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en
ted
b
y
Mir
j
alili
an
d
L
ewis
[
7
]
,
wh
ich
is
b
ased
o
n
bu
b
b
le
-
n
et
h
u
n
tin
g
o
f
w
h
ales,
th
is
m
eth
o
d
u
s
ed
t
o
m
im
ic
t
h
e
wh
ale
cr
ea
tu
r
e
in
ex
p
l
o
r
in
g
f
o
r
its
n
ec
ess
ities
.
T
h
e
SA
alg
o
r
ith
m
is
p
r
o
p
o
s
ed
b
y
Kir
k
p
at
r
ick
[
8
]
,
th
at
is
u
s
ed
to
en
h
an
ce
th
e
alg
o
r
ith
m
s
o
lu
tio
n
b
esid
e
th
e
r
ec
o
m
m
en
d
e
d
o
b
jectiv
e
f
u
n
ctio
n
a
n
d
t
h
e
B
o
ltzm
an
p
r
o
b
a
b
ilit
y
to
a
v
o
id
th
e
lo
ca
l
o
p
tim
a
tr
ap
p
e
d
in
a
wh
ile
ex
p
lo
r
in
g
th
e
s
ea
r
ch
s
p
ac
e.
T
h
e
GW
O,
SA,
an
d
W
O
alg
o
r
ith
m
s
ar
e
m
etah
eu
r
is
tic
o
p
t
im
izatio
n
m
eth
o
d
s
in
s
p
ir
ed
f
r
o
m
th
e
b
eh
a
v
io
u
r
o
f
an
im
als,
an
d
o
th
er
p
h
y
s
ical
p
h
en
o
m
e
n
a,
wh
ich
ar
e
p
ar
t
f
r
o
m
o
t
h
er
p
o
p
u
la
r
s
war
m
o
p
tim
izatio
n
alg
o
r
ith
m
s
s
u
ch
as
a
p
ar
ticle
s
war
m
o
p
tim
izatio
n
[
9
]
,
ar
tific
ial
b
e
e
co
lo
n
y
[
1
0
]
,
g
e
n
etic
alg
o
r
ith
m
[
1
1
]
,
an
t c
o
lo
n
y
o
p
t
im
izatio
n
[
1
2
]
,
an
d
f
ir
ef
ly
alg
o
r
ith
m
[
1
3
]
.
T
h
e
C
o
n
tr
ib
u
tio
n
o
f
th
e
p
r
o
p
o
s
ed
HGWO
-
S
A
an
d
im
p
r
o
v
ed
wh
ale
o
p
tim
izatio
n
alg
o
r
ith
m
(
I
W
OA
)
alg
o
r
ith
m
s
is
to
s
o
lv
e
th
e
tr
aj
ec
to
r
y
t
r
ac
k
in
g
p
r
o
b
lem
b
y
f
i
n
d
in
g
th
e
o
p
tim
u
m
p
ar
am
eter
s
f
o
r
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
(
NL
-
FOPID)
an
d
f
o
r
th
e
class
i
ca
l
PID
co
n
tr
o
ller
.
Ad
d
itio
n
ally
,
th
e
h
y
b
r
id
a
n
d
im
p
r
o
v
ed
s
war
m
alg
o
r
ith
m
s
ar
e
test
ed
u
s
in
g
m
an
y
b
e
n
ch
m
ar
k
f
u
n
ctio
n
s
to
s
h
o
w
th
eir
ef
f
ec
tiv
en
ess
in
co
m
p
ar
is
o
n
with
o
t
h
er
class
ical
s
war
m
alg
o
r
ith
m
s
.
T
h
e
m
ea
n
r
ea
s
o
n
b
eh
in
d
u
s
in
g
a
PID
co
n
tr
o
ller
is
to
d
em
o
n
s
tr
ate
th
e
ca
p
a
b
ilit
ies
o
f
th
e
in
tr
o
d
u
ce
d
co
n
tr
o
llin
g
s
ch
em
e
th
r
o
u
g
h
r
esu
lts
co
m
p
ar
is
o
n
f
o
r
u
n
d
er
wate
r
v
eh
icle
tr
ajec
to
r
y
tr
ac
k
in
g
.
T
h
e
r
em
ain
in
g
s
ec
tio
n
s
o
f
th
is
p
ap
er
ar
e
o
r
g
an
ize
d
as
f
o
llo
ws
;
s
ec
tio
n
2
estab
lis
h
es
th
e
au
to
n
o
m
o
u
s
u
n
d
er
wate
r
v
eh
icle
m
o
d
el.
I
n
s
ec
tio
n
3
,
t
h
e
th
eo
r
etica
l
b
asics
f
o
r
th
e
c
o
n
tr
o
llin
g
m
eth
o
d
s
ar
e
e
x
p
lai
n
ed
.
T
h
e
d
etails
o
f
th
e
p
r
o
p
o
s
ed
s
war
m
in
tellig
en
ce
alg
o
r
ith
m
s
ar
e
d
em
o
n
s
tr
ated
in
s
ec
tio
n
4
.
Sectio
n
5
d
ed
icate
d
f
o
r
th
e
ef
f
ec
tiv
en
ess
o
f
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
s
’
p
er
f
o
r
m
a
n
ce
,
a
n
d
th
e
s
im
u
latio
n
r
esu
lts
o
f
th
e
AUV
s
y
s
tem
b
ased
o
n
b
o
t
h
co
n
t
r
o
llin
g
s
ch
em
es.
Sectio
n
6
s
u
m
m
ar
izes th
e
co
n
clu
s
io
n
s
an
d
th
e
k
ey
asp
ec
ts
o
f
th
is
r
esear
ch
wo
r
k
2.
AUTON
O
M
O
U
S UN
D
E
RW
AT
E
R
VE
H
I
CL
E
M
O
D
E
L
A
U
Vs
m
o
d
e
l
c
a
n
b
e
d
e
s
c
r
i
b
e
d
a
s
body
-
f
i
x
e
d
r
e
f
e
r
e
n
c
e
(
B
R
F
)
,
a
n
i
n
e
r
t
i
a
l
r
e
f
e
r
e
n
ce
f
r
a
m
e
(
I
R
F
)
o
r
e
a
r
t
h
f
i
x
e
d
f
r
a
m
e
,
AU
V
f
o
u
n
d
e
d
as
tr
a
n
s
l
a
ti
o
n
a
l
c
o
m
p
o
n
e
n
ts
a
n
d
r
o
t
a
t
i
o
n
a
l
c
o
m
p
o
n
e
n
t
s
(
s
u
g
e
,
s
w
ay
,
h
e
a
v
e
,
r
o
l
l
,
p
i
t
c
h
,
y
a
w
)
a
s
s
h
o
w
n
i
n
F
i
g
u
r
e
1
[
1
4
,
1
5
]
.
