This research develops a comprehensive method to solve a combinatorial problem consisting of distribution system reconfiguration, capacitor allocation, and renewable energy resources sizing and siting simultaneously a...This research develops a comprehensive method to solve a combinatorial problem consisting of distribution system reconfiguration, capacitor allocation, and renewable energy resources sizing and siting simultaneously and to improve power system's accountability and system performance parameters. Due to finding solution which is closer to realistic characteristics, load forecasting, market price errors and the uncertainties related to the variable output power of wind based DG units are put in consideration. This work employs NSGA-II accompanied by the fuzzy set theory to solve the aforementioned multi-objective problem. The proposed scheme finally leads to a solution with a minimum voltage deviation, a maximum voltage stability, lower amount of pollutant and lower cost. The cost includes the installation costs of new equipment, reconfiguration costs, power loss cost, reliability cost, cost of energy purchased from power market, upgrade costs of lines and operation and maintenance costs of DGs. Therefore, the proposed methodology improves power quality, reliability and security in lower costs besides its preserve, with the operational indices of power distribution networks in acceptable level. To validate the proposed methodology's usefulness, it was applied on the IEEE 33-bus distribution system then the outcomes were compared with initial configuration.展开更多
This work addresses the cut order planning(COP)problem for multi-color garment production,which is the first step in the clothing industry.First,a multi-objective optimization model of multicolor COP(MCOP)is establish...This work addresses the cut order planning(COP)problem for multi-color garment production,which is the first step in the clothing industry.First,a multi-objective optimization model of multicolor COP(MCOP)is established with production error and production cost as optimization objectives,combined with constraints such as the number of equipment and the number of layers.Second,a decoupled multi-objective optimization algorithm(DMOA)is proposed based on the linear programming decoupling strategy and non-dominated sorting in genetic algorithmsⅡ(NSGAII).The size-combination matrix and the fabric-layer matrix are decoupled to improve the accuracy of the algorithm.Meanwhile,an improved NSGAII algorithm is designed to obtain the optimal Pareto solution to the MCOP problem,thereby constructing a practical intelligent production optimization algorithm.Finally,the effectiveness and superiority of the proposed DMOA are verified through practical cases and comparative experiments,which can effectively optimize the production process for garment enterprises.展开更多
Solving the path planning problem of Autonomous Underwater Vehicles(AUVs)is crucial for reducing energy waste and improving operational efficiency.However,two main challenges hinder further development:Firstly,existin...Solving the path planning problem of Autonomous Underwater Vehicles(AUVs)is crucial for reducing energy waste and improving operational efficiency.However,two main challenges hinder further development:Firstly,existing algorithms often treat this as a single-objective optimization problem,whereas in reality,it should be multi-objective,considering factors such as distance,safety,and smoothness simultaneously.Secondly,the limited availability of optimization results arises due to they are single-path,which fail to meet real-world conditions.To address these challenges,first of all,an improved AUV path planning model is proposed,in which the collisions of path and obstacles are classified more specifically.Subsequently,a novel Altruistic Nurturing Algorithm(ANA)inspired by natural altruism is introduced.In the algorithm,nurturing cost considering Pareto rank and crowd distance is introduced as guidance of evolution to avoid futile calculation,abandonment threshold is self-adaptive with descendant situation to help individuals escape from local optima and double selection strategy combining crowd and k-nearest neighbors selection helps to get a better-distributed Pareto front.Experimental results comparing ANA with existing algorithms in AUV path planning demonstrate its superiority.Finally,a user-friendly interface,the Multi-Objective AUV Path Planner,is designed to provide users with a group of paths for informed decisionmaking.展开更多
Combat effectiveness of unmanned aerial vehicle(UAV)formations can be severely affected by the mission execution reliability.During the practical execution phase,there are inevitable risks where UAVs being destroyed o...Combat effectiveness of unmanned aerial vehicle(UAV)formations can be severely affected by the mission execution reliability.During the practical execution phase,there are inevitable risks where UAVs being destroyed or targets failed to be executed.To improve the mission reliability,a resilient mission planning framework integrates task pre-and re-assignment modules is developed in this paper.In the task pre-assignment phase,to guarantee the mission reliability,probability constraints regarding the minimum mission success rate are imposed to establish a multi-objective optimization model.And an improved genetic algorithm with the multi-population mechanism and specifically designed evolutionary operators is used for efficient solution.As in the task-reassignment phase,possible trigger events are first analyzed.A real-time contract net protocol-based algorithm is then proposed to address the corresponding emergency scenario.And the dual objective used in the former phase is adapted into a single objective to keep a consistent combat intention.Three cases of different scales demonstrate that the two modules cooperate well with each other.On the one hand,the pre-assignment module can generate high-reliability mission schedules as an elaborate mathematical model is introduced.On the other hand,the re-assignment module can efficiently respond to various emergencies and adjust the original schedule within a millisecond.The corresponding animation is accessible at bilibili.com/video/BV12t421w7EE for better illustration.展开更多
The close proximity and the necessity of coordination between multiple high-voltage direct currents(HVDCs)raise the issue of grid partitioning in multi-infeed HVDC systems.A multi-objective partition strategy is propo...The close proximity and the necessity of coordination between multiple high-voltage direct currents(HVDCs)raise the issue of grid partitioning in multi-infeed HVDC systems.A multi-objective partition strategy is proposed in this paper.Several types of relationships to be coordinated and complemented are analyzed and formulated using quantitative indices.According to the graph theory,the HVDC partition is transformed into a graph-cut problem and solved via the spectral clustering algorithm.Finally,the proposed method is validated for a practical multi-HVDC grid,confirming its feasibility and effectiveness.展开更多
The intelligent optimization of a multi-objective evolutionary algorithm is combined with a gradient algorithm. The hybrid multi-objective gradient algorithm is framed by the real number. Test functions are used to an...The intelligent optimization of a multi-objective evolutionary algorithm is combined with a gradient algorithm. The hybrid multi-objective gradient algorithm is framed by the real number. Test functions are used to analyze the efficiency of the algorithm. In the simulation case of the water phantom, the algorithm is applied to an inverse planning process of intensity modulated radiation treatment （IMRT）. The objective functions of planning target volume （PTV） and normal tissue （NT） are based on the average dose distribution. The obtained intensity profile shows that the hybrid multi-objective gradient algorithm saves the computational time and has good accuracy, thus meeting the requirements of practical applications.展开更多
