Traditional sampling-based path planning algorithms,such as the rapidly-exploring random tree star(RRT^(*)),encounter critical limitations in unstructured orchard environments,including low sampling efficiency in narr...Traditional sampling-based path planning algorithms,such as the rapidly-exploring random tree star(RRT^(*)),encounter critical limitations in unstructured orchard environments,including low sampling efficiency in narrow passages,slow convergence,and high computational costs.To address these challenges,this paper proposes a novel hybrid global path planning algorithm integrating Gaussian sampling and quadtree optimization(RRT^(*)-GSQ).This methodology aims to enhance path planning by synergistically combining a Gaussian mixture sampling strategy to improve node generation in critical regions,an adaptive step-size and direction optimization mechanism for enhanced obstacle avoidance,a Quadtree-AABB collision detection framework to lower computational complexity,and a dynamic iteration control strategy for more efficient convergence.In obstacle-free and obstructed scenarios,compared with the conventional RRT^(*),the proposed algorithm reduced the number of node evaluations by 67.57%and 62.72%,and decreased the search time by 79.72%and 78.52%,respectively.In path tracking tests,the proposed algorithm achieved substantial reductions in RMSE of the final path compared to the conventional RRT^(*).Specifically,the lateral RMSE was reduced by 41.5%in obstacle-free environments and 59.3%in obstructed environments,while the longitudinal RMSE was reduced by 57.2%and 58.5%,respectively.Furthermore,the maximum absolute errors in both lateral and longitudinal directions were constrained within 0.75 m.Field validation experiments in an operational orchard confirmed the algorithm's practical effectiveness,showing reductions in the mean tracking error of 47.6%(obstacle-free)and 58.3%(with obstructed),alongside a 5.1%and 7.2%shortening of the path length compared to the baseline method.The proposed algorithm effectively enhances path planning efficiency and navigation accuracy for robots,presenting a superior solution for high-precision autonomous navigation of agricultural robots in orchard environments and holding significant value for engineering applications.展开更多
针对无人船在障碍物环境中路径规划效率低、路径冗余大、平滑性差等问题,提出一种融合人工势场法的改进RRT^(*)算法(Artificial Potential Field Rapidly-exploring Random Tree^(*),APF-RRT^(*))。该算法以人工势场模型为引导机制,构...针对无人船在障碍物环境中路径规划效率低、路径冗余大、平滑性差等问题,提出一种融合人工势场法的改进RRT^(*)算法(Artificial Potential Field Rapidly-exploring Random Tree^(*),APF-RRT^(*))。该算法以人工势场模型为引导机制,构建包含信息激励势场、引力势场和斥力势场的复合势能函数,从而有目的性地引导采样点朝向目标区域并远离障碍物,提高算法采样效率;同时引入动态步长策略加快扩展速度,最后结合贪心剪枝和路径平滑机制优化初始路径。在2种典型环境下进行仿真对比实验,结果表明文中改进RRT^(*)算法在规划效率、路径长度、平滑度以及稳定性方面优于传统算法,平均规划时长、路径长度、初始路径节点数与改进前相比分别减少了50.88%、6.24%、30.29%。改进算法为无人船在障碍物环境下生成安全、高效的航行路径提供了有力保障。展开更多
This paper presents an Eulerian-Lagrangian algorithm for direct numerical simulation(DNS)of particle-laden flows.The algorithm is applicable to perform simulations of dilute suspensions of small inertial particles in ...This paper presents an Eulerian-Lagrangian algorithm for direct numerical simulation(DNS)of particle-laden flows.The algorithm is applicable to perform simulations of dilute suspensions of small inertial particles in turbulent carrier flow.The Eulerian framework numerically resolves turbulent carrier flow using a parallelized,finite-volume DNS solver on a staggered Cartesian grid.Particles are tracked using a point-particle method utilizing a Lagrangian particle tracking(LPT)algorithm.The proposed Eulerian-Lagrangian algorithm is validated using an inertial particle-laden turbulent channel flow for different Stokes number cases.The particle concentration profiles and higher-order statistics of the carrier and dispersed phases agree well with the benchmark results.We investigated the effect of fluid velocity interpolation and numerical integration schemes of particle tracking algorithms on particle dispersion statistics.The suitability of fluid velocity interpolation schemes for predicting the particle dispersion statistics is discussed in the framework of the particle tracking algorithm coupled to the finite-volume solver.In addition,we present parallelization strategies implemented in the algorithm and evaluate their parallel performance.展开更多
Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion...Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.展开更多
The Steiner k-eccentricity of a vertex is the maximum Steiner distance over all k-sets each of which contains the given vertex,where the Steiner distance of a vertex set is the size of a minimum Steiner tree on this s...The Steiner k-eccentricity of a vertex is the maximum Steiner distance over all k-sets each of which contains the given vertex,where the Steiner distance of a vertex set is the size of a minimum Steiner tree on this set.Since the minimum Steiner tree problem is well-known NP-hard,the Steiner k-eccentricity is not so easy to compute.This paper attempts to efficiently solve this problem on block graphs and general graphs with limited cycles.A block graph is a graph in which each block is a clique,and is also called a clique-tree.On block graphs,we propose an O(k(n+m))-time algorithm to compute the Steiner k-eccentricity of a vertex where n and m are respectively the order and size of a block graph.On general graphs with limited cycles,we take the cyclomatic numberν(G)as a parameter which is the minimum number of edges of G whose removal makes G acyclic,and devise an O(n^(ν(G)+1)(n(G)+m(G)+k))-time algorithm.展开更多
