After pointing out the problems of the conventional Rough Sets' methods that induce if-then rules hidden in a dataset called the decision table (DT), we proposed a new model for generating the DT and developed a method, statistical test rule induction method (STRIM), for inducing rules in the DT from a statistical perspective. The validity and effectiveness of STRIM were confirmed by applying it to the DT generated based on the data generation model (DGM). In general, the effectiveness of the methods inducing rules is often confirmed by applying them to classification problems that predict outputs against new inputs. From this perspective, we applied an expanded STRIM (ex-STRIM) to a classification problem and confirmed its effectiveness. This paper applies a Feedforward Neural Network and a modified ex-STRIM to the classification problem under the DGM and compares their classification performance and features as a classification method. Although the classification results strongly depend on the latent rules in the dataset and the number of learning datasets, the similarities and differences between the two methods are discussed; for example, both methods use different approaches to realize a conditional probability distribution of the output, given the input.

This paper presents a novel position tracking control law for two-wheeled drones moving on a wall based on an input-output linearization method developed for two-wheeled mobile robots. We first derive the dynamics of two-wheeled drones that move vertically while maintaining contact with a wall. These dynamics reflect the constraints imposed by the wall, with the attitude represented on the special orthogonal group SO(3). Next, we design a position tracking control law based on input-output linearization, where body velocity and angular velocity are treated as inputs, and the forward position of the drones is chosen as output. However, since the two-wheeled drones' inputs are rotor thrusts, as with conventional drones, body velocity and angular velocity cannot be directly commanded. To address this issue, we augment the control architecture with a control loop that calculates the rotor thrusts to drive the actual body velocity to the target body velocity. Finally, we conduct numerical simulations and experiments to verify the effectiveness of the proposed control method.