Search Results (453)

In order to solve the problems of slow convergence speed, insufficient accuracy, and easily falling into the local optimum of the traditional whale optimization algorithm (WOA) in mobile robot path planning, an improved whale optimization algorithm (IWOA) combined with the bird navigation mechanism was proposed. Specific improvement measures include using logical chaos mapping to initialize the population to enhance the randomness and diversity of the initial solution, designing a nonlinear convergence factor to prevent the algorithm from prematurely entering the shrinking surround phase and extending the global search time, introducing an adaptive spiral shape constant to dynamically adjust the search range to balance exploration and development capabilities, optimizing the individual update strategy in combination with the bird navigation mechanism, and optimizing the algorithm through companion position information, thereby improving the stability and convergence speed of the algorithm. Path planning simulations were performed on 30 × 30 and 50 × 50 grid maps. The results show that compared with WOA, MSWOA, and GA, in the 30 × 30 map, the path length of IWOA is shortened by 3.23%, 7.16%, and 6.49%, respectively; in the 50 × 50 map, the path length is shortened by 4.88%, 4.53%, and 28.37%, respectively. This study shows that IWOA has significant advantages in the accuracy and efficiency of path planning, which verifies its feasibility and superiority. Full article

The development of modern machining and manufacturing industry puts forward higher requirements for the machining accuracy of machine tools. The thermal error of the machine tool spindle directly affects the accuracy of the machined workpiece. To improve the accuracy of thermal error prediction, this paper conducts temperature field analysis for the thermal error of the machine tool spindle and employs the Whale Optimization Algorithm (WOA) to optimize the temperature field parameters, aiming to establish a spindle temperature field model. This approach avoids the problem that traditional measurement methods cannot obtain the temperature of key rotational positions of the spindle and provides a new method for the selection of temperature-sensitive points in the thermal error measurement process. Initially, a spindle Product of Exponentials (POE) error model is constructed to map the five errors of the spindle to three-dimensional vectors in the machine tool space. Subsequently, the Whale Optimization Algorithm (WOA) is used to optimize the physical parameters of the spindle, and the optimal spindle temperature field model is determined. The calculated spindle thermal error data and temperature field model data are input into the OLGWO-SHO-CNN model for training. Finally, a case study is carried out on a machining center, and the trained model is used to perform compensation verification under constant and variable speed conditions, respectively. The experimental results show that under the constant speed condition, the compensation rates of the X-axis, Y-axis, and Z-axis are 77.2%, 73.1%, and 88.7%, respectively; under the variable speed condition, the compensation rates of the X-axis, Y-axis, and Z-axis are 74.7%, 78.2%, and 88.0%, respectively. The compensation results indicate that the established spindle temperature field model and the OLGWO-SHO-CNN model have good robustness and accuracy. Full article

The Internet of Medical Things (IoMT) improves healthcare delivery through many medical applications. Because of medical data sensitivity and limited resources of wearable technology, privacy and security are significant challenges. Traditional encryption does not provide secure computation on encrypted data, and many blockchain-based IoMT solutions partially rely on centralized structures. IoMT with dynamic encryption is an innovative privacy-preserving system that combines sensitivity-based classification and advanced encryption to address these issues. The study proposes privacy-preserving IoMT framework that dynamically adapts its cryptographic strategy based on data sensitivity. The proposed approach uses a hybrid SDAIPA (SDAIA-HIPAA) classification model that integrates Saudi Data and Artificial Intelligence Authority (SDAIA) and Health Insurance Portability and Accountability Act (HIPAA) guidelines. This classification directly governs the selection of encryption mechanisms, where Advanced Encryption Standard (AES) is used for low-sensitivity data, and Fully Homomorphic Encryption (FHE) is used for high-sensitivity data. The Whale Optimization Algorithm (WOA) is used to maximize cryptographic entropy of FHE keys and improves security against attacks, resulting in an Optimized FHE that is conditionally used based on SDAIPA outputs. This proposed approach provides a novel scheme to dynamically align cryptographic intensity with data risk and avoids the overhead of uniform FHE use while ensuring strong privacy for critical records. Two datasets are used to assess the proposed approach with up to 806 samples. The results show that the hybrid OHE-WOA outperforms in the percentage of sensitivity of privacy index with dataset 1 by 78.3% and 12.5% and with dataset 2 by 89% and 19.7% compared to AES and RSA, respectively, which ensures its superior ability to preserve privacy. Full article

