Received 3 October 2022, accepted 22 October 2022, date of publication 28 October 2022, date of current version 8 November 2022.

Digital Object Identifier 10.1109/ACCESS.2022.3218052

Denoising Chaotic Signals Using Ensemble

Intrinsic Time-Scale Decomposition
ALEXANDER VOZNESENSKY 1 , DENIS BUTUSOV 2 , (Member, IEEE),
VYACHESLAV RYBIN2 , DMITRY KAPLUN 1 , (Member, IEEE), TIMUR KARIMOV3 ,
AND ERIVELTON NEPOMUCENO 4 , (Senior Member, IEEE)
1 Department of Automation and Control Processes, Saint Petersburg Electrotechnical University ‘‘LETI,’’ 197022 Saint Petersburg, Russia
2 Youth Research Institute, Saint Petersburg Electrotechnical University ‘‘LETI,’’ 197022 Saint Petersburg, Russia
3 Computer-Aided Design Department, Saint Petersburg Electrotechnical University ‘‘LETI,’’ 197022 Saint Petersburg, Russia
4 Center for Ocean Energy Research, Department of Electronic Engineering, Maynooth University, Maynooth, Kildare, Dublin 7, W23 A3HY Ireland

Corresponding author: Erivelton Nepomuceno (erivelton.nepomuceno@mu.ie)

This work was supported by the Russian Science Foundation (RSF) under Project 22-19-00573. The work of Erivelton Nepomuceno
was supported in part by the Brazilian Research Agencies through Brazilian National Council for Scientific and Technological
Development (CNPq) under Grant 465704/2014-0, Grant 425509/2018-4, and Grant 311321/2020-8; and in part by FAPEMIG
under Grant APQ-00870-17.

ABSTRACT Processing chaotic signals is a complicated task due to their nonlinear and non-periodical
properties. Conventional linear filters do not allow to properly denoise signals generated by chaotic
systems, distorting the carrier while removing the noise, which is critical for such applications as coherent
chaotic communications. In this paper, we propose a novel denoising algorithm, called Ensemble Intrinsic
Time-Scale Decomposition (EITD) using specific chaotic noise generators. We may use specific chaotic
noise generators in the known Ensemble Empirical Mode Decomposition (EEMD), as we also show.
Considering the examples of Rössler and Lorenz systems as chaotic waveforms generators, we compare
the developed algorithm modifications with other filtration algorithms using ITD and EMD. We use the
root-mean-square error (RMSE) as a metric to estimate the denoising quality. Signal-to-noise ratio (SNR)
range −10 . . . 20 dB is examined, and white, pink and chaotic noise generators are utilized to disturb signals
under study. As a result, we explicitly show that the developed approach provides the error 2-10 times less
in the case of white and pink noise, and is capable of denoising chaotic signals in case of all the considered
types of noises, in contrast to Conventional and Iterative ITD and EMD algorithms.

INDEX TERMS Chaotic signals, digital signal processing, empirical mode decomposition, intrinsic time-
scale decomposition, denoising, non-linear filtering.

I. INTRODUCTION algorithms [10] is relevant for this scientific area. Since

In recent decades, chaotic signals have been widely used
in the various scientific fields such as chaotic communica-
tion [1], [2], [3], [4], cryptography [5], radars [6], sonars [7],
various sensors [8] etc. This type of non-periodic sig-
nal often possesses a non-stationarity and broadband spec-
trum. One of the unique properties of chaotic signals is
non-repeatability, which significantly complicates their pro-
cessing. Coherent chaotic communication systems are espe-
cially noise-suffered [9], and the development of denoising
The associate editor coordinating the review of this manuscript and
approving it for publication was Olutayo O. Oyerinde . provides recursive minimum mean-squared error estimates
chaotic signals demonstrate a noise-like behavior, linear fil-
ters are no longer useful for this task. Therefore, denoising
chaotic time series or extracting chaotic time series from
a mixture with a noise component becomes a major prob-
lem. The performance of any denoising algorithm depends
on the amount of information about the signal available.
Many approaches are proposed to reduce or clean the noise
present in this class of non-linear signals. In [10] and [11],
an original discrete-time Kalman filtering implementation
is proposed to estimate the states of chaotic signals with
white noise. Kalman filtering is a state-space estimator that

