HYBRID MULTI-OBJECTIVE GRADIENT ALGORITHM FOR INVERSE PLANNING OF IMRT

The intelligent optimization of a multi-objective evolutionary algorithm is combined with a gradient algorithm. The hybrid multi-objective gradient algorithm is framed by the real number. Test functions are used to analyze the efficiency of the algorithm. In the simulation case of the water phantom, the algorithm is applied to an inverse planning process of intensity modulated radiation treatment （IMRT）. The objective functions of planning target volume （PTV） and normal tissue （NT） are based on the average dose distribution. The obtained intensity profile shows that the hybrid multi-objective gradient algorithm saves the computational time and has good accuracy, thus meeting the requirements of practical applications.

Rotary unmanned aerial vehicles path planning in rough terrain based on multi-objective particle swarm optimization

This paper presents a path planning approach for rotary unmanned aerial vehicles(R-UAVs)in a known static rough terrain environment.This approach aims to find collision-free and feasible paths with minimum altitude,length and angle variable rate.First,a three-dimensional(3D)modeling method is proposed to reduce the computation burden of the dynamic models of R-UAVs.Considering the length,height and tuning angle of a path,the path planning of R-UAVs is described as a tri-objective optimization problem.Then,an improved multi-objective particle swarm optimization algorithm is developed.To render the algorithm more effective in dealing with this problem,a vibration function is introduced into the collided solutions to improve the algorithm efficiency.Meanwhile,the selection of the global best position is taken into account by the reference point method.Finally,the experimental environment is built with the help of the Google map and the 3D terrain generator World Machine.Experimental results under two different rough terrains from Guilin and Lanzhou of China demonstrate the capabilities of the proposed algorithm in finding Pareto optimal paths.

Multi-objective partition planning for multi-infeed HVDC system

The close proximity and the necessity of coordination between multiple high-voltage direct currents(HVDCs)raise the issue of grid partitioning in multi-infeed HVDC systems.A multi-objective partition strategy is proposed in this paper.Several types of relationships to be coordinated and complemented are analyzed and formulated using quantitative indices.According to the graph theory,the HVDC partition is transformed into a graph-cut problem and solved via the spectral clustering algorithm.Finally,the proposed method is validated for a practical multi-HVDC grid,confirming its feasibility and effectiveness.

Multi-objective evolutionary optimization for geostationary orbit satellite mission planning

In the past few decades, applications of geostationary orbit (GEO) satellites have attracted increasing attention, and with the development of optical technologies, GEO optical satellites have become popular worldwide. This paper proposes a general working pattern for a GEO optical satellite, as well as a target observation mission planning model. After analyzing the requirements of users and satellite control agencies, two objectives are simultaneously considered: maximization of total profit and minimization of satellite attitude maneuver angle. An NSGA-II based multi-objective optimization algorithm is proposed, which contains some heuristic principles in the initialization phase and mutation operator, and is embedded with a traveling salesman problem (TSP) optimization. The validity and performance of the proposed method are verified by extensive numerical simulations that include several types of point target distributions.

Multi-objective evolutionary approach for UAV cruise route planning to collect traffic information

Unmanned aerial vehicle(UAV)was introduced as a novel traffic device to collect road traffic information and its cruise route planning problem was considered.Firstly,a multi-objective optimization model was proposed aiming at minimizing the total cruise distance and the number of UAVs used,which used UAV maximum cruise distance,the number of UAVs available and time window of each monitored target as constraints.Then,a novel multi-objective evolutionary algorithm was proposed.Next,a case study with three time window scenarios was implemented.The results show that both the total cruise distance and the number of UAVs used continue to increase with the time window constraint becoming narrower.Compared with the initial optimal solutions,the optimal total cruise distance and the number of UAVs used fall by an average of 30.93% and 31.74%,respectively.Finally,some concerns using UAV to collect road traffic information were discussed.

