In this paper,an adaptive cubic regularisation algorithm based on affine scaling methods(ARCBASM)is proposed for solving nonlinear equality constrained programming with nonnegative constraints on variables.From the op...In this paper,an adaptive cubic regularisation algorithm based on affine scaling methods(ARCBASM)is proposed for solving nonlinear equality constrained programming with nonnegative constraints on variables.From the optimality conditions of the problem,we introduce appropriate affine matrix and construct an affine scaling ARC subproblem with linearized constraints.Composite step methods and reduced Hessian methods are applied to tackle the linearized constraints.As a result,a standard unconstrained ARC subproblem is deduced and its solution can supply sufficient decrease.The fraction to the boundary rule maintains the strict feasibility(for nonnegative constraints on variables)of every iteration point.Reflection techniques are employed to prevent the iterations from approaching zero too early.Under mild assumptions,global convergence of the algorithm is analysed.Preliminary numerical results are reported.展开更多
Combining the vector level set model,the shape sensitivity analysis theory with the gradient projection technique,a level set method for topology optimization with multi-constraints and multi-materials is presented in...Combining the vector level set model,the shape sensitivity analysis theory with the gradient projection technique,a level set method for topology optimization with multi-constraints and multi-materials is presented in this paper.The method implicitly describes structural material in- terfaces by the vector level set and achieves the optimal shape and topology through the continuous evolution of the material interfaces in the structure.In order to increase computational efficiency for a fast convergence,an appropriate nonlinear speed mapping is established in the tangential space of the active constraints.Meanwhile,in order to overcome the numerical instability of general topology opti- mization problems,the regularization with the mean curvature flow is utilized to maintain the interface smoothness during the optimization process.The numerical examples demonstrate that the approach possesses a good flexibility in handling topological changes and gives an interface representation in a high fidelity,compared with other methods based on explicit boundary variations in the literature.展开更多
Sinter is the core raw material for blast furnaces.Flue pressure,which is an important state parameter,affects sinter quality.In this paper,flue pressure prediction and optimization were studied based on the shapley a...Sinter is the core raw material for blast furnaces.Flue pressure,which is an important state parameter,affects sinter quality.In this paper,flue pressure prediction and optimization were studied based on the shapley additive explanation(SHAP)to predict the flue pressure and take targeted adjustment measures.First,the sintering process data were collected and processed.A flue pressure prediction model was then constructed after comparing different feature selection methods and model algorithms using SHAP+extremely random-ized trees(ET).The prediction accuracy of the model within the error range of±0.25 kPa was 92.63%.SHAP analysis was employed to improve the interpretability of the prediction model.The effects of various sintering operation parameters on flue pressure,the relation-ship between the numerical range of key operation parameters and flue pressure,the effect of operation parameter combinations on flue pressure,and the prediction process of the flue pressure prediction model on a single sample were analyzed.A flue pressure optimization module was also constructed and analyzed when the prediction satisfied the judgment conditions.The operating parameter combination was then pushed.The flue pressure was increased by 5.87%during the verification process,achieving a good optimization effect.展开更多
The vehicle routing and scheduling (VRS) problem with multi-objective and multi-constraint is analyzed, considering the complexity of the modern logistics in city economy and daily life based on the system engineering...The vehicle routing and scheduling (VRS) problem with multi-objective and multi-constraint is analyzed, considering the complexity of the modern logistics in city economy and daily life based on the system engineering. The objective and constraint includes loading, the dispatch and arrival time, transportation conditions,total cost,etc. An information model and a mathematical model are built,and a method based on knowledge and biologic immunity is put forward for optimizing and evaluating the programs dimensions in vehicle routing and scheduling with multi-objective and multi-constraints. The proposed model and method are illustrated in a case study concerning a transport network, and the result shows that more optimization solutions can be easily obtained and the method is efficient and feasible. Comparing with the standard GA and the standard GA without time constraint,the computational time of the algorithm is less in this paper. And the probability of gaining optimal solution is bigger and the result is better under the condition of multi-constraint.展开更多
Present of wind power is sporadically and cannot be utilized as the only fundamental load of energy sources.This paper proposes a wind-solar hybrid energy storage system(HESS)to ensure a stable supply grid for a longe...Present of wind power is sporadically and cannot be utilized as the only fundamental load of energy sources.This paper proposes a wind-solar hybrid energy storage system(HESS)to ensure a stable supply grid for a longer period.A multi-objective genetic algorithm(MOGA)and state of charge(SOC)region division for the batteries are introduced to solve the objective function and configuration of the system capacity,respectively.MATLAB/Simulink was used for simulation test.The optimization results show that for a 0.5 MW wind power and 0.5 MW photovoltaic system,with a combination of a 300 Ah lithium battery,a 200 Ah lead-acid battery,and a water storage tank,the proposed strategy reduces the system construction cost by approximately 18,000 yuan.Additionally,the cycle count of the electrochemical energy storage systemincreases from4515 to 4660,while the depth of discharge decreases from 55.37%to 53.65%,achieving shallow charging and discharging,thereby extending battery life and reducing grid voltage fluctuations significantly.The proposed strategy is a guide for stabilizing the grid connection of wind and solar power generation,capability allocation,and energy management of energy conservation systems.展开更多
In this paper,we propose a three-term conjugate gradient method for solving unconstrained optimization problems based on the Hestenes-Stiefel(HS)conjugate gradient method and Polak-Ribiere-Polyak(PRP)conjugate gradien...In this paper,we propose a three-term conjugate gradient method for solving unconstrained optimization problems based on the Hestenes-Stiefel(HS)conjugate gradient method and Polak-Ribiere-Polyak(PRP)conjugate gradient method.Under the condition of standard Wolfe line search,the proposed search direction is the descent direction.For general nonlinear functions,the method is globally convergent.Finally,numerical results show that the proposed method is efficient.展开更多
