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Optimization of the reflux ratio of benzene-toluene stage distillation columns by the Cuckoo algorithm 被引量:1
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作者 Bahador Abolpour Ali Mohebbi 《Petroleum Science》 SCIE CAS CSCD 2014年第3期446-453,共8页
In this study, an enthalpy-concentration method was applied in order to model a steady state continuous benzene-toluene mixture distillation column. For a distillation tower such as the benzene- toluene splitter, ther... In this study, an enthalpy-concentration method was applied in order to model a steady state continuous benzene-toluene mixture distillation column. For a distillation tower such as the benzene- toluene splitter, there are relatively few degrees of freedom that can be manipulated in order to minimize the total annualized cost. The reflux ratio can influence the steady-state operating point and therefore influence the total annualized cost. The trade-offs between reflux ratios and total annualized cost were discussed. The Cuckoo optimization algorithm was applied to obtain a correlation for the optimum value of the reflux ratio as a power function of the economic parameters of energy price and capital cost. The results show that, at low energy price or high capital cost, the optimum reflux factor is high. 展开更多
关键词 Benzene-toluene mixture distillation column cuckoo optimization algorithm optimized reflux ratio total annualized cost
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Adaptive allocation strategy for cooperatively jamming netted radar system based on improved cuckoo search algorithm
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作者 De-jiang Lu Xing Wang +1 位作者 Xiao-tian Wu You Chen 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2023年第6期285-297,共13页
The jamming resource allocation problem of the aircraft formation cooperatively jamming netted radar system is investigated.An adaptive allocation strategy based on dynamic adaptive discrete cuckoo search algorithm(DA... The jamming resource allocation problem of the aircraft formation cooperatively jamming netted radar system is investigated.An adaptive allocation strategy based on dynamic adaptive discrete cuckoo search algorithm(DADCS)is proposed,whose core is to adjust allocation scheme of limited jamming resource of aircraft formation in real time to maintain the best jamming effectiveness against netted radar system.Firstly,considering the information fusion rules and different working modes of the netted radar system,a two-factor jamming effectiveness evaluation function is constructed,detection probability and aiming probability are adopted to characterize jamming effectiveness against netted radar system in searching and tracking mode,respectively.Then a nonconvex optimization model for cooperatively jamming netted radar system is established.Finally,a dynamic adaptive discrete cuckoo search algorithm(DADCS)is constructed by improving path update strategies and introducing a global learning mechanism,and a three-step solution method is proposed subsequently.Simulation results are provided to demonstrate the advantages of the proposed optimization strategy and the effectiveness of the improved algorithm. 展开更多
关键词 cuckoo search algorithm Netted radar system Radar countermeasures Resource allocation Information fusion
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Application of a Parallel Adaptive Cuckoo Search Algorithm in the Rectangle Layout Problem
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作者 Weimin Zheng Mingchao Si +2 位作者 Xiao Sui Shuchuan Chu Jengshyang Pan 《Computer Modeling in Engineering & Sciences》 SCIE EI 2023年第6期2173-2196,共24页
The meta-heuristic algorithm is a global probabilistic search algorithm for the iterative solution.It has good performance in global optimization fields such as maximization.In this paper,a new adaptive parameter stra... The meta-heuristic algorithm is a global probabilistic search algorithm for the iterative solution.It has good performance in global optimization fields such as maximization.In this paper,a new adaptive parameter strategy and a parallel communication strategy are proposed to further improve the Cuckoo Search(CS)algorithm.This strategy greatly improves the convergence speed and accuracy of the algorithm and strengthens the algorithm’s ability to jump out of the local optimal.This paper compares the optimization performance of Parallel Adaptive Cuckoo Search(PACS)with CS,Parallel Cuckoo Search(PCS),Particle Swarm Optimization(PSO),Sine Cosine Algorithm(SCA),Grey Wolf Optimizer(GWO),Whale Optimization Algorithm(WOA),Differential Evolution(DE)and Artificial Bee Colony(ABC)algorithms by using the CEC-2013 test function.The results show that PACS algorithmoutperforms other algorithms in 20 of 28 test functions.Due to the superior performance of PACS algorithm,this paper uses it to solve the problem of the rectangular layout.Experimental results show that this scheme has a significant effect,and the material utilization rate is improved from89.5%to 97.8%after optimization. 展开更多
