We introduce the artificial fish swarm algorithm for heading motion model identification and control parameter optimization problems for the“Ocean Rambler”unmanned wave glider(UWG).First,under certain assumptions,th...We introduce the artificial fish swarm algorithm for heading motion model identification and control parameter optimization problems for the“Ocean Rambler”unmanned wave glider(UWG).First,under certain assumptions,the rigid-flexible multi-body system of the UWG was simplified as a rigid system composed of“thruster+float body”,based on which a planar motion model of the UWG was established.Second,we obtained the model parameters using an empirical method combined with parameter identification,which means that some parameters were estimated by the empirical method.In view of the specificity and importance of the heading control,heading model parameters were identified through the artificial fish swarm algorithm based on tank test data,so that we could take full advantage of the limited trial data to factually describe the dynamic characteristics of the system.Based on the established heading motion model,parameters of the heading S-surface controller were optimized using the artificial fish swarm algorithm.Heading motion comparison and maritime control experiments of the“Ocean Rambler”UWG were completed.Tank test results show high precision of heading motion prediction including heading angle and yawing angular velocity.The UWG shows good control performance in tank tests and sea trials.The efficiency of the proposed method is verified.展开更多
The main objective of the present study is the development of a new algorithm that can adapt to complex and changeable environments.An artificial fish swarm algorithm is developed which relies on a wireless sensor net...The main objective of the present study is the development of a new algorithm that can adapt to complex and changeable environments.An artificial fish swarm algorithm is developed which relies on a wireless sensor network(WSN)in a hydrodynamic background.The nodes of this algorithm are viscous fluids and artificial fish,while related‘events’are directly connected to the food available in the related virtual environment.The results show that the total processing time of the data by the source node is 6.661 ms,of which the processing time of crosstalk data is 3.789 ms,accounting for 56.89%.The total processing time of the data by the relay node is 15.492 ms,of which the system scheduling and the Carrier Sense Multiple Access(CSMA)rollback time of the forwarding is 8.922 ms,accounting for 57.59%.The total time for the data processing of the receiving node is 11.835 ms,of which the processing time of crosstalk data is 3.791 ms,accounting for 32.02%;the serial data processing time is 4.542 ms,accounting for 38.36%.Crosstalk packets occupy a certain amount of system overhead in the internal communication of nodes,which is one of the causes of node-level congestion.We show that optimizing the crosstalk phenomenon can alleviate the internal congestion of nodes to some extent.展开更多
Sentiment analysis or opinion mining(OM)concepts become familiar due to advances in networking technologies and social media.Recently,massive amount of text has been generated over Internet daily which makes the patte...Sentiment analysis or opinion mining(OM)concepts become familiar due to advances in networking technologies and social media.Recently,massive amount of text has been generated over Internet daily which makes the pattern recognition and decision making process difficult.Since OM find useful in business sectors to improve the quality of the product as well as services,machine learning(ML)and deep learning(DL)models can be considered into account.Besides,the hyperparameters involved in the DL models necessitate proper adjustment process to boost the classification process.Therefore,in this paper,a new Artificial Fish Swarm Optimization with Bidirectional Long Short Term Memory(AFSO-BLSTM)model has been developed for OM process.The major intention of the AFSO-BLSTM model is to effectively mine the opinions present in the textual data.In addition,the AFSO-BLSTM model undergoes pre-processing and TF-IFD based feature extraction process.Besides,BLSTM model is employed for the effectual detection and classification of opinions.Finally,the AFSO algorithm is utilized for effective hyperparameter adjustment process of the BLSTM model,shows the novelty of the work.A complete simulation study of the AFSO-BLSTM model is validated using benchmark dataset and the obtained experimental values revealed the high potential of the AFSO-BLSTM model on mining opinions.展开更多
