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arXiv 2025年

作者： Li, Yan Yang, Jie Huang, Yixuan Yang, Tao Wen, Chao-Kai Jin, Shi The National Mobile Communications Research Laboratory Southeast University Nanjing210096 China Frontiers Science Center for Mobile Information Communication and Security Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China The National Engineering Research Center of Water Resources Efficient Utilization and Engineering Safety Institute of Water Science and Technology Hohai University Nanjing210098 China The Institute of Communications Engineering National Sun Yat-sen University Kaohsiung80424 Taiwan The National Mobile Communications Research Laboratory Southeast University Frontiers Science Center for Mobile Information Communication and Security Nanjing210096 China

Rainfall impacts daily activities and can lead to severe hazards such as flooding. Traditional rainfall measurement systems often lack granularity or require extensive infrastructure. While the attenuation of electromagnetic waves due to rainfall is well-documented for frequencies above 10 GHz, sub-6 GHz bands are typically assumed to experience negligible effects. However, recent studies suggest measurable attenuation even at these lower frequencies. This study presents the first channel state information (CSI)-based measurement and analysis of rainfall attenuation at 2.8 GHz. The results confirm the presence of rain-induced attenuation at this frequency, although classification remains challenging. The attenuation follows a power-law decay model, with the rate of attenuation decreasing as rainfall intensity increases. Additionally, rainfall onset significantly increases the delay spread. Building on these insights, we propose RainGaugeNet, the first CSI-based rainfall classification model that leverages multipath and temporal features. Using only 20 seconds of CSI data, RainGaugeNet achieved over 90% classification accuracy in line-of-sight scenarios and over 85% in non-line-of-sight scenarios, significantly outperforming state-of-the-art methods. Copyright © 2025, The Authors. All rights reserved.

关键词： Channel state information

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A Dynamic Colored Traveling Salesman Problem and Its Solution 36

A Dynamic Colored Traveling Salesman Problem and Its Solutio...

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第36届中国控制会议

作者： Xianghu Meng Jun Li Xianzhong Dai Ministry of Education Key Laboratory of Measurement and Control of Complex Engineering Systems Southeast University

ISBN: (纸本)9781538629185

The colored traveling salesman problem(CTSP) is a generalization of the well-known multiple traveling salesman problem(MTSP). In CTSP, each city has one to multiple colors, allowing a salesman in the same color to visit exactly once. This work presents a dynamic CTSP(DCTSP) in which the weights of edges among the cities change over time. To solve the DCTSP, we propose a variable neighborhood search(VNS) algorithm with a direct-route encoding and random initialization. The VNS is initialized by greedy operations at two stages and an appropriate population immigrant scheme is used in it to perform the population search in the dynamic environment. Extensive experiments are conducted to test the effectiveness of the greedy initialization and the immigrant scheme with the best population. The results show that the enhanced VNS can track the environment changes of DCTSP more rapidly and effectively.

关键词： Dynamic colored traveling salesman problem Variable neighborhood search Dynamic optimization problem

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Method of Eliminating Velocity Ripples in Brushless DC Motor Based on Internal Model Principle and Sliding Model control 28

Method of Eliminating Velocity Ripples in Brushless DC Motor...

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第28届中国控制与决策会议

作者： He Shuo-yan Li Shi-hua Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University

ISBN: (纸本)9781467397155

In the practical application,Brushless DC motor(BLDCM) faces various disturbances including parametric uncertainties,load disturbance and unmodeled *** disturbances can be divided into two types of periodic disturbances(sinusoidal/cosinoidal) and aperiodic(slowly-varying or constant) *** ripples can be seen as the result of a plurality of periodic interference signals of different frequencies acting on the *** the paper we propose a composite control scheme combining integral sliding mode control(ISMC) based on disturbance observer(DO) embedded with the internal model principle to improve the speed performance of *** disturbance observer,such as extended state observer(ESO) can only asymptotically estimate slowly-varying or constant disturbances and is not good at estimating periodic *** we combine internal model of disturbance into disturbance observe for high ***,the estimates are introduced in the feedforward compensation,and a composite speed controller is *** last,experimental comparisons with conventional proportional-integral(PI) and ISMC+ESO,are given to validate the effectiveness of the proposed method.