A
U
V
d
y
n
a
m
i
c
s
p
r
es
e
n
t
e
d
b
y
v
e
c
t
o
r
v
e
l
o
c
it
y
=
[
1
,
2
]
w
h
e
r
e
1
=
[
u
,
v
,
w
]
w
h
i
c
h
r
e
f
e
r
t
o
l
i
n
e
a
r
v
e
l
o
ci
t
i
es
a
n
d
2
=
[
,
q
,
r
]
w
h
i
c
h
r
e
f
e
r
t
o
a
n
g
u
l
a
r
v
e
l
o
c
i
t
i
es
o
f
(
s
u
g
e
,
s
w
a
y
,
h
ea
v
e
,
r
o
l
l
,
p
i
tc
h
,
y
aw
)
r
e
s
p
ec
t
i
v
el
y
,
w
h
il
e
I
R
F
c
a
n
e
x
p
r
e
s
s
as
t
h
e
v
e
ct
o
r
Ƞ
=
[
Ƞ
1
,
Ƞ
2
]
w
h
e
r
e
Ƞ
1
=
[
,
Y,
Z
]
a
n
d
Ƞ
2
=
[
ɸ
,
θ, ψ
]
b
o
t
h
Ƞ
1
a
n
d
Ƞ
2
r
e
p
r
e
s
e
n
ts
t
h
e
p
o
s
i
t
i
o
n
a
n
d
r
o
t
a
ti
o
n
a
l
c
o
o
r
d
i
n
a
t
e
o
f
A
U
V
.
T
h
e
t
r
a
n
s
f
o
r
m
a
ti
o
n
o
f
t
r
a
n
s
l
a
tio
n
a
l
v
e
l
o
c
i
ti
e
s
b
e
t
we
e
n
t
h
e
b
o
d
y
-
f
i
x
e
d
f
r
a
m
e
a
n
d
e
a
r
t
h
f
i
x
e
d
co
o
r
d
i
n
a
t
e
s
,
[
̇
̇
̇
]
=
1
(
Ƞ
2
)
[
]
(
1
)
wh
er
e,
1
(
Ƞ
2
)
=
[
c
os
c
os
−
s
in
c
os
ɸ
+
c
os
s
in
s
in
ɸ
s
in
s
in
ɸ
+
c
os
s
in
c
os
ɸ
s
in
c
os
c
os
c
os
ɸ
+
s
in
s
in
s
in
ɸ
−
c
os
s
in
ɸ
+
s
in
s
in
c
os
ɸ
−
s
in
c
os
s
in
ɸ
c
os
c
os
ɸ
]
(
2
)
wh
er
e,
1
(
Ƞ
2
)
is
an
o
r
th
o
g
o
n
al
m
atr
i
x
,
h
en
ce
,
(
1
(
Ƞ
2
)
)
−
1
=
(
1
(
Ƞ
2
)
)
.
An
d
th
e
o
t
h
er
tr
an
s
f
o
r
m
atio
n
o
f
r
o
tatio
n
al
v
elo
cities b
etwe
en
t
h
e
b
o
d
y
-
f
ix
ed
f
r
am
e
an
d
ea
r
th
f
ix
ed
f
r
am
e
is
[
ɸ
̇
̇
̇
]
=
2
(
Ƞ
2
)
[
]
(
3
)
wh
er
e
,
2
(
Ƞ
2
)
=
[
1
s
in
ɸ
ta
n
c
os
ɸ
ta
n
0
c
os
ɸ
−
s
in
ɸ
0
s
in
ɸ
/
c
os
c
os
ɸ
/
c
os
]
(
4
)
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
A
n
imp
r
o
ve
d
s
w
a
r
m
in
tellig
en
ce
a
lg
o
r
ith
ms
-
b
a
s
ed
… (
Mu
s
ta
fa
Wa
s
s
ef
Ha
s
a
n
)
3175
Fig
u
r
e
1
.
AUV
r
ef
e
r
en
ce
f
r
am
e
N
o
t
e
th
at
wh
en
=
±
9
0
̊
,
2
will
b
e
u
n
d
ef
in
ed
.
T
h
e
lo
ca
tio
n
s
o
f
th
e
v
eh
icle
ce
n
ter
o
f
g
r
av
ity
an
d
b
u
o
y
a
n
cy
ar
e
d
ef
in
e
d
in
ter
m
s
o
f
th
e
b
o
d
y
-
f
ix
e
d
co
o
r
d
in
ate
s
y
s
tem
as f
o
llo
ws:
=
[
]
=
[
]
(
5
)
V
e
h
i
c
l
e
d
y
n
am
ics d
escr
ib
ed
b
y
T
.
I
.
Fo
s
s
en
(
1
9
9
4
)
[
1
6
]
as f
o
llo
ws:
̇
+
(
)
+
(
)
+
(
)
=
+
(
6
)
wh
er
e
is
th
e
in
er
tia
m
atr
ix
th
at
co
n
s
is
ts
o
f
a
r
ig
id
b
o
d
y
m
ass
(
)
an
d
ad
d
ed
m
ass
(
)
r
esp
ec
tiv
ely
,
M
Є
ℝ
6
ˣ6
,
C
(
v
v
)
is
th
e
C
o
r
i
o
lis
an
d
C
en
tr
ip
etal
m
atr
ix
w
h
ich
also
co
n
s
is
ts
o
f
a
r
ig
id
b
o
d
y
(
(
)
)
an
d
ad
d
ed
m
ass
(
(
)
)
,
C
(
v
v
)
Є
ℝ
6
ˣ6
,
Wh
ile
D
(
v
v
)
is
th
e
h
y
d
r
o
d
y
n
am
ic
d
am
p
in
g
o
f
th
e
AUV
an
d
co
n
s
is
t
s
o
f
lin
ea
r
d
r
a
g
ter
m
(
(
)
)
an
d
q
u
ad
r
a
tic
ter
m
(
(
)
)
,
D(
v
v
)
Є
ℝ
6
ˣ6
,
F
Є
ℝ
6
ˣ6
is
th
e
to
r
q
u
e
f
o
r
ce
ap
p
lied
o
n
th
e
AUV,
an
d
D
Є
ℝ
6
ˣ6
ar
e
th
e
d
is
tu
r
b
an
ce
s
th
at
im
p
o
s
ed
o
n
t
h
e
s
y
s
tem
.
Fo
r
th
e
d
y
n
am
ic
m
o
d
el
g
iv
en
in
(
6
)
,
th
e
s
y
s
tem
tr
an
s
f
o
r
m
ed
in
to
ea
r
th
f
ix
ed
co
o
r
d
in
ate
as
:
(
)
̈
+
(
,
)
̇
+
(
,
)
̇
+
(
)
=
(
)
+
(
)
(
7
)
(
)
=
(
)
−
(
)
−
1
(
)
=
(
)
−
[
(
)
−
(
)
−
1
(
)
̇
]
(
)
−
1
(
)
=
(
)
−
(
)
(
)
−
1
=
(
)
−
(
)
(
)
=
(
)
−
(
)
=
(
)
−
3.
CO
NT
RO
L
L
I
NG
SCH
E
M
E
S
3
.
1
.
F
O
P
I
D
co
ntr
o
ller
Fra
ctio
n
al
o
r
d
e
r
PID
co
n
tr
o
ll
er
m
ain
ly
f
o
r
m
e
d
as
f
iv
e
p
ar
am
eter
s
wh
ich
d
if
f
e
r
f
r
o
m
o
r
d
in
ar
y
PID
co
n
tr
o
ller
,
th
at
g
en
e
r
ally
in
v
o
lv
es
th
r
ee
p
ar
am
eter
s
to
en
lar
g
e
th
e
s
ea
r
ch
s
p
ac
e
an
d
th
er
ef
o
r
e,
ac
h
iev
e
r
o
b
u
s
t
p
er
f
o
r
m
an
ce
[
1
7
,
18]
.
T
h
e
tr
a
n
s
f
er
f
u
n
cti
o
n
r
e
p
r
esen
tatio
n
o
f
FOPID
co
n
tr
o
ller
is
g
iv
en
b
y
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
,
Vo
l.
