Md Meftahul Ferdaus

Tanmoy Dam, Md Meftahul Ferdaus, Mahardhika Pratama et al.

Many real-world classification problems have imbalanced frequency of class labels; a well-known issue known as the "class imbalance" problem. Classic classification algorithms tend to be biased towards the majority class, leaving the classifier vulnerable to misclassification of the minority class. While the literature is rich with methods to fix this problem, as the dimensionality of the problem increases, many of these methods do not scale-up and the cost of running them become prohibitive. In this paper, we present an end-to-end deep generative classifier. We propose a domain-constraint autoencoder to preserve the latent-space as prior for a generator, which is then used to play an adversarial game with two other deep networks, a discriminator and a classifier. Extensive experiments are carried out on three different multi-class imbalanced problems and a comparison with state-of-the-art methods. Experimental results confirmed the superiority of our method over popular algorithms in handling high-dimensional imbalanced classification problems. Our code is available on https://github.com/TanmDL/SLPPL-GAN.

Harshita Boonlia, Tanmoy Dam, Md Meftahul Ferdaus et al.

In real world scenarios, out-of-distribution (OOD) datasets may have a large distributional shift from training datasets. This phenomena generally occurs when a trained classifier is deployed on varying dynamic environments, which causes a significant drop in performance. To tackle this issue, we are proposing an end-to-end deep multi-task network in this work. Observing a strong relationship between rotation prediction (self-supervised) accuracy and semantic classification accuracy on OOD tasks, we introduce an additional auxiliary classification head in our multi-task network along with semantic classification and rotation prediction head. To observe the influence of this addition classifier in improving the rotation prediction head, our proposed learning method is framed into bi-level optimisation problem where the upper-level is trained to update the parameters for semantic classification and rotation prediction head. In the lower-level optimisation, only the auxiliary classification head is updated through semantic classification head by fixing the parameters of the semantic classification head. The proposed method has been validated through three unseen OOD datasets where it exhibits a clear improvement in semantic classification accuracy than other two baseline methods. Our code is available on GitHub \url{https://github.com/harshita-555/OSSL}

MD. Meftahul Ferdaus, Mahardhika Pratama, Sreenatha G Anavatti et al.

At recent times, with the incremental demand of the fully autonomous system, a huge research interest is observed in learning machine based intelligent, self-organizing, and evolving controller. In this work, a new evolving and self-organizing controller namely Generic-controller, G-controller, is proposed. The G-controller that works in the fully online mode with very minor expert domain knowledge is developed by incorporating the sliding model control, SMC, theory based learning algorithm with an advanced incremental learning machine namely Generic Evolving Neuro-Fuzzy Inference System , GENEFIS. The controller starts operating from scratch with an empty set of fuzzy rules, and therefore, no offline training is required. To cope with the plant vulnerable behavior, the controller can add, or prune the rules on demand. Control law and adaptation laws for the consequents are derived from the SMC algorithm to establish a stable closed-loop system, where the stability of the G-controller is guaranteed using the Lyapunov function. The uniform asymptotic convergence of tracking error to zero is witnessed through the implication of an auxiliary robustifying control term. In addition, the implementation of the multivariate Gaussian function helps the controller to handle the non-axis parallel data from the plant and consequently enhances the robustness against the uncertainties and environmental perturbations. Finally, the controller performance has been evaluated by observing the tracking performance in controlling simulated plants of unmanned aerial vehicle namely bio-inspired flapping wing micro air vehicle BIFW MAV and hexacopter for a variety of trajectories.

Md Meftahul Ferdaus, Sreenatha G. Anavatti, Matthew A. Garratt et al.

Advanced and accurate modelling of a Flapping Wing Micro Air Vehicle (FW MAV) and its control is one of the recent research topics related to the field of autonomous Unmanned Aerial Vehicles (UAVs). In this work, a four wing Natureinspired (NI) FW MAV is modeled and controlled inspiring by its advanced features like quick flight, vertical take-off and landing, hovering, and fast turn, and enhanced manoeuvrability when contrasted with comparable-sized fixed and rotary wing UAVs. The Fuzzy C-Means (FCM) clustering algorithm is utilized to demonstrate the NIFW MAV model, which has points of interest over first principle based modelling since it does not depend on the system dynamics, rather based on data and can incorporate various uncertainties like sensor error. The same clustering strategy is used to develop an adaptive fuzzy controller. The controller is then utilized to control the altitude of the NIFW MAV, that can adapt with environmental disturbances by tuning the antecedent and consequent parameters of the fuzzy system.

