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A Surface-Simplex Swarm Evolution Algorithm 被引量:12
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作者 QUAN Haiyan SHI Xinling 《Wuhan University Journal of Natural Sciences》 CAS CSCD 2017年第1期38-50,共13页
In the paper,a particle surface-simplex search(PSSS) is designed based on particle surface-simplex and particle surface-simplex neighborhood.Using PSSS and an evolutionary strategy of multi-states swarm,a surface-si... In the paper,a particle surface-simplex search(PSSS) is designed based on particle surface-simplex and particle surface-simplex neighborhood.Using PSSS and an evolutionary strategy of multi-states swarm,a surface-simplex swarm evolution(SSSE) algorithm for numerical optimization is proposed.In the experiments,SSSE is applied to solve 17 benchmark problems and compared with the other intelligent optimization algorithms.In the application,SSSE is used to analyze the three intrinsic independent components of gravity earth tide.The results demonstrate that SSSE can accurately find optima or close-to-optimal solutions of the complex functions with high-dimension.The performance of SSSE is stable and efficient. 展开更多
关键词 evolutionary computation global optimization par-ticle surface-simplex surface-simplex swarm evolution multi-states swarm gravity earth tide
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Hybrid particle swarm optimization with differential evolution and chaotic local search to solve reliability-redundancy allocation problems 被引量:6
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作者 谭跃 谭冠政 邓曙光 《Journal of Central South University》 SCIE EI CAS 2013年第6期1572-1581,共10页
In order to solve reliability-redundancy allocation problems more effectively, a new hybrid algorithm named CDEPSO is proposed in this work, which combines particle swarm optimization (PSO) with differential evoluti... In order to solve reliability-redundancy allocation problems more effectively, a new hybrid algorithm named CDEPSO is proposed in this work, which combines particle swarm optimization (PSO) with differential evolution (DE) and a new chaotic local search. In the CDEPSO algorithm, DE provides its best solution to PSO if the best solution obtained by DE is better than that by PSO, while the best solution in the PSO is performed by chaotic local search. To investigate the performance of CDEPSO, four typical reliability-redundancy allocation problems were solved and the results indicate that the convergence speed and robustness of CDEPSO is better than those of PSO and CPSO (a hybrid algorithm which only combines PSO with chaotic local search). And, compared with the other six improved meta-heuristics, CDEPSO also exhibits more robust performance. In addition, a new performance was proposed to more fairly compare CDEPSO with the same six improved recta-heuristics, and CDEPSO algorithm is the best in solving these problems. 展开更多
关键词 particle swarm optimization differential evolution chaotic local search reliability-redundancy allocation
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Hybrid Particle Swarm Optimization with Differential Evolution for Numerical and Engineering Optimization 被引量:3
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作者 Guo-Han Lin Jing Zhang Zhao-Hua Liu 《International Journal of Automation and computing》 EI CSCD 2018年第1期103-114,共12页
In this paper, a hybrid particle swarm optimization (PSO) algorithm with differential evolution (DE) is proposed for numerical benchmark problems and optimization of active disturbance rejection controller (ADRC... In this paper, a hybrid particle swarm optimization (PSO) algorithm with differential evolution (DE) is proposed for numerical benchmark problems and optimization of active disturbance rejection controller (ADRC) parameters. A chaotic map with greater Lyapunov exponent is introduced into PSO for balancing the exploration and exploitation abilities of the proposed algorithm. A DE operator is used to help PSO jump out of stagnation. Twelve benchmark function tests from CEC2005 and eight real world opti- mization problems from CEC2011 are used to evaluate the performance of the proposed algorithm. The results show that statistically, the proposed hybrid algorithm has performed consistently well compared to other hybrid variants. Moreover, the simulation results on ADRC parameter optimization show that the optimized ADRC has better robustness and adaptability for nonlinear discrete-time systems with time delays. 展开更多
关键词 Particle swarm optimization (PSO) active disturbance rejection control (ADRC) differential evolution algorithm chaoticmap parameter tuning.