18
,
No
.
6
,
Dec
em
b
e
r
2
0
2
0
:
3
1
7
3
-
318
3
3176
(
)
=
+
+
(
8
)
wh
er
e,
is
th
e
p
r
o
p
o
r
tio
n
al
g
a
in
,
is
a
d
er
iv
ativ
e
g
ain
,
an
d
is
in
teg
r
al
g
ai
n
,
an
d
(
λ
,
μ
)
is
t
h
e
FOPID
p
ar
am
eter
s
.
I
n
ca
s
e
o
f
λ
=1
&
μ
=1
,
FOPID
will
ac
t
as
s
tan
d
ar
d
PID
co
n
tr
o
ller
,
wh
en
λ
=0
&
μ
=1
will
p
r
o
v
id
e
a
PD c
o
n
tr
o
ller
,
a
n
d
wh
en
λ
=1
&
μ
=0
p
r
o
v
id
es a
PI
co
n
tr
o
lle
r
.
Fig
u
r
e
2
s
h
o
ws th
e
FOPID
p
lan
e.
3
.
2
.
NL
-
F
O
P
I
D
co
ntr
o
ller
T
h
e
n
o
n
lin
ea
r
FOPID
co
n
tr
o
llin
g
s
ch
em
e
is
in
tr
o
d
u
ce
d
to
e
n
h
an
ce
th
e
c
o
n
tr
o
ller
ca
p
a
b
ilit
y
to
war
d
s
b
etter
r
esu
lts
,
wh
er
e
a
n
o
n
lin
ea
r
ter
m
is
ca
s
ca
d
ed
with
th
e
tr
ad
itio
n
al
FOPID
to
im
p
r
o
v
e
th
e
n
o
n
lin
ea
r
ity
b
eh
av
io
u
r
th
at
c
h
an
g
es
with
t
im
e
o
r
b
y
ex
ter
n
al
ef
f
ec
ts
.
T
h
e
NL
-
FOPID
[
1
9
]
,
will
wo
r
k
as
a
s
elf
-
tu
n
in
g
to
h
an
d
le
s
y
s
tem
co
m
p
lex
ity
d
u
e
to
th
e
d
is
tu
r
b
an
ce
s
,
s
u
ch
t
h
at
it
will
d
ec
r
ea
s
e
s
y
s
tem
o
v
er
s
h
o
o
t
an
d
n
eu
tr
aliz
e
tim
e
r
is
in
g
.
T
h
er
ef
o
r
e,
t
h
e
co
n
tr
o
ller
d
esig
n
is
g
iv
e
n
as sh
o
wn
in
th
e
f
o
llo
win
g
f
o
r
m
u
la,
L
et
(
)
d
en
o
ted
as th
e
er
r
o
r
o
f
th
e
s
y
s
tem
,
wh
er
e
=
1
,
2
L
et
(
)
in
d
icate
d
as th
e
o
u
tp
u
t
r
esp
o
n
s
e
o
f
t
h
e
AUV,
an
d
let
th
e
n
o
n
lin
ea
r
te
r
m
ca
lled
as
(
)
,
wh
er
e
(
)
=
(
)
.
e
xp
(
(
1
(
)
+
1
(
)
.
(
−
2
(
)
−
2
(
)
)
(
9
)
wh
er
e
(
)
is
a
r
ea
l
n
u
m
b
er
,
Є
(
0
,
)
,
wh
er
e
<
∞
.
T
h
e
AUV
s
y
s
tem
with
NL
-
FOPID
is
illu
s
tr
ated
in
Fig
u
r
e
3.
Fig
u
r
e
2
.
-
Plan
e
o
f
FOPID
co
n
tr
o
ller
Fig
u
r
e
3
.
AUV
s
y
s
tem
with
NL
-
FOPID
co
n
tr
o
llin
g
s
ch
em
e
4.
P
RO
P
O
SE
D
SWA
RM
I
NT
E
L
L
I
G
E
NC
E
O
P
T
I
M
I
Z
A
T
I
O
N
AL
G
O
RI
T
H
M
4
.
1
.
H
y
brid G
WO
-
SA a
lg
o
ri
t
hm
T
h
e
GW
OA
ten
d
s
to
m
im
ics
th
e
lea
d
er
s
h
ip
h
ier
ar
c
h
y
wer
e
th
e
w
o
lv
es
g
r
o
u
p
d
iv
id
ed
i
n
to
(
al
p
h
a,
b
eta,
d
elta,
an
d
o
m
e
g
a)
,
w
h
e
r
e
alp
h
a
is
th
e
f
ittes
t
s
o
lu
tio
n
,
b
eta
is
th
e
s
ec
o
n
d
-
b
est
s
o
l
u
tio
n
,
an
d
d
elta
is
th
e
th
ir
d
-
b
est
s
o
lu
tio
n
.
I
n
co
n
t
r
ast,
o
m
eg
a
is
th
e
r
em
ain
in
g
wo
lv
es
th
at
f
o
llo
w
th
e
b
est
th
r
ee
in
d
iv
id
u
als
[
6
]
.
T
h
e
f
ir
s
t step
o
f
GW
OA
is
en
cir
clin
g
th
e
p
r
ey
wer
e
r
ep
r
esen
t
ed
as f
o
llo
win
g
m
ath
em
atica
l
:
⃗
⃗
=
|
.
(
)
−
(
)
|
(
1
0
)
(
+
1
)
=
(
)
−
⃗
⃗
⃗
.
⃗
⃗
(
1
1
)
w
h
er
e
t
r
ep
r
esen
ts
th
e
cu
r
r
en
t
iter
atio
n
s
,
(
)
is
th
e
p
o
s
itio
n
o
f
th
e
p
r
ey
,
(
)
is
th
e
p
o
s
itio
n
o
f
th
e
wo
lf
,
(
&
)
is
th
e
co
ef
f
icien
t
v
ec
to
r
a
n
d
f
o
u
n
d
b
y
th
e
f
o
llo
win
g
:
=
2
.
(
1
2
)
=
2
.
(
1
3
)
wh
er
e,
1
an
d
2
r
an
d
o
m
n
u
m
b
e
r
s
f
r
o
m
(
0
to
1
)
,
is
lin
ea
r
ly
d
ec
r
ea
s
e
co
ef
f
icien
t
f
r
o
m
(
2
to
0
)
d
u
r
in
g
th
e
r
u
n
n
in
g
iter
atio
n
s
.
T
h
e
s
ec
o
n
d
s
tep
in
s
tan
d
ar
d
GW
O
alg
o
r
ith
m
is
h
u
n
tin
g
wer
e
u
s
u
ally
th
e
h
u
n
tin
g
p
r
o
ce
s
s
lead
in
g
b
y
th
e
alp
h
a
wo
l
f
with
th
e
in
v
o
l
v
em
en
t
o
f
b
eta
an
d
d
elta,
b
u
t
d
u
e
to
u
n
k
n
o
wn
l
o
ca
tio
n
o
f
t
h
e
p
r
e
y
th
e
b
est
th
r
ee
in
d
iv
id
u
als
o
b
ta
in
ed
s
o
f
ar
ar
e
s
av
ed
an
d
u
p
d
a
te
th
e
p
o
s
itio
n
o
f
th
e
o
th
er
s
ea
r
ch
ag
en
t
(
o
m
e
g
a)
b
y
th
e
f
o
llo
win
g
:
⃗
⃗
=
|
1
.
