Search Results (617)

Addressing the limitations of existing path planning algorithms for mobile robots in complex environments, such as poor adaptability, low convergence efficiency, and poor path quality, this study establishes a clear connection between mobile robots and real-world challenges such as unknown environments, dynamic obstacle avoidance, and smooth motion through innovative strategies. A novel multi-strategy fusion white shark optimization algorithm is proposed, focusing on actual scenario requirements, to provide optimal solutions for mobile robot path planning. First, the Chaotic Elite Pool strategy is employed to generate an elite population, enhancing population diversity and improving the quality of initial solutions, thereby boosting the algorithm’s global search capability. Second, adaptive weights are introduced, and the traditional simulated annealing algorithm is improved to obtain the Rapid Annealing Method. The improved simulated annealing algorithm is then combined with the White Shark algorithm to avoid getting stuck in local optima and accelerate convergence speed. Finally, third-order Bézier curves are used to smooth the path. Path length and path smoothness are used as fitness evaluation metrics, and an evaluation function is established in conjunction with a non-complete model that reflects actual motion to assess the effectiveness of path planning. Simulation results show that on the simple 20 × 20 grid map, the fusion of the Fused Multi-strategy White Shark Optimisation algorithm (FMWSO) outperforms WSO, D*, A*, and GWO by 8.43%, 7.37%, 2.08%, and 2.65%, respectively, in terms of path length. On the more complex 40 × 40 grid map, it improved by 6.48%, 26.76%, 0.95%, and 2.05%, respectively. The number of turning points was the lowest in both maps, and the path smoothness was lower. The algorithm’s runtime is optimal on the 20 × 20 map, outperforming other algorithms by 40.11%, 25.93%, 31.16%, and 9.51%, respectively. On the 40 × 40 map, it is on par with A*, and outperforms WSO, D*, and GWO by 14.01%, 157.38%, and 3.48%, respectively. The path planning performance is significantly better than other algorithms. Full article

Background: Complete environmental adaptation requires both survival and reproductive success. The hypoxic Qinghai-Tibet Plateau (>3000 m) challenges reproduction in indigenous species. Tibetan sheep, a key plateau-adapted breed, possess remarkable hypoxic tolerance, yet the genetic basis of their reproductive success remains poorly understood. Methods: We integrated transcriptomic and genomic data from Tibetan sheep and two lowland breeds (Small-tailed Han sheep and Hu sheep) to identify Tibetan sheep reproduction-associated genes (TSRGs). Results: We identified 165 TSRGs: four genes were differentially expressed (DEGs) versus Small-tailed Han sheep, 77 DEGs versus Hu sheep were found, and 73 genes were annotated in reproductive pathways. Functional analyses revealed enrichment for spermatogenesis, embryonic development, and transcriptional regulation. Notably, three top-ranked selection signals (VEPH1, HBB, and MEIKIN) showed differential expression. Murine Gene Informatics (MGI) confirmed that knockout orthologs exhibit significant phenotypes including male infertility, abnormal meiosis (male/female), oligozoospermia, and reduced neonatal weight. Conclusions: Tibetan sheep utilize an evolved suite of genes underpinning gametogenesis and embryogenesis under chronic hypoxia, ensuring high reproductive fitness—a vital component of their adaptation to plateaus. These genes provide valuable genetic markers for the selection, breeding, and conservation of Tibetan sheep as a critical genetic resource. Full article

