Search Results (71)

Traditional algorithms such as Dijkstra and APF rely on complete environmental information for path planning, which results in numerous constraints during modeling. This not only increases the complexity of the algorithms but also reduces the efficiency and reliability of the planning. Swarm intelligence algorithms possess strong data processing and search capabilities, enabling them to efficiently solve path planning problems in different environments and generate approximately optimal paths. However, swarm intelligence algorithms suffer from issues like premature convergence and a tendency to fall into local optima during the search process. Thus, an improved Artificial Bee Colony-Beetle Antennae Search (IABCBAS) algorithm is proposed. Firstly, Tent chaos and non-uniform variation are introduced into the bee algorithm to enhance population diversity and spatial searchability. Secondly, the stochastic reverse learning mechanism and greedy strategy are incorporated into the beetle antennae search algorithm to improve direction-finding ability and the capacity to escape local optima, respectively. Finally, the weights of the two algorithms are adaptively adjusted to balance global search and local refinement. Results of experiments using nine benchmark functions and four comparative algorithms show that the improved algorithm exhibits superior path point search performance and high stability in both high- and low-dimensional environments, as well as in unimodal and multimodal environments. Ablation experiment results indicate that the optimization strategies introduced in the algorithm effectively improve convergence accuracy and speed during path planning. Results of the path planning experiments show that compared with the comparison algorithms, the average path planning distance of the improved algorithm is reduced by 23.83% in the 2D multi-obstacle environment, and the average planning time is shortened by 27.97% in the 3D surface environment. The improvement in path planning efficiency makes this algorithm of certain value in engineering applications. Full article

In this work, we aimed to determine the nonlinear disturbance caused by cascaded coupling rigid–flexible deformation and friction in a direct-driven servo electric cylinder terminal positioning system (DDSEC-TPS) during feed motion of an intermittent, reciprocating, and time-varying load. For this purpose, a cascaded coupling dynamic error model of DDSEC-TPS was established based on the position–pose error model of the parallel motion platform and the rotor field-oriented vector transform. Then, a model to observe the dynamic error of the DDSEC-TPS was established using the improved beetle antennae search algorithm backpropagation neural network (IBAS-BPNN) prediction model according to the rigid–flexible deformation error theory of feed motion, and the observed dynamic error was compensated for in the vector control strategy of the DDSEC-TPS. The length and error prediction models were trained and validated using opposite and mixed datasets tested on the experimental platform, to observe dynamic errors and evaluate and optimize the prediction models. The experimental results show that dynamic error compensation can improve the position tracking accuracy of the DDSEC-TPS and the position–pose performance of the parallel motion platform. This study is of great significance for improving the consistency of following multiple DDSEC-TPSs and the position–pose accuracy of parallel motion platforms. Full article

In line with the strategic plan for emerging industries in China, renewable energy sources like wind power and photovoltaic power are experiencing vigorous growth, and the number of electric vehicles in use is on a continuous upward trend. Alongside the optimization of the distribution network structure and the extensive application of energy storage technology, the active distribution network has evolved into a more flexible and interactive “source–grid–load–storage” diversified structure. When electric vehicles are plugged into charging piles for charging and discharging, it inevitably exerts a significant impact on the control and operation of the power grid. Therefore, in the context of the extensive integration of electric vehicles, delving into the charging and discharging behaviors of electric vehicle clusters and integrating them into the optimization of the active distribution network holds great significance for ensuring the safe and economic operation of the power grid. This paper adopts the two-stage “constant-current and constant-voltage” charging mode, which has the least impact on battery life, and classifies the electric vehicle cluster into basic EV load and controllable EV load. The controllable EV load is regarded as a special “energy storage” resource, and a corresponding model is established to enable its participation in the coordinated control of the active distribution network. Based on the optimization and control of the output behaviors of gas turbines, flexible loads, energy storage, and electric vehicle clusters, this paper proposes a two-layer coordinated control model for the scheduling layer and network layer of the active distribution network and employs the improved multi-target beetle antennae search optimization algorithm (MTTA) in conjunction with the Cplex solver for solution. Through case analysis, the results demonstrate that the “source–grid–load–storage” coordinated control of the active distribution network can fully tap the potential of resources such as flexible loads on the “load” side, traditional energy storage, and controllable EV clusters; realize the economic operation of the active distribution network; reduce load and voltage fluctuations; and enhance power quality. Full article