−
|
(
1
4
)
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
A
n
imp
r
o
ve
d
s
w
a
r
m
in
tellig
en
ce
a
lg
o
r
ith
ms
-
b
a
s
ed
… (
Mu
s
ta
fa
Wa
s
s
ef
Ha
s
a
n
)
3177
⃗
⃗
=
|
2
.
−
|
(
1
5
)
⃗
⃗
=
|
3
.
−
|
(
1
6
)
1
=
|
−
1
.
(
⃗
⃗
)
|
(
1
7
)
2
=
|
−
2
.
(
⃗
⃗
)
|
(
1
8
)
3
=
|
−
3
.
(
⃗
⃗
)
|
(
1
9
)
(
+
1
)
=
⃗
1
+
⃗
2
+
⃗
3
3
(
2
0
)
w
h
er
e
,
1
,
2
,
3
,
1
,
2
,
an
d
3
ar
e
r
an
d
o
m
ly
g
en
er
ated
v
ec
to
r
s
,
,
,
an
d
ar
e
th
e
p
o
s
itio
n
s
o
f
alp
h
a
,
b
eta,
an
d
d
elta.
T
h
e
GW
OA
is
im
p
r
o
v
ed
b
y
in
s
er
tin
g
t
h
r
ee
m
o
d
if
icatio
n
s
,
f
ir
s
t
o
n
e
f
o
cu
s
o
n
en
h
an
cin
g
th
e
m
ain
wo
lv
es
(
alp
h
a,
b
eta,
an
d
d
elta)
lo
ca
tio
n
s
,
s
u
ch
th
at
it
is
as
s
u
m
ed
th
at
alp
h
a
is
th
e
n
ea
r
p
o
in
t
t
o
th
e
tar
g
et,
s
o
is
s
u
p
p
o
s
ed
t
o
h
av
e
a
wig
h
t
o
f
(
1
)
an
d
d
ec
r
ea
s
e
to
(
1
/3
)
as
th
e
n
u
m
b
e
r
o
f
iter
atio
n
in
c
r
ea
s
e.
I
n
co
n
tr
ast
(
b
eta,
a
n
d
d
elta)
a
s
s
u
m
ed
to
b
e
f
ar
f
r
o
m
al
p
h
a
an
d
h
a
v
e
weig
h
t
e
q
u
al
to
(
0
)
an
d
r
is
e
to
(
1
/3
)
as
th
e
n
u
m
b
er
o
f
iter
atio
n
in
c
r
ea
s
e.
T
h
e
im
p
r
o
v
em
e
n
ts
ar
e
f
o
r
m
u
lated
as sh
o
w
in
(
2
1
-
2
3
)
.
=
1
−
(
1
3
)
∗
(
2
1
)
=
1
3
−
(
2
2
)
=
1
−
−
(
2
3
)
wh
er
e
(
2
1
-
2
3
)
ar
e
a
p
p
lied
in
(
2
0
)
an
d
y
ield
s
.
(
+
1
)
=
∗
1
+
∗
2
+
∗
3
(
2
4
)
T
h
e
s
ec
o
n
d
m
o
d
if
icatio
n
ass
u
m
ed
to
n
eg
lect
1
0
%
o
f
th
e
in
c
ap
ab
le
wo
lv
es
(
ill’s
o
r
r
elativ
ely
o
ld
)
th
at
h
av
e
a
h
ig
h
er
o
b
jectiv
e
f
u
n
ct
io
n
v
alu
e
f
r
o
m
th
e
s
ea
r
ch
s
p
ac
e
to
in
cr
ea
s
e
th
e
ex
p
lo
itati
o
n
ab
ilit
y
.
Fo
r
th
at
p
u
r
p
o
s
e,
th
e
SA
alg
o
r
ith
m
is
in
tr
o
d
u
ce
d
to
av
o
i
d
th
e
GW
OA
f
r
o
m
s
tack
in
g
in
th
e
s
am
e
s
ea
r
ch
ar
en
a,
wh
e
r
e
a
n
ew
s
o
lu
tio
n
o
b
tain
e
d
,
wh
i
ch
is
a
n
eig
h
b
o
u
r
to
th
e
b
est
s
o
lu
tio
n
o
b
tain
ed
s
o
f
ar
at
e
v
er
y
iter
atio
n
,
an
d
th
e
wo
r
s
e
s
o
lu
tio
n
is
d
ev
el
o
p
e
d
th
r
o
u
g
h
t
h
e
f
o
llo
win
g
,
=
−
ɣ
(
2
5
)
wh
er
e,
ɣ
is
th
e
ch
a
n
g
e
b
etwe
en
th
e
o
b
jectiv
e
f
u
n
ctio
n
f
o
r
th
e
b
est
s
o
lu
tio
n
a
n
d
th
e
tr
ial
s
o
lu
tio
n
,
w
h
ile
T
is
th
e
tem
p
er
atu
r
e
f
ac
to
r
a
n
d
e
q
u
al
to
=
(
0
∗
ℎ
)
(
2
6
)
wh
er
e,
0
is
th
e
in
itial tem
p
er
atu
r
e,
an
d
ℎ
is
th
e
r
ed
u
ctio
n
f
ac
to
r
u
s
ed
to
r
ed
u
ce
T
af
ter
ea
c
h
iter
atio
n
.
T
h
e
n
ew
s
o
lu
tio
n
o
b
tain
ed
(
n
eig
h
b
o
u
r
n
u
m
b
er
)
u
s
e
a
DE
m
ec
h
an
is
m
to
co
llect
th
e
u
n
iq
u
e
n
u
m
b
er
wh
ich
co
r
r
esp
o
n
d
in
g
to
th
e
s
ec
o
n
d
m
o
d
if
icatio
n
as sh
o
w
n
in
,
(
+
1
)
=
1
+
∗
(
2
−
3
)
(
2
7
)
wh
er
e,
=
(
ma
x
,
min
,
)
(
2
8
)
is
a
r
an
d
o
m
n
u
m
b
er
v
al
u
e
th
a
t
in
-
b
etwe
en
(
ma
x
&
min
)
an
d
h
av
e
s
ize
eq
u
al
to
d
im
en
s
io
n
s
ize.
Af
ter
th
at,
a
cr
o
s
s
o
v
er
o
p
e
r
atio
n
in
t
r
o
d
u
ce
d
to
m
ak
e
s
u
r
e
th
at
th
e
n
ew
v
alu
e
o
f
(
+
1
)
ef
f
ec
tiv
e
in
c
o
m
p
ar
is
o
n
with
th
e
s
tan
d
ar
d
v
alu
e
(
+
1
)
a
n
ew
v
ar
iab
le
ca
lled
⃗
⃗
(
+
1
)
r
ep
r
esen
t
th
e
f
i
n
al
ch
o
ice
b
etwe
en
eith
er
ca
s
e
an
d
eq
u
al
to
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
,
Vo
l.
18
,
No
.
6
,
Dec
em
b
e
r
2
0
2
0
:
3
1
7
3
-
318
3
3178
⃗
⃗
(
+
1
)
=
{
(
+
1
)
(
(
)
=
=
(
(
(
(
+
1
)
)
)
)
)
≤
(
+
1
)
ℎ
(
2
9
)
w
h
er
e
,
(
)
is
a
r
an
d
o
m
n
u
m
b
er
b
etwe
en
(
0
,
1
)
,
=
1
,
2
,
3
,
…
,
(
(
(
(
+
1
)
)
)
)
,
(
)
is
a
r
an
d
o
m
in
teg
er
n
u
m
b
er
,
a
n
d
is
th
e
m
u
tatio
n
r
ate.