Rolling bearings serve as the most widely utilized general components in drive systems for rotating machinery, and they are susceptible to regular malfunctions. To address the performance degradation encountered by current convolutional neural network-based rolling-bearing-fault diagnosis methods due to significant noise interference and variable working conditions in industrial settings, we propose a rolling-bearing-fault diagnosis method based on dual multi-scale mechanism applicable to noisy-variable operating conditions. The suggested approach begins with the implementation of Variational Mode Decomposition (VMD) on the initial vibration signal. This is succeeded by a denoising process that utilizes the goodness-of-fit test based on the Anderson–Darling (AD) distance for enhanced accuracy. This approach targets the intrinsic mode functions (IMFs), which capture information across multiple scales, to obtain the most precise denoised signal possible. Subsequently, we introduce the Dynamic Weighted Multi-Scale Feature Convolutional Neural Network (DWMFCNN) model, which integrates two structures: multi-scale feature extraction and dynamic weighting of these features. Ultimately, the signal that has been denoised is utilized as input for the DWMFCNN model to recognize different kinds of rolling-bearing faults. Results from the experiments show that the suggested approach shows an improved denoising performance and a greater adaptability to changing working conditions. Full article

To overcome the limitations of single-objective optimization in permanent magnet synchronous motor (PMSM) performance enhancement, this study proposes an adaptive moving least squares (AMLS) for a 12-pole/36-slot built-in PMSM. Through comprehensive exploration of the design space, a systematic approach is established for holistic motor performance improvement. The Gaussian weight function is modified to improve the model’s fitting accuracy, and the decay rate of the control weight is optimized. The optimal adaptive meta-model for the built-in PMSM is selected based on the coefficient of determination. Subsequently, sensitivity analysis is conducted to identify the parameters that most significantly influence key performance indicators, including torque ripple, stator core loss, electromagnetic force amplitude, and average output torque. These parameters are then chosen as the optimal design variables. A multi-objective optimization framework, built upon the optimal adaptive meta-model, is developed to address the multi-objective optimization problem. The results demonstrate increased output torque, along with reductions in stator core loss, torque ripple, and radial electromagnetic force, thereby significantly improving the overall performance of the motor. Full article

During the long-term preservation of murals, the degradation of mural image information poses significant challenges to the restoration and conservation of world cultural heritage. Currently, mural conservation scholars focus on image segmentation techniques for mural restoration and protection. However, existing image segmentation methods suffer from suboptimal segmentation quality. To improve mural image segmentation, this study proposes an efficient mural image segmentation method termed Adaptive Nonlinear Bernstein-guided Parrot Optimizer (ANBPO) by integrating an adaptive learning strategy, a nonlinear factor, and a third-order Bernstein-guided strategy into the Parrot Optimizer (PO). In ANBPO, First, to address PO’s limited global exploration capability, the adaptive learning strategy is introduced. By considering individual information disparities and learning behaviors, this strategy effectively enhances the algorithm’s global exploration, enabling a thorough search of the solution space. Second, to mitigate the imbalance between PO’s global exploration and local exploitation phases, the nonlinear factor is proposed. Leveraging its adaptability and nonlinear curve characteristics, this factor improves the algorithm’s ability to escape local optimal segmentation thresholds. Finally, to overcome PO’s inadequate local exploitation capability, the third-order Bernstein-guided strategy is introduced. By incorporating the weighted properties of third-order Bernstein polynomials, this strategy comprehensively evaluates individuals with diverse characteristics, thereby enhancing the precision of mural image segmentation. ANBPO was applied to segment twelve mural images. The results demonstrate that, compared to competing algorithms, ANBPO achieves a 91.6% win rate in fitness function values while outperforming them by 67.6%, 69.4%, and 69.7% in PSNR, SSIM, and FSIM metrics, respectively. These results confirm that the ANBPO algorithm can effectively segment mural images while preserving the original feature information. Thus, it can be regarded as an efficient mural image segmentation algorithm. Full article

Rapid and accurate transient stability assessment (TSA) is crucial for ensuring secure and stable operation in power systems. However, existing methods fail to adequately exploit the spatiotemporal characteristics in power grid transient data, which constrains the evaluation performance of models. This paper proposes a TSA method built upon an Attention-Based Spatial–Temporal Graph Convolutional Network (ASTGCN) model. First, a spatiotemporal attention module is used to aggregate and extract the spatiotemporal correlations of the transient process in the power system. A spatiotemporal convolution module is then employed to effectively capture the spatial features and temporal evolution patterns of transient stability data. In addition, an adaptive focal loss function is designed to enhance the fitting of unstable samples and increase the weight of misclassified samples, thereby improving global accuracy and reducing the occurrence of missed instability samples. Finally, the simulation results from the New England 10-machine 39-bus system and the NPCC 48-machine 140-bus system validate the effectiveness of the proposed methodology. Full article