关键词： Brushless DC Motor Internal model principle Steady-state velocity ripple elimination ESO Integral sliding mode control(ISMC) Disturbance observer

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Multi-functional motion control and simulation of a large unmanned mobile manipulator for autonomous grasping scenes 41

Multi-functional motion control and simulation of a large un...

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第41届中国控制会议

作者： Wei Ma Yirong Liu Rongsheng Wang Fang Fang Bo Zhou Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Mobile manipulator can perform complex operation tasks in a larger workspace,and has great application potential in practical *** at a large unmanned mobile manipulator for autonomous grasping scenes,this paper realizes its multi-functional motion control and ***,this paper analyzes the kinematics models of the manipulator and mobile base,and describes them with D-H parameters;The whole-body kinematics model of the mobile manipulator is obtained by integrating the mobile base and the ***,in order to meet the requirements of path planning and motion simulation of mobile manipulator in different scenarios,this paper designs three different simulation modes and realizes the simulation in virtual environment,the simulation combining actual controller and virtual robot and the simulation of digital twin ***,different experiments are designed to verify the feasibility and effectiveness of the three simulation methods.

关键词： mobile manipulation whole-body model path planning motion simulation digital twin system

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Semi-Global Stabilization for a Class of Nonlinear Time-Delay systems by Linear Output Feedback

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IFAC-PapersOnLine 2015年第12期48卷 185-190页

作者： Wang, Pan Chai, Lin Fei, Shumin Liu, Guquan Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Ministry of Education School of Automation Nanjing 210096 China

The semi-global stabilization problem for a class of nonlinear systems with state time-delay is addressed in this paper. Sufficient conditions are derived by using Lyapunov-Krasovskii functional method and adjusting the scaling gain to guarantee the systems as well as the resulted closed-loop systems under a linear output feedback controller to be semi-globally stable. Numerical example is presented to illustrate the effectiveness of the obtained results in this paper. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Closed loop systems

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A novel task-oriented framework for dual-arm robotic assembly task

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Frontiers of Mechanical engineering 2021年第3期16卷 528-545页

作者： Zhengwei WANG Yahui GAN Xianzhong DAI School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096China

In industrial manufacturing,the deployment of dual-arm robots in assembly tasks has become a ***,making the dual-arm robots more intelligent in such applications is still an open,challenging *** paper proposes a novel framework that combines task-oriented motion planning with visual perception to facilitate robot deployment from perception to execution and finish assembly problems by using dual-arm *** this framework,visual perception is first employed to track the effects of the robot behaviors and observe states of the workpieces,where the performance of tasks can be abstracted as a high-level state for intelligent *** assembly task and manipulation sequences can be obtained by analyzing and reasoning the state transition trajectory of the environment as well as the ***,the corresponding assembly manipulation can be generated and parameterized according to the differences between adjacent states by combining with the prebuilt knowledge of the *** are set up with a dual-arm robotic system(ABB YuMi and an RGB-D camera)to validate the proposed *** results demonstrate the effectiveness of the proposed framework and the promising value of its practical application.

关键词： dual-arm assembly Al reasoning intelligent system task-oriented motion planning visual perception

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A Task Assignment Scheme Designed for Online Urban Sensing Based on Sparse Mobile Crowdsensing

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IEEE Internet of Things Journal 2025年

作者： Zeng, Hongjian Xiong, Yonghua She, Jinhua Yu, Anjun China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China Tokyo University of Technology School of Engineering Hachioji Tokyo192-0982 Japan Jiangxi Ganyue Expressway Co. Ltd Jiangxi Nanchang330000 China