Fin
ally
,
th
e
last
im
p
r
o
v
em
en
t
is
ac
h
iev
ed
b
y
u
s
in
g
th
e
SA
alg
o
r
ith
m
to
en
h
a
n
ce
th
e
b
e
s
t
s
o
lu
tio
n
o
b
tain
ed
s
o
f
ar
(
ℎ
,
,
)
o
f
ea
ch
wo
lf
af
ter
ea
ch
iter
atio
n
to
m
ax
im
ize
th
e
ex
p
lo
r
atio
n
an
d
e
x
p
lo
itati
o
n
ca
p
a
b
ilit
ies.
T
h
e
d
etailed
s
tep
s
o
f
HGWO
-
SA
alg
o
r
ith
m
ar
e
d
em
o
n
s
tr
ated
as f
o
llo
ws,
I
n
p
u
t:
T
h
e
HGWO
-
SA
alg
o
r
ith
m
ex
ter
n
al
p
ar
am
eter
s
.
Step
1
: Sp
ec
if
y
th
e
L
B
,
UB
an
d
Dim
o
f
th
e
s
elec
ted
f
itn
ess
f
u
n
ctio
n
a
n
d
th
e
i
n
itial a
,
A,
an
d
C
;
Step
2
:
E
v
alu
ate
th
e
f
itn
ess
o
f
ea
ch
s
ea
r
c
h
ag
en
t
,
wh
er
e
X
α
,
X
β
a
n
d
X
δ
ar
e
th
e
f
ir
s
t,
s
ec
o
n
d
,
th
ir
d
b
est
in
d
iv
id
u
als in
s
ea
r
ch
a
g
en
t in
s
er
ies;
Step
3
:
B
eg
in
t
h
e
m
ain
lo
o
p
a
n
d
f
o
r
ea
ch
s
ea
r
ch
ag
en
t
c
a
l
c
ul
a
te
α
,
β
a
n
d
δ
by
(
21
−
23
)
th
en
Upda
te
positio
n
of
e
a
c
h
so
l
ution
by
(
24
)
;
Step
4
: Fin
d
th
e
wo
r
s
t w
o
lv
es
lo
ca
tio
n
s
;
Step
5
: selec
t
10%
of
position
s
ize
th
en
Upda
te
position
us
in
g
SA
;
Step
6
:
e
n
ha
n
c
e
X
α
⃪
us
in
g
SA
,
e
n
ha
n
c
e
X
β
⃪
us
in
g
SA
,
e
n
ha
n
c
e
X
δ
⃪
us
in
g
SA
;
Step
7
: Rep
ea
t Step
3
u
n
til it r
ea
ch
es th
e
m
ax
im
u
m
n
u
m
b
er
o
f
iter
atio
n
s
;
Ou
tp
u
t: T
h
e
o
p
tim
u
m
s
o
lu
tio
n
.
4
.
2
.
I
m
pro
v
ed
wha
le
o
ptim
i
za
t
io
n a
lg
o
ri
t
hm
T
h
e
W
OA
alg
o
r
ith
m
is
u
s
ed
to
m
im
ic
wh
ale
o
r
g
an
is
m
in
Nat
u
r
e
,
wh
e
r
e
th
e
w
h
ales
h
u
n
t
in
a
s
h
r
in
k
in
g
cir
cle
an
d
o
n
a
s
p
ir
al
p
ath
as sh
o
wn
in
[
7
]
,
(
+
1
)
=
{
∗
(
)
−
.
⃗
⃗
<
0
.
5
(
a
)
′
⃗
⃗
⃗
⃗
.
.
c
os
(
2
)
+
∗
(
)
≥
0
.
5
(
b
)
(
3
0
)
wh
er
e,
=
2
.
−
(
3
1
)
⃗
⃗
=
|
.
−
|
(
3
2
)
wh
er
e
(
3
0
a
)
r
ep
r
esen
t
th
e
s
h
r
in
k
in
g
cir
cle
an
d
(
3
0
b
)
r
ep
r
ese
n
t
th
e
s
p
ir
al
p
ath
,
wh
er
e
∗
⃗
⃗
⃗
⃗
is
th
e
b
est
s
o
lu
tio
n
in
p
o
s
itio
n
v
ec
to
r
,
(
⃗
⃗
⃗
,
)
ar
e
co
e
f
f
ic
ien
t
n
u
m
b
er
s
,
⃗
⃗
is
a
g
lo
b
al
s
ea
r
ch
,
is
a
s
p
ec
if
ic
n
u
m
b
er
t
h
at
d
ec
r
ea
s
ed
in
th
e
p
er
io
d
o
f
(
2
,
0
)
,
a
r
an
d
o
m
n
u
m
b
er
b
etwe
en
(
1
,
0
)
,
b
is
a
co
n
s
tan
t
n
u
m
b
er
f
o
r
d
e
f
in
in
g
th
e
s
h
ap
e
o
f
a
lo
g
ar
ith
m
ic
s
p
ir
al,
l
is
a
r
an
d
o
m
n
u
m
b
er
i
n
th
e
r
an
g
e
(
-
1
,
1
)
,
p
is
a
r
a
n
d
o
m
n
u
m
b
er
b
etwe
en
[
0
,
1
]
,
an
d
′
⃗
⃗
⃗
⃗
is
th
e
d
is
tan
ce
b
etwe
en
th
e
wh
ale
an
d
th
e
tar
g
et
(
p
r
ey
)
a
n
d
g
iv
e
n
in
th
e
f
o
llo
win
g
,
′
⃗
⃗
⃗
⃗
=
|
∗
(
)
−
(
)
|
(
3
3
)
T
h
e
h
u
m
p
b
ac
k
wh
ale
lo
ca
tes
th
eir
p
r
e
y
an
d
en
cir
cle
th
em
,
a
n
d
r
ep
r
esen
ted
in
(
3
4
)
,
⃗
⃗
=
|
.
∗
(
)
−
(
)
|
(
3
4
)
T
h
e
m
ain
p
r
o
b
lem
s
in
W
OA
ar
e
its
tr
ail
to
d
ep
ar
tu
r
e
f
r
o
m
a
lar
g
e
n
u
m
b
e
r
o
f
lo
ca
l
s
o
lu
tio
n
s
in
n
o
n
lin
ea
r
s
ea
r
ch
s
p
ac
es
an
d
th
e
s
tab
ilizin
g
is
s
u
e
b
etwe
en
th
e
ex
p
lo
r
atio
n
an
d
e
x
p
lo
itatio
n
.
T
h
e
p
r
o
ce
d
u
r
e
o
f
th
e
u
p
d
ate
is
th
at
wh
en
th
e
alg
o
r
ith
m
u
p
d
ates th
e
p
o
s
itio
n
in
ea
ch
iter
atio
n
,
th
e
v
al
u
es o
f
th
ese
u
p
d
ated
v
alu
es
ca
n
r
ea
ch
a
h
ig
h
er
v
alu
e
.
Su
c
h
th
at
it
m
ay
g
iv
e
v
alu
e
th
at
b
ey
o
n
d
th
e
u
p
p
er
o
r
l
o
wer
b
o
u
n
d
o
f
t
h
e
r
e
q
u
ir
ed
f
u
n
ctio
n
s
.
