Universidad Carlos III de Madrid

Real-time ECG monitoring must use causal filters, whose nonlinear phase misaligns the frequency components of the cardiac waveform. Across 36,583 twelve-lead records from three independent clinical databases, changing phase alone while holding spectral magnitude fixed cut ResNet-18 macro-AUROC by 0.1244 on PTB-XL, with conduction-block detection falling from above 0.91 to about 0.62. A training-time regularizer that randomly applies all-pass phase perturbations recovered 86.9% to 90.9% of that loss across cohorts without changing the architecture.

Real-time ECG monitoring must use causal filters, whose nonlinear phase misaligns the frequency components of the cardiac waveform. Across 36,583 twelve-lead records from three independent clinical databases, changing phase alone while holding spectral magnitude fixed cut ResNet-18 macro-AUROC by 0.1244 on PTB-XL, with conduction-block detection falling from above 0.91 to about 0.62. A training-time regularizer that randomly applies all-pass phase perturbations recovered 86.9% to 90.9% of that loss across cohorts without changing the architecture.

The work proposes a multi-UAV formation control framework called Pure Hamiltonian 3D RK Swarm, embedding an anisotropic vertically-scaled Rimon-Koditschek navigation potential into a pseudo-Hamiltonian dynamical framework, adding an active kinematic preview and deflection layer on the virtual target's trajectory, projecting rigid spatial offsets via a dynamic SO(3) rotation matrix, and using a spatial decay braking force modulated by the normal gradient of the workspace topology to curb overshoot; in numerical simulations with N=9 agents crossing an undulating sinusoidal terrain cluster, the formation satisfies hard safety constraints of 2.5 m buffer, 2.0 m altitude buffer, and 0.9 m inter-drone spacing.

The work proposes a multi-UAV formation control framework called Pure Hamiltonian 3D RK Swarm, embedding an anisotropic vertically-scaled Rimon-Koditschek navigation potential into a pseudo-Hamiltonian dynamical framework, adding an active kinematic preview and deflection layer on the virtual target's trajectory, projecting rigid spatial offsets via a dynamic SO(3) rotation matrix, and using a spatial decay braking force modulated by the normal gradient of the workspace topology to curb overshoot; in numerical simulations with N=9 agents crossing an undulating sinusoidal terrain cluster, the formation satisfies hard safety constraints of 2.5 m buffer, 2.0 m altitude buffer, and 0.9 m inter-drone spacing.