Hardware-Aware Feature Extraction Quantisation for Real-Time Visual Odometry on FPGA Platforms

Accurate position estimation is essential for modern navigation systems deployed in autonomous platforms, including ground vehicles, marine vessels, and aerial drones. In this context, Visual Simultaneous Localisation and Mapping (VSLAM) - which includes Visual Odometry - relies heavily on the reliable extraction of salient feature points from the visual input data. In this work, we propose an embedded implementation of an unsupervised architecture capable of detecting and describing feature points. It is based on a quantised SuperPoint convolutional neural network. Our objective is to minimise the computational demands of the model while preserving high detection quality, thus facilitating efficient deployment on platforms with limited resources, such as mobile or embedded systems. We implemented the solution on an FPGA System-on-Chip (SoC) platform, specifically the AMD/Xilinx Zynq UltraScale+, where we evaluated the performance of Deep Learning Processing Units (DPUs) and we also used the Brevitas library and the FINN framework to perform model quantisation and hardware-aware optimisation. This allowed us to process 640 x 480 pixel images at up to 54 fps on an FPGA platform, outperforming state-of-the-art solutions in the field. We conducted experiments on the TUM dataset to demonstrate and discuss the impact of different quantisation techniques on the accuracy and performance of the model in a visual odometry task.

Assessing the Alignment of Audio Representations with Timbre Similarity Ratings

Psychoacoustical so-called "timbre spaces" map perceptual similarity ratings of instrument sounds onto low-dimensional embeddings via multidimensional scaling, but suffer from scalability issues and are incapable of generalization. Recent results from audio (music and speech) quality assessment as well as image similarity have shown that deep learning is able to produce embeddings that align well with human perception while being largely free from these constraints. Although the existing human-rated timbre similarity data is not large enough to train deep neural networks (2,614 pairwise ratings on 334 audio samples), it can serve as test-only data for audio models. In this paper, we introduce metrics to assess the alignment of diverse audio representations with human judgments of timbre similarity by comparing both the absolute values and the rankings of embedding distances to human similarity ratings. Our evaluation involves three signal-processing-based representations, twelve representations extracted from pre-trained models, and three representations extracted from a novel sound matching model. Among them, the style embeddings inspired by image style transfer, extracted from the CLAP model and the sound matching model, remarkably outperform the others, showing their potential in modeling timbre similarity.

Multilayer GNN for Predictive Maintenance and Clustering in Power Grids

Unplanned power outages cost the US economy over $150 billion annually, partly due to predictive maintenance (PdM) models that overlook spatial, temporal, and causal dependencies in grid failures. This study introduces a multilayer Graph Neural Network (GNN) framework to enhance PdM and enable resilience-based substation clustering. Using seven years of incident data from Oklahoma Gas & Electric (292,830 records across 347 substations), the framework integrates Graph Attention Networks (spatial), Graph Convolutional Networks (temporal), and Graph Isomorphism Networks (causal), fused through attention-weighted embeddings. Our model achieves a 30-day F1-score of 0.8935 +/- 0.0258, outperforming XGBoost and Random Forest by 3.2% and 2.7%, and single-layer GNNs by 10 to 15 percent. Removing the causal layer drops performance to 0.7354 +/- 0.0418. For resilience analysis, HDBSCAN clustering on HierarchicalRiskGNN embeddings identifies eight operational risk groups. The highest-risk cluster (Cluster 5, 44 substations) shows 388.4 incidents/year and 602.6-minute recovery time, while low-risk groups report fewer than 62 incidents/year. ANOVA (p < 0.0001) confirms significant inter-cluster separation. Our clustering outperforms K-Means and Spectral Clustering with a Silhouette Score of 0.626 and Davies-Bouldin index of 0.527. This work supports proactive grid management through improved failure prediction and risk-aware substation clustering.

