Hand exoskeletons have significant potential in labor-intensive fields by mitigating hand grip fatigue, enhancing hand strength, and preventing injuries.However, most traditional hand exoskeletons are driven by motors whose output force is limited under constrained installation conditions. In addition, they also come with the disadvantages of high power consumption, complex and bulky assistive systems, and high instability.In this work, we develop a novel hand exoskeleton integrated with magnetorheological (MR) clutches that offers a high force-to-power ratio to improve grip endurance. The clutch features an enhanced structure design, a micro roller enhancing structure, which can significantly boost output forces. The experimental data demonstrate that the clutch can deliver a peak holding force of 380 N with a consumption of 1.48 W, yielding a force-to-power ratio of 256.75N/W, which is 2.35 times higher than the best reported actuator used for hand exoskeletons. The designed MR hand exoskeleton is highly integrated and comprises an exoskeleton frame, MR clutches, a control unit, and a battery. Evaluations through static grip endurance tests and dynamic carrying and lifting tests confirm that the MR hand exoskeleton can effectively reduce muscle fatigue, extend grip endurance, and minimize injuries. These findings highlight its strong potential for practical applications in repetitive tasks such as carrying and lifting in industrial settings.

Vision-language models for Earth observation (EO) typically rely on the visual spectrum of data as the only model input, thus failing to leverage the rich spectral information available in the multispectral channels recorded by satellites. Therefore, in this paper, we introduce Llama3-MS-CLIP, the first vision-language model pre-trained with contrastive learning on a large-scale multispectral dataset and report on the performance gains due to the extended spectral range. Furthermore, we present the largest-to-date image-caption dataset for multispectral data, consisting of one million Sentinel-2 samples and corresponding textual descriptions generated with Llama3-LLaVA-Next and Overture Maps data. We develop a scalable captioning pipeline, which is validated by domain experts. We evaluate Llama3-MS-CLIP on multispectral zero-shot image classification and retrieval using three datasets of varying complexity. Our results demonstrate that Llama3-MS-CLIP significantly outperforms other RGB-based approaches, improving classification accuracy by 6.77% on average and retrieval performance by 4.63% mAP compared to the second-best model. Our results emphasize the relevance of multispectral vision-language learning. We release the image-caption dataset, code, and model weights under an open-source license.

In conceptual aircraft design, the problem of shaping a typical wing is usually decomposed into two parts: planform design and airfoil design. The latter, which is the focus of this work, is a multidisciplinary design problem that requires consideration of a variety of aerodynamic, structural, and manufacturing objectives and constraints. A non-exhaustive list of major considerations could include: Profile drag across the expected operating range of the airfoil (spanning lift coefficients, Reynolds numbers, and Mach numbers), including adequate off-design performance [1]; Pitching moment and aft-camber coefficients, which can drive tail sizing (modifying trim drag), affect divergence speed; Hinge moments and control effectiveness of any control surfaces, which drive actuator design and weight; Stall behavior, which can affect handling qualities and safety; Thickness at various points, in order to accommodate fuel volume and required structural members to resist failure (e.g., by bending, buckling, divergence, flutter, or control reversal);[2] Sensitivity to boundary layer performance, freestream turbulence, and trips, all of which impose constraints on surface finish, cleanliness, and manufacturing tolerances [3-5]; Peak suction pressures, which affect the critical Mach number in transonic applications or cavitation in hydrodynamic applications; Shock stability and buffet considerations in transonic applications; Manufacturability, which might include flat-bottom airfoil sections, strictly-convex airfoil shapes (e.g., to