T
h
er
ef
o
r
e,
a
r
a
n
d
o
m
m
atr
ix
-
v
ec
to
r
(
r
a
n
d
o
m
wh
a
le)
is
s
u
g
g
ested
to
b
e
in
itiated
f
r
o
m
ea
c
h
v
ec
to
r
at
ev
er
y
lo
o
p
,
as
ex
p
lain
ed
b
elo
w
in
th
e
f
o
llo
win
g
s
tatem
en
t,
=
(
[
]
)
(
3
5
)
w
h
er
e
th
e
r
ep
r
esen
t
a
r
an
d
o
m
h
u
n
ter
(
w
h
ale)
v
ec
to
r
t
h
at
h
as
o
n
ly
o
n
e
v
alu
e
to
b
e
s
el
ec
ted
at
ea
ch
(
≥
1
)
an
d
n
e
g
lect
th
e
r
em
ain
in
g
v
alu
es.
An
d
th
is
v
alu
e
m
ig
h
t
b
e
a
n
o
t
o
p
tim
al
v
alu
e
th
at
m
a
k
e
s
th
e
s
ea
r
ch
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
A
n
imp
r
o
ve
d
s
w
a
r
m
in
tellig
en
ce
a
lg
o
r
ith
ms
-
b
a
s
ed
… (
Mu
s
ta
fa
Wa
s
s
ef
Ha
s
a
n
)
3179
d
o
m
ain
co
n
v
er
g
e
to
th
e
p
r
ey
f
o
r
th
e
s
h
r
in
k
i
n
g
cir
cle
in
th
e
e
x
p
lo
r
atio
n
p
h
ase
.
I
n
o
r
d
e
r
to
s
o
lv
e
th
is
p
r
o
b
lem
,
a
s
ea
r
ch
d
o
m
ai
n
is
u
p
d
ated
to
o
b
tain
th
e
b
est v
alu
e
as in
(3
6
)
,
⃗
⃗
⃗
⃗
⃗
⃗
⃗
⃗
⃗
=
|
.
−
|
(
3
6
)
L
et
th
e
d
ev
elo
p
ed
p
o
s
itio
n
o
f
t
h
e
s
h
r
in
k
in
g
en
cir
clin
g
s
tep
is
h
,
h
=
−
*
⃗
⃗
⃗
⃗
⃗
⃗
⃗
⃗
⃗
(
3
7
)
A
co
m
p
ar
is
o
n
b
etwe
en
th
e
v
alu
e
o
f
h
an
d
th
e
p
o
s
itio
n
o
f
ea
ch
s
ea
r
ch
ag
en
t
s
h
o
u
ld
b
e
ac
h
iev
ed
;
th
er
ef
o
r
e,
if
n
ew
v
alu
es
o
f
h
ar
e
s
m
aller
th
an
th
e
o
ld
p
o
s
itio
n
o
f
s
ea
r
ch
ag
e
n
t,
it
will
b
e
u
p
d
ated
as
a
n
ew
p
o
s
itio
n
.
T
o
g
u
a
r
an
tees
th
at
th
e
v
alu
es
o
f
th
e
p
o
s
itio
n
will
b
e
with
in
th
e
u
p
p
er
a
n
d
lo
we
r
b
o
u
n
d
s
f
o
r
th
e
p
o
s
itiv
e
an
d
n
e
g
ativ
e
v
alu
es
e
x
ce
p
t
wh
en
th
e
v
al
u
e
o
f
p
o
s
itio
n
is
p
o
s
itiv
e,
an
d
th
e
n
ew
v
alu
e
a
c
q
u
ir
e
d
f
r
o
m
h
is
n
e
g
ativ
e
s
o
th
at
th
e
r
ec
en
tly
u
p
d
ated
p
o
s
itio
n
will
u
p
d
ate
th
e
ab
s
o
lu
te
h
.
T
h
e
f
o
llo
win
g
a
lg
o
r
ith
m
r
e
p
r
esen
ts
th
e
r
u
n
n
in
g
p
r
o
ce
d
u
r
e
o
th
e
I
W
OA
:
I
n
p
u
t: T
h
e
I
W
O
alg
o
r
ith
m
e
x
t
er
n
al
p
ar
am
eter
s
.
Step
1
: D
ef
in
e
th
e
L
B
,
UB
an
d
th
e
d
im
e
n
s
io
n
o
f
th
e
ch
o
s
en
f
itn
ess
f
u
n
ctio
n
;
Step
2
: c
alcu
late
th
e
f
itn
ess
o
f
ea
ch
s
ea
r
ch
ag
e
n
t a
n
d
c
h
o
s
e
t
h
e
b
est o
n
e;
Step
3
:
s
tar
t
th
e
m
ai
n
lo
o
p
at
t
h
at
p
o
in
t
f
o
r
ea
ch
s
ea
r
ch
ag
e
n
t
u
p
d
ate
th
e
in
ter
v
al
r
a
n
g
e
(
a)
,
(
A,
C
)
,
(
L
)
,
an
d
(
p
)
;
Step
4
: I
f
p
b
elo
w
(
0
.
5
)
a
n
d
(
A)
b
elo
w
(
1
)
th
en
u
p
d
ate
t
h
e
c
u
r
r
en
t
p
o
s
itio
n
as sh
o
w
in
(
3
4
)
;
Step
5
:
I
f
A
ex
ce
ed
in
g
(
1
)
,
f
i
n
d
th
e
v
alu
e
o
f
(
3
6
)
,
an
d
th
e
v
alu
e
o
f
(
h
)
u
s
in
g
(
3
7
)
ac
co
r
d
in
g
to
th
e
s
elec
tio
n
p
r
o
ce
s
s
o
f
ea
ch
s
ea
r
c
h
ag
e
n
t u
s
in
g
(
3
5
)
;
Step
6
:
test
th
e
cu
r
r
en
t
p
o
s
itio
n
if
it’s
o
v
er
t
h
e
UB
o
r
L
B
d
ef
in
e
in
Step
1
,
th
e
n
r
ep
lace
it b
y
an
o
th
e
r
v
alu
e
(
h
)
s
u
ch
th
at
th
e
n
ew
v
alu
e
s
h
o
u
l
d
b
e
b
etwe
en
th
e
r
a
n
g
e
o
f
(
U
B
,
an
d
L
B
)
o
th
er
wis
e
r
etu
r
n
t
o
Step
5
an
d
c
h
o
o
s
e
a
n
ew
v
alu
e;
Step
7
: I
f
p
≥
(
0
.
5
)
th
e
n
u
p
d
ate
th
e
cu
r
r
e
n
t p
o
s
itio
n
u
s
in
g
(
3
0
b
)
;
Step
8
: Rep
ea
t Step
3
u
n
til it r
ea
ch
es th
e
m
ax
im
u
m
n
u
m
b
er
o
f
iter
atio
n
s
;
Ou
tp
u
t: T
h
e
o
p
tim
u
m
s
o
lu
tio
n
.
5.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
5
.
1
.