Rasha Alshawi, Md Meftahul Ferdaus, Mahdi Abdelguerfi et al.

Imbalanced datasets are a significant challenge in real-world scenarios. They lead to models that underperform on underrepresented classes, which is a critical issue in infrastructure inspection. This paper introduces the Enhanced Feature Pyramid Network (E-FPN), a deep learning model for the semantic segmentation of culverts and sewer pipes within imbalanced datasets. The E-FPN incorporates architectural innovations like sparsely connected blocks and depth-wise separable convolutions to improve feature extraction and handle object variations. To address dataset imbalance, the model employs strategies like class decomposition and data augmentation. Experimental results on the culvert-sewer defects dataset and a benchmark aerial semantic segmentation drone dataset show that the E-FPN outperforms state-of-the-art methods, achieving an average Intersection over Union (IoU) improvement of 13.8% and 27.2%, respectively. Additionally, class decomposition and data augmentation together boost the model's performance by approximately 6.9% IoU. The proposed E-FPN presents a promising solution for enhancing object segmentation in challenging, multi-class real-world datasets, with potential applications extending beyond culvert-sewer defect detection.

Md Meftahul Ferdaus, Mahdi Abdelguerfi, Elias Ioup et al.

We introduce KANICE (Kolmogorov-Arnold Networks with Interactive Convolutional Elements), a novel neural architecture that combines Convolutional Neural Networks (CNNs) with Kolmogorov-Arnold Network (KAN) principles. KANICE integrates Interactive Convolutional Blocks (ICBs) and KAN linear layers into a CNN framework. This leverages KANs' universal approximation capabilities and ICBs' adaptive feature learning. KANICE captures complex, non-linear data relationships while enabling dynamic, context-dependent feature extraction based on the Kolmogorov-Arnold representation theorem. We evaluated KANICE on four datasets: MNIST, Fashion-MNIST, EMNIST, and SVHN, comparing it against standard CNNs, CNN-KAN hybrids, and ICB variants. KANICE consistently outperformed baseline models, achieving 99.35% accuracy on MNIST and 90.05% on the SVHN dataset. Furthermore, we introduce KANICE-mini, a compact variant designed for efficiency. A comprehensive ablation study demonstrates that KANICE-mini achieves comparable performance to KANICE with significantly fewer parameters. KANICE-mini reached 90.00% accuracy on SVHN with 2,337,828 parameters, compared to KANICE's 25,432,000. This study highlights the potential of KAN-based architectures in balancing performance and computational efficiency in image classification tasks. Our work contributes to research in adaptive neural networks, integrates mathematical theorems into deep learning architectures, and explores the trade-offs between model complexity and performance, advancing computer vision and pattern recognition. The source code for this paper is publicly accessible through our GitHub repository (https://github.com/m-ferdaus/kanice).

Rasha Alshawi, Md Meftahul Ferdaus, Md Tamjidul Hoque et al.

This paper introduces Semantic Haar-Adaptive Refined Pyramid Network (SHARP-Net), a novel architecture for semantic segmentation. SHARP-Net integrates a bottom-up pathway featuring Inception-like blocks with varying filter sizes (3x3$ and 5x5), parallel max-pooling, and additional spatial detection layers. This design captures multi-scale features and fine structural details. Throughout the network, depth-wise separable convolutions are used to reduce complexity. The top-down pathway of SHARP-Net focuses on generating high-resolution features through upsampling and information fusion using $1\times1$ and $3\times3$ depth-wise separable convolutions. We evaluated our model using our developed challenging Culvert-Sewer Defects dataset and the benchmark DeepGlobe Land Cover dataset. Our experimental evaluation demonstrated the base model's (excluding Haar-like features) effectiveness in handling irregular defect shapes, occlusions, and class imbalances. It outperformed state-of-the-art methods, including U-Net, CBAM U-Net, ASCU-Net, FPN, and SegFormer, achieving average improvements of 14.4% and 12.1% on the Culvert-Sewer Defects and DeepGlobe Land Cover datasets, respectively, with IoU scores of 77.2% and 70.6%. Additionally, the training time was reduced. Furthermore, the integration of carefully selected and fine-tuned Haar-like features enhanced the performance of deep learning models by at least 20%. The proposed SHARP-Net, incorporating Haar-like features, achieved an impressive IoU of 94.75%, representing a 22.74% improvement over the base model. These features were also applied to other deep learning models, showing a 35.0% improvement, proving their versatility and effectiveness. SHARP-Net thus provides a powerful and efficient solution for accurate semantic segmentation in challenging real-world scenarios.