This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/
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 A. Voznesensky et al.: Denoising Chaotic Signals Using Ensemble Intrinsic Time-Scale Decomposition

for linear systems embedded in Gaussian noise. The latter

cannot be used directly to estimate non-linear state space
models. Therefore, an approximate solution is required which
allows the extension of the Kalman filtering framework to
nonlinear state-space models, as is done in the referred
studies. Another class of suitable filtration techniques uti-
lizes empirical mode decomposition (EMD). Denoising algo-
rithms based on EMD [13], [14] are widely used in many
applications: medicine, seismology, hydroacoustics, radio
monitoring, etc. [15], [16], [17], [18]. Our research team
presents new denoising algorithms based on ITD [19] in the
context of chaotic signal processing. We study the proposed
algorithms on a set of test chaotic signals noised with var-
ious noise generators, including chaotic ones, and compare
denoising results with other algorithms based on EMD. The
novelty and contribution of the paper are as follows:
• we applied our recently developed denoising algorithms
based on ITD (Ensemble ITD, Conventional ITD and
Iterative ITD) to a new class of complicated non-linear
signals, namely, chaotic signals, and explored the pos-
sibility of their filtering from standard types of noise
(white and pink);
• in addition, we investigate the possibility of denoising
chaotic signals from sources of chaotic noise.
The rest of the paper is organized as follows. In Section II,
FIGURE 1. EMD vs ITD.
we consider the concept of decomposition into internal time-
scale components. Section III describes filtering algorithms
based on this concept. In Section IV, we consider chaotic where:
signals and noise generators under study. Section V describes
τk+1 −τk
   
the results obtained. Section VI concludes the paper. Lk+1 = α Xk + (Xk+2 − Xk ) +(1 − α)Xk+1
τk+2 −τk
II. INTRINSIC TIME-SCALE DECOMPOSITION
(4)
ITD – an iterative algorithm for decomposition of the original
signal into high-frequency (‘‘proper rotation’’, Ht ) and low- where:
frequency (‘‘baseline signal’’, Lt ) components [20]: 0 < α < 1 – parameter.
D We define an operator H that extracts the high-frequency
j j j+1 j+1
X
Lt0 = Xt = LtD + Ht ; Lt = Lt + Ht ; j = 0...D component (‘‘proper rotation’’) from the signal. After exclud-
j=1 ing the trend, we can calculate the remainder:
(1) HXt ≡ (1 − L)Xt = Ht = Xt − Lt (5)
Let there be a signal Xt . We define an operator L that
Fig.1 (a, b) shows the operation of the EMD and ITD
extracts the low-frequency component (‘‘baseline signal’’)
algorithms, accordingly. The source signal is denoted as the
from the signal in such a way that the remainder is the
‘‘raw signal’’. It is noticed that the ITD algorithm allows the
high-frequency component (‘‘proper rotation’’). Then the sig-
decomposition of the signal into a lower number of more
nal Xt can be written as follows:
stable components in comparison with the EMD algorithm.
Xt = LXt + (1 − L)Xt = Lt + Ht (2) Edge effects in EMD are due to spline interpolation, and a
significantly longer runtime is due to the sifting. The ITD
Lt = LXt – ‘‘baseline signal’’; Ht = (1 − L)Xt – ‘‘proper algorithm does not have these features and can operate in
rotation’’. real-time [20].
Let there be a signal {Xt , t ≥ 0} and {τk , k = 1, 2, . . .} Fig.1 (d, e) presents the operation of the EMD and ITD
its local extremes. Introduce the notation: X (τk ) ≡ Xk and algorithms, accordingly. The initial signal is shown in Fig. 1
L(τk ) ≡ Lk . (c). It is noticed that the ITD algorithm does not introduce
Then: additional distortions in comparison with the EMD algorithm.
 
Lk+1 − Lk ITD allows detecting local features (the original signal, in this
LXt = Lt = Lk + (Xt − Xk ), t ∈ {τk , τk+1 }
Xk+1 − Xk case, has a series of bursts in the area of 300-350 sec) with
(3) high accuracy relative to the EMD algorithm [20].