关键词 Rectangular layout cuckoo search algorithm parallel communication strategy adaptive parameter
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Cuckoo search algorithm-based optimal deployment method of heterogeneous multistatic radar for barrier coverage
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作者 LI Haipeng FENG Dazheng 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2023年第5期1101-1115,共15页
This paper proposes an optimal deployment method of heterogeneous multistatic radars to construct arc barrier coverage with location restrictions.This method analyzes and proves the properties of different deployment ... This paper proposes an optimal deployment method of heterogeneous multistatic radars to construct arc barrier coverage with location restrictions.This method analyzes and proves the properties of different deployment patterns in the optimal deployment sequence.Based on these properties and considering location restrictions,it introduces an optimization model of arc barrier coverage and aims to minimize the total deployment cost of heterogeneous multistatic radars.To overcome the non-convexity of the model and the non-analytical nature of the objective function,an algorithm combining integer line programming and the cuckoo search algorithm(CSA)is proposed.The proposed algorithm can determine the number of receivers and transmitters in each optimal deployment squence to minimize the total placement cost.Simulations are conducted in different conditions to verify the effectiveness of the proposed method. 展开更多
关键词 heterogeneous multistatic radar(HMR) arc barrier coverage minimum deployment cost optimal deployment sequence cuckoo search algorithm(CSA)
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Ensuring Information Security in Electronic Health Record System Using Cryptography and Cuckoo Search Algorithm
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作者 Arkan Kh Shakr Sabonchi Zainab Hashim Obaid 《Journal of Information Hiding and Privacy Protection》 2023年第1期1-18,共18页
In the contemporary era,the abundant availability of health information through internet and mobile technology raises concerns.Safeguarding and maintaining the confidentiality of patients’medical data becomes paramou... In the contemporary era,the abundant availability of health information through internet and mobile technology raises concerns.Safeguarding and maintaining the confidentiality of patients’medical data becomes paramount when sharing such information with authorized healthcare providers.Although electronic patient records and the internet have facilitated the exchange of medical information among healthcare providers,concerns persist regarding the security of the data.The security of Electronic Health Record Systems(EHRS)can be improved by employing the Cuckoo Search Algorithm(CS),the SHA-256 algorithm,and the Elliptic Curve Cryptography(ECC),as proposed in this study.The suggested approach involves usingCS to generate the ECCprivate key,thereby enhancing the security of data storage in EHR.The study evaluates the proposed design by comparing encoding and decoding times with alternative techniques like ECC-GA-SHA-256.The research findings indicate that the proposed design achieves faster encoding and decoding times,completing 125 and 175 iterations,respectively.Furthermore,the proposed design surpasses other encoding techniques by exhibiting encoding and decoding times that are more than 15.17%faster.These results imply that the proposed design can significantly enhance the security and performance of EHRs.Through the utilization of CS,SHA-256,and ECC,this study presents promising methods for addressing the security challenges associated with EHRs. 展开更多
关键词 Information security electronic health record system CRYPTOGRAPHY cuckoo search algorithms