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PID Neural Net work Decoupling Control Based on Hybrid Particle Swarm Optimization and Differential Evolution 被引量:2
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作者 Hong-Tao Ye Zhen-Qiang Li 《International Journal of Automation and computing》 EI CSCD 2020年第6期867-872,共6页
For complex systems with high nonlinearity and strong coupling,the decoupling control technology based on proportion integration differentiation(PID)neural network(PIDNN)is used to eliminate the coupling between loops... For complex systems with high nonlinearity and strong coupling,the decoupling control technology based on proportion integration differentiation(PID)neural network(PIDNN)is used to eliminate the coupling between loops.The connection weights of the PIDNN are easy to fall into local optimum due to the use of the gradient descent learning method.In order to solve this problem,a hybrid particle swarm optimization(PSO)and differential evolution(DE)algorithm(PSO-DE)is proposed for optimizing the connection weights of the PIDNN.The DE algorithm is employed as an acceleration operation to help the swarm to get out of local optima traps in case that the optimal result has not been improved after several iterations.Two multivariable controlled plants with strong coupling between input and output pairs are employed to demonstrate the effectiveness of the proposed method.Simulation results show t hat the proposed met hod has better decoupling capabilities and control quality than the previous approaches. 展开更多
关键词 Particle swarm optimization differential evolution proportion integration differentiation(PID)neural network hybrid approach decoupling control.
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Automatic relational database compression scheme design based on swarm evolution 被引量:1
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作者 HU Tian-lei CHEN Gang +1 位作者 LI Xiao-yan DONG Jin-xiang 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2006年第10期1642-1651,共10页
Compression is an intuitive way to boost the performance of a database system. However, compared with other physical database design techniques, compression consumes large amount of CPU power. There is a trade-off bet... Compression is an intuitive way to boost the performance of a database system. However, compared with other physical database design techniques, compression consumes large amount of CPU power. There is a trade-off between the re- duction of disk access and the overhead of CPU processing. Automatic design and adaptive administration of database systems are widely demanded, and the automatic selection of compression schema to compromise the trade-off is very important. In this paper, we present a model with novel techniques to integrate a rapidly convergent agent-based evolution framework, i.e. the SWAF (SWarm Algorithm Framework), into adaptive attribute compression for relational database. The model evolutionally consults statistics of CPU load and IO bandwidth to select compression schemas considering both aspects of the trade-off. We have im- plemented a prototype model on Oscar RDBMS with experiments highlighting the correctness and efficiency of our techniques. 展开更多
关键词 Database compression Automatic physical database design swarm evolution
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A new particle swarm optimization algorithm with random inertia weight and evolution strategy 被引量:1
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作者 LEI Chong-min GAO Yue-lin DUAN Yu-hong 《通讯和计算机(中英文版)》 2008年第11期42-47,共6页
关键词 通信技术 计算机技术 粒子群优化算法 收敛速度 计算方法
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Optimal Static State Estimation Using hybrid Particle Swarm-Differential Evolution Based Optimization
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作者 Sourav Mallick S. P. Ghoshal +1 位作者 P. Acharjee S. S. Thakur 《Energy and Power Engineering》 2013年第4期670-676,共7页