Optimization is the key to obtaining efficient utilization of resources in structural design.Due to the complex nature of truss systems,this study presents a method based on metaheuristic modelling that minimises stru...Optimization is the key to obtaining efficient utilization of resources in structural design.Due to the complex nature of truss systems,this study presents a method based on metaheuristic modelling that minimises structural weight under stress and frequency constraints.Two new algorithms,the Red Kite Optimization Algorithm(ROA)and Secretary Bird Optimization Algorithm(SBOA),are utilized on five benchmark trusses with 10,18,37,72,and 200-bar trusses.Both algorithms are evaluated against benchmarks in the literature.The results indicate that SBOA always reaches a lighter optimal.Designs with reducing structural weight ranging from 0.02%to 0.15%compared to ROA,and up to 6%–8%as compared to conventional algorithms.In addition,SBOA can achieve 15%–20%faster convergence speed and 10%–18%reduction in computational time with a smaller standard deviation over independent runs,which demonstrates its robustness and reliability.It is indicated that the adaptive exploration mechanism of SBOA,especially its Levy flight–based search strategy,can obviously improve optimization performance for low-and high-dimensional trusses.The research has implications in the context of promoting bio-inspired optimization techniques by demonstrating the viability of SBOA,a reliable model for large-scale structural design that provides significant enhancements in performance and convergence behavior.展开更多
Data serves as the foundation for training and testing machine learning and artificial intelligencemodels.The most fundamental part of data is its attributes or features.The feature set size changes from one dataset t...Data serves as the foundation for training and testing machine learning and artificial intelligencemodels.The most fundamental part of data is its attributes or features.The feature set size changes from one dataset to another.Only the relevant features contributemeaningfully to classificationaccuracy.The presence of irrelevant features reduces the system’s effectiveness.Classification performance often deteriorates on high-dimensional datasets due to the large search space.Thus,one of the significant obstacles affecting the performance of the learning process in the majority of machine learning and data mining techniques is the dimensionality of the datasets.Feature selection(FS)is an effective preprocessing step in classification tasks.The aim of applying FS is to exclude redundant and unrelated features while retaining the most informative ones to optimize classification capability and compress computational complexity.In this paper,a novel hybrid binary metaheuristic algorithm,termed hSC-FPA,is proposed by hybridizing the Flower Pollination Algorithm(FPA)and the Sine Cosine Algorithm(SCA).Hybridization controls the exploration capacity of SCA and the exploitation behavior of FPA to maintain a balanced search process.SCA guides the global search in the early iterations,while FPA’s local pollination refines promising solutions in later stages.A binary conversion mechanism using a threshold function is implemented to handle the discrete nature of the feature selection problem.The functionality of the proposed hSC-FPA is authenticated on fourteen standard datasets from the UCI repository using the K-Nearest Neighbors(K-NN)classifier.Experimental results are benchmarked against the standalone SCA and FPA algorithms.The hSC-FPA consistently achieves higher classification accuracy,selects a more compact feature subset,and demonstrates superior convergence behavior.These findings support the stability and outperformance of the hybrid feature selection method presented.展开更多
We study the split common solution problem with multiple output sets for monotone operator equations in Hilbert spaces.To solve this problem,we propose two new parallel algorithms.We establish a weak convergence theor...We study the split common solution problem with multiple output sets for monotone operator equations in Hilbert spaces.To solve this problem,we propose two new parallel algorithms.We establish a weak convergence theorem for the first and a strong convergence theorem for the second.展开更多
Metaheuristic optimization algorithms continue to be essential for solving complex real-world problems,yet existingmethods often struggle with balancing exploration and exploitation across diverse problem landscapes.T...Metaheuristic optimization algorithms continue to be essential for solving complex real-world problems,yet existingmethods often struggle with balancing exploration and exploitation across diverse problem landscapes.This paper proposes a novel nature-inspired metaheuristic optimization algorithm named the Painted Wolf Optimization(PWO)algorithm.The main inspiration for the PWO algorithm is the group behavior and hunting strategy of painted wolves,also known as African wild dogs in the wild,particularly their unique consensus-based voting rally mechanism,a behavior fundamentally distinct fromthe social dynamics of grey wolves.In this innovative process,pack members explore different areas to find prey;then,they hold a pre-hunting voting rally based on the alpha member to determine who will begin the hunt and attack the prey.The efficiency of the proposed