Quadcolor cameras with conventional RGB channels were studied. The fourth channel was designed to improve the estimation of the spectral reflectance and chromaticity from the camera signals. The RGB channels of the quadcolor cameras considered were assumed to be the same as those of the Nikon D5100 camera. The fourth channel was assumed to be a silicon sensor with an optical filter (band-pass filter or notch filter). The optical filter was optimized to minimize a cost function consisting of the spectral reflectance error and the weighted chromaticity error, where the weighting factor controls the contribution of the chromaticity error. The study found that using a notch filter is more effective than a band-pass filter in reducing both the mean reflectance error and the chromaticity error. The reason is that the notch filter (1) improves the fit of the quadcolor camera sensitivities to the color matching functions and (2) provides sensitivity in the wavelength region where the sensitivities of RGB channels are small. Munsell color chips under illuminant D65 were used as samples. Compared with the case without the filter, the mean spectral reflectance rms error and the mean color difference (ΔE₀₀) using the quadcolor camera with the optimized notch filter reduced from 0.00928 and 0.3062 to 0.0078 and 0.2085, respectively; compared with the case of using the D5100 camera, these two mean metrics reduced by 56.3%. Full article

This paper introduces a novel and flexible class of continuous probability distributions, termed the Alpha Power Survival Ratio-X (APSR-X) family. Unlike many existing transformation-based families, the APSR-X class integrates an alpha power transformation with a survival ratio structure, offering a new mechanism for enhancing shape flexibility while maintaining mathematical tractability. This construction enables fine control over both the tail behavior and the symmetry properties, distinguishing it from traditional alpha power or survival-based extensions. We focus on a key member of this family, the two-parameter Alpha Power Survival Ratio Exponential (APSR-Exp) distribution, deriving essential mathematical properties including moments, quantile functions and hazard rate structures. We estimate the model parameters using eight frequentist methods: the maximum likelihood (MLE), maximum product of spacings (MPSE), least squares (LSE), weighted least squares (WLSE), Anderson–Darling (ADE), right-tailed Anderson–Darling (RADE), Cramér–von Mises (CVME) and percentile (PCE) estimation. Through comprehensive Monte Carlo simulations, we evaluate the estimator performance using bias, mean squared error and mean relative error metrics. The proposed APSR-X framework uniquely enables preservation or controlled modification of the symmetry in probability density and hazard rate functions via its shape parameter. This capability is particularly valuable in reliability and survival analyses, where symmetric patterns represent balanced risk profiles while asymmetric shapes capture skewed failure behaviors. We demonstrate the practical utility of the APSR-Exp model through three real-world applications: economic (tax revenue durations), engineering (mechanical repair times) and medical (infection durations) datasets. In all cases, the proposed model achieves a superior fit over that of the conventional alternatives, supported by goodness-of-fit statistics and visual diagnostics. These findings establish the APSR-X family as a unique, symmetry-aware modeling framework for complex lifetime data. Full article

The ability to autonomously generate up-to-date 3D models of robotic workcells is critical for advancing smart manufacturing, yet existing Next-Best-View (NBV) methods often rely on paradigms ill-suited for the fixed-base manipulators found in dynamic industrial environments. To address this gap, this paper proposes a novel NBV method for the complete exploration of a 6-DOF robotic arm’s workspace. Our approach integrates collision-based information gain metric, a potential field technique to generate candidate views from exploration frontiers, and a tunable fitness function to balance information gain with motion cost. The method was rigorously tested in three simulated scenarios and validated on a physical industrial robot. Results demonstrate that our approach successfully maps the majority of the workspace in all setups, with a balanced weighting strategy proving most effective for combining exploration speed and path efficiency, a finding confirmed in the real-world experiment. We conclude that our method provides a practical and robust solution for autonomous workspace mapping, offering a flexible, training-free approach that advances the state-of-the-art for on-demand 3D model generation in industrial robotics. Full article