In this paper, swarm optimization hybridized with differential evolution (PSO-DE) technique is proposed to solve static state estimation (SE) problem as a minimization problem. The proposed hybrid method is tested on ... In this paper, swarm optimization hybridized with differential evolution (PSO-DE) technique is proposed to solve static state estimation (SE) problem as a minimization problem. The proposed hybrid method is tested on IEEE 5-bus, 14-bus, 30-bus, 57-bus and 118-bus standard test systems along with 11-bus and 13-bus ill-conditioned test systems under different simulated conditions and the results are compared with the same, obtained using standard weighted least square state estimation (WLS-SE) technique and general particle swarm optimization (GPSO) based technique. The performance of the proposed optimization technique for SE, in terms of minimum value of the objective function and standard deviations of minimum values obtained in 100 runs, is found better as compared to the GPSO based technique. The statistical error analysis also shows the superiority of the proposed PSO-DE based technique over the other two techniques. 展开更多
关键词 DIFFERENTIAL evolution ILL-CONDITIONED System PARTICLE swarm OPTIMIZATION State ESTIMATION
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A Measurement Study on Resource Popularity and Swarm Evolution of BitTorrent System
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作者 Majing Su Hongli Zhang +1 位作者 Binxing Fang Lin Ye 《International Journal of Communications, Network and System Sciences》 2013年第6期300-308,共9页
Analyzing and modeling of the BitTorrent (BT) resource popularity and swarm evolution is important for better understanding current BT system and designing accurate BT simulators. Although lots of measurement studies ... Analyzing and modeling of the BitTorrent (BT) resource popularity and swarm evolution is important for better understanding current BT system and designing accurate BT simulators. Although lots of measurement studies on BT almost cover each important aspect, little work reflects the recent development of BT system. In this paper, we develop a hybrid measurement system incorporating both active and passive approaches. By exploiting DHT (Distribute Hash Table) and PEX (Peer Exchange) protocols, we collect more extensive information compared to prior measurement systems. Based on the measurement results, we study the resource popularity and swarm evolution with different population in minute/ hour/day scales, and discover that: 1) the resources in BT system appear obvious unbalanced distribution and hotspot phenomenon, in that 74.6% torrents have no more than 1000 peers;2) The lifetime of torrents can be divided into a fast growing stage, a dramatically shrinking stage, a sustaining stage and a slowly fading out stage in terms of swarm population;3) Users’ interest and diurnal periodicity are the main factors that influence the swarm evolution. The former dominates the first two stages, while the latter is decisive in the third stage. We raise an improved peer arrival rate model to describe the variation of the swarm population. Comparison results show that our model outperforms the state-of-the-art approach according to root mean square error and correlation coefficient. 展开更多
关键词 P2P BITTORRENT MEASUREMENT Modeling POPULARITY swarm evolution
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Mafic Dyke Swarms: Their Temporality and Bearing on the Secular Evolution of the Earth
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作者 Michael A.HAMILTON 《Acta Geologica Sinica(English Edition)》 SCIE CAS CSCD 2016年第S1期12-,共1页
Pioneering U-Pb isotopic studies by a small group of workers in the mid-late 1980s demonstrated the feasibility of using rare accessory mineral chronometers in mafic(gabbroic)intrusive rocks.These examples showed that... Pioneering U-Pb isotopic studies by a small group of workers in the mid-late 1980s demonstrated the feasibility of using rare accessory mineral chronometers in mafic(gabbroic)intrusive rocks.These examples showed that mafic layered intrusions and diabase/dolerite dyke swarms alike crystallized high-temperature 展开更多
关键词 Mafic Dyke swarms Their Temporality and Bearing on the Secular evolution of the Earth
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A Hybrid Differential Evolution Algorithm Integrated with Particle Swarm Optimization