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Hybrid Location Algorithm Based on Cuckoo and Statistical Manifold
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作者 Xiaofeng Qin Bin Xia +1 位作者 Liye Zhang Xianzhi Zheng 《Journal of Computer and Communications》 2021年第3期110-117,共8页
To improve the location accuracy, a hybrid location algorithm based on cuckoo and statistical manifold method is proposed. It combines the cuckoo algorithm's strong global optimization ability and the statistical ... To improve the location accuracy, a hybrid location algorithm based on cuckoo and statistical manifold method is proposed. It combines the cuckoo algorithm's strong global optimization ability and the statistical manifold<span>’</span><span>s accurate positioning ability fully. The simulation results show that the hybrid location algorithm has higher accuracy and reduces the influence of initial value selection on location accuracy.</span> 展开更多
关键词 Hybrid Location algorithm Statistical Manifold Method cuckoo algorithm Location Accuracy
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Parameter estimation for chaotic systems using the cuckoo search algorithm with an orthogonal learning method 被引量:14
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作者 李向涛 殷明浩 《Chinese Physics B》 SCIE EI CAS CSCD 2012年第5期113-118,共6页
We study the parameter estimation of a nonlinear chaotic system,which can be essentially formulated as a multidimensional optimization problem.In this paper,an orthogonal learning cuckoo search algorithm is used to es... We study the parameter estimation of a nonlinear chaotic system,which can be essentially formulated as a multidimensional optimization problem.In this paper,an orthogonal learning cuckoo search algorithm is used to estimate the parameters of chaotic systems.This algorithm can combine the stochastic exploration of the cuckoo search and the exploitation capability of the orthogonal learning strategy.Experiments are conducted on the Lorenz system and the Chen system.The proposed algorithm is used to estimate the parameters for these two systems.Simulation results and comparisons demonstrate that the proposed algorithm is better or at least comparable to the particle swarm optimization and the genetic algorithm when considering the quality of the solutions obtained. 展开更多
关键词 cuckoo search algorithm chaotic system parameter estimation orthogonal learning
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Structural reliability analysis using enhanced cuckoo search algorithm and artificial neural network 被引量:6
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作者 QIN Qiang FENG Yunwen LI Feng 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2018年第6期1317-1326,共10页
The present study proposed an enhanced cuckoo search(ECS) algorithm combined with artificial neural network(ANN) as the surrogate model to solve structural reliability problems. In order to enhance the accuracy and co... The present study proposed an enhanced cuckoo search(ECS) algorithm combined with artificial neural network(ANN) as the surrogate model to solve structural reliability problems. In order to enhance the accuracy and convergence rate of the original cuckoo search(CS) algorithm, the main parameters namely, abandon probability of worst nests paand search step sizeα0 are dynamically adjusted via nonlinear control equations. In addition, a global-best guided equation incorporating the information of global best nest is introduced to the ECS to enhance its exploitation. Then, the proposed ECS is linked to the well-trained ANN model for structural reliability analysis. The computational capability of the proposed algorithm is validated using five typical structural reliability problems and an engineering application. The comparison results show the efficiency and accuracy of the proposed algorithm. 展开更多
关键词 structural reliability enhanced cuckoo search(ECS) artificial neural network(ANN) cuckoo search(CS) algorithm
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A hybrid cuckoo search algorithm with feasibility-based rule for constrained structural optimization 被引量:5
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作者 龙文 张文专 +1 位作者 黄亚飞 陈义雄 《Journal of Central South University》 SCIE EI CAS 2014年第8期3197-3204,共8页