Gao Yu Lee, Tanmoy Dam, Md Meftahul Ferdaus et al.

Image dehazing is crucial for clarifying images obscured by haze or fog, but current learning-based approaches is dependent on large volumes of training data and hence consumed significant computational power. Additionally, their performance is often inadequate under non-uniform or heavy haze. To address these challenges, we developed the Detail Recovery And Contrastive DehazeNet, which facilitates efficient and effective dehazing via a dense dilated inverted residual block and an attention-based detail recovery network that tailors enhancements to specific dehazed scene contexts. A major innovation is its ability to train effectively with limited data, achieved through a novel quadruplet loss-based contrastive dehazing paradigm. This approach distinctly separates hazy and clear image features while also distinguish lower-quality and higher-quality dehazed images obtained from each sub-modules of our network, thereby refining the dehazing process to a larger extent. Extensive tests on a variety of benchmarked haze datasets demonstrated the superiority of our approach. The code repository for this work is available at https://github.com/GreedYLearner1146/DRACO-DehazeNet.

Gao Yu Lee, Tanmoy Dam, Md Meftahul Ferdaus et al.

Few-Shot Learning (FSL), which involves learning to generalize using only a few data samples, has demonstrated promising and superior performances to ordinary CNN methods. While Bayesian based estimation approaches using Kullback-Leibler (KL) divergence have shown improvements, they remain vulnerable to adversarial attacks and natural noises. We introduce ANROT-HELANet, an Adversarially and Naturally RObusT Hellinger Aggregation Network that significantly advances the state-of-the-art in FSL robustness and performance. Our approach implements an adversarially and naturally robust Hellinger distance-based feature class aggregation scheme, demonstrating resilience to adversarial perturbations up to $ε=0.30$ and Gaussian noise up to $σ=0.30$. The network achieves substantial improvements across benchmark datasets, including gains of 1.20\% and 1.40\% for 1-shot and 5-shot scenarios on miniImageNet respectively. We introduce a novel Hellinger Similarity contrastive loss function that generalizes cosine similarity contrastive loss for variational few-shot inference scenarios. Our approach also achieves superior image reconstruction quality with a FID score of 2.75, outperforming traditional VAE (3.43) and WAE (3.38) approaches. Extensive experiments conducted on four few-shot benchmarked datasets verify that ANROT-HELANet's combination of Hellinger distance-based feature aggregation, attention mechanisms, and our novel loss function establishes new state-of-the-art performance while maintaining robustness against both adversarial and natural perturbations. Our code repository will be available at https://github.com/GreedYLearner1146/ANROT-HELANet/tree/main.

Md Meftahul Ferdaus, Mahdi Abdelguerfi, Elias Ioup et al.

Semantic segmentation of structural defects in civil infrastructure remains challenging due to variable defect appearances, harsh imaging conditions, and significant class imbalance. Current deep learning methods, despite their effectiveness, typically require millions of parameters, rendering them impractical for real-time inspection systems. We introduce KARMA (Kolmogorov-Arnold Representation Mapping Architecture), a highly efficient semantic segmentation framework that models complex defect patterns through compositions of one-dimensional functions rather than conventional convolutions. KARMA features three technical innovations: (1) a parameter-efficient Tiny Kolmogorov-Arnold Network (TiKAN) module leveraging low-rank factorization for KAN-based feature transformation; (2) an optimized feature pyramid structure with separable convolutions for multi-scale defect analysis; and (3) a static-dynamic prototype mechanism that enhances feature representation for imbalanced classes. Extensive experiments on benchmark infrastructure inspection datasets demonstrate that KARMA achieves competitive or superior mean IoU performance compared to state-of-the-art approaches, while using significantly fewer parameters (0.959M vs. 31.04M, a 97% reduction). Operating at 0.264 GFLOPS, KARMA maintains inference speeds suitable for real-time deployment, enabling practical automated infrastructure inspection systems without compromising accuracy. The source code can be accessed at the following URL: https://github.com/faeyelab/karma.