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作者 范勤勤 颜学峰 《Journal of Donghua University(English Edition)》 EI CAS 2014年第2期197-200,共4页
To implement self-adaptive control parameters, a hybrid differential evolution algorithm integrated with particle swarm optimization (PSODE) is proposed. In the PSODE, control parameters are encoded to be a symbioti... To implement self-adaptive control parameters, a hybrid differential evolution algorithm integrated with particle swarm optimization (PSODE) is proposed. In the PSODE, control parameters are encoded to be a symbiotic individual of original individual, and each original individual has its own symbiotic individual. Differential evolution ( DE) operators are used to evolve the original population. And, particle swarm optimization (PSO) is applied to co-evolving the symbiotic population. Thus, with the evolution of the original population in PSODE, the symbiotic population is dynamically and self-adaptively adjusted and the realtime optimum control parameters are obtained. The proposed algorithm is compared with some DE variants on nine functious. The results show that the average performance of PSODE is the best. 展开更多
关键词 differential evolution algorithm particle swann optimization SELF-ADAPTIVE CO-evolution
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Quantum-inspired swarm evolution algorithm
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作者 HUANG You-rui TANG Chao-li WANG Shuang 《通讯和计算机(中英文版)》 2008年第5期36-39,共4页
关键词 量子计算 颗粒集群优化 进化算法 计算机技术
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PSO Clustering Algorithm Based on Cooperative Evolution
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作者 曲建华 邵增珍 刘希玉 《Journal of Donghua University(English Edition)》 EI CAS 2010年第2期285-288,共4页
Among the bio-inspired techniques,PSO-based clustering algorithms have received special attention. An improved method named Particle Swarm Optimization (PSO) clustering algorithm based on cooperative evolution with mu... Among the bio-inspired techniques,PSO-based clustering algorithms have received special attention. An improved method named Particle Swarm Optimization (PSO) clustering algorithm based on cooperative evolution with multi-populations was presented. It adopts cooperative evolutionary strategy with multi-populations to change the mode of traditional searching optimum solutions. It searches the local optimum and updates the whole best position (gBest) and local best position (pBest) ceaselessly. The gBest will be passed in all sub-populations. When the gBest meets the precision,the evolution will terminate. The whole clustering process is divided into two stages. The first stage uses the cooperative evolutionary PSO algorithm to search the initial clustering centers. The second stage uses the K-means algorithm. The experiment results demonstrate that this method can extract the correct number of clusters with good clustering quality compared with the results obtained from other clustering algorithms. 展开更多
关键词 PARTICLE swarm Optimization (PSO) clustering algorithm COOPERATIVE evolution muiti-populations
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A hybrid differential evolution algorithm for a stochastic location-inventory-delivery problem with joint replenishment 被引量:1
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作者 Sirui Wang Lin Wang Yingying Pi 《Data Science and Management》 2022年第3期124-136,共13页
A practical stochastic location-inventory-delivery problem with multi-item joint replenishment is studied.Unlike the conventional location-inventory model with a continuous-review(r,Q)inventory policy,the periodic-rev... A practical stochastic location-inventory-delivery problem with multi-item joint replenishment is studied.Unlike the conventional location-inventory model with a continuous-review(r,Q)inventory policy,the periodic-review inventory policy is adopted with multi-item joint replenishment under stochastic demand,and the coordinated delivery cost is considered.The proposed model considers the integrated optimization of strategic,tactical,and operational decisions by simultaneously determining(a)the number and location of distribution centers(DCs)to be opened,(b)the assignment of retailers to DCs,(c)the frequency and cycle interval of replenishment and delivery,and(d)the safety stock level for each item.An intelligent algorithm based on particle swarm optimization(PSO)and adaptive differential evolution(ADE)is proposed to address this complex problem.Numerical experiments verified the effectiveness of the proposed two-stage PSO-ADE algorithm.A sensitivity analysis is presented to reveal interesting insights that can guide managers in making reasonable decisions. 展开更多