With the increasing complexity of the current electromagnetic environment,excessive microwave radi-ation not only does harm to human health but also forms various electromagnetic interference to so-phisticated electro...With the increasing complexity of the current electromagnetic environment,excessive microwave radi-ation not only does harm to human health but also forms various electromagnetic interference to so-phisticated electronic instruments.Therefore,the design and preparation of electromagnetic absorbing composites represent an efficient approach to mitigate the current hazards of electromagnetic radiation.However,traditional electromagnetic absorbers are difficult to satisfy the demands of actual utilization in the face of new challenges,and emerging absorbents have garnered increasing attention due to their structure and performance-based advantages.In this review,several emerging composites of Mxene-based,biochar-based,chiral,and heat-resisting are discussed in detail,including their synthetic strategy,structural superiority and regulation method,and final optimization of electromagnetic absorption ca-pacity.These insights provide a comprehensive reference for the future development of new-generation electromagnetic-wave absorption composites.Moreover,the potential development directions of these emerging absorbers have been proposed as well.展开更多
In the area of reservoir engineering,the optimization of oil and gas production is a complex task involving a myriad of interconnected decision variables shaping the production system's infrastructure.Traditionall...In the area of reservoir engineering,the optimization of oil and gas production is a complex task involving a myriad of interconnected decision variables shaping the production system's infrastructure.Traditionally,this optimization process was centered on a single objective,such as net present value,return on investment,cumulative oil production,or cumulative water production.However,the inherent complexity of reservoir exploration necessitates a departure from this single-objective approach.Mul-tiple conflicting production and economic indicators must now be considered to enable more precise and robust decision-making.In response to this challenge,researchers have embarked on a journey to explore field development optimization of multiple conflicting criteria,employing the formidable tools of multi-objective optimization algorithms.These algorithms delve into the intricate terrain of production strategy design,seeking to strike a delicate balance between the often-contrasting objectives.Over the years,a plethora of these algorithms have emerged,ranging from a priori methods to a posteriori approach,each offering unique insights and capabilities.This survey endeavors to encapsulate,catego-rize,and scrutinize these invaluable contributions to field development optimization,which grapple with the complexities of multiple conflicting objective functions.Beyond the overview of existing methodologies,we delve into the persisting challenges faced by researchers and practitioners alike.Notably,the application of multi-objective optimization techniques to production optimization is hin-dered by the resource-intensive nature of reservoir simulation,especially when confronted with inherent uncertainties.As a result of this survey,emerging opportunities have been identified that will serve as catalysts for pivotal research endeavors in the future.As intelligent and more efficient algo-rithms continue to evolve,the potential for addressing hitherto insurmountable field development optimization obstacles becomes increasingly viable.This discussion on future prospects aims to inspire critical research,guiding the way toward innovative solutions in the ever-evolving landscape of oil and gas production optimization.展开更多
Single-pixel imaging(SPI)enables efficient sensing in challenging conditions.However,the requirement for numerous samplings constrains its practicality.We address the challenge of high-quality SPI reconstruction at ul...Single-pixel imaging(SPI)enables efficient sensing in challenging conditions.However,the requirement for numerous samplings constrains its practicality.We address the challenge of high-quality SPI reconstruction at ultra-low sampling rates.We develop an alternative optimization with physics and a data-driven diffusion network(APD-Net).It features alternative optimization driven by the learned task-agnostic natural image prior and the task-specific physics prior.During the training stage,APD-Net harnesses the power of diffusion models to capture data-driven statistics of natural signals.In the inference stage,the physics prior is introduced as corrective guidance to ensure consistency between the physics imaging model and the natural image probability distribution.Through alternative optimization,APD-Net reconstructs data-efficient,high-fidelity images that are statistically and physically compliant.To accelerate reconstruction,initializing images with the inverse SPI physical model reduces the need for reconstruction inference from 100 to 30 steps.Through both numerical simulations and real prototype experiments,APD-Net achieves high-quality,full-color reconstructions of complex natural images at a low sampling rate of 1%.In addition,APD-Net’s tuning-free nature ensures robustness across various imaging setups and sampling rates.Our research offers a broadly applicable approach for various applications,including but not limited to medical imaging and industrial inspection.展开更多
Considering the uncertainty of grid connection of electric vehicle charging stations and the uncertainty of new energy and residential electricity load,a spatio-temporal decoupling strategy of dynamic reactive power o...Considering the uncertainty of grid connection of electric vehicle charging stations and the uncertainty of new energy and residential electricity load,a spatio-temporal decoupling strategy of dynamic reactive power optimization based on clustering-local relaxation-correction is proposed.Firstly,the k-medoids clustering algorithm is used to divide the reduced power scene into periods.Then,the discrete variables and continuous variables are optimized in the same period of time.Finally,the number of input groups of parallel capacitor banks(CB)in multiple periods is fixed,and then the secondary static reactive power optimization correction is carried out by using the continuous reactive power output device based on the static reactive power compensation device(SVC),the new energy grid-connected inverter,and the electric vehicle charging station.According to the characteristics of the model,a hybrid optimization algorithm with a cross-feedback mechanism is used to solve different types of variables,and an improved artificial hummingbird algorithm based on tent chaotic mapping and adaptive mutation is proposed to improve the solution efficiency.The simulation results show that the proposed decoupling strategy can obtain satisfactory optimization resultswhile strictly guaranteeing the dynamic constraints of discrete variables,and the hybrid algorithm can effectively solve the mixed integer nonlinear optimization problem.展开更多
The multi-objective particle swarm optimization algorithm(MOPSO)is widely used to solve multi-objective optimization problems.In the article,amulti-objective particle swarm optimization algorithmbased on decomposition...The multi-objective particle swarm optimization algorithm(MOPSO)is widely used to solve multi-objective optimization problems.In the article,amulti-objective particle swarm optimization algorithmbased on decomposition and multi-selection strategy is proposed to improve the search efficiency.First,two update strategies based on decomposition are used to update the evolving population and external archive,respectively.Second,a multiselection strategy is designed.The first strategy is for the subspace without a non-dominated solution.Among the neighbor particles,the particle with the smallest penalty-based boundary intersection value is selected as the global optimal solution and the particle far away fromthe search particle and the global optimal solution is selected as the personal optimal solution to enhance global search.The second strategy is for the subspace with a non-dominated solution.In the neighbor particles,two particles are randomly selected,one as the global optimal solution and the other as the personal optimal solution,to enhance local search.The third strategy is for Pareto optimal front(PF)discontinuity,which is identified by the cumulative number of iterations of the subspace without non-dominated solutions.In the subsequent iteration,a new probability distribution is used to select from the remaining subspaces to search.Third,an adaptive inertia weight update strategy based on the dominated degree is designed to further improve the search efficiency.Finally,the proposed algorithmis compared with fivemulti-objective particle swarm optimization algorithms and five multi-objective evolutionary algorithms on 22 test problems.The results show that the proposed algorithm has better performance.展开更多