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A. Voznesensky et al.: Denoising Chaotic Signals Using Ensemble Intrinsic Time-Scale Decomposition
III. DENOISING SIGNALS USING ITD
Based on the solutions for filtering signals from noise using
EMD [13], [14], [15], [16] (Ensemble EMD – EEMD [17],
Conventional EMD – CEMD [18], [21] and Iterative EMD
– IEMD [18]), the research team developed new algorithms
for filtering signals from noise Ensemble ITD – EITD,
Conventional ITD – CITD and Iterative ITD – IITD [19].
Below we will give a brief mathematical description of them.
A thorough comparison with other methodologies, including
wavelet analysis, was given in [22].
A. ENSEMBLE ITD (EITD)
Idea. The algorithm consists in sifting an ensemble of signals
with the addition of additive white Gaussian noise. The aver-
age value for the ensemble of implementations of each EM is
considered a solution. Since EITD is a TFE analysis method,
the added white noise is averaged with a sufficient number of
implementations; the only constant part that withstands the
averaging process is the true useful signal. With the help of
an ensemble mean, it is possible to naturally divide the scales
without any a priori choice of a subjective criterion. This new
approach takes full advantage of the statistical characteristics
of white noise to distort the signal in its true neighborhood
of the solution and to cancel it after completing the task.
EITD is a significant improvement over the original ITD and
is a method of data analysis using noise: noise-assisted data
analysis (NADA).
Algorithm
1) Adding a noise implementation ηi (t) to the original
signal x(t):
zi (t) = x(t) + ηi (t)
2) Signal zi (t) decomposition using the ITD algorithm.
3) Repeating steps 1 and 2 for i = 1, 2, . . . , NE and
obtaining EM sets {cpi }; p = 1 . . . M ; i = 1 . . . NE;
p – mode number; M – number of modes; i – noise
implementation number; NE – number of noise imple-
mentations.
White, pink, Rössler, and Lorenz noise are proposed in
this algorithm modification.
4) EM averaging:
NE
1 X
c̄p (t) = cpi (t)
NE
i=1
5) Signal denoising:
M
X C. ITERATIVE ITD (IITD)
x̃(t) = c̄p (t) + r(t)
p=K
1 ≤ K < M – filter order.
B. CONVENTIONAL ITD (CITD)
The main idea of the method is as follows. Initially, the
attempt to use ITD as a noise reduction tool arose from
VOLUME 10, 2022
the need to know whether a particular mode contains useful
information or is noise. Thus, the procedures for checking the
significance of EM were developed on the basis of statistical
analysis of EM obtained as a result of the decomposition
of signals consisting of white Gaussian noise. The concept
underlying the above significance verification procedure is
quite simple and at the same time convincing. If the energy
of EM noise is known, then in reality, if the signal contains
both useful information and noise, a significant discrepancy
between the energy of EM noise and the energy of the cor-
responding EM mixture of noise and useful signal indicates
the presence of useful information. In the noise reduction
problem, this causes the signal to be restored using only those
EM that contain useful information and discarding those EM
that carry mainly noise (modes that share the same amount of
energy with the corresponding case only for noise).
In practice, pure noise is never available for applying
ITD and estimating EM energies, so the usefulness of the
abovementioned method depends on whether it is possible to
estimate the energy of pure noise modes directly based on
the actual noisy signal. The latter usually takes place due to
the characteristic feature of ITD. In addition to the first purely
noise EM, the power spectra of other EM exhibits self-similar
characteristics similar to those that manifest themselves in
any structure of the dyadic filter bank. As a result, the EM
energies Ep should decrease linearly on a semi-logarithmic
diagram, for example, log2 Ep relative to p. It also turns out
that the first EM carries a large amount of energy.
We will consider white Gaussian noise.
Algorithm
1) The algorithm is based on the assumption that the
(6) energy of ‘‘purely noise’’ EM decreases according to
the law:
Ê1
Êp = 2.01−p , p = 2, 3, 4, . . . (9)
0.719
Here: p – EM number; Êp – EM energy.
2) The denoised signal can be written in the following
form:
M
X
x̃(t) = cp|Ep >Êp (t) + r(t) (10)
p=1
(7) I.e., only those EM whose energy exceeds (due to the
presence of a useful signal) the energy of ‘‘purely noise’’ EM
are summed up.
(8)
The direct application of threshold processing of EM values
like noise reduction using wavelet coefficients is impossible
and can have disastrous consequences in terms of the continu-
ity of the restored signal. This arises as a result of the special
attributes possessed by EM, namely, they resemble a sinusoid
with AM/FM modulation with a zero mean value. As a result,
this ensures that even in the absence of noise, in any interval
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 A. Voznesensky et al.: Denoising Chaotic Signals Using Ensemble Intrinsic Time-Scale Decomposition