关键词 Location-inventory problem Joint replenishment Stochastic demand Particle swarm optimization Differential evolution
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Simulation of Old Urban Residential Area Evolution Based on Complex Adaptive System
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作者 杨帆 王晓鸣 华虹 《Journal of Southwest Jiaotong University(English Edition)》 2009年第1期27-35,共9页
On the basis of complex adaptive system theory, this paper proposed an agent-based model of old urban residential area, in which, residents and providers are the two adaptive agents. The behaviors of residents and pro... On the basis of complex adaptive system theory, this paper proposed an agent-based model of old urban residential area, in which, residents and providers are the two adaptive agents. The behaviors of residents and providers in this model are trained with back propagation and simulated with Swarm software based on environment-rules-agents interaction. This model simulates the evolution of old urban residential area and analyzes the relations between the evolution and urban management with the background of Chaozhou city. As a result, the following are obtained : ( 1 ) Simulation without government intervention indicates the trend of housing ageing, environmental deterioration, economic depression, and social filtering-down in old urban residential area. If the development of old urban residential area is under control of developers in market, whose desire is profit maximization, and factors such as social justice, historic and culture value will be ignored. (2) If the government carries out some policies and measures which will perfectly serve their original aims, simulation reveals that old urban residential area could be adapted to environment and keep sustainable development. This conclusion emphasizes that government must act as initiator and program maker for guiding residents and other providers directly in the development of old urban residential area. 展开更多
关键词 Old urban residential area (OURA) evolution Agent-based model SIMULATION swarm
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Hybrid Support Vector Regression with Parallel Co-Evolution Algorithm Based on GA and PSO for Forecasting Monthly Rainfall
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作者 Jiansheng Wu Yongsheng Xie 《Journal of Software Engineering and Applications》 2019年第12期524-539,共16页
Accurate and timely monthly rainfall forecasting is a major challenge for the scientific community in hydrological research such as river management project and design of flood warning systems. Support Vector Regressi... Accurate and timely monthly rainfall forecasting is a major challenge for the scientific community in hydrological research such as river management project and design of flood warning systems. Support Vector Regression (SVR) is a very useful precipitation prediction model. In this paper, a novel parallel co-evolution algorithm is presented to determine the appropriate parameters of the SVR in rainfall prediction based on parallel co-evolution by hybrid Genetic Algorithm and Particle Swarm Optimization algorithm, namely SVRGAPSO, for monthly rainfall prediction. The framework of the parallel co-evolutionary algorithm is to iterate two GA and PSO populations simultaneously, which is a mechanism for information exchange between GA and PSO populations to overcome premature local optimum. Our methodology adopts a hybrid PSO and GA for the optimal parameters of SVR by parallel co-evolving. The proposed technique is applied over rainfall forecasting to test its generalization capability as well as to make comparative evaluations with the several competing techniques, such as the other alternative methods, namely SVRPSO (SVR with PSO), SVRGA (SVR with GA), and SVR model. The empirical results indicate that the SVRGAPSO results have a superior generalization capability with the lowest prediction error values in rainfall forecasting. The SVRGAPSO can significantly improve the rainfall forecasting accuracy. Therefore, the SVRGAPSO model is a promising alternative for rainfall forecasting. 展开更多