Task scheduling in cloud computing is a multi-objective optimization problem,often involving conflicting objectives such as minimizing execution time,reducing operational cost,and maximizing resource utilization.Howev...Task scheduling in cloud computing is a multi-objective optimization problem,often involving conflicting objectives such as minimizing execution time,reducing operational cost,and maximizing resource utilization.However,traditional approaches frequently rely on single-objective optimization methods which are insufficient for capturing the complexity of such problems.To address this limitation,we introduce MDMOSA(Multi-objective Dwarf Mongoose Optimization with Simulated Annealing),a hybrid that integrates multi-objective optimization for efficient task scheduling in Infrastructure-as-a-Service(IaaS)cloud environments.MDMOSA harmonizes the exploration capabilities of the biologically inspired Dwarf Mongoose Optimization(DMO)with the exploitation strengths of Simulated Annealing(SA),achieving a balanced search process.The algorithm aims to optimize task allocation by reducing makespan and financial cost while improving system resource utilization.We evaluate MDMOSA through extensive simulations using the real-world Google Cloud Jobs(GoCJ)dataset within the CloudSim environment.Comparative analysis against benchmarked algorithms such as SMOACO,MOTSGWO,and MFPAGWO reveals that MDMOSA consistently achieves superior performance in terms of scheduling efficiency,cost-effectiveness,and scalability.These results confirm the potential of MDMOSA as a robust and adaptable solution for resource scheduling in dynamic and heterogeneous cloud computing infrastructures.展开更多
Deployable Composite Thin-Walled Structures(DCTWS)are widely used in space applications due to their ability to compactly fold and self-deploy in orbit,enabled by cutouts.Cutout design is crucial for balancing structu...Deployable Composite Thin-Walled Structures(DCTWS)are widely used in space applications due to their ability to compactly fold and self-deploy in orbit,enabled by cutouts.Cutout design is crucial for balancing structural rigidity and flexibility,ensuring material integrity during large deformations,and providing adequate load-bearing capacity and stability once deployed.Most research has focused on optimizing cutout size and shape,while topology optimization offers a broader design space.However,the anisotropic properties of woven composite laminates,complex failure criteria,and multi-performance optimization needs have limited the exploration of topology optimization in this field.This work derives the sensitivities of bending stiffness,critical buckling load,and the failure index of woven composite materials with respect to element density,and formulates both single-objective and multi-objective topology optimization models using a linear weighted aggregation approach.The developed method was integrated with the commercial finite element software ABAQUS via a Python script,allowing efficient application to cutout design in various DCTWS configurations to maximize bending stiffness and critical buckling load under material failure constraints.Optimization of a classical tubular hinge resulted in improvements of 107.7%in bending stiffness and 420.5%in critical buckling load compared to level-set topology optimization results reported in the literature,validating the effectiveness of the approach.To facilitate future research and encourage the broader adoption of topology optimization techniques in DCTWS design,the source code for this work is made publicly available via a Git Hub link:https://github.com/jinhao-ok1/Topo-for-DCTWS.git.展开更多
In a wide range of engineering applications,complex constrained multi-objective optimization problems(CMOPs)present significant challenges,as the complexity of constraints often hampers algorithmic convergence and red...In a wide range of engineering applications,complex constrained multi-objective optimization problems(CMOPs)present significant challenges,as the complexity of constraints often hampers algorithmic convergence and reduces population diversity.To address these challenges,we propose a novel algorithm named Constraint IntensityDriven Evolutionary Multitasking(CIDEMT),which employs a two-stage,tri-task framework to dynamically integrates problem structure and knowledge transfer.In the first stage,three cooperative tasks are designed to explore the Constrained Pareto Front(CPF),the Unconstrained Pareto Front(UPF),and theε-relaxed constraint boundary,respectively.A CPF-UPF relationship classifier is employed to construct a problem-type-aware evolutionary strategy pool.At the end of the first stage,each task selects strategies from this strategy pool based on the specific type of problem,thereby guiding the subsequent evolutionary process.In the second stage,while each task continues to evolve,aτ-driven knowledge transfer mechanism is introduced to selectively incorporate effective solutions across tasks.enhancing the convergence and feasibility of the main task.Extensive experiments conducted on 32 benchmark problems from three test suites(LIRCMOP,DASCMOP,and DOC)demonstrate that CIDEMT achieves the best Inverted Generational Distance(IGD)values on 24 problems and the best Hypervolume values(HV)on 22 problems.Furthermore,CIDEMT significantly outperforms six state-of-the-art constrained multi-objective evolutionary algorithms(CMOEAs).These results confirm CIDEMT’s superiority in promoting convergence,diversity,and robustness in solving complex CMOPs.展开更多
Community detection is one of the most fundamental applications in understanding the structure of complicated networks.Furthermore,it is an important approach to identifying closely linked clusters of nodes that may r...Community detection is one of the most fundamental applications in understanding the structure of complicated networks.Furthermore,it is an important approach to identifying closely linked clusters of nodes that may represent underlying patterns and relationships.Networking structures are highly sensitive in social networks,requiring advanced techniques to accurately identify the structure of these communities.Most conventional algorithms for detecting communities perform inadequately with complicated networks.In addition,they miss out on accurately identifying clusters.Since single-objective optimization cannot always generate accurate and comprehensive results,as multi-objective optimization can.Therefore,we utilized two objective functions that enable strong connections between communities and weak connections between them.In this study,we utilized the intra function,which has proven effective in state-of-the-art research studies.We proposed a new inter-function that has demonstrated its effectiveness by making the objective of detecting external connections between communities is to make them more distinct and sparse.Furthermore,we proposed a Multi-Objective community strength enhancement algorithm(MOCSE).The proposed algorithm is based on the framework of the Multi-Objective Evolutionary Algorithm with Decomposition(MOEA/D),integrated with a new heuristic mutation strategy,community strength enhancement(CSE).The results demonstrate that the model is effective in accurately identifying community structures while also being computationally efficient.The performance measures used to evaluate the MOEA/D algorithm in our work are normalized mutual information(NMI)and modularity(Q).It was tested using five state-of-the-art algorithms on social networks,comprising real datasets(Zachary,Dolphin,Football,Krebs,SFI,Jazz,and Netscience),as well as twenty synthetic datasets.These results provide the robustness and practical value of the proposed algorithm in multi-objective community identification.展开更多