This study investigates the potential of Prosopis cineraria Leaves Powder(PCLP)as a biosorbent for removing lead(Pb)and zinc(Zn)from aqueous solutions,optimizing the process using Response Surface Methodology(RSM).Pro...This study investigates the potential of Prosopis cineraria Leaves Powder(PCLP)as a biosorbent for removing lead(Pb)and zinc(Zn)from aqueous solutions,optimizing the process using Response Surface Methodology(RSM).Prosopis cineraria,commonly known as Khejri,is a drought-resistant tree with significant promise in environmental applications.The research employed a Central Composite Design(CCD)to examine the independent and combined effects of key process variables,including initial metal ion concentration,contact time,pH,and PCLP dosage.RSM was used to develop mathematical models that explain the relationship between these factors and the efficiency of metal removal,allowing the determination of optimal operating conditions.The experimental results indicated that the Langmuir isotherm model was the most appropriate for describing the biosorption of both metals,suggesting favorable adsorption characteristics.Additionally,the D-R isotherm confirmed that chemisorption was the primary mechanism involved in the biosorption process.For lead removal,the optimal conditions were found to be 312.23 K temperature,pH 4.72,58.5 mg L-1 initial concentration,and 0.27 g biosorbent dosage,achieving an 83.77%removal efficiency.For zinc,the optimal conditions were 312.4 K,pH 5.86,53.07 mg L-1 initial concentration,and the same biosorbent dosage,resulting in a 75.86%removal efficiency.These findings highlight PCLP’s potential as an effective,eco-friendly biosorbent for sustainable heavy metal removal in water treatment.展开更多
A global routing algorithm with performance optimization under multi constraints is proposed,which studies RLC coupling noise,timing performance,and routability simultaneously at global routing level.The algorithm is...A global routing algorithm with performance optimization under multi constraints is proposed,which studies RLC coupling noise,timing performance,and routability simultaneously at global routing level.The algorithm is implemented and the global router is called CEE Gr.The CEE Gr is tested on MCNC benchmarks and the experimental results are promising.展开更多
The wireless signals emitted by base stations serve as a vital link connecting people in today’s society and have been occupying an increasingly important role in real life.The development of the Internet of Things(I...The wireless signals emitted by base stations serve as a vital link connecting people in today’s society and have been occupying an increasingly important role in real life.The development of the Internet of Things(IoT)relies on the support of base stations,which provide a solid foundation for achieving a more intelligent way of living.In a specific area,achieving higher signal coverage with fewer base stations has become an urgent problem.Therefore,this article focuses on the effective coverage area of base station signals and proposes a novel Evolutionary Particle Swarm Optimization(EPSO)algorithm based on collective prediction,referred to herein as ECPPSO.Introducing a new strategy called neighbor-based evolution prediction(NEP)addresses the issue of premature convergence often encountered by PSO.ECPPSO also employs a strengthening evolution(SE)strategy to enhance the algorithm’s global search capability and efficiency,ensuring enhanced robustness and a faster convergence speed when solving complex optimization problems.To better adapt to the actual communication needs of base stations,this article conducts simulation experiments by changing the number of base stations.The experimental results demonstrate thatunder the conditionof 50 ormore base stations,ECPPSOconsistently achieves the best coverage rate exceeding 95%,peaking at 99.4400%when the number of base stations reaches 80.These results validate the optimization capability of the ECPPSO algorithm,proving its feasibility and effectiveness.Further ablative experiments and comparisons with other algorithms highlight the advantages of ECPPSO.展开更多
Due to the limitations of spatial bandwidth product and data transmission bandwidth,the field of view,resolution,and imaging speed constrain each other in an optical imaging system.Here,a fast-zoom and high-resolution...Due to the limitations of spatial bandwidth product and data transmission bandwidth,the field of view,resolution,and imaging speed constrain each other in an optical imaging system.Here,a fast-zoom and high-resolution sparse compound-eye camera(CEC)based on dual-end collaborative optimization is proposed,which provides a cost-effective way to break through the trade-off among the field of view,resolution,and imaging speed.In the optical end,a sparse CEC based on liquid lenses is designed,which can realize large-field-of-view imaging in real time,and fast zooming within 5 ms.In the computational end,a disturbed degradation model driven super-resolution network(DDMDSR-Net)is proposed to deal with complex image degradation issues in actual imaging situations,achieving high-robustness and high-fidelity resolution enhancement.Based on the proposed dual-end collaborative optimization framework,the angular resolution of the CEC can be enhanced from 71.6"to 26.0",which provides a solution to realize high-resolution imaging for array camera dispensing with high optical hardware complexity and data transmission bandwidth.Experiments verify the advantages of the CEC based on dual-end collaborative optimization in high-fidelity reconstruction of real scene images,kilometer-level long-distance detection,and dynamic imaging and precise recognition of targets of interest.展开更多
Particle Swarm Optimization(PSO)has been utilized as a useful tool for solving intricate optimization problems for various applications in different fields.This paper attempts to carry out an update on PSO and gives a...Particle Swarm Optimization(PSO)has been utilized as a useful tool for solving intricate optimization problems for various applications in different fields.This paper attempts to carry out an update on PSO and gives a review of its recent developments and applications,but also provides arguments for its efficacy in resolving optimization problems in comparison with other algorithms.Covering six strategic areas,which include Data Mining,Machine Learning,Engineering Design,Energy Systems,Healthcare,and Robotics,the study demonstrates the versatility and effectiveness of the PSO.Experimental results are,however,used to show the strong and weak parts of PSO,and performance results are included in tables for ease of comparison.The results stress PSO’s efficiency in providing optimal solutions but also show that there are aspects that need to be improved through combination with algorithms or tuning to the parameters of the method.The review of the advantages and limitations of PSO is intended to provide academics and practitioners with a well-rounded view of the methods of employing such a tool most effectively and to encourage optimized designs of PSO in solving theoretical and practical problems in the future.展开更多
