Current Issue : January-March Volume : 2026 Issue Number : 1 Articles : 5 Articles
The high-dimensional chaos generated in a neural network consisting of pseudo-neuron devices invented by one of the authors (S.N.) has been successfully applied to control the complex motion of a roving robot, e.g., to solve a maze, as reported in the previous papers. On the basis of successful works and the concept that chaos plays important functional roles in biological systems, in the present paper, we report new experiments to show the functional aspects of chaos via behavioral interactions in an ill-posed context and solve problems with chaotic neural networks. Explicitly, experiments on two roving robots in a maze (labyrinth) are reported, in which both seek to catch each other or one chases and the other flees, mimicking the survival activities of insects in natural environments. The two-dimensional robot motion is controlled with motion control systems, each of which is equipped with a chaotic neural network to generate autonomous and adaptive actions depending on sensor inputs of obstacles and/or target detection information including uncertainty. We report both computer experiments and practical hardware implementations, where for the latter, only the chaotic neural network is run on a desktop computer, the motion signals are coded into two-dimensional space, and sensor signals are transferred via Bluetooth device between robots and computers....
This paper addresses the problem of observer-based control (OBC) for nonlinear systems with time delay (TD). A novel hybrid modeling framework for nonlinear TD systems is first introduced by synergistically combining TD Takagi–Sugeno (TDTS) fuzzy and Lipschitz approaches. The proposed methodology broadens the range of representable systems by enabling Lipschitz nonlinearities to fulfill dual functions: they may describe essential dynamic behaviors of the system or represent aggregated uncertainties, depending on the specific application. The proposed TDTS–Lipschitz (TDTSL) model class features measurable premise variables while accommodating Lipschitz nonlinearities that may depend on unmeasurable system states. Then, through the construction of an appropriate Lyapunov– Krasovskii (L-K) functional, we derive sufficient conditions to ensure exponential stability of the augmented closed-loop model. Subsequently, through a decoupling methodology, these stability conditions are reformulated as a set of linear matrix inequalities (LMIs). Finally, the proposed OBC design is validated through application to a continuous stirred tank reactor (CSTR) with lumped uncertainties....
With the growth of global energy demand, the application of smart grid technology has become widespread. Anomaly detection in power systems is crucial for ensuring the stability and economy of power supply. Deep learning technologies offer new opportunities in this field. This paper proposes a deep learning approach based on Convolutional Autoencoders (CAEs) and Gated Recurrent Units (GRUs) for anomaly detection in smart grid power data. This method integrates three types of feature data, namely user power consumption, line loss correlation, and meter error, and combines the moving window technology to construct a CAE-GRU network model. Experimental results show that, compared with traditional methods, this method has higher accuracy in anomaly detection, which can effectively identify potential problems in the power grid and provide strong support for the optimized operation of the smart grid....
Accurate classification of optical communication signal quality is crucial for maintaining the reliability and performance of high-speed communication networks. While existing supervised learning approaches achieve high accuracy on laboratory-collected datasets, they often face difficulties in generalizing to real-world conditions due to the lack of variability and noise in controlled experimental data. In this study, we propose a targeted data augmentation framework designed to improve the robustness and generalization of binary optical signal quality classifiers. Using the OptiCom Signal Quality Dataset, we systematically inject controlled perturbations into the training data including label boundary flipping, Gaussian noise addition, and missing-value simulation. To further approximate real-world deployment scenarios, the test set is subjected to additional distribution shifts, including feature drift and scaling. Experiments are conducted under 5-fold cross-validation to evaluate the individual and combined impacts of augmentation strategies. Results show that the optimal augmentation setting (flip_rate = 0.10, noise_level = 0.50, missing_rate = 0.20) substantially improve robustness to unseen distributions, raising accuracy from 0.863 to 0.950, precision from 0.384 to 0.632, F1 from 0.551 to 0.771, and ROC-AUC from 0.926 to 0.999 compared to model without augmentation. Our research provides an example for balancing data augmentation intensity to optimize generalization without over-compromising accuracy on clean data....
Ensuring the safe operation of Unmanned Aerial Vehicles (UAVs) is crucial for both missioncritical and safety-critical tasks. In scenarios where UAVs must track airborne targets, they need to follow the target’s path while maintaining a safe distance, even in the presence of unmodeled dynamics and environmental disturbances. This paper presents a novel collision avoidance strategy for dynamic quadrotor UAVs during target-tracking missions. We propose a safety controller that combines a learning-based Control Barrier Function (CBF) with standard sliding mode feedback. Our approach employs a neural network that learns the true CBF constraint, accounting for wind disturbances, while the sliding mode controller addresses unmodeled dynamics. This unified control law ensures safe leader-following behavior and precise trajectory tracking. By leveraging a learned CBF, the controller offers improved adaptability to complex and unpredictable environments, enhancing both the safety and robustness of the system. The effectiveness of our proposed method is demonstrated through the AirSim platform using the PX4 flight controller....
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