Constrained optimization problems are very important as they are encountered in many science and engineering applications.As a novel evolutionary computation technique,cuckoo search(CS) algorithm has attracted much at... Constrained optimization problems are very important as they are encountered in many science and engineering applications.As a novel evolutionary computation technique,cuckoo search(CS) algorithm has attracted much attention and wide applications,owing to its easy implementation and quick convergence.A hybrid cuckoo pattern search algorithm(HCPS) with feasibility-based rule is proposed for solving constrained numerical and engineering design optimization problems.This algorithm can combine the stochastic exploration of the cuckoo search algorithm and the exploitation capability of the pattern search method.Simulation and comparisons based on several well-known benchmark test functions and structural design optimization problems demonstrate the effectiveness,efficiency and robustness of the proposed HCPS algorithm. 展开更多
关键词 搜索算法 结构优化 混合 基础 约束优化问题 工程设计 计算技术 快速收敛
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Control allocation for aircraft with input constraints based on improved cuckoo search algorithm 被引量:1
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作者 Yao LU Chao-yang DONG Qing WANG 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2017年第1期1-5,共5页
The control allocation problem of aircraft whose control inputs contain integer constraints is investigated. The control allocation problem is described as an integer programming problem and solved by the cuckoo searc... The control allocation problem of aircraft whose control inputs contain integer constraints is investigated. The control allocation problem is described as an integer programming problem and solved by the cuckoo search algorithm. In order to enhance the search capability of the cuckoo search algorithm, the adaptive detection probability and amplification factor are designed. Finally, the control allocation method based on the proposed improved cuckoo search algorithm is applied to the tracking control problem of the innovative control effector aircraft. The comparative simulation results demonstrate the superiority and effectiveness of the proposed improved cuckoo search algorithm in control allocation of aircraft. 展开更多
关键词 Control allocation OPTIMIZATION cuckoo search algorithm Innovative control effector aircraft TRACKING
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A Method for Crude Oil Selection and Blending Optimization Based on Improved Cuckoo Search Algorithm 被引量:5
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作者 Yang Huihua Ma Wei +2 位作者 Zhang Xiaofeng Li Hu Tian Songbai 《China Petroleum Processing & Petrochemical Technology》 SCIE CAS 2014年第4期70-78,共9页
Refineries often need to find similar crude oil to replace the scarce crude oil for stabilizing the feedstock property. We introduced the method for calculation of crude blended properties firstly, and then created a ... Refineries often need to find similar crude oil to replace the scarce crude oil for stabilizing the feedstock property. We introduced the method for calculation of crude blended properties firstly, and then created a crude oil selection and blending optimization model based on the data of crude oil property. The model is a mixed-integer nonlinear programming(MINLP) with constraints, and the target is to maximize the similarity between the blended crude oil and the objective crude oil. Furthermore, the model takes into account the selection of crude oils and their blending ratios simultaneously, and transforms the problem of looking for similar crude oil into the crude oil selection and blending optimization problem. We applied the Improved Cuckoo Search(ICS) algorithm to solving the model. Through the simulations, ICS was compared with the genetic algorithm, the particle swarm optimization algorithm and the CPLEX solver. The results show that ICS has very good optimization efficiency. The blending solution can provide a reference for refineries to find the similar crude oil. And the method proposed can also give some references to selection and blending optimization of other materials. 展开更多
关键词 CRUDE OIL similarity CRUDE OIL SELECTION BLENDING OPTIMIZATION MIXED-INTEGER nonlinear programming cuckooSearch algorithm
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A Novel Cuckoo Search Algorithm and Its Application 被引量:1
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作者 Ping Liu Shengjiang Zhang 《Open Journal of Applied Sciences》 2021年第9期1071-1081,共11页