With the development of renewable energy technologies such as photovoltaics and wind power,it has become a research hotspot to improve the consumption rate of new energy and reduce energy costs through algorithm impro...With the development of renewable energy technologies such as photovoltaics and wind power,it has become a research hotspot to improve the consumption rate of new energy and reduce energy costs through algorithm improvement.To reduce the operational costs of micro-grid systems and the energy abandonment rate of renewable energy,while simultaneously enhancing user satisfaction on the demand side,this paper introduces an improvedmultiobjective Grey Wolf Optimizer based on Cauchy variation.The proposed approach incorporates a Cauchy variation strategy during the optimizer’s search phase to expand its exploration range and minimize the likelihood of becoming trapped in local optima.At the same time,adoptingmultiple energy storage methods to improve the consumption rate of renewable energy.Subsequently,under different energy balance orders,themulti-objective particle swarmalgorithm,multi-objective grey wolf optimizer,and Cauchy’s variant of the improvedmulti-objective grey wolf optimizer are used for example simulation,solving the Pareto solution set of the model and comparing.The analysis of the results reveals that,compared to the original optimizer,the improved optimizer decreases the daily cost by approximately 100 yuan,and reduces the energy abandonment rate to zero.Meanwhile,it enhances user satisfaction and ensures the stable operation of the micro-grid.展开更多
Previous studies have shown that deep learning is very effective in detecting known attacks.However,when facing unknown attacks,models such as Deep Neural Networks(DNN)combined with Long Short-Term Memory(LSTM),Convol...Previous studies have shown that deep learning is very effective in detecting known attacks.However,when facing unknown attacks,models such as Deep Neural Networks(DNN)combined with Long Short-Term Memory(LSTM),Convolutional Neural Networks(CNN)combined with LSTM,and so on are built by simple stacking,which has the problems of feature loss,low efficiency,and low accuracy.Therefore,this paper proposes an autonomous detectionmodel for Distributed Denial of Service attacks,Multi-Scale Convolutional Neural Network-Bidirectional Gated Recurrent Units-Single Headed Attention(MSCNN-BiGRU-SHA),which is based on a Multistrategy Integrated Zebra Optimization Algorithm(MI-ZOA).The model undergoes training and testing with the CICDDoS2019 dataset,and its performance is evaluated on a new GINKS2023 dataset.The hyperparameters for Conv_filter and GRU_unit are optimized using the Multi-strategy Integrated Zebra Optimization Algorithm(MIZOA).The experimental results show that the test accuracy of the MSCNN-BiGRU-SHA model based on the MIZOA proposed in this paper is as high as 0.9971 in the CICDDoS 2019 dataset.The evaluation accuracy of the new dataset GINKS2023 created in this paper is 0.9386.Compared to the MSCNN-BiGRU-SHA model based on the Zebra Optimization Algorithm(ZOA),the detection accuracy on the GINKS2023 dataset has improved by 5.81%,precisionhas increasedby 1.35%,the recallhas improvedby 9%,and theF1scorehas increasedby 5.55%.Compared to the MSCNN-BiGRU-SHA models developed using Grid Search,Random Search,and Bayesian Optimization,the MSCNN-BiGRU-SHA model optimized with the MI-ZOA exhibits better performance in terms of accuracy,precision,recall,and F1 score.展开更多
The umbilical,a key component in offshore energy extraction,plays a vital role in ensuring the stable operation of the entire production system.The extensive variety of cross-sectional components creates highly comple...The umbilical,a key component in offshore energy extraction,plays a vital role in ensuring the stable operation of the entire production system.The extensive variety of cross-sectional components creates highly complex layout combinations.Furthermore,due to constraints in component quantity and geometry within the cross-sectional layout,filler bodies must be incorporated to maintain cross-section performance.Conventional design approaches based on manual experience suffer from inefficiency,high variability,and difficulties in quantification.This paper presents a multi-level automatic filling optimization design method for umbilical cross-sectional layouts to address these limitations.Initially,the research establishes a multi-objective optimization model that considers compactness,balance,and wear resistance of the cross-section,employing an enhanced genetic algorithm to achieve a near-optimal layout.Subsequently,the study implements an image processing-based vacancy detection technique to accurately identify cross-sectional gaps.To manage the variability and diversity of these vacant regions,the research introduces a multi-level filling method that strategically selects and places filler bodies of varying dimensions,overcoming the constraints of uniform-size fillers.Additionally,the method incorporates a hierarchical strategy that subdivides the complex cross-section into multiple layers,enabling layer-by-layer optimization and filling.This approach reduces manufac-turing equipment requirements while ensuring practical production process feasibility.The methodology is validated through a specific umbilical case study.The results demonstrate improvements in compactness,balance,and wear resistance compared with the initial cross-section,offering novel insights and valuable references for filler design in umbilical cross-sections.展开更多
Moles exhibit highly effective capabilities due to their unique body structures and digging techniques,making them ideal models for biomimetic research.However,a major challenge for mole-inspired robots lies in overco...Moles exhibit highly effective capabilities due to their unique body structures and digging techniques,making them ideal models for biomimetic research.However,a major challenge for mole-inspired robots lies in overcoming resistance in granular media when burrowing with forelimbs.In the absence of effective forepaw design strategies,most robotic designs rely on increased power to enhance performance.To address this issue,this paper employs Resistive Force Theory to optimize mole-inspired forepaws,aiming to enhance burrowing efficiency.By analyzing the relationship between geometric parameters and burrowing forces,we propose several forepaw design variations.Through granular resistance assessments,an effective forepaw configuration is identified and further refined using parameters such as longitudinal and transverse curvature.Subsequently,the Particle Swarm Optimization algorithm is applied to determine the optimal forepaw design.In force-loading tests,the optimized forepaw demonstrated a 79.44%reduction in granular lift force and a 22.55%increase in propulsive force compared with the control group.In robotic burrowing experiments,the optimized forepaw achieved the longest burrow displacement(179.528 mm)and the lowest burrowing lift force(0.9355 mm/s),verifying its effectiveness in reducing the lift force and enhancing the propulsive force.展开更多
基金Supported by the National Natural Science Foundation of China(12071133)Natural Science Foundation of Henan Province(252300421993)Key Scientific Research Project of Higher Education Institutions in Henan Province(25B110005)。
文摘In this paper,an adaptive cubic regularisation algorithm based on affine scaling methods(ARCBASM)is proposed for solving nonlinear equality constrained programming with nonnegative constraints on variables.From the optimality conditions of the problem,we introduce appropriate affine matrix and construct an affine scaling ARC subproblem with linearized constraints.Composite step methods and reduced Hessian methods are applied to tackle the linearized constraints.As a result,a standard unconstrained ARC subproblem is deduced and its solution can supply sufficient decrease.The fraction to the boundary rule maintains the strict feasibility(for nonnegative constraints on variables)of every iteration point.Reflection techniques are employed to prevent the iterations from approaching zero too early.Under mild assumptions,global convergence of the algorithm is analysed.Preliminary numerical results are reported.