PWO algorithm is evaluated by a comparison study with other well-known optimization algorithms on 33 test functions,including the Congress on Evolutionary Computation(CEC)2017 suite and different real-world engineering design cases.Furthermore,the algorithm’s performance is further tested across a spectrum of optimization problems with extensive unknown search spaces.This includes its application within the field of cybersecurity,specifically in the context of training a machine learning-based intrusion detection system(ML-IDS),achieving an accuracy of 0.90 and an F-measure of 0.9290.Statistical analyses using the Wilcoxon signed-rank test(all p<0.05)indicate that the PWO algorithm outperforms existing state-of-the-art algorithms,providing superior solutions in diverse and unpredictable optimization landscapes.This demonstrates its potential as a robust method for tackling complex optimization problems in various fields.The source code for thePWOalgorithmis publicly available at https://github.com/saeidsheikhi/Painted-Wolf-Optimization.展开更多
This paper introduces a novel nature-inspired metaheuristic algorithm called the Gekko japonicus algorithm.The algo-rithm draws inspiration mainly from the predation strategies and survival behaviors of the Gekko japo...This paper introduces a novel nature-inspired metaheuristic algorithm called the Gekko japonicus algorithm.The algo-rithm draws inspiration mainly from the predation strategies and survival behaviors of the Gekko japonicus.The math-ematical model is developed by simulating various biological behaviors of the Gekko japonicus,such as hybrid loco-motion patterns,directional olfactory guidance,implicit group advantage tendencies,and the tail autotomy mechanism.By integrating multi-stage mutual constraints and dynamically adjusting parameters,GJA maintains an optimal balance between global exploration and local exploitation,thereby effectively solving complex optimization problems.To assess the performance of GJA,comparative analyses were performed against fourteen state-of-the-art metaheuristic algorithms using the CEC2017 and CEC2022 benchmark test sets.Additionally,a Friedman test was performed on the experimen-tal results to assess the statistical significance of differences between various algorithms.And GJA was evaluated using multiple qualitative indicators,further confirming its superiority in exploration and exploitation.Finally,GJA was utilized to solve four engineering optimization problems and further implemented in robotic path planning to verify its practical applicability.Experimental results indicate that,compared to other high-performance algorithms,GJA demonstrates excep-tional performance as a powerful optimization algorithm in complex optimization problems.We make the code publicly available at:https://github.com/zhy1109/Gekko-japonicusalgorithm.展开更多
To enhance the accuracy of path planning of unmanned surface vehicles(USVs),the particle swarm optimization algorithm(PSO)is improved based on species migration strategies observed in ecology.By incorporating the conc...To enhance the accuracy of path planning of unmanned surface vehicles(USVs),the particle swarm optimization algorithm(PSO)is improved based on species migration strategies observed in ecology.By incorporating the concept of particle sight distance,an improved algorithm,called SD-IPSO,is proposed for the real-time autonomous navigation of USVs in marine environments.The algorithm refines the individual behavior pattern of particles in the population,effectively improving both local and global search capabilities while avoiding premature convergence.The effectiveness of the algorithm is validated using standard test functions from CEC-2017 function library,assessing it from multiple dimensions.Sensitivity analysis is conducted on key parameters in the algorithm,including particle sight distance and population size.Results indicate that compared with PSO,SD-IPSO demonstrates significant advantages in optimization accuracy and convergence speed.The application of SD-IPSO in path planning is further investigated through a 14-point traveling salesman problem(TSP)example and navigation autonomous tests of USVs in marine environments.Findings demonstrate that the proposed algorithm exhibits superior optimization capabilities and can effectively address the path planning challenges of USVs.展开更多
The Intrusion Detection System(IDS)is a security mechanism developed to observe network traffic and recognize suspicious or malicious activities.Clustering algorithms are often incorporated into IDS;however,convention...The Intrusion Detection System(IDS)is a security mechanism developed to observe network traffic and recognize suspicious or malicious activities.Clustering algorithms are often incorporated into IDS;however,conventional clustering-based methods face notable drawbacks,including poor scalability in handling high-dimensional datasets and a strong dependence of outcomes on initial conditions.To overcome the performance limitations of existing methods,this study proposes a novel quantum-inspired clustering algorithm that relies on a similarity coefficient-based quantum genetic algorithm(SC-QGA)and an improved quantum artificial bee colony algorithm hybrid K-means(IQABC-K).First,the SC-QGA algorithmis constructed based on quantum computing and integrates similarity coefficient theory to strengthen genetic diversity and feature extraction capabilities.For the subsequent clustering phase,the process based on the IQABC-K algorithm is enhanced with the core improvement of adaptive rotation gate and movement exploitation strategies to balance the exploration capabilities of global search and the exploitation capabilities of local search.Simultaneously,the acceleration of convergence toward the global optimum and a reduction in computational complexity are facilitated by means of the global optimum bootstrap strategy and a linear population reduction strategy.Through experimental evaluation with multiple algorithms and diverse performance metrics,the proposed algorithm confirms reliable accuracy on three datasets:KDD CUP99,NSL_KDD,and UNSW_NB15,achieving accuracy of 98.57%,98.81%,and 98.32%,respectively.These results affirm its potential as an effective solution for practical clustering applications.展开更多