Multi-objective Transmission Expansion Planning Considering Life Cycle Cost

为克服目前全寿命周期成本（life cycle cost,LCC）技术的应用局限于设备运行或维护阶段的不足,针对输电网整体建立一个3维LCC层级模型,包括时间维度、元件维度和费用维度。费用维度进一步分解为设备级、系统级、外部环境成本。研究了以可靠性为中心的维护手段的应用对维护成本的影响,利用电量不足期望值计算故障成本。在此基础上,对风电等4种不确定因素进行建模,建立以LCC成本最小和切负荷量最小为多目标的输电网机会约束规划模型。采用正态边界交点算法联合改进小生境遗传算法,对模型有效求解。最后,分别对18节点系统和77节点系统进行算例分析。研究结果给出了帕累托解集及推荐的最优规划方案;此外,LCC费用分解图表明了各费用的比重和影响,有利于指导未来资产管理。

Multi-objective Trajectory Planning Method based on the Improved Elitist Non-dominated Sorting Genetic Algorithm

Robot manipulators perform a point-point task under kinematic and dynamic constraints.Due to multi-degreeof-freedom coupling characteristics,it is difficult to find a better desired trajectory.In this paper,a multi-objective trajectory planning approach based on an improved elitist non-dominated sorting genetic algorithm(INSGA-II)is proposed.Trajectory function is planned with a new composite polynomial that by combining of quintic polynomials with cubic Bezier curves.Then,an INSGA-II,by introducing three genetic operators:ranking group selection(RGS),direction-based crossover(DBX)and adaptive precision-controllable mutation(APCM),is developed to optimize travelling time and torque fluctuation.Inverted generational distance,hypervolume and optimizer overhead are selected to evaluate the convergence,diversity and computational effort of algorithms.The optimal solution is determined via fuzzy comprehensive evaluation to obtain the optimal trajectory.Taking a serial-parallel hybrid manipulator as instance,the velocity and acceleration profiles obtained using this composite polynomial are compared with those obtained using a quintic B-spline method.The effectiveness and practicability of the proposed method are verified by simulation results.This research proposes a trajectory optimization method which can offer a better solution with efficiency and stability for a point-to-point task of robot manipulators.

Interactive Multi-objective Optimization Design for the Pylon Structure of an Airplane

The pylon structure of an airplane is very complex, and its high-fidelity analysis is quite time-consuming. If posterior preference optimization algorithm is used to solve this problem, the huge time consumption will be unacceptable in engineering practice due to the large amount of evaluation needed for the algorithm. So, a new interactive optimization algorithm-interactive multi-objective particle swarm optimization （IMOPSO） is presented. IMOPSO is efficient, simple and operable. The decision-maker can expediently determine the accurate preference in IMOPSO. IMOPSO is used to perform the pylon structure optimization design of an airplane, and a satisfactory design is achieved after only 12 generations of IMOPSO evolutions. Compared with original design, the maximum displacement of the satisfactory design is reduced, and the mass of the satisfactory design is decreased for 22%.

NSGA Ⅱ based multi-objective homing trajectory planning of parafoil system

Homing trajectory planning is a core task of autonomous homing of parafoil system.This work analyzes and establishes a simplified kinematic mathematical model,and regards the homing trajectory planning problem as a kind of multi-objective optimization problem.Being different from traditional ways of transforming the multi-objective optimization into a single objective optimization by weighting factors,this work applies an improved non-dominated sorting genetic algorithm Ⅱ(NSGA Ⅱ) to solve it directly by means of optimizing multi-objective functions simultaneously.In the improved NSGA Ⅱ,the chaos initialization and a crowding distance based population trimming method were introduced to overcome the prematurity of population,the penalty function was used in handling constraints,and the optimal solution was selected according to the method of fuzzy set theory.Simulation results of three different schemes designed according to various practical engineering requirements show that the improved NSGA Ⅱ can effectively obtain the Pareto optimal solution set under different weighting with outstanding convergence and stability,and provide a new train of thoughts to design homing trajectory of parafoil system.

Novel constrained multi-objective biogeography-based optimization algorithm for robot path planning

A constrained multi-objective biogeography-based optimization algorithm （CMBOA） was proposed to solve robot path planning （RPP）. For RPP, the length and smoothness of path were taken as the optimization objectives, and the distance from the obstacles was constraint. In CMBOA, a new migration operator with disturbance factor was designed and applied to the feasible population to generate many more non-dominated feasible individuals; meanwhile, some infeasible individuals nearby feasible region were recombined with the nearest feasible ones to approach the feasibility. Compared with classical multi-objective evolutionary algorithms, the current study indicates that CM- BOA has better performance for RPP.