Christina Thrainer, Md Meftahul Ferdaus, Mahdi Abdelguerfi et al.

Automated structural defect segmentation in civil infrastructure faces a critical challenge: achieving high accuracy while maintaining computational efficiency for real-time deployment. This paper presents FORTRESS (Function-composition Optimized Real-Time Resilient Structural Segmentation), a new architecture that balances accuracy and speed by using a special method that combines depthwise separable convolutions with adaptive Kolmogorov-Arnold Network integration. FORTRESS incorporates three key innovations: a systematic depthwise separable convolution framework achieving a 3.6x parameter reduction per layer, adaptive TiKAN integration that selectively applies function composition transformations only when computationally beneficial, and multi-scale attention fusion combining spatial, channel, and KAN-enhanced features across decoder levels. The architecture achieves remarkable efficiency gains with 91% parameter reduction (31M to 2.9M), 91% computational complexity reduction (13.7 to 1.17 GFLOPs), and 3x inference speed improvement while delivering superior segmentation performance. Evaluation on benchmark infrastructure datasets demonstrates state-of-the-art results with an F1- score of 0.771 and a mean IoU of 0.677, significantly outperforming existing methods including U-Net, SA-UNet, and U- KAN. The dual optimization strategy proves essential for optimal performance, establishing FORTRESS as a robust solution for practical structural defect segmentation in resource-constrained environments where both accuracy and computational efficiency are paramount. Comprehensive architectural specifications are provided in the Supplemental Material. Source code is available at URL: https://github.com/faeyelab/fortress-paper-code.

Rasha Alshawi, Md Tamjidul Hoque, Md Meftahul Ferdaus et al.

The proposed architecture, Dual Attentive U-Net with Feature Infusion (DAU-FI Net), addresses challenges in semantic segmentation, particularly on multiclass imbalanced datasets with limited samples. DAU-FI Net integrates multiscale spatial-channel attention mechanisms and feature injection to enhance precision in object localization. The core employs a multiscale depth-separable convolution block, capturing localized patterns across scales. This block is complemented by a spatial-channel squeeze and excitation (scSE) attention unit, modeling inter-dependencies between channels and spatial regions in feature maps. Additionally, additive attention gates refine segmentation by connecting encoder-decoder pathways. To augment the model, engineered features using Gabor filters for textural analysis, Sobel and Canny filters for edge detection are injected guided by semantic masks to expand the feature space strategically. Comprehensive experiments on a challenging sewer pipe and culvert defect dataset and a benchmark dataset validate DAU-FI Net's capabilities. Ablation studies highlight incremental benefits from attention blocks and feature injection. DAU-FI Net achieves state-of-the-art mean Intersection over Union (IoU) of 95.6% and 98.8% on the defect test set and benchmark respectively, surpassing prior methods by 8.9% and 12.6%, respectively. Ablation studies highlight incremental benefits from attention blocks and feature injection. The proposed architecture provides a robust solution, advancing semantic segmentation for multiclass problems with limited training data. Our sewer-culvert defects dataset, featuring pixel-level annotations, opens avenues for further research in this crucial domain. Overall, this work delivers key innovations in architecture, attention, and feature engineering to elevate semantic segmentation efficacy.

Gao Yu Lee, Jinkuan Chen, Tanmoy Dam et al.