基金The project supported by the National Natural Science Foundation of China (59805001,10332010) and Key Science and Technology Research Project of Ministry of Education of China (No.104060)
文摘Combining the vector level set model,the shape sensitivity analysis theory with the gradient projection technique,a level set method for topology optimization with multi-constraints and multi-materials is presented in this paper.The method implicitly describes structural material in- terfaces by the vector level set and achieves the optimal shape and topology through the continuous evolution of the material interfaces in the structure.In order to increase computational efficiency for a fast convergence,an appropriate nonlinear speed mapping is established in the tangential space of the active constraints.Meanwhile,in order to overcome the numerical instability of general topology opti- mization problems,the regularization with the mean curvature flow is utilized to maintain the interface smoothness during the optimization process.The numerical examples demonstrate that the approach possesses a good flexibility in handling topological changes and gives an interface representation in a high fidelity,compared with other methods based on explicit boundary variations in the literature.
基金supported by the General Program of the National Natural Science Foundation of China(No.52274326)the China Baowu Low Carbon Metallurgy Innovation Foundation(No.BWLCF202109)the Seventh Batch of Ten Thousand Talents Plan of China(No.ZX20220553).
文摘Sinter is the core raw material for blast furnaces.Flue pressure,which is an important state parameter,affects sinter quality.In this paper,flue pressure prediction and optimization were studied based on the shapley additive explanation(SHAP)to predict the flue pressure and take targeted adjustment measures.First,the sintering process data were collected and processed.A flue pressure prediction model was then constructed after comparing different feature selection methods and model algorithms using SHAP+extremely random-ized trees(ET).The prediction accuracy of the model within the error range of±0.25 kPa was 92.63%.SHAP analysis was employed to improve the interpretability of the prediction model.The effects of various sintering operation parameters on flue pressure,the relation-ship between the numerical range of key operation parameters and flue pressure,the effect of operation parameter combinations on flue pressure,and the prediction process of the flue pressure prediction model on a single sample were analyzed.A flue pressure optimization module was also constructed and analyzed when the prediction satisfied the judgment conditions.The operating parameter combination was then pushed.The flue pressure was increased by 5.87%during the verification process,achieving a good optimization effect.
基金National natural science foundation (No:70371040)
文摘The vehicle routing and scheduling (VRS) problem with multi-objective and multi-constraint is analyzed, considering the complexity of the modern logistics in city economy and daily life based on the system engineering. The objective and constraint includes loading, the dispatch and arrival time, transportation conditions,total cost,etc. An information model and a mathematical model are built,and a method based on knowledge and biologic immunity is put forward for optimizing and evaluating the programs dimensions in vehicle routing and scheduling with multi-objective and multi-constraints. The proposed model and method are illustrated in a case study concerning a transport network, and the result shows that more optimization solutions can be easily obtained and the method is efficient and feasible. Comparing with the standard GA and the standard GA without time constraint,the computational time of the algorithm is less in this paper. And the probability of gaining optimal solution is bigger and the result is better under the condition of multi-constraint.
基金supported by a Horizontal Project on the Development of a Hybrid Energy Storage Simulation Model for Wind Power Based on an RT-LAB Simulation System(PH2023000190)the Inner Mongolia Natural Science Foundation Project and the Optimization of Exergy Efficiency of a Hybrid Energy Storage System with Crossover Control for Wind Power(2023JQ04).
文摘Present of wind power is sporadically and cannot be utilized as the only fundamental load of energy sources.This paper proposes a wind-solar hybrid energy storage system(HESS)to ensure a stable supply grid for a longer period.A multi-objective genetic algorithm(MOGA)and state of charge(SOC)region division for the batteries are introduced to solve the objective function and configuration of the system capacity,respectively.MATLAB/Simulink was used for simulation test.The optimization results show that for a 0.5 MW wind power and 0.5 MW photovoltaic system,with a combination of a 300 Ah lithium battery,a 200 Ah lead-acid battery,and a water storage tank,the proposed strategy reduces the system construction cost by approximately 18,000 yuan.Additionally,the cycle count of the electrochemical energy storage systemincreases from4515 to 4660,while the depth of discharge decreases from 55.37%to 53.65%,achieving shallow charging and discharging,thereby extending battery life and reducing grid voltage fluctuations significantly.The proposed strategy is a guide for stabilizing the grid connection of wind and solar power generation,capability allocation,and energy management of energy conservation systems.
基金Supported by the Science and Technology Project of Guangxi(Guike AD23023002)。
文摘In this paper,we propose a three-term conjugate gradient method for solving unconstrained optimization problems based on the Hestenes-Stiefel(HS)conjugate gradient method and Polak-Ribiere-Polyak(PRP)conjugate gradient method.Under the condition of standard Wolfe line search,the proposed search direction is the descent direction.For general nonlinear functions,the method is globally convergent.Finally,numerical results show that the proposed method is efficient.
基金supported by the Surface Project of Local De-velopment in Science and Technology Guided by Central Govern-ment(No.2021ZYD0041)the National Natural Science Founda-tion of China(Nos.52377026 and 52301192)+3 种基金the Natural Science Foundation of Shandong Province(No.ZR2019YQ24)the Taishan Scholars and Young Experts Program of Shandong Province(No.tsqn202103057)the Special Financial of Shandong Province(Struc-tural Design of High-efficiency Electromagnetic Wave-absorbing Composite Materials and Construction of Shandong Provincial Tal-ent Teams)the“Sanqin Scholars”Innovation Teams Project of Shaanxi Province(Clean Energy Materials and High-Performance Devices Innovation Team of Shaanxi Dongling Smelting Co.,Ltd.).
文摘With the increasing complexity of the current electromagnetic environment,excessive microwave radi-ation not only does harm to human health but also forms various electromagnetic interference to so-phisticated electronic instruments.Therefore,the design and preparation of electromagnetic absorbing composites represent an efficient approach to mitigate the current hazards of electromagnetic radiation.However,traditional electromagnetic absorbers are difficult to satisfy the demands of actual utilization in the face of new challenges,and emerging absorbents have garnered increasing attention due to their structure and performance-based advantages.In this review,several emerging composites of Mxene-based,biochar-based,chiral,and heat-resisting are discussed in detail,including their synthetic strategy,structural superiority and regulation method,and final optimization of electromagnetic absorption ca-pacity.These insights provide a comprehensive reference for the future development of new-generation electromagnetic-wave absorption composites.Moreover,the potential development directions of these emerging absorbers have been proposed as well.