Multi-objective route planning approach for timely searching tasks of a supervised robot

To performance efficient searching for an operator-supervised mobile robot, a multiple objectives route planning approach is proposed considering timeliness and path cost. An improved fitness function for route planning is proposed based on the multi-objective genetic algorithm （MOGA） for multiple objectives traveling salesman problem （MOTSP）. Then, the path between two route nodes is generated based on the heuristic path planning method A ＊. A simplified timeliness function for route nodes is proposed to represent the timeliness of each node. Based on the proposed timeliness function, experiments are conducted using the proposed two-stage planning method. The experimental results show that the proposed MOGA with improved fitness function can perform the searching function well when the timeliness of the searching task needs to be taken into consideration.

Multi-objective optimization of high-sulfur natural gas purif ication plant

There exists large space to save energy of high-sulfur natural gas purification process.The multi-objective optimization problem has been investigated to effectively reduce the total comprehensive energy consumption and further improve the production rate of purified gas.A steady-state simulation model of high-sulfur natural gas purification process has been set up by using ProMax.Seven key operating parameters of the purification process have been determined based on the analysis of comprehensive energy consumption distribution.To solve the problem that the process model does not converge in some conditions,back-propagation(BP)neural network has been applied to substitute the simulation model to predict the relative parameters in the optimization model.The uniform design method and the table U21(107)have been applied to design the experiment points for training and testing BP model.High prediction accuracy can be achieved by using the BP model.Nondominated sorting genetic algorithm-II has been developed to optimize the two objectives,and 100 Pareto optimal solutions have been obtained.Three optimal points have been selected and evaluated further.The results demonstrate that the total comprehensive energy consumption is reduced by 13.4%and the production rate of purified gas is improved by 0.2%under the optimized operating conditions.

Multi-Objective Production Planning Using Lexicographic Procedure

This paper presents a multi-objective production planning model for a factory operating under a multi-product, and multi-period environment using the lexicographic (pre-emptive) procedure. The model objectives are to maximize the profit, minimize the total cost, and maximize the Overall Service Level (OSL) of the customers. The system consists of three potential suppliers that serve the factory to serve three customers/distributors. The performance of the developed model is illustrated using a verification example. Discussion of the results proved the efficacy of the model. Also, the effect of the deviation percentages on the different objectives is discussed.

Multi-objective planning model for simultaneous reconfiguration of power distribution network and allocation of renewable energy resources and capacitors with considering uncertainties

This research develops a comprehensive method to solve a combinatorial problem consisting of distribution system reconfiguration, capacitor allocation, and renewable energy resources sizing and siting simultaneously and to improve power system's accountability and system performance parameters. Due to finding solution which is closer to realistic characteristics, load forecasting, market price errors and the uncertainties related to the variable output power of wind based DG units are put in consideration. This work employs NSGA-II accompanied by the fuzzy set theory to solve the aforementioned multi-objective problem. The proposed scheme finally leads to a solution with a minimum voltage deviation, a maximum voltage stability, lower amount of pollutant and lower cost. The cost includes the installation costs of new equipment, reconfiguration costs, power loss cost, reliability cost, cost of energy purchased from power market, upgrade costs of lines and operation and maintenance costs of DGs. Therefore, the proposed methodology improves power quality, reliability and security in lower costs besides its preserve, with the operational indices of power distribution networks in acceptable level. To validate the proposed methodology's usefulness, it was applied on the IEEE 33-bus distribution system then the outcomes were compared with initial configuration.

A Multi-Objective Obnoxious Facility Location Modelon a Plane

In this paper a Vertex Covering Obnoxious Facility Location model on a Plane has been designed with a combination of three interacting criteria as follows: 1) Minimize the overall importance of the various exist-ing facility points;2) Maximize the minimum distance from the facility to be located to the existing facility points;3) Maximize the number of existing facility points covered. Area restriction concept has been incor-porated so that the facility to be located should be within certain restricted area. The model developed here is a class of maximal covering problem, that is covering maximum number of points where the facility is within the upper bounds of the corresponding mth feasible region Two types of compromise solution methods have been designed to get a satisfactory solution of the multi-objective problem. A transformed non- linear programming algorithm has been designed for the proposed non-linear model. Rectilinear dis-tance norm has been considered as the distance measure as it is more appropriate to various realistic situa-tions. A numerical example has been presented to illustrate the solution algorithm.

