In recent years,unmanned aerial vehicles(UAVs)cooperative path planning is attracting more and more research attention.For the multi-UAV cooperative path planning problem,the path planning problem in three-dimensional...In recent years,unmanned aerial vehicles(UAVs)cooperative path planning is attracting more and more research attention.For the multi-UAV cooperative path planning problem,the path planning problem in three-dimensional(3D)environment is transformed into an optimization problem by introducing the fitness function and constraints such as minimizing path length,maintaining a low and stable flight altitude,and avoiding threat zones.A multi-strategy hybrid grey wolf optimization(MSHGWO)algorithm is proposed to address this problem.Firstly,a chaotic Cubic mapping is introduced to initialize the grey wolf positions to make its initial position distribution more uniform.Secondly,an adaptive adjustment weight factor is designed,which can adjust the movement weight based on the rate of fitness value decrease within a unit Euclidean distance,thereby improving the quality of the population.Finally,an elite opposition-based learning strategy is introduced to improve the population diversity so that the population jumps out of the local optimum.Simulation results indicate that the MSHGWO is capable of generating constraint-compliant paths for each UAV in complex 3D environments.Furthermore,the MSHGWO outperforms other algorithms in terms of convergence speed and solution quality.Meanwhile,flight experiments were conducted to validate the path planning capability of MSHGWO in real-world obstacle environments,further demonstrating the feasibility of the proposed multi-UAV cooperative path planning approach.展开更多
Owing to their global search capabilities and gradient-free operation,metaheuristic algorithms are widely applied to a wide range of optimization problems.However,their computational demands become prohibitive when ta...Owing to their global search capabilities and gradient-free operation,metaheuristic algorithms are widely applied to a wide range of optimization problems.However,their computational demands become prohibitive when tackling high-dimensional optimization challenges.To effectively address these challenges,this study introduces cooperative metaheuristics integrating dynamic dimension reduction(DR).Building upon particle swarm optimization(PSO)and differential evolution(DE),the proposed cooperative methods C-PSO and C-DE are developed.In the proposed methods,the modified principal components analysis(PCA)is utilized to reduce the dimension of design variables,thereby decreasing computational costs.The dynamic DR strategy implements periodic execution of modified PCA after a fixed number of iterations,resulting in the important dimensions being dynamically identified.Compared with the static one,the dynamic DR strategy can achieve precise identification of important dimensions,thereby enabling accelerated convergence toward optimal solutions.Furthermore,the influence of cumulative contribution rate thresholds on optimization problems with different dimensions is investigated.Metaheuristic algorithms(PSO,DE)and cooperative metaheuristics(C-PSO,C-DE)are examined by 15 benchmark functions and two engineering design problems(speed reducer and composite pressure vessel).Comparative results demonstrate that the cooperative methods achieve significantly superior performance compared to standard methods in both solution accuracy and computational efficiency.Compared to standard metaheuristic algorithms,cooperative metaheuristics achieve a reduction in computational cost of at least 40%.The cooperative metaheuristics can be effectively used to tackle both high-dimensional unconstrained and constrained optimization problems.展开更多
For multi-vehicle networks,Cooperative Positioning(CP)technique has become a promising way to enhance vehicle positioning accuracy.Especially,the CP performance could be further improved by introducing Sensor-Rich Veh...For multi-vehicle networks,Cooperative Positioning(CP)technique has become a promising way to enhance vehicle positioning accuracy.Especially,the CP performance could be further improved by introducing Sensor-Rich Vehicles(SRVs)into CP networks,which is called SRV-aided CP.However,the CP system may split into several sub-clusters that cannot be connected with each other in dense urban environments,in which the sub-clusters with few SRVs will suffer from degradation of CP performance.Since Unmanned Aerial Vehicles(UAVs)have been widely used to aid vehicular communications,we intend to utilize UAVs to assist sub-clusters in CP.In this paper,a UAV-aided CP network is constructed to fully utilize information from SRVs.First,the inter-node connection structure among the UAV and vehicles is designed to share available information from SRVs.After that,the clustering optimization strategy is proposed,in which the UAV cooperates with the high-precision sub-cluster to obtain available information from SRVs,and then broadcasts this positioning-related information to other low-precision sub-clusters.Finally,the Locally-Centralized Factor Graph Optimization(LC-FGO)algorithm is designed to fuse positioning information from cooperators.Simulation results indicate that the positioning accuracy of the CP system could be improved by fully utilizing positioning-related information from SRVs.展开更多
In the RSSI-based positioning algorithm,regarding the problem of a great conflict between precision and cost,a low-power and low-cost synergic localization algorithm is proposed,where effective methods are adopted in ...In the RSSI-based positioning algorithm,regarding the problem of a great conflict between precision and cost,a low-power and low-cost synergic localization algorithm is proposed,where effective methods are adopted in each phase of the localization process and fully use the detective information in the network to improve the positioning precision and robustness.In the ranging period,the power attenuation factor is obtained through the wireless channel modeling,and the RSSI value is transformed into distance.In the positioning period,the preferred reference nodes are used to calculate coordinates.In the position optimization period,Taylor expansion and least-squared iterative update algorithms are used to further improve the location precision.In the positioning,the notion of cooperative localization is introduced,in which the located node satisfying certain demands will be upgraded to a reference node so that it can participate in the positioning of other nodes,and improve the coverage and positioning precision.The results show that on the same network conditions,the proposed algorithm in this paper is similar to the Taylor series expansion algorithm based on the actual coordinates,but much higher than the basic least square algorithm,and the positioning precision is improved rapidly with the reduce of the range error.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