基金the support of EPIC - Energy Production Innovation Center, hosted by the University of Campinas (UNICAMP) and sponsored by Equinor Brazil and FAPESP - Sao Paulo Research Foundation (2021/04878- 7 and 2017/15736-3)financed in part by the Coordenacao de Aperfeicoamento de Pessoal de Nível Superior Brasil (CAPES) - Financing Code 001
文摘In the area of reservoir engineering,the optimization of oil and gas production is a complex task involving a myriad of interconnected decision variables shaping the production system's infrastructure.Traditionally,this optimization process was centered on a single objective,such as net present value,return on investment,cumulative oil production,or cumulative water production.However,the inherent complexity of reservoir exploration necessitates a departure from this single-objective approach.Mul-tiple conflicting production and economic indicators must now be considered to enable more precise and robust decision-making.In response to this challenge,researchers have embarked on a journey to explore field development optimization of multiple conflicting criteria,employing the formidable tools of multi-objective optimization algorithms.These algorithms delve into the intricate terrain of production strategy design,seeking to strike a delicate balance between the often-contrasting objectives.Over the years,a plethora of these algorithms have emerged,ranging from a priori methods to a posteriori approach,each offering unique insights and capabilities.This survey endeavors to encapsulate,catego-rize,and scrutinize these invaluable contributions to field development optimization,which grapple with the complexities of multiple conflicting objective functions.Beyond the overview of existing methodologies,we delve into the persisting challenges faced by researchers and practitioners alike.Notably,the application of multi-objective optimization techniques to production optimization is hin-dered by the resource-intensive nature of reservoir simulation,especially when confronted with inherent uncertainties.As a result of this survey,emerging opportunities have been identified that will serve as catalysts for pivotal research endeavors in the future.As intelligent and more efficient algo-rithms continue to evolve,the potential for addressing hitherto insurmountable field development optimization obstacles becomes increasingly viable.This discussion on future prospects aims to inspire critical research,guiding the way toward innovative solutions in the ever-evolving landscape of oil and gas production optimization.
基金upported by the National Natural Science Foundation of China(Grant No.62305184)the Major Key Project of Pengcheng Laboratory(Grant No.PCL2024A1)+1 种基金the Basic and Applied Basic Research Foundation of Guangdong Province(Grant No.2023A1515012932)the Science,Technology and Innovation Commission of Shenzhen Municipality(Grant No.WDZC20220818100259004).
文摘Single-pixel imaging(SPI)enables efficient sensing in challenging conditions.However,the requirement for numerous samplings constrains its practicality.We address the challenge of high-quality SPI reconstruction at ultra-low sampling rates.We develop an alternative optimization with physics and a data-driven diffusion network(APD-Net).It features alternative optimization driven by the learned task-agnostic natural image prior and the task-specific physics prior.During the training stage,APD-Net harnesses the power of diffusion models to capture data-driven statistics of natural signals.In the inference stage,the physics prior is introduced as corrective guidance to ensure consistency between the physics imaging model and the natural image probability distribution.Through alternative optimization,APD-Net reconstructs data-efficient,high-fidelity images that are statistically and physically compliant.To accelerate reconstruction,initializing images with the inverse SPI physical model reduces the need for reconstruction inference from 100 to 30 steps.Through both numerical simulations and real prototype experiments,APD-Net achieves high-quality,full-color reconstructions of complex natural images at a low sampling rate of 1%.In addition,APD-Net’s tuning-free nature ensures robustness across various imaging setups and sampling rates.Our research offers a broadly applicable approach for various applications,including but not limited to medical imaging and industrial inspection.
基金funded by the“Research and Application Project of Collaborative Optimization Control Technology for Distribution Station Area for High Proportion Distributed PV Consumption(4000-202318079A-1-1-ZN)”of the Headquarters of the State Grid Corporation.
文摘Considering the uncertainty of grid connection of electric vehicle charging stations and the uncertainty of new energy and residential electricity load,a spatio-temporal decoupling strategy of dynamic reactive power optimization based on clustering-local relaxation-correction is proposed.Firstly,the k-medoids clustering algorithm is used to divide the reduced power scene into periods.Then,the discrete variables and continuous variables are optimized in the same period of time.Finally,the number of input groups of parallel capacitor banks(CB)in multiple periods is fixed,and then the secondary static reactive power optimization correction is carried out by using the continuous reactive power output device based on the static reactive power compensation device(SVC),the new energy grid-connected inverter,and the electric vehicle charging station.According to the characteristics of the model,a hybrid optimization algorithm with a cross-feedback mechanism is used to solve different types of variables,and an improved artificial hummingbird algorithm based on tent chaotic mapping and adaptive mutation is proposed to improve the solution efficiency.The simulation results show that the proposed decoupling strategy can obtain satisfactory optimization resultswhile strictly guaranteeing the dynamic constraints of discrete variables,and the hybrid algorithm can effectively solve the mixed integer nonlinear optimization problem.
基金supported by National Natural Science Foundations of China(nos.12271326,62102304,61806120,61502290,61672334,61673251)China Postdoctoral Science Foundation(no.2015M582606)+2 种基金Industrial Research Project of Science and Technology in Shaanxi Province(nos.2015GY016,2017JQ6063)Fundamental Research Fund for the Central Universities(no.GK202003071)Natural Science Basic Research Plan in Shaanxi Province of China(no.2022JM-354).
文摘The multi-objective particle swarm optimization algorithm(MOPSO)is widely used to solve multi-objective optimization problems.In the article,amulti-objective particle swarm optimization algorithmbased on decomposition and multi-selection strategy is proposed to improve the search efficiency.First,two update strategies based on decomposition are used to update the evolving population and external archive,respectively.Second,a multiselection strategy is designed.The first strategy is for the subspace without a non-dominated solution.Among the neighbor particles,the particle with the smallest penalty-based boundary intersection value is selected as the global optimal solution and the particle far away fromthe search particle and the global optimal solution is selected as the personal optimal solution to enhance global search.The second strategy is for the subspace with a non-dominated solution.In the neighbor particles,two particles are randomly selected,one as the global optimal solution and the other as the personal optimal solution,to enhance local search.The third strategy is for Pareto optimal front(PF)discontinuity,which is identified by the cumulative number of iterations of the subspace without non-dominated solutions.In the subsequent iteration,a new probability distribution is used to select from the remaining subspaces to search.Third,an adaptive inertia weight update strategy based on the dominated degree is designed to further improve the search efficiency.Finally,the proposed algorithmis compared with fivemulti-objective particle swarm optimization algorithms and five multi-objective evolutionary algorithms on 22 test problems.The results show that the proposed algorithm has better performance.