The Yungang Grottoes are undergoing degradation by weather and environmental erosion. Here, we propose a natural ventilation strategy to optimize the environments in Cave 9 and Cave 10 of the Yungang Grottoes. The novelty of this work is to use an effective computational fluid dynamics (CFD) simulation and a hybrid of the beetle antennae search and particle swarm optimization algorithms (BAS–PSO) to determine which natural ventilation scenario yields the maximum total heat transfer rate (Q_max). A CFD hygrothermal model is first developed and shows high precision in predicting temperature and humidity conditions based on real-time measured data. The natural ventilation efficiency is enhanced by different configurations of doors and windows with four ventilation rates. Combined with eXtreme Gradient Boosting (XGBoost) fitting, the hybrid BAS–PSO algorithm yields the largest Q_max (5746.74 W), which is further confirmed by CFD simulations with the outcome of a comparable Q_max (5730.67 W). It indicates that the hybrid algorithm exhibits a good performance in the identification of optimal configurations. The effectiveness of the proposed natural ventilation strategy is verified by on-site measured data. Our findings provide an effective natural ventilation strategy that is beneficial to the energy-efficient preservation of the Yungang Grottoes. Full article

In this study, a hybrid heading control framework for unmanned surface vehicles (USVs) is proposed, combining variable domain fuzzy Proportional–Integral–Derivative (VUF-PID) with an improved algorithmic Beetle Antennae Search–Particle Swarm Optimization–Simulated Annealing (BAS-PSO-SA) optimization to address the multi-objective control challenge. Key innovations include a self-tuning VUF mechanism that improves disturbance rejection by 42%, a weighted adaptive optimization strategy that reduces parameter tuning iterations by 37%, and an asymmetric learning factor that balances global exploration and local refinement. Benchmarks using Rastrigin, Griewank, and Sphere functions show superior convergence and 68% stability improvement. Ocean heading simulations of a 7.02 m unmanned surface vehicle (USV) using the Nomoto model show a 91.7% reduction in stabilization time, a 0.9% reduction in overshoot, and a 30% reduction in optimization iterations. The experimental validation under wind and wave disturbances shows that the heading deviation is less than 0.0392°, meeting the IMO MSC.1/Circ.1580 standard, and an 89.5% improvement in energy efficiency. Although the processing time is 12.7% longer compared to the GRO approach, this framework lays a solid foundation for ship autonomy systems, and future enhancements will focus on MPC-based time delay compensation and Field-Programmable Gate Array (FPGA) acceleration. Full article

Optimizing tolerance allocation is crucial for balancing cost and performance in the remanufacturing of used electromechanical products. However, the traditional remanufacturing model of “individual part precision restoration + secondary machining trial assembly” lacks an integrated approach to tolerance planning in the design and manufacturing stages, leading to excessive fluctuations in cost and quality. To address this issue, a remanufacturing value-based tolerance allocation method is proposed, integrating remanufacturing value into the tolerance allocation process. First, a remanufacturing value quantification and evaluation indicator system was established at the failure surface layer (i.e., the remanufacturing processing surface) at the design stage and comprehensively considers the used part quality and enterprise processing capabilities. Quantification methods for each indicator were developed, and a comprehensive weighting strategy combining subjective enterprise standards and objective return quality adopted. Then, a multi-objective optimization model for remanufacturing tolerance allocation was established, targeting remanufacturing cost, quality loss, process stability, and corrected by the failure surface value. Finally, the beetle antennae search (BAS) algorithm was employed to determine the optimal solution. A case study on a used gearbox demonstrated that the proposed method significantly improves cost, quality loss, and process stability compared to the traditional remanufacturing approaches. Full article