At present, salient object detection (SOD) has achieved considerable progress. However, the methods that perform well still face the issue of inadequate detection accuracy. For example, sometimes there are problems of...At present, salient object detection (SOD) has achieved considerable progress. However, the methods that perform well still face the issue of inadequate detection accuracy. For example, sometimes there are problems of missed and false detections. Effectively optimizing features to capture key information and better integrating different levels of features to enhance their complementarity are two significant challenges in the domain of SOD. In response to these challenges, this study proposes a novel SOD method based on multi-strategy feature optimization. We propose the multi-size feature extraction module (MSFEM), which uses the attention mechanism, the multi-level feature fusion, and the residual block to obtain finer features. This module provides robust support for the subsequent accurate detection of the salient object. In addition, we use two rounds of feature fusion and the feedback mechanism to optimize the features obtained by the MSFEM to improve detection accuracy. The first round of feature fusion is applied to integrate the features extracted by the MSFEM to obtain more refined features. Subsequently, the feedback mechanism and the second round of feature fusion are applied to refine the features, thereby providing a stronger foundation for accurately detecting salient objects. To improve the fusion effect, we propose the feature enhancement module (FEM) and the feature optimization module (FOM). The FEM integrates the upper and lower features with the optimized features obtained by the FOM to enhance feature complementarity. The FOM uses different receptive fields, the attention mechanism, and the residual block to more effectively capture key information. Experimental results demonstrate that our method outperforms 10 state-of-the-art SOD methods.展开更多
Optimization design of hydraulic manifold blocks (HMB) is studied as acomplex solid spatial layout problem. Based on comprehensive research into structure features anddesign rules of HMB, an optimal mathematical model...Optimization design of hydraulic manifold blocks (HMB) is studied as acomplex solid spatial layout problem. Based on comprehensive research into structure features anddesign rules of HMB, an optimal mathematical model for this problem is presented. Usinghuman-computer cooperative genetic algorithm (GA) and its hybrid optitation strategies, integratedlayout and connection design schemes of HMB can be automatically optimized. An example is given totestify it.展开更多
Multi-agent systems can solve scientific issues related to complex systems that are difficult or impossible for a single agent to solve through mutual collaboration and cooperation optimization.In a multi-agent system...Multi-agent systems can solve scientific issues related to complex systems that are difficult or impossible for a single agent to solve through mutual collaboration and cooperation optimization.In a multi-agent system,agents with a certain degree of autonomy generate complex interactions due to the correlation and coordination,which is manifested as cooperative/competitive behavior.This survey focuses on multi-agent cooperative optimization and cooperative/non-cooperative games.Starting from cooperative optimization,the studies on distributed optimization and federated optimization are summarized.The survey mainly focuses on distributed online optimization and its application in privacy protection,and overviews federated optimization from the perspective of privacy protection me-chanisms.Then,cooperative games and non-cooperative games are introduced to expand the cooperative optimization problems from two aspects of minimizing global costs and minimizing individual costs,respectively.Multi-agent cooperative and non-cooperative behaviors are modeled by games from both static and dynamic aspects,according to whether each player can make decisions based on the information of other players.Finally,future directions for cooperative optimization,cooperative/non-cooperative games,and their applications are discussed.展开更多
The application of multiple UAVs in complicated tasks has been widely explored in recent years.Due to the advantages of flexibility,cheapness and consistence,the performance of heterogeneous multi-UAVs with proper coo...The application of multiple UAVs in complicated tasks has been widely explored in recent years.Due to the advantages of flexibility,cheapness and consistence,the performance of heterogeneous multi-UAVs with proper cooperative task allocation is superior to over the single UAV.Accordingly,several constraints should be satisfied to realize the efficient cooperation,such as special time-window,variant equipment,specified execution sequence.Hence,a proper task allocation in UAVs is the crucial point for the final success.The task allocation problem of the heterogeneous UAVs can be formulated as a multi-objective optimization problem coupled with the UAV dynamics.To this end,a multi-layer encoding strategy and a constraint scheduling method are designed to handle the critical logical and physical constraints.In addition,four optimization objectives:completion time,target reward,UAV damage,and total range,are introduced to evaluate various allocation plans.Subsequently,to efficiently solve the multi-objective optimization problem,an improved multi-objective quantum-behaved particle swarm optimization(IMOQPSO)algorithm is proposed.During this algorithm,a modified solution evaluation method is designed to guide algorithmic evolution;both the convergence and distribution of particles are considered comprehensively;and boundary solutions which may produce some special allocation plans are preserved.Moreover,adaptive parameter control and mixed update mechanism are also introduced in this algorithm.Finally,both the proposed model and algorithm are verified by simulation experiments.展开更多
Target distribution in cooperative combat is a difficult and emphases. We build up the optimization model according to the rule of fire distribution. We have researched on the optimization model with BOA. The BOA can ...Target distribution in cooperative combat is a difficult and emphases. We build up the optimization model according to the rule of fire distribution. We have researched on the optimization model with BOA. The BOA can estimate the joint probability distribution of the variables with Bayesian network, and the new candidate solutions also can be generated by the joint distribution. The simulation example verified that the method could be used to solve the complex question, the operation was quickly and the solution was best.展开更多