To address the dynamic decision-making and control problem in unmanned aerial vehicle (UAV) swarms, this paper proposes a cumulative prospect theory-driven pigeon-inspired optimization (CPT-PIO) algorithm. Gray relational analysis and information entropy theory are integrated into cumulative prospect theory (CPT), constructing a prospect value model for Pareto solutions by setting reference points, defining value functions, and determining attribute weights. This prospect value is used to evaluate the quality of each Pareto solution and serves as the fitness function in the pigeon-inspired optimization (PIO) algorithm to guide its evolutionary process. Furthermore, incorporating individual and swarm situation assessment methods, the situation assessment model is constructed and the information entropy theory is employed to ascertain the weight of each assessment index. Finally, the reverse search mechanism and competitive learning mechanism are introduced into the standard PIO to prevent premature convergence and enhance the population’s exploration capability. Simulation results demonstrate that the proposed CPT-PIO algorithm significantly outperforms two novel multi-objective optimization algorithms in terms of search performance and solution quality, yielding higher-quality Pareto solutions for dynamic UAV swarm decision-making. Full article

Multilevel thresholding image segmentation plays a crucial role in various image processing applications. However, achieving optimal segmentation results often poses challenges due to the intricate nature of images. In this study, a novel metaheuristic search algorithm named Weighted Chimp Optimization Algorithm with Fitness–Distance Balance (WChOA-FDB) is developed. The algorithm integrates the concept of Fitness–Distance Balance (FDB) to ensure balanced exploration and exploitation of the solution space, thus enhancing convergence speed and solution quality. Moreover, WChOA-FDB incorporates weighted Chimp Optimization Algorithm techniques to further improve its performance in handling multilevel thresholding challenges. Experimental studies were conducted to test and verify the developed method. The algorithm’s performance was evaluated using 10 benchmark functions (IEEE_CEC_2020) of different types and complexity levels. The search performance of the algorithm was analyzed using the Friedman and Wilcoxon statistical test methods. According to the analysis results, the WChOA-FDB variants consistently outperform the base algorithm across all tested dimensions, with Friedman score improvements ranging from 17.3% (Case-6) to 25.2% (Case-4), indicating that the FDB methodology provides significant optimization enhancement regardless of problem complexity. Additionally, experimental evaluations conducted on color image segmentation tasks demonstrate the effectiveness of the proposed algorithm in achieving accurate and efficient segmentation results. The WChOA-FDB method demonstrates significant improvements in Peak Signal-to-Noise Ratio (PSNR), Structural Similarity Index (SSIM), and Feature Similarity Index (FSIM) metrics with average enhancements of 0.121348 dB, 0.012688, and 0.003676, respectively, across different threshold levels (m = 2 to 12), objective functions, and termination criteria. Full article

Given a triangular mesh in ${\mathbb{R}}^3$ with a family of points associated with its vertices along with vectors associated with its edges, we propose a novel technique for the construction of locally generated fitting parametrized G1-spline interpolation surfaces. The method consists of a G1 correction over the mesh edges of the mesh triangles, produced using reduced side derivatives (RSDs) introduced earlier by the author in terms of the barycentric weight functions. In the case of polynomial RSD shape functions, we establish polynomial edge corrections via an algorithm with an independent interest in determining the optimal GCD cofactors with the lowest degree for arbitrary families of polynomials. Full article