In this paper,we propose a new privacy-aware transmission scheduling algorithm for 6G ad hoc networks.This system enables end nodes to select the optimum time and scheme to transmit private data safely.In 6G dynamic h...In this paper,we propose a new privacy-aware transmission scheduling algorithm for 6G ad hoc networks.This system enables end nodes to select the optimum time and scheme to transmit private data safely.In 6G dynamic heterogeneous infrastructures,unstable links and non-uniform hardware capabilities create critical issues regarding security and privacy.Traditional protocols are often too computationally heavy to allow 6G services to achieve their expected Quality-of-Service(QoS).As the transport network is built of ad hoc nodes,there is no guarantee about their trustworthiness or behavior,and transversal functionalities are delegated to the extreme nodes.However,while security can be guaranteed in extreme-to-extreme solutions,privacy cannot,as all intermediate nodes still have to handle the data packets they are transporting.Besides,traditional schemes for private anonymous ad hoc communications are vulnerable against modern intelligent attacks based on learning models.The proposed scheme fulfills this gap.Findings show the probability of a successful intelligent attack reduces by up to 65%compared to ad hoc networks with no privacy protection strategy when used the proposed technology.While congestion probability can remain below 0.001%,as required in 6G services.展开更多
To address the issue of abnormal energy consumption fluctuations in the converter steelmaking process,an integrated diagnostic method combining the gray wolf optimization(GWO)algorithm,support vector machine(SVM),and ...To address the issue of abnormal energy consumption fluctuations in the converter steelmaking process,an integrated diagnostic method combining the gray wolf optimization(GWO)algorithm,support vector machine(SVM),and K-means clustering was proposed.Eight input parameters—derived from molten iron conditions and external factors—were selected as feature variables.A GWO-SVM model was developed to accurately predict the energy consumption of individual heats.Based on the prediction results,the mean absolute percentage error and maximum relative error of the test set were employed as criteria to identify heats with abnormal energy usage.For these heats,the K-means clustering algorithm was used to determine benchmark values of influencing factors from similar steel grades,enabling root-cause diagnosis of excessive energy consumption.The proposed method was applied to real production data from a converter in a steel plant.The analysis reveals that heat sample No.44 exhibits abnormal energy consumption,due to gas recovery being 1430.28 kg of standard coal below the benchmark level.A secondary contributing factor is a steam recovery shortfall of 237.99 kg of standard coal.This integrated approach offers a scientifically grounded tool for energy management in converter operations and provides valuable guidance for optimizing process parameters and enhancing energy efficiency.展开更多
ThePigeon-InspiredOptimization(PIO)algorithmconstitutes ametaheuristic method derived fromthe homing behaviour of pigeons.Initially formulated for three-dimensional path planning in unmanned aerial vehicles(UAVs),the ...ThePigeon-InspiredOptimization(PIO)algorithmconstitutes ametaheuristic method derived fromthe homing behaviour of pigeons.Initially formulated for three-dimensional path planning in unmanned aerial vehicles(UAVs),the algorithmhas attracted considerable academic and industrial interest owing to its effective balance between exploration and exploitation,coupled with advantages in real-time performance and robustness.Nevertheless,as applications have diversified,limitations in convergence precision and a tendency toward premature convergence have become increasingly evident,highlighting a need for improvement.This reviewsystematically outlines the developmental trajectory of the PIO algorithm,with a particular focus on its core applications in UAV navigation,multi-objective formulations,and a spectrum of variantmodels that have emerged in recent years.It offers a structured analysis of the foundational principles underlying the PIO.It conducts a comparative assessment of various performance-enhanced versions,including hybrid models that integrate mechanisms from other optimization paradigms.Additionally,the strengths andweaknesses of distinct PIOvariants are critically examined frommultiple perspectives,including intrinsic algorithmic characteristics,suitability for specific application scenarios,objective function design,and the rigor