(i) (i) (i)

χj = [χj , . . . , χj+1 ], the absolute value of the EM with 4) Complete reconstruction:
the number i, i = 1, 2, . . . , N will be below any non-zero
(i) (i) za (t) = zp (t) + c(1)
a (t) (13)
threshold near the intersection points of zero χj and χj+1 .
In other words, based on the absolute amplitude of isolated 5) Signal za (t) decomposition using the ITD algorithm.
EM, it is impossible to conclude whether they correspond to 6) Performing interval threshold processing of the EM
noise or a useful signal. However, we can guess whether the signal za (t):
(i)
interval χj is dominant by noise or dominant by a signal ( (i) (i)
(i) c(i) (χj ), |c(i) (rj )| > Ti
based on a single extremum c(i) (rj ), which corresponds to (i) (i)
c̃ (χj ) = (i) (14)
this interval. If there is no signal, the absolute value of this 0, |c(i) (rj )| ≤ Ti
extreme will be below the threshold value. Alternatively, (i)
if there is a strong signal, the extreme value is expected to Here: c(i) – EM with a number i; χj =
(i) (i) (i) (i) (i)
exceed the threshold value. Moreover, since noise and signal [χj , . . . , χj+1 ], χj , χj+1 ; – EM zeros; rj – EM
(i)
have the same bandwidth in each EM, signal dominance is extremum on the interval χj ; Ti – threshold. One
highly likely to be extended to all EM samples related to a of√the options is to use a universal threshold: Ti =
certain interval between zero crossings. γ Ei 2lnN ; Ei – EM energy with a number i; γ =0.02
Based on shift-invariant threshold processing of wavelet – constant; N – EM counts number.
coefficients, in which several versions of the signal under Getting a denoised version x̃1 (t) of the signal x(t).
consideration with remote noise are iteratively obtained in 7) Repeating paragraphs 3-6 K times; receiving signals:
order to increase noise resistance by averaging, it is possible x̃1 (t), x̃2 (t),. . . , x̃K (t).
to develop an ITD-based noise reduction method that uses a 8) Averaging:
similar principle. Note once again that the direct application
K
of shift-invariant noise reduction does not work in the case of 1 X
x̃(t) = x̃k (t) (15)
ITD. In the case of ITD, the main processing components, the K
k=1
extremes, depend on the signal, which leads to fixed relative
positions of the extremes with respect to the signal when the IV. CHAOTIC SIGNAL AND NOISE GENERATION
latter is shifted. As a result, the ITD of the shifted versions of A. SIGNAL GENERATION
the noisy signal corresponds to the ITD of the corresponding In this study we investigate the well-known Rössler system
ones shifted by the same amount. Therefore, noise averaging which is described by the following ordinary differential
cannot be achieved in this way. equation:
Different versions of the signal with remote noise in the
case of ITD can only be constructed from different versions ẋ = −y − z;
of EM after threshold processing. Inevitably, this is only ẏ = x + ay;
possible by decomposing various noisy versions of the sig- ż = b + z(x − c). (16)
nal itself. Thus, the problem in question boils down to the
following question: how, having a signal hidden in the noise, where a = 0.2, b = 0.2, c = 5.7.
you can create various noisy versions of the actual signal Let us obtain the finite-difference model using VSCD
without noise. The answer stems from the ITD concept using method [4] for Rössler system:
the characteristics of the first EM. It is known that in the
conditions of white Gaussian noise, the first EM is mainly h1 = hS;
noise. By circularly shifting a random number of samples of h2 = h(1 − S);
the first IMF, and then adding the resulting noise signal to xn+s = xn + h1 (−yn − zn );
the sum of the remaining IMF, we get another noisy version yn+s = yn + h1 (xn+s + ayn );
of the original signal. In fact, if the first EM consists only
of noise, then the total noise variance of the newly generated zn+s = zn + h1 (b + zn (xn+s − c));
noise signal coincides with the initial value. zn+1 = zn+s + h2 (b + zn+1 (xn+s − c));
Algorithm yn+1 = yn+s + h2 (xn+s + ayn+1 );
xn+1 = xn+s + h2 (−yn+1 − zn+1 ). (17)
1) Signal z(t) decomposition using the ITD algorithm.
2) Partial reconstruction: The classical Lorenz system is described by the following
ordinary differential equation:
M
X
zp (t) = c(i) (t) + r(t) (11) ẋ = σ (y − x);
i=2
ẏ = x(r − z) − y;
3) Random cyclic shift of the 1st EM counts: ż = xy−bz; (18)
c(1) (1)
a (t) = CIRCSHIFT (c (t)) (12) where σ = 10, r = 28, b = 8 /3 .