In this paper, the principle of Cuckoo algorithm is introduced, and the traditional Cuckoo algorithm is improved to establish a mathematical model of multi-objective optimization scheduling. Based on the improved algo... In this paper, the principle of Cuckoo algorithm is introduced, and the traditional Cuckoo algorithm is improved to establish a mathematical model of multi-objective optimization scheduling. Based on the improved algorithm, the model is optimized to a certain extent. Through analysis, it is proved that the improved algorithm has higher computational accuracy and can effectively improve the global convergence. 展开更多
关键词 cuckoo Search algorithm Feature Selection Infrared Spectrum Global Convergence
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A Novel Method for Identifying Recursive Systematic Convolutional Encoders Based on the Cuckoo Search Algorithm
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作者 Shunan Han Peng Liu Guang Huang 《China Communications》 SCIE CSCD 2022年第12期64-72,共9页
The existing methods for identifying recursive systematic convolutional encoders with high robustness require to test all the candidate generator matrixes in the search space exhaustively.With the increase of the code... The existing methods for identifying recursive systematic convolutional encoders with high robustness require to test all the candidate generator matrixes in the search space exhaustively.With the increase of the codeword length and constraint length,the search space expands exponentially,and thus it limits the application of these methods in practice.To overcome the limitation,a novel identification method,which gets rid of exhaustive test,is proposed based on the cuckoo search algorithm by using soft-decision data.Firstly,by using soft-decision data,the probability that a parity check equation holds is derived.Thus,solving the parity check equations is converted to maximize the joint probability that parity check equations hold.Secondly,based on the standard cuckoo search algorithm,the established cost function is optimized.According to the final solution of the optimization problem,the generator matrix of recursive systematic convolutional code is estimated.Compared with the existing methods,our proposed method does not need to search for the generator matrix exhaustively and has high robustness.Additionally,it does not require the prior knowledge of the constraint length and is applicable in any modulation type. 展开更多
关键词 RSC code blind identification softdecision cuckoo search algorithm
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Research on the MPPT of Photovoltaic Power Generation Based on the CSA-INC Algorithm 被引量:1
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作者 Tao Hou Shan Wang 《Energy Engineering》 EI 2023年第1期87-106,共20页
The existing Maximum Power Point Tracking(MPPT)method has low tracking efficiency and poor stability.It is easy to fall into the Local Maximum Power Point(LMPP)in Partial Shading Condition(PSC),resulting in the degrad... The existing Maximum Power Point Tracking(MPPT)method has low tracking efficiency and poor stability.It is easy to fall into the Local Maximum Power Point(LMPP)in Partial Shading Condition(PSC),resulting in the degradation of output power quality and efficiency.It was found that various bio-inspired MPPT based optimization algorithms employ different mechanisms,and their performance in tracking the Global Maximum Power Point(GMPP)varies.Thus,a Cuckoo search algorithm(CSA)combined with the Incremental conductance Algorithm(INC)is proposed(CSA-INC)is put forward for the MPPT method of photovoltaic power generation.The method can improve the tracking speed by more than 52%compared with the traditional Cuckoo Search Algorithm(CSA),and the results of the study using this algorithm are compared with the popular Particle Swarm Optimization(PSO)and the Gravitational Search Algorithm(GSA).CSA-INC has an average tracking efficiency of 99.99%and an average tracking time of 0.19 s when tracking the GMPP,which improves PV power generation’s efficiency and power quality. 展开更多
关键词 Partial shading condition sudden light intensity cuckoo search algorithm maximum power point tracking Incremental conductance algorithm
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Enhanced Energy Efficient Multipath Routing Protocol for Wireless Sensor Communication Networks Using Cuckoo Search Algorithm
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作者 D. Antony Arul Raj P. Sumathi 《Wireless Sensor Network》 2014年第4期49-55,共7页