of the statistical evaluation methodologies employed in empirical studies.Finally,this paper identifies principal challenges within current PIO research and proposes several prospective research directions.Future work should focus on mitigating premature convergence by refining the two-phase search structure and adjusting the exponential decrease of individual numbers during the landmark operator.Enhancing parameter adaptation strategies,potentially using reinforcement learning for dynamic tuning,and advancing theoretical analyses on convergence and complexity are also critical.Further applications should be explored in constrained path planning,Neural Architecture Search(NAS),and other real-worldmulti-objective problems.For Multi-objective PIO(MPIO),key improvements include controlling the growth of the external archive and designing more effective selection mechanisms to maintain convergence efficiency.These efforts are expected to strengthen both the theoretical foundation and practical versatility of PIO and its variants.展开更多
基金National Natural Science Foundation of China(32301712)Natural Science Foundation of Jiangsu Province(BK20230548,BK20250876)+2 种基金Project of Faculty of Agricultural Equipment of Jiangsu University(NGXB20240203)A Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD-2023-87)Open Funding Project of the Key Laboratory of Modern Agricultural Equipment and Technology(Jiangsu University),Ministry of Education(MAET202101)。
文摘Traditional sampling-based path planning algorithms,such as the rapidly-exploring random tree star(RRT^(*)),encounter critical limitations in unstructured orchard environments,including low sampling efficiency in narrow passages,slow convergence,and high computational costs.To address these challenges,this paper proposes a novel hybrid global path planning algorithm integrating Gaussian sampling and quadtree optimization(RRT^(*)-GSQ).This methodology aims to enhance path planning by synergistically combining a Gaussian mixture sampling strategy to improve node generation in critical regions,an adaptive step-size and direction optimization mechanism for enhanced obstacle avoidance,a Quadtree-AABB collision detection framework to lower computational complexity,and a dynamic iteration control strategy for more efficient convergence.In obstacle-free and obstructed scenarios,compared with the conventional RRT^(*),the proposed algorithm reduced the number of node evaluations by 67.57%and 62.72%,and decreased the search time by 79.72%and 78.52%,respectively.In path tracking tests,the proposed algorithm achieved substantial reductions in RMSE of the final path compared to the conventional RRT^(*).Specifically,the lateral RMSE was reduced by 41.5%in obstacle-free environments and 59.3%in obstructed environments,while the longitudinal RMSE was reduced by 57.2%and 58.5%,respectively.Furthermore,the maximum absolute errors in both lateral and longitudinal directions were constrained within 0.75 m.Field validation experiments in an operational orchard confirmed the algorithm's practical effectiveness,showing reductions in the mean tracking error of 47.6%(obstacle-free)and 58.3%(with obstructed),alongside a 5.1%and 7.2%shortening of the path length compared to the baseline method.The proposed algorithm effectively enhances path planning efficiency and navigation accuracy for robots,presenting a superior solution for high-precision autonomous navigation of agricultural robots in orchard environments and holding significant value for engineering applications.
文摘针对无人船在障碍物环境中路径规划效率低、路径冗余大、平滑性差等问题,提出一种融合人工势场法的改进RRT^(*)算法(Artificial Potential Field Rapidly-exploring Random Tree^(*),APF-RRT^(*))。该算法以人工势场模型为引导机制,构建包含信息激励势场、引力势场和斥力势场的复合势能函数,从而有目的性地引导采样点朝向目标区域并远离障碍物,提高算法采样效率;同时引入动态步长策略加快扩展速度,最后结合贪心剪枝和路径平滑机制优化初始路径。在2种典型环境下进行仿真对比实验,结果表明文中改进RRT^(*)算法在规划效率、路径长度、平滑度以及稳定性方面优于传统算法,平均规划时长、路径长度、初始路径节点数与改进前相比分别减少了50.88%、6.24%、30.29%。改进算法为无人船在障碍物环境下生成安全、高效的航行路径提供了有力保障。
基金supported by the P.G.Senapathy Center for Computing Resources at IIT Madrasfunding provided by the Ministry of Education,Government of Indiasupported by the National Natural Science Foundation of China(Grant Nos.12388101,12472224 and 92252104).
文摘This paper presents an Eulerian-Lagrangian algorithm for direct numerical simulation(DNS)of particle-laden flows.The algorithm is applicable to perform simulations of dilute suspensions of small inertial particles in turbulent carrier flow.The Eulerian framework numerically resolves turbulent carrier flow using a parallelized,finite-volume DNS solver on a staggered Cartesian grid.Particles are tracked using a point-particle method utilizing a Lagrangian particle tracking(LPT)algorithm.The proposed Eulerian-Lagrangian algorithm is validated using an inertial particle-laden turbulent channel flow for different Stokes number cases.The particle concentration profiles and higher-order statistics of the carrier and dispersed phases agree well with the benchmark results.We investigated the effect of fluid velocity interpolation and numerical integration schemes of particle tracking algorithms on particle dispersion statistics.The suitability of fluid velocity interpolation schemes for predicting the particle dispersion statistics is discussed in the framework of the particle tracking algorithm coupled to the finite-volume solver.In addition,we present parallelization strategies implemented in the algorithm and evaluate their parallel performance.
文摘Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.