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A. Voznesensky et al.: Denoising Chaotic Signals Using Ensemble Intrinsic Time-Scale Decomposition

The finite-difference model for the Lorenz system using

the VSCD method:
xn+s = xn + h1 (σ (yn − xn )).
yn+s = yn + h1 (xn+s (r − zn ) − yn );
zn+s = zn + h1 (xn+s yn+s −bzn );
zn+1 = zn+s + h2 (xn+s yn+s −bzn+1 );
yn+1 = yn+s + h2 (xn+s (r − zn+1 ) − yn+1 );
xn+1 = xn+s + h2 (σ (yn+1 − xn+1 )). (19)
We have considered Rössler and Lorenz systems as they
are classical examples of chaotic oscillators used in chaotic
communications from the pioneering works on the sub-
ject [23] till the recent works [24], [25].

B. NOISE GENERATORS
In this paper, we consider the following noise generators:
1) Gaussian white noise;
2) Pink noise;
3) Rössler system;
4) Lorenz system.
The noise generator based on the Rössler system has the
following set of parameters a = 0.1, b = 0.1, c = 14. Since
we are considering an interfering signal, it should be very
different from the filtered signal by some criterion. As such
an estimate, we can apply the quantitative return map analysis
(QRMA) proposed in [26].
Simulation parameters are as follows: integration step h =
0.01, simulation time T = 1000 sec. According to this
criterion, the signal of the Rössler system with parameters
a = 0.1, b = 0.1, c = 14 differs by 100% from the denoised
signal (see Figure 2).
The noise generator based on the Lorentz system has the
parameters indicated in 18.
Again, these types of oscillators were chosen because
of their prevalence in the field of chaotic communica-
tion. The admixture of a chaotic oscillator as noise to
the signal of another chaotic oscillator can be consid-
ered crosstalk, which is relevant for the open transmission
of chaotic messages through media in radio or acoustic
communications.
V. EXPERIMENTAL RESULTS
Experimental results are presented in the figures below.
Figure 3 shows the signal of Rössler system state vari-
able X and its admixture with different noise generators:
white noise, pink noise, another Rössler chaotic generator,
and Lorenz chaotic generator. All noises were normalized to
achieve the same SNR -10 dB.
Figure 4 illustrates the performance of the denoising algo-
rithms based on EMD and ITD. The Lorenz chaotic signal is
considered as an example at SNR = −10 dB and white noise
as a disturbance. The black line shows the original chaotic
waveform. One may see that EEMD and EITD restore the
signal most accurately, with slight high-frequency noise left.
FIGURE 2. QRMA for Rössler system with different sets of parameters.
The first parameter set is for filtered signal, and the second parameter set
is for noise signal.
Results by CEMD are much more inaccurate, but still an
original waveform is recognizable. Other algorithms – IEMD,
CITD, IITD – show low performance and are practically
inapplicable for the task.
Analysis of the algorithms’ performance at different SNR
levels is presented in Figures 5 and 6. In the case of white
and pink noise EEMD and EITD both show the best accuracy,
2-10 times better than other considered algorithms, with the
exponential decay of error as SNR linearly increases. In the
case of Rössler noise generator, all algorithms except ensem-
ble ones (EEMD and EITD) show an inability to appropri-
ately perform the denoising task. In the case of the Lorenz
noise generator, iterative algorithms (IITD and IEMD) pro-
vide insufficient results, other methods are approximately
equal. According to the results, we may range the methods
in the following order:
1) EITD: most accurate and fast;
2) EEMD: also accurate, but computationally less effi-
cient [19];
3) CITD: shows the second denoising accuracy;
4) CEMD, IITD, IEMD: less accurate or even inapplica-
ble in most cases.
The same performance test was conducted for the Lorenz
system. The list above is generally applicable to the achieved
results.
Note that root-mean-square error (RMSE) between origi-
nal and denoised signal is given in Figures in absolute values.