P
er
f
o
r
m
a
nce
a
na
ly
s
is
f
o
r
t
he
pro
po
s
ed
a
lg
o
rit
hm
I
n
th
is
s
ec
tio
n
,
a
co
n
cise
p
er
f
o
r
m
an
ce
co
m
p
ar
is
o
n
is
p
r
esen
ted
,
wh
er
e
th
e
p
r
o
p
o
s
ed
al
g
o
r
ith
m
is
im
p
lem
en
ted
u
s
in
g
Ma
tlab
R
2
0
1
8
b
s
u
ch
th
at
it
r
u
n
s
f
o
r
3
0
ti
m
es with
in
5
0
0
iter
atio
n
s
to
ca
lcu
late
th
e
a
v
er
ag
e
(
AVG
)
an
d
s
tan
d
ar
d
d
ev
iatio
n
(
STD
)
f
o
r
a
s
et
o
f
b
e
n
ch
m
ar
k
f
u
n
ctio
n
s
.
T
h
e
ch
o
s
en
b
e
n
ch
m
ar
k
p
r
o
b
lem
s
ar
e
u
n
im
o
d
al,
m
u
ltimo
d
al
an
d
f
ix
ed
d
im
en
s
io
n
’
s
m
u
ltim
o
d
al
f
u
n
ctio
n
s
[
2
0
-
23]
.
T
h
e
co
llected
n
u
m
er
ical
r
esu
lts
f
o
r
p
r
o
p
o
s
ed
alg
o
r
ith
m
s
ar
e
co
m
p
ar
ed
with
o
th
er
b
asic
o
p
tim
izatio
n
alg
o
r
ith
m
s
th
at
a
r
e
p
ar
ticle
s
war
m
o
p
tim
izatio
n
(
PS
O)
,
d
if
f
er
en
ti
al
ev
o
lu
tio
n
(
DE
)
[
2
4
]
a
n
d
g
r
a
v
itatio
n
al
s
ea
r
ch
alg
o
r
ith
m
(
G
SA)
[
2
5
]
.
T
h
e
s
tatis
tica
l
r
esu
lts
f
o
r
ev
alu
atin
g
th
e
p
r
o
p
o
s
ed
HGWO
-
SA
alg
o
r
ith
m
b
ased
o
n
s
elec
ted
b
en
ch
m
ar
k
f
u
n
ctio
n
s
ar
e
tab
u
lated
in
T
a
b
l
e
1
.
I
n
T
a
b
le
1
,
th
e
f
u
n
ctio
n
s
(
F1
,
F2
,
F3
,
an
d
F4
)
h
as a
d
im
e
n
s
io
n
s
ize
eq
u
al
t
o
(
3
0
)
,
wh
ile
f
u
n
ctio
n
(
F5
)
h
as
a
d
im
en
s
io
n
s
ize
o
f
(
4
)
.
Fig
u
r
e
4
d
ep
icts
th
e
b
est
o
b
jectiv
e
f
u
n
ctio
n
r
eg
is
ter
ed
f
o
r
F3
f
u
n
ctio
n
b
ased
o
n
HGWO
-
SA a
lg
o
r
ith
m
an
d
o
th
er
b
asic o
p
tim
izatio
n
alg
o
r
ith
m
s
.
F
r
o
m
t
h
e
r
e
s
u
l
t
o
b
t
a
i
n
e
d
i
n
T
a
b
l
e
1
a
n
d
e
l
u
c
i
d
a
t
e
d
i
n
F
i
g
u
r
e
4
,
i
t
c
a
n
b
e
s
e
e
n
t
h
a
t
,
f
o
r
e
x
a
m
p
l
e
,
t
h
e
a
v
e
r
a
g
e
f
o
r
(
F
3
)
u
s
i
n
g
H
G
W
O
-
S
A
a
l
g
o
r
i
t
h
m
i
s
d
e
c
r
e
a
s
e
d
t
o
(
1
6
)
o
r
d
e
r
c
o
m
p
a
r
e
d
t
o
s
t
a
n
d
a
r
d
G
W
O
a
l
g
o
r
i
t
h
m
t
h
a
t
h
a
s
a
(
1
4
)
o
r
d
e
r
t
h
a
t
m
e
a
n
s
t
h
e
H
G
W
O
-
S
A
i
s
i
m
p
r
o
v
e
d
b
y
(
2
)
o
r
d
e
r
w
i
t
h
a
m
i
n
i
m
u
m
n
u
m
b
e
r
o
f
i
t
e
r
a
t
i
o
n
(
a
r
o
u
n
d
6
5
i
t
e
r
a
t
i
o
n
s
)
.
T
h
e
r
e
f
o
r
e
,
t
h
e
H
G
W
O
-
S
A
a
l
g
o
r
i
t
h
m
i
s
t
h
e
n
e
a
r
e
s
t
o
n
e
c
o
m
p
a
r
e
d
t
o
o
t
h
e
r
a
l
g
o
r
i
t
h
m
s
t
o
w
a
r
d
s
(
3
=
0
)
.
F
u
r
t
h
e
r
m
o
r
e
,
t
h
e
f
u
n
c
t
i
o
n
s
(
F
1
,
F
2
,
F
4
,
a
n
d
F
5
)
f
r
o
m
T
a
b
l
e
1
,
a
l
s
o
d
e
m
o
n
s
t
r
a
t
e
d
t
h
a
t
t
h
e
p
r
o
p
o
s
e
d
a
l
g
o
r
i
t
h
m
h
a
s
t
h
e
n
e
a
r
e
s
t
p
o
i
n
t
s
t
o
w
a
r
d
s
t
h
e
m
i
n
i
m
u
m
f
u
n
c
t
i
o
n
p
o
i
n
t
s
a
n
d
f
o
r
d
i
f
f
e
r
e
n
t
o
r
d
e
r
s
.
T
ab
le
1
.
C
o
m
p
a
r
is
o
n
o
f
HGWO
-
SA
with
G
W
O
A,
PS
O,
DE
an
d
GSA
alg
o
r
ith
m
s
F
u
n
c
t
i
o
n
M
e
t
r
i
c
H
G
O
W
A
G
W
O
A
PSO
DE
G
S
A
F1
R
o
s
e
n
b
r
o
c
k
a
v
g
4
.
6
5
8
6
e
-
13
2
6
.
9
3
5
8
8
2
.
3
8
1
1
1
6
5
.
4
6
4
6
0
.
4
1
0
6
st
d
1
.
0
9
8
3
e
-
12
0
.
7
6
3
3
9
9
.
3
4
4
8
5
2
.
3
3
7
0
0
.
3
8
0
2
F
2
N
o
i
se
a
v
g
4
.
1
6
1
4
e
-
04
0
.
0
0
1
3
0
.
1
5
7
1
0
.
0
5
2
9
0
.
1
6
5
8
st
d
2
.
7
6
0
7
e
-
04
7
.
8
0
6
0
e
-
04
0
.
0
5
0
9
0
.
0
1
1
5
0
.
4
5
8
8
F
3
A
c
k
l
e
y
a
v
g
8
.
8
8
1
8
e
-
16
6
.
0
9
2
9
e
-
14
0
.
0
8
6
8
0
.
0
0
6
1
7
.
0
6
4
0
e
-
09
st
d
0
9
.
3
4
6
2
e
-
15
0
.
3
1
6
3
0
.
0
0
1
5
1
.
2
0
3
2
e
-
09
F
4
H
a
p
p
y
C
a
t
a
v
g
2
.
4
6
3
3
e
-
06
0
.
3
2
1
6
0
.
3
7
2
3
0
.
2
9
9
1
0
.
2
7
3
0
st
d
1
.
8
1
7
1
e
-
06
0
.