GNN-ViTCap: GNN-Enhanced Multiple Instance Learning with Vision Transformers for Whole Slide Image Classification and Captioning

Microscopic assessment of histopathology images is vital for accurate cancer diagnosis and treatment. Whole Slide Image (WSI) classification and captioning have become crucial tasks in computer-aided pathology. However, microscopic WSI face challenges such as redundant patches and unknown patch positions due to subjective pathologist captures. Moreover, generating automatic pathology captions remains a significant challenge. To address these issues, we introduce a novel GNN-ViTCap framework for classification and caption generation from histopathological microscopic images. First, a visual feature extractor generates patch embeddings. Redundant patches are then removed by dynamically clustering these embeddings using deep embedded clustering and selecting representative patches via a scalar dot attention mechanism. We build a graph by connecting each node to its nearest neighbors in the similarity matrix and apply a graph neural network to capture both local and global context. The aggregated image embeddings are projected into the language model's input space through a linear layer and combined with caption tokens to fine-tune a large language model. We validate our method on the BreakHis and PatchGastric datasets. GNN-ViTCap achieves an F1 score of 0.934 and an AUC of 0.963 for classification, along with a BLEU-4 score of 0.811 and a METEOR score of 0.569 for captioning. Experimental results demonstrate that GNN-ViTCap outperforms state of the art approaches, offering a reliable and efficient solution for microscopy based patient diagnosis.

ST-GRIT: Spatio-Temporal Graph Transformer For Internal Ice Layer Thickness Prediction

Understanding the thickness and variability of internal ice layers in radar imagery is crucial for monitoring snow accumulation, assessing ice dynamics, and reducing uncertainties in climate models. Radar sensors, capable of penetrating ice, provide detailed radargram images of these internal layers. In this work, we present ST-GRIT, a spatio-temporal graph transformer for ice layer thickness, designed to process these radargrams and capture the spatiotemporal relationships between shallow and deep ice layers. ST-GRIT leverages an inductive geometric graph learning framework to extract local spatial features as feature embeddings and employs a series of temporal and spatial attention blocks separately to model long-range dependencies effectively in both dimensions. Experimental evaluation on radargram data from the Greenland ice sheet demonstrates that ST-GRIT consistently outperforms current state-of-the-art methods and other baseline graph neural networks by achieving lower root mean-squared error. These results highlight the advantages of self-attention mechanisms on graphs over pure graph neural networks, including the ability to handle noise, avoid oversmoothing, and capture long-range dependencies. Moreover, the use of separate spatial and temporal attention blocks allows for distinct and robust learning of spatial relationships and temporal patterns, providing a more comprehensive and effective approach.

GNN-CNN: An Efficient Hybrid Model of Convolutional and Graph Neural Networks for Text Representation

Time, cost, and energy efficiency are critical considerations in Deep-Learning (DL), particularly when processing long texts. Transformers, which represent the current state of the art, exhibit quadratic computational complexity relative to input length, making them inefficient for extended documents. This study introduces a novel model architecture that combines Graph Neural Networks (GNNs) and Convolutional Neural Networks (CNNs), integrated with a real-time, end-to-end graph generation mechanism. The model processes compact batches of character-level inputs without requiring padding or truncation. To enhance performance while maintaining high speed and efficiency, the model incorporates information from Large Language Models (LLMs), such as token embeddings and sentiment polarities, through efficient dictionary lookups. It captures local contextual patterns using CNNs, expands local receptive fields via lattice-based graph structures, and employs small-world graphs to aggregate document-level information. The generated graphs exhibit structural properties indicative of meaningful semantic organization, with an average clustering coefficient of approximately 0.45 and an average shortest path length ranging between 4 and 5. The model is evaluated across multiple text classification tasks, including sentiment analysis and news-categorization, and is compared against state-of-the-art models. Experimental results confirm the proposed model's efficiency and competitive performance.

Revealing the Hidden Temporal Structure of HubertSoft Embeddings based on the Russian Phonetic Corpus

Self-supervised learning (SSL) models such as Wav2Vec 2.0 and HuBERT have shown remarkable success in extracting phonetic information from raw audio without labelled data. While prior work has demonstrated that SSL embeddings encode phonetic features at the frame level, it remains unclear whether these models preserve temporal structure, specifically, whether embeddings at phoneme boundaries reflect the identity and order of adjacent phonemes. This study investigates the extent to which boundary-sensitive embeddings from HubertSoft, a soft-clustering variant of HuBERT, encode phoneme transitions. Using the CORPRES Russian speech corpus, we labelled 20 ms embedding windows with triplets of phonemes corresponding to their start, centre, and end segments. A neural network was trained to predict these positions separately, and multiple evaluation metrics, such as ordered, unordered accuracy and a flexible centre accuracy, were used to assess temporal sensitivity. Results show that embeddings extracted at phoneme boundaries capture both phoneme identity and temporal order, with especially high accuracy at segment boundaries. Confusion patterns further suggest that the model encodes articulatory detail and coarticulatory effects. These findings contribute to our understanding of the internal structure of SSL speech representations and their potential for phonological analysis and fine-grained transcription tasks.