文摘This study investigates the potential of Prosopis cineraria Leaves Powder(PCLP)as a biosorbent for removing lead(Pb)and zinc(Zn)from aqueous solutions,optimizing the process using Response Surface Methodology(RSM).Prosopis cineraria,commonly known as Khejri,is a drought-resistant tree with significant promise in environmental applications.The research employed a Central Composite Design(CCD)to examine the independent and combined effects of key process variables,including initial metal ion concentration,contact time,pH,and PCLP dosage.RSM was used to develop mathematical models that explain the relationship between these factors and the efficiency of metal removal,allowing the determination of optimal operating conditions.The experimental results indicated that the Langmuir isotherm model was the most appropriate for describing the biosorption of both metals,suggesting favorable adsorption characteristics.Additionally,the D-R isotherm confirmed that chemisorption was the primary mechanism involved in the biosorption process.For lead removal,the optimal conditions were found to be 312.23 K temperature,pH 4.72,58.5 mg L-1 initial concentration,and 0.27 g biosorbent dosage,achieving an 83.77%removal efficiency.For zinc,the optimal conditions were 312.4 K,pH 5.86,53.07 mg L-1 initial concentration,and the same biosorbent dosage,resulting in a 75.86%removal efficiency.These findings highlight PCLP’s potential as an effective,eco-friendly biosorbent for sustainable heavy metal removal in water treatment.
文摘A global routing algorithm with performance optimization under multi constraints is proposed,which studies RLC coupling noise,timing performance,and routability simultaneously at global routing level.The algorithm is implemented and the global router is called CEE Gr.The CEE Gr is tested on MCNC benchmarks and the experimental results are promising.
基金supported by the National Natural Science Foundation of China(Nos.62272418,62102058)Basic Public Welfare Research Program of Zhejiang Province(No.LGG18E050011)the Major Open Project of Key Laboratory for Advanced Design and Intelligent Computing of the Ministry of Education under Grant ADIC2023ZD001,National Undergraduate Training Program on Innovation and Entrepreneurship(No.202410345054).
文摘The wireless signals emitted by base stations serve as a vital link connecting people in today’s society and have been occupying an increasingly important role in real life.The development of the Internet of Things(IoT)relies on the support of base stations,which provide a solid foundation for achieving a more intelligent way of living.In a specific area,achieving higher signal coverage with fewer base stations has become an urgent problem.Therefore,this article focuses on the effective coverage area of base station signals and proposes a novel Evolutionary Particle Swarm Optimization(EPSO)algorithm based on collective prediction,referred to herein as ECPPSO.Introducing a new strategy called neighbor-based evolution prediction(NEP)addresses the issue of premature convergence often encountered by PSO.ECPPSO also employs a strengthening evolution(SE)strategy to enhance the algorithm’s global search capability and efficiency,ensuring enhanced robustness and a faster convergence speed when solving complex optimization problems.To better adapt to the actual communication needs of base stations,this article conducts simulation experiments by changing the number of base stations.The experimental results demonstrate thatunder the conditionof 50 ormore base stations,ECPPSOconsistently achieves the best coverage rate exceeding 95%,peaking at 99.4400%when the number of base stations reaches 80.These results validate the optimization capability of the ECPPSO algorithm,proving its feasibility and effectiveness.Further ablative experiments and comparisons with other algorithms highlight the advantages of ECPPSO.
基金financial supports from National Natural Science Foundation of China(Grant Nos.U23A20368 and 62175006)Academic Excellence Foundation of BUAA for PhD Students.
文摘Due to the limitations of spatial bandwidth product and data transmission bandwidth,the field of view,resolution,and imaging speed constrain each other in an optical imaging system.Here,a fast-zoom and high-resolution sparse compound-eye camera(CEC)based on dual-end collaborative optimization is proposed,which provides a cost-effective way to break through the trade-off among the field of view,resolution,and imaging speed.In the optical end,a sparse CEC based on liquid lenses is designed,which can realize large-field-of-view imaging in real time,and fast zooming within 5 ms.In the computational end,a disturbed degradation model driven super-resolution network(DDMDSR-Net)is proposed to deal with complex image degradation issues in actual imaging situations,achieving high-robustness and high-fidelity resolution enhancement.Based on the proposed dual-end collaborative optimization framework,the angular resolution of the CEC can be enhanced from 71.6"to 26.0",which provides a solution to realize high-resolution imaging for array camera dispensing with high optical hardware complexity and data transmission bandwidth.Experiments verify the advantages of the CEC based on dual-end collaborative optimization in high-fidelity reconstruction of real scene images,kilometer-level long-distance detection,and dynamic imaging and precise recognition of targets of interest.
文摘Particle Swarm Optimization(PSO)has been utilized as a useful tool for solving intricate optimization problems for various applications in different fields.This paper attempts to carry out an update on PSO and gives a review of its recent developments and applications,but also provides arguments for its efficacy in resolving optimization problems in comparison with other algorithms.Covering six strategic areas,which include Data Mining,Machine Learning,Engineering Design,Energy Systems,Healthcare,and Robotics,the study demonstrates the versatility and effectiveness of the PSO.Experimental results are,however,used to show the strong and weak parts of PSO,and performance results are included in tables for ease of comparison.The results stress PSO’s efficiency in providing optimal solutions but also show that there are aspects that need to be improved through combination with algorithms or tuning to the parameters of the method.The review of the advantages and limitations of PSO is intended to provide academics and practitioners with a well-rounded view of the methods of employing such a tool most effectively and to encourage optimized designs of PSO in solving theoretical and practical problems in the future.
基金supported by the Open Fund of Guangxi Key Laboratory of Building New Energy and Energy Conservation(Project Number:Guike Energy 17-J-21-3).