An ant colony optimization with artificial potential field(ACOAPF)algorithm is proposed to solve the cooperative search mission planning problem of unmanned aerial vehicle(UAV)swarm.This algorithm adopts a distributed...An ant colony optimization with artificial potential field(ACOAPF)algorithm is proposed to solve the cooperative search mission planning problem of unmanned aerial vehicle(UAV)swarm.This algorithm adopts a distributed architecture where each UAV is considered as an ant and makes decision autonomously.At each decision step,the ants choose the next gird according to the state transition rule and update its own artificial potential field and pheromone map based on the current search results.Through iterations of this process,the cooperative search of UAV swarm for mission area is realized.The state transition rule is divided into two types.If the artificial potential force is larger than a threshold,the deterministic transition rule is adopted,otherwise a heuristic transition rule is used.The deterministic transition rule can ensure UAVs to avoid the threat or approach the target quickly.And the heuristics transition rule considering the pheromone and heuristic information ensures the continuous search of area with the goal of covering more unknown area and finding more targets.Finally,simulations are carried out to verify the effectiveness of the proposed ACOAPF algorithm for cooperative search mission of UAV swarm.展开更多
Cooperative path planning is an important area in fixed-wing UAV swarm.However,avoiding multiple timevarying obstacles and avoiding local optimum are two challenges for existing approaches in a dynamic environment.Fir...Cooperative path planning is an important area in fixed-wing UAV swarm.However,avoiding multiple timevarying obstacles and avoiding local optimum are two challenges for existing approaches in a dynamic environment.Firstly,a normalized artificial potential field optimization is proposed by reconstructing a novel function with anisotropy in each dimension,which can make the flight speed of a fixed UAV swarm independent of the repulsive/attractive gain coefficient and avoid trapping into local optimization and local oscillation.Then,taking into account minimum velocity and turning angular velocity of fixed-wing UAV swarm,a strategy of decomposing target vector to avoid moving obstacles and pop-up threats is proposed.Finally,several simulations are carried out to illustrate superiority and effectiveness.展开更多
In this paper,a cooperative localization algorithm for autonomous underwater vehicles(AUVs)is proposed.A"parallel"model is adopted to describe the cooperative localization problem instead of the traditional&...In this paper,a cooperative localization algorithm for autonomous underwater vehicles(AUVs)is proposed.A"parallel"model is adopted to describe the cooperative localization problem instead of the traditional"leader-follower"model,and a linear programming associated with convex optimization method is used to deal with the problem.After an unknown-but-bounded model for sensor noise is assumed,bearing and range measurements can be modeled as linear constraints on the configuration space of the AUVs.Merging these constraints induces a convex polyhedron representing the set of all configurations consistent with the sensor measurements.Estimates for the uncertainty in the position of a single AUV or the relative positions of two or more nodes can then be obtained by projecting this polyhedron onto appropriate subspaces of the configuration space.Two different optimization algorithms are given to recover the uncertainty region according to the number of the AUVs.Simulation results are presented for a typical localization example of the AUV formation.The results show that our positioning method offers a good localization accuracy,although a small number of low-cost sensors are needed for each vehicle,and this validates that it is an economical and practical positioning approach compared with the traditional approach.展开更多
This paper proposes new methods and strategies for Multi-UAVs cooperative attacks with safety and time constraints in a complex environment.Delaunay triangle is designed to construct a map of the complex flight enviro...This paper proposes new methods and strategies for Multi-UAVs cooperative attacks with safety and time constraints in a complex environment.Delaunay triangle is designed to construct a map of the complex flight environment for aerial vehicles.Delaunay-Map,Safe Flight Corridor(SFC),and Relative Safe Flight Corridor(RSFC)are applied to ensure each UAV flight trajectory's safety.By using such techniques,it is possible to avoid the collision with obstacles and collision between UAVs.Bezier-curve is further developed to ensure that multi-UAVs can simultaneously reach the target at the specified time,and the trajectory is within the flight corridor.The trajectory tracking controller is also designed based on model predictive control to track the planned trajectory accurately.The simulation and experiment results are presented to verifying developed strategies of Multi-UAV cooperative attacks.展开更多
Cryogenic ground support equipment (CGSE) is an important part of a famous particle physics experiment - AMS-02. In this paper a design method which optimizes PID parameters of CGSE control system via the particle swa...Cryogenic ground support equipment (CGSE) is an important part of a famous particle physics experiment - AMS-02. In this paper a design method which optimizes PID parameters of CGSE control system via the particle swarm optimization (PSO) algorithm is presented. Firstly, an improved version of the original PSO, cooperative random learning particle swarm optimization (CRPSO), is put forward to enhance the performance of the conventional PSO. Secondly, the way of finding PID coefficient will be studied by using this algorithm. Finally, the experimental results and practical works demonstrate that the CRPSO-PID controller achieves a good performance.展开更多
The production process plan design and configurations of reconfigurable machine tool （RMT） interact with each other. Reasonable process plans with suitable configurations of RMT help to improve product quality and r...The production process plan design and configurations of reconfigurable machine tool （RMT） interact with each other. Reasonable process plans with suitable configurations of RMT help to improve product quality and reduce production cost. Therefore, a cooperative strategy is needed to concurrently solve the above issue. In this paper, the cooperative optimization model for RMT configurations and production process plan is presented. Its objectives take into account both impacts of process and configuration. Moreover, a novel genetic algorithm is also developed to provide optimal or near-optimal solutions： firstly, its chromosome is redesigned which is composed of three parts, operations, process plan and configurations of RMTs, respectively; secondly, its new selection, crossover and mutation operators are also developed to deal with the process constraints from operation processes （OP） graph, otherwise these operators could generate illegal solutions violating the limits; eventually the optimal configurations for RMT under optimal process plan design can be obtained. At last, a manufacturing line case is applied which is composed of three RMTs. It is shown from the case that the optimal process plan and configurations of RMT are concurrently obtained, and the production cost decreases 6.28% and nonmonetary performance increases 22%. The proposed method can figure out both RMT configurations and production process, improve production capacity, functions and equipment utilization for RMT.展开更多