High-quality images are crucial in remote sensing and UAV applications, but atmospheric haze can severely degrade image quality, making image dehazing a critical research area. Since the introduction of deep convolutional neural networks, numerous approaches have been proposed, and even more have emerged with the development of vision transformers and contrastive/few-shot learning. Simultaneously, papers describing dehazing architectures applicable to various Remote Sensing (RS) domains are also being published. This review goes beyond the traditional focus on benchmarked haze datasets, as we also explore the application of dehazing techniques to remote sensing and UAV datasets, providing a comprehensive overview of both deep learning and prior-based approaches in these domains. We identify key challenges, including the lack of large-scale RS datasets and the need for more robust evaluation metrics, and outline potential solutions and future research directions to address them. This review is the first, to our knowledge, to provide comprehensive discussions on both existing and very recent dehazing approaches (as of 2024) on benchmarked and RS datasets, including UAV-based imagery.

Md Meftahul Ferdaus, Kendall N. Niles, Joe Tom et al.

Few-shot learning (FSL) enables object detection models to recognize novel classes given only a few annotated examples, thereby reducing expensive manual data labeling. This survey examines recent FSL advances for video and 3D object detection. For video, FSL is especially valuable since annotating objects across frames is more laborious than for static images. By propagating information across frames, techniques like tube proposals and temporal matching networks can detect new classes from a couple examples, efficiently leveraging spatiotemporal structure. FSL for 3D detection from LiDAR or depth data faces challenges like sparsity and lack of texture. Solutions integrate FSL with specialized point cloud networks and losses tailored for class imbalance. Few-shot 3D detection enables practical autonomous driving deployment by minimizing costly 3D annotation needs. Core issues in both domains include balancing generalization and overfitting, integrating prototype matching, and handling data modality properties. In summary, FSL shows promise for reducing annotation requirements and enabling real-world video, 3D, and other applications by efficiently leveraging information across feature, temporal, and data modalities. By comprehensively surveying recent advancements, this paper illuminates FSL's potential to minimize supervision needs and enable deployment across video, 3D, and other real-world applications.

Gao Yu Lee, Tanmoy Dam, Md Meftahul Ferdaus et al.

The increasing frequency of natural and human-induced disasters necessitates advanced visual recognition techniques capable of analyzing critical photographic data. With progress in artificial intelligence and resilient computational systems, rapid and accurate disaster classification has become crucial for efficient rescue operations. However, visual recognition in disaster contexts faces significant challenges due to limited and diverse data from the difficulties in collecting and curating comprehensive, high-quality disaster imagery. Few-Shot Learning (FSL) provides a promising approach to data scarcity, yet current FSL research mainly relies on generic benchmark datasets lacking remote-sensing disaster imagery, limiting its practical effectiveness. Moreover, disaster images exhibit high intra-class variation and inter-class similarity, hindering the performance of conventional metric-based FSL methods. To address these issues, this paper introduces the Attention-based Bhattacharyya-Hellinger Feature Aggregation Network (ATTBHFA-Net), which linearly combines the Bhattacharyya coefficient and Hellinger distances to compare and aggregate feature probability distributions for robust prototype formation. The Bhattacharyya coefficient serves as a contrastive margin that enhances inter-class separability, while the Hellinger distance regularizes same-class alignment. This framework parallels contrastive learning but operates over probability distributions rather than embedded feature points. Furthermore, a Bhattacharyya-Hellinger distance-based contrastive loss is proposed as a distributional counterpart to cosine similarity loss, used jointly with categorical cross-entropy to significantly improve FSL performance. Experiments on four FSL benchmarks and two disaster image datasets demonstrate the superior effectiveness and generalization of ATTBHFA-Net compared to existing approaches.

Christina Thrainer, Md Meftahul Ferdaus, Mahdi Abdelguerfi et al.