In emergency rescue scenarios, drones can be equipped with different payloads as needed to aid in tasks such as disaster reconnaissance, situational awareness, communication support, and material assistance. However, rescue missions typically face challenges such as limited reconnaissance boundaries, heterogeneous communication networks, complex data fusion, high task latency, and limited equipment endurance. To address these issues, an unmanned emergency support system tailored for emergency rescue scenarios is designed. This system leverages 5G edge computing technology to provide high-speed and flexible network access along with elastic computing power support, reducing the complexity of data fusion across heterogeneous networks. It supports the control and data transmission of drones through the separation of the control plane and the data plane. Furthermore, by applying the Tammer decomposition method to break down the system optimization problem, the Global Learning Seagull Algorithm for Gaussian Mapping (GLSOAG) is proposed to jointly optimize the system’s energy consumption and latency. Through simulation experiments, the GLSOAG demonstrates significant advantages over the Seagull Optimization Algorithm (SOA), Particle Swarm Optimization (PSO), and Beetle Antennae Search Algorithm (BAS) in terms of convergence speed, optimization accuracy, and stability. The system optimization approach effectively reduces the system’s energy consumption and latency costs. Overall, our work alleviates the pain points faced in rescue scenarios to some extent. Full article

This manuscript introduces an improved Cuckoo Search (CS) algorithm, known as BASCS, designed to address the inherent limitations of CS, including insufficient search space coverage, premature convergence, low search accuracy, and slow search speed. The proposed improvements encompass four main areas: the integration of tent chaotic mapping and random migration in population initialization to reduce the impact of random errors, the guidance of Levy flight by the directional determination strategy of the Beetle Antennae Search (BAS) algorithm during the global search phase to improve search accuracy and convergence speed, the adoption of the Sine Cosine Algorithm for local exploitation in later iterations to enhance local optimization and accuracy, and the adaptive adjustment of the step-size factor and elimination probability throughout the iterative process to convergence. The performance of BASCS is validated through ablation experiments on 10 benchmark functions, comparative experiments with the original CS and its four variants, and application to a robot path planning problem. The results demonstrate that BASCS achieves higher convergence accuracy and exhibits faster convergence speed and superior practical applicability compared to other algorithms. Full article

Alkali-activated concrete (AAC), produced from industrial by-products like fly ash and slag, offers a promising alternative to traditional Portland cement concrete by significantly reducing carbon emissions. Yet, the inherent variability in AAC formulations presents a challenge for accurately predicting its compressive strength using conventional approaches. To address this, we leverage machine learning (ML) techniques, which enable more precise strength predictions based on a combination of material properties and cement mix design parameters. In this study, we curated an extensive dataset comprising 1756 unique AAC mixtures to support robust ML-based modeling. Four distinct input variable schemes were devised to identify the optimal predictor set, and a comparative analysis was performed to evaluate their effectiveness. After this, we investigated the performance of several popular ML algorithms, including random forest (RF), adaptive boosting (AdaBoost), gradient boosting regression trees (GBRTs), and extreme gradient boosting (XGBoost). Among these, the XGBoost model consistently outperformed its counterparts. To further enhance the predictive accuracy of the XGBoost model, we applied four state-of-the-art optimization techniques: the Gray Wolf Optimizer (GWO), Whale Optimization Algorithm (WOA), beetle antennae search (BAS), and Bayesian optimization (BO). The optimized XGBoost model delivered superior performance, achieving a remarkable coefficient of determination (R²) of 0.99 on the training set and 0.94 across the entire dataset. Finally, we employed SHapely Additive exPlanations (SHAP) to imbue the optimized model with interpretability, enabling deeper insights into the complex relationships governing AAC formulations. Through the lens of ML, we highlight the benefits of the multi-faceted synergistic approach for AAC strength prediction, which combines careful input parameter selection, optimal hyperparameter tuning, and enhanced model interpretability. This integrated strategy improves both the robustness and scalability of the model, offering a clear and reliable prediction of AAC performance. Full article