This paper aims to address the problem of multi-UAV cooperative search for multiple targets in a mountainous environment,considering the constraints of UAV dynamics and prior environmental information.Firstly,using th...This paper aims to address the problem of multi-UAV cooperative search for multiple targets in a mountainous environment,considering the constraints of UAV dynamics and prior environmental information.Firstly,using the target probability distribution map,two strategies of information fusion and information diffusion are employed to solve the problem of environmental information inconsistency caused by different UAVs searching different areas,thereby improving the coordination of UAV groups.Secondly,the task region is decomposed into several high-value sub-regions by using data clustering method.Based on this,a hierarchical search strategy is proposed,which allows precise or rough search in different probability areas by adjusting the altitude of the aircraft,thereby improving the search efficiency.Third,the Elite Dung Beetle Optimization Algorithm(EDBOA)is proposed based on bionics by accurately simulating the social behavior of dung beetles to plan paths that satisfy the UAV dynamics constraints and adapt to the mountainous terrain,where the mountain is considered as an obstacle to be avoided.Finally,the objective function for path optimization is formulated by considering factors such as coverage within the task region,smoothness of the search path,and path length.The effectiveness and superiority of the proposed schemes are verified by the simulation.展开更多
An optimal linear precoding scheme based on Particle Swarm Optimization(PSO),which aims to maximize the system capacity of the cooperative transmission in the downlink channel,is proposed for a multicell multiuser sin...An optimal linear precoding scheme based on Particle Swarm Optimization(PSO),which aims to maximize the system capacity of the cooperative transmission in the downlink channel,is proposed for a multicell multiuser single input single output system.With such a scheme,the optimal precoding vector could be easily searched for each user according to a simplified objective function.Simulation results show that the proposed scheme can obtain larger average spectrum efficiency and a better Bit Error Rate(BER) performance than Zero Forcing(ZF) and Minimum Mean Square Error(MMSE) algorithm.展开更多
In order to improve the throughput of cognitive radio(CR), optimization of sensing time and cooperative user allocation for OR-rule cooperative spectrum sensing was investigated in a CR network that includes multiple ...In order to improve the throughput of cognitive radio(CR), optimization of sensing time and cooperative user allocation for OR-rule cooperative spectrum sensing was investigated in a CR network that includes multiple users and one fusion center. The frame structure of cooperative spectrum sensing was divided into multiple transmission time slots and one sensing time slot consisting of local energy detection and cooperative overhead. An optimization problem was formulated to maximize the throughput of CR network, subject to the constraints of both false alarm probability and detection probability. A joint optimization algorithm of sensing time and number of users was proposed to solve this optimization problem with low time complexity. An allocation algorithm of cooperative users was proposed to preferentially allocate the users to the channels with high utilization probability. The simulation results show that the significant improvement on the throughput can be achieved through the proposed joint optimization and allocation algorithms.展开更多
This paper proposes a multi-objective optimization design method based on the coalition cooperative game theory where the three design goals have been seen as three game players. By calculating the affecting factors a...This paper proposes a multi-objective optimization design method based on the coalition cooperative game theory where the three design goals have been seen as three game players. By calculating the affecting factors and fuzzy clustering, the design variables are divided into different strategic spaces which belong to each player, then it constructs a payoff function based on the coalition mechanism. Each game player takes its own revenue function as a target and obtains the best strategy versus other players. The best strategies of all players consist of the strategy permutation of a round game and it obtains the final game solutions through multi-round games according to the convergence criterion. A multi-objective optimization example of the luff mechanism of compensative sheave block shows the effectiveness of the coalition cooperative game method.展开更多
文摘In recent years,unmanned aerial vehicles(UAVs)cooperative path planning is attracting more and more research attention.For the multi-UAV cooperative path planning problem,the path planning problem in three-dimensional(3D)environment is transformed into an optimization problem by introducing the fitness function and constraints such as minimizing path length,maintaining a low and stable flight altitude,and avoiding threat zones.A multi-strategy hybrid grey wolf optimization(MSHGWO)algorithm is proposed to address this problem.Firstly,a chaotic Cubic mapping is introduced to initialize the grey wolf positions to make its initial position distribution more uniform.Secondly,an adaptive adjustment weight factor is designed,which can adjust the movement weight based on the rate of fitness value decrease within a unit Euclidean distance,thereby improving the quality of the population.Finally,an elite opposition-based learning strategy is introduced to improve the population diversity so that the population jumps out of the local optimum.Simulation results indicate that the MSHGWO is capable of generating constraint-compliant paths for each UAV in complex 3D environments.Furthermore,the MSHGWO outperforms other algorithms in terms of convergence speed and solution quality.Meanwhile,flight experiments were conducted to validate the path planning capability of MSHGWO in real-world obstacle environments,further demonstrating the feasibility of the proposed multi-UAV cooperative path planning approach.