In this paper, a static weapon target assignment（WTA）problem is studied. As a critical problem in cooperative air combat,outcome of WTA directly influences the battle. Along with the cost of weapons rising rapidly, ...In this paper, a static weapon target assignment（WTA）problem is studied. As a critical problem in cooperative air combat,outcome of WTA directly influences the battle. Along with the cost of weapons rising rapidly, it is indispensable to design a target assignment model that can ensure minimizing targets survivability and weapons consumption simultaneously. Afterwards an algorithm named as improved artificial fish swarm algorithm-improved harmony search algorithm（IAFSA-IHS） is proposed to solve the problem. The effect of the proposed algorithm is demonstrated in numerical simulations, and results show that it performs positively in searching the optimal solution and solving the WTA problem.展开更多
To solve the weapon network system optimization problem against small raid objects with low attitude,the concept of direction probability and a new evaluation index system are proposed.By calculating the whole damagin...To solve the weapon network system optimization problem against small raid objects with low attitude,the concept of direction probability and a new evaluation index system are proposed.By calculating the whole damaging probability that changes with the defending angle,the efficiency of the whole weapon network system can be subtly described.With such method,we can avoid the inconformity of the description obtained from the traditional index systems.Three new indexes are also proposed,i.e.join index,overlap index and cover index,which help manage the relationship among several sub-weapon-networks.By normalizing the computation results with the Sigmoid function,the matching problem between the optimization algorithm and indexes is well settled.Also,the algorithm of improved marriage in honey bees optimization that proposed in our previous work is applied to optimize the embattlement problem.Simulation is carried out to show the efficiency of the proposed indexes and the optimization algorithm.展开更多
为了提高人工鱼群算法AFSA(artificial fish swarm algorithm)的全局搜索能力及加快其收敛速度,提出一种将其与免疫算法IA(immune algorithm)进行结合的新方法,形成了免疫人工鱼群算法IAFSA(immuneartificial fish swarm algorithm),并...为了提高人工鱼群算法AFSA(artificial fish swarm algorithm)的全局搜索能力及加快其收敛速度,提出一种将其与免疫算法IA(immune algorithm)进行结合的新方法,形成了免疫人工鱼群算法IAFSA(immuneartificial fish swarm algorithm),并且利用该算法自动选取径向基函数RBF(radial basis function)神经网络中的输入变量,以及对网络中隐含层到输出层之间的权值进行训练,从而减少了RBF神经网络的工作量,提高了训练速度。用优化后的RBF神经网络进行短期负荷预测,结果表明,该方法具有较高的预测精度。展开更多
为了解决快速搜索随机树(Rapid-exploration random tree,RRT)算法在高精度机械臂的路径规划中存在的问题,如采样点随机性强、路径指向性差、路径平滑度低、路径长等,提出了一种融合的人工鱼群算法(RRT-ASFA)来优化RRT生成的路径。首先,...为了解决快速搜索随机树(Rapid-exploration random tree,RRT)算法在高精度机械臂的路径规划中存在的问题,如采样点随机性强、路径指向性差、路径平滑度低、路径长等,提出了一种融合的人工鱼群算法(RRT-ASFA)来优化RRT生成的路径。首先,为RRT提出了一个目标偏置策略,以减少采样点的随机性并优化目标方向;提出了步长自适应和搜索区域限制,以优化路径规划时间。其次,对于人工鱼群算法(Artificial fish swarming algorithm,ASFA),提出了自适应步长和自适应视场范围以使人工鱼群更快收敛;对RRT规划的路径的转折点进行了优化,使路径更短。最后,通过Hermite样条函数对路径进行了平滑处理。通过仿真实验发现,与传统的RRT算法、目标偏置RRT算法和RRT^(*)算法相比,结合算法规划的路径长度更短,路径节点更少,这证明了该组合算法的可行性。展开更多
基金Project(51779052)supported by the National Natural Science Foundation of ChinaProject(QC2016062)supported by the Natural Science Foundation of Heilongjiang Province,China+2 种基金Project(614221503091701)supported by the Research Fund from Science and Technology on Underwater Vehicle Laboratory,ChinaProject(LBH-Q17046)supported by the Heilongjiang Postdoctoral Funds for Scientific Research Initiation,ChinaProject(HEUCFP201741)supported by the Fundamental Research Funds for the Central Universities,China
文摘We introduce the artificial fish swarm algorithm for heading motion model identification and control parameter optimization problems for the“Ocean Rambler”unmanned wave glider(UWG).First,under certain assumptions,the rigid-flexible multi-body system of the UWG was simplified as a rigid system composed of“thruster+float body”,based on which a planar motion model of the UWG was established.Second,we obtained the model parameters using an empirical method combined with parameter identification,which means that some parameters were estimated by the empirical method.In view of the specificity and importance of the heading control,heading model parameters were identified through the artificial fish swarm algorithm based on tank test data,so that we could take full advantage of the limited trial data to factually describe the dynamic characteristics of the system.Based on the established heading motion model,parameters of the heading S-surface controller were optimized using the artificial fish swarm algorithm.Heading motion comparison and maritime control experiments of the“Ocean Rambler”UWG were completed.Tank test results show high precision of heading motion prediction including heading angle and yawing angular velocity.The UWG shows good control performance in tank tests and sea trials.The efficiency of the proposed method is verified.
基金financially supported by Natural Science Foundation of Heilongjiang Province of China[Grant No.LH2019F042].