Visible lighting and energy-saving are dual needs of energy efficiency and occupant comfort in modern buildings.In this study,a smart window based on phase-change material VO_(2) is designed and optimized to address t...Visible lighting and energy-saving are dual needs of energy efficiency and occupant comfort in modern buildings.In this study,a smart window based on phase-change material VO_(2) is designed and optimized to address the critical challenges in building energy management.The proposed phase-adaptive radiative(PAR)coating is a multilayer nanostructure consisting of TiO/VO_(2)2/TiO/Ag_(2) and polydimethylsiloxane(PDMS).For different VO_(2) phases,visible transmittance T_(vis)>0.6 and emissivity difference in the atmospheric window Δε_(AW)=0.422 can be achieved,which means the PAR window can transfer interior heat to the outside through thermal radiation for cooling or minimize thermal emission for insulation,while ensuring the transmission of visible light for natural daylighting.Compared to normal glass,the PAR window has an average temperature drop of 14.8℃.The year-round energy-saving calculation for four different cities in China indicates that the PAR window can save 22%-32% of the annual cooling and heating energy consumption by seamlessly transitioning between two phases of VO_(2)modes.The multi-objective optimization of the phase-adaptive radiative smart window provides a potential strategy for energy saving.展开更多
Vehicle Edge Computing(VEC)and Cloud Computing(CC)significantly enhance the processing efficiency of delay-sensitive and computation-intensive applications by offloading compute-intensive tasks from resource-constrain...Vehicle Edge Computing(VEC)and Cloud Computing(CC)significantly enhance the processing efficiency of delay-sensitive and computation-intensive applications by offloading compute-intensive tasks from resource-constrained onboard devices to nearby Roadside Unit(RSU),thereby achieving lower delay and energy consumption.However,due to the limited storage capacity and energy budget of RSUs,it is challenging to meet the demands of the highly dynamic Internet of Vehicles(IoV)environment.Therefore,determining reasonable service caching and computation offloading strategies is crucial.To address this,this paper proposes a joint service caching scheme for cloud-edge collaborative IoV computation offloading.By modeling the dynamic optimization problem using Markov Decision Processes(MDP),the scheme jointly optimizes task delay,energy consumption,load balancing,and privacy entropy to achieve better quality of service.Additionally,a dynamic adaptive multi-objective deep reinforcement learning algorithm is proposed.Each Double Deep Q-Network(DDQN)agent obtains rewards for different objectives based on distinct reward functions and dynamically updates the objective weights by learning the value changes between objectives using Radial Basis Function Networks(RBFN),thereby efficiently approximating the Pareto-optimal decisions for multiple objectives.Extensive experiments demonstrate that the proposed algorithm can better coordinate the three-tier computing resources of cloud,edge,and vehicles.Compared to existing algorithms,the proposed method reduces task delay and energy consumption by 10.64%and 5.1%,respectively.展开更多
Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees l...Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees lead to slow convergence and force an unfavorable trade-off between path quality and traversal safety.To address these challenges,we introduce HS-APF-RRT*,a novel algorithm that fuses layered sampling,an enhanced Artificial Potential Field(APF),and a dynamic neighborhood-expansion mechanism.First,the workspace is hierarchically partitioned into macro,meso,and micro sampling layers,progressively biasing random samples toward safer,lower-energy regions.Second,we augment the traditional APF by incorporating a slope-dependent repulsive term,enabling stronger avoidance of steep obstacles.Third,a dynamic expansion strategy adaptively switches between 8 and 16 connected neighborhoods based on local obstacle density,striking an effective balance between search efficiency and collision-avoidance precision.In simulated off-road scenarios,HS-APF-RRT*is benchmarked against RRT*,GoalBiased RRT*,and APF-RRT*,and demonstrates significantly faster convergence,lower path-energy consumption,and enhanced safety margins.展开更多
Environmental problems are intensifying due to the rapid growth of the population,industry,and urban infrastructure.This expansion has resulted in increased air and water pollution,intensified urban heat island effect...Environmental problems are intensifying due to the rapid growth of the population,industry,and urban infrastructure.This expansion has resulted in increased air and water pollution,intensified urban heat island effects,and greater runoff from parks and other green spaces.Addressing these challenges requires prioritizing green infrastructure and other sustainable urban development strategies.This study introduces a novel Integrated Decision Support System that combines Pythagorean Fuzzy Sets with the Advanced Alternative Ranking Order Method allowing for Two-Step Normalization(AAROM-TN),enhanced by a dual weighting strategy.The weighting approach integrates the Criteria Importance Through Intercriteria Correlation(CRITIC)method with the Criteria Importance through Means and Standard Deviation(CIMAS)technique.The originality of the proposed framework lies in its ability to objectively quantify criteria importance using CRITIC,incorporate decision-makers’preferences through CIMAS,and capture the uncertainty and hesitation inherent in human judgment via Pythagorean Fuzzy Sets.A case study evaluating green infrastructure alternatives in metropolitan regions demonstrates the applicability and effectiveness of the framework.A sensitivity analysis is conducted to examine how variations in criteria weights affect the rankings and to evaluate the robustness of the results.Furthermore,a comparative analysis highlights the practical and financial implications of each alternative by assessing their respective strengths and weaknesses.展开更多
This study examines the methods to plan the development of offshore oilfields over the years,which are used to support the decision-making on the development of offshore oilfields.About 100 papers are analysed and cat...This study examines the methods to plan the development of offshore oilfields over the years,which are used to support the decision-making on the development of offshore oilfields.About 100 papers are analysed and categorised into different groups of main early-stage decisions.The present study stands in contrast to the contributions of the operations research and system engineering review articles,on the one hand,and the petroleum engineering review articles,on the other.This is because it does not focus on one methodological approach,nor does it limit the literature analysis by offshore oilfield characteristics.Consequently,the present analysis may offer valuable insights,for instance,by identifying environmental planning decisions as a recent yet highly significant concern that is currently being imposed on decision-making process.Thus,it is evident that the incorporation of safety criteria within the technical-economic decision-making process for the design of production systems would be a crucial requirement at development phase.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