基金funded by National Natural Science Foundation of China(Nos.12402142,11832013 and 11572134)Natural Science Foundation of Hubei Province(No.2024AFB235)+1 种基金Hubei Provincial Department of Education Science and Technology Research Project(No.Q20221714)the Opening Foundation of Hubei Key Laboratory of Digital Textile Equipment(Nos.DTL2023019 and DTL2022012).
文摘Owing to their global search capabilities and gradient-free operation,metaheuristic algorithms are widely applied to a wide range of optimization problems.However,their computational demands become prohibitive when tackling high-dimensional optimization challenges.To effectively address these challenges,this study introduces cooperative metaheuristics integrating dynamic dimension reduction(DR).Building upon particle swarm optimization(PSO)and differential evolution(DE),the proposed cooperative methods C-PSO and C-DE are developed.In the proposed methods,the modified principal components analysis(PCA)is utilized to reduce the dimension of design variables,thereby decreasing computational costs.The dynamic DR strategy implements periodic execution of modified PCA after a fixed number of iterations,resulting in the important dimensions being dynamically identified.Compared with the static one,the dynamic DR strategy can achieve precise identification of important dimensions,thereby enabling accelerated convergence toward optimal solutions.Furthermore,the influence of cumulative contribution rate thresholds on optimization problems with different dimensions is investigated.Metaheuristic algorithms(PSO,DE)and cooperative metaheuristics(C-PSO,C-DE)are examined by 15 benchmark functions and two engineering design problems(speed reducer and composite pressure vessel).Comparative results demonstrate that the cooperative methods achieve significantly superior performance compared to standard methods in both solution accuracy and computational efficiency.Compared to standard metaheuristic algorithms,cooperative metaheuristics achieve a reduction in computational cost of at least 40%.The cooperative metaheuristics can be effectively used to tackle both high-dimensional unconstrained and constrained optimization problems.
基金supported by the National Natural Science Foundation of China(No.62271399)the National Key Research and Development Program of China(No.2022YFB1807102)。
文摘For multi-vehicle networks,Cooperative Positioning(CP)technique has become a promising way to enhance vehicle positioning accuracy.Especially,the CP performance could be further improved by introducing Sensor-Rich Vehicles(SRVs)into CP networks,which is called SRV-aided CP.However,the CP system may split into several sub-clusters that cannot be connected with each other in dense urban environments,in which the sub-clusters with few SRVs will suffer from degradation of CP performance.Since Unmanned Aerial Vehicles(UAVs)have been widely used to aid vehicular communications,we intend to utilize UAVs to assist sub-clusters in CP.In this paper,a UAV-aided CP network is constructed to fully utilize information from SRVs.First,the inter-node connection structure among the UAV and vehicles is designed to share available information from SRVs.After that,the clustering optimization strategy is proposed,in which the UAV cooperates with the high-precision sub-cluster to obtain available information from SRVs,and then broadcasts this positioning-related information to other low-precision sub-clusters.Finally,the Locally-Centralized Factor Graph Optimization(LC-FGO)algorithm is designed to fuse positioning information from cooperators.Simulation results indicate that the positioning accuracy of the CP system could be improved by fully utilizing positioning-related information from SRVs.
基金National Natural Science Foundation of China,grant number 62205120,funded this research.