This paper proposes a hybrid photovoltaic (PV) Maximum Power Point Tracking (MPPT) strategy to tackle local optima, slow dynamic response, and steady-state oscillations under partial shading conditions (PSC). The method combines an Improved Whale Migration Algorithm (IWMA) with a variable-step Incremental Conductance (VINC) technique. IWMA employs a Tent–Logistic–Cosine chaotic initialization, dynamic weight coefficients, random feedback, and a distance-sensitive term to enhance population diversity, strengthen global exploration, and reduce the risk of convergence to local maxima. The VINC stage adaptively adjusts the step size based on incremental conductance, providing fine local refinement around the global maximum power point (GMPP) and suppressing steady-state power ripple. Extensive MATLAB/Simulink simulations with multiple random trials show that the proposed IWMA-VINC strategy consistently outperforms the Whale Migration Algorithm (WMA), A Simplified Particle Swarm Optimization Algorithm Combining Natural Selection and Conductivity Incremental Approach (NSNPSO-INC), and the Grey Wolf Optimizer and Whale Optimization Algorithm (GWO-WOA) under both static and dynamic PSC, achieving the highest tracking accuracies (99.74% static, 99.44% dynamic), higher average output power, shorter convergence times, and the smallest variance across trials. These results demonstrate that IWMA-VINC offers a robust and high-performance MPPT solution for PV systems operating in complex illumination environments. Full article

Whether an unmanned aerial vehicle (UAV) can complete its mission successfully is determined by trajectory planning. Reasonable and efficient UAV trajectory planning in 3D environments is a complex global optimization problem, in which numerous constraints need to be considered carefully, including mountainous terrain, obstacles, no-fly zones, safety altitude, smoothness, flight distance, and so on. Generally speaking, symmetry characteristics from the starting point to the endpoint can be concluded from the potential spatial multiple trajectories. Aiming at the deficiencies of the Sparrow Search Algorithm (SSA) in 3D symmetric trajectory planning such as population diversity and local optimization, the sine–cosine function and the Lévy flight strategy are combined, and the Improved Sparrow Search Algorithm (ISSA) is proposed, which can find a better solution in a shorter time by dynamically adjusting the search step size and increasing the occasional large step jumps so as to increase the symmetry balance of the global search and the local development. In order to verify the effectiveness of the improved algorithm, ISSA is simulated and compared with the Sparrow Search Algorithm (SSA), Particle Swarm Algorithm (PSO), Gray Wolf Algorithm (GWO) and Whale Optimization Algorithm (WOA) in the same environment. The results show that the ISSA algorithm outperforms the comparison algorithms in key indexes such as convergence speed, path cost, obstacle avoidance safety, and path smoothness, and can meet the requirement of obtaining a higher-quality flight path in a shorter number of iterations. Full article

This paper proposes a hybrid integer optimization method based on the Whale Optimization Algorithm (WOA) for the asymmetric central air conditioning chiller system of a 530-m super high-rise building in Guangzhou. Firstly, a three-hidden-layer multilayer perceptron (MLP) chiller model based on 16,276 sets of measured data and a gradient boosting regression cooling tower model based on 21,369 sets of operating condition data were constructed, achieving high-precision modeling of the energy consumption of all equipment in the chiller system. Secondly, a hybrid encoding strategy of “threshold truncation + continuous relaxation” was proposed to integrate discrete on-off states and continuous operating parameters into WOA, and a three-layer constraint repair mechanism was designed to ensure the physical feasibility of the optimization process and the safe operation of equipment. Verification across three load scenarios—low, medium, and high—showed that the optimized system’s energy efficiency ratio (EER) increased by 15.01%, 12.61%, and 11.86%, respectively, with energy savings of 12.91%, 11.18%, and 10.58%. The annual rolling optimization results showed that the average EER increased from 5.07 to 5.88 (16.1%), with energy savings ranging from 8.59% to 18.92%. Sensitivity analysis indicated that pump quantity is the most influential parameter affecting system energy consumption, with an additional pump reducing it by 1.1%. The optimization method proposed in this paper meets the minute-level real-time scheduling requirements of building automation systems and provides an implementable solution for energy-saving optimization of central air conditioning chiller systems in super high-rise buildings. Full article