Rapid urbanization in China has led to spatial antagonism between urban development and farmland protection and ecological security maintenance.Multi-objective spatial collaborative optimization is a powerful method f...Rapid urbanization in China has led to spatial antagonism between urban development and farmland protection and ecological security maintenance.Multi-objective spatial collaborative optimization is a powerful method for achieving sustainable regional development.Previous studies on multi-objective spatial optimization do not involve spatial corrections to simulation results based on the natural endowment of space resources.This study proposes an Ecological Security-Food Security-Urban Sustainable Development(ES-FS-USD)spatial optimization framework.This framework combines the non-dominated sorting genetic algorithm II(NSGA-II)and patch-generating land use simulation(PLUS)model with an ecological protection importance evaluation,comprehensive agricultural productivity evaluation,and urban sustainable development potential assessment and optimizes the territorial space in the Yangtze River Delta(YRD)region in 2035.The proposed sustainable development(SD)scenario can effectively reduce the destruction of landscape patterns of various land-use types while considering both ecological and economic benefits.The simulation results were further revised by evaluating the land-use suitability of the YRD region.According to the revised spatial pattern for the YRD in 2035,the farmland area accounts for 43.59%of the total YRD,which is 5.35%less than that in 2010.Forest,grassland,and water area account for 40.46%of the total YRD—an increase of 1.42%compared with the case in 2010.Construction land accounts for 14.72%of the total YRD—an increase of 2.77%compared with the case in 2010.The ES-FS-USD spatial optimization framework ensures that spatial optimization outcomes are aligned with the natural endowments of land resources,thereby promoting the sustainable use of land resources,improving the ability of spatial management,and providing valuable insights for decision makers.展开更多
As carrier aircraft sortie frequency and flight deck operational density increase,autonomous dispatch trajectory planning for carrier-based vehicles demands efficient,safe,and kinematically feasible solutions.This pap...As carrier aircraft sortie frequency and flight deck operational density increase,autonomous dispatch trajectory planning for carrier-based vehicles demands efficient,safe,and kinematically feasible solutions.This paper presents an Iterative Safe Dispatch Corridor(iSDC)framework,addressing the suboptimality of the traditional SDC method caused by static corridor construction and redundant obstacle exploration.First,a Kinodynamic-Informed-Bidirectional Rapidly-exploring Random Tree Star(KIBRRT^(*))algorithm is proposed for the front-end coarse planning.By integrating bidirectional tree expansion,goal-biased elliptical sampling,and artificial potential field guidance,it reduces unnecessary exploration near concave obstacles and generates kinematically admissible paths.Secondly,the traditional SDC is implemented in an iterative manner,and the obtained trajectory in the current iteration is fed into the next iteration for corridor generation,thus progressively improving the quality of withincorridor constraints.For tractors,a reverse-motion penalty function is incorporated into the back-end optimizer to prioritize forward driving,aligning with mechanical constraints and human operational preferences.Numerical validations on the data of Gerald R.Ford-class carrier demonstrate that the KIBRRT^(*)reduces average computational time by 75%and expansion nodes by 25%compared to conventional RRT^(*)algorithms.Meanwhile,the iSDC framework yields more time-efficient trajectories for both carrier aircraft and tractors,with the dispatch time reduced by 31.3%and tractor reverse motion proportion decreased by 23.4%relative to traditional SDC.The presented framework offers a scalable solution for autonomous dispatch in confined and safety-critical environment,and an illustrative animation is available at bilibili.com/video/BV1tZ7Zz6Eyz.Moreover,the framework can be easily extended to three-dimension scenarios,and thus applicable for trajectory planning of aerial and underwater vehicles.展开更多
This paper introduces a hybrid multi-objective optimization algorithm,designated HMODESFO,which amalgamates the exploratory prowess of Differential Evolution(DE)with the rapid convergence attributes of the Sailfish Op...This paper introduces a hybrid multi-objective optimization algorithm,designated HMODESFO,which amalgamates the exploratory prowess of Differential Evolution(DE)with the rapid convergence attributes of the Sailfish Optimization(SFO)algorithm.The primary objective is to address multi-objective optimization challenges within mechanical engineering,with a specific emphasis on planetary gearbox optimization.The algorithm is equipped with the ability to dynamically select the optimal mutation operator,contingent upon an adaptive normalized population spacing parameter.The efficacy of HMODESFO has been substantiated through rigorous validation against estab-lished industry benchmarks,including a suite of Zitzler-Deb-Thiele(ZDT)and Zeb-Thiele-Laumanns-Zitzler(DTLZ)problems,where it exhibited superior performance.The outcomes underscore the algorithm’s markedly enhanced optimization capabilities relative to existing methods,particularly in tackling highly intricate multi-objective planetary gearbox optimization problems.Additionally,the performance of HMODESFO is evaluated against selected well-known mechanical engineering test problems,further accentuating its adeptness in resolving complex optimization challenges within this domain.展开更多
With the rapid development of intelligent navigation technology,efficient and safe path planning for mobile robots has become a core requirement.To address the challenges of complex dynamic environments,this paper pro...With the rapid development of intelligent navigation technology,efficient and safe path planning for mobile robots has become a core requirement.To address the challenges of complex dynamic environments,this paper proposes an intelligent path planning framework based on grid map modeling.First,an improved Safe and Smooth A*(SSA*)algorithm is employed for global path planning.By incorporating obstacle expansion and cornerpoint optimization,the proposed SSA*enhances the safety and smoothness of the planned path.Then,a Partitioned Dynamic Window Approach(PDWA)is integrated for local planning,which is triggered when dynamic or sudden static obstacles appear,enabling real-time obstacle avoidance and path adjustment.A unified objective function is constructed,considering path length,safety,and smoothness comprehensively.Multiple simulation experiments are conducted on typical port grid maps.The results demonstrate that the improved SSA*significantly reduces the number of expanded nodes and computation time in static environmentswhile generating smoother and safer paths.Meanwhile,the PDWA exhibits strong real-time performance and robustness in dynamic scenarios,achieving shorter paths and lower planning times compared to other graph search algorithms.The proposedmethodmaintains stable performance across maps of different scales and various port scenarios,verifying its practicality and potential for wider application.展开更多
文摘This research develops a comprehensive method to solve a combinatorial problem consisting of distribution system reconfiguration, capacitor allocation, and renewable energy resources sizing and siting simultaneously and to improve power system's accountability and system performance parameters. Due to finding solution which is closer to realistic characteristics, load forecasting, market price errors and the uncertainties related to the variable output power of wind based DG units are put in consideration. This work employs NSGA-II accompanied by the fuzzy set theory to solve the aforementioned multi-objective problem. The proposed scheme finally leads to a solution with a minimum voltage deviation, a maximum voltage stability, lower amount of pollutant and lower cost. The cost includes the installation costs of new equipment, reconfiguration costs, power loss cost, reliability cost, cost of energy purchased from power market, upgrade costs of lines and operation and maintenance costs of DGs. Therefore, the proposed methodology improves power quality, reliability and security in lower costs besides its preserve, with the operational indices of power distribution networks in acceptable level. To validate the proposed methodology's usefulness, it was applied on the IEEE 33-bus distribution system then the outcomes were compared with initial configuration.