文摘In the RSSI-based positioning algorithm,regarding the problem of a great conflict between precision and cost,a low-power and low-cost synergic localization algorithm is proposed,where effective methods are adopted in each phase of the localization process and fully use the detective information in the network to improve the positioning precision and robustness.In the ranging period,the power attenuation factor is obtained through the wireless channel modeling,and the RSSI value is transformed into distance.In the positioning period,the preferred reference nodes are used to calculate coordinates.In the position optimization period,Taylor expansion and least-squared iterative update algorithms are used to further improve the location precision.In the positioning,the notion of cooperative localization is introduced,in which the located node satisfying certain demands will be upgraded to a reference node so that it can participate in the positioning of other nodes,and improve the coverage and positioning precision.The results show that on the same network conditions,the proposed algorithm in this paper is similar to the Taylor series expansion algorithm based on the actual coordinates,but much higher than the basic least square algorithm,and the positioning precision is improved rapidly with the reduce of the range error.
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.
文摘At present, salient object detection (SOD) has achieved considerable progress. However, the methods that perform well still face the issue of inadequate detection accuracy. For example, sometimes there are problems of missed and false detections. Effectively optimizing features to capture key information and better integrating different levels of features to enhance their complementarity are two significant challenges in the domain of SOD. In response to these challenges, this study proposes a novel SOD method based on multi-strategy feature optimization. We propose the multi-size feature extraction module (MSFEM), which uses the attention mechanism, the multi-level feature fusion, and the residual block to obtain finer features. This module provides robust support for the subsequent accurate detection of the salient object. In addition, we use two rounds of feature fusion and the feedback mechanism to optimize the features obtained by the MSFEM to improve detection accuracy. The first round of feature fusion is applied to integrate the features extracted by the MSFEM to obtain more refined features. Subsequently, the feedback mechanism and the second round of feature fusion are applied to refine the features, thereby providing a stronger foundation for accurately detecting salient objects. To improve the fusion effect, we propose the feature enhancement module (FEM) and the feature optimization module (FOM). The FEM integrates the upper and lower features with the optimized features obtained by the FOM to enhance feature complementarity. The FOM uses different receptive fields, the attention mechanism, and the residual block to more effectively capture key information. Experimental results demonstrate that our method outperforms 10 state-of-the-art SOD methods.
基金This project is supported by Provincial ScienceTechnology Foundation of Liaoning (No. 20022132)
文摘Optimization design of hydraulic manifold blocks (HMB) is studied as acomplex solid spatial layout problem. Based on comprehensive research into structure features anddesign rules of HMB, an optimal mathematical model for this problem is presented. Usinghuman-computer cooperative genetic algorithm (GA) and its hybrid optitation strategies, integratedlayout and connection design schemes of HMB can be automatically optimized. An example is given totestify it.
基金supported in part by the National Natural Science Foundation of China(Basic Science Center Program:61988101)the Sino-German Center for Research Promotion(M-0066)+2 种基金the International(Regional)Cooperation and Exchange Project(61720106008)the Programme of Introducing Talents of Discipline to Universities(the 111 Project)(B17017)the Program of Shanghai Academic Research Leader(20XD1401300).
文摘Multi-agent systems can solve scientific issues related to complex systems that are difficult or impossible for a single agent to solve through mutual collaboration and cooperation optimization.In a multi-agent system,agents with a certain degree of autonomy generate complex interactions due to the correlation and coordination,which is manifested as cooperative/competitive behavior.This survey focuses on multi-agent cooperative optimization and cooperative/non-cooperative games.Starting from cooperative optimization,the studies on distributed optimization and federated optimization are summarized.The survey mainly focuses on distributed online optimization and its application in privacy protection,and overviews federated optimization from the perspective of privacy protection me-chanisms.Then,cooperative games and non-cooperative games are introduced to expand the cooperative optimization problems from two aspects of minimizing global costs and minimizing individual costs,respectively.Multi-agent cooperative and non-cooperative behaviors are modeled by games from both static and dynamic aspects,according to whether each player can make decisions based on the information of other players.Finally,future directions for cooperative optimization,cooperative/non-cooperative games,and their applications are discussed.
基金Project(61801495)supported by the National Natural Science Foundation of China
文摘The application of multiple UAVs in complicated tasks has been widely explored in recent years.Due to the advantages of flexibility,cheapness and consistence,the performance of heterogeneous multi-UAVs with proper cooperative task allocation is superior to over the single UAV.Accordingly,several constraints should be satisfied to realize the efficient cooperation,such as special time-window,variant equipment,specified execution sequence.Hence,a proper task allocation in UAVs is the crucial point for the final success.The task allocation problem of the heterogeneous UAVs can be formulated as a multi-objective optimization problem coupled with the UAV dynamics.To this end,a multi-layer encoding strategy and a constraint scheduling method are designed to handle the critical logical and physical constraints.In addition,four optimization objectives:completion time,target reward,UAV damage,and total range,are introduced to evaluate various allocation plans.Subsequently,to efficiently solve the multi-objective optimization problem,an improved multi-objective quantum-behaved particle swarm optimization(IMOQPSO)algorithm is proposed.During this algorithm,a modified solution evaluation method is designed to guide algorithmic evolution;both the convergence and distribution of particles are considered comprehensively;and boundary solutions which may produce some special allocation plans are preserved.Moreover,adaptive parameter control and mixed update mechanism are also introduced in this algorithm.Finally,both the proposed model and algorithm are verified by simulation experiments.