The cultivation model for spindle-shaped apple trees is widely used in modern standard apple orchards worldwide and represents the direction of modern apple industry development. However, without an effective obstacle avoidance path, the robotic arm is prone to collision with obstacles such as fruit tree branches during the picking process, which may damage fruits and branches and even affect the healthy growth of fruit trees. To address the above issues, a three-dimensional path -planning algorithm for full-field fruit obstacle avoidance harvesting for spindle-shaped fruit trees, which are widely planted in modern apple orchards, is proposed in this study. Firstly, based on three typical tree structures of spindle-shaped apple trees (free spindle, high spindle, and slender spindle), a three-dimensional spatial model of fruit tree branches was established. Secondly, based on the grid environment representation method, an obstacle map of the apple tree model was established. Then, the initial pheromones were improved by non-uniform distribution on the basis of the original ant colony algorithm. Furthermore, the updating rules of pheromones were improved, and a biomimetic optimization mechanism was integrated with the beetle antenna algorithm to improve the speed and stability of path searching. Finally, the planned path was smoothed using a cubic B-spline curve to make the path smoother and avoid unnecessary pauses or turns during the harvesting process of the robotic arm. Based on the proposed improved ACO algorithm (ant colony optimization algorithm), obstacle avoidance 3D path planning simulation experiments were conducted for three types of spindle-shaped apple trees. The results showed that the success rates of obstacle avoidance path planning were higher than 96%, 86%, and 92% for free-spindle-shaped, high-spindle-shaped, and slender-spindle-shaped trees, respectively. Compared with traditional ant colony algorithms, the average planning time was decreased by 49.38%, 46.33%, and 51.03%, respectively. The proposed improved algorithm can effectively achieve three-dimensional path planning for obstacle avoidance picking, thereby providing technical support for the development of intelligent apple picking robots. Full article

To improve the performance of the sparrow search algorithm in solving complex optimization problems, this study proposes a novel variant called the Improved Beetle Antennae Search-Based Sparrow Search Algorithm (IBSSA). A new elite dynamic opposite learning strategy is proposed in the population initialization stage to enhance population diversity. In the update stage of the discoverer, a staged inertia weight guidance mechanism is used to improve the update formula of the discoverer, promote the information exchange between individuals, and improve the algorithm’s ability to optimize on a global level. After the follower’s position is updated, the logarithmic spiral opposition-based learning strategy is introduced to disturb the initial position of the individual in the beetle antennae search algorithm to obtain a more purposeful solution. To address the issue of decreased diversity and susceptibility to local optima in the sparrow population during later stages, the improved beetle antennae search algorithm and sparrow search algorithm are combined using a greedy strategy. This integration aims to improve convergence accuracy. On 20 benchmark test functions and the CEC2017 Test suite, IBSSA performed better than other advanced algorithms. Moreover, six engineering optimization problems were used to demonstrate the improved algorithm’s effectiveness and feasibility. Full article

Intelligent control algorithms have been extensively utilized for adaptive controller parameter adjustment. While the Particle Swarm Optimization (PSO) algorithm has several issues: slow convergence speed requiring a large number of iterations, a tendency to get trapped in local optima, and difficulty escaping from them. It is also sensitive to the distribution of the solution space, where uneven distribution can lead to inefficient contraction. On the other hand, the Beetle Antennae Search (BAS) algorithm is robust, precise, and has strong global search capabilities. However, its limitation lies in focusing on a single individual. As the number of iterations increases, the step size decays, causing it to get stuck in local extrema and preventing escape. Although setting a fixed or larger initial step size can avoid this, it results in poor stability. The PSO algorithm, which targets a population, can help the BAS algorithm increase diversity and address its deficiencies. Conversely, the characteristics of the BAS algorithm can aid the PSO algorithm in finding the optimal solution early in the optimization process, accelerating convergence. Therefore, considering the combination of BAS and PSO algorithms can leverage their respective advantages and enhance overall algorithm performance. This paper proposes an improved algorithm, W-K-BSO, which integrates the Beetle Antennae Search strategy into the local search phase of PSO. By leveraging chaotic mapping, the algorithm enhances population diversity and accelerates convergence speed. Additionally, the adoption of linearly decreasing inertia weight enhances algorithm performance, while the coordinated control of the contraction factor and inertia weight regulates global and local optimization performance. Furthermore, the influence of beetle antennae position increments on particles is incorporated, along with the establishment of new velocity update rules. Simulation experiments conducted on nine benchmark functions demonstrate that the W-K-BSO algorithm consistently exhibits strong optimization capabilities. It significantly improves the ability to escape local optima, convergence precision, and algorithm stability across various dimensions, with enhancements ranging from 7 to 9 orders of magnitude compared to the BAS algorithm. Application of the W-K-BSO algorithm to PID optimization for the Pointing and Tracking System (PTS) reduced system stabilization time by 28.5%, confirming the algorithm’s superiority and competitiveness. Full article

