. Nevertheless, only 22.3 % of e-waste was recorded as recycled in 2022 [4]. The high human labor cost and health risk concerns are the major challenges associated with the recycling process [11]. This material is based upon work supported by the REMADE Institute, USA (21-01-RM-5083).

Floods are increasingly frequent natural disasters causing extensive human and economic damage, highlighting the critical need for rapid and accurate flood inundation mapping. While remote sensing technologies have advanced flood monitoring capabilities, operational challenges persist: single-sensor approaches face weather-dependent data availability and limited revisit periods, while multi-sensor fusion methods require substantial computational resources and large-scale labeled datasets. To address these limitations, this study introduces a novel sensor-flexible flood detection methodology by fine-tuning Presto, a lightweight ($\sim$0.4M parameters) multi-modal pre-trained transformer that processes both Synthetic Aperture Radar (SAR) and multispectral (MS) data at the pixel level. Our approach uniquely enables flood mapping using SAR-only, MS-only, or combined SAR+MS inputs through a single model architecture, addressing the critical operational need for rapid response with whatever sensor data becomes available first during disasters. We evaluated our method on the Sen1Floods11 dataset against the large-scale Prithvi-100M baseline ($\sim$100M parameters) across three realistic data availability scenarios. The proposed model achieved superior performance with an F1 score of 0.896 and mIoU of 0.886 in the optimal sensor-fusion scenario, outperforming the established baseline. Crucially, the model demonstrated robustness by maintaining effective performance in MS-only scenarios (F1: 0.893) and functional capabilities in challenging SAR-only conditions (F1: 0.718), confirming the advantage of multi-modal pre-training for operational flood mapping. Our parameter-efficient, sensor-flexible approach offers an accessible and robust solution for real-world disaster scenarios requiring immediate flood extent assessment regardless of sensor availability constraints.

We study a class of multi-stage stochastic programs, which incorporate modeling features from Markov decision processes (MDPs). This class includes structured MDPs with continuous state and action spaces. We extend policy graphs to include decision-dependent uncertainty for one-step transition probabilities as well as a limited form of statistical learning. We focus on the expressiveness of our modeling approach, illustrating ideas with a series of examples of increasing complexity. As a solution method, we develop new variants of stochastic dual dynamic programming, including approximations to handle non-convexities.

In the context of industrial factories and energy producers, unplanned outages are highly costly and difficult to service. However, existing acoustic-anomaly detection studies largely rely on generic industrial or synthetic datasets, with few focused on hydropower plants due to limited access. This paper presents a comparative analysis of acoustic-based anomaly detection methods, as a way to improve predictive maintenance in hydropower plants. We address key challenges in the acoustic preprocessing under highly noisy conditions before extracting time- and frequency-domain features. Then, we benchmark three machine learning models: LSTM AE, K-Means, and OC-SVM, which are tested on two real-world datasets from the Rodundwerk II pumped-storage plant in Austria, one with induced anomalies and one with real-world conditions. The One-Class SVM achieved the best trade-off of accuracy (ROC AUC 0.966-0.998) and minimal training time, while the LSTM autoencoder delivered strong detection (ROC AUC 0.889-0.997) at the expense of higher computational cost.

Reliable detection and classification of power system events are critical for maintaining grid stability and situational awareness. Existing approaches often depend on limited labeled datasets, which restricts their ability to generalize to rare or unseen disturbances. This paper proposes a novel framework that integrates generative modeling, sliding-window temporal processing, and decision fusion to achieve robust event detection and classification using synchrophasor data. A variational autoencoder-generative adversarial network is employed to model normal operating conditions, where both reconstruction error and discriminator error are extracted as anomaly indicators. Two complementary decision strategies are developed: a threshold-based rule for computational efficiency and a convex hull-based method for robustness under complex error distributions. These features are organized into spatiotemporal detection and classification matrices through a sliding-window mechanism, and an identification and decision fusion stage integrates the outputs across PMUs. This design enables the framework to identify known events while systematically classifying previously unseen disturbances into a new category, addressing a key limitation of supervised classifiers. Experimental results demonstrate state-of-the-art accuracy, surpassing machine learning, deep learning, and envelope-based baselines. The ability to recognize unknown events further highlights the adaptability and practical value of the proposed approach for wide-area event analysis in modern power systems.

A full power flow (PF) model is a complete representation of the physical power network. Traditional model-based methods rely on the full PF model to implement power flow analysis. In practice, however, some PF model parameters can be inaccurate or even unavailable due to the uncertainties or dynamics in the power systems. Moreover, because the power network keeps evolving with possibly changing topology, the generalizability of a PF model to different network sizes and typologies should be considered. In this paper, we propose a PF rebuild model based on graph attention networks (GAT) by constructing a new graph based on the real and imaginary parts of voltage at each bus. By comparing with two state-of-the-art PF rebuild models for different standard IEEE power system cases and their modified topology variants, we demonstrate the feasibility of our method. Experimental results show that our proposed model achieves better accuracy for a changing network and can generalize to different networks with less accuracy discount.

Cloud computing is an established technology allowing users to share resources on a large scale, never before seen in IT history. A cloud system connects multiple individual servers in order to process related tasks in several environments at the same time. Clouds are typically more cost-effective than single computers of comparable computing performance. The sheer physical size of the system itself means that thousands of machines may be involved. The focus of this research was to design a strategy to dynamically allocate tasks without overloading Cloud nodes which would result in system stability being maintained at minimum cost. This research has added the following new contributions to the state of knowledge: (i) a novel taxonomy and categorisation of three classes of schedulers, namely OS-level, Cluster and Big Data, which highlight their unique evolution and underline their different objectives; (ii) an abstract model of cloud resources utilisation is specified, including multiple types of resources and consideration of task migration costs; (iii) a virtual machine live migration was experimented with in order to create a formula which estimates the network traffic generated by this process; (iv) a high-fidelity Cloud workload simulator, based on a month-long workload traces from Google's computing cells, was created; (v) two possible approaches to resource management were proposed and examined in the practical part of the manuscript: the centralised metaheuristic load balancer and the decentralised agent-based system. The project involved extensive experiments run on the University of Westminster HPC cluster, and the promising results are presented together with detailed discussions and a conclusion.