Despite the remarkable acceleration of robotic development through advanced simulation technology, robotic applications are often subject to performance reductions in real-world deployment due to the inherent discrepancy between simulation and reality, often referred to as the "sim-to-real gap". This gap arises from factors like model inaccuracies, environmental variations, and unexpected disturbances. Similarly, model discrepancies caused by system degradation over time or minor changes in the system's configuration also hinder the effectiveness of the developed methodologies. Effectively closing these gaps is critical and remains an open challenge. This work proposes a lightweight conformal mapping framework to transfer control and planning policies from an expert teacher to a degraded less capable learner. The method leverages Schwarz-Christoffel Mapping (SCM) to geometrically map teacher control inputs into the learner's command space, ensuring maneuver consistency. To demonstrate its generality, the framework is applied to two representative types of control and planning methods in a path-tracking task: 1) a discretized motion primitives command transfer and 2) a continuous Model Predictive Control (MPC)-based command transfer. The proposed framework is validated through extensive simulations and real-world experiments, demonstrating its effectiveness in reducing the sim-to-real gap by closely transferring teacher commands to the learner robot.

Foundation models are at the forefront of an increasing number of critical applications. In regards to technologies such as additive manufacturing (AM), these models have the potential to dramatically accelerate process optimization and, in turn, design of next generation materials. A major challenge that impedes the construction of foundation process-property models is data scarcity. To understand the impact of this challenge, and since foundation models rely on data fusion, in this work we conduct controlled experiments where we focus on the transferability of information across different material systems and properties. More specifically, we generate experimental datasets from 17-4 PH and 316L stainless steels (SSs) in Laser Powder Bed Fusion (LPBF) where we measure the effect of five process parameters on porosity and hardness. We then leverage Gaussian processes (GPs) for process-property modeling in various configurations to test if knowledge about one material system or property can be leveraged to build more accurate machine learning models for other material systems or properties. Through extensive cross-validation studies and probing the GPs' interpretable hyperparameters, we study the intricate relation among data size and dimensionality, complexity of the process-property relations, noise, and characteristics of machine learning models. Our findings highlight the need for structured learning approaches that incorporate domain knowledge in building foundation process-property models rather than relying on uninformed data fusion in data-limited applications.

Hybrid quantum-classical neural network methods represent an emerging approach to solving computational challenges by leveraging advantages from both paradigms. As physics-informed neural networks (PINNs) have successfully applied to solve partial differential equations (PDEs) by incorporating physical constraints into neural architectures, this work investigates whether quantum-classical physics-informed neural networks (QCPINNs) can efficiently solve PDEs with reduced parameter counts compared to classical approaches. We evaluate two quantum circuit paradigms: continuous-variable (CV) and qubit-based discrete-variable (DV) across multiple circuit ansatze (Alternate, Cascade, Cross mesh, and Layered). Benchmarking across five challenging PDEs (Helmholtz, Cavity, Wave, Klein-Gordon, and Convection-Diffusion equations) demonstrates that our hybrid approaches achieve comparable accuracy to classical PINNs while requiring up to 89% fewer trainable parameters. DV-based implementations, particularly those with angle encoding and cascade circuit configurations, exhibit better stability and convergence properties across all problem types. For the Convection-Diffusion equation, our angle-cascade QCPINN achieves parameter efficiency and a 37% reduction in relative L2 error compared to classical counterparts. Our findings highlight the potential of quantum-enhanced architectures for physics-informed learning, establishing parameter efficiency as a quantifiable quantum advantage while providing a foundation for future quantum-classical hybrid systems solving complex physical models.

Physics-informed machine learning provides an approach to combining data and governing physics laws for solving complex partial differential equations (PDEs). However, efficiently solving PDEs with varying parameters and changing initial conditions and boundary conditions (ICBCs) with theoretical guarantees remains an open challenge. We propose a hybrid framework that uses a neural network to learn B-spline control points to approximate solutions to PDEs with varying system and ICBC parameters. The proposed network can be trained efficiently as one can directly specify ICBCs without imposing losses, calculate physics-informed loss functions through analytical formulas, and requires only learning the weights of B-spline functions as opposed to both weights and basis as in traditional neural operator learning methods. We provide theoretical guarantees that the proposed B-spline networks serve as universal approximators for the set of solutions of PDEs with varying ICBCs under mild conditions and establish bounds on the generalization errors in physics-informed learning. We also demonstrate in experiments that the proposed B-spline network can solve problems with discontinuous ICBCs and outperforms existing methods, and is able to learn solutions of 3D dynamics with diverse initial conditions.