The Gaining–Sharing Knowledge-based (GSK) algorithm is a human-inspired metaheuristic that models how people learn and disseminate knowledge across their lifetime. It has shown promising results across a range of engineering optimization problems. However, one of its major limitations lies in the use of fixed parameters to guide the search process, which often causes the algorithm to get stuck in local optima. To address this challenge, we propose an Auto-Tuning Memory-based Adaptive Local Search (ATMALS) empowered GSK, that is, ATMALS-GSK. This enhanced version of GSK introduces two key improvements: adaptive local search and memory-driven automatic tuning of parameters. Rather than relying on fixed values, ATMALS-GSK continuously adjusts its parameters during the optimization process. This is achieved through a Gaussian distribution mechanism that iteratively updates the likelihood of selecting different parameter values based on their historical impact on the fitness function. This selection process is guided by a weighted moving average that tracks each parameter’s contribution to fitness improvement over time. To further reduce the risk of premature convergence, an adaptive local search strategy is embedded, facilitating the algorithm’s escape from local traps and guiding it toward more optimal regions within the search domain. To validate the effectiveness of the ATMALS-GSK algorithm, it is evaluated on the CEC 2011 and CEC 2017 benchmarks. The results indicate that the ATMALS-GSK algorithm outperforms the original GSK, its variants, and other metaheuristics by delivering greater robustness, quicker convergence, and superior solution quality. Full article

This paper addresses the challenges of sample scarcity and class imbalance in remote sensing image semantic segmentation by proposing a decoupled synthetic sample generation framework based on a latent diffusion model. The method consists of two stages. In the label generation stage, we fine-tune a pretrained latent diffusion model with LoRA to generate semantic label masks from textual descriptions. A novel proportion-aware loss function explicitly penalizes deviations from the desired class distribution in the generated mask. In the image generation stage, we use ControlNet to train a multi-condition image generation network that takes the synthesized mask, along with its text description, as input and produces a realistic remote sensing image. The base Stable Diffusion model’s weights remain frozen during this process, with the trainable ControlNet ensuring that outputs are structurally and semantically aligned with the input labels. This two-stage approach yields coherent image–mask pairs that are well-suited for training segmentation models. Experiments show that models trained on the synthetic samples produced by the proposed method achieve high visual quality and semantic consistency. The proportion-aware loss effectively mitigates the impact of minority classes, boosting segmentation performance on under-represented categories. Results also reveal that adding a suitable proportion of synthetic sample improves segmentation accuracy, whereas an excessive share can cause over-fitting or misclassification. Comparative tests across multiple models confirm the generality and robustness of the approach. Full article

State evaluation of relay protection equipment constitutes a crucial component in ensuring the stable, secure, and symmetric operation of power systems. Current methodologies predominantly encompass fuzzy-rule-based control systems and data-driven machine learning approaches. The former relies on manual experience for designing fuzzy rules and membership functions and exhibits limitations in high-dimensional data integration and analysis. The latter predominantly formulates state evaluation as a classification task, which demonstrates its ineffectiveness in identifying equipment at boundary states and faces challenges in model parameter selection. To address these limitations, this paper proposes a quantitative state evaluation method for relay protection equipment based on a two-stage artificial protozoa optimizer (two-stage APO) optimized improved Conformer (two-stage APO-IConf) model. First, we modify the Conformer architecture by replacing pre-layer normalization (Pre-LN) in residual networks with post-batch normalization (post-BN) and introducing dynamic weighting coefficients to adaptively regulate the connection strengths between the first and second feed-forward network layers, thereby enhancing the capability of the model to fit relay protection state evaluation data. Subsequently, an improved APO algorithm with two-stage optimization is developed, integrating good point set initialization and elitism preservation strategies to achieve dynamic equilibrium between global exploration and local exploitation in the Conformer hyperparameter space. Experimental validation using operational data from a substation demonstrates that the proposed model achieves a RMSE of 0.5064 and a MAE of 0.2893, representing error reductions of 33.6% and 35.0% compared to the baseline Conformer, and 9.1% and 15.2% error reductions over the improved Conformer, respectively. This methodology can provide a quantitative state evaluation and guidance for developing maintenance strategies for substations. Full article