基金Supported by the Natural Science Foundation of Zhejiang Province(No.LQ22F030015).
文摘This work addresses the cut order planning(COP)problem for multi-color garment production,which is the first step in the clothing industry.First,a multi-objective optimization model of multicolor COP(MCOP)is established with production error and production cost as optimization objectives,combined with constraints such as the number of equipment and the number of layers.Second,a decoupled multi-objective optimization algorithm(DMOA)is proposed based on the linear programming decoupling strategy and non-dominated sorting in genetic algorithmsⅡ(NSGAII).The size-combination matrix and the fabric-layer matrix are decoupled to improve the accuracy of the algorithm.Meanwhile,an improved NSGAII algorithm is designed to obtain the optimal Pareto solution to the MCOP problem,thereby constructing a practical intelligent production optimization algorithm.Finally,the effectiveness and superiority of the proposed DMOA are verified through practical cases and comparative experiments,which can effectively optimize the production process for garment enterprises.
基金supported by the Guangzhou City School Joint Found Project(SL2022A03J01009)the National Nature Science Foundation of China(Grant No.51975135)the Natural Science Foundation of Guangdong Province(2018A030310063).
文摘Solving the path planning problem of Autonomous Underwater Vehicles(AUVs)is crucial for reducing energy waste and improving operational efficiency.However,two main challenges hinder further development:Firstly,existing algorithms often treat this as a single-objective optimization problem,whereas in reality,it should be multi-objective,considering factors such as distance,safety,and smoothness simultaneously.Secondly,the limited availability of optimization results arises due to they are single-path,which fail to meet real-world conditions.To address these challenges,first of all,an improved AUV path planning model is proposed,in which the collisions of path and obstacles are classified more specifically.Subsequently,a novel Altruistic Nurturing Algorithm(ANA)inspired by natural altruism is introduced.In the algorithm,nurturing cost considering Pareto rank and crowd distance is introduced as guidance of evolution to avoid futile calculation,abandonment threshold is self-adaptive with descendant situation to help individuals escape from local optima and double selection strategy combining crowd and k-nearest neighbors selection helps to get a better-distributed Pareto front.Experimental results comparing ANA with existing algorithms in AUV path planning demonstrate its superiority.Finally,a user-friendly interface,the Multi-Objective AUV Path Planner,is designed to provide users with a group of paths for informed decisionmaking.
基金supported by the National Key Research and Development Plan(Grant No.2021YFB3302501)the National Natural Science Foundation of China(Grant Nos.12102077,12161076,U2241263).
文摘Combat effectiveness of unmanned aerial vehicle(UAV)formations can be severely affected by the mission execution reliability.During the practical execution phase,there are inevitable risks where UAVs being destroyed or targets failed to be executed.To improve the mission reliability,a resilient mission planning framework integrates task pre-and re-assignment modules is developed in this paper.In the task pre-assignment phase,to guarantee the mission reliability,probability constraints regarding the minimum mission success rate are imposed to establish a multi-objective optimization model.And an improved genetic algorithm with the multi-population mechanism and specifically designed evolutionary operators is used for efficient solution.As in the task-reassignment phase,possible trigger events are first analyzed.A real-time contract net protocol-based algorithm is then proposed to address the corresponding emergency scenario.And the dual objective used in the former phase is adapted into a single objective to keep a consistent combat intention.Three cases of different scales demonstrate that the two modules cooperate well with each other.On the one hand,the pre-assignment module can generate high-reliability mission schedules as an elaborate mathematical model is introduced.On the other hand,the re-assignment module can efficiently respond to various emergencies and adjust the original schedule within a millisecond.The corresponding animation is accessible at bilibili.com/video/BV12t421w7EE for better illustration.
基金supported by the Science and Technology Project of State Grid Corporation of China:“Control Strategy Optimization Technology for Large-Scale Photovoltaic Power Generation on the Sending-end and Receiving-end of DC Power System”(4000-201934198A-0-0-00)
文摘The close proximity and the necessity of coordination between multiple high-voltage direct currents(HVDCs)raise the issue of grid partitioning in multi-infeed HVDC systems.A multi-objective partition strategy is proposed in this paper.Several types of relationships to be coordinated and complemented are analyzed and formulated using quantitative indices.According to the graph theory,the HVDC partition is transformed into a graph-cut problem and solved via the spectral clustering algorithm.Finally,the proposed method is validated for a practical multi-HVDC grid,confirming its feasibility and effectiveness.
基金Supported by the National Basic Research Program of China ("973" Program)the National Natural Science Foundation of China (60872112, 10805012)+1 种基金the Natural Science Foundation of Zhejiang Province(Z207588)the College Science Research Project of Anhui Province (KJ2008B268)~~
文摘The intelligent optimization of a multi-objective evolutionary algorithm is combined with a gradient algorithm. The hybrid multi-objective gradient algorithm is framed by the real number. Test functions are used to analyze the efficiency of the algorithm. In the simulation case of the water phantom, the algorithm is applied to an inverse planning process of intensity modulated radiation treatment （IMRT）. The objective functions of planning target volume （PTV） and normal tissue （NT） are based on the average dose distribution. The obtained intensity profile shows that the hybrid multi-objective gradient algorithm saves the computational time and has good accuracy, thus meeting the requirements of practical applications.