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 A. Voznesensky et al.: Denoising Chaotic Signals Using Ensemble Intrinsic Time-Scale Decomposition

FIGURE 3. Rössler system state variable X with various noises.

FIGURE 4. Example of denoising algorithms performance for white noise case. Here x(t ) is state variable X of the Lorenz system and z(t ) is
state variable X with white noise (−10dB case).

There is an important remark that all algorithms based work, but with another set of parameters, one could probably
on EMD and ITD have many parameters, but in this paper, achieve better results for outsider methods. However, this
their variants with default parameter values (see [19]) are does not diminish the positive qualities of the developed
considered. Parameter optimization was not the aim of this algorithm, which works well with default parameters.

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A. Voznesensky et al.: Denoising Chaotic Signals Using Ensemble Intrinsic Time-Scale Decomposition

FIGURE 5. RMSE of Rössler system in conditions of various noises.

FIGURE 6. RMSE of Lorenz system in conditions of various noises.

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 A. Voznesensky et al.: Denoising Chaotic Signals Using Ensemble Intrinsic Time-Scale Decomposition
VI. CONCLUSION
In this paper, we propose a novel denoising algorithm, EITD,
in the application of chaotic signals denoising, and compare
it with EMD and ITD-based denoising algorithms. We exper-
imentally found that EITD gives more preferable results in
most cases. The quality of noise reduction with the use of
EITD is also superior and 2-10 times higher for white and
pink noise than when applying other methods. Considering
the Lorenz system, SNR = 0 dB and white noise, the nor-
malized RMSE of the denoised signal would be 25% by
EITD and EEMD, 75% by CITD, 120% by CEMD, and even
higher by IEMD and IITD. The explanation lies in the fact
that the noise is averaged in it, no matter what generator of
noise – white, pink, Rössler or Lorenz is used; thus, it decom-
poses the signal into more stable components, and also works
faster [19]. Compared with our method, EEMD also performs
denoising at a high accuracy level but is not computation-
ally efficient. CITD also demonstrated acceptable denoising
efficiency. CEMD, IITD, and IEMD do not always work
correctly, but we suppose that there is a possibility to improve
their performance by adjusting the parameters.
The application of the proposed algorithms will help to
improve coherent chaotic communication systems in terms
of increasing the resistance to noise in the channel, which
is a complicated task due to the noise-like spectrum of
chaotic signals. With the developed algorithms, the trans-
mitted chaotic signal will be closer to the original chaotic
waveform, which will improve the quality of synchronization
between two chaotic oscillators, resulting in a lower bit error
rate. Implementation of ITD in the coherent chaotic com-
munication system is the aim of our further research. Other
application fields will also be considered.
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ALEXANDER VOZNESENSKY was born in Saint
Petersburg, Russia, in 1991. He received the B.S.
and M.S. degrees in applied mathematics and
informatics from Saint Petersburg Electrotechnical
University ‘‘LETI,’’ in 2012 and 2014, respec-
tively. He currently works on the Ph.D. thesis.
Since 2012, he has been a Data Scientist with
the Department of Automation and Control Pro-
cesses, Faculty of Computer Science and Technol-
ogy, Saint Petersburg Electrotechnical University
‘‘LETI.’’ He is the author of more than 50 articles and three patents.
His research interests include MATLAB, mathematical modeling, signal
processing, image processing, video processing, neural networks, CNN,
C/C++, CUDA, parallel computing, data mining, data science, and data
analysis.
VOLUME 10, 2022
A. Voznesensky et al.: Denoising Chaotic Signals Using Ensemble Intrinsic Time-Scale Decomposition
DENIS BUTUSOV (Member, IEEE) is currently
a Professor in computer-aided engineering with
Saint Petersburg Electrotechnical University,
Russia, where he is also the Head of the Youth
Research Institute. He has published extensively in
nonlinear systems simulation, specifically numer-
ical methods, geometrical integration, memris-
tive circuits, discrete chaotic maps, and a wide
variety of applications, including chaotic sensors,