关键词 Genetic ALGORITHM Particle swarm Optimization RAINFALL Forecasting PARALLEL CO-evolution
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冗余机械臂逆运动学的自适应进化粒子群求解 被引量:1
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作者 刘欣 侯加文 +1 位作者 汪冬冬 赵鹏 《机械设计与制造》 北大核心 2026年第3期368-372,共5页
为了提高冗余机械臂逆运动学的求解精度,同时降低机械臂转动的能耗,提出了基于自适应进化粒子群算法的逆运动学求解方法。介绍了7自由度冗余机械臂构型,使用D-H法建立了机械臂的正运动学模型。以逆解的位置误差、姿态误差、能量消耗最... 为了提高冗余机械臂逆运动学的求解精度,同时降低机械臂转动的能耗,提出了基于自适应进化粒子群算法的逆运动学求解方法。介绍了7自由度冗余机械臂构型,使用D-H法建立了机械臂的正运动学模型。以逆解的位置误差、姿态误差、能量消耗最小为目标,建立了综合优化模型。使用动态划分策略将粒子群划分为远亲群、近亲群和杂交群,根据各子群特征设定了各自的粒子自适应进化和更新策略,从而提出了自适应进化粒子群算法。在单峰和多峰函数测试中,自适应进化粒子群算法优化能力强于标准算法和共生多种群算法;在冗余机械臂逆运动学求解中,自适应进化粒子群算法所求逆解的位姿误差最小、能耗也最小。结果表明,自适应粒子群算法在冗余机械臂逆运动学求解中是有效的,且具有优越性。 展开更多
关键词 冗余机械臂 运动学逆解 自适应进化 粒子群算法 种群动态划分
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结合概率密度演化-概率测度变换与量子粒子群优化算法的结构动力可靠性优化设计
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作者 陈建兵 翁丽丽 杨家树 《振动工程学报》 北大核心 2026年第1期239-248,共10页
结构动力可靠性优化设计是在结构抗灾设计过程中定量考虑不确定性影响,进行结构抗灾安全性与经济性最佳权衡的理性途径。然而,由于通常需要进行优化迭代与结构动力可靠度分析的两重循环,结构动力可靠性优化设计仍是极具挑战性的难题。为... 结构动力可靠性优化设计是在结构抗灾设计过程中定量考虑不确定性影响,进行结构抗灾安全性与经济性最佳权衡的理性途径。然而,由于通常需要进行优化迭代与结构动力可靠度分析的两重循环,结构动力可靠性优化设计仍是极具挑战性的难题。为此,本文提出了一种有效的动力可靠性优化设计方法。该方法采用概率密度演化理论高效计算结构动力可靠度;对于设计变量为随机变量分布参数的情形,引入概率测度变换以减少确定性结构响应的重计算,从而进一步降低优化过程中可靠度分析的计算成本;将概率密度演化-概率测度变换方法与量子粒子群优化算法结合,以实现动力可靠性优化设计问题的求解。采用本文提出的方法进行了地震动激励下非线性框架结构的优化设计,算例结果表明其具有较高的计算效率和较好的稳健性。 展开更多
关键词 动力可靠性优化设计 概率密度演化理论 概率测度变换 量子粒子群优化算法
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多障碍场景下基于多策略进化机制的无人机三维路径规划
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作者 朱润泽 赵静 +2 位作者 陆宁云 马亚杰 宋来收 《自动化学报》 北大核心 2026年第2期335-348,共14页
针对无人机在三维多障碍物场景下路径规划存在的收敛精度低、稳定性不足等问题,提出一种多策略进化粒子群算法(MSEPSO).在初始化阶段,针对粒子群算法对粒子初始位置敏感的问题,采用拉丁超立方采样优化粒子初始分布,提高种群多样性;在进... 针对无人机在三维多障碍物场景下路径规划存在的收敛精度低、稳定性不足等问题,提出一种多策略进化粒子群算法(MSEPSO).在初始化阶段,针对粒子群算法对粒子初始位置敏感的问题,采用拉丁超立方采样优化粒子初始分布,提高种群多样性;在进化阶段,设计“平衡-记忆-增强”进化框架,即利用非线性迭代策略来平衡全局开发和局部搜索,采用个体历史记忆启发机制增强算法的全局开发能力,并引入进化粒子,增强种群对于群体极值附近空间的探索能力,降低算法陷入局部最优的概率.在CEC2020测试函数集上与山地/城市场景下的对比实验结果表明,MSEPSO展现出稳定的寻优性能,可以规划长度更短、平滑度更高的安全路径. 展开更多
关键词 无人机 三维路径规划 粒子群算法 多策略进化
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融合SBERT与自适应HDBSCAN算法的技术主题识别及演化研究——以人工智能领域为例
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作者 孙文晶 马捷 郝志远 《情报理论与实践》 北大核心 2026年第3期139-149,共11页
[目的/意义]文章旨在构建一种自适应技术主题识别模型,以此来对领域技术主题展开精准识别与演化分析。[方法/过程]以人工智能领域为例,通过选取该领域2014—2024年期间的相关论文和专利数据为实验对象开展实证研究。首先,利用Sentence-B... [目的/意义]文章旨在构建一种自适应技术主题识别模型,以此来对领域技术主题展开精准识别与演化分析。[方法/过程]以人工智能领域为例,通过选取该领域2014—2024年期间的相关论文和专利数据为实验对象开展实证研究。首先,利用Sentence-BERT(SBERT)模型实现文本向量化表示,并选取HDBSCAN作为技术主题识别的基础模型;其次,引入群体智能优化的技术理念,并提出创新的增强型麻雀搜索算法(Advanced Sparrow Search Algorithm,ASSA)来实现HDBSCAN模型超参数的自适应选取过程,进而形成ASSA-HDBSCAN自适应技术主题识别模型;最后,基于所识别技术主题之间的余弦相似度与主题重要度指标揭示出人工智能领域关键技术的演化趋势与发展情况。[结果/结论]与基线模型相比,所提模型在轮廓系数与主题一致性指数两个评价指标上均呈现出了明显优势。此外,所得主题词演化结果能够细粒度呈现领域技术的发展趋势,这进一步印证了该模型的有效性与可行性。[创新/价值]本文所提改进优化算法ASSA可为主题识别模型由“被动适应数据”向“主动适应数据”进阶转化提供重要技术支撑。 展开更多
关键词 技术主题识别 主题演化 麻雀搜索算法 自适应HDBSCAN 群体智能优化
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三维动态环境下的无人机集群双层航迹规划
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作者 陆则宇 王瑶 +2 位作者 吴蔚楠 孙亦鸣 龚春林 《系统工程与电子技术》 北大核心 2026年第1期132-143,共12页
针对复杂三维动态环境下的航迹规划问题,提出基于差分进化(differential evolution,DE)与模型预测控制(model predictive control,MPC)的无人机集群双层航迹规划方法。首先,构建全局和局部两个层次来规划框架,并通过航迹跟踪实时修正局... 针对复杂三维动态环境下的航迹规划问题,提出基于差分进化(differential evolution,DE)与模型预测控制(model predictive control,MPC)的无人机集群双层航迹规划方法。首先,构建全局和局部两个层次来规划框架,并通过航迹跟踪实时修正局部航迹以增强鲁棒性。然后,在全局环境已知的情况下建立环境信息,采用DE算法进行全局优化搜索规划出参考航迹。最后,提出分布式MPC算法,以离散化的无人机运动学特性作为预测模型,并制定目标函数以实现避障避碰控制。仿真实验验证了所提算法的可行性。所提方法能在动、静障碍物相结合的复杂山地环境中,为集群中的单无人机快速规划出一条安全、稳定抵达目标点的可飞航迹。 展开更多
关键词 无人机集群 航迹规划 三维动态 差分进化 模型预测控制
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