文摘Task scheduling in cloud computing is a multi-objective optimization problem,often involving conflicting objectives such as minimizing execution time,reducing operational cost,and maximizing resource utilization.However,traditional approaches frequently rely on single-objective optimization methods which are insufficient for capturing the complexity of such problems.To address this limitation,we introduce MDMOSA(Multi-objective Dwarf Mongoose Optimization with Simulated Annealing),a hybrid that integrates multi-objective optimization for efficient task scheduling in Infrastructure-as-a-Service(IaaS)cloud environments.MDMOSA harmonizes the exploration capabilities of the biologically inspired Dwarf Mongoose Optimization(DMO)with the exploitation strengths of Simulated Annealing(SA),achieving a balanced search process.The algorithm aims to optimize task allocation by reducing makespan and financial cost while improving system resource utilization.We evaluate MDMOSA through extensive simulations using the real-world Google Cloud Jobs(GoCJ)dataset within the CloudSim environment.Comparative analysis against benchmarked algorithms such as SMOACO,MOTSGWO,and MFPAGWO reveals that MDMOSA consistently achieves superior performance in terms of scheduling efficiency,cost-effectiveness,and scalability.These results confirm the potential of MDMOSA as a robust and adaptable solution for resource scheduling in dynamic and heterogeneous cloud computing infrastructures.
基金supported by the National Natural Science Foundation of China(No.12202295)the International(Regional)Cooperation and Exchange Projects of the National Natural Science Foundation of China(No.W2421002)+2 种基金the Sichuan Science and Technology Program(No.2025ZNSFSC0845)Zhejiang Provincial Natural Science Foundation of China(No.ZCLZ24A0201)the Fundamental Research Funds for the Provincial Universities of Zhejiang(No.GK249909299001-004)。
文摘Deployable Composite Thin-Walled Structures(DCTWS)are widely used in space applications due to their ability to compactly fold and self-deploy in orbit,enabled by cutouts.Cutout design is crucial for balancing structural rigidity and flexibility,ensuring material integrity during large deformations,and providing adequate load-bearing capacity and stability once deployed.Most research has focused on optimizing cutout size and shape,while topology optimization offers a broader design space.However,the anisotropic properties of woven composite laminates,complex failure criteria,and multi-performance optimization needs have limited the exploration of topology optimization in this field.This work derives the sensitivities of bending stiffness,critical buckling load,and the failure index of woven composite materials with respect to element density,and formulates both single-objective and multi-objective topology optimization models using a linear weighted aggregation approach.The developed method was integrated with the commercial finite element software ABAQUS via a Python script,allowing efficient application to cutout design in various DCTWS configurations to maximize bending stiffness and critical buckling load under material failure constraints.Optimization of a classical tubular hinge resulted in improvements of 107.7%in bending stiffness and 420.5%in critical buckling load compared to level-set topology optimization results reported in the literature,validating the effectiveness of the approach.To facilitate future research and encourage the broader adoption of topology optimization techniques in DCTWS design,the source code for this work is made publicly available via a Git Hub link:https://github.com/jinhao-ok1/Topo-for-DCTWS.git.
基金supported by the National Natural Science Foundation of China under Grant No.61972040the Science and Technology Research and Development Project funded by China Railway Material Trade Group Luban Company.
文摘In a wide range of engineering applications,complex constrained multi-objective optimization problems(CMOPs)present significant challenges,as the complexity of constraints often hampers algorithmic convergence and reduces population diversity.To address these challenges,we propose a novel algorithm named Constraint IntensityDriven Evolutionary Multitasking(CIDEMT),which employs a two-stage,tri-task framework to dynamically integrates problem structure and knowledge transfer.In the first stage,three cooperative tasks are designed to explore the Constrained Pareto Front(CPF),the Unconstrained Pareto Front(UPF),and theε-relaxed constraint boundary,respectively.A CPF-UPF relationship classifier is employed to construct a problem-type-aware evolutionary strategy pool.At the end of the first stage,each task selects strategies from this strategy pool based on the specific type of problem,thereby guiding the subsequent evolutionary process.In the second stage,while each task continues to evolve,aτ-driven knowledge transfer mechanism is introduced to selectively incorporate effective solutions across tasks.enhancing the convergence and feasibility of the main task.Extensive experiments conducted on 32 benchmark problems from three test suites(LIRCMOP,DASCMOP,and DOC)demonstrate that CIDEMT achieves the best Inverted Generational Distance(IGD)values on 24 problems and the best Hypervolume values(HV)on 22 problems.Furthermore,CIDEMT significantly outperforms six state-of-the-art constrained multi-objective evolutionary algorithms(CMOEAs).These results confirm CIDEMT’s superiority in promoting convergence,diversity,and robustness in solving complex CMOPs.
文摘Community detection is one of the most fundamental applications in understanding the structure of complicated networks.Furthermore,it is an important approach to identifying closely linked clusters of nodes that may represent underlying patterns and relationships.Networking structures are highly sensitive in social networks,requiring advanced techniques to accurately identify the structure of these communities.Most conventional algorithms for detecting communities perform inadequately with complicated networks.In addition,they miss out on accurately identifying clusters.Since single-objective optimization cannot always generate accurate and comprehensive results,as multi-objective optimization can.Therefore,we utilized two objective functions that enable strong connections between communities and weak connections between them.In this study,we utilized the intra function,which has proven effective in state-of-the-art research studies.We proposed a new inter-function that has demonstrated its effectiveness by making the objective of detecting external connections between communities is to make them more distinct and sparse.Furthermore,we proposed a Multi-Objective community strength enhancement algorithm(MOCSE).The proposed algorithm is based on the framework of the Multi-Objective Evolutionary Algorithm with Decomposition(MOEA/D),integrated with a new heuristic mutation strategy,community strength enhancement(CSE).The results demonstrate that the model is effective in accurately identifying community structures while also being computationally efficient.The performance measures used to evaluate the MOEA/D algorithm in our work are normalized mutual information(NMI)and modularity(Q).It was tested using five state-of-the-art algorithms on social networks,comprising real datasets(Zachary,Dolphin,Football,Krebs,SFI,Jazz,and Netscience),as well as twenty synthetic datasets.These results provide the robustness and practical value of the proposed algorithm in multi-objective community identification.