To address the issues of sluggish response and inadequate precision in traditional gate opening control systems, this study presents a novel approach for direct current (DC) motor control utilizing an enhanced beetle antennae search (BAS) algorithm to fine-tune the parameters of a fuzzy proportional integral derivative (PID) controller. Initially, the mathematical model of the DC motor drive system is formulated. Subsequently, employing a search algorithm, the three parameters of the PID controller are optimized in accordance with the control requirements. Next, software simulation is employed to analyze the system’s response time and overshoot. Furthermore, a comparative analysis is conducted between fuzzy PID control based on the improved beetle antennae search algorithm, and conventional approaches such as the traditional beetle antennae search algorithm, the traditional particle swarm algorithm, and the enhanced particle swarm algorithm. The findings indicate the superior performance of the proposed method, characterized by reduced oscillations and accelerated convergence compared to the alternative methods. Full article

An indoor accelerated freezing and thawing test of polypropylene fibre-reinforced concrete in chloride and sulphate environments was conducted using the “fast-freezing method” with the objective of investigating the damage law of the post-freezing mechanical properties of hydraulic concrete structures and studying the effects of different mixing amounts of polypropylene fibres on the mechanical properties of concrete. Furthermore, in order to reduce the cost of concrete tests and shorten the time required for conducting concrete tests, a backpropagation neural network based on a Beetle Antenna Search algorithm (BAS-BPNN) was established to simulate and predict the mechanical properties of polypropylene fibre-reinforced concrete. The accuracy of the model was verified. The results indicate that the order of improvement in the macro-physical properties of concrete due to fibre doping is as follows: PPF1.2 exhibited the greatest improvement in macro-physical properties of concrete, followed by PPF0.9, PPF1.5, PPF0.6, and PC. When the freezing and thawing medium and the number of cycles are identical, all four assessment indexes (R2, RMSE, SI, MAPE) demonstrate that the four groups of polypropylene fibre concrete exhibit superior performance to the control group of ordinary concrete. This indicates that polypropylene fibre can enhance the mechanical properties and freezing resistance of the concrete matrix, delay the process of freezing and thawing damage to the matrix, and extend the lifespan of the matrix, yet cannot prevent the ultimate failure of the matrix. The application of intelligent algorithms to optimise the parameters of an artificial neural network model can enhance its capacity to generalise and predict the mechanical properties of concrete. In terms of the coefficient of determination (R2), the Beetle Antenna Search algorithm (0.9782) outperforms the Particle Swarm Optimization (PSO; 0.9676), the Genetic Algorithm (GA; 0.9645), and the backpropagation neural network (BPNN; 0.9460). The improved backpropagation neural network based on the Beetle Antenna Search algorithm not only avoids the trap of local optimality but also improves the model accuracy while further accelerating the convergence speed. This approach can address the complexity, non-linearity, and modelling difficulties encountered during the freezing process of concrete. Moreover, it offers relatively accurate prediction outcomes at a reduced cost in comparison to traditional experimental methodologies. Full article

The dimensional accuracy and microstructure affect the service performance of parts fabricated by wire arc additive manufacturing (WAAM). Regulating the geometry and microstructure of such parts presents a challenge. The coupling method of an artificial neural network and finite element (FE) is proposed in this research for this purpose. Back-propagating neural networks (BPNN) based on optimization algorithms were established to predict the bead width (BW) and height (BH) of the deposited layers. Then, the bead geometry was modeled based on the predicted dimension, and 3D FE heat transfer simulation was performed to investigate the evolution of temperature and microstructure. The results showed that the errors in BW and BH were less than 6%, and the beetle antenna search BPNN model had the highest prediction accuracy compared to the other models. The simulated melt pool error was less than 5% with the experimental results. The decrease in the ratio of the temperature gradient and solidification rate induced the transition of solidified grains from cellular crystals to columnar dendrites and then to equiaxed dendrites. Accelerating the cooling rate increased the primary dendrite arm spacing and δ-ferrite content. These results indicate that the coupling model provides a pathway for regulating the dimensions and microstructures of manufactured parts. Full article