基金This project was supported by the Fund of College Doctor Degree (20020699009)
文摘Target distribution in cooperative combat is a difficult and emphases. We build up the optimization model according to the rule of fire distribution. We have researched on the optimization model with BOA. The BOA can estimate the joint probability distribution of the variables with Bayesian network, and the new candidate solutions also can be generated by the joint distribution. The simulation example verified that the method could be used to solve the complex question, the operation was quickly and the solution was best.
基金supported by the National Natural Science Foundation of China (Nos.61973158, 61673209)the Aeronautical Science Foundation (No.2016ZA52009)
文摘An ant colony optimization with artificial potential field(ACOAPF)algorithm is proposed to solve the cooperative search mission planning problem of unmanned aerial vehicle(UAV)swarm.This algorithm adopts a distributed architecture where each UAV is considered as an ant and makes decision autonomously.At each decision step,the ants choose the next gird according to the state transition rule and update its own artificial potential field and pheromone map based on the current search results.Through iterations of this process,the cooperative search of UAV swarm for mission area is realized.The state transition rule is divided into two types.If the artificial potential force is larger than a threshold,the deterministic transition rule is adopted,otherwise a heuristic transition rule is used.The deterministic transition rule can ensure UAVs to avoid the threat or approach the target quickly.And the heuristics transition rule considering the pheromone and heuristic information ensures the continuous search of area with the goal of covering more unknown area and finding more targets.Finally,simulations are carried out to verify the effectiveness of the proposed ACOAPF algorithm for cooperative search mission of UAV swarm.
文摘Cooperative path planning is an important area in fixed-wing UAV swarm.However,avoiding multiple timevarying obstacles and avoiding local optimum are two challenges for existing approaches in a dynamic environment.Firstly,a normalized artificial potential field optimization is proposed by reconstructing a novel function with anisotropy in each dimension,which can make the flight speed of a fixed UAV swarm independent of the repulsive/attractive gain coefficient and avoid trapping into local optimization and local oscillation.Then,taking into account minimum velocity and turning angular velocity of fixed-wing UAV swarm,a strategy of decomposing target vector to avoid moving obstacles and pop-up threats is proposed.Finally,several simulations are carried out to illustrate superiority and effectiveness.
基金Supported by National High Technology Research and Development Program of China(863 Program)(2007AA809502C)National Natural Science Foundation of China(50979093)Program for New Century Excellent Talents in University(NCET-06-0877)
文摘In this paper,a cooperative localization algorithm for autonomous underwater vehicles(AUVs)is proposed.A"parallel"model is adopted to describe the cooperative localization problem instead of the traditional"leader-follower"model,and a linear programming associated with convex optimization method is used to deal with the problem.After an unknown-but-bounded model for sensor noise is assumed,bearing and range measurements can be modeled as linear constraints on the configuration space of the AUVs.Merging these constraints induces a convex polyhedron representing the set of all configurations consistent with the sensor measurements.Estimates for the uncertainty in the position of a single AUV or the relative positions of two or more nodes can then be obtained by projecting this polyhedron onto appropriate subspaces of the configuration space.Two different optimization algorithms are given to recover the uncertainty region according to the number of the AUVs.Simulation results are presented for a typical localization example of the AUV formation.The results show that our positioning method offers a good localization accuracy,although a small number of low-cost sensors are needed for each vehicle,and this validates that it is an economical and practical positioning approach compared with the traditional approach.
基金National Natural Science Foundation of China(No.61903350)Beijing Institute of Technology Research Fund Program for Young Scholars。
文摘This paper proposes new methods and strategies for Multi-UAVs cooperative attacks with safety and time constraints in a complex environment.Delaunay triangle is designed to construct a map of the complex flight environment for aerial vehicles.Delaunay-Map,Safe Flight Corridor(SFC),and Relative Safe Flight Corridor(RSFC)are applied to ensure each UAV flight trajectory's safety.By using such techniques,it is possible to avoid the collision with obstacles and collision between UAVs.Bezier-curve is further developed to ensure that multi-UAVs can simultaneously reach the target at the specified time,and the trajectory is within the flight corridor.The trajectory tracking controller is also designed based on model predictive control to track the planned trajectory accurately.The simulation and experiment results are presented to verifying developed strategies of Multi-UAV cooperative attacks.
基金the National Basic Research Program (973) of China (No. 2004CB720703)
文摘Cryogenic ground support equipment (CGSE) is an important part of a famous particle physics experiment - AMS-02. In this paper a design method which optimizes PID parameters of CGSE control system via the particle swarm optimization (PSO) algorithm is presented. Firstly, an improved version of the original PSO, cooperative random learning particle swarm optimization (CRPSO), is put forward to enhance the performance of the conventional PSO. Secondly, the way of finding PID coefficient will be studied by using this algorithm. Finally, the experimental results and practical works demonstrate that the CRPSO-PID controller achieves a good performance.