基金supported by the Fundamental Research Funds for the Provincial Universities (Grant No.2024-KYYWF-0141)the National Natural Science Foundation of China (Grant Nos.52406076,52227813)+1 种基金the National Key Research and Development Program of China (Grant No.2022YFE0133900)the China Postdoctoral Science Foundation (Grant No.2023M740905)。
文摘Visible lighting and energy-saving are dual needs of energy efficiency and occupant comfort in modern buildings.In this study,a smart window based on phase-change material VO_(2) is designed and optimized to address the critical challenges in building energy management.The proposed phase-adaptive radiative(PAR)coating is a multilayer nanostructure consisting of TiO/VO_(2)2/TiO/Ag_(2) and polydimethylsiloxane(PDMS).For different VO_(2) phases,visible transmittance T_(vis)>0.6 and emissivity difference in the atmospheric window Δε_(AW)=0.422 can be achieved,which means the PAR window can transfer interior heat to the outside through thermal radiation for cooling or minimize thermal emission for insulation,while ensuring the transmission of visible light for natural daylighting.Compared to normal glass,the PAR window has an average temperature drop of 14.8℃.The year-round energy-saving calculation for four different cities in China indicates that the PAR window can save 22%-32% of the annual cooling and heating energy consumption by seamlessly transitioning between two phases of VO_(2)modes.The multi-objective optimization of the phase-adaptive radiative smart window provides a potential strategy for energy saving.
基金supported by Key Science and Technology Program of Henan Province,China(Grant Nos.242102210147,242102210027)Fujian Province Young and Middle aged Teacher Education Research Project(Science and Technology Category)(No.JZ240101)(Corresponding author:Dong Yuan).
文摘Vehicle Edge Computing(VEC)and Cloud Computing(CC)significantly enhance the processing efficiency of delay-sensitive and computation-intensive applications by offloading compute-intensive tasks from resource-constrained onboard devices to nearby Roadside Unit(RSU),thereby achieving lower delay and energy consumption.However,due to the limited storage capacity and energy budget of RSUs,it is challenging to meet the demands of the highly dynamic Internet of Vehicles(IoV)environment.Therefore,determining reasonable service caching and computation offloading strategies is crucial.To address this,this paper proposes a joint service caching scheme for cloud-edge collaborative IoV computation offloading.By modeling the dynamic optimization problem using Markov Decision Processes(MDP),the scheme jointly optimizes task delay,energy consumption,load balancing,and privacy entropy to achieve better quality of service.Additionally,a dynamic adaptive multi-objective deep reinforcement learning algorithm is proposed.Each Double Deep Q-Network(DDQN)agent obtains rewards for different objectives based on distinct reward functions and dynamically updates the objective weights by learning the value changes between objectives using Radial Basis Function Networks(RBFN),thereby efficiently approximating the Pareto-optimal decisions for multiple objectives.Extensive experiments demonstrate that the proposed algorithm can better coordinate the three-tier computing resources of cloud,edge,and vehicles.Compared to existing algorithms,the proposed method reduces task delay and energy consumption by 10.64%and 5.1%,respectively.
基金supported in part by 14th Five Year National Key R&D Program Project(Project Number:2023YFB3211001)the National Natural Science Foundation of China(62273339,U24A201397).
文摘Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees lead to slow convergence and force an unfavorable trade-off between path quality and traversal safety.To address these challenges,we introduce HS-APF-RRT*,a novel algorithm that fuses layered sampling,an enhanced Artificial Potential Field(APF),and a dynamic neighborhood-expansion mechanism.First,the workspace is hierarchically partitioned into macro,meso,and micro sampling layers,progressively biasing random samples toward safer,lower-energy regions.Second,we augment the traditional APF by incorporating a slope-dependent repulsive term,enabling stronger avoidance of steep obstacles.Third,a dynamic expansion strategy adaptively switches between 8 and 16 connected neighborhoods based on local obstacle density,striking an effective balance between search efficiency and collision-avoidance precision.In simulated off-road scenarios,HS-APF-RRT*is benchmarked against RRT*,GoalBiased RRT*,and APF-RRT*,and demonstrates significantly faster convergence,lower path-energy consumption,and enhanced safety margins.
基金supported by the Princess Nourah bint Abdulrahman University Researchers Supporting Project number(PNURSP2026R259)Princess Nourah bint Abdulrahman University,Riyadh,Saudi Arabia.Ashit Kumar Dutta would like to thank AlMaarefa University for supporting this research under project number MHIRSP2025017.
文摘Environmental problems are intensifying due to the rapid growth of the population,industry,and urban infrastructure.This expansion has resulted in increased air and water pollution,intensified urban heat island effects,and greater runoff from parks and other green spaces.Addressing these challenges requires prioritizing green infrastructure and other sustainable urban development strategies.This study introduces a novel Integrated Decision Support System that combines Pythagorean Fuzzy Sets with the Advanced Alternative Ranking Order Method allowing for Two-Step Normalization(AAROM-TN),enhanced by a dual weighting strategy.The weighting approach integrates the Criteria Importance Through Intercriteria Correlation(CRITIC)method with the Criteria Importance through Means and Standard Deviation(CIMAS)technique.The originality of the proposed framework lies in its ability to objectively quantify criteria importance using CRITIC,incorporate decision-makers’preferences through CIMAS,and capture the uncertainty and hesitation inherent in human judgment via Pythagorean Fuzzy Sets.A case study evaluating green infrastructure alternatives in metropolitan regions demonstrates the applicability and effectiveness of the framework.A sensitivity analysis is conducted to examine how variations in criteria weights affect the rankings and to evaluate the robustness of the results.Furthermore,a comparative analysis highlights the practical and financial implications of each alternative by assessing their respective strengths and weaknesses.
基金the Strategic Research Plan of the Centre for Marine Technology and Ocean Engineering(CENTEC),which is financed by the Portuguese Foundation for Science and Technology(Fundação para a Ciência e a Tecnologia FCT)under contract UIDB/UIDP/00134/2020.
文摘This study examines the methods to plan the development of offshore oilfields over the years,which are used to support the decision-making on the development of offshore oilfields.About 100 papers are analysed and categorised into different groups of main early-stage decisions.The present study stands in contrast to the contributions of the operations research and system engineering review articles,on the one hand,and the petroleum engineering review articles,on the other.This is because it does not focus on one methodological approach,nor does it limit the literature analysis by offshore oilfield characteristics.Consequently,the present analysis may offer valuable insights,for instance,by identifying environmental planning decisions as a recent yet highly significant concern that is currently being imposed on decision-making process.Thus,it is evident that the incorporation of safety criteria within the technical-economic decision-making process for the design of production systems would be a crucial requirement at development phase.