Sparse Mobile Crowdsensing (SMCS) achieves urban-scale environmental sensing by assigning tasks to workers in specific subareas and inferring global data from the collected information. However, the effectiveness of SMCS is often limited because many studies overlook workers' mobility and data collection time during subarea selection, as well as the time constraints of the sensing cycle in task assignment. This may affect the task completion timeliness and data quality. To address these issues, we develop a subarea evaluation method based on deep reinforcement learning, considering both the temporal effectiveness of sensing tasks and the importance of subarea selection for data inference. Using the subarea evaluation values derived from this method, we establish an online urban sensing task assignment model which is subject to constraints of sensing cycle time and cost budget. This model aims to find the task assignment result that minimizes data inference error by maximizing the comprehensive utility value. Considering the characteristics of the task assignment model, we propose an evolutionary algorithm named OTA-EA, which is based on an improved genetic algorithm. Its enhanced evolutionary operators can avoid generating infeasible solutions while maintaining robust search and optimization performance. Lastly, we conduct experimental evaluations of these methods on the real-world datasets. The results demonstrate that our subarea evaluation method can significantly reduce the data inference error, and our evolutionary task assignment algorithm can achieve better task assignment results than the baseline algorithms. © 2014 IEEE.

关键词： Genetic algorithms

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Coordinated Adaptive control for Coordinated Path-following Surface Vessels with a Time-invariant Orbital Velocity

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IEEE/CAA Journal of Automatica Sinica 2014年第4期1卷 337-346页

作者： Yangyang Chen Ping Wei Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University the Department of Electronic Information Engineering Anhui Business College

This article considers the problem of directing a family of fully actuated surface vessels to cooperatively follow a set of convex and closed orbits with a time-invariant reference orbital velocity and maintain attitude synchronization. A consensusbased adaptive control law under a bidirectional communication topology is proposed to estimate the reference orbital velocity so that the restriction that every vessel in the family must have access to the reference in the previous literature can be *** assumption of nonzero total linear speed of each vessel is removed by the use of potential function. Simulation results demonstrate the effectiveness of the proposed approach.

关键词： Learning (artificial intelligence) Adaptive control Sea surface Synchronization Topology Marine technology

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Robotic Etiquette:Socially Acceptable Navigation of Service Robots with Human Motion Pattern Learning and Prediction

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Journal of Bionic engineering 2010年第2期7卷 150-160页

作者： Kun Qian,Xudong Ma,Xianzhong Dai,Fang Fang key Lab of measurement and control of complex systems of engineering (Ministry of Education,China), Southeast University,Nanjing 210096,P.R.China Key Lab of Measurement and Control of Complex Systems of Engineering (Ministry of Education China) Southeast University Nanjing P. R. China

Nonverbal and noncontact behaviors play a significant role in allowing service robots to structure their interactions *** this paper, a novel human-mimic mechanism of robot’s navigational skills was proposed for developing sociallyacceptable robotic *** on the sociological and physiological concerns of interpersonal interactions in movement,several criteria in navigation were represented by constraints and incorporated into a unified probabilistic cost grid for safemotion planning and control, followed by an emphasis on the prediction of the human’s movement for adjusting the robot’spre-collision navigational *** human motion prediction utilizes a clustering-based algorithm for modeling humans’indoor motion patterns as well as the combination of the long-term and short-term tendency prediction that takes into accountthe uncertainties of both velocity and heading *** simulation and real-world experiments verified the effectivenessand reliability of the method to ensure human’s safety and comfort in navigation.A statistical user trials study was also given tovalidate the users’favorable views of the human-friendly navigational behavior.

关键词： robotic etiquette navigation human motion prediction human-robot interaction service robot

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The effect of waist twisting on walking speed of an amphibious salamander like robot

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Acta Mechanica Sinica 2016年第3期32卷 546-550页

作者： Xin-Yan Yin Li-Chao Jia Chen Wang Guang-Ming Xie Intelligent Control Laboratory College of EngineeringPeking University Key State Laboratory for Turbulence & Complex Systems College of Engineering Peking University

Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotion.A control method is designed to allow the robot to maintain the rotational speed of its legs continuous and avoid impact between its legs and the ground. An analytical expression is established between the amplitude of the waist joint and the step length. Further, an optimization amplitude is obtained corresponding to the maximum stride. The simulation results based on automatic dynamic analysis of mechanical systems（ADAMS） and physical experiments verify the rationality and validity of this expression.

关键词： Terrestrial locomotion Step length Waist twisting Walking speed

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