基金Supported by Guizhou Provincial Basic Research Program (Natural Science)(No.ZK[2022]020)。
文摘The Steiner k-eccentricity of a vertex is the maximum Steiner distance over all k-sets each of which contains the given vertex,where the Steiner distance of a vertex set is the size of a minimum Steiner tree on this set.Since the minimum Steiner tree problem is well-known NP-hard,the Steiner k-eccentricity is not so easy to compute.This paper attempts to efficiently solve this problem on block graphs and general graphs with limited cycles.A block graph is a graph in which each block is a clique,and is also called a clique-tree.On block graphs,we propose an O(k(n+m))-time algorithm to compute the Steiner k-eccentricity of a vertex where n and m are respectively the order and size of a block graph.On general graphs with limited cycles,we take the cyclomatic numberν(G)as a parameter which is the minimum number of edges of G whose removal makes G acyclic,and devise an O(n^(ν(G)+1)(n(G)+m(G)+k))-time algorithm.
文摘Optimization is the key to obtaining efficient utilization of resources in structural design.Due to the complex nature of truss systems,this study presents a method based on metaheuristic modelling that minimises structural weight under stress and frequency constraints.Two new algorithms,the Red Kite Optimization Algorithm(ROA)and Secretary Bird Optimization Algorithm(SBOA),are utilized on five benchmark trusses with 10,18,37,72,and 200-bar trusses.Both algorithms are evaluated against benchmarks in the literature.The results indicate that SBOA always reaches a lighter optimal.Designs with reducing structural weight ranging from 0.02%to 0.15%compared to ROA,and up to 6%–8%as compared to conventional algorithms.In addition,SBOA can achieve 15%–20%faster convergence speed and 10%–18%reduction in computational time with a smaller standard deviation over independent runs,which demonstrates its robustness and reliability.It is indicated that the adaptive exploration mechanism of SBOA,especially its Levy flight–based search strategy,can obviously improve optimization performance for low-and high-dimensional trusses.The research has implications in the context of promoting bio-inspired optimization techniques by demonstrating the viability of SBOA,a reliable model for large-scale structural design that provides significant enhancements in performance and convergence behavior.
基金supported by a research grant from Lahore College for Women University(LCWU),Lahore,Pakistan.
文摘Data serves as the foundation for training and testing machine learning and artificial intelligencemodels.The most fundamental part of data is its attributes or features.The feature set size changes from one dataset to another.Only the relevant features contributemeaningfully to classificationaccuracy.The presence of irrelevant features reduces the system’s effectiveness.Classification performance often deteriorates on high-dimensional datasets due to the large search space.Thus,one of the significant obstacles affecting the performance of the learning process in the majority of machine learning and data mining techniques is the dimensionality of the datasets.Feature selection(FS)is an effective preprocessing step in classification tasks.The aim of applying FS is to exclude redundant and unrelated features while retaining the most informative ones to optimize classification capability and compress computational complexity.In this paper,a novel hybrid binary metaheuristic algorithm,termed hSC-FPA,is proposed by hybridizing the Flower Pollination Algorithm(FPA)and the Sine Cosine Algorithm(SCA).Hybridization controls the exploration capacity of SCA and the exploitation behavior of FPA to maintain a balanced search process.SCA guides the global search in the early iterations,while FPA’s local pollination refines promising solutions in later stages.A binary conversion mechanism using a threshold function is implemented to handle the discrete nature of the feature selection problem.The functionality of the proposed hSC-FPA is authenticated on fourteen standard datasets from the UCI repository using the K-Nearest Neighbors(K-NN)classifier.Experimental results are benchmarked against the standalone SCA and FPA algorithms.The hSC-FPA consistently achieves higher classification accuracy,selects a more compact feature subset,and demonstrates superior convergence behavior.These findings support the stability and outperformance of the hybrid feature selection method presented.
基金supported by the Science and Technology Fund of TNU-Thai Nguyen University of Science.
文摘We study the split common solution problem with multiple output sets for monotone operator equations in Hilbert spaces.To solve this problem,we propose two new parallel algorithms.We establish a weak convergence theorem for the first and a strong convergence theorem for the second.
文摘Metaheuristic optimization algorithms continue to be essential for solving complex real-world problems,yet existingmethods often struggle with balancing exploration and exploitation across diverse problem landscapes.This paper proposes a novel nature-inspired metaheuristic optimization algorithm named the Painted Wolf Optimization(PWO)algorithm.The main inspiration for the PWO algorithm is the group behavior and hunting strategy of painted wolves,also known as African wild dogs in the wild,particularly their unique consensus-based voting rally mechanism,a behavior fundamentally distinct fromthe social dynamics of grey wolves.In this innovative process,pack members explore different areas to find prey;then,they hold a pre-hunting voting rally based on the alpha member to determine who will begin the hunt and attack the prey.The efficiency of the proposed PWO algorithm is evaluated by a comparison study with other well-known optimization algorithms on 33 test functions,including the Congress on Evolutionary Computation(CEC)2017 suite and different real-world engineering design cases.Furthermore,the algorithm’s performance is further tested across a spectrum of optimization problems with extensive unknown search spaces.This includes its application within the field of cybersecurity,specifically in the context of training a machine learning-based intrusion detection system(ML-IDS),achieving an accuracy of 0.90 and an F-measure of 0.9290.Statistical analyses using the Wilcoxon signed-rank test(all p<0.05)indicate that the PWO algorithm outperforms existing state-of-the-art algorithms,providing superior solutions in diverse and unpredictable optimization landscapes.This demonstrates its potential as a robust method for tackling complex optimization problems in various fields.The source code for thePWOalgorithmis publicly available at https://github.com/saeidsheikhi/Painted-Wolf-Optimization.