Energy efficient routing is one of the major thrust areas in Wireless Sensor Communication Networks (WSCNs) and it attracts most of the researchers by its valuable applications and various challenges. Wireless sensor ... Energy efficient routing is one of the major thrust areas in Wireless Sensor Communication Networks (WSCNs) and it attracts most of the researchers by its valuable applications and various challenges. Wireless sensor networks contain several nodes in its terrain region. Reducing the energy consumption over the WSCN has its significance since the nodes are battery powered. Various research methodologies were proposed by researchers in this area. One of the bio-inspired computing paradigms named Cuckoo search algorithm is used in this research work for finding the energy efficient path and routing is performed. Several performance metrics are taken into account for determining the performance of the proposed routing protocol such as throughput, packet delivery ratio, energy consumption and delay. Simulation is performed using NS2 and the results shows that the proposed routing protocol is better in terms of average throughput, and average energy consumption. 展开更多
关键词 WIRELESS Sensor Communication Networks cuckoo SEARCH algorithm AODV AOMDV
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基于动态指标的光伏组件健康程度诊断 被引量:1
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作者 李智华 张宇浩 +2 位作者 吴春华 汪飞 马浩强 《电网技术》 EI CSCD 北大核心 2024年第2期597-606,共10页
为了对光伏组件的健康状况进行诊断,提出了一种基于光伏组件的光生电流,等效串联电阻,等效并联电阻3个指标的光伏组件健康程度定量检测方法。首先利用改进的布谷鸟算法对测量的光伏组件I-U线进行参数辨识,形成实测健康曲线,再利用光伏... 为了对光伏组件的健康状况进行诊断,提出了一种基于光伏组件的光生电流,等效串联电阻,等效并联电阻3个指标的光伏组件健康程度定量检测方法。首先利用改进的布谷鸟算法对测量的光伏组件I-U线进行参数辨识,形成实测健康曲线,再利用光伏组件自然老化模型确定理论健康曲线,然后计算实测健康曲线与理论健康曲线之间的偏移量并结合灰色关联分析进行数值校正;定义健康程度H参量计算得到光伏组件健康程度量化值。仿真分析和实验测试结果表明该方法可以对不同环境下的光伏组件健康程度进行有效在线诊断,为光伏组件维护提供参考。 展开更多
关键词 光伏组件 参数辨识 健康程度 灰色关联分析 布谷鸟算法
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改进布谷鸟算法在装配序列规划中的应用研究
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作者 秦红斌 王玲军 +1 位作者 唐红涛 孔仁杰 《机床与液压》 北大核心 2024年第2期12-17,共6页
针对装配序列规划问题,建立考虑装配序列的几何可行性、稳定性、聚合性、重定向性的装配关系模型以及基于适应度函数的装配序列优化数学模型。提出一种改进布谷鸟算法对装配序列规划问题进行求解,采用随机键和最小位置规则的方法设计基... 针对装配序列规划问题,建立考虑装配序列的几何可行性、稳定性、聚合性、重定向性的装配关系模型以及基于适应度函数的装配序列优化数学模型。提出一种改进布谷鸟算法对装配序列规划问题进行求解,采用随机键和最小位置规则的方法设计基于零件编号、装配方向、装配工具的3层编码方案;设计基于最小装配成本的初始化策略与随机初始化策略相结合的混合种群初始化策略,提高种群质量;改进种群进化和搜索方式,将种群分为3个子群,并分别采用自适应步长飞行、标准步长飞行和交叉、变异的方式进行种群更新,提高算法的收敛速度和求解精度。最后通过实例应用及与其他算法的比较,验证了所提出的改进布谷鸟算法在求解装配序列规划问题上的有效性和优越性。 展开更多
关键词 装配序列规划 改进布谷鸟算法 多目标优化 适应度函数
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高校大学生实验室安全意识评价模型的构建
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作者 王坚 王清清 +1 位作者 啜鹏杰 黄富贵 《实验室研究与探索》 CAS 北大核心 2024年第4期203-208,共6页
为减少实验室安全事故的发生和提高大学生的实验室安全意识,设计了实验室安全意识影响因素调查问卷和大学生实验室安全意识评价调查问卷,利用层次分析法—熵权法(AHP-EWM)主客观相结合的方法建立高校大学生实验室安全意识评价体系。通... 为减少实验室安全事故的发生和提高大学生的实验室安全意识,设计了实验室安全意识影响因素调查问卷和大学生实验室安全意识评价调查问卷,利用层次分析法—熵权法(AHP-EWM)主客观相结合的方法建立高校大学生实验室安全意识评价体系。通过主成分分析法(PCA)处理,再选取累计贡献率超过95%的评价指标进行布谷鸟搜索(Cuckoo Search, CS),最后结合混合优化支持向量机(SVM)建立PCA-CS-SVM大学生实验室安全意识评价模型。验证结果表明,与PCA-LS-SVM和PCA-GA-SVM模型相比,PCA-CS-SVM模型的预测值与实际值的误差较小且评价等级与实际值保持一致,具有较高的准确性和可靠性,可用于高校大学生实验室安全意识评价。 展开更多
关键词 实验室安全意识 层次分析法—熵权法 布谷鸟搜索算法 预测模型 PCA-GA-SVM评价模型
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基于改进布谷鸟搜索算法的光伏MPPT控制
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作者 李艳波 王笑寒 +1 位作者 陈俊硕 高江琦 《计算机仿真》 2024年第4期85-91,共7页
复杂阴影情况下,光伏阵列的P-V特性曲线会出现多个峰值,传统的MPPT算法因不能准确识别局部峰值和全局峰值,而无法进行复杂阴影情况下的最大功率点跟踪。针对传统布谷鸟搜索(Cuckoo Search,CS)算法因鸟窝之间缺乏交流能力导致可能陷入局... 复杂阴影情况下,光伏阵列的P-V特性曲线会出现多个峰值,传统的MPPT算法因不能准确识别局部峰值和全局峰值,而无法进行复杂阴影情况下的最大功率点跟踪。针对传统布谷鸟搜索(Cuckoo Search,CS)算法因鸟窝之间缺乏交流能力导致可能陷入局部最优的问题,提出了一种多策略改进布谷鸟搜索(EGICS)算法。将传统CS算法中发现概率值的选择自适应变化,提高算法的搜索能力;将步长因子自适应化,提高算法的收敛速度;引入高斯扰动和精英反向学习策略,增加种群多样性,避免算法陷入局部最优。对EGICS算法在单峰和多峰函数中进行性能测试,并将其应用于光伏系统MPPT控制中进行仿真验证。仿真结果表明,EGICS算法在收敛速度、跟踪精度以及动态稳定三个方面有更好的效果。 展开更多
关键词 局部阴影 最大功率点跟踪 布谷鸟搜索算法 高斯扰动 精英反向学习
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空间机器人预定义任意时间最优轨迹规划
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作者 刘宜成 张飞越 严文 《电光与控制》 CSCD 北大核心 2024年第2期58-64,共7页
针对双臂自由漂浮空间机器人(FFSR)在太空抓取任务中的轨迹规划问题,设计了一种FFSR系统的可实现误差预定义时间收敛的新型轨迹规划算法,用布谷鸟搜索算法进行参数优化,以实现末端执行器误差的快速收敛并获得平滑轨迹。首先,导出FFSR的... 针对双臂自由漂浮空间机器人(FFSR)在太空抓取任务中的轨迹规划问题,设计了一种FFSR系统的可实现误差预定义时间收敛的新型轨迹规划算法,用布谷鸟搜索算法进行参数优化,以实现末端执行器误差的快速收敛并获得平滑轨迹。首先,导出FFSR的基于姿态误差的运动学模型;然后,将累积危险场避碰算法应用于预定义任意时间轨迹规划,实现高跟踪精度的快速避碰轨迹;最后,利用布谷鸟搜索算法对预定义任意时间参数进行优化,得到机械臂低关节角速度的运动轨迹。仿真结果表明所提算法能够在预定义的时间内实现末端执行器误差快速收敛,而且能够得到更平滑的运动轨迹。 展开更多
关键词 空间机器人 预定义时间 快速避碰 布谷鸟搜索算法 轨迹规划
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