Anomaly Detection of UAV State Data Based on Single-Class Triangular Global Alignment Kernel Extreme Learning Machine

Unmanned Aerial Vehicles(UAVs)are widely used and meet many demands in military and civilian fields.With the continuous enrichment and extensive expansion of application scenarios,the safety of UAVs is constantly being challenged.To address this challenge,we propose algorithms to detect anomalous data collected from drones to improve drone safety.We deployed a one-class kernel extreme learning machine(OCKELM)to detect anomalies in drone data.By default,OCKELM uses the radial basis(RBF)kernel function as the kernel function of themodel.To improve the performance ofOCKELM,we choose a TriangularGlobalAlignmentKernel(TGAK)instead of anRBF Kernel and introduce the Fast Independent Component Analysis(FastICA)algorithm to reconstruct UAV data.Based on the above improvements,we create a novel anomaly detection strategy FastICA-TGAK-OCELM.The method is finally validated on the UCI dataset and detected on the Aeronautical Laboratory Failures and Anomalies(ALFA)dataset.The experimental results show that compared with other methods,the accuracy of this method is improved by more than 30%,and point anomalies are effectively detected.

Direct growth of globally aligned graphene nanoribbons on reconstructed sapphire substrate using PECVD

Graphene nanoribbons(GNRs)are regarded as an ideal candidate for beyond-silicon electronics.However,synthesis of aligned GNR arrays on insulating substrates with high efficiency is challenging.In this work,we develop a facile strategy,involving KOH pre-treatment and high-temperature annealing,to construct parallel steps on the two-fold symmetry a-plane sapphire substrate.Horizontal GNRs as narrow as 15.1 nm with global alignment across a region of 20 mm^(2)are then grown on the step edgeenriched substrate through plasma enhanced chemical vapor deposition(PECVD)method.GNRs align well along the atomic steps on sapphire([■]direction)with their widths and densities swiftly adjustable by step morphology modification on substrate surface.A step-edge confined growth mechanism is proposed,attributing the constraint on the nanoribbon broadening to a relatively low growth temperature in PECVD,which restrains the activation energy to suppress GNRs across step edges on sapphire and prevents detrimental nanoribbon widening.The results provide a new perspective for scalable synthesizing well aligned nanoribbons of other two-dimensional materials.