基金CHINA POSTDOCTORAL SCIENCE FOUNDATION(Grant No.2025M771925)Young Scientists Fund(C Class)(Grant No.32501636)Special Fund of Fundamental Scientific Research Business Expense for Higher School of Central Government(Grant No.2572025JT04).
文摘This paper introduces a novel nature-inspired metaheuristic algorithm called the Gekko japonicus algorithm.The algo-rithm draws inspiration mainly from the predation strategies and survival behaviors of the Gekko japonicus.The math-ematical model is developed by simulating various biological behaviors of the Gekko japonicus,such as hybrid loco-motion patterns,directional olfactory guidance,implicit group advantage tendencies,and the tail autotomy mechanism.By integrating multi-stage mutual constraints and dynamically adjusting parameters,GJA maintains an optimal balance between global exploration and local exploitation,thereby effectively solving complex optimization problems.To assess the performance of GJA,comparative analyses were performed against fourteen state-of-the-art metaheuristic algorithms using the CEC2017 and CEC2022 benchmark test sets.Additionally,a Friedman test was performed on the experimen-tal results to assess the statistical significance of differences between various algorithms.And GJA was evaluated using multiple qualitative indicators,further confirming its superiority in exploration and exploitation.Finally,GJA was utilized to solve four engineering optimization problems and further implemented in robotic path planning to verify its practical applicability.Experimental results indicate that,compared to other high-performance algorithms,GJA demonstrates excep-tional performance as a powerful optimization algorithm in complex optimization problems.We make the code publicly available at:https://github.com/zhy1109/Gekko-japonicusalgorithm.
文摘To enhance the accuracy of path planning of unmanned surface vehicles(USVs),the particle swarm optimization algorithm(PSO)is improved based on species migration strategies observed in ecology.By incorporating the concept of particle sight distance,an improved algorithm,called SD-IPSO,is proposed for the real-time autonomous navigation of USVs in marine environments.The algorithm refines the individual behavior pattern of particles in the population,effectively improving both local and global search capabilities while avoiding premature convergence.The effectiveness of the algorithm is validated using standard test functions from CEC-2017 function library,assessing it from multiple dimensions.Sensitivity analysis is conducted on key parameters in the algorithm,including particle sight distance and population size.Results indicate that compared with PSO,SD-IPSO demonstrates significant advantages in optimization accuracy and convergence speed.The application of SD-IPSO in path planning is further investigated through a 14-point traveling salesman problem(TSP)example and navigation autonomous tests of USVs in marine environments.Findings demonstrate that the proposed algorithm exhibits superior optimization capabilities and can effectively address the path planning challenges of USVs.
基金supported by the NSFC(Grant Nos.62176273,62271070,62441212)The Open Foundation of State Key Laboratory of Networking and Switching Technology(Beijing University of Posts and Telecommunications)under Grant SKLNST-2024-1-062025Major Project of the Natural Science Foundation of Inner Mongolia(2025ZD008).
文摘The Intrusion Detection System(IDS)is a security mechanism developed to observe network traffic and recognize suspicious or malicious activities.Clustering algorithms are often incorporated into IDS;however,conventional clustering-based methods face notable drawbacks,including poor scalability in handling high-dimensional datasets and a strong dependence of outcomes on initial conditions.To overcome the performance limitations of existing methods,this study proposes a novel quantum-inspired clustering algorithm that relies on a similarity coefficient-based quantum genetic algorithm(SC-QGA)and an improved quantum artificial bee colony algorithm hybrid K-means(IQABC-K).First,the SC-QGA algorithmis constructed based on quantum computing and integrates similarity coefficient theory to strengthen genetic diversity and feature extraction capabilities.For the subsequent clustering phase,the process based on the IQABC-K algorithm is enhanced with the core improvement of adaptive rotation gate and movement exploitation strategies to balance the exploration capabilities of global search and the exploitation capabilities of local search.Simultaneously,the acceleration of convergence toward the global optimum and a reduction in computational complexity are facilitated by means of the global optimum bootstrap strategy and a linear population reduction strategy.Through experimental evaluation with multiple algorithms and diverse performance metrics,the proposed algorithm confirms reliable accuracy on three datasets:KDD CUP99,NSL_KDD,and UNSW_NB15,achieving accuracy of 98.57%,98.81%,and 98.32%,respectively.These results affirm its potential as an effective solution for practical clustering applications.