Climate change poses significant threats to forest ecosystems, with drought stress being a major factor affecting tree growth and survival. The accurate and early diagnosis of plant water status is, therefore, critical for advancing climate-smart forestry. However, traditional monitoring approaches often rely on single-sensor data or manual field surveys, limiting their capacity to comprehensively capture the complex physiological and structural dynamics of plants under water deficit. To address this gap, this study developed an indoor multi-sensor phenotyping platform, based on a three-axis mobile truss system, which integrates a hyperspectral camera, a thermal infrared imager, and a LiDAR scanner for coordinated high-throughput data acquisition. We further propose a novel hybrid model, the Whale Optimization Algorithm-based Multi-Kernel Extreme Learning Machine (WOA-MK-ELM), which enhances classification robustness by adaptively fusing hyperspectral and thermal features within a dual Gaussian kernel space. We use Perilla frutescens as a model species, achieving an accuracy of 93.03%, an average precision of 93.11%, an average recall of 94.04%, and an F1-score of 0.94 in water stress degree classification. The results demonstrate that the proposed framework not only achieves high prediction accuracy but also provides a powerful prototype and a robust analytical approach for smart forestry and early warning systems. Full article

Focusing on the mechanical characteristics of robotic dexterous hand tea-picking, this paper takes the harvesting of the premium tea Huangshan Maofeng as an example and proposes an adaptive impedance control method for tea-picking dexterous hands based on the Whale Optimization Algorithm (WOA) and Kolmogorov–Arnold Network (KAN). Firstly, within the impedance control framework, a KAN neural network with cubic B-spline functions as activation functions is introduced. Subsequently, the WOA is applied to optimize the B-splines, enhancing the network´s nonlinear fitting and global optimization capabilities, thereby achieving dynamic mapping and real-time adjustment of impedance parameters to improve the accuracy of tea bud contact force-tracking. Finally, simulation results show that under working conditions such as stiffness mutation and dynamic changes in desired force, the proposed method reduces the overshoot by 14.2% compared to traditional fixed-parameter impedance control, while the steady-state error is reduced by 99.89%. Experiments on tea-picking using a dexterous hand equipped with tactile sensors show that at a 50Hz control frequency, the maximum overshoot is about 6%, further verifying the effectiveness of the proposed control algorithm. Full article

With the rapid advancement of battery technology, new energy hybrid tugboats have been progressively adopted. In order to align with the trend of electrifying tugboat fleets, a mixed-integer linear programming (MILP) model for the joint scheduling of new energy hybrid tugboats and berths has been established. The model incorporates the constraint imposed by the limited number of tugboat charging connectors. The objective is to minimize the total cost over the scheduling horizon, including ship waiting, delayed-departure costs, and the operating costs of both conventional diesel and hybrid tugboats. In light of the characteristics inherent to the problem, a hybrid solution approach combining CPLEX with a heuristic-enhanced whale optimization algorithm (WOA) is employed to solve the model. A case study was conducted using data on the energy consumption of tugboats at Xiamen Port. The effectiveness of the model and algorithm was then verified through a series of small-scale instance experiments. Finally, a comprehensive sensitivity analysis of key parameters is finally conducted, including the number of tugboat charging connectors, battery capacity, and charging rate. This analysis provides valuable guidance for port tugboat operations. Full article