Wireless sensor networks (WSNs) have become a promising solution for structural health monitoring (SHM), especially in hard-to-reach or remote locations. Battery-powered WSNs offer various advantages over wired systems, however limited battery life has always been one of the biggest obstacles in practical use of the WSNs, regardless of energy harvesting methods. While various methods have been studied for battery health management, existing methods exclusively aim to extend lifetime of individual batteries, lacking a system level view. A consequence of applying such methods is that batteries in a WSN tend to fail at different times, posing significant difficulty on planning and scheduling of battery replacement trip. This study investigate a deep reinforcement learning (DRL) method for active battery degradation management by optimizing duty cycle of WSNs at the system level. This active management strategy effectively reduces earlier failure of battery individuals which enable group replacement without sacrificing WSN performances. A simulated environment based on a real-world WSN setup was developed to train a DRL agent and learn optimal duty cycle strategies. The performance of the strategy was validated in a long-term setup with various network sizes, demonstrating its efficiency and scalability.

CSIT, Queen's University Belfast, Belfast, UK Abstract --Neuromorphic computing based on spiking neural networks (SNNs) is emerging as a promising alternative to traditional artificial neural networks (ANNs), offering unique advantages in terms of low power consumption. However, the security aspect of SNNs is under-explored compared to their ANN counterparts. As the increasing reliance on AI systems comes with unique security risks and challenges, understanding the vulnerabilities and threat landscape is essential as neuromorphic computing matures. In this effort, we propose a novel input-triggered Hardware Trojan (HT) attack for SNNs. The HT mechanism is condensed in the area of one neuron. The trigger mechanism is an input message crafted in the spiking domain such that a selected neuron produces a malicious spike train that is not met in normal settings. This spike train triggers a malicious modification in the neuron that forces it to saturate, firing permanently and failing to recover to its resting state even when the input activity stops. The excessive spikes pollute the network and produce misleading decisions. We propose a methodology to select an appropriate neuron and to generate the input pattern that triggers the HT payload. The attack is illustrated by simulation on three popular benchmarks in the neuromorphic community. We also propose a hardware implementation for an analog spiking neuron and a digital SNN accelerator, demonstrating that the HT has a negligible area and power footprint and, thereby, can easily evade detection. Neuromorphic architectures having as basis spiking neural networks (SNNs) offer a fundamentally different approach in information processing compared to conventional artificial neural networks (ANNs). This property makes SNNs less computationally and energy-intensive, thus carrying promising opportunities for the increasingly demanding requirements of artificial intelligence (AI) [1], [2]. In particular, in SNNs the information is processed in the form of spike trains and is encoded in the timing between spikes or in the spike firing rate. Spikes are processed as soon as they are generated, thus offering real-time processing and a low-latency inference.

Transformer-based language models have revolutionized natural language processing (NLP), achieving state-of-the-art performance across a wide range of tasks, from machine translation to sentiment analysis [6]. However, the computational and energy demands of these models, particularly those arising from the self-attention mechanism, pose significant challenges for deployment in resourceconstrained environments. Although highly effective, the self-attention mechanism relies heavily on matrix multiplications, which are computationally expensive and energy-intensive As the scale of transformer models continues to grow, so does their environmental impact, with studies estimating that training a single large model can emit as much carbon as five cars over their lifetimes [5]. This has spurred research into more efficient alternatives, including model compression techniques such as knowledge distillation [3] and alternative attention mechanisms, like ReLUFormer [4] or Linformer [8]. Another alternative is the inhibitor attention [2], which was introduced as a means to avoid using the softmax function and matrix multiplications.