基金supported by National Natural Science Foundation of China (Grant Nos. 51005169, 50875187, 50975209)Shanghai Municipal Natural Science Foundation of China (Grant No. 10ZR1432300)+1 种基金International Science & Technology Cooperation Program of China (Grant No. 2012DFG72210)Zhejiang Provincial Key International Science & Technology Cooperation Program of China (Grant No. 2011C14025)
文摘The production process plan design and configurations of reconfigurable machine tool （RMT） interact with each other. Reasonable process plans with suitable configurations of RMT help to improve product quality and reduce production cost. Therefore, a cooperative strategy is needed to concurrently solve the above issue. In this paper, the cooperative optimization model for RMT configurations and production process plan is presented. Its objectives take into account both impacts of process and configuration. Moreover, a novel genetic algorithm is also developed to provide optimal or near-optimal solutions： firstly, its chromosome is redesigned which is composed of three parts, operations, process plan and configurations of RMTs, respectively; secondly, its new selection, crossover and mutation operators are also developed to deal with the process constraints from operation processes （OP） graph, otherwise these operators could generate illegal solutions violating the limits; eventually the optimal configurations for RMT under optimal process plan design can be obtained. At last, a manufacturing line case is applied which is composed of three RMTs. It is shown from the case that the optimal process plan and configurations of RMT are concurrently obtained, and the production cost decreases 6.28% and nonmonetary performance increases 22%. The proposed method can figure out both RMT configurations and production process, improve production capacity, functions and equipment utilization for RMT.
基金supported by the Natural Science Foundation of China(62273068)the Fundamental Research Funds for the Central Universities(3132023512)Dalian Science and Technology Innovation Fund(2019J12GX040).
文摘This paper aims to address the problem of multi-UAV cooperative search for multiple targets in a mountainous environment,considering the constraints of UAV dynamics and prior environmental information.Firstly,using the target probability distribution map,two strategies of information fusion and information diffusion are employed to solve the problem of environmental information inconsistency caused by different UAVs searching different areas,thereby improving the coordination of UAV groups.Secondly,the task region is decomposed into several high-value sub-regions by using data clustering method.Based on this,a hierarchical search strategy is proposed,which allows precise or rough search in different probability areas by adjusting the altitude of the aircraft,thereby improving the search efficiency.Third,the Elite Dung Beetle Optimization Algorithm(EDBOA)is proposed based on bionics by accurately simulating the social behavior of dung beetles to plan paths that satisfy the UAV dynamics constraints and adapt to the mountainous terrain,where the mountain is considered as an obstacle to be avoided.Finally,the objective function for path optimization is formulated by considering factors such as coverage within the task region,smoothness of the search path,and path length.The effectiveness and superiority of the proposed schemes are verified by the simulation.
基金Supported by the National Natural Science Foundation of China(No. 60972041,No. 60572130)Open Research Foundation of National Mobile Communications Research Laboratory,Southeast University,Natural Science Fundamental Research Program of Jiangsu Universities(No. 08KJD510001)+2 种基金Ph.D.Program Foundation of Ministry of Education(No.200802930004)National Special Project (No.2009ZX03003-006)the Science Foundation of Henan University of Technology(No.09XGG010)
文摘An optimal linear precoding scheme based on Particle Swarm Optimization(PSO),which aims to maximize the system capacity of the cooperative transmission in the downlink channel,is proposed for a multicell multiuser single input single output system.With such a scheme,the optimal precoding vector could be easily searched for each user according to a simplified objective function.Simulation results show that the proposed scheme can obtain larger average spectrum efficiency and a better Bit Error Rate(BER) performance than Zero Forcing(ZF) and Minimum Mean Square Error(MMSE) algorithm.
基金Project(61471194)supported by the National Natural Science Foundation of ChinaProject(BK20140828)supported by the Natural Science Foundation of Jiangsu Province,ChinaProject supported by the Scientific Research Foundation for the Returned Overseas Chinese Scholars,Ministry of Education,China
文摘In order to improve the throughput of cognitive radio(CR), optimization of sensing time and cooperative user allocation for OR-rule cooperative spectrum sensing was investigated in a CR network that includes multiple users and one fusion center. The frame structure of cooperative spectrum sensing was divided into multiple transmission time slots and one sensing time slot consisting of local energy detection and cooperative overhead. An optimization problem was formulated to maximize the throughput of CR network, subject to the constraints of both false alarm probability and detection probability. A joint optimization algorithm of sensing time and number of users was proposed to solve this optimization problem with low time complexity. An allocation algorithm of cooperative users was proposed to preferentially allocate the users to the channels with high utilization probability. The simulation results show that the significant improvement on the throughput can be achieved through the proposed joint optimization and allocation algorithms.
文摘This paper proposes a multi-objective optimization design method based on the coalition cooperative game theory where the three design goals have been seen as three game players. By calculating the affecting factors and fuzzy clustering, the design variables are divided into different strategic spaces which belong to each player, then it constructs a payoff function based on the coalition mechanism. Each game player takes its own revenue function as a target and obtains the best strategy versus other players. The best strategies of all players consist of the strategy permutation of a round game and it obtains the final game solutions through multi-round games according to the convergence criterion. A multi-objective optimization example of the luff mechanism of compensative sheave block shows the effectiveness of the coalition cooperative game method.