0
5
4
7
0
.
0
8
3
3
0
.
0
3
2
8
0
.
0
9
6
4
F
5
S
h
e
k
e
l
5
a
v
g
-
1
0
.
1
5
3
2
-
9
.
3
1
3
5
-
8
.
1
4
3
4
-
9
.
7
8
8
4
-
6
.
3
9
2
1
st
d
6
.
9
7
0
8
e
-
05
2
.
2
1
8
9
2
.
9
7
3
8
1
.
2
1
9
9
3
.
6
2
3
6
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
,
Vo
l.
18
,
No
.
6
,
Dec
em
b
e
r
2
0
2
0
:
3
1
7
3
-
318
3
3180
Fig
u
r
e
4
.
T
h
e
r
esu
lts
o
f
Ack
le
y
(
F3
)
f
u
n
ctio
n
b
ased
o
n
HGWO
-
SA a
lg
o
r
ith
m
an
d
o
th
er
s
tan
d
ar
d
alg
o
r
ith
m
s
I
n
T
ab
le
2
,
th
e
n
u
m
e
r
ical
r
esu
lts
o
f
th
e
p
r
o
p
o
s
ed
s
ec
o
n
d
a
lg
o
r
ith
m
,
wh
ich
is
I
W
OA,
is
illu
s
tr
ated
b
ased
o
n
s
elec
ted
v
ar
io
u
s
test
f
u
n
ctio
n
s
.
T
h
e
test
f
u
n
cti
o
n
s
(
F1
,
F2
,
F3
,
an
d
F4
)
u
s
ed
in
T
ab
le
2
,
h
as
a
d
im
en
s
io
n
s
ize
eq
u
al
to
(
3
0
)
,
wh
ile
f
u
n
ctio
n
(
F5
)
h
a
s
a
d
im
en
s
io
n
s
ize
o
f
(
4
)
.
Fig
u
r
e
5
as
s
h
o
ws
th
e
b
est
o
b
jectiv
e
f
u
n
ctio
n
r
e
g
is
ter
ed
f
o
r
F1
f
u
n
ctio
n
b
ased
o
n
I
W
O
alg
o
r
ith
m
an
d
o
th
er
s
elec
ted
s
tan
d
ar
d
o
p
tim
izatio
n
alg
o
r
ith
m
s
.
Fro
m
th
e
r
esu
lt
o
b
tain
e
d
in
T
a
b
le
2
an
d
Fig
u
r
e
5
,
it
ca
n
b
e
s
ee
n
th
a
t
th
e
av
er
ag
e
v
alu
e
o
f
th
e
f
u
n
ctio
n
(F
1
)
u
s
in
g
th
e
s
ec
o
n
d
p
r
o
p
o
s
ed
alg
o
r
ith
m
is
d
ec
r
ea
s
e
d
to
(
1
2
3
)
o
r
d
er
co
m
p
ar
ed
to
th
e
s
tan
d
ar
d
W
OA
th
at
h
as
(
8
0
)
o
r
d
e
r
;
th
at
’
s
m
ea
n
t
h
e
I
W
OA
is
im
p
r
o
v
e
d
b
y
(
4
3
)
o
r
d
er
.
T
h
er
e
f
o
r
e,
th
e
I
W
O
alg
o
r
ith
m
is
th
e
o
p
tim
u
m
alg
o
r
ith
m
co
m
p
ar
ed
to
o
th
er
alg
o
r
ith
m
s
to
war
d
s
(
1
=
0
)
.
Mo
r
eo
v
er
,
th
e
r
e
s
u
lts
o
f
th
e
f
u
n
ctio
n
s
(F
2
, F
3
,
F4
,
an
d
F5
)
also
in
d
icate
d
th
at
th
e
i
m
p
r
o
v
ed
al
g
o
r
ith
m
h
ad
ac
h
iev
ed
g
lo
b
al
b
est v
alu
es.
Fig
u
r
e
5
.
T
h
e
r
esu
lts
o
f
th
e
s
p
h
er
e
(
F1
)
f
u
n
ctio
n
b
ased
o
n
I
W
OA
an
d
o
th
er
s
tan
d
ar
d
alg
o
r
ith
m
s
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
A
n
imp
r
o
ve
d
s
w
a
r
m
in
tellig
en
ce
a
lg
o
r
ith
ms
-
b
a
s
ed
… (
Mu
s
ta
fa
Wa
s
s
ef
Ha
s
a
n
)
3181
T
ab
le
2
.
C
o
m
p
a
r
is
o
n
o
f
I
W
OA
with
W
OA,
PS
O
an
d
GSA
alg
o
r
ith
m
s
F
u
n
c
t
i
o
n
M
e
t
r
i
c
I
W
O
A
W
O
A
PSO
G
S
A
F1
S
p
h
e
r
e
a
v
g
3
.
5
2
7
5
E
-
1
23
2
.
6
2
6
0
e
-
80
1
.
4
4
6
5
9
5
e
-
18
8
.
3
4
1
1
0
0
e
-
41
st
d
4
.
9
6
3
8
3
3
e
-
1
1
7
7
.
3
2
8
0
3
3
e
-
79
8
.
7
6
6
2
2
6
e
-
19
2
.
2
1
8
0
1
8
e
-
40
F
2
N
o
i
se
a
v
g
1
.
1
2
3
0
E
-
25
4
6
.
2
6
9
4
1
.
0
9
0
2
8
.
0
0
5
2
st
d
3
.
0
8
5
7
E
-
25
3
1
.
2
5
6
9
0
.
2
1
5
3
2
.
5
6
8
2
F
3
A
c
k
l
e
y
a
v
g
0
3
.
7
8
9
6
E
-
15
5
3
.
1
3
1
1
2
9
.
3
1
8
1
st
d
0
1
.
4
4
2
2
E
-
14
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s
p
ac
e
to
ac
h
iev
e
th
e
b
e
s
t
in
d
iv
id
u
als
in
th
e
s
ea
r
ch
d
o
m
ain
.
B
o
th
o
f
th
e
s
war
m
in
tellig
en
ce
o
p
tim
izatio
n
alg
o
r
ith
m
s
ar
e
test
ed
u
s
in
g
v
a
r
io
u
s
s
ets
o
f
b
en
ch
m
a
r
k
f
u
n
ct
io
n
s
,
wh
er
e
th
e
r
esu
lts
s
h
o
w
t
h
at
th
e
HGWO
-
SA
alg
o
r
ith
m
is
im
p
r
o
v
e
d
th
e
m
in
im
u
m
p
o
in
t
b
y
2
0
-
1
3
0
%
co
m
p
ar
ed
to
th
e
GW
O
s
ch
em
e,
wh
ile
th
e
I
W
OA
im
p
r
o
v
e
d
b
y
2
-
5
0
%
co
m
p
a
r
e
d
to
th
e
W
OA.
Fin
ally
,
t
h
e
r
esu
lts
o
b
tain
ed
f
r
o
m
s
im
u
latin
g
th
e
s
y
s
tem
with
NL
-
F
OPI
D
co
n
tr
o
ller
s
h
o
w
th
at
it
en
h
an
ce
s
th
e
s
y
s
tem
tr
aje
cto
r
y
b
y
1
-
1
5
%
as
co
m
p
ar
ed
t
o
th
e
PID
co
n
tr
o
ller
th
at
n
o
t m
atch
well
with
th
e
r
e
f
er
en
ce
p
at
h
.
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