Few-shot semantic segmentation is vital for deep learning-based infrastructure inspection applications, where labeled training examples are scarce and expensive. Although existing deep learning frameworks perform well, the need for extensive labeled datasets and the inability to learn new defect categories with little data are problematic. We present our Enhanced Feature Pyramid Network (E-FPN) framework for few-shot semantic segmentation of culvert and sewer defect categories using a prototypical learning framework. Our approach has three main contributions: (1) adaptive E-FPN encoder using InceptionSepConv blocks and depth-wise separable convolutions for efficient multi-scale feature extraction; (2) prototypical learning with masked average pooling for powerful prototype generation from small support examples; and (3) attention-based feature representation through global self-attention, local self-attention and cross-attention. Comprehensive experimentation on challenging infrastructure inspection datasets illustrates that the method achieves excellent few-shot performance, with the best configuration being 8-way 5-shot training configuration at 82.55% F1-score and 72.26% mIoU in 2-way classification testing. The self-attention method had the most significant performance improvements, providing 2.57% F1-score and 2.9% mIoU gain over baselines. Our framework addresses the critical need to rapidly respond to new defect types in infrastructure inspection systems with limited new training data that lead to more efficient and economical maintenance plans for critical infrastructure systems.

Md Meftahul Ferdaus, Mahdi Abdelguerfi, Elias Ioup et al.

The rapid progress in Large Language Models (LLMs) could transform many fields, but their fast development creates significant challenges for oversight, ethical creation, and building user trust. This comprehensive review looks at key trust issues in LLMs, such as unintended harms, lack of transparency, vulnerability to attacks, alignment with human values, and environmental impact. Many obstacles can undermine user trust, including societal biases, opaque decision-making, potential for misuse, and the challenges of rapidly evolving technology. Addressing these trust gaps is critical as LLMs become more common in sensitive areas like finance, healthcare, education, and policy. To tackle these issues, we suggest combining ethical oversight, industry accountability, regulation, and public involvement. AI development norms should be reshaped, incentives aligned, and ethics integrated throughout the machine learning process, which requires close collaboration across technology, ethics, law, policy, and other fields. Our review contributes a robust framework to assess trust in LLMs and analyzes the complex trust dynamics in depth. We provide contextualized guidelines and standards for responsibly developing and deploying these powerful AI systems. This review identifies key limitations and challenges in creating trustworthy AI. By addressing these issues, we aim to build a transparent, accountable AI ecosystem that benefits society while minimizing risks. Our findings provide valuable guidance for researchers, policymakers, and industry leaders striving to establish trust in LLMs and ensure they are used responsibly across various applications for the good of society.

Tanmoy Dam, Md Meftahul Ferdaus, Sreenatha G. Anavatti et al.

Traditional oversampling methods are generally employed to handle class imbalance in datasets. This oversampling approach is independent of the classifier; thus, it does not offer an end-to-end solution. To overcome this, we propose a three-player adversarial game-based end-to-end method, where a domain-constraints mixture of generators, a discriminator, and a multi-class classifier are used. Rather than adversarial minority oversampling, we propose an adversarial oversampling (AO) and a data-space oversampling (DO) approach. In AO, the generator updates by fooling both the classifier and discriminator, however, in DO, it updates by favoring the classifier and fooling the discriminator. While updating the classifier, it considers both the real and synthetically generated samples in AO. But, in DO, it favors the real samples and fools the subset class-specific generated samples. To mitigate the biases of a classifier towards the majority class, minority samples are over-sampled at a fractional rate. Such implementation is shown to provide more robust classification boundaries. The effectiveness of our proposed method has been validated with high-dimensional, highly imbalanced and large-scale multi-class tabular datasets. The results as measured by average class specific accuracy (ACSA) clearly indicate that the proposed method provides better classification accuracy (improvement in the range of 0.7% to 49.27%) as compared to the baseline classifier.

Md Meftahul Ferdaus, Mahardhika Pratama, Sreenatha G. Anavatti et al.

There exists an increasing demand for a flexible and computationally efficient controller for micro aerial vehicles (MAVs) due to a high degree of environmental perturbations. In this work, an evolving neuro-fuzzy controller, namely Parsimonious Controller (PAC) is proposed. It features fewer network parameters than conventional approaches due to the absence of rule premise parameters. PAC is built upon a recently developed evolving neuro-fuzzy system known as parsimonious learning machine (PALM) and adopts new rule growing and pruning modules derived from the approximation of bias and variance. These rule adaptation methods have no reliance on user-defined thresholds, thereby increasing the PAC's autonomy for real-time deployment. PAC adapts the consequent parameters with the sliding mode control (SMC) theory in the single-pass fashion. The boundedness and convergence of the closed-loop control system's tracking error and the controller's consequent parameters are confirmed by utilizing the LaSalle-Yoshizawa theorem. Lastly, the controller's efficacy is evaluated by observing various trajectory tracking performance from a bio-inspired flapping-wing micro aerial vehicle (BI-FWMAV) and a rotary wing micro aerial vehicle called hexacopter. Furthermore, it is compared to three distinctive controllers. Our PAC outperforms the linear PID controller and feed-forward neural network (FFNN) based nonlinear adaptive controller. Compared to its predecessor, G-controller, the tracking accuracy is comparable, but the PAC incurs significantly fewer parameters to attain similar or better performance than the G-controller.