Objective: Segmentation of liver and liver tumors from 3D medical images is a challenging and computationally expensive task. Organs that are in close proximity may have similar shape, texture, and intensity, which makes it difficult for accurate segmentation. Accurate segmentation of liver tumors is important for diagnosis and treatment planning of liver cancer. Methods: A hybrid model with a U-Net based structure and the Whale Optimization Algorithm (WOA) was proposed. WOA was used to optimize the hyperparameters of the conventional LiTS-Res-UNet to obtain the best segmentation performance of the deep learning model. Results: The LiTS-Res-Unet + WOA hybrid model achieved a performance of 99.54% for accuracy, with a Dice coefficient of 92.38% and a Jaccard index of 86.73% on the benchmark dataset, outperforming state-of-the-art methods. Conclusions: The WOA-based adaptive search space was able to obtain an optimal set of hyperparameters for deep learning model convergence while increasing the accuracy of the model in the proposed hybrid model. The robust performance and clinical applicability of the model in liver tumor segmentation were demonstrated. Full article

Energy expenditure constitutes a significant portion of total operational costs in greenhouse crop production. Developing accurate energy consumption prediction models presents crucial theoretical foundations for optimizing the environmental control strategies aimed at energy efficiency enhancement. This study focuses on steel-frame solar greenhouses without back slopes in Xinjiang’s Tianshan North Slope region. A physical model was established using thermodynamic equilibrium analysis, elucidating the energy exchange mechanisms between internal and external environments. Key parameters, including outdoor temperature and solar radiation, were identified as primary input variables through systematic energy flow characterization. Building upon this theoretical framework, we developed an enhanced prediction model (WOA-ELM) by integrating the Whale Optimization Algorithm (WOA) with an Extreme Learning Machine (ELM). The WOA’s global optimization capabilities were employed to refine the connection weights between input-hidden layers and optimize hidden neuron thresholds. Comparative evaluations against conventional artificial neural networks (ANNs), radial basis function neural networks (RBFNN), and baseline ELM models were conducted under diverse meteorological conditions. Experimental results demonstrate the superior performance of WOA-ELM across multiple metrics. Under overcast conditions, the model achieved a root mean square error (RMSE) of 0.423, coefficient of determination (R²) of 0.93, and mean absolute error (MAE) of 0.252. In clear weather scenarios, performance further improved with RMSE = 0.27, R² = 0.96, and MAE = 0.063. The comprehensive evaluation ranked model effectiveness as WOA-ELM > ELM > BP > RBF. These findings substantiate that the hybrid WOA-ELM architecture, combining physical mechanism interpretation with intelligent parameter optimization, delivers enhanced prediction accuracy across varying weather patterns. This research provides valuable insights for energy load management in backslope-less steel-frame greenhouses, offering theoretical guidance for thermal environment regulation and sustainable operation. Full article

To address the challenges that rolling bearing vibration signals are easily affected by noise and that traditional single-channel methods cannot fully exploit multi-channel information, this paper proposes a multi-channel fault diagnosis method combining Whale Optimization Algorithm-assisted Variational Mode Decomposition (WOA-VMD) with Tucker tensor decomposition. In this method, multi-channel vibration signals are first adaptively decomposed using WOA-VMD, with optimized decomposition parameters to effectively extract weak fault features. The resulting intrinsic mode functions (IMFs) are then structured into a third-order tensor to preserve inter-channel correlations. Tucker decomposition is subsequently applied to extract robust feature vectors from the tensor factor matrices, achieving dimensionality reduction, redundancy suppression, and enhanced noise mitigation. Finally, statistical features such as standard deviation, kurtosis, and waveform factor are computed from the denoised signals and fed into a Support Vector Machine (SVM) classifier for precise fault identification. Experimental results show that the proposed method outperforms traditional approaches in extracting weak fault features, effectively leveraging correlations among multi-channel signals to extract meaningful features from noise-corrupted signals, and achieving efficient and reliable fault diagnosis. Full article