KAConvText: Novel Approach to Burmese Sentence Classification using Kolmogorov-Arnold Convolution

This paper presents the first application of Kolmogorov-Arnold Convolution for Text (KAConvText) in sentence classification, addressing three tasks: imbalanced binary hate speech detection, balanced multiclass news classification, and imbalanced multiclass ethnic language identification. We investigate various embedding configurations, comparing random to fastText embeddings in both static and fine-tuned settings, with embedding dimensions of 100 and 300 using CBOW and Skip-gram models. Baselines include standard CNNs and CNNs augmented with a Kolmogorov-Arnold Network (CNN-KAN). In addition, we investigated KAConvText with different classification heads - MLP and KAN, where using KAN head supports enhanced interpretability. Results show that KAConvText-MLP with fine-tuned fastText embeddings achieves the best performance of 91.23% accuracy (F1-score = 0.9109) for hate speech detection, 92.66% accuracy (F1-score = 0.9267) for news classification, and 99.82% accuracy (F1-score = 0.9982) for language identification.

Degradation-Agnostic Statistical Facial Feature Transformation for Blind Face Restoration in Adverse Weather Conditions

With the increasing deployment of intelligent CCTV systems in outdoor environments, there is a growing demand for face recognition systems optimized for challenging weather conditions. Adverse weather significantly degrades image quality, which in turn reduces recognition accuracy. Although recent face image restoration (FIR) models based on generative adversarial networks (GANs) and diffusion models have shown progress, their performance remains limited due to the lack of dedicated modules that explicitly address weather-induced degradations. This leads to distorted facial textures and structures. To address these limitations, we propose a novel GAN-based blind FIR framework that integrates two key components: local Statistical Facial Feature Transformation (SFFT) and Degradation-Agnostic Feature Embedding (DAFE). The local SFFT module enhances facial structure and color fidelity by aligning the local statistical distributions of low-quality (LQ) facial regions with those of high-quality (HQ) counterparts. Complementarily, the DAFE module enables robust statistical facial feature extraction under adverse weather conditions by aligning LQ and HQ encoder representations, thereby making the restoration process adaptive to severe weather-induced degradations. Experimental results demonstrate that the proposed degradation-agnostic SFFT model outperforms existing state-of-the-art FIR methods based on GAN and diffusion models, particularly in suppressing texture distortions and accurately reconstructing facial structures. Furthermore, both the SFFT and DAFE modules are empirically validated in enhancing structural fidelity and perceptual quality in face restoration under challenging weather scenarios.

Machine Learning-Assisted Surrogate Modeling with Multi-Objective Optimization and Decision-Making of a Steam Methane Reforming Reactor

This study presents an integrated modeling and optimization framework for a steam methane reforming (SMR) reactor, combining a mathematical model, artificial neural network (ANN)-based hybrid modeling, advanced multi-objective optimization (MOO) and multi-criteria decision-making (MCDM) techniques. A one-dimensional fixed-bed reactor model accounting for internal mass transfer resistance was employed to simulate reactor performance. To reduce the high computational cost of the mathematical model, a hybrid ANN surrogate was constructed, achieving a 93.8% reduction in average simulation time while maintaining high predictive accuracy. The hybrid model was then embedded into three MOO scenarios using the non-dominated sorting genetic algorithm II (NSGA-II) solver: 1) maximizing methane conversion and hydrogen output; 2) maximizing hydrogen output while minimizing carbon dioxide emissions; and 3) a combined three-objective case. The optimal trade-off solutions were further ranked and selected using two MCDM methods: technique for order of preference by similarity to ideal solution (TOPSIS) and simplified preference ranking on the basis of ideal-average distance (sPROBID). Optimal results include a methane conversion of 0.863 with 4.556 mol/s hydrogen output in the first case, and 0.988 methane conversion with 3.335 mol/s hydrogen and 0.781 mol/s carbon dioxide in the third. This comprehensive methodology offers a scalable and effective strategy for optimizing complex catalytic reactor systems with multiple, often conflicting, objectives.