Md Meftahul Ferdaus, Sreenatha G. Anavatti, Matthew A. Garratt et al.

Controlling of a flapping flight is one of the recent research topics related to the field of Flapping Wing Micro Air Vehicle (FW MAV). In this work, an adaptive control system for a four-wing FW MAV is proposed, inspired by its advanced features like quick flight, vertical take-off and landing, hovering, and fast turn, and enhanced manoeuvrability. Sliding Mode Control (SMC) theory has been used to develop the adaptation laws for the proposed adaptive fuzzy controller. The SMC theory confirms the closed-loop stability of the controller. The controller is utilized to control the altitude of the FW MAV, that can adapt to environmental disturbances by tuning the antecedent and consequent parameters of the fuzzy system.

Md Meftahul Ferdaus, Mahardhika Pratama, Sreenatha G. Anavatti et al.

Data stream has been the underlying challenge in the age of big data because it calls for real-time data processing with the absence of a retraining process and/or an iterative learning approach. In realm of fuzzy system community, data stream is handled by algorithmic development of self-adaptive neurofuzzy systems (SANFS) characterized by the single-pass learning mode and the open structure property which enables effective handling of fast and rapidly changing natures of data streams. The underlying bottleneck of SANFSs lies in its design principle which involves a high number of free parameters (rule premise and rule consequent) to be adapted in the training process. This figure can even double in the case of type-2 fuzzy system. In this work, a novel SANFS, namely parsimonious learning machine (PALM), is proposed. PALM features utilization of a new type of fuzzy rule based on the concept of hyperplane clustering which significantly reduces the number of network parameters because it has no rule premise parameters. PALM is proposed in both type-1 and type-2 fuzzy systems where all of which characterize a fully dynamic rule-based system. That is, it is capable of automatically generating, merging and tuning the hyperplane-based fuzzy rule in the single pass manner. Moreover, an extension of PALM, namely recurrent PALM (rPALM), is proposed and adopts the concept of teacher-forcing mechanism in the deep learning literature. The efficacy of PALM has been evaluated through numerical study with six real-world and synthetic data streams from public database and our own real-world project of autonomous vehicles. The proposed model showcases significant improvements in terms of computational complexity and number of required parameters against several renowned SANFSs, while attaining comparable and often better predictive accuracy.

Md Meftahul Ferdaus, Mahardhika Pratama, Sreenatha G. Anavatti et al.

Nowadays, the application of fully autonomous system like rotary wing unmanned air vehicles (UAVs) is increasing sharply. Due to the complex nonlinear dynamics, a huge research interest is witnessed in developing learning machine based intelligent, self-organizing evolving controller for these vehicles notably to address the system's dynamic characteristics. In this work, such an evolving controller namely Generic-controller (G-controller) is proposed to control the altitude of a rotary wing UAV namely hexacopter. This controller can work with very minor expert domain knowledge. The evolving architecture of this controller is based on an advanced incremental learning algorithm namely Generic Evolving Neuro-Fuzzy Inference System (GENEFIS). The controller does not require any offline training, since it starts operating from scratch with an empty set of fuzzy rules, and then add or delete rules on demand. The adaptation laws for the consequent parameters are derived from the sliding mode control (SMC) theory. The Lyapunov theory is used to guarantee the stability of the proposed controller. In addition, an auxiliary robustifying control term is implemented to obtain a uniform asymptotic convergence of tracking error to zero. Finally, the G-controller's performance evaluation is observed through the altitude tracking of a UAV namely hexacopter for various trajectories.