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.
基金National Natural Science Foundation of China,No.42301470,No.52270185,No.42171389Capacity Building Program of Local Colleges and Universities in Shanghai,No.21010503300。
文摘Rapid urbanization in China has led to spatial antagonism between urban development and farmland protection and ecological security maintenance.Multi-objective spatial collaborative optimization is a powerful method for achieving sustainable regional development.Previous studies on multi-objective spatial optimization do not involve spatial corrections to simulation results based on the natural endowment of space resources.This study proposes an Ecological Security-Food Security-Urban Sustainable Development(ES-FS-USD)spatial optimization framework.This framework combines the non-dominated sorting genetic algorithm II(NSGA-II)and patch-generating land use simulation(PLUS)model with an ecological protection importance evaluation,comprehensive agricultural productivity evaluation,and urban sustainable development potential assessment and optimizes the territorial space in the Yangtze River Delta(YRD)region in 2035.The proposed sustainable development(SD)scenario can effectively reduce the destruction of landscape patterns of various land-use types while considering both ecological and economic benefits.The simulation results were further revised by evaluating the land-use suitability of the YRD region.According to the revised spatial pattern for the YRD in 2035,the farmland area accounts for 43.59%of the total YRD,which is 5.35%less than that in 2010.Forest,grassland,and water area account for 40.46%of the total YRD—an increase of 1.42%compared with the case in 2010.Construction land accounts for 14.72%of the total YRD—an increase of 2.77%compared with the case in 2010.The ES-FS-USD spatial optimization framework ensures that spatial optimization outcomes are aligned with the natural endowments of land resources,thereby promoting the sustainable use of land resources,improving the ability of spatial management,and providing valuable insights for decision makers.
基金support of the National Key Research and Development Plan(Grant No.2021YFB3302501)the financial support of the National Science Foundation of China(Grant No.12161076)the financial support of the Fundamental Research Funds for the Central Universities(Grant No.DUT24LAB129).
文摘As carrier aircraft sortie frequency and flight deck operational density increase,autonomous dispatch trajectory planning for carrier-based vehicles demands efficient,safe,and kinematically feasible solutions.This paper presents an Iterative Safe Dispatch Corridor(iSDC)framework,addressing the suboptimality of the traditional SDC method caused by static corridor construction and redundant obstacle exploration.First,a Kinodynamic-Informed-Bidirectional Rapidly-exploring Random Tree Star(KIBRRT^(*))algorithm is proposed for the front-end coarse planning.By integrating bidirectional tree expansion,goal-biased elliptical sampling,and artificial potential field guidance,it reduces unnecessary exploration near concave obstacles and generates kinematically admissible paths.Secondly,the traditional SDC is implemented in an iterative manner,and the obtained trajectory in the current iteration is fed into the next iteration for corridor generation,thus progressively improving the quality of withincorridor constraints.For tractors,a reverse-motion penalty function is incorporated into the back-end optimizer to prioritize forward driving,aligning with mechanical constraints and human operational preferences.Numerical validations on the data of Gerald R.Ford-class carrier demonstrate that the KIBRRT^(*)reduces average computational time by 75%and expansion nodes by 25%compared to conventional RRT^(*)algorithms.Meanwhile,the iSDC framework yields more time-efficient trajectories for both carrier aircraft and tractors,with the dispatch time reduced by 31.3%and tractor reverse motion proportion decreased by 23.4%relative to traditional SDC.The presented framework offers a scalable solution for autonomous dispatch in confined and safety-critical environment,and an illustrative animation is available at bilibili.com/video/BV1tZ7Zz6Eyz.Moreover,the framework can be easily extended to three-dimension scenarios,and thus applicable for trajectory planning of aerial and underwater vehicles.
基金supported by the Serbian Ministry of Education and Science under Grant No.TR35006 and COST Action:CA23155—A Pan-European Network of Ocean Tribology(OTC)The research of B.Rosic and M.Rosic was supported by the Serbian Ministry of Education and Science under Grant TR35029.
文摘This paper introduces a hybrid multi-objective optimization algorithm,designated HMODESFO,which amalgamates the exploratory prowess of Differential Evolution(DE)with the rapid convergence attributes of the Sailfish Optimization(SFO)algorithm.The primary objective is to address multi-objective optimization challenges within mechanical engineering,with a specific emphasis on planetary gearbox optimization.The algorithm is equipped with the ability to dynamically select the optimal mutation operator,contingent upon an adaptive normalized population spacing parameter.The efficacy of HMODESFO has been substantiated through rigorous validation against estab-lished industry benchmarks,including a suite of Zitzler-Deb-Thiele(ZDT)and Zeb-Thiele-Laumanns-Zitzler(DTLZ)problems,where it exhibited superior performance.The outcomes underscore the algorithm’s markedly enhanced optimization capabilities relative to existing methods,particularly in tackling highly intricate multi-objective planetary gearbox optimization problems.Additionally,the performance of HMODESFO is evaluated against selected well-known mechanical engineering test problems,further accentuating its adeptness in resolving complex optimization challenges within this domain.
文摘With the rapid development of intelligent navigation technology,efficient and safe path planning for mobile robots has become a core requirement.To address the challenges of complex dynamic environments,this paper proposes an intelligent path planning framework based on grid map modeling.First,an improved Safe and Smooth A*(SSA*)algorithm is employed for global path planning.By incorporating obstacle expansion and cornerpoint optimization,the proposed SSA*enhances the safety and smoothness of the planned path.Then,a Partitioned Dynamic Window Approach(PDWA)is integrated for local planning,which is triggered when dynamic or sudden static obstacles appear,enabling real-time obstacle avoidance and path adjustment.A unified objective function is constructed,considering path length,safety,and smoothness comprehensively.Multiple simulation experiments are conducted on typical port grid maps.The results demonstrate that the improved SSA*significantly reduces the number of expanded nodes and computation time in static environmentswhile generating smoother and safer paths.Meanwhile,the PDWA exhibits strong real-time performance and robustness in dynamic scenarios,achieving shorter paths and lower planning times compared to other graph search algorithms.The proposedmethodmaintains stable performance across maps of different scales and various port scenarios,verifying its practicality and potential for wider application.