文摘The main objective of the present study is the development of a new algorithm that can adapt to complex and changeable environments.An artificial fish swarm algorithm is developed which relies on a wireless sensor network(WSN)in a hydrodynamic background.The nodes of this algorithm are viscous fluids and artificial fish,while related‘events’are directly connected to the food available in the related virtual environment.The results show that the total processing time of the data by the source node is 6.661 ms,of which the processing time of crosstalk data is 3.789 ms,accounting for 56.89%.The total processing time of the data by the relay node is 15.492 ms,of which the system scheduling and the Carrier Sense Multiple Access(CSMA)rollback time of the forwarding is 8.922 ms,accounting for 57.59%.The total time for the data processing of the receiving node is 11.835 ms,of which the processing time of crosstalk data is 3.791 ms,accounting for 32.02%;the serial data processing time is 4.542 ms,accounting for 38.36%.Crosstalk packets occupy a certain amount of system overhead in the internal communication of nodes,which is one of the causes of node-level congestion.We show that optimizing the crosstalk phenomenon can alleviate the internal congestion of nodes to some extent.
基金The authors extend their appreciation to the Deanship of Scientific Research at King Khalid University for funding this work under grant number(RGP 2/142/43).
文摘Sentiment analysis or opinion mining(OM)concepts become familiar due to advances in networking technologies and social media.Recently,massive amount of text has been generated over Internet daily which makes the pattern recognition and decision making process difficult.Since OM find useful in business sectors to improve the quality of the product as well as services,machine learning(ML)and deep learning(DL)models can be considered into account.Besides,the hyperparameters involved in the DL models necessitate proper adjustment process to boost the classification process.Therefore,in this paper,a new Artificial Fish Swarm Optimization with Bidirectional Long Short Term Memory(AFSO-BLSTM)model has been developed for OM process.The major intention of the AFSO-BLSTM model is to effectively mine the opinions present in the textual data.In addition,the AFSO-BLSTM model undergoes pre-processing and TF-IFD based feature extraction process.Besides,BLSTM model is employed for the effectual detection and classification of opinions.Finally,the AFSO algorithm is utilized for effective hyperparameter adjustment process of the BLSTM model,shows the novelty of the work.A complete simulation study of the AFSO-BLSTM model is validated using benchmark dataset and the obtained experimental values revealed the high potential of the AFSO-BLSTM model on mining opinions.
基金supported by the National Natural Science Foundation of China(61472441)
文摘In this paper, a static weapon target assignment（WTA）problem is studied. As a critical problem in cooperative air combat,outcome of WTA directly influences the battle. Along with the cost of weapons rising rapidly, it is indispensable to design a target assignment model that can ensure minimizing targets survivability and weapons consumption simultaneously. Afterwards an algorithm named as improved artificial fish swarm algorithm-improved harmony search algorithm（IAFSA-IHS） is proposed to solve the problem. The effect of the proposed algorithm is demonstrated in numerical simulations, and results show that it performs positively in searching the optimal solution and solving the WTA problem.
基金Sponsored by Beijing Priority Laboratory Fund of China(SYS10070522)
文摘To solve the weapon network system optimization problem against small raid objects with low attitude,the concept of direction probability and a new evaluation index system are proposed.By calculating the whole damaging probability that changes with the defending angle,the efficiency of the whole weapon network system can be subtly described.With such method,we can avoid the inconformity of the description obtained from the traditional index systems.Three new indexes are also proposed,i.e.join index,overlap index and cover index,which help manage the relationship among several sub-weapon-networks.By normalizing the computation results with the Sigmoid function,the matching problem between the optimization algorithm and indexes is well settled.Also,the algorithm of improved marriage in honey bees optimization that proposed in our previous work is applied to optimize the embattlement problem.Simulation is carried out to show the efficiency of the proposed indexes and the optimization algorithm.
文摘为了提高人工鱼群算法AFSA(artificial fish swarm algorithm)的全局搜索能力及加快其收敛速度,提出一种将其与免疫算法IA(immune algorithm)进行结合的新方法,形成了免疫人工鱼群算法IAFSA(immuneartificial fish swarm algorithm),并且利用该算法自动选取径向基函数RBF(radial basis function)神经网络中的输入变量,以及对网络中隐含层到输出层之间的权值进行训练,从而减少了RBF神经网络的工作量,提高了训练速度。用优化后的RBF神经网络进行短期负荷预测,结果表明,该方法具有较高的预测精度。
文摘为了解决快速搜索随机树(Rapid-exploration random tree,RRT)算法在高精度机械臂的路径规划中存在的问题,如采样点随机性强、路径指向性差、路径平滑度低、路径长等,提出了一种融合的人工鱼群算法(RRT-ASFA)来优化RRT生成的路径。首先,为RRT提出了一个目标偏置策略,以减少采样点的随机性并优化目标方向;提出了步长自适应和搜索区域限制,以优化路径规划时间。其次,对于人工鱼群算法(Artificial fish swarming algorithm,ASFA),提出了自适应步长和自适应视场范围以使人工鱼群更快收敛;对RRT规划的路径的转折点进行了优化,使路径更短。最后,通过Hermite样条函数对路径进行了平滑处理。通过仿真实验发现,与传统的RRT算法、目标偏置RRT算法和RRT^(*)算法相比,结合算法规划的路径长度更短,路径节点更少,这证明了该组合算法的可行性。