Improved Fuzzification Method for Multi-Objective Decision-Making and Its Application in Evaluation of Highway Planning

A new fuzzification method for multi-objective decision-making and selective sorting is proposed on the basis of the fuzzy consistent relation, and the specific algorithm is presented. The method is applied to the evaluation of highway planning of Zhanjiang city. To decrease the subjectivity in the process of decision-making, the LOWA operator is introduced, and a discussion on how to select appropriate weights involved in multi-objective sorting is made. It is concluded that it is feasible to apply the fuzzy consistent relation to multi-objective decision-making analysis, and the improved fuzzication method is workable.

Multi-Strategy Assisted Multi-Objective Whale Optimization Algorithm for Feature Selection

In classification problems,datasets often contain a large amount of features,but not all of them are relevant for accurate classification.In fact,irrelevant features may even hinder classification accuracy.Feature selection aims to alleviate this issue by minimizing the number of features in the subset while simultaneously minimizing the classification error rate.Single-objective optimization approaches employ an evaluation function designed as an aggregate function with a parameter,but the results obtained depend on the value of the parameter.To eliminate this parameter’s influence,the problem can be reformulated as a multi-objective optimization problem.The Whale Optimization Algorithm(WOA)is widely used in optimization problems because of its simplicity and easy implementation.In this paper,we propose a multi-strategy assisted multi-objective WOA(MSMOWOA)to address feature selection.To enhance the algorithm’s search ability,we integrate multiple strategies such as Levy flight,Grey Wolf Optimizer,and adaptive mutation into it.Additionally,we utilize an external repository to store non-dominant solution sets and grid technology is used to maintain diversity.Results on fourteen University of California Irvine(UCI)datasets demonstrate that our proposed method effectively removes redundant features and improves classification performance.The source code can be accessed from the website:https://github.com/zc0315/MSMOWOA.

Evolutionary Decision-Making and Planning for Autonomous Driving Based on Safe and Rational Exploration and Exploitation

Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.

Motion Planning for Autonomous Driving with Real Traffic Data Validation

Accurate trajectory prediction of surrounding road users is the fundamental input for motion planning,which enables safe autonomous driving on public roads.In this paper,a safe motion planning approach is proposed based on the deep learning-based trajectory prediction method.To begin with,a trajectory prediction model is established based on the graph neural network(GNN)that is trained utilizing the INTERACTION dataset.Then,the validated trajectory prediction model is used to predict the future trajectories of surrounding road users,including pedestrians and vehicles.In addition,a GNN prediction model-enabled motion planner is developed based on the model predictive control technique.Furthermore,two driving scenarios are extracted from the INTERACTION dataset to validate and evaluate the effectiveness of the proposed motion planning approach,i.e.,merging and roundabout scenarios.The results demonstrate that the proposed method can lower the risk and improve driving safety compared with the baseline method.

Ground threat prediction-based path planning of unmanned autonomous helicopter using hybrid enhanced artificial bee colony algorithm

Unmanned autonomous helicopter(UAH)path planning problem is an important component of the UAH mission planning system.Aiming to reduce the influence of non-complete ground threat information on UAH path planning,a ground threat prediction-based path planning method is proposed based on artificial bee colony(ABC)algorithm by collaborative thinking strategy.Firstly,a dynamic threat distribution probability model is developed based on the characteristics of typical ground threats.The dynamic no-fly zone of the UAH is simulated and established by calculating the distribution probability of ground threats in real time.Then,a dynamic path planning method for UAH is designed in complex environment based on the real-time prediction of ground threats.By adding the collision warning mechanism to the path planning model,the flight path could be dynamically adjusted according to changing no-fly zones.Furthermore,a hybrid enhanced ABC algorithm is proposed based on collaborative thinking strategy.The proposed algorithm applies the leader-member thinking mechanism to guide the direction of population evolution,and reduces the negative impact of local optimal solutions caused by collaborative learning update strategy,which makes the optimization performance of ABC algorithm more controllable and efficient.Finally,simulation results verify the feasibility and effectiveness of the proposed ground threat prediction path planning method.