nonlinear systems identification, power systems,
and chaos-based cryptography. He and his collaborators are the authors of
the controllable symmetry concept in numerical simulations of nonlinear
systems. He has been an IEEE Member (IEEE Council on Electronic Design
Automation), since 2014. He serves as an Associate Editor for the Journal
of Control, Automation and Electrical Systems.
VYACHESLAV RYBIN received the M.S. degree
in computer technology engineering from Saint
Petersburg Electrotechnical University ‘‘LETI,’’ in
2019. He currently works on the Ph.D. thesis.
Since 2017, he has been an Assistant Professor at
the Department of Computer-Aided Design, Fac-
ulty of Computer Science and Technology, Saint
Petersburg Electrotechnical University ‘‘LETI.’’
His research interests include system simulation
in MATLAB and LabVIEW environments, chaos
theory, chaotic communication systems, nonlinear dynamics, and analog and
digital electronics.
DMITRY KAPLUN (Member, IEEE) received the
Ph.D. degree from Saint Petersburg Electrotech-
nical University ‘‘LETI,’’ Russia, in 2009. His
Ph.D. thesis on digital signal processing. In 2015,
he became an Associate Professor with Saint
Petersburg Electrotechnical University, where he
is currently a Senior Researcher. His research and
academic work are concerned with digital filter
banks, radio monitoring and hydroacoustic mon-
itoring applications, filter bank implementation
using FPGA and GPU, MATLAB, digital filtering, distributed arithmetic,
reconfigurable systems, computer vision, and machine learning. He regu-
larly takes part in different joint projects connected to hydroacoustic and
radio signal processing, vibrational signal processing and analysis, and
software-hardware implementation of digital signal processing algorithms
in radio monitoring and hydroacoustic monitoring applications. He achieved
the most substantial results in the fields of digital filtering, reconfigurable
systems, digital filter bank design, radio monitoring, and hydroacoustic
monitoring system design. He is the author of more than 70 articles on
digital signal processing, digital image and video processing, and embedded
systems. He was awarded special prizes by the Ministry of Education and
Science of the Russian Federation for his academic results.
VOLUME 10, 2022
TIMUR KARIMOV received the Ph.D. degree,
in 2018. He is currently an Associate Professor
in computer-aided engineering at St. Petersburg
Electrotechnical University, Russia, where he is
also a Researcher with the Youth Research Insti-
tute. He has published in chaos-based commu-
nication systems, nonlinear systems simulation,
nonlinear systems identification, numerical inte-
gration methods, and other related topics. He and
his collaborators have extensive contributions to
sensors based on chaotic oscillators.
ERIVELTON NEPOMUCENO (Senior Member,
IEEE) received the B.Eng. degree in electrical
engineering from UFSJ, in 2001, and the Ph.D.
degree in electrical engineering from UFMG,
in 2005. He was an Associate Professor at the
Federal University of São João del-Rei, until 2021,
when he was appointed as an Assistant Professor
at the Centre for Ocean Energy Research and the
Department of Electronic Engineering, Maynooth
University. He was a Visiting Research Fellow at
the Technological Institute of Aeronautics, Brazil, in 2005, Imperial College
London, from 2013 to 2014, Saint Petersburg Electrotechnical University,
Russia, in 2019, and City, University of London, from 2020 to 2021. He is
an Elected Secretary of the IEEE Technical Committee on Nonlinear Circuits
and Systems. He has been an Elected Coordinator of the Technical Commit-
tee on System Identification and Data Science for Brazilian Association of
Automatic Control. He is the Deputy Editor-in-Chief of IEEE LATIN AMERICA
TRANSACTIONS, and he serves as an Associate editor for IEEE TRANSACTIONS
ON CIRCUITS AND SYSTEMS—II: EXPRESS BRIEFS, Journal of Control, Automation
and Electrical Systems, Mathematical Problems in Engineering, IEEE Poten-
tials Magazine, and International Journal of Network Dynamics. He is on the
Editorial Board of Neural Computing & Applications. His research interests
include computer arithmetic, system identification, ocean energy, cryptogra-
phy with chaos, and complex networks. He has published 81 journal articles,
172 conference papers, and he has reviewed 385 papers for 63 journals.
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