文摘With the development of renewable energy technologies such as photovoltaics and wind power,it has become a research hotspot to improve the consumption rate of new energy and reduce energy costs through algorithm improvement.To reduce the operational costs of micro-grid systems and the energy abandonment rate of renewable energy,while simultaneously enhancing user satisfaction on the demand side,this paper introduces an improvedmultiobjective Grey Wolf Optimizer based on Cauchy variation.The proposed approach incorporates a Cauchy variation strategy during the optimizer’s search phase to expand its exploration range and minimize the likelihood of becoming trapped in local optima.At the same time,adoptingmultiple energy storage methods to improve the consumption rate of renewable energy.Subsequently,under different energy balance orders,themulti-objective particle swarmalgorithm,multi-objective grey wolf optimizer,and Cauchy’s variant of the improvedmulti-objective grey wolf optimizer are used for example simulation,solving the Pareto solution set of the model and comparing.The analysis of the results reveals that,compared to the original optimizer,the improved optimizer decreases the daily cost by approximately 100 yuan,and reduces the energy abandonment rate to zero.Meanwhile,it enhances user satisfaction and ensures the stable operation of the micro-grid.
基金supported by Science and Technology Innovation Programfor Postgraduate Students in IDP Subsidized by Fundamental Research Funds for the Central Universities(Project No.ZY20240335)support of the Research Project of the Key Technology of Malicious Code Detection Based on Data Mining in APT Attack(Project No.2022IT173)the Research Project of the Big Data Sensitive Information Supervision Technology Based on Convolutional Neural Network(Project No.2022011033).
文摘Previous studies have shown that deep learning is very effective in detecting known attacks.However,when facing unknown attacks,models such as Deep Neural Networks(DNN)combined with Long Short-Term Memory(LSTM),Convolutional Neural Networks(CNN)combined with LSTM,and so on are built by simple stacking,which has the problems of feature loss,low efficiency,and low accuracy.Therefore,this paper proposes an autonomous detectionmodel for Distributed Denial of Service attacks,Multi-Scale Convolutional Neural Network-Bidirectional Gated Recurrent Units-Single Headed Attention(MSCNN-BiGRU-SHA),which is based on a Multistrategy Integrated Zebra Optimization Algorithm(MI-ZOA).The model undergoes training and testing with the CICDDoS2019 dataset,and its performance is evaluated on a new GINKS2023 dataset.The hyperparameters for Conv_filter and GRU_unit are optimized using the Multi-strategy Integrated Zebra Optimization Algorithm(MIZOA).The experimental results show that the test accuracy of the MSCNN-BiGRU-SHA model based on the MIZOA proposed in this paper is as high as 0.9971 in the CICDDoS 2019 dataset.The evaluation accuracy of the new dataset GINKS2023 created in this paper is 0.9386.Compared to the MSCNN-BiGRU-SHA model based on the Zebra Optimization Algorithm(ZOA),the detection accuracy on the GINKS2023 dataset has improved by 5.81%,precisionhas increasedby 1.35%,the recallhas improvedby 9%,and theF1scorehas increasedby 5.55%.Compared to the MSCNN-BiGRU-SHA models developed using Grid Search,Random Search,and Bayesian Optimization,the MSCNN-BiGRU-SHA model optimized with the MI-ZOA exhibits better performance in terms of accuracy,precision,recall,and F1 score.
基金financially supported by Guangdong Province Basic and Applied Basic Research Fund Project(Grant No.2022B1515250009)Liaoning Provincial Natural Science Foundation-Doctoral Research Start-up Fund Project(Grant No.2024-BSBA-05)+1 种基金Major Science and Technology Innovation Project in Shandong Province(Grant No.2024CXGC010803)the National Natural Science Foundation of China(Grant Nos.52271269 and 12302147).
文摘The umbilical,a key component in offshore energy extraction,plays a vital role in ensuring the stable operation of the entire production system.The extensive variety of cross-sectional components creates highly complex layout combinations.Furthermore,due to constraints in component quantity and geometry within the cross-sectional layout,filler bodies must be incorporated to maintain cross-section performance.Conventional design approaches based on manual experience suffer from inefficiency,high variability,and difficulties in quantification.This paper presents a multi-level automatic filling optimization design method for umbilical cross-sectional layouts to address these limitations.Initially,the research establishes a multi-objective optimization model that considers compactness,balance,and wear resistance of the cross-section,employing an enhanced genetic algorithm to achieve a near-optimal layout.Subsequently,the study implements an image processing-based vacancy detection technique to accurately identify cross-sectional gaps.To manage the variability and diversity of these vacant regions,the research introduces a multi-level filling method that strategically selects and places filler bodies of varying dimensions,overcoming the constraints of uniform-size fillers.Additionally,the method incorporates a hierarchical strategy that subdivides the complex cross-section into multiple layers,enabling layer-by-layer optimization and filling.This approach reduces manufac-turing equipment requirements while ensuring practical production process feasibility.The methodology is validated through a specific umbilical case study.The results demonstrate improvements in compactness,balance,and wear resistance compared with the initial cross-section,offering novel insights and valuable references for filler design in umbilical cross-sections.
基金financially supported in-part by the National Natural Science Foundation of China(52275011)the Natural Science Foundation of Guangdong Province(2023B1515020080)+3 种基金the Natural Science Foundation of Guangzhou(2024A04J2552)the Fundamental Research Funds for the Central Universities,the Young Elite Scientists Sponsorship Program by the China Association for Science and Technology(CAST)(2021QNRC001)the Guangdong Basic and Applied Basic Research Foundation(Grant No.2023A1515011253)the Higher Education Institution Featured Innovation Project of Department of Education of Guangdong Province(GrantNo.2023KTSCX138).
文摘Moles exhibit highly effective capabilities due to their unique body structures and digging techniques,making them ideal models for biomimetic research.However,a major challenge for mole-inspired robots lies in overcoming resistance in granular media when burrowing with forelimbs.In the absence of effective forepaw design strategies,most robotic designs rely on increased power to enhance performance.To address this issue,this paper employs Resistive Force Theory to optimize mole-inspired forepaws,aiming to enhance burrowing efficiency.By analyzing the relationship between geometric parameters and burrowing forces,we propose several forepaw design variations.Through granular resistance assessments,an effective forepaw configuration is identified and further refined using parameters such as longitudinal and transverse curvature.Subsequently,the Particle Swarm Optimization algorithm is applied to determine the optimal forepaw design.In force-loading tests,the optimized forepaw demonstrated a 79.44%reduction in granular lift force and a 22.55%increase in propulsive force compared with the control group.In robotic burrowing experiments,the optimized forepaw achieved the longest burrow displacement(179.528 mm)and the lowest burrowing lift force(0.9355 mm/s),verifying its effectiveness in reducing the lift force and enhancing the propulsive force.