Accurate forecasting of carbon emissions is not only essential for addressing the challenges of climate governance but also provides timely support for dynamic carbon quota adjustments and emergency emission reduction decisions. In this study, we take China’s daily carbon emission data from 2021 to 2024 as the research objects and propose a novel forecasting framework called STL-wLSTM-SVR based on seasonal-trend decomposition with Loess (STL), long short-term memory network (LSTM) and support vector regression (SVR). First, the original carbon emission sequence is decomposed via STL into seasonal, trend and residual components. Subsequently, LSTM is employed to predict the seasonal and trend components with hyper-parameters optimized by whale optimization algorithm (WOA), and SVR is used to predict the residual component with parameters optimized through grid search method. Then, the final results are obtained by accumulating the forecasted values of the three subsequences. The experimental results illustrate that the STL-wLSTM-SVR model achieved a high-precision forecast for China’s total daily carbon emissions (RMSE of 0.1129, MAPE of 0.28%, MAE of 0.0851) and demonstrated remarkable adaptability for five major sectors—from navigating the high volatility of ground transport (MAPE of 0.36%) to effectively handling the dramatic post-pandemic structural break in aviation (MAPE of 0.72%). These findings assess the effectiveness of the hybrid forecasting framework and provide a valuable methodological reference for similar prediction tasks, such as sector-specific pollutant emissions and regional energy consumption. Full article

To address the challenges of small-sample rock fine classification—such as overfitting caused by limited sample size and the increased complexity resulting from high inter-class similarity—this study proposes a Stacking ensemble method tailored for small-sample rock image classification. Using a dataset of seven rock categories provided by the BdRace platform, 38 features were extracted across three dimensions—color, texture, and grain size—through grayscale thresholding, HSV color space analysis, gray-level co-occurrence matrix computation, and morphological analysis. The interrelationships among features were evaluated using Spearman correlation analysis and hierarchical clustering, while a voting-based fusion strategy integrated Lasso regularization, gray correlation analysis, and variance filtering for feature dimensionality reduction. The Whale Optimization Algorithm (WOA) was employed to perform global optimization on the base learners, including Random Forest (RF), K-Nearest Neighbors (KNN), Naive Bayes (NBM), and Support Vector Machine (SVM), with Logistic Regression serving as the meta-classifier to construct the final Stacking ensemble model. Experimental results demonstrate that the Stacking method achieves an average classification accuracy of 85.41%, with the highest accuracy for black coal identification (97.16%). Compared to the single models RF, KNN, NBM, and SVM, it improves accuracy by 7.27%, 8.64%, 6.79%, and 6.94%, respectively. Evidently, the Stacking model integrates the strengths of individual models, significantly enhancing recognition accuracy. This research not only improves rock identification accuracy and reduces exploration costs but also advances the intelligent transformation of geological exploration, demonstrating considerable engineering application value. Full article

On GPU-based clusters, the training workloads of machine learning (ML) models, particularly neural networks (NNs), are often structured as Directed Acyclic Graphs (DAGs) and typically deployed for parallel execution across heterogeneous GPU resources. Efficient scheduling of these workloads is crucial for optimizing performance metrics such as execution time, under various constraints including GPU heterogeneity, network capacity, and data dependencies. DAG-structured ML workload scheduling could be modeled as a Nonlinear Integer Program (NIP) problem, and is shown to be NP-complete. By leveraging a positive correlation between Scheduling Plan Distance (SPD) and Finish Time Gap (FTG) identified through an empirical study, we propose to develop a Running Time Gap Strategy for scheduling based on Whale Optimization Algorithm (WOA) and Reinforcement Learning, referred to as WORL-RTGS. The proposed method integrates the global search capabilities of WOA with the adaptive decision-making of Double Deep Q-Networks (DDQN). Particularly, we derive a novel function to generate effective scheduling plans using DDQN, enhancing adaptability to complex DAG structures. Comprehensive evaluations on practical ML workload traces collected from Alibaba on simulated GPU-enabled platforms demonstrate that WORL-RTGS significantly improves WOA’s stability for DAG-structured ML workload scheduling and reduces completion time by up to 66.56% compared with five state-of-the-art scheduling algorithms. Full article