基金funding from the European Commission by the Ruralities project(grant agreement no.101060876).
文摘In this paper,we propose a new privacy-aware transmission scheduling algorithm for 6G ad hoc networks.This system enables end nodes to select the optimum time and scheme to transmit private data safely.In 6G dynamic heterogeneous infrastructures,unstable links and non-uniform hardware capabilities create critical issues regarding security and privacy.Traditional protocols are often too computationally heavy to allow 6G services to achieve their expected Quality-of-Service(QoS).As the transport network is built of ad hoc nodes,there is no guarantee about their trustworthiness or behavior,and transversal functionalities are delegated to the extreme nodes.However,while security can be guaranteed in extreme-to-extreme solutions,privacy cannot,as all intermediate nodes still have to handle the data packets they are transporting.Besides,traditional schemes for private anonymous ad hoc communications are vulnerable against modern intelligent attacks based on learning models.The proposed scheme fulfills this gap.Findings show the probability of a successful intelligent attack reduces by up to 65%compared to ad hoc networks with no privacy protection strategy when used the proposed technology.While congestion probability can remain below 0.001%,as required in 6G services.
基金support from the National Key R&D Program of China(Grant No.2020YFB1711100).
文摘To address the issue of abnormal energy consumption fluctuations in the converter steelmaking process,an integrated diagnostic method combining the gray wolf optimization(GWO)algorithm,support vector machine(SVM),and K-means clustering was proposed.Eight input parameters—derived from molten iron conditions and external factors—were selected as feature variables.A GWO-SVM model was developed to accurately predict the energy consumption of individual heats.Based on the prediction results,the mean absolute percentage error and maximum relative error of the test set were employed as criteria to identify heats with abnormal energy usage.For these heats,the K-means clustering algorithm was used to determine benchmark values of influencing factors from similar steel grades,enabling root-cause diagnosis of excessive energy consumption.The proposed method was applied to real production data from a converter in a steel plant.The analysis reveals that heat sample No.44 exhibits abnormal energy consumption,due to gas recovery being 1430.28 kg of standard coal below the benchmark level.A secondary contributing factor is a steam recovery shortfall of 237.99 kg of standard coal.This integrated approach offers a scientifically grounded tool for energy management in converter operations and provides valuable guidance for optimizing process parameters and enhancing energy efficiency.
基金supported by the National Natural Science Foundation of China under grant number 62066016the Natural Science Foundation of Hunan Province of China under grant number 2024JJ7395+2 种基金International and Regional Science and Technology Cooperation and Exchange Program of the Hunan Association for Science and Technology under grant number 025SKX-KJ-04Hunan Provincial Postgraduate Research Innovation Project under grant numberCX20251611Liye Qin Bamboo Slips Research Special Project of JishouUniversity 25LYY03.
文摘ThePigeon-InspiredOptimization(PIO)algorithmconstitutes ametaheuristic method derived fromthe homing behaviour of pigeons.Initially formulated for three-dimensional path planning in unmanned aerial vehicles(UAVs),the algorithmhas attracted considerable academic and industrial interest owing to its effective balance between exploration and exploitation,coupled with advantages in real-time performance and robustness.Nevertheless,as applications have diversified,limitations in convergence precision and a tendency toward premature convergence have become increasingly evident,highlighting a need for improvement.This reviewsystematically outlines the developmental trajectory of the PIO algorithm,with a particular focus on its core applications in UAV navigation,multi-objective formulations,and a spectrum of variantmodels that have emerged in recent years.It offers a structured analysis of the foundational principles underlying the PIO.It conducts a comparative assessment of various performance-enhanced versions,including hybrid models that integrate mechanisms from other optimization paradigms.Additionally,the strengths andweaknesses of distinct PIOvariants are critically examined frommultiple perspectives,including intrinsic algorithmic characteristics,suitability for specific application scenarios,objective function design,and the rigor of the statistical evaluation methodologies employed in empirical studies.Finally,this paper identifies principal challenges within current PIO research and proposes several prospective research directions.Future work should focus on mitigating premature convergence by refining the two-phase search structure and adjusting the exponential decrease of individual numbers during the landmark operator.Enhancing parameter adaptation strategies,potentially using reinforcement learning for dynamic tuning,and advancing theoretical analyses on convergence and complexity are also critical.Further applications should be explored in constrained path planning,Neural Architecture Search(NAS),and other real-worldmulti-objective problems.For Multi-objective PIO(MPIO),key improvements include controlling the growth of the external archive and designing more effective selection mechanisms to maintain convergence efficiency.These efforts are expected to strengthen both the theoretical foundation